Crus massage structure, anti-pinch method and device thereof and massage chair

Abstract

The invention discloses a shank massage structure, an anti-pinch method and device thereof and a massage arm.The shank massage structure is characterized in that a first guide rail and a second guide rail are arranged on a first shank support and a second shank support respectively, and one end of a first connecting rod and one end of a second connecting rod are slidably connected with the first guide rail and the second guide rail respectively; the other end is hinged with a second hinge point of the second shank bracket and a first hinge point of the first shank bracket respectively; the middles of the first connecting rod and the second connecting rod are mutually crossed and hinged; the driving part pushes one end of the first connecting rod to slide in the first guide rail or pushes one end of the second connecting rod to slide in the second guide rail towards the direction of the first hinge point, and the angle between the first connecting rod and the second connecting rod is reduced due to the fact that the middle of the first connecting rod is hinged to the middle of the second connecting rod. The second shank support moves in parallel relative to the first shank support in the direction away from the first shank support. It can be guaranteed that the anti-pinch function of the shank massage structure is safely and accurately started.

Description

Technical Field

[0001] This invention relates to the field of massage chairs, specifically to a calf massage structure and its anti-pinch method, device, and massage chair. Background Technology

[0002] As massage chairs have evolved and become increasingly electric and intelligent, cases of people and animals being injured by them have also risen. Current anti-pinch technologies primarily use resistive or capacitive sensors. Resistive pressure sensors are slow to react and difficult to trigger, while capacitive sensors are prone to false triggering and interference from metal conductors. Therefore, a more reliable and efficient anti-pinch method is needed to ensure that the massage chair immediately stops operating when it pinches a person or foreign object, guaranteeing user safety.

[0003] Currently, the anti-pinch device on massage chairs uses capacitive anti-pinch sensors. Installing sensors in various parts that need anti-pinch protection not only greatly increases costs, but also sometimes causes false triggering due to excessive sensitivity. Environmental factors can also trigger the anti-pinch function, greatly reducing the user experience.

[0004] Furthermore, massage chairs offer numerous automatic programs during operation. To enhance user comfort, the chair extends to varying degrees, causing the upper and lower calf supports in the leg massage mechanism to expand and contract, adjusting the length between the calf and foot. If foreign objects or body parts are accidentally placed between these supports, they can easily be pinched, causing injury to both the user and the equipment. To reduce costs, capacitive anti-pinch sensors in various parts should be eliminated, replacing them with current signals from the motor to assist in the anti-pinch action. However, current leg massage mechanisms use a single-screw drive for extension and retraction. Without modifying the mold, the leg massage structure can become misaligned when encountering resistance at different points during movement, leading to inconsistent motor data and inconsistent anti-pinch force. Significant deviations in anti-pinch force result in ineffective anti-pinch protection or even failure. Therefore, the current leg massage structure cannot achieve a stable anti-pinch effect. Summary of the Invention

[0005] The purpose of this application is to provide a calf massage structure, its anti-pinch method, device, and massage chair to address the aforementioned technical problems.

[0006] In a first aspect, the present invention provides a calf massage structure, including a drive component, a first calf support, a second calf support, a first guide rail, a second guide rail, a first connecting rod and a second connecting rod, wherein a massage mechanism is provided on the first calf support or the second calf support. The first guide rail and the second guide rail are respectively mounted on the first calf support and the second calf support. One end of the first connecting rod and the second connecting rod are slidably connected to the first guide rail and the second guide rail, respectively. The other end of the first connecting rod and the second connecting rod are respectively hinged to the second hinge point of the second calf support and the first hinge point of the first calf support. The second guide rail and the second hinge point are respectively mounted on the left and right sides of the second calf support. The first and second links are hinged together at their middle sections; The driving component pushes one end of the first link to slide in the first guide rail or one end of the second link to slide in the second guide rail in the direction of the first hinge point. Since the middle parts of the first link and the second link are hinged to each other, the angle between the first link and the second link becomes smaller, and the second lower leg support moves parallel to the first lower leg support in the direction away from the first lower leg support.

[0007] Preferably, the system also includes a signal acquisition module and a main control board. The signal acquisition module is used to acquire current, voltage, speed, pulse count or pulse width data of the motor in the drive unit when it is working, and transmits the acquired data to the main control board for processing. When the main control board determines that the acquired data exceeds the set threshold, it immediately triggers the anti-pinch operation.

[0008] Preferably, when the drive unit starts running under no-load conditions, the signal acquisition module collects the current, voltage, speed, pulse number or pulse width data of the motor in the drive unit at this state and records them as reference values. The main control board determines the threshold based on these reference values.

[0009] Preferably, the driving component pushes the first link to slide on the first guide rail, and drives the second link to slide on the second guide rail, so as to push the second lower leg bracket to move in parallel extension and retraction relative to the first lower leg bracket.

[0010] Preferably, the first guide rail and the second guide rail are respectively provided with a first slide groove and a second slide groove, and the first connecting rod and the second connecting rod can slide along the sliding direction corresponding to the first slide groove and the second slide groove, respectively. The sliding direction is perpendicular to the parallel telescopic movement direction of the first lower leg support and the second lower leg support.

[0011] In a second aspect, the present invention provides an anti-pinch method for a calf massage structure, employing a calf massage structure as described in any implementation of the first aspect, comprising the following steps: S1, collect the current data of the motor that provides driving force during operation and preprocess it to obtain the preprocessed current data; S2, Select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​in the several data points; S3 determines whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

[0012] Preferably, the activation of the anti-pinch function of the calf massage structure is determined based on the current change rate and / or mean value, as well as the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data. Specifically, this includes: In response to determining that the rate of change of current is greater than the rate of change threshold, or the rate of change of current is less than or equal to the rate of change threshold and the mean is greater than the mean threshold, the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data is calculated, and it is determined whether the cumulative value of the difference is greater than the cumulative value threshold. If so, the anti-pinch function of the calf massage structure is triggered. Otherwise, the cumulative value of the difference is set to 0, and steps S1-S3 are repeated. In response to determining that the rate of change of current is less than or equal to the rate of change threshold and the mean is less than or equal to the mean threshold, steps S1-S3 are repeated.

[0013] Thirdly, the present invention provides an anti-pinch device for a calf massage structure, employing a calf massage structure as described in any implementation of the first aspect, comprising: The preprocessing module is configured to collect and preprocess the current data of the motor that provides driving force during operation to obtain preprocessed current data. The calculation module is configured to select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​among the several data points. The judgment module is configured to determine whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

[0014] Fourthly, the present invention provides a massage chair, including one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method described in any implementation of the first aspect.

[0015] Fifthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the implementations of the first aspect.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The calf massage structure proposed in this invention uses a cleverly designed quadrilateral link structure with the first and second links that are interlocked in the middle to drive the first calf support and / or the second calf support to perform parallel telescopic movement. This can prevent the calf massage structure from tilting or deforming when there are obstacles between the first calf support and the second calf support. It can also ensure that the current data of the collected motor has good consistency. Based on the calf massage structure proposed in this invention, cost reduction can be achieved while completing a high-quality anti-pinch action, which greatly improves the competitiveness of the product and the user experience.

[0017] (2) The anti-pinch method of the calf massage structure proposed in this invention eliminates a large number of capacitive anti-pinch sensors, reduces the probability of false triggering, and collects the current data of the motor in real time. The current data of the motor is transmitted to the processor for processing. Through relevant calculations and analysis, it is determined whether the anti-pinch operation is triggered.

[0018] (3) The anti-pinch method of the calf massage structure proposed in this invention uses the current change rate, mean value and the cumulative value of the difference between two adjacent current values ​​to establish the judgment logic for triggering the anti-pinch function of the calf massage structure. Combined with the calf massage structure with sufficient stability, it can achieve a good anti-pinch experience, and will not cause deviation of anti-pinch force or even failure of anti-pinch due to different obstruction positions, which greatly improves the safety and reliability of the product. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the first and second calf supports of the calf massage structure according to an embodiment of this application, in one of their relative positions. Figure 2 This is a schematic diagram of the first and second calf supports of the calf massage structure according to an embodiment of this application, in another relative position. Figure 3 This is an exploded view of the calf massage structure according to an embodiment of this application; Figure 4 This is a schematic flowchart illustrating the anti-pinch method of the calf massage structure according to an embodiment of this application. Figure 5 This is a flowchart illustrating the anti-pinch method of the calf massage structure according to an embodiment of this application. Figure 6This is a schematic diagram of the anti-pinch device of the calf massage structure according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of some control hardware of the massage chair provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] Figure 1-3This application illustrates an embodiment of a calf massage structure, including a first calf support 10, a second calf support 20, a first guide rail 11, a second guide rail 21, a first connecting rod 12, a second connecting rod 22, and a driving member 13. The first guide rail 11 and the second guide rail 21 are respectively disposed on the first calf support 10 and the second calf support 20, respectively. One end of the first connecting rod 12 and the second connecting rod 22 are slidably connected to the first guide rail 11 and the second guide rail 21, respectively, and the other end of the first connecting rod 12 and the second connecting rod 22 are respectively hinged to the second hinge point 29 of the second calf support 20 and the first hinge point 19 of the first calf support 10. The first guide rail 11 and the first hinge point 19 are respectively disposed on the left and right sides of the first calf support 10. The second guide rail 12 and the second hinge point 29 are respectively disposed on the left and right sides of the second calf support 10. The first link 12 and the second link 22 are hinged together at their middle portions. The driving member 13 pushes one end of the first link 12 toward the first hinge point 19 to slide within the first guide rail 11. Since the middle portions of the first link 12 and the second link 22 are hinged together, one end of the second link 22 will simultaneously slide within the second guide rail 21. Thus, one end of both the first link 12 and the second link 22 moves toward the first hinge point 19 and the second hinge point 29, thereby reducing the angle between the first link 12 and the second link 22, and causing the second calf support 20 to move away from the first calf support 10. In the embodiment of this application, the first calf support 10 is fixed, while the second calf support 20 can extend and retract in a direction parallel to the first calf support 10 under the driving force of the driving member 13. The driving member 13 pushes the first link 12 to move on the first guide rail 11 and drives the second link 22 to move on the second guide rail 21. Since the second guide rail 12 and the second hinge point 29 are respectively located on the left and right sides of the second lower leg support 10, the second lower leg support 20 will perform parallel telescopic movement relative to the first lower leg support 10. Even if the second lower leg support 20 encounters an obstacle, the second lower leg support 20 will not tilt relative to the first lower leg support 10.

[0023] Specifically, the driving component 13 provides driving force to the first connecting rod 12. In one example, the driving component 13 includes a push rod. The first connecting rod 12 has a connecting part hinged to the push rod. The extension and retraction movement of the push rod drives the first connecting rod 12 to move on the first guide rail 11, and simultaneously drives the second connecting rod 22, which is hinged to the first connecting rod 12, to move on the second guide rail 21, and pushes the second lower leg support 20 to extend and retract in a direction parallel to the first lower leg support 10. Therefore, the push rod provides driving force for the first connecting rod 12 to slide on the first guide rail 11. The second connecting rod 22 slides on the second guide rail 21 under the drive of the first connecting rod 12. It can be understood that in addition to pushing the first connecting rod 12 to slide on the first guide rail, the driving component 13 can also push the second connecting rod 22 to slide on the second guide rail 21, and can still drive the first lower leg support 10 to move relative to the second lower leg support 20.

[0024] In one example, the first link 12 and the second link 22 are cross-connected and rotatably linked. The hinge points can be at the same proportional position at the connection points at both ends of each link, allowing the second calf support 20 to extend and retract in a parallel direction without being affected by obstacles between them, thus ensuring the stability of its structure. One end of the first link 12 is mounted on the first guide rail 11, and the other end is hinged to the second calf support 20. Therefore, one end of the first link 12 can slide on the first guide rail 11, while the other end is fixedly hinged to the second calf support 20. One end of the second link 22 is mounted on the second guide rail 21, and the other end is hinged to the first calf support 10. Therefore, one end of the second link 22 can slide on the second guide rail 21, while the other end is fixedly hinged to the first calf support 10. Therefore, the first guide rail 11, the first connecting rod 12, the second guide rail 21, and the second connecting rod 22 can form a quadrilateral linkage structure. The first connecting rod 12 and the second connecting rod 22 serve as the diagonals of the quadrilateral linkage structure, and the sliding directions of the first guide rail 11 and the second guide rail 21 can serve as two opposite sides of the quadrilateral linkage structure. Sliding is achieved on the two parallel first guide rails 11 and 21 to adjust the relative distance between the first lower leg support 10 and the second lower leg support 20. By pushing the first connecting rod 12 to slide on the first guide rail 11, the first connecting rod 12 and the second connecting rod 22 rotate, causing the second connecting rod 22 to slide on the second guide rail 12. This allows the second lower leg support 20 to extend or retract in a direction parallel to the first lower leg support 10, moving towards or away from the first lower leg support 10.

[0025] Specifically, the first guide rail 11 and the second guide rail 21 are respectively provided with a first sliding groove and a second sliding groove. The first connecting rod 12 and the second connecting rod 22 can slide along the corresponding sliding directions of the first and second sliding grooves, respectively. In a preferred embodiment, the sliding direction of the first connecting rod 12 and the second connecting rod 22 on the first and second sliding grooves is perpendicular to the parallel telescopic movement direction of the second calf support 20. Therefore, it can be ensured that the first calf support 10 and the second calf support 20 can stably perform parallel telescopic movement, save space, and avoid affecting other parts of the calf massage structure.

[0026] The calf massage structure in this embodiment further includes a signal acquisition module and a main control board. The signal acquisition module is used to acquire current, voltage, speed, pulse count, or pulse width data of the motor in the drive unit 13 during operation, and transmits the acquired data to the main control board for processing. When the main control board determines that the acquired data exceeds a set threshold, it immediately triggers the anti-pinch operation. In the no-load state, the drive unit 13 starts running, and the signal acquisition module acquires the current, voltage, speed, pulse count, or pulse width data of the motor in the drive unit 13 in this state and records it as a reference value. The main control board determines the threshold based on this reference value. The no-load state here refers to the state where there are no obstacles between the first calf support 10 and the second calf support 20, and the anti-pinch function is not activated. At this time, the acquired voltage, speed, pulse count, or pulse width data can be fitted with the current value to obtain the mathematical relationship between the two and stored in the main control board. In subsequent practical applications, the main control board can convert the collected voltage, speed, pulse number or pulse width data of the motor during operation with the corresponding mathematical relationship to obtain the corresponding current value, or directly compare the collected current with the threshold to determine whether the anti-pinch operation is triggered.

[0027] In this embodiment, the first calf support 10 and the second calf support 20 are respectively used as mounting brackets for the calf massage structure and the foot massage structure in the calf massage structure. Using the calf massage structure proposed in this embodiment, the calf massage structure is fixed, while the foot massage structure can move in a direction parallel to the calf massage structure. There is relative movement between the first calf support 10 and the second calf support 20. Furthermore, there is a gap between the calf massage structure and the foot massage structure, which serves as a variable movement space. This can easily lead to obstacles between the calf massage structure and the foot massage structure. If the obstacle is another part of the body (such as the hand), it can cause injury. To address this, usually only the first calf support 10 moves. In this case, an anti-pinch function can be activated on the first calf support 10, generating a control command to move the first calf support 10 in the opposite direction of the current movement to avoid pinching the human body or foreign objects. The calf massage structure proposed in the embodiments of this application can ensure that when the first calf support 10 encounters obstacles at different positions during movement, its corresponding massage structure will not tilt, and the force will be transmitted more evenly to the lead screw of the motor in the push rod. This ensures that the collected motor current data has good consistency and reference value, and can be combined with the anti-pinch method of the subsequent calf massage structure to achieve a good anti-pinch experience. It will not cause deviations in anti-pinch force or even failure of anti-pinch due to different obstruction positions, which greatly ensures the safety and reliability of the product. At the same time, it can avoid installing a large number of anti-pinch sensors between the massage structure of the calf and the massage structure of the foot, reducing the probability of false triggering.

[0028] In other embodiments, the first calf support 10 can be used as a fixed support, and a third calf support can be installed on top of it. The third calf support can be used as a mounting support for the massage structure of the calf. In the same way as the embodiments of this application, the third calf support can extend and retract in a direction parallel to the first calf support 10, and the massage structure of the calf can also extend and retract in parallel.

[0029] refer to Figure 4 The embodiments of this application also propose an anti-pinch method for a calf massage structure, which uses the above-mentioned calf massage structure and includes the following steps: S1 collects and preprocesses the current data of the motor that provides driving force during operation to obtain preprocessed current data.

[0030] Specifically, the second calf support 20 can perform parallel telescopic movement driven by the driving force generated by the rotation of the motor in its corresponding push rod. Taking the first calf support 10 and the second calf support 20 as mounting brackets for the calf massage structure and the foot massage structure, respectively, as examples, if there is an obstacle between the calf massage structure and the foot massage structure during the movement of the second calf support 20, the motor current data will change. In one example, the motor current data is time-series data consisting of directly collected current values ​​and their corresponding sampling times. The current value can be detected using circuits such as sampling resistors. By utilizing the correspondence between the anti-pinch force and the current data, it can be determined whether the anti-pinch function needs to be activated when the motor current data changes. In another embodiment, the current data can also be obtained by combining the collected voltage, rotation speed, pulse number or pulse width data with their corresponding mathematical relationships. The mathematical relationship can be obtained by collecting the current and its corresponding voltage, rotation speed, pulse number or pulse width data when there are no obstacles between the first lower leg support 10 and the second lower leg support 20 and the anti-pinch function is not activated, thereby establishing a mathematical relationship between the current and any one of the voltage, rotation speed, pulse number or pulse width data.

[0031] Since the directly acquired current, voltage, speed, pulse number, or pulse width data may contain noise or interference that could lead to errors in subsequent calculations, preprocessing is required. Preprocessing methods include filtering, data conversion, and normalization. The preprocessed current value and its corresponding sampling time constitute the preprocessed current data. After the above preprocessing process, the preprocessed current data can be used to accurately trigger the anti-pinch function of the calf massage structure.

[0032] S2, select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​among the several data points.

[0033] Specifically, the rate of change of current reflects how quickly the current value changes over a certain period of time. When the motor is running normally, the current fluctuates around a certain straight line, and the rate of change of current also fluctuates around a certain value. When the motor stalls, that is, when there may be an obstacle between the massage structure in the calf area and the massage structure in the foot area, the motor current will deviate from this straight line and continue to rise. At this time, the rate of change of current will also increase. Therefore, the rate of change of current can be calculated based on the collected current value to determine whether the anti-pinch function needs to be activated.

[0034] To reflect the overall change of current data in a localized area and to avoid randomness, in one example, a linear fitting method with n sampling points is used to calculate the rate of change of current. The slope of the fitted line is the specific value of the rate of change of current. In this process, some unknown parameters can be calculated to minimize the total error (distance) between the data points and the fitted line, so as to ensure that the fitted line can accurately describe the change of current value over time.

[0035] The average current value is the average of n current values. This value can prevent false triggering caused by external force interference or structural resistance interference of the lower leg. This average value can be combined with parameters such as the current change rate to select an appropriate threshold and jointly complete the activation process of the anti-pinch function.

[0036] S3 determines whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

[0037] In one embodiment, step S3 specifically includes: In response to determining that the rate of change of current is greater than the rate of change threshold, or the rate of change of current is less than or equal to the rate of change threshold and the mean is greater than the mean threshold, the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data is calculated, and it is determined whether the cumulative value of the difference is greater than the cumulative value threshold. If so, the anti-pinch function of the calf massage structure is triggered. Otherwise, the cumulative value of the difference is set to 0, and steps S1-S3 are repeated. In response to determining that the rate of change of current is less than or equal to the rate of change threshold and the mean is less than or equal to the mean threshold, steps S1-S3 are repeated.

[0038] Specifically, the cumulative difference between current values ​​between two adjacent sampling times can dynamically reflect the current's sustainability. The preprocessed current data can be represented as I1, I2, I3, ..., I... N The formula for calculating the difference ∆d between the current values ​​of two adjacent sampling times is as follows: Δd1=I2-I1, Δd2=I3-I2, Δd3=I4-I3,..., Δd N-1 =I N -I N-1 ; The formula for calculating the cumulative difference between two adjacent current values ​​in the preprocessed current data is as follows: ; in, This represents the cumulative difference between two adjacent current values ​​in the preprocessed current data. This represents the difference in current values ​​between two adjacent sampling times in the i-th group.

[0039] When the massage structure in the calf area encounters an obstacle between the massage structure in the foot area, the push rod motor will continuously stall, and the current will continue to rise. The cumulative sum of the current difference will also remain positive and increase. Therefore, by judging the magnitude of this parameter and the threshold, some accidental situations can be avoided and false triggering can be prevented.

[0040] In the embodiments of this application, the sum of the current change rate, the average value, and the difference between two adjacent current values ​​is used to determine whether to activate the anti-pinch function of the calf massage structure. (Reference) Figure 5 First, determine whether the rate of change of current K0 is greater than the rate of change threshold K. max If the rate of change of current K0 is greater than the rate of change threshold K max Then, the cumulative value ∆D of the difference between the current values ​​between two adjacent sampling times is calculated, and then it is determined whether the cumulative value ∆D of the difference between the current values ​​between two adjacent sampling times is greater than the cumulative value threshold ∆D. max If so, the anti-pinch function is activated; otherwise, the accumulated value ∆D of the difference between the current values ​​between two adjacent sampling times is cleared (i.e., set to 0), the current data is re-acquired, and the above steps are repeated. If the current change rate K0 is less than or equal to the change rate threshold K... max Then determine whether the mean value I0 of all current values ​​is greater than the mean threshold I. max If so, then start calculating the cumulative value ∆D of the difference between the current values ​​between two adjacent sampling times, and determine whether the cumulative value ∆D of the difference between the current values ​​between two adjacent sampling times is greater than the cumulative value threshold ∆D. max The system will execute the corresponding judgment logic; otherwise, it will re-acquire current data and repeat the above steps.

[0041] Further reference Figure 6 As an implementation of the methods shown in the above figures, this application provides an embodiment of an anti-pinch device for a calf massage structure, which is similar to... Figure 4 Corresponding to the method embodiment shown, the device can be specifically applied to various massage chairs.

[0042] This application provides an anti-pinch device for a calf massage structure, which employs the aforementioned calf massage structure and includes: Preprocessing module 1 is configured to collect current data of the motor providing driving force during operation and perform preprocessing to obtain preprocessed current data; Calculation module 2 is configured to select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​in the several data points. The judgment module 3 is configured to determine whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

[0043] like Figure 7 As shown, the massage chair in this embodiment, in addition to the aforementioned calf massage structure, also includes a processor 701 and a memory 702; wherein the memory 702 is used to store computer execution instructions; and the processor 701 is used to execute the computer execution instructions stored in the memory to implement the various steps performed in the above embodiment. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0044] Alternatively, the memory 702 can be either standalone or integrated with the processor 701.

[0045] When the memory 702 is set up independently, the massage chair also includes a bus 703 for connecting the memory 702 and the processor 701.

[0046] This invention also provides a computer storage medium storing computer execution instructions, which, when executed by a processor, implement the method described above.

[0047] In the embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0048] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0049] Furthermore, the functional modules in the various embodiments of this invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit formed by the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0050] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor 701 to execute some steps of the methods of the various embodiments of this application.

[0051] It should be understood that the processor 701 described above can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor, or the processor 701 can be any conventional processor 701. The steps of the method disclosed in this invention can be directly manifested as the hardware processor 701 executing the steps, or as a combination of hardware and software modules within the processor 701 executing the steps.

[0052] The memory 702 may include high-speed RAM memory, and may also include non-volatile memory NVM, such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk or optical disc, etc.

[0053] Bus 703 can be an Industry Standard Architecture (ISA), a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Bus 703 can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus 703 in the accompanying drawings of this application is not limited to only one bus 703 or one type of bus 703.

[0054] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0055] An exemplary storage medium is coupled to a processor 701, enabling the processor 701 to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor 701. The processor 701 and the storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor 701 and the storage medium can exist as discrete components in a massage chair or main control device.

[0056] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calf massage structure, characterized in that, It includes a drive unit, a first calf support, a second calf support, a first guide rail, a second guide rail, a first connecting rod, and a second connecting rod, wherein a massage mechanism is provided on the first calf support or the second calf support; The first guide rail and the second guide rail are respectively mounted on the first calf support and the second calf support. One end of the first connecting rod and the second connecting rod are slidably connected to the first guide rail and the second guide rail, respectively. The other end of the first connecting rod and the second connecting rod are respectively hinged to the second hinge point of the second calf support and the first hinge point of the first calf support. The second guide rail and the second hinge point are respectively located on the left and right sides of the second calf support. The first and second links are hinged together at their middle sections; The driving component pushes one end of the first link to slide in the first guide rail or one end of the second link to slide in the second guide rail in the direction of the first hinge point. Since the middle parts of the first link and the second link are hinged to each other, the angle between the first link and the second link becomes smaller, and the second lower leg support moves parallel to the first lower leg support in the direction away from the first lower leg support.

2. The calf massage structure according to claim 1, characterized in that, It also includes a signal acquisition module and a main control board. The signal acquisition module is used to collect data on the current, voltage, speed, number of pulses or pulse width of the motor in the drive unit when it is working, and transmits the collected data to the main control board for processing. When the main control board determines that the collected data exceeds the set threshold, it immediately triggers the anti-pinch operation.

3. The calf massage structure according to claim 1, characterized in that, When the drive unit starts running under no-load conditions, the signal acquisition module collects the current, voltage, speed, pulse count or pulse width data of the motor in the drive unit under this state and records them as reference values. The main control board determines the threshold based on these reference values.

4. The calf massage structure according to claim 1, characterized in that, The driving component pushes the first connecting rod to slide on the first guide rail, and drives the second connecting rod to slide on the second guide rail, so as to push the second lower leg bracket to move in parallel extension and retraction relative to the first lower leg bracket.

5. The calf massage structure according to claim 1, characterized in that, The first guide rail and the second guide rail are respectively provided with a first sliding groove and a second sliding groove. The first connecting rod and the second connecting rod can slide along the sliding direction corresponding to the first sliding groove and the second sliding groove, respectively. The sliding direction is perpendicular to the parallel telescopic movement direction of the first calf support and the second calf support.

6. A method for preventing pinching in a calf massage structure, characterized in that, The calf massage structure according to any one of claims 1-5 includes the following steps: S1, Collect and preprocess the current data of the motor that provides the driving force during operation to obtain preprocessed current data; S2, Select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​in the several data points; S3, determine whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

7. The anti-pinch method for the calf massage structure according to claim 6, characterized in that, The determination of whether to trigger the anti-pinch function of the calf massage structure is based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data, specifically including: In response to determining that the current change rate is greater than the change rate threshold, or the current change rate is less than or equal to the change rate threshold and the mean is greater than the mean threshold, the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data is calculated, and it is determined whether the cumulative value of the difference is greater than the cumulative value threshold. If so, the anti-pinch function of the calf massage structure is activated; otherwise, the cumulative value of the difference is set to 0, and steps S1-S3 are repeated. In response to determining that the rate of change of the current is less than or equal to the rate of change threshold and the mean is less than or equal to the mean threshold, steps S1-S3 are repeated.

8. An anti-pinch device for a calf massage structure, characterized in that, The calf massage structure according to any one of claims 1-5 includes: The preprocessing module is configured to collect current data of the motor providing the driving force during operation and perform preprocessing to obtain preprocessed current data. The calculation module is configured to select several data points from the preprocessed current data for linear fitting to obtain the current change rate, and calculate the mean of all current values ​​among the several data points. The judgment module is configured to determine whether to trigger the anti-pinch function of the calf massage structure based on the current change rate and / or mean value and the cumulative value of the difference between two adjacent current values ​​in the preprocessed current data.

9. A massage chair, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in claim 6 or 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in claim 6 or 7.

Images