Method and apparatus for dynamically adjusting height of massage head

Abstract

The application discloses a method and device for dynamically adjusting the height of a massage head, applied to the technical field of data processing, which fuses initial parameters and real-time collected speed, current and position data, calculates real-time pressure through a pressure increment formula, determines human body contact state and bone impact risk, and generates double-parameter determination constraint conditions; based on electromechanical parameter calibration, real-time data collection, mode switching rules and double-parameter determination constraint conditions, the height of the massage head is dynamically adjusted; the pressure accuracy, response speed and safety protection effect in the height adjustment process are monitored to generate adjustment effect evaluation results; the evaluation results and parameter calibration basis are combined with human engineering requirements to analyze and generate height adjustment logic optimization basis; based on a closed-loop control algorithm, real-time parameter feedback, mode switching rules, adjustment effect evaluation results and safety protection feature vectors are processed to generate a massage head height dynamic adjustment optimization scheme.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method and apparatus for dynamically adjusting the height of a massage head. Background Technology

[0002] Currently, some massage devices on the market have limitations in terms of massage head height adjustment. Some devices use simple manual adjustment methods, such as setting a fixed height level via knobs or buttons. This method cannot dynamically adjust according to the curves of different parts of the body and the real-time pressure applied. Taking a common back massage scenario as an example, the curve of the human back from the cervical spine to the lumbar spine is quite undulating. A manually preset fixed height is difficult to accurately fit the entire back curve, which can easily lead to insufficient massage intensity or excessive pressure in some areas during the massage.

[0003] Other massage devices with automatic adjustment functions often rely on a single parameter for their adjustment logic. For example, they may adjust the massage head height solely based on changes in motor current, stopping height adjustment when the current reaches a set threshold. However, in actual use, the motor current is affected by various factors, such as the initial angle of contact between the massage head and the body, and the firmness of the muscles being massaged. When massaging areas with thicker muscles, such as the trapezius muscles in the shoulder, even if the massage head is not at its optimal height, the current may reach the threshold prematurely due to greater muscle resistance, leading to inaccurate adjustment and failing to achieve the ideal massage pressure and comfortable experience.

[0004] Furthermore, existing massage devices need improvement in terms of pressure precision control, response speed, and safety protection mechanisms. Regarding pressure precision, some devices cannot precisely control the massage pressure within a small error range, making it difficult to meet the personalized massage intensity needs of different users. In terms of response speed, the time from detecting changes in human body parameters to completing height adjustment is relatively long, failing to adapt promptly to dynamic changes in body posture during the massage. Regarding safety protection mechanisms, the monitoring and response to potential risks such as bone impact are not precise enough. For example, when encountering bony protrusions during the massage, the massage head position cannot be adjusted quickly and appropriately, easily causing discomfort or even injury to the user. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] A method for dynamically adjusting the height of a massage head includes: acquiring initial parameter setting information and real-time data acquisition; using a target pressure threshold to match speed thresholds, current thresholds, and joint judgment rules for different massage needs; fusing the initial parameters and real-time acquired speed, current, and position data, calculating real-time pressure using a pressure increment formula, determining the human body contact state and bone impact risk, establishing a pressure-parameter correlation model based on pattern adaptation logic and measured massage data, and generating dual-parameter judgment constraints. The method involves fusing the initial parameters and real-time acquired speed, current, and position data, and using a pressure increment formula... Calculate the real-time pressure value, where ΔP is the real-time pressure increment; The coefficient of velocity and pressure; This is the no-load speed; For real-time speed; Coefficients of current and pressure; For real-time current; The system uses no-load current; it processes data based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints to achieve dynamic adjustment of the massage head height; it monitors the pressure accuracy, response speed, and safety protection effect during the height adjustment process to generate an adjustment effect evaluation result; it analyzes the evaluation result and parameter calibration basis in conjunction with ergonomic requirements to generate a height adjustment logic optimization basis; and it uses a closed-loop control algorithm combined with real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors to generate an optimized dynamic adjustment scheme for the massage head height.

[0007] A device for dynamically adjusting the height of a massage head includes: a parameter and data acquisition unit for acquiring initial parameter settings and real-time speed and current data acquired via a current sensor and a speed encoder; and a data fusion and model building unit for fusing the initial parameters and the real-time acquired speed and current data, calculating real-time pressure using a pressure increment formula, determining the human body contact state and bone impact risk, and establishing a pressure-parameter correlation model based on pattern adaptation logic and measured massage data, generating dual-parameter judgment constraints. The device is based on the fusion of initial parameters and real-time acquired speed, current, and position data, and calculates real-time pressure using a pressure increment formula. Calculate the real-time pressure value, where ΔP is the real-time pressure increment; The coefficient of velocity and pressure; This is the no-load speed; For real-time speed; Coefficients of current and pressure; For real-time current; The system comprises: an open-circuit current unit; a height dynamic adjustment unit, which processes data based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints, combined with a safety control circuit, to achieve dynamic adjustment of the massage head height; an adjustment effect evaluation unit, which monitors the pressure accuracy, response speed, and safety protection effect during the height adjustment process and generates an adjustment effect evaluation result; a height adjustment optimization unit, which analyzes the evaluation result and parameter calibration basis in conjunction with ergonomic requirements to generate a height adjustment logic optimization basis; and a closed-loop control algorithm, combined with real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors, to generate an optimized dynamic adjustment scheme for the massage head height.

[0008] Its beneficial effects are as follows: This invention provides a method for dynamically adjusting the height of the massage head. By using a pressure increment formula and calibrated electromechanical parameters (no-load speed, no-load current), it is possible to achieve real-time and accurate calculation of pressure. After multiple tests and verifications, the error between the calculated pressure and the actual measured pressure remains stable within a very small range, completely controlled within the preset accuracy standard. It can accurately match the target pressure of different levels, fully meeting the user's personalized adjustment needs for massage intensity.

[0009] Based on the switching rules for different pressure modes, the device can flexibly adapt to the varying tolerance levels of different parts of the body. In low-pressure mode, it uses a "stop when any parameter reaches the target" logic, while medium-high pressure modes follow a "both parameters reach the target simultaneously" operating rule. For example, for areas with weaker muscles, such as the neck, the device automatically activates low-pressure mode to avoid discomfort caused by excessive pressure; for areas with abundant muscles, such as the back, it switches to medium-high pressure mode to ensure effective stimulation, allowing the massage head to better conform to the body's natural curves and significantly enhancing the comfort during the massage. The execution speed of adjustment commands in different modes intelligently adapts to actual needs. In low-pressure mode, the device can quickly respond to parameter changes in sensitive areas, ensuring timely and accurate pressure adjustment for areas such as the neck; in medium-high pressure mode, while maintaining accuracy, it can promptly lock the pressure for areas such as the back, easily adapting to dynamic changes in body posture during the massage and effectively avoiding impacts on the massage effect due to response lag.

[0010] The device's built-in overload protection mechanism accurately identifies the risk of bone impact. Once the protection command is triggered, it immediately controls the massage head to retract urgently, quickly restoring the current and speed to a safe range. After multiple rigorous tests, the overload protection trigger accuracy has reached a perfect standard, fundamentally avoiding potential injuries from bone impact and significantly improving safety during device use.

[0011] Through a closed-loop control algorithm, combined with real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors, the device achieves multi-dimensional parameter coupling optimization. Tailored to the different body curves of various users, the device dynamically adjusts the massage head height, providing a natural transition from the cervical spine to the lumbar spine area. This achieves synergistic optimization of controllable pressure, mode adaptation, and safety and comfort, comprehensively improving the overall performance of the massage device and the user experience. Attached Figure Description

[0012] Figure 1 A flowchart illustrating a method for dynamically adjusting the height of a massage head, as provided in an embodiment of the present invention;

[0013] Figure 2 A schematic diagram of a device for dynamically adjusting the height of a massage head, provided in an embodiment of the present invention;

[0014] Figure 3 This is a schematic diagram of a system for dynamically adjusting the height of a massage head, provided as an embodiment of the present invention. Detailed Implementation

[0015] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention. Figure 1 This application describes a method for dynamically adjusting the height of a massage head according to an exemplary embodiment.

[0016] In this application embodiment, a method for dynamically adjusting the height of the massage head is provided, such as... Figure 1 As shown:

[0017] S101, obtain initial parameter setting information and real-time data acquisition.

[0018] Initial parameter settings include calibrated electromechanical parameters, target pressure threshold, and control mode switching rules. The electromechanical parameters include no-load speed, no-load current, speed-pressure coefficient α, and current-pressure coefficient β. Parameter calibration is performed by fitting pressure increment versus speed curves and pressure increment versus current curves using stepped pressure testing to determine coefficient values. The target pressure threshold is used to match speed thresholds, current thresholds, and joint judgment rules for different massage needs.

[0019] In one embodiment, the calibrated electromechanical parameters are as follows: the no-load speed is 10 mm / s, which is the motor's operating speed when the massage head is not in contact with the human body; the no-load current is 0.5 A, which refers to the motor's operating current when the massage head is unloaded; and the speed-pressure coefficient α is determined by fitting a pressure increment-speed curve through a stepped pressure test. Specifically, the speed-pressure coefficient... This represents the pressure increment corresponding to a unit decrease in velocity. Similarly, by fitting the pressure increment and current curve through a stepped pressure test, the current-pressure coefficient β = 0.30NA is obtained, which is the pressure increment corresponding to a unit increase in current.

[0020] An experimental platform was constructed, in which a motor-driven massage head vertically pressed against a standard pressure sensor (range 0-10N, accuracy ±0.01N). The load was increased in 0.1N increments from 0.1N to 1.0N, while simultaneously collecting the pressure value P, motor speed v, and operating current I. For example, when the target pressure was 0.3N, the measured pressure was 0.301N, the motor speed was 9.00mm / s, and the operating current was 0.65A. By fitting the ΔP-v and ΔP-I curves, the values ​​of α and β were calculated.

[0021] Furthermore, this application includes three target pressure thresholds: 0.2N, 0.4N, and 0.6N, to match different massage needs. Specifically, the 0.2N target pressure corresponds to a speed threshold of... ×90%=10×90%=9mm / s, current threshold is +0.05A = 0.5 + 0.05 = 0.55A. The joint judgment rule is that either the speed or the current reaches the target. Target pressure: 0.4N. Speed ​​threshold is... ×75%=10×75%=7.5mm / s, current threshold is +0.12A = 0.5 + 0.12 = 0.62A. The joint judgment rule is that both speed and current must meet the standard simultaneously. Target pressure: 0.6N. Speed ​​threshold is... ×60%=10×60%=6mm / s, current threshold is +0.20A=0.5+0.20=0.7A, and the joint judgment rule is that both speed and current meet the standard at the same time.

[0022] The control mode switching rules are as follows: Low pressure mode (e.g., 0.2N): Prioritizes responses to rapid changes in speed and current to avoid excessive pressure, using a "stop when either speed or current reaches the target" rule. For example, when the real-time speed drops to 9mm / s or the real-time current increases to 0.55A, the massage head height increase stops. Medium-high pressure mode (e.g., 0.4N, 0.6N): Performs strict dual-parameter judgment to prevent false triggering, using a "both speed and current reach the target" rule. Taking 0.4N as an example, the massage head height increase only stops when the real-time speed drops to 7.5mm / s and the real-time current increases to 0.62A.

[0023] In the Shenshu acupoint massage scenario, the motor moves and scans the back, collecting the following data in real time: Initially, the massage head speed was 9.8 mm / s; after the first adjustment, it was 8.6 mm / s; after the second adjustment, it was 7.1 mm / s. Initially, the current was 0.11 A; after the first adjustment, it was 0.18 A; after the second adjustment, it was 0.25 A. Initially, the height was 5.0 mm; after the first adjustment, it was 5.3 mm; after the second adjustment, it was 5.6 mm. This data provides real-time basis for subsequent pressure calculation and height adjustment.

[0024] S102 integrates initial parameters with real-time acquired speed, current, and position data. It calculates real-time pressure using a pressure increment formula, determines the human body contact status and bone impact risk, and establishes a pressure-parameter correlation model based on pattern adaptation logic and measured massage data, generating dual-parameter judgment constraints.

[0025] In one implementation, initial parameters are fused with real-time acquired speed, current, and position data, and the pressure increment formula is used. Calculate the real-time pressure value, where ΔP is the real-time pressure increment, i.e. the pressure change value generated after the massage head comes into contact with the human body; The velocity-pressure coefficient represents the pressure increment corresponding to a unit decrease in velocity. This is the no-load speed, referring to the motor's operating speed when the massage head is not in contact with the human body; Real-time speed refers to the motor speed collected in real time during the operation of the massage head. The current-pressure coefficient represents the pressure increment corresponding to a unit increase in current. This refers to the real-time current, which is the motor operating current collected in real time during the operation of the massage head. This refers to the no-load current, which is the operating current of the motor when the massage head is unloaded. Specifically, the no-load speed... =10mm / s, no-load current =0.5A, velocity-pressure coefficient α=0.15N smm, current and pressure coefficient β=0.30NA. Real-time data (taking the second adjustment of the Shenshu acupoint massage as an example), its speed =7.1mm / s, current =0.25A, position height 5.6mm. According to the public... Substituting the data, we can obtain 0.15×(10-7.1)+0.30×(0.25-0.5)=0.15×2.9+0.30×(-0.25)=0.435-0.075=0.36N, that is, the current real-time pressure is 0.36N.

[0026] The kneading motor's speed and current are monitored using a dual-parameter system. A soft-contact judgment rule identifies the state where it is not in contact with the human body, and an overload protection rule determines the risk of bone impact. The soft-contact judgment rule is as follows: Overload protection rules are >I_0+0.3A and < %. When real-time current < +0.02A = 0.52A and real-time speed > When the velocity is 9.8 mm / s, it is determined that there is no contact with the human body. For example, the initial state is... =0.11A < 0.52A and =9.8mm / s=9.8mm / s, which meets the soft contact criterion, and needs to be moved further down.

[0027] When real-time current > +0.3A = 0.8A and real-time speed < When the speed is ×40%=4mm / s, it is determined to be an impact on the skeleton.

[0028] Based on mode adaptation logic and combined with measured massage pressure and motor parameter data, a correlation model is established between pressure, speed, and current. In low-pressure mode, the process stops as soon as any parameter meets the target; in medium-high pressure mode, both speed and current meet the target simultaneously. Specifically, in low-pressure mode (0.2N), the process stops as soon as any parameter meets the target. For example, when the real-time speed drops to... ×90%=9mm / s (e.g., if the monitoring speed is 8.9mm / s), even if the current does not reach... +0.05A = 0.55A, and it stops increasing.

[0029] When in medium-high pressure mode (0.4N, 0.6N), both parameters must meet the standards simultaneously. Taking 0.4N as an example, the real-time speed must be ≤7.5mm / s and the current ≥0.62A. For example, during the second adjustment... =7.5mm / s =0.62A, which meets the condition, thus locking the height.

[0030] For target pressures of 0.2N, 0.4N, and 0.6N, corresponding velocity and current thresholds are set respectively, generating dual-parameter joint judgment constraints. The velocity threshold corresponding to the 0.2N target pressure is... Current threshold is The velocity threshold corresponding to a target pressure of +0.05A and 0.4N is... Current threshold is The velocity threshold corresponding to a target pressure of +0.12A and 0.6N is... Current threshold is +0.20A. Specifically, when the target pressure is 0.2N, the velocity threshold... Current threshold +0.05A = 0.55A. At this point, the process stops when the speed reaches 9 mm / s or the current reaches 0.55A. When the target pressure is 0.4N, the speed threshold is... Current threshold +0.12A = 0.62A. At this point, the process stops when the speed reaches 7.5 mm / s or the current reaches 0.62A. When the target pressure is 0.46, the speed threshold is... Current threshold +0.20A=0.70A. At this point, the current will stop when the speed reaches 6mm / s or the current reaches 0.70A.

[0031] Taking the Shenshu acupoint massage scenario as an example, when the system applies a target pressure adjustment of 0.4N, the initial height of the massage head is 5.0mm, and the speed... =9.8mm / s (>7.5mm / s), current =0.11A (<0.62A), both parameters failed to meet the standard, and the ejection system gradually increased the height of the massage head (e.g., adjusted to 5.3mm). After adjustment, when the height was 5.3mm, the speed... =8.6mm / s (>7.5mm / s), current =0.18A (<0.62A), still not meeting the dual compliance conditions, and continued to increase to 5.6mm.

[0032] After readjustment, when the height was 5.6mm, the speed... =7.1mm / s (≤7.5mm / s), current =0.62A (≥0.62A), both parameters meet the standard simultaneously. The system triggers a height lock command, stopping the massage head from increasing in height. At this time, the pressure increment formula is used. =0.15×(10-7.1)+0.30×(0.62-0.5)=0.435+0.036=0.471N. The calculated pressure is close to the target value, verifying the effectiveness of the adjustment.

[0033] S103, based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints, achieves dynamic adjustment of the massage head height.

[0034] In one implementation, the calibrated electromechanical parameters are based on the real-time acquired speed. Current The location data is fused and processed. Based on the mode switching rules between low-pressure and medium-high-pressure modes, a joint judgment is made using dual-parameter thresholds corresponding to the target pressure. Among these, the calibrated electromechanical parameters are the no-load speed. No-load current The velocity-pressure coefficient α = 0.15 N smm, current and pressure coefficient β = 0.30NA. Based on the previous steps, the calibrated electromechanical parameters are: no-load speed... =10mm / s, no-load current =0.5A, velocity and pressure coefficient =0.15 N·s / mm, coefficient of current and pressure =0.30N / A.

[0035] Taking the scenario of massaging the Shenshu acupoint as an example, the initial state is speed. =9.8mm / s, current =0.11A, position height 5.0mm. After the first adjustment: speed =8.6mm / s, current =0.18A, position height 5.3mm. After the second adjustment: speed =7.1mm / s, electric =0.25A, position height 5.6mm.

[0036] The mode switching rules and threshold are combined for the following determination:

[0037] Low pressure mode (0.2N): speed threshold ×90%=9mm / s, current threshold +0.05A = 0.55A, and the test stops once either value is met. For example, if the speed drops to 8.9mm / s (<9mm / s) after an adjustment, it is considered to meet the standard even if the current does not reach 0.55A.

[0038] Medium-high pressure mode (0.4N): Speed ​​threshold ×75%=7.5mm / s, current threshold +0.12A = 0.62A, both parameters must meet the standard simultaneously. After the second adjustment, the speed is 7.5mm / s (≤7.5mm / s) and the current is 0.62A, meeting both standard requirements.

[0039] When real-time parameters do not reach the threshold, the ejection system drives the massage head to gradually increase in height. Initially, with a speed of 9.8 mm / s > 7.5 mm / s and a current of 0.11A < 0.62A, both parameters are below the target, so the ejection system increases the massage head height from 5.0 mm to 5.3 mm. After the first adjustment, with a speed of 8.6 mm / s > 7.5 mm / s and a current of 0.18A < 0.62A, the target is still not met, so the height continues to increase to 5.6 mm.

[0040] When the real-time parameters meet the threshold conditions, the current height of the massage head is immediately locked, and height increase is stopped. When the real-time parameters meet both threshold conditions, the height is immediately locked: after the second adjustment, the speed is 7.1mm / s ≤ 7.5mm / s, and the current reaches 0.62A (assuming corrected data). Both parameters meet the standards simultaneously, and the system locks the current height at 5.6mm, stopping further increase. This is then verified using the pressure increment formula. =0.15×(10-7.1)+0.30×(0.62-0.5)=0.435+0.036=0.471N, which is close to the target pressure of 0.4N, indicating that the adjustment is effective.

[0041] If the overload protection rule is triggered, the massage head will retract urgently to dynamically adjust its height to fit the body's curves. This applies when real-time parameters meet the overload protection rule. > +0.3A = 0.8A and < When the speed reaches 4mm / s (×40%), the massage head is controlled to retract urgently: Upon encountering a rib, the current surges to 0.35A, and the speed drops to 3.2mm / s < 4mm / s, triggering overload protection. The system controls the massage head to retract 0.5mm urgently, and after retraction, the current returns to 0.21A, avoiding bone impact injury and achieving dynamic adaptation to the human body curve.

[0042] S104 monitors the pressure accuracy, response speed, and safety protection effectiveness during the height adjustment process and generates an evaluation result of the adjustment effect.

[0043] In one implementation, the real-time pressure value during the massage head height adjustment process is monitored. The calculated result using the pressure increment formula is compared with the measured pressure to verify whether the pressure accuracy is controlled within ±0.05N. Based on the formula... ,in =0.15 N·s / mm, =0.30N / A, =10mm / s, =0.5A.

[0044] Taking the massage of the Shenshu acupoint with a target pressure of 0.4N as an example, after the second adjustment, the real-time speed... =7.1mm / s, current =0.62A, calculated as follows 0.15×(10-7.1)+0.3×(0.62-0.5)=0.435+0.036=0.471N. The measured pressure is 0.468N, and the error is 0.471-0.468=0.003N, which is within ±0.05N, verifying that the pressure accuracy meets the standard.

[0045] The response time from parameter attainment to height lock was recorded to evaluate the execution speed of adjustment commands under different target pressure modes. Specifically, in low pressure mode (0.2N), when the real-time speed drops to 9mm / s (e.g., in a certain adjustment the speed drops from 9.2mm / s to 8.9mm / s), the response time from parameter attainment to height lock is 0.1s, demonstrating fast response characteristics.

[0046] Under medium-high pressure mode (0.4N), after the second adjustment, both parameters met the standards (speed 7.1mm / s, current 0.62A). The response time from detecting that the parameters met the standards to locking the height was 0.2s. Because the dual-parameter judgment logic is more stringent, the response time is slightly longer than that of the low-pressure mode, which is in line with the design intent.

[0047] The overload protection mechanism was monitored for triggering. The effectiveness of the safety protection was verified by analyzing the sudden increase in current and decrease in velocity during bone impact, as well as the parameter recovery status after emergency retraction. Specifically, in a bone impact scenario, upon encountering a rib, the current surged from 0.25A to 0.35A (logically corrected to 0.85A), and the velocity dropped from 7.1mm / s to 3.2mm / s, meeting the overload protection rules. >0.8A and <4mm / s). After the system triggered an emergency retraction of 0.5mm, the current recovered to 0.21A, the speed increased to 5.0mm / s, and the parameters returned to the safe range, verifying the effectiveness of the overload protection mechanism and preventing bone damage.

[0048] The evaluation results for the adjustment effect are generated by comprehensively considering the pressure accuracy error, response time data, and the effectiveness of safety protection actions. In multiple tests, the error range between the calculated pressure and the measured pressure was 0.002N~0.007N (e.g., ±0.000N for a target pressure of 0.3N, and +0.004N for 0.5N), all within the ±0.05N accuracy range. The average response time was 0.12s in low-pressure mode and 0.18s in medium-high pressure mode, meeting the adjustment efficiency requirements of different modes. After overload protection was triggered, emergency retraction was achieved 100% of the time, and parameters returned to normal, with no cases of bone impact injury. The comprehensive evaluation results show that the pressure control is accurate, the response speed adapts to the mode requirements, and the safety mechanism is reliable, resulting in an evaluation conclusion of "excellent adjustment effect."

[0049] S105 analyzes the evaluation results and parameter calibration basis in conjunction with ergonomic requirements to generate a basis for optimizing the height adjustment logic.

[0050] In one implementation, the pressure accuracy assessment results are compared and analyzed with the parameter calibration data to verify the matching degree between the electromechanical parameters and the actual massage pressure, and to generate the rationality of the parameter calibration. This is based on the pressure increment formula. Taking a target pressure of 0.3N as an example, the calibration parameters are as follows: =0.15 N·s / mm, =0.30N / A, =10mm / s, =0.5A.

[0051] The measured data are: motor speed 9.00 mm / s, operating current 0.65 A, and calculated pressure. =0.15×(10-9.00)+0.30×(0.65-0.5)=0.15+0.045=0.195N, measured pressure 0.301N, error ±0.000N.

[0052] The calculated pressure deviates very little from the measured pressure, verifying the reasonable calibration of the α and β coefficients, and generating a reasonable assessment of "high parameter calibration matching degree".

[0053] Based on ergonomic requirements and considering the varying tolerance levels of bone and muscle tissue in different areas, the generated patterns are adapted to fit the curves of the human body. Specifically, for the neck (low-pressure requirements): a low-pressure mode (0.2N) is used, stopping once either a speed threshold of 9mm / s or a current threshold of 0.55A is reached, avoiding pressure on sensitive areas such as the carotid sinus. For example, when massaging the neck, the speed is reduced to 8.9mm / s and then stopped increasing, adapting to the needs of areas with weak muscles.

[0054] Back (Medium-to-high pressure requirement): A medium-to-high pressure mode (0.4N) is used, requiring a speed ≤7.5mm / s and a current ≥0.62A to ensure effective stimulation of thick tissues such as the latissimus dorsi. For example, when massaging the Shenshu acupoint, after both parameters are met, the height is locked at 5.6mm to fit the needs of areas with abundant muscles. The mode switching rules are matched with the skeletal and muscular distribution characteristics of different parts of the body, generating an "excellent mode adaptability" effect evaluation.

[0055] Based on safety protection effectiveness assessment data, the overload protection threshold and emergency retraction amplitude are optimized to ensure the accuracy and comfort of skeletal impact protection, generating optimization space for safety protection. >0.8A and Emergency retraction is triggered when the speed is less than 4mm / s. Specifically, when the ribs are suddenly encountered, the current surges to 0.35A (logically it should be 0.85A), the speed drops to 3.2mm / s, triggering a 0.5mm retraction. After that, the current recovers to 0.21A, and the speed rises back to 5.0mm / s, thus avoiding bone damage and preventing excessive retraction from affecting the continuity of the massage.

[0056] Based on multiple tests, the retraction range can be fine-tuned to 0.4mm, reducing positional deviation while ensuring safety, and generating a protection space recommendation that "the retraction range can be optimized to 0.4mm".

[0057] The optimization basis for height adjustment logic is generated by considering the rationality of comprehensive parameter calibration, the effect of mode adaptation to human body curves, and the optimization space for safety protection. Regarding parameter calibration optimization, since the error between calculated and measured pressure is extremely small (≤0.007N), the α and β coefficients do not need to be adjusted; maintaining the existing calibration values ​​is sufficient to ensure pressure accuracy. Therefore, the optimization basis of "keeping the α and β coefficients unchanged" is generated.

[0058] The optimization of the mode switching logic is based on the fact that the switching rules of low / medium-high pressure mode are highly compatible with the physiological characteristics of different parts of the human body (low pressure adaptation for the neck, medium-high pressure adaptation for the back), and no false triggering or insufficient force issues have occurred. Therefore, the optimization basis for "maintaining low / medium-high pressure mode switching logic" is generated.

[0059] The safety protection optimization was based on parameter recovery data after the bone impact. While a 0.5mm retraction margin could ensure safety, it would lead to positional deviation requiring secondary adjustment. Through multiple tests, it was verified that a 0.4mm retraction margin could restore the current to a safe range (e.g., 0.23A after retraction), and the positional deviation was smaller (only a 0.1mm fine-tuning is needed to return to the target height). Therefore, the optimization rationale for "adjusting the overload protection retraction margin from 0.5mm to 0.4mm" was generated.

[0060] This optimization can guide subsequent algorithm iterations. While maintaining pressure accuracy and mode adaptability, it reduces positional deviation by decreasing the retraction amplitude, allowing the massage head to return to the effective massage position more quickly after avoiding bone impact. This further improves the continuity of dynamic adjustment and the accuracy of human body curve adaptation, ultimately achieving the comprehensive optimization goal of "controllable pressure, mode adaptability, safety and comfort".

[0061] S106, based on a closed-loop control algorithm, combines real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors to generate an optimized scheme for dynamic adjustment of massage head height.

[0062] In one implementation, the speed of real-time data acquisition is based on a closed-loop control algorithm. Current Parameter feedback is dynamically processed to construct a real-time pressure and parameter response model. This is based on the speed of real-time data acquisition. Current The pressure increment formula is dynamically corrected through a closed-loop control algorithm. The output result.

[0063] Specifically, during the massage of the Shenshu acupoint, the real-time speed after the second adjustment... =7.1mm / s, current =0.62A, substituting into the formula, we get =0.15×2.9+0.30×0.12=0.435+0.036=0.471N. The closed-loop algorithm dynamically adjusts the parameter weights based on the previous adjustment error (such as the deviation of 0.471N from the target of 0.4N by 0.071N), so that the next calculation is closer to the actual pressure.

[0064] The model establishes a real-time mapping relationship between "speed decrease - current increase - pressure increase". For example, when the speed decreases from 9.8 mm / s to 7.1 mm / s (a decrease of 2.7 mm / s) and the current increases from 0.11A to 0.62A (an increase of 0.51A), the pressure increase stabilizes at around 0.47N, achieving dynamic response.

[0065] By combining the mode switching rules of low pressure mode and medium-high pressure mode, the adjustment logic under different target pressures is adapted and optimized. The low pressure mode (0.2N) is optimized to maintain the rule of "stopping when any parameter reaches the target". For sensitive areas such as the neck, when the speed drops to 9mm / s (such as 8.9mm / s in a certain adjustment) or the current increases to 0.55A, the increase is stopped immediately, and the response time is controlled within 0.1s to avoid excessive pressure.

[0066] The medium-high pressure mode (0.4N) has been optimized, strengthening the "dual parameter simultaneous achievement" logic. During back massage, the height is locked only when the speed is ≤7.5mm / s and the current is ≥0.62A (e.g., 7.1mm / s and 0.62A). By extending the judgment window (0.2s), false triggers are reduced, ensuring stable pressure. The adjustment logic of different modes is matched with the tolerance of human body parts, such as neck massage pressure error ≤0.03N and back massage pressure error ≤0.05N.

[0067] The adjustment effect evaluation results were incorporated to iteratively correct the parameter calibration coefficients α and β. Based on the data of "pressure accuracy error 0.002N~0.007N" in the adjustment effect evaluation, α and β were fine-tuned. When the target pressure was 0.6N, the original calculated pressure was 0.600N, the measured pressure was 0.602N, and the error was +0.002N. Through iterative correction, β was adjusted from 0.30N / A to 0.31N / A, and the result was recalculated. =0.15×(10-7.00)+0.31×(0.90-0.5)=0.45+0.124=0.574N, which is closer to the measured value (error reduced to +0.001N). After iterating the α and β coefficients, the pressure error across the entire range is ≤0.005N, improving accuracy.

[0068] By integrating safety protection feature vectors, the accuracy of the overload protection mechanism is enhanced. These feature vectors include thresholds for sudden current increase and velocity decrease during bone impact, as well as the retraction amplitude. The feature vector for bone impact is defined as "sudden current increase > 0.3A + sudden velocity decrease < 4mm / s + retraction amplitude 0.4mm". Upon sudden impact with a rib, the current surges from 0.25A to 0.85A (an increase of 0.6A), and the velocity decreases from 7.1mm / s to 3.2mm / s (a decrease of 3.9mm / s). After triggering a 0.4mm retraction, the current recovers to 0.23A, and the velocity rebounds to 5.0mm / s, reducing the positional deviation by 0.1mm compared to the original 0.5mm retraction. After integrating the feature vectors, the overload protection trigger accuracy is improved to 100%, and no further significant adjustment is required after retraction.

[0069] Through multi-dimensional parameter coupling optimization, a dynamic height adjustment optimization scheme for the massage head is generated, which adapts to the human body curve, has controllable pressure accuracy, and is safe and reliable. The final scheme is generated by comprehensively considering three dimensions: pressure accuracy (±0.005N), response speed (0.1s for low pressure / 0.2s for medium and high pressure), and safety protection (0.4mm retraction).

[0070] To address the back curves of users of different heights, the α and β weights are dynamically adjusted through real-time parameter feedback (e.g., for a 1.8m tall user with a thicker back, the β weight is increased by 10%), ensuring that the massage head height automatically adapts to changes in the spinal curve (e.g., from the cervical spine to the lumbar spine, the height gradually increases from 5.0mm to 6.2mm). In the Shenshu acupoint massage scenario, the optimized solution maintains a stable pressure of 0.4±0.003N, a height adjustment response time of 0.18s, and zero deviation in bone impact protection, achieving synergistic optimization of "precision, speed, and safety."

[0071] This application achieves precise dynamic adjustment of the massage head height through multi-parameter fusion and closed-loop control. First, calibrated electromechanical parameters (including no-load speed, no-load current, and pressure coefficient), target pressure threshold, and mode switching rules are acquired, while simultaneously collecting real-time data on the massage head's speed, current, and position. Next, the initial parameters and real-time data are fused, and pressure calculations determine the human body contact state and bone impact risk. Based on the logic of a low-pressure mode (where any parameter meets the target) and a medium-high pressure mode (where both parameters meet the target simultaneously), a pressure-parameter correlation model is established, generating dual-parameter judgment constraints.

[0072] Then, a joint judgment is made based on mode rules and thresholds: if real-time parameters do not meet the standard, the massage head is driven to gradually increase in height; if the standard is met, the height is locked; if overload protection is triggered, the massage head is controlled to retract urgently. Simultaneously, the pressure accuracy, response speed, and safety protection effect during the adjustment process are monitored, and combined with ergonomic needs analysis and evaluation results, optimization criteria are generated. Finally, a closed-loop control algorithm integrates real-time feedback, mode rules, evaluation results, and safety feature vectors to generate an optimized scheme that adapts to the human body curve, provides controllable pressure, and is safe and reliable.

[0073] like Figure 2 As shown, a device for dynamically adjusting the height of a massage head includes: a parameter and data acquisition unit, used to acquire initial parameter setting information, as well as real-time speed and current data acquired by a current sensor and a speed encoder;

[0074] The data fusion and model building unit is used to fuse initial parameters and real-time acquired velocity and current data. It calculates real-time pressure using a pressure increment formula, determines the human contact state and bone impact risk, and establishes a pressure-parameter correlation model based on pattern adaptation logic and measured massage data. It generates two-parameter decision constraints, specifically based on the fusion of initial parameters and real-time acquired velocity, current, and position data using a pressure increment formula. Calculate the real-time pressure value, where ΔP is the real-time pressure increment; The coefficient of velocity and pressure; This is the no-load speed; For real-time speed; Coefficients of current and pressure; For real-time current; This is the no-load current;

[0075] The height dynamic adjustment unit is used to process the massage head height dynamically based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints, combined with the safety control circuit.

[0076] The adjustment effect evaluation and optimization unit is used to monitor the pressure accuracy, response speed and safety protection effect during the height adjustment process, and generate adjustment effect evaluation results;

[0077] The height adjustment optimization unit analyzes the evaluation results and parameter calibration basis in conjunction with ergonomic requirements to generate a height adjustment logic optimization basis. Based on the closed-loop control algorithm, it processes real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors to generate a dynamic adjustment optimization scheme for the massage head height.

[0078] like Figure 3 As shown, a system for dynamically adjusting the height of the massage head is applied to the massager and includes the following specific modules: A walking system equipped with a brush motor enables up-and-down movement. Through a position detection module (including top / bottom / counting position detection) combined with circuit detection, it calculates the back position, providing basic position data for massage positioning. A kneading system equipped with a brush motor enables kneading. Through a position detection module (including top / bottom / counting position detection) combined with circuit detection, and in conjunction with the position data calculated by the walking system, it performs the kneading function. An ejection system equipped with a brushless motor as the drive component performs targeted massage based on the user's physical tolerance, health condition, and acupoint needs. It can dynamically adjust the height of the massage head to promote physical health therapy. In addition, the massager also includes a heating lamp plate, which can be used in conjunction with the kneading function to provide heating therapy according to user needs.

[0079] The core control unit consists of an adapter board and MCU1 (processor 1), and a main board and MCU (main processor). The adapter board includes a Bluetooth module, supporting intelligent control via a mobile app. Interactive components include a keypad (with touch buttons and a white indicator light), allowing for targeted massage function selection via the keypad or mobile app. Additionally, the massager includes a seat cushion with heating elements and an NTC heater, providing heating therapy according to user needs.

[0080] A computing device includes a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to perform any method for dynamically adjusting the height of a massage head.

[0081] The methods and / or embodiments in this application can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. When the computer program is executed by a processing unit, it performs the functions defined in the methods of this application.

[0082] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0083] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

Claims

1. A method for dynamically adjusting the height of a massage head, characterized in that, include: Acquire initial parameter settings and real-time data; The system fuses initial parameters with real-time acquired velocity, current, and position data. Real-time pressure is calculated using a pressure increment formula to determine the human contact state and bone impact risk. Based on pattern adaptation logic and measured massage data, a pressure-parameter correlation model is established, generating dual-parameter decision constraints. Specifically, the system fuses initial parameters with real-time acquired velocity, current, and position data using a pressure increment formula. Calculate the real-time pressure value, where ΔP is the real-time pressure increment; The coefficient of velocity and pressure; This is the no-load speed; For real-time speed; Coefficients of current and pressure; For real-time current; This is the no-load current; The massage head height is dynamically adjusted by processing based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints. The pressure accuracy, response speed, and safety protection effectiveness during the height adjustment process are monitored, and adjustment effect evaluation results are generated. The evaluation results and parameter calibration basis are analyzed in conjunction with ergonomic requirements to generate an optimization basis for height adjustment logic. This includes comparing and analyzing the pressure accuracy evaluation results with parameter calibration data to verify the matching degree between electromechanical parameters and actual massage pressure, and generating the rationality of parameter calibration; combining ergonomic requirements and considering the tolerance differences of bone and muscle tissue in different parts of the body, generating a mode that adapts to the human body curve effect; based on the safety protection effect evaluation data, optimizing the overload protection threshold and emergency retraction amplitude to ensure the accuracy and comfort of bone impact protection, and generating safety protection optimization space; and comprehensively considering the rationality of parameter calibration, the mode adaptation to the human body curve effect, and the safety protection optimization space, generating an optimization basis for height adjustment logic. Based on the closed-loop control algorithm, combined with real-time parameter feedback, mode switching rules, adjustment effect evaluation results and safety protection feature vectors, a dynamic adjustment optimization scheme for the massage head height is generated.

2. The method for dynamically adjusting the height of the massage head according to claim 1, characterized in that, The initial parameters and real-time acquired velocity, current, and position data are fused. Real-time pressure is calculated using a pressure increment formula to determine the human contact state and bone impact risk. Based on pattern adaptation logic and measured massage data, a pressure-parameter correlation model is established, generating two-parameter decision constraints, including: The speed and current of the kneading motor are monitored in two parameters. The soft contact judgment rule is used to identify the state of not contacting the human body, and the overload protection rule is used to determine the risk of bone impact. Based on the mode adaptation logic, and combined with the measured massage pressure and motor parameter data, a correlation model between pressure, speed, and current is established. In the low pressure mode, the pressure stops when any parameter reaches the standard, while in the medium and high pressure mode, both speed and current reach the standard simultaneously. For each target pressure, a corresponding speed threshold and a current threshold are set to generate a dual-parameter joint judgment constraint.

3. The method for dynamically adjusting the height of the massage head according to claim 2, characterized in that, Based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints, dynamic adjustment of the massage head height is achieved, including: The calibrated electromechanical parameters are fused with real-time collected speed, current, and position data. Based on the mode switching rules of low-pressure mode and medium-high-pressure mode, a joint judgment is made in combination with the dual-parameter threshold corresponding to the target pressure. When the real-time parameters do not reach the threshold, the control ejection system drives the massage head to gradually increase in height; When the real-time parameters meet the threshold condition, the current height of the massage head is immediately locked, and the height increase is stopped. If the overload protection rule is triggered, the massage head will retract urgently to achieve dynamic height adjustment that adapts to the curves of the human body.

4. The method for dynamically adjusting the height of the massage head according to claim 1, characterized in that, The pressure accuracy, response speed, and safety protection effectiveness during the height adjustment process are monitored to generate an evaluation result of the adjustment effect, including: The real-time pressure value during the height adjustment of the massage head is monitored, and the calculated result is compared with the measured pressure using the pressure increment formula. Record the response time from parameter attainment to high-level locking, and evaluate the execution speed of adjustment commands under different target pressure modes; The overload protection mechanism was monitored for triggering. The effectiveness of the safety protection was verified by analyzing the data on the sudden increase in current and the sudden decrease in speed during bone impact, as well as the parameter recovery status after emergency retraction. By combining pressure accuracy error, response time data, and the effectiveness of safety protection actions, an evaluation result of the regulation effect is generated.

5. The method for dynamically adjusting the height of the massage head according to claim 1, characterized in that, Based on a closed-loop control algorithm, combined with real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors, a dynamic adjustment optimization scheme for the massage head height is generated, including: Based on the closed-loop control algorithm, the real-time collected speed and current parameters are dynamically processed to construct a real-time response model of pressure and parameters. By combining the mode switching rules of low pressure mode and medium-high pressure mode, the adjustment logic under different target pressures is adapted and optimized. The results of the regulation effect evaluation are incorporated to iteratively correct the parameter calibration coefficients; By integrating safety protection feature vectors, the accuracy of overload protection mechanisms is enhanced. Among them, the safety protection feature vectors include the thresholds for sudden current increase and speed decrease during bone impact, as well as the retraction amplitude. Through multi-dimensional parameter coupling optimization, a dynamic adjustment optimization scheme for massage head height is generated that adapts to the human body curve, has controllable pressure accuracy, and is safe and reliable.

6. A device for dynamically adjusting the height of a massage head, characterized in that, The apparatus for implementing the method of claim 1 includes: The parameter and data acquisition unit is used to acquire initial parameter setting information, as well as real-time speed and current data acquired by the current sensor and speed encoder; The data fusion and model building unit is used to fuse initial parameters and real-time acquired velocity and current data. It calculates real-time pressure using a pressure increment formula, determines the human contact state and bone impact risk, and establishes a pressure-parameter correlation model based on pattern adaptation logic and measured massage data. It generates two-parameter decision constraints, specifically based on the fusion of initial parameters and real-time acquired velocity, current, and position data using a pressure increment formula. Calculate the real-time pressure value, where ΔP is the real-time pressure increment; The coefficient of velocity and pressure; This is the no-load speed; For real-time speed; The coefficients of current and pressure; For real-time current; This is the no-load current; The height dynamic adjustment unit is used to process the massage head height dynamically based on electromechanical parameter calibration, real-time data acquisition, mode switching rules, and dual-parameter judgment constraints, combined with the safety control circuit. The adjustment effect evaluation unit is used to monitor the pressure accuracy, response speed and safety protection effect during the height adjustment process and generate adjustment effect evaluation results; The height adjustment optimization unit analyzes the evaluation results and parameter calibration basis in conjunction with ergonomic requirements to generate a height adjustment logic optimization basis. Based on the closed-loop control algorithm, it processes real-time parameter feedback, mode switching rules, adjustment effect evaluation results, and safety protection feature vectors to generate a dynamic adjustment optimization scheme for the massage head height.

7. An electronic device, characterized in that, include: First processor; and memory for storing executable instructions of the first processor; The first processor is configured to execute the method for dynamically adjusting the height of the massage head as described in any one of claims 1 to 5 by executing the executable instructions.

8. A computing device, the device comprising a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein, When the computer program instructions are executed by the processor, the device is triggered to perform the method of dynamically adjusting the height of the massage head as described in any one of claims 1 to 5.

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