Massage method and device of massage equipment and massage equipment

Abstract

The invention discloses a massage method and device of massage equipment and the massage equipment. The method comprises the following steps: acquiring sensor data acquired by a sensor, and determining a physiological sign signal of a target person on the massage equipment according to the sensor data; determining inflation and deflation parameters of the air bags according to the physiological sign signals; wherein the inflation and deflation parameters comprise a time parameter and a pressure parameter; and the inflation and deflation time of each air bag is controlled according to the time parameters, and the inflation volume of each air bag is controlled according to the pressure parameters. According to the method, the physiological feature signals of the target person on the massage equipment are monitored, the inflation and deflation strategies of the air bags on the massage equipment are dynamically adjusted according to the physiological feature signals, the massage mode is adjusted according to the human body sign data, then personalized massage is conducted on the target person, and the massage effect and the massage comfort degree are improved.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a massage method and device for massage equipment and massage equipment. Background Art

[0002] Traditional massage equipment such as massage sofas and massage beds rely on preset programs to control the inflation and deflation of each airbag to massage the massage person according to a fixed massage strategy set in the preset program.

[0003] The massage methods on traditional massage equipment cannot adjust the massage strategy according to the user's real-time physiological state, which can easily lead to excessive stimulation to the massage personnel or insufficient massage effect. Summary of the invention

[0004] The present invention provides a massage method, a massage device and a massage device, so as to solve the problem that the massage effect of the massage device cannot be accurately adjusted according to the real-time physiological state of the user.

[0005] According to one aspect of the present invention, a massage method of a massage device is provided, wherein the massage device comprises a plurality of airbags and at least one sensor, wherein each of the airbags is inflated or deflated during a massage process, comprising:

[0006] Acquiring sensor data collected by the sensor, and determining a physiological sign signal of a target person located on the massage device according to the sensor data;

[0007] Determining inflation and deflation parameters of each of the airbags according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters;

[0008] The inflation and deflation timing of each airbag is controlled according to the time parameter, and the inflation amount of each airbag is controlled according to the pressure parameter.

[0009] According to another aspect of the present invention, a massage device of a massage apparatus is provided, the massage apparatus comprising a plurality of airbags and at least one sensor, each of the airbags being inflated or deflated during a massage process, comprising:

[0010] a physiological sign determination module, used to obtain sensor data collected by the sensor, and determine a physiological sign signal of a target person located on the massage device according to the sensor data;

[0011] An inflation and deflation parameter determination module, used to determine the inflation and deflation parameters of each of the airbags according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters;

[0012] The inflation and deflation control module is used to control the inflation and deflation timing of each airbag according to the time parameter, and to control the inflation amount of each airbag according to the pressure parameter.

[0013] According to another aspect of the present invention, there is provided a massage device, the massage device comprising:

[0014] Equipment body; wherein the equipment body is a sofa or a bed;

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the massage method of the massage device described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the massage method of the massage device described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention monitors the physiological characteristic signals of the target person on the massage device, dynamically adjusts the inflation and deflation strategies of each airbag on the massage device according to the physiological characteristic signals, thereby adjusting the massage mode according to human body vital signs data, and further realizing personalized massage for the target person, thereby improving the massage effect and massage comfort.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a massage method of a massage device provided according to an embodiment of the present invention;

[0023] Figure 2 Shown is a schematic diagram of the installation position of the sensor on the massage device;

[0024] Figure 3 is a flow chart of another massage method of a massage device provided according to an embodiment of the present invention;

[0025] Figure 4 is a flow chart of another massage method of a massage device provided according to an embodiment of the present invention;

[0026] Figure 5 is an architecture diagram of a massage system of another massage device provided according to an embodiment of the present invention;

[0027] Figure 6 is a schematic structural diagram of a massage device of a massage device provided according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of an electronic device for implementing the massage method of the massage device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "candidate", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Figure 1A flowchart of a massage method of a massage device is provided for an embodiment of the present invention. This embodiment can be applied to the case where an intelligent massage method is set in a massage device to adaptively adjust the massage effect according to the current physiological signs of the massager. The method can be performed by a massage device of the massage device. The massage device of the massage device can be implemented in the form of hardware and / or software. The massage device of the massage device can be configured in the massage device. The massage device includes a plurality of airbags and at least one sensor, and each of the airbags is inflated or deflated during the massage process.

[0032] The massage device is a device with a massage function, such as a massage sofa or a massage bed, etc. The massage function of the massage device is realized by the inflation and deflation of multiple airbags deployed on the device, that is, the airbags achieve the effect of massaging the target person on the massage device during the inflation and deflation process. The number and position of the airbags can be determined according to the type of massage device and the massage needs of the target person, and there is no restriction on the number and position of the airbags.

[0033] The massage device is also equipped with at least one sensor, through which the physiological signs of the target person are acquired. The sensor is a non-contact sensor, that is, it is deployed on the massage device to acquire the physiological signs of the target person in a non-contact manner, such as breathing, heartbeat, body movement and other physiological signals.

[0034] like Figure 1 As shown, the method includes:

[0035] S110, acquiring sensor data collected by the sensor, and determining a physiological sign signal of a target person located on the massage device according to the sensor data.

[0036] After the massage device is started, the sensor collects sensor data generated by the target person located on the massage device, and determines the physiological sign signal of the target person from the sensor data, wherein the physiological sign signal is used to represent the physiological state of the target person, for example, the physiological sign signal includes at least one of the following: a breathing signal, a heartbeat signal and a body movement signal, the breathing signal is used to represent the breathing characteristics of the target person, for example, the breathing signal is a breathing waveform graph, the heartbeat signal is used to represent the heartbeat characteristics of the target person, for example, the heartbeat signal is a heart rate value, and the body movement signal is used to represent the movement characteristics of the target person on the massage device, for example, the body movement signal is the movement time and movement amplitude of the target person.

[0037] Specifically, the sensor is a millimeter wave radar sensor. The radar sensor is placed on the massage device, and the radar echo signal is collected by the radar sensor. Since the frequencies of breathing and heartbeat are different, for example, the frequency of the breathing signal is generally between 0.1-0.5 Hz, and the frequency of the heartbeat signal is generally between 0.8-2 Hz, the radar echo signal is separated by frequency to obtain the breathing signal and the heartbeat signal. Exemplarily, the millimeter wave radar sensor is installed inside the sofa backrest or inside the mattress, and the monitoring radar echo signal is a chest vibration signal, which contains the breathing signal and the heartbeat signal. The radar echo signal is subjected to a sliding window Fourier transform to obtain a spectrum, and a wavelet threshold denoising algorithm is performed on the frequency to dynamically separate the breathing signal and the heartbeat signal in different frequency bands, and at least one of them is used as a physiological sign signal.

[0038] By determining the physiological sign signals through non-contact sensors, the massage experience of the target person is improved. The user's physiological sign signals can be obtained without the user's perception, avoiding affecting the user's massage experience.

[0039] In a feasible embodiment, the sensor includes at least a millimeter wave radar sensor, an infrared thermal imaging sensor, and a piezoelectric film sensor;

[0040] Accordingly, the physiological sign signals of the target person located on the massage device are determined based on the sensor data, including:

[0041] Perform signal frequency band separation according to the first sensor data acquired by the millimeter wave radar sensor to obtain a first breathing signal and a first heartbeat signal;

[0042] Correcting the first breathing signal according to second sensor data acquired by the infrared thermal imaging sensor to obtain a second breathing signal;

[0043] Correcting the first heartbeat signal according to the third sensor data acquired by the piezoelectric film sensor to obtain a second heartbeat signal;

[0044] The second breathing signal and / or the second heartbeat signal is used as a physiological sign signal.

[0045] In order to improve the accuracy of determining the physiological sign signal, sensor data obtained by multiple sensors are used for determination.

[0046] Specifically, the millimeter-wave radar sensor is used to obtain the comprehensive signal of breathing and heartbeat. Since breathing carries certain heat information, the infrared thermal imaging sensor is used to obtain the breathing signal, and the heartbeat carries certain pressure information, so the piezoelectric film sensor is used to obtain the heartbeat signal. At the same time, since the breathing signal obtained by the infrared thermal imaging sensor and the heartbeat signal obtained by the piezoelectric film sensor are susceptible to certain interference, the breathing signal and heartbeat signal obtained by the millimeter-wave radar sensor are mainly used, and the breathing signal separated from the radar echo is corrected by the infrared thermal imaging sensor, and the heartbeat signal separated from the radar echo is corrected by the piezoelectric film sensor, so as to improve the accuracy and stability of the heartbeat signal and the breathing signal.

[0047] For example, in order to improve the stability and accuracy of the data acquired by the sensor, the deployment location of the sensor is determined according to the type of data that each sensor needs to collect, such as Figure 2 The figure shows the installation position of sensors on the massage equipment. The millimeter wave radar sensor S11 is installed inside the sofa backrest or mattress to monitor the chest vibration signal; the infrared thermal imaging sensor S12 is installed at the sofa armrest or the head of the bed to locate the user's mouth and nose area; the piezoelectric film sensor S13 is installed on the seat or mattress surface near the heart of the person.

[0048] The first breathing signal and the first heartbeat signal are obtained by dynamically separating the frequency of the chest vibration signal monitored by the millimeter-wave radar sensor, and the temperature change frequency is determined by the infrared signal obtained by the infrared imaging sensor. The temperature change frequency is used to assist in verifying the first breathing signal, reduce the interference of other factors on the breathing signal, and obtain the second breathing signal; similarly, the heart impact signal is detected by the piezoelectric film sensor, and the heart impact signal is used to enhance the first heartbeat signal to obtain the second heartbeat signal. Since the separation of the signal obtained by the millimeter-wave radar sensor depends on the different frequencies of breathing and heartbeat, but due to the influence of the target person's physical factors, the breathing signal and the heartbeat signal may overlap for some time. Therefore, the temperature change frequency obtained by the infrared thermal imaging sensor is used to assist in determining the frequency of the breathing signal, and the heart impact signal obtained by the piezoelectric film sensor is used to assist in determining the frequency of the heartbeat signal, thereby improving the accuracy of determining the heartbeat signal and the breathing signal.

[0049] For example, Kalman filtering is used to process the first breathing signal and the second sensor data to obtain the second breathing signal, and Kalman filtering is used to process the first heartbeat signal and the third sensor data to obtain the second heartbeat signal. This embodiment improves the monitoring stability of physiological sign signals by fusing multiple sensors and using Kalman filtering.

[0050] S120. Determine inflation and deflation parameters of each airbag according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters.

[0051] Among them, the inflation and deflation parameters are used to determine the inflation and deflation time and inflation pressure of each airbag, the time parameter is used to determine the inflation and deflation time of each airbag, and the pressure parameter is used to determine the inflation pressure of each airbag. By controlling the inflation and deflation time parameters and pressure parameters of the airbag, the massage intensity through the airbag can be controlled.

[0052] Specifically, the physiological sign signal represents the current physical state of the target person, and the time parameters and pressure parameters of each airbag during the inflation and deflation process are adjusted in real time according to the physiological sign signal, so that the inflation and deflation of each airbag fits the current physical state of the target person. Exemplarily, when the physiological sign signal is a breathing signal, the exhalation phase and the inhalation phase of the target person are determined according to the breathing signal, the back airbag is deflated during the inhalation phase to avoid chest compression, and the back airbag is inflated during the exhalation phase, and the inflation time and deflation time of each airbag are determined according to the breathing signal; or, when the physiological sign signal is a heartbeat signal, the heart rate of the target person is determined according to the heartbeat signal, and the massage rhythm and intensity are automatically adjusted according to the heart rate of the target person. When the heart rate of the target person is slow, the inflation and deflation frequency of each airbag is reduced to avoid excessive stimulation; when the heart rate of the target person is fast, the inflation and deflation frequency of each airbag is accelerated to help the target person relax better.

[0053] In a feasible embodiment, the physiological sign signal includes at least a heartbeat signal and a breathing signal;

[0054] Accordingly, the inflation and deflation parameters of each airbag are determined according to the physiological sign signal, including:

[0055] Get the massage mode set by the target person;

[0056] A target physiological sign signal is determined from the heartbeat signal and the breathing signal according to the massage mode, and the inflation and deflation parameters of each airbag are determined according to the target physiological sign signal.

[0057] When the physiological characteristic signals include at least two types, different types of physiological characteristic signals correspond to different massage modes. In different massage modes, the inflation and deflation parameters are determined according to the corresponding physiological characteristic signals.

[0058] Specifically, when the inflation and deflation parameters are determined according to the heartbeat signal, the inflation and deflation frequency of each airbag is determined at least according to the heart rate value. When the inflation and deflation parameters are determined according to the breathing signal, the inflation and deflation time points of each airbag are determined at least according to the breathing stage. Therefore, different physiological signs have corresponding inflation and deflation determination strategies. Therefore, the target person needs to determine the massage mode according to the current state of the target person. The massage mode includes a breathing massage mode and a heartbeat massage mode. When the target person selects the breathing massage mode, the breathing signal is used as the target physiological sign signal, and the inflation and deflation parameters of each airbag are determined according to the target person's breathing signal; when the target person selects the heartbeat massage mode, the heartbeat signal is used as the target physiological sign signal, and the inflation and deflation parameters of each airbag are determined according to the target person's heartbeat signal. For example, when the target person's current breathing rhythm is unstable, the breathing massage mode can be selected, or when the target person is in an unstable heartbeat rhythm after exercise, the heartbeat massage mode can be selected to adaptively adjust the inflation and deflation parameters of each airbag according to the user's breathing adjustment state and heartbeat rhythm adjustment state, so as to improve the massage effect and user experience.

[0059] Two massage modes are provided for the target person according to the target person's physical condition and massage needs. Different massage modes determine different massage strategies according to different physiological sign signals. Therefore, the target person chooses a suitable massage mode according to his or her current physical condition and massage needs, and then determines the corresponding massage strategy according to the target physiological sign signal corresponding to the massage mode, that is, determines the inflation and deflation parameters of each airbag according to the target physiological sign signal, thereby improving the massage experience of the target person.

[0060] S130, controlling the inflation and deflation timing of each airbag according to the time parameter, and controlling the inflation amount of each airbag according to the pressure parameter.

[0061] Specifically, the inflation time point and deflation time point of each airbag are determined according to the time parameter, and the inflation amount of each airbag is determined according to the pressure parameter. Exemplarily, the time parameter includes the inflation start time and the deflation start time. When the inflation start time is reached, the airbags are inflated. When the deflation start time is reached, the inflation of each airbag is stopped, and the pressure relief valve of each airbag is opened to deflate. The pressure parameter includes the inflation speed. When the inflation start time is reached, the airbags are inflated according to the inflation speed.

[0062] Optionally, the massage device includes multiple airbags, which are arranged at different positions on the massage device and are used to massage different body parts of the target person, such as the head, back, hands and feet, etc. At least one airbag is arranged at each part, and each airbag is provided with an independent airway, that is, any airbag can be inflated and deflated separately. The time parameter includes the inflation opening time and the deflation opening time of each airbag, and the pressure parameter includes the inflation speed of each airbag. Alternatively, the inflation and deflation order of each airbag is predetermined, and the time parameter includes the inflation opening time and the deflation opening time of the airbag ranked first. When the inflation of the first airbag is completed, the inflation of the second airbag is opened, and each airbag is inflated and deflated in turn according to the inflation and deflation order. For example, the inflation and deflation order of each airbag is determined according to the body part of the user. For example, the inflation and deflation order of the airbags located in the head and back areas is the same.

[0063] For example, multiple airbags are coordinated and controlled, that is, a wave propagation control mode is adopted, and the airbags are controlled according to the time interval Δt=T cycle / N activates adjacent airbag areas in sequence to produce a progressive pressing effect (N is the number of airbag partitions on the massage device, each airbag partition includes at least one airbag, T cycle The total time for all the airbags on the massage device to be inflated once can be set according to the massage needs of the target person and is not limited here).

[0064] The technical solution of the embodiment of the present invention monitors the physiological characteristic signals of the target person on the massage device, dynamically adjusts the inflation and deflation strategies of each airbag on the massage device according to the physiological characteristic signals, thereby adjusting the massage mode according to human body vital signs data, and further realizing personalized massage for the target person, thereby improving the massage effect and massage comfort.

[0065] Figure 3 This is a flow chart of another massage method of a massage device provided by an embodiment of the present invention. This embodiment further refines the physiological sign signal in the above embodiment, and the physiological sign signal at least includes a historical breathing signal and a current breathing signal. Figure 3 As shown, the method includes:

[0066] S210, acquiring sensor data collected by the sensor, and determining a historical breathing signal and a current breathing signal of a target person located on the massage device according to the sensor data.

[0067] The historical breathing signal corresponds to the current breathing signal, that is, the historical breathing signal is a signal of a preset time period before the current breathing signal, for example, the historical breathing signal is a breathing signal within one minute before the current time point. The current breathing signal is updated over time, and the historical breathing signal is also updated according to the update of the current breathing signal to improve the fit between the massage effect and the current state of the target person. The breathing signal can be a breathing waveform.

[0068] S220. Determine the breathing characteristic parameters of the target person according to the historical breathing signal, determine the inflation pressure growth parameters of each airbag according to the breathing characteristic parameters, and use the inflation pressure growth parameters as pressure parameters.

[0069] Among them, the breathing characteristic parameters are used to characterize the breathing waveform characteristics of the target person. For example, the breathing characteristic parameters may include the threshold peak detection result, the starting point and duration of the inhalation phase and the exhalation phase, etc.

[0070] Specifically, the breathing characteristic parameters of the target person are determined based on the historical breathing signal corresponding to the current breathing signal. The breathing characteristic parameters are used to characterize the overall breathing characteristics of the target person in the current time period. The inflation pressure growth parameters of each airbag are determined based on the breathing characteristic parameters. The inflation pressure growth parameters are used to represent the increase in air pressure in each airbag during the inflation stage.

[0071] Exemplarily, the exhalation cycle and the inhalation cycle are determined according to the exhalation and inhalation signals in the historical respiratory signals within a period of time, and the corresponding inflation pressure growth parameter is determined based on the matching of the current exhalation cycle and the inhalation cycle with the relationship model according to the pre-established relationship model between the respiratory characteristic parameters and the inflation pressure growth parameter. For example, the relationship model can be constructed according to the historical massage data, and the relationship model can be an interval mapping table, or an expression model, etc.

[0072] In a feasible embodiment, S220 includes:

[0073] Determine the exhalation cycle of the target person according to the historical breathing signal, and use the exhalation cycle as a breathing characteristic parameter;

[0074] Determine the inflation and pressurization curve of each airbag according to the exhalation cycle, and determine the pressure value at each time point in the inflation stage according to the inflation and pressurization curve as an inflation pressure growth parameter;

[0075] The expression of the inflation pressure curve is as follows:

[0076] P(t)=P base +ΔP(1-e -t / τ );

[0077] Where P(t) represents the pressure value at each time point during the inflation phase, P base is the basic pressure value determined according to the airbag model, ΔP is the pressure increment determined according to the basic pressure value, t represents the time in the inflation phase, and τ is the pressure increase control parameter determined according to the exhalation cycle.

[0078] The historical breathing signal is normalized, and the waveform characteristic value of the normalized historical breathing signal is extracted, specifically including: performing dynamic threshold peak detection on the normalized historical breathing signal, determining the starting point and duration of the inhalation phase and the exhalation phase according to the peak detection result, and determining the exhalation cycle according to the starting point and duration of the inhalation phase and the exhalation phase. Exemplarily, multiple first exhalation cycles in the historical breathing signal are determined according to the starting point and duration of the inhalation phase and the exhalation phase, and the average value of the multiple first exhalation cycles is used as the final exhalation cycle. The exhalation cycle reflects the exhalation characteristics of the target person.

[0079] The inflation and pressurization curve of each airbag is determined according to the exhalation cycle. The inflation and pressurization curve is used to represent the information of the increase of air pressure in the airbag as time increases during the inflation process of each airbag. The pressure value corresponding to each inflation time point during the inflation process can be determined according to the expression of the above inflation and pressurization curve. The basic pressure value in the expression is determined according to each airbag model, for example, according to the size specifications and materials of each airbag model. The specific size of the basic pressure value is not limited here; the pressure increment is determined according to the basic pressure value. The larger the basic pressure value, the larger the corresponding pressure increment. The specific size of the pressure increment can be adjusted according to the actual situation. The specific value is not limited here; the pressure increase control parameter is determined according to the exhalation cycle, for example, τ = 0.3×T exhale , T exhale Indicates the exhalation cycle.

[0080] S230, determining the breathing stage of the target person according to the current breathing signal, and determining the inflation start time and the deflation start time according to the breathing stage, and taking the inflation start time and the deflation start time as time parameters.

[0081] The time parameters of each airbag are determined according to the current breathing signal. Since the airbag is deflated during the inhalation phase, the chest pressure can be avoided. The airbag is inflated during the exhalation phase. The massage relaxation efficiency and comfort of the target person can be improved by following the rhythm of inhalation and exhalation. Therefore, the inflation start time and the deflation start time are determined according to the current breathing signal.

[0082] Specifically, the breathing phase of the target person is determined according to the current breathing signal, and the breathing phase includes an exhalation phase and an inhalation phase. The inflation start time is determined according to the exhalation phase, and the deflation start time is determined according to the inhalation phase.

[0083] In one possible embodiment, the breathing phase includes an exhalation phase and an inhalation phase;

[0084] Accordingly, the inflation start time and the deflation start time are determined according to the breathing stage, including:

[0085] The start time of the exhalation phase is determined as the inflation start time, and the start time of the inspiration phase is determined as the deflation start time.

[0086] The start time of the current exhalation phase of the target person is determined as the inflation start time, and the start time of the current inhalation phase is determined as the deflation start time, so that each airbag is inflated when the target person exhales, and each airbag is deflated when the target person inhales, avoiding discomfort caused by squeezing the target person's chest during the target person's breathing process, thereby improving the massage comfort of the target person.

[0087] S240, controlling the inflation and deflation timing of each airbag according to the time parameter, and controlling the inflation amount of each airbag according to the pressure parameter.

[0088] According to the current breathing signal of the target person, it is determined that the target person is currently in the exhalation stage, and the start time of the exhalation stage is determined as the inflation time of each airbag. Each airbag is inflated, and the pressure value at each time point in the inflation stage is determined according to the inflation pressurization curve during the inflation process, and the inflation amount at each time point in the inflation stage satisfies the pressure value at the corresponding time point; according to the current breathing signal of the target person, it is determined that the target person is currently in the inhalation stage, and the start time of the inhalation stage is determined as the deflation time of each airbag, the pressure relief valve of each airbag is opened, and the pressure is relieved by the target person's own gravity, and the pressure relief is stopped when the pressure value in each airbag reaches the pressure relief threshold.

[0089] The technical solution of the embodiment of the present invention determines the pressure parameters of inflation and deflation of each airbag through historical breathing signals, determines the time parameters of inflation and deflation of each airbag according to the current breathing signals, and controls the inflation and deflation of each airbag according to the pressure parameters and time parameters, so that the inflation and deflation of each airbag conforms to the breathing rhythm characteristics of the target person, thereby improving the comfort and effect of the massage of the target person.

[0090] Figure 4 This is a flow chart of another massage method of a massage device provided by an embodiment of the present invention. This embodiment further refines the physiological sign signal in the above embodiment, and the physiological sign signal at least includes a heartbeat signal. Figure 4 As shown, the method includes:

[0091] S310, acquiring sensor data collected by the sensor, and determining a heartbeat signal of a target person located on the massage device according to the sensor data.

[0092] The heartbeat signal is a heartbeat waveform diagram, and the heartbeat state of the target person can be determined according to the heartbeat signal, for example, the heart rate value can be determined according to the heartbeat signal.

[0093] S320: Determine a corresponding massage intensity parameter according to the heart rate value of the heartbeat signal.

[0094] Since the heartbeat signal of the target person can reflect the current physical state of the target person, if the heart rate value in the heartbeat signal is high, it means that the target person's body is in a tense state, such as the recovery state after fitness; if the heart rate value in the heartbeat signal is low, it means that the target person's body is in a relaxed state, such as the state before going to bed.

[0095] Different massage intensities are used for different physical conditions. For example, for a target person who is in a tense state, the massage intensity is enhanced to help the target person relax muscles quickly. If a smaller massage intensity is used to massage the target person at this time, it will not have a good massage effect; for a target person who is in a relaxed state, the massage intensity is reduced to help the target person release fatigue and relax the body and mind. If a larger massage intensity is used to massage the target person at this time, it will disturb the target person's relaxation state.

[0096] Specifically, the massage intensity parameter is adaptively adjusted according to the current heart rate value of the target person to avoid discomfort caused by the target person's current physical condition due to the massage intensity being too high or too low. When the heart rate value increases, the massage intensity parameter is increased, and when the heart rate value decreases, the massage intensity parameter is decreased.

[0097] Exemplarily, the heart rate value is divided into multiple levels, each level corresponds to a massage intensity parameter, the higher the level, the higher the heart rate value, and the greater the massage intensity parameter. For example, the heart rate value is divided into three levels: the first level (heart rate value is 50-60 times / minute), the second level (heart rate value is 60-100 times / minute), and the third level (heart rate value is 100-120 times / minute). A corresponding relationship table is pre-established, and the massage intensity parameter corresponding to each level is included in the corresponding relationship table. Alternatively, a relationship between the heart rate value and the massage intensity parameter is established, and the heart rate value and the massage intensity parameter are in a proportional relationship. The specific establishment of the relationship can be determined based on the historical massage data of the target person, which is not limited here. For example, multiple groups of historical massage intensity parameters and corresponding historical heart rate values ​​of the target person are collected, and the relationship model between the heart rate value and the massage intensity parameter is obtained by fitting the multiple groups of data.

[0098] Optionally, the massage intensity parameter corresponding to each airbag is determined according to the heart rate value of the heartbeat signal and the airbag partition of each airbag, so as to realize adaptive adjustment of the massage intensity according to the massage body part of the target person, and improve the massage experience of the target person.

[0099] S330, determining the inflation and deflation frequency and inflation pressure according to the massage intensity parameter, taking the inflation pressure as the pressure parameter, and the inflation and deflation frequency as the time parameter.

[0100] The inflation and deflation frequency indicates the time parameter for completing one inflation and deflation, and the inflation pressure indicates the pressure requirement for each airbag during the inflation stage. The inflation pressure includes the pressure value and the inflation speed.

[0101] Specifically, a mapping relationship between the massage intensity parameter and the inflation and deflation frequency and the inflation pressure is established in advance. The mapping relationship can be determined by a relational model or a mapping table. The massage intensity parameter is proportional to the inflation and deflation frequency. Similarly, the massage intensity parameter is proportional to the inflation pressure, that is, the larger the massage intensity parameter, the higher the inflation and deflation frequency, that is, a faster rhythm is used to massage the target person; similarly, the larger the massage intensity parameter, the higher the inflation pressure, that is, a greater force is used to massage the target person. Since the massage intensity parameter is determined according to the heart rate value, the higher the heart rate value, the higher the inflation and deflation frequency, and the greater the inflation pressure; on the contrary, the lower the heart rate value, the lower the inflation and deflation frequency, and the lower the inflation pressure.

[0102] For example, a relationship model is established based on historical data. target =α×f base , where α represents the massage intensity parameter, f target Indicates the frequency of charging and discharging, f base Indicates the basic frequency. The value of the basic frequency can be determined based on historical data and is not limited here. For example, f base =0.2hz. Similarly, P target =α×P base , P base is the basic pressure value determined according to the airbag model, P target Indicates inflation pressure.

[0103] S340, controlling the inflation and deflation timing of each airbag according to the time parameter, and controlling the inflation amount of each airbag according to the pressure parameter.

[0104] The inflation start time and deflation start time of each airbag are controlled according to the inflation and deflation frequency, and the inflation start time of one inflation to the next inflation start time is completed according to the inflation and deflation frequency; similarly, the inflation amount of each airbag during the inflation process is determined according to the pressure parameter. During one inflation process, if the pressure value in the pressure parameter is reached, the inflation amount reaches the upper limit and the inflation is stopped, and the deflation start time is determined according to the current inflation and deflation frequency. Exemplarily, according to the inflation and deflation frequency, the inflation duration and the deflation duration are set to be greater than or equal to the deflation duration. If during the inflation process, when the pressure parameter is reached, if the inflation duration of the wheel is greater than or equal to half of the inflation and deflation cycle corresponding to the inflation and deflation frequency, deflation starts immediately; when the pressure parameter is reached, if the inflation duration of the wheel is less than half of the inflation and deflation cycle corresponding to the inflation and deflation frequency, the inflation is stopped and the inflation state is maintained, and the deflation is started when the inflation duration is equal to half of the inflation and deflation cycle corresponding to the inflation and deflation frequency.

[0105] Specifically, if the target person's heart rate is high, the inflation and deflation frequency and inflation pressure are increased, that is, a faster inflation and deflation speed and a larger inflation pressure are used to inflate each airbag, and the inflation speed is also faster during the inflation process; on the contrary, if the target person's heart rate is low, the inflation and deflation frequency and inflation pressure are reduced, that is, a slower inflation and deflation speed and a smaller inflation pressure are used to inflate each airbag, and the inflation speed is also slower during the inflation process. When the target person's heart rate is slow, the cycle is extended and the pressure is reduced (low-frequency soothing), and the massage rhythm is slowed down to avoid excessive stimulation; when the target person's heart rate is fast, the airbag inflation and deflation cycle is shortened (high-frequency pressing), and the massage rhythm is accelerated to help the target person relax better, and the massage rhythm and intensity are automatically adjusted according to the user's heart rate, improving the massage effect and experience of the target person.

[0106] In a feasible embodiment, the method further includes:

[0107] During the inflation control process, the current pressure of each airbag is detected;

[0108] Determine whether the current pressure of each airbag is greater than or equal to the current pressure threshold; wherein the current pressure threshold is determined according to the current massage time of the target person;

[0109] If so, the inflation of each airbag is stopped.

[0110] During the initial massage, the target person has just entered the massage state and is not adapted to the massage intensity. As the massage time increases, he or she will gradually adapt to the massage intensity and the massage pressure can be increased.

[0111] Specifically, a corresponding relationship between different massage durations and pressure thresholds is established in advance, and the massage duration and the pressure threshold are in direct proportion, that is, the longer the massage duration, the greater the corresponding pressure threshold. Exemplarily, a mapping relationship between multiple massage duration intervals and multiple pressure thresholds is established, or a relationship model between massage duration and pressure threshold is established based on historical data. For example, the relationship model is expressed as Among them, P max (t) represents the pressure threshold corresponding to the massage duration t, P base represents the basic pressure value determined according to the airbag model, k is the adjustment parameter, and the specific value is determined according to the actual scene requirements, t represents the massage time, T base Indicates the basic duration, which is determined based on historical data and can be adjusted based on actual scenarios.

[0112] During the inflation process, the current massage duration of the target person and the current pressure value of each airbag are obtained in real time, for example, by the pressure sensor deployed in each airbag, and the corresponding current pressure threshold is determined according to the current massage duration, and whether the current pressure value is greater than or equal to the current pressure threshold is determined. If so, the inflation of each airbag is stopped. If the deflation opening time determined above is not reached at this time, the current inflation state is maintained; if the current pressure value is less than the current pressure threshold, the inflation is continued according to the pressure parameter determined above. The pressure dynamic tolerance adjustment strategy does not conflict with the above-mentioned operation of determining the inflation and deflation parameters according to the physiological sign signal and controlling the inflation and deflation process of each airbag according to the inflation and deflation parameters. In the process of inflating each airbag according to the determined inflation and deflation parameters, the maximum allowable pressure in the inflation process is adaptively adjusted according to the massage duration of the target person, and the massage adaptability of the target person is enhanced by gradually increasing the upper limit of pressure, and the massage experience of the target person is improved, so as to avoid excessive pressure in the initial stage of massage causing a tense massage state to the target person.

[0113] In a feasible embodiment, the method further includes:

[0114] Determine whether the physiological sign signal meets the abnormal state condition, and if so, deflate each airbag; or

[0115] Determine whether the target person is in a continuous motion state based on the sensor data. If so, calibrate the sensor and reacquire the sensor data after calibration.

[0116] Abnormal states of target persons during massage are monitored to improve the massage safety and massage effect of target persons.

[0117] Specifically, whether the target person is in an abnormal physiological state is determined based on the physiological sign signal. For example, the abnormal state condition includes that the heart rate value in the physiological sign signal is greater than a first preset heart rate threshold or less than a second preset heart rate threshold; and / or the abnormal state condition includes that there is no breathing signal for more than a preset time. When it is determined that any of the above abnormal state conditions is met, it is determined that there is a suspected problem with the physical state of the target person, then the massage is stopped to deflate each airbag, and an alarm is issued to improve the safety protection of the target person.

[0118] Alternatively, the duration of the target person's continuous body motion state is determined based on the sensor data. The body motion state means that the target person is in a non-static state, which can be determined based on the radar echo obtained by the millimeter-wave radar sensor. If it is determined that the target person is in body motion interference for more than a preset time threshold, the massage is stopped, the massage device is in standby mode, and each sensor is calibrated. The inflation and deflation parameters of each airbag are updated using the recalibrated sensor data. By monitoring the body motion state of the target person, if it is detected that the target person is continuously in a body motion state, it means that the target person feels uncomfortable in the current massage strategy, and the massage strategy is readjusted to improve the massage effect of the target person.

[0119] The technical solution of the embodiment of the present invention determines the pressure parameters and time parameters of the inflation and deflation of each airbag through the heartbeat signal, and controls the inflation and deflation of each airbag according to the pressure parameters and time parameters, so that the inflation and deflation of each airbag conforms to the heartbeat rhythm characteristics of the target person, thereby improving the comfort and effect of the massage of the target person.

[0120] Figure 5 An architecture diagram of a massage system of a massage device provided in an embodiment of the present invention, the system includes a perception layer, a processing layer, a control layer, an execution layer and an interaction layer.

[0121] Specifically, the perception layer is used to obtain sensor data through sensors. For example, the millimeter-wave radar sensor installed inside the backrest of the massage device collects chest vibration signals; the piezoelectric film sensor laid on the surface of the massage device seat cushion monitors the ballistocardiogram (BCG) signal; the infrared thermal imaging sensor installed on the armrest of the massage device monitors the oral and nasal breathing airflow to assist in verifying the breathing signal. The three sensor data are preprocessed through the signal preprocessing module, and the preprocessed sensor data are sent to the processing layer.

[0122] The processing layer uses Kalman filtering to improve the monitoring stability of multi-channel sensor signals; and uses the sliding window Fourier transform combined with the wavelet threshold denoising algorithm through the dynamic frequency band separation module to dynamically separate the breathing signal and the heartbeat signal in the overlapping frequency band. The breathing signal is sent to the breathing synchronization control module, and the breathing signal is processed by the breathing synchronization control module to obtain the inflation and deflation parameters of each airbag corresponding to the breathing signal; or the heartbeat signal is sent to the heart rate adaptive control module, and the heartbeat signal is processed by the heart rate adaptive control module to obtain the inflation and deflation parameters of each airbag corresponding to the heartbeat signal. The inflation and deflation parameters corresponding to each airbag are sent to the control layer.

[0123] The control layer obtains the parameters set by the target person from the interaction layer, and determines the massage mode according to the parameters. Different massage modes correspond to different modules for control, and the airbag timing controller and the airbag drive circuit are controlled according to the inflation and deflation parameters corresponding to each airbag determined by each module. Under respiratory synchronization control, the airbag inflation (pressure increase) is triggered during the exhalation phase, and decompression (linear release) is started during the inhalation phase. And under heart rate adaptive control, when the target person's heart rate is slow, the cycle is extended and the pressure is reduced (low-frequency soothing); when the target person's heart rate is fast, the airbag charging and discharging cycle is shortened (high-frequency compression).

[0124] The execution layer is used to control the inflation and deflation of each airbag zone according to the driving parameters determined by the airbag driving circuit. For example, the massage device includes three airbag groups for the waist, shoulders, and legs, and uses TPU material to achieve 0-50kPa adjustable pressure. The shoulder airbag group adopts a V-shaped layout to simulate the kneading of the human hand; the waist airbag group adopts a circular distribution to achieve lumbar traction; the leg airbag group adopts a wavy airway design to promote venous return.

[0125] The interactive layer obtains the control instructions and parameter settings sent by the target person through a mobile phone APP connected to the massage device or a control panel set on the massage device, and obtains information such as the massage mode based on the parameters; at the same time, the interactive layer also includes a safety protection module, which is used to control each airbag to stop working and deflate when it detects that the target person has respiratory arrest for more than 3 seconds or an abnormal heart rate event, and push an alarm through the APP or control panel; or when it detects that the target person's body movement interference lasts for more than 10 seconds, the massage is paused and the sensor is recalibrated.

[0126] Exemplarily, the massage effects in various scenarios are provided as follows: Breathing synchronization: After being turned on, the airbags will inflate and deflate following the breathing rhythm of the target person, helping the user to relax deeply. Suitable for scenarios such as bedtime relaxation, meditation partner, etc. Heart rate drive: When the heart rate is slow, it is long-wave slow pressure, and when the heart rate is faster, the massage intensity is automatically increased to promote blood circulation, which is suitable for fitness recovery, morning wake-up, and other scenarios. Fitness recovery: When the target person's heart rate is greater than 110 times / min, it is turned on, and the airbags in the leg area are squeezed at a high frequency to accelerate lactic acid metabolism. Bedtime relaxation: When the target person's heart rate is about 75 times / min, the breathing rate is about 12 times / min, and the number of body movements is less than 3 times / min, it is turned on, and the airbags in the shoulder and neck area are kneaded at a low frequency to release fatigue.

[0127] Figure 6 The massage device of the massage device provided by the embodiment of the present invention is a structural schematic diagram. The massage device includes a plurality of air bags and at least one sensor, each air bag is inflated or deflated during the massage process, such as Figure 6 As shown, the device comprises:

[0128] A physiological sign determination module 610 is used to obtain sensor data collected by the sensor and determine a physiological sign signal of a target person located on the massage device according to the sensor data;

[0129] The inflation and deflation parameter determination module 620 is used to determine the inflation and deflation parameters of each airbag according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters;

[0130] The inflation and deflation control module 630 is used to control the inflation and deflation timing of each airbag according to a time parameter, and to control the inflation amount of each airbag according to a pressure parameter.

[0131] The technical solution of the embodiment of the present invention monitors the physiological characteristic signals of the target person on the massage device, dynamically adjusts the inflation and deflation strategies of each airbag on the massage device according to the physiological characteristic signals, thereby adjusting the massage mode according to human body vital signs data, and further realizing personalized massage for the target person, thereby improving the massage effect and massage comfort.

[0132] Optionally, the physiological sign signal includes at least a historical breathing signal and a current breathing signal;

[0133] Correspondingly, the inflation and deflation parameter determination module includes:

[0134] a pressure parameter determination unit, configured to determine a breathing characteristic parameter of the target person according to the historical breathing signal, and determine an inflation pressure growth parameter of each of the airbags according to the breathing characteristic parameter, and use the inflation pressure growth parameter as the pressure parameter;

[0135] A time parameter determination unit is used to determine the breathing stage of the target person according to the current breathing signal, and determine the inflation start time and the deflation start time according to the breathing stage, and use the inflation start time and the deflation start time as the time parameter.

[0136] Optionally, the pressure parameter determination unit is specifically used for:

[0137] Determine the exhalation cycle of the target person according to the historical breathing signal, and use the exhalation cycle as the breathing characteristic parameter;

[0138] Determining an inflation pressurization curve of each of the airbags according to the exhalation cycle, and determining a pressure value at each time point in the inflation phase according to the inflation pressurization curve as an inflation pressure growth parameter;

[0139] The expression of the inflation pressure curve is as follows:

[0140] P(t)=P base +ΔP(1-e -t / τ );

[0141] Where P(t) represents the pressure value at each time point during the inflation phase, P base is the basic pressure value determined according to the airbag model, ΔP is the pressure increment determined according to the basic pressure value, t represents the time in the inflation phase, and τ is the pressure increase control parameter determined according to the exhalation cycle.

[0142] Optionally, the breathing phase includes an exhalation phase and an inhalation phase;

[0143] Accordingly, the time parameter determination unit is specifically used for:

[0144] The start time of the exhalation phase is determined as the inflation start time, and the start time of the inhalation phase is determined as the deflation start time.

[0145] Optionally, the physiological sign signal includes at least a heartbeat signal;

[0146] Correspondingly, the inflation and deflation parameter determination module includes:

[0147] A massage intensity determination unit, used to determine a corresponding massage intensity parameter according to the heart rate value of the heartbeat signal;

[0148] A parameter matching unit is used to determine the inflation and deflation frequency and inflation pressure according to the massage intensity parameter, and to use the inflation pressure as the pressure parameter and the inflation and deflation frequency as the time parameter.

[0149] Optionally, the physiological sign signal includes at least a heartbeat signal and a breathing signal;

[0150] Correspondingly, the inflation and deflation parameter determination module is specifically used for:

[0151] Obtaining a massage mode set by the target person;

[0152] A target physiological sign signal is determined from the heartbeat signal and the breathing signal according to the massage mode, and the inflation and deflation parameters of each airbag are determined according to the target physiological sign signal.

[0153] Optionally, the device further comprises a pressure detection module, which is used to:

[0154] During the inflation control process, detecting the current pressure of each of the airbags;

[0155] Determine whether the current pressure of each of the airbags is greater than or equal to a current pressure threshold; wherein the current pressure threshold is determined according to the current massage duration of the target person;

[0156] If so, the inflation of each of the airbags is stopped.

[0157] Optionally, the sensor includes at least a millimeter wave radar sensor, an infrared thermal imaging sensor and a piezoelectric film sensor;

[0158] Accordingly, the physiological sign determination module is specifically used for:

[0159] Perform signal frequency band separation according to the first sensor data acquired by the millimeter wave radar sensor to obtain a first breathing signal and a first heartbeat signal;

[0160] Correcting the first breathing signal according to second sensor data acquired by the infrared thermal imaging sensor to obtain a second breathing signal;

[0161] Correcting the first heartbeat signal according to the third sensor data acquired by the piezoelectric film sensor to obtain a second heartbeat signal;

[0162] The second breathing signal and / or the second heartbeat signal is used as the physiological sign signal.

[0163] Optionally, the device further includes an anomaly detection module, specifically used for:

[0164] Determine whether the physiological sign signal meets the abnormal state condition, and if so, deflate each of the airbags; or

[0165] Determine whether the target person is in a continuous motion state based on the sensor data, and if so, calibrate the sensor and reacquire the sensor data after calibration.

[0166] The massage device of the massage equipment provided in the embodiment of the present invention can execute the massage method of the massage equipment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0167] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations and do not violate public order and good morals.

[0168] According to an embodiment of the present disclosure, the present disclosure also provides a massage device, a readable storage medium, and a computer program product.

[0169] A massage device, characterized in that the massage device comprises:

[0170] Equipment body; wherein the equipment body is a sofa or a bed;

[0171] at least one processor; and a memory communicatively coupled to the at least one processor;

[0172] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the massage method of the massage device described in any embodiment of the present invention.

[0173] Figure 7 A schematic diagram of a massage device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0174] like Figure 7As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0175] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0176] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the massage method of the massage device.

[0177] In some embodiments, the massage method of the massage device can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps in the massage method of the massage device described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the massage method of the massage device in any other appropriate manner (for example, by means of firmware).

[0178] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific reference products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0179] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0180] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0181] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0182] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a switch component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, switch components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0183] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0184] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0185] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A massage method for a massage device, characterized in that: The massage device comprises a plurality of airbags and at least one sensor, each of the airbags is inflated or deflated during the massage process, and the method comprises: Acquiring sensor data collected by the sensor, and determining a physiological sign signal of a target person located on the massage device according to the sensor data; Determining inflation and deflation parameters of each of the airbags according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters; The inflation and deflation timing of each airbag is controlled according to the time parameter, and the inflation amount of each airbag is controlled according to the pressure parameter.

2. The method according to claim 1, characterized in that: The physiological sign signal at least includes a historical breathing signal and a current breathing signal; Correspondingly, determining the inflation and deflation parameters of each of the airbags according to the physiological sign signal includes: Determine the breathing characteristic parameters of the target person according to the historical breathing signal, and determine the inflation pressure growth parameters of each of the airbags according to the breathing characteristic parameters, and use the inflation pressure growth parameters as the pressure parameters; The breathing stage of the target person is determined according to the current breathing signal, and the inflation start time and the deflation start time are determined according to the breathing stage, and the inflation start time and the deflation start time are used as the time parameters.

3. The method according to claim 2, characterized in that Determining the breathing characteristic parameters of the target person according to the historical breathing signal, and determining the inflation pressure growth parameters of each of the airbags according to the breathing characteristic parameters, including: Determine the exhalation cycle of the target person according to the historical breathing signal, and use the exhalation cycle as the breathing characteristic parameter; Determining an inflation pressurization curve of each of the airbags according to the exhalation cycle, and determining a pressure value at each time point in the inflation phase according to the inflation pressurization curve as an inflation pressure growth parameter; The expression of the inflation pressure curve is as follows: P(t)=P base +ΔP(1-e -t / τ ); Where P(t) represents the pressure value at each time point in the inflation phase, P base is the basic pressure value determined according to the airbag model, ΔP is the pressure increment determined according to the basic pressure value, t represents the time in the inflation phase, and τ is the pressure increase control parameter determined according to the exhalation cycle.

4. The method according to claim 2, characterized in that: in, The breathing phase includes an exhalation phase and an inhalation phase; Accordingly, determining the inflation start time and the deflation start time according to the breathing stage includes: The start time of the exhalation phase is determined as the inflation start time, and the start time of the inhalation phase is determined as the deflation start time.

5. The method according to claim 1, characterized in that The physiological sign signal at least includes a heartbeat signal; Correspondingly, determining the inflation and deflation parameters of each of the airbags according to the physiological sign signal includes: Determine a corresponding massage intensity parameter according to the heart rate value of the heartbeat signal; The inflation and deflation frequency and the inflation pressure are determined according to the massage intensity parameter, the inflation pressure is used as the pressure parameter, and the inflation and deflation frequency is used as the time parameter.

6. The method according to any one of claims 1 to 5, characterized in that: The physiological sign signals include at least a heartbeat signal and a breathing signal; Correspondingly, determining the inflation and deflation parameters of each of the airbags according to the physiological sign signal includes: Obtaining a massage mode set by the target person; A target physiological sign signal is determined from the heartbeat signal and the breathing signal according to the massage mode, and the inflation and deflation parameters of each airbag are determined according to the target physiological sign signal.

7. The method according to claim 1, characterized in that The method further comprises: During the inflation control process, detecting the current pressure of each of the airbags; Determine whether the current pressure of each of the airbags is greater than or equal to a current pressure threshold; wherein the current pressure threshold is determined according to the current massage duration of the target person; If so, the inflation of each of the airbags is stopped.

8. The method according to claim 1, characterized in that The sensor includes at least a millimeter wave radar sensor, an infrared thermal imaging sensor and a piezoelectric film sensor; Accordingly, determining the physiological sign signal of the target person located on the massage device according to the sensor data includes: Perform signal frequency band separation according to the first sensor data acquired by the millimeter wave radar sensor to obtain a first breathing signal and a first heartbeat signal; Correcting the first breathing signal according to second sensor data acquired by the infrared thermal imaging sensor to obtain a second breathing signal; Correcting the first heartbeat signal according to the third sensor data acquired by the piezoelectric film sensor to obtain a second heartbeat signal; The second breathing signal and / or the second heartbeat signal is used as the physiological sign signal.

9. The method according to claim 1, characterized in that: The method further comprises: Determine whether the physiological sign signal meets the abnormal state condition, and if so, deflate each of the airbags; or Determine whether the target person is in a continuous motion state based on the sensor data, and if so, calibrate the sensor and reacquire the sensor data after calibration.

10. A massage device of a massage equipment, characterized in that: The massage device comprises a plurality of airbags and at least one sensor, each of the airbags is inflated or deflated during the massage process, and the device comprises: a physiological sign determination module, used to obtain sensor data collected by the sensor, and determine a physiological sign signal of a target person located on the massage device according to the sensor data; An inflation and deflation parameter determination module, used to determine the inflation and deflation parameters of each of the airbags according to the physiological sign signal; wherein the inflation and deflation parameters include time parameters and pressure parameters; The inflation and deflation control module is used to control the inflation and deflation timing of each airbag according to the time parameter, and to control the inflation amount of each airbag according to the pressure parameter.

11. A massage device, characterized in that: The massage device comprises: Equipment body; wherein the equipment body is a sofa or a bed; at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the massage method of the massage device according to any one of claims 1 to 9.

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