Massage parameter dynamic adjustment method, storage medium, controller and seat

Abstract

The invention discloses a massage parameter dynamic adjustment method, a storage medium, a controller and a seat, the method is used for the seat, a human body scanning array and massage equipment are arranged at the backrest position of the seat, the method comprises the steps that when it is determined that a user sits, the human body scanning array is controlled to scan the user, and three-dimensional point cloud data of the user is obtained; positioning three-dimensional coordinates of a first key node and a second key node of the thoracic vertebra of the user according to the three-dimensional point cloud data; and according to the three-dimensional coordinates of the first key node and the second key node, determining an initial massage position and a massage stroke of the massage equipment so as to control the massage equipment to massage the user according to the initial massage position and the massage stroke. According to the method, the problem of massage position deviation when users with different heights / figures use seat massage equipment is solved, and accurate massage positioning and parameter adaptation of the users are realized.

Description

Technical Field

[0001] This invention relates to the field of smart seat technology, and in particular to a method for dynamically adjusting massage parameters, a storage medium, a controller, and a seat. Background Technology

[0002] Most massage chairs use fixed preset modes or manual adjustment modes for their massage parameters. However, there are significant differences in height and body shape among users, making fixed preset modes difficult to meet the needs of different users. While manual adjustment modes can adjust massage parameters according to the user's height and body shape, the adjustment process relies on the user's subjective judgment, making it cumbersome and inaccurate, and not user-friendly for the elderly and children. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this invention is to propose a method for dynamically adjusting massage parameters to address the problem of massage position deviation when users of different heights / body types use chair massage devices, thereby achieving precise massage positioning and parameter adaptation for the user.

[0004] A second objective of this invention is to provide a computer-readable storage medium.

[0005] The third objective of this invention is to provide a controller.

[0006] The fourth objective of this invention is to provide a seat.

[0007] To achieve the above objectives, a first aspect of the present invention proposes a method for dynamically adjusting massage parameters for a seat. The seat has a human body scanning array and a massage device disposed at the backrest. The method includes: upon determining that a user is seated, controlling the human body scanning array to scan the user to obtain three-dimensional point cloud data of the user; locating the three-dimensional coordinates of a first and second key node of the user's thoracic vertebrae based on the three-dimensional point cloud data; and determining the starting massage position and massage stroke of the massage device based on the three-dimensional coordinates of the first and second key nodes, so as to control the massage device to massage the user according to the starting massage position and the massage stroke.

[0008] According to the embodiment of the present invention, the method for dynamically adjusting massage parameters aims to solve the problem of massage position deviation when users of different heights / body types use a chair massage device. It utilizes the three-dimensional point cloud data of the user obtained by scanning the user with a human body scanning array to locate the three-dimensional coordinates of the first and second key nodes of the user's thoracic spine. Based on the three-dimensional coordinates of the first and second key nodes, it determines the starting massage position and massage stroke of the massage device, thereby achieving precise massage positioning and parameter adaptation for the user.

[0009] In addition, the dynamic adjustment method for massage parameters proposed in the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, the human body scanning array is a millimeter-wave radar array, which includes four millimeter-wave radars respectively disposed at the top, middle and sides of the seat back. Controlling the human body scanning array to scan the user includes: controlling each millimeter-wave radar in the millimeter-wave radar array to scan horizontally within a first preset angle range and vertically within a second preset angle range.

[0010] According to one embodiment of the present invention, the first key node is the third thoracic vertebra and the second key node is the twelfth thoracic vertebra. Locating the three-dimensional coordinates of the first and second key nodes of the user's thoracic vertebrae based on the three-dimensional point cloud data includes: identifying trunk point clouds from the three-dimensional point cloud data using a clustering algorithm; locating cervical inflection points based on abrupt changes in point cloud density in the trunk point cloud to obtain the coordinates of the cervical inflection points; recording the point cloud coordinates at a first preset distance directly above the midpoint of the intersection of the seat surface and backrest of the seat as the coordinates of the hip reference point based on the trunk point cloud; calculating the vertical distance between the cervical inflection point and the hip reference point based on the cervical inflection point coordinates and the hip reference point coordinates; and obtaining the three-dimensional coordinates of the third thoracic vertebra and the twelfth thoracic vertebra using a pre-trained thoracic vertebral joint recognition model based on the vertical distance between the cervical inflection point and the hip reference point.

[0011] According to one embodiment of the present invention, determining the starting massage position and massage stroke of the massage device based on the three-dimensional coordinates of the first key node and the second key node includes: determining a position based on the three-dimensional coordinates of the third thoracic vertebra, offset downwards by a second preset distance along the spinal direction from the third thoracic vertebra, and recording this position as the starting massage position; calculating the vertical distance between the third thoracic vertebra and the twelfth thoracic vertebra based on the three-dimensional coordinates of the third thoracic vertebra and the twelfth thoracic vertebra; and recording a preset multiple of the vertical distance between the third thoracic vertebra and the twelfth thoracic vertebra as the massage stroke.

[0012] According to one embodiment of the present invention, the method further includes: identifying the user's shoulder width based on the three-dimensional point cloud data; and determining the massage intensity of the massage device based on the shoulder width and a preset pressure function.

[0013] According to one embodiment of the present invention, determining the massage intensity of the massage device based on the shoulder width and a preset pressure function includes: determining a pressure threshold based on the shoulder width and the preset pressure function, and using the pressure threshold as the massage intensity of the massage device.

[0014] According to an embodiment of the present invention, the method further includes: periodically controlling the human body scanning array to scan the user, and locating the first key node and the second key node based on the three-dimensional point cloud data obtained from the scan; when it is determined that the deviation of the first key node and / or the second key node exceeds a preset deviation threshold, correcting the massage starting position and the massage stroke.

[0015] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the method for dynamically adjusting massage parameters as proposed in the first aspect of the present invention.

[0016] To achieve the above objectives, a third aspect of the present invention provides a controller, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the dynamic adjustment method for massage parameters as proposed in the first aspect of the present invention.

[0017] To achieve the above objectives, a fourth aspect of the present invention provides a chair comprising: a human body scanning array, a massage device, and a controller as provided in the third aspect of the present invention.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a flowchart of a method for dynamically adjusting massage parameters according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the position of a millimeter-wave radar array according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating the determination of the coordinates of a first key node and a second key node according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating the determination of the starting massage position and massage stroke according to an embodiment of the present invention; Figure 5 This is a flowchart of a specific embodiment of the massage parameter dynamic adjustment method of the present invention; Figure 6 This is a structural block diagram of the controller according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a seat according to an embodiment of the present invention. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0021] It should be noted that there are significant differences in height and body shape among different users (for example, the position of the thoracic spine area can differ by more than 30cm between users who are 150cm and 190cm tall). Fixing the massage parameters can easily lead to deviations in the massage position. For example, the massage head of a shorter user may fall below the lumbar spine, while the massage head of a taller user may only cover the upper half of the thoracic spine.

[0022] Related body shape recognition technologies (such as infrared sensors and cameras) are greatly affected by clothing and light, and cannot reliably obtain the position information of key human skeletal nodes (such as the T3-T12 thoracic vertebrae).

[0023] It should be noted that the T3-T12 thoracic vertebrae refer to the ten consecutive vertebrae from the third thoracic vertebra (T3) to the twelfth thoracic vertebra (T12) in the human spine, forming the core of the thoracic spine. The human thoracic spine has 12 vertebrae (numbered T1-T12), arranged sequentially from top to bottom, with T3-T12 covering the middle to lower segments of the thoracic spine. Superiorly, T3 connects upwards to the second thoracic vertebra (T2) and inferiorly to T4; inferiorly, T12 connects downwards to the first lumbar vertebra (L1), serving as a transitional segment between the thoracic and lumbar vertebrae. T3-T12 are roughly distributed in the lower middle back, with T3 approximately corresponding to the midpoint of the medial border of the scapula, and T12 approximately corresponding to the upper lumbar region, at the intersection of the lower ribs and the spine.

[0024] As the main part of the thoracic spine, T3-T12's core functions revolve around "supporting the trunk, protecting internal organs, and assisting movement." Together with other thoracic vertebrae (T1-T2), T3-T12 form the bony framework of the thoracic spine, supporting the weight of the upper body and maintaining an upright posture. Each thoracic vertebra connects to the ribs on both sides, forming the "thoracic cage" structure. The thoracic cage area corresponding to T3-T12 encloses important thoracic organs such as the heart and lungs, playing a crucial protective role. It can participate in mild flexion, extension, and lateral flexion of the trunk (due to the limitations of the thoracic cage, the range of motion is smaller than that of the cervical and lumbar vertebrae). For example, when bending over or turning, T3-T12 will work with other spinal segments to complete the movement.

[0025] To address the differences in height and body shape among users, and the inability of related body shape recognition technologies to reliably acquire the positional information of key human skeletal nodes, embodiments of the present invention provide a method for dynamically adjusting massage parameters, a storage medium, a controller, and a seat. The following detailed description, in conjunction with the accompanying drawings and specific implementation methods, provides a detailed explanation of the method for dynamically adjusting massage parameters, the storage medium, the controller, and the seat according to embodiments of the present invention.

[0026] The massage parameter dynamic adjustment method of this invention is used for a chair, wherein a human body scanning array and a massage device are provided at the back of the chair.

[0027] In this embodiment of the invention, a human body scanning array is set at the back of the seat to scan the human body sitting on the seat and obtain the height and body shape data of the human body sitting on the seat, so as to generate massage parameters of the massage device based on the height and body shape data of the human body.

[0028] The massage device in this embodiment of the invention includes a massage head, a slide rail, and a servo motor (for controlling the position of the massage head). The servo motor controls the massage head to move along a preset slide rail to massage the user. A pressure sensor is also installed at the massage head position to provide real-time feedback on the massage intensity.

[0029] Figure 1 This is a flowchart of a method for dynamically adjusting massage parameters according to an embodiment of the present invention. Figure 1 As shown, the method for dynamically adjusting massage parameters may include: S101, when the user is seated, controls the human body scanning array to scan the user and obtain the user's three-dimensional point cloud data.

[0030] In practice, a pressure sensor can be installed at the seat surface to detect whether a user has sat down.

[0031] Specifically, when the pressure detected by the pressure sensor at the seat position is greater than a preset pressure threshold and lasts for a preset time, such as when the pressure detected by the pressure sensor at the seat position is greater than 50 N (Newtons) and lasts for 2 seconds, it can be determined that the user has sat down.

[0032] After confirming that the user is seated, the human body scanning array is activated and controlled to scan the user to obtain the user's three-dimensional point cloud data (containing ≥5000 three-dimensional coordinate points).

[0033] S102, locates the three-dimensional coordinates of the first and second critical nodes of the user's thoracic vertebrae based on three-dimensional point cloud data.

[0034] Specifically, the three-dimensional point cloud data is processed to locate the three-dimensional coordinates of the first and second critical nodes of the user's thoracic vertebrae.

[0035] S103, based on the three-dimensional coordinates of the first key node and the second key node, determine the starting massage position and massage stroke of the massage device, so as to control the massage device to massage the user according to the starting massage position and massage stroke.

[0036] Specifically, the starting massage position and massage stroke of the massage device are determined based on the three-dimensional coordinates of the first and second key nodes, so as to control the massage device to massage the user according to the starting massage position and massage stroke, thereby achieving precise matching between the massage parameters of the massage device and the user.

[0037] The massage parameter dynamic adjustment method of this invention aims to solve the problem of massage position deviation when users of different heights / body types use chair massage devices. It utilizes the three-dimensional point cloud data of the user obtained by scanning the user with a human body scanning array to locate the three-dimensional coordinates of the first and second key nodes of the user's thoracic spine. Based on the three-dimensional coordinates of the first and second key nodes, the starting massage position and massage stroke of the massage device are determined, thereby achieving precise massage positioning and parameter adaptation for the user.

[0038] In one embodiment of the present invention, the human body scanning array may be a millimeter-wave radar array, comprising four millimeter-wave radars respectively positioned at the top, middle, and sides of the seat back. Controlling the human body scanning array to scan the user may include: The system controls each millimeter-wave radar in the millimeter-wave radar array to scan horizontally within a first preset angle range and vertically within a second preset angle range.

[0039] Specifically, such as Figure 2 As shown, 77GHz millimeter-wave radars are installed at the top, middle, and sides of the seat back, forming a millimeter-wave radar array. The millimeter-wave radar includes a millimeter-wave radar sensor and a data acquisition circuit. After the user sits down, the millimeter-wave radar array scans the user. The sampling rate of the millimeter-wave radar can be set to 10Hz, and the ranging distance of the millimeter-wave radar is less than or equal to 5mm.

[0040] It should be noted that the embodiments of the present invention do not limit the type and number of radar sensors used in the human body scanning array, and other types and numbers of radar sensors can also be used.

[0041] After the user is seated, the millimeter-wave radar array controls each radar to scan horizontally by +60° (the first preset angle range) and then vertically by +30° (the second preset angle range) to ensure that the millimeter-wave radar array can fully cover the upper body of the user during scanning. The user's three-dimensional point cloud data acquired by the millimeter-wave radar array provides raw information for subsequent user body shape recognition, and its high-precision parameters (range ≤5mm) ensure data reliability.

[0042] In one embodiment of the present invention, such as Figure 3As shown, the first key node is the 3rd thoracic vertebra, and the second key node is the 12th thoracic vertebra. Locating the 3D coordinates of the first and second key nodes of the user's thoracic vertebrae based on 3D point cloud data can include: S201 uses a clustering algorithm to identify torso point clouds from 3D point cloud data.

[0043] Specifically, a clustering algorithm is used to identify the torso point cloud and limb point cloud in the 3D point cloud data in order to separate the torso point cloud from the 3D point cloud data.

[0044] To further improve the accuracy of recognition, the 3D point cloud data is preprocessed before using clustering algorithms for recognition. Specifically, filtering algorithms (such as statistical filtering) can be used to process the 3D point cloud data to remove noise points and retain valid human contour points.

[0045] S202, locate the neck inflection point based on the abrupt change in point cloud density in the torso point cloud, and obtain the coordinates of the neck inflection point.

[0046] Specifically, the KNN density (K-Nearest Neighbor) algorithm and gradient detection algorithm are used to detect regions of abrupt changes in point cloud density in the torso point cloud in order to locate the neck inflection point (the transition point between the neck and the shoulder). Based on the located neck inflection point, the corresponding three-dimensional coordinates of the neck inflection point are obtained to obtain the neck inflection point coordinates.

[0047] S203, based on the torso point cloud, the point cloud coordinates at the first preset distance directly above the midpoint of the intersection line between the seat surface and the backrest are recorded as the buttock reference point coordinates.

[0048] Specifically, based on the torso point cloud, the point cloud coordinates at a point 5cm (first preset distance) directly above the midpoint of the intersection line between the seat surface and the backrest are taken and recorded as the buttock reference point coordinates.

[0049] It should be noted that the embodiments of the present invention do not limit the first preset distance, which can be set as needed.

[0050] S204. Calculate the vertical distance between the neck inflection point and the hip reference point based on the coordinates of the neck inflection point and the hip reference point.

[0051] In this embodiment of the invention, the thoracic spine region (T3-T12) is located based on the coordinates of the cervical inflection point and the coordinates of the hip reference point. Specifically, the vertical distance between the cervical inflection point and the hip reference point is calculated based on the coordinates of the cervical inflection point and the hip reference point, and this vertical distance is denoted as H1.

[0052] S205 uses a pre-trained thoracic vertebral joint recognition model to obtain the three-dimensional coordinates of the 3rd and 12th thoracic vertebrae based on the vertical distance between the cervical inflection point and the hip reference point.

[0053] Specifically, the vertical distance H1 between the neck inflection point and the hip reference point is input into the pre-trained thoracic vertebral joint recognition model, and the pre-trained thoracic vertebral joint recognition model outputs the three-dimensional coordinates of the third thoracic vertebra T3 and the twelfth thoracic vertebra T12.

[0054] It should be noted that the pre-trained thoracic vertebral joint recognition model can be a neural network model, trained using a large amount of trunk point cloud data and the vertical distance between the cervical inflection point and the hip reference point to output the three-dimensional coordinates of the 3rd and 12th thoracic vertebrae. Alternatively, it can be a function model, obtained by fitting a function model based on a large amount of trunk point cloud data and the vertical distance between the cervical inflection point and the hip reference point. This embodiment of the invention does not specifically limit the pre-trained thoracic vertebral joint recognition model.

[0055] For example, when the pre-trained thoracic vertebral joint recognition model is a function model, the three-dimensional coordinates of the third thoracic vertebra can be the point cloud coordinates at H1×0.25, and the three-dimensional coordinates of the 12th thoracic vertebra can be the point cloud coordinates at H1×0.75.

[0056] This invention achieves the transformation from 3D point cloud data to key nodes through body feature extraction and key node localization. Specifically, by preprocessing and purifying the 3D point cloud data to remove noise, the torso point cloud and limb point cloud are distinguished. Then, based on the torso point cloud, the neck inflection point and hip reference point are accurately identified. Finally, based on the vertical distance H1 between the neck inflection point and the hip reference point, the T3-T12 thoracic spine region is located, serving as the core basis for subsequent massage parameter calculations and directly determining the accuracy of the massage position.

[0057] In one embodiment of the present invention, such as Figure 4 As shown, determining the starting massage position and massage stroke of the massage device based on the three-dimensional coordinates of the first and second key nodes may include: S301, based on the three-dimensional coordinates of the third thoracic vertebra, determine the position at a second preset distance offset downwards along the spine from the third thoracic vertebra, and record it as the starting massage position.

[0058] Specifically, the starting point of the massage head in the massage device is a position 2cm (second preset distance) off downwards along the spine, starting from the third thoracic vertebra T3.

[0059] It should be noted that the embodiments of the present invention do not limit the second preset distance, and can be set according to actual needs.

[0060] S302, Calculate the vertical distance between the 3rd and 12th thoracic vertebrae based on their three-dimensional coordinates.

[0061] Specifically, the massage stroke is based on the vertical distance between the 3rd and 12th thoracic vertebrae. Therefore, the vertical distance H2 between the 3rd and 12th thoracic vertebrae can be calculated based on the three-dimensional coordinates of the 3rd and 12th thoracic vertebrae.

[0062] S303, the preset multiple of the vertical distance between the 3rd and 12th thoracic vertebrae is recorded as the massage stroke.

[0063] Specifically, the massage stroke is 1.2 times (preset multiple) of the vertical distance H2 between the 3rd and 12th thoracic vertebrae, i.e., H2×1.2, so that the massage stroke covers the entire thoracic spine area and reserves 10% redundancy.

[0064] It should be noted that the embodiments of the present invention do not limit the preset multiple, and can be set according to actual needs.

[0065] In one embodiment of the present invention, such as Figure 5 As shown, the method for dynamically adjusting massage parameters also includes: S401 identifies the user's shoulder width based on 3D point cloud data; S402 determines the massage intensity of the massage device based on shoulder width and a preset pressure function.

[0066] In addition to determining the starting massage position and massage stroke of the massage device based on the user's three-dimensional point cloud data, this embodiment of the invention can also determine the massage intensity of the massage device based on the user's three-dimensional point cloud data.

[0067] Specifically, when identifying a user's shoulder width based on 3D point cloud data, the distance between the widest points on both sides of the torso point cloud can be recorded as the shoulder width. The massage intensity of the massage device is determined based on the shoulder width and a preset pressure function, so as to control the massage device to massage the user according to the starting massage position, massage stroke, and massage intensity.

[0068] In one embodiment of the present invention, determining the massage intensity of the massage device based on shoulder width and a preset pressure function includes: The pressure threshold is determined based on shoulder width and a preset pressure function, and this pressure threshold is used as the massage intensity of the massage device.

[0069] In one embodiment of the present invention, the preset pressure function is: P = 15 + (W - 40) / 10, where P represents the pressure threshold in kPa, and W represents shoulder width in cm. The 40 in the preset pressure function represents the standard shoulder width; that is, for every 10 cm increase in shoulder width, the pressure threshold increases by 1 kPa.

[0070] Specifically, the pressure threshold is determined based on the shoulder width W and the preset pressure function P=15+(W-40) / 10, and the massage device is controlled to massage the user with a massage intensity lower than the pressure threshold.

[0071] In this embodiment of the invention, when determining the massage parameters of the massage device, personalized massage parameters are generated based on the user's body shape characteristics. Specifically, the massage starting position is determined with the third thoracic vertebra (T3) as a reference. The massage stroke range is calculated based on the distance H2 between the third and twelfth thoracic vertebrae. A pressure threshold is calculated using a preset pressure function in conjunction with the shoulder width W. The massage intensity is then determined based on the pressure threshold. In this embodiment of the invention, the massage starting position, massage stroke, and massage intensity are adapted from the dimensions of position, range, and intensity, respectively, solving the problem of massage deviation for users with different body shapes.

[0072] In one embodiment of the present invention, the method for dynamically adjusting massage parameters may further include: The human body scanning array is periodically controlled to scan the user, and the first and second key nodes are located based on the three-dimensional point cloud data obtained from the scan. When the deviation of the first critical node and / or the second critical node exceeds the preset deviation threshold, the massage starting position and massage stroke are corrected.

[0073] To ensure the continuous accuracy of the massage process, this embodiment of the invention employs a dynamic adjustment mechanism for optimization.

[0074] Specifically, the human body scanning array can be controlled to scan the user every 5 seconds (preset adjustment cycle) to monitor changes in the user's body shape in real time (such as slight movements). Based on the 3D point cloud data obtained from the scan, the positional changes of the first and second key nodes of the thoracic spine are monitored. When the deviation between the first and second key nodes exceeds 3mm (preset deviation threshold), the massage device is triggered to adjust the massage parameters (massage starting position and massage stroke).

[0075] While dynamically adjusting the massage starting position and massage stroke, a pressure sensor feedback mechanism can also be used. That is, the actual pressing force fed back by the pressure sensor set at the massage head position is compared with the calculated pressure threshold. When the massage force deviation between the actual pressing force and the pressure threshold exceeds 10%, the massage force is dynamically calibrated to form a closed-loop control, avoiding a decline in experience caused by user movement or pressure fluctuations.

[0076] In this embodiment of the invention, a dynamic adjustment mechanism and a feedback mechanism are used to calibrate the massage starting position, massage stroke and massage intensity in real time during the massage process, maintaining a precise massage state until the end, thus completing a complete adaptive massage process.

[0077] It should be noted that after a complete massage cycle is finished, the massage head of the control massage device returns to the initial standby position, and the pressure sensor at the seat position is calibrated (zero position error correction).

[0078] The massage parameter dynamic adjustment method in this embodiment of the invention forms a complete closed loop from hardware deployment to data processing, and then to parameter generation and dynamic optimization. Through the precise body shape recognition of millimeter-wave radar, the massage parameters are dynamically adapted to each individual, completely solving the problem of massage position deviation for users of different heights and body types.

[0079] In this embodiment of the invention, when massaging different users, a body shape feature-parameter mapping model and user usage records can be pre-stored so that the massage starting position, massage stroke and massage intensity can be directly generated based on the pre-stored body shape feature-parameter mapping model.

[0080] The method for generating massage parameters for the massage device in this embodiment of the invention will be described using a specific example: For example, consider users who are 150cm tall (38cm shoulder width) and 190cm tall (50cm shoulder width): 150cm user: Radar scanning determined the vertical distance H2 between the cervical inflection point and the hip reference point to be 60cm. The third thoracic vertebra, T3, was calculated to be located at H2 × 0.25 = 15cm, and the twelfth thoracic vertebra, T12, was located at H2 × 0.75 = 45cm. The massage head's starting position was 2cm below the third thoracic vertebra, T3, i.e., the starting position of the massage head was at coordinate 17cm. The massage stroke was (45-15) × 1.2 = 36cm. The pressure threshold was 15 + (38-40) / 10 = 14.8kPa.

[0081] 190cm user: Radar scanning determined the vertical distance H2 between the cervical inflection point and the hip reference point to be 90cm. The 3rd thoracic vertebra, T3, is located at H2 × 0.25 = 22.5cm, and the 12th thoracic vertebra, T12, is located at H2 × 0.75 = 67.5cm. The massage head starts 2cm below the 3rd thoracic vertebra, T3, i.e., the starting position is 24.5cm. The massage stroke is (67.5 - 22.5) × 1.2 = 54cm. The pressure threshold is 15 + (50 - 40) / 10 = 16kPa.

[0082] During actual massage, if a 190cm user moves to the left, causing the T3 position to shift by 4mm, the radar detects this and triggers the servo motor (used to adjust the massage head of the massage device) to adjust it, resetting the massage head to the target position within 50ms. When the pressure sensor reports an actual force of 15.2kPa, the system automatically increases the output by 8% to 16kPa.

[0083] The above embodiments verify the accuracy of the dynamic adjustment method for massage parameters of the present invention in adapting to users of different body shapes, with the massage position deviation controlled within 3mm and the massage intensity error ≤5%.

[0084] The dynamic adjustment method for massage parameters in this invention has the advantage of precise positioning. By scanning with a millimeter-wave radar array, the positioning error of the thoracic spine region can be controlled within ±5mm, solving the problem of massage position deviation for users of different heights (150-190cm).

[0085] The massage parameter dynamic adjustment method of this invention adopts an adaptive adjustment mechanism, which does not require manual operation by the user. It automatically calculates the pressure threshold and stroke based on body shape characteristics such as shoulder width and torso length, and adapts to different body types such as obesity and thinness.

[0086] The massage parameter dynamic adjustment method of this invention has the advantage of strong anti-interference. The millimeter-wave radar is not affected by clothing or light, and can still stably identify body contours even when the user is wearing heavy clothing.

[0087] The massage parameter dynamic adjustment method of this invention has a dynamic optimization mechanism that monitors changes in body shape in real time and corrects the parameters to avoid massage failure caused by user movement.

[0088] The massage parameter dynamic adjustment method of this invention solves the problem of massage position deviation when users of different heights / body types use chair massage devices. By scanning the human body contour with millimeter-wave radar, it automatically calculates the starting position, stroke range and pressure threshold of the massage head, so as to achieve precise positioning and massage parameter adaptation of key massage areas such as the thoracic spine (such as T3-T12).

[0089] This invention provides a computer-readable storage medium.

[0090] In this embodiment, a computer program is stored on a computer-readable storage medium. When the computer program is executed by a processor, it implements the dynamic adjustment method for massage parameters as described above.

[0091] This invention provides a controller.

[0092] In this embodiment, the controller may include a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the dynamic adjustment method of massage parameters as described above.

[0093] Figure 6 This is a structural block diagram of the controller according to an embodiment of the present invention.

[0094] like Figure 6 As shown, the controller 500 includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, via a bus 502. Optionally, the controller 500 may also include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the controller 500 does not constitute a limitation on the embodiments of the present invention.

[0095] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 501 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0096] Bus 502 may include a pathway for transmitting information between the aforementioned components. Bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 502 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0097] The memory 503 stores a computer program corresponding to the dynamic adjustment method for massage parameters according to the above embodiments of the present invention. This computer program is controlled and executed by the processor 501. The processor 501 executes the computer program stored in the memory 503 to implement the content shown in the aforementioned method embodiments.

[0098] The controller 500 includes, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The controller 500 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0099] This invention provides a seat.

[0100] Figure 7 This is a schematic diagram of a seat according to an embodiment of the present invention. Figure 7 As shown, the seat 1000 includes: a human body scanning array 100, a massage device 200, and a controller 500 as described above.

[0101] The human body scanning array 100 in this embodiment of the invention adopts a millimeter-wave radar array, which includes four 77GHz radar sensors and a data acquisition circuit.

[0102] The massage device 200 in this embodiment of the invention includes a massage head, a slide rail, and a servo motor (for controlling the position of the massage head). The servo motor controls the massage head to move along a preset slide rail to massage the user. A pressure sensor is also installed at the massage head position to provide real-time feedback on the massage intensity.

[0103] The controller 500 in this embodiment of the invention can perform point cloud data processing and parameter calculation based on an FPGA chip. The controller 500's memory can pre-store a body feature-parameter mapping model and user usage records.

[0104] The seats described in this invention can be applied to various fields, such as office chairs, car seats, and medical rehabilitation equipment. Furthermore, the algorithm used by the controller can be optimized for different application scenarios to adapt to different user needs and environments.

[0105] The seat in this embodiment of the invention solves the problem of massage position deviation when users of different heights / body types use the seat massage device. By scanning the human body contour with millimeter-wave radar, it automatically calculates the starting position, stroke range and pressure threshold of the massage head, so as to achieve precise positioning and massage parameter adaptation for key massage areas such as the thoracic spine (such as T3-T12).

[0106] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0107] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0108] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0109] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0112] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0113] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for dynamically adjusting massage parameters, characterized in that, For use in a chair, wherein a human body scanning array and a massage device are provided at the backrest position, the method includes: When a user is seated, the human body scanning array is controlled to scan the user to obtain the user's three-dimensional point cloud data; The three-dimensional coordinates of the first and second critical nodes of the user's thoracic vertebrae are located based on the three-dimensional point cloud data. Based on the three-dimensional coordinates of the first key node and the second key node, the starting massage position and massage stroke of the massage device are determined, so as to control the massage device to massage the user according to the starting massage position and the massage stroke.

2. The method for dynamically adjusting massage parameters according to claim 1, characterized in that, The human body scanning array is a millimeter-wave radar array, which includes four millimeter-wave radars respectively located at the top, middle, and sides of the seat back. Controlling the human body scanning array to scan the user includes: The system controls each millimeter-wave radar in the millimeter-wave radar array to scan horizontally within a first preset angle range and vertically within a second preset angle range.

3. The method for dynamically adjusting massage parameters according to claim 1, characterized in that, The first key node is the 3rd thoracic vertebra, and the second key node is the 12th thoracic vertebra. Locating the three-dimensional coordinates of the first and second key nodes of the user's thoracic vertebrae based on the three-dimensional point cloud data includes: Clustering algorithms were used to identify torso point clouds from the 3D point cloud data; The neck inflection point is located based on the abrupt change in point cloud density in the torso point cloud, and the coordinates of the neck inflection point are obtained. Based on the torso point cloud, the point cloud coordinates at a first preset distance directly above the midpoint of the boundary line between the seat surface and the backrest of the seat are recorded as the buttock reference point coordinates. Calculate the vertical distance between the neck inflection point and the hip reference point based on the coordinates of the neck inflection point and the hip reference point; Using a pre-trained thoracic vertebral joint recognition model, the three-dimensional coordinates of the third thoracic vertebra and the twelfth thoracic vertebra are obtained based on the vertical distance between the cervical inflection point and the hip reference point.

4. The method for dynamically adjusting massage parameters according to claim 3, characterized in that, Determining the starting massage position and massage stroke of the massage device based on the three-dimensional coordinates of the first key node and the second key node includes: Based on the three-dimensional coordinates of the third thoracic vertebra, determine the position at a second preset distance offset downwards along the spine from the third thoracic vertebra, and record it as the starting massage position; Calculate the vertical distance between the third thoracic vertebra and the twelfth thoracic vertebra based on their three-dimensional coordinates. The massage stroke is defined as a preset multiple of the vertical distance between the 3rd thoracic vertebra and the 12th thoracic vertebra.

5. The method for dynamically adjusting massage parameters according to claim 1, characterized in that, The method further includes: The user's shoulder width is identified based on the 3D point cloud data; The massage intensity of the massage device is determined based on the shoulder width and a preset pressure function.

6. The method for dynamically adjusting massage parameters according to claim 5, characterized in that, The step of determining the massage intensity of the massage device based on the shoulder width and a preset pressure function includes: The pressure threshold is determined based on the shoulder width and the preset pressure function, and the pressure threshold is used as the massage intensity of the massage device.

7. The method for dynamically adjusting massage parameters according to claim 1, characterized in that, The method further includes: The human body scanning array is periodically controlled to scan the user, and the first key node and the second key node are located based on the three-dimensional point cloud data obtained from the scan. When the deviation of the first critical node and / or the second critical node exceeds a preset deviation threshold, the massage starting position and the massage stroke are corrected.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for dynamically adjusting massage parameters as described in any one of claims 1-7.

9. A controller, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for dynamically adjusting massage parameters as described in any one of claims 1-7.

10. A type of seat, characterized in that, include: Human body scanning array, massage device, and controller as described in claim 9.

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