AI head massage instrument based on pressure closed-loop feedback and capable of achieving eye movement tracking control

Abstract

The invention relates to an AI head massage instrument based on pressure closed-loop feedback and capable of achieving eye movement tracking control, and belongs to the technical field of intelligent wearable massage equipment. The device comprises a head-mounted shell, an electric control hooping mechanism, a pressure feedback contraction cap belt, a first sheet pressure sensor, a pneumatic pressure feedback massage mechanism, a second sheet pressure sensor, an eye movement tracking mechanism, a screen display mechanism and a main control AI unit. And the main control AI unit executes a pressure closed-loop PID algorithm, carries out real-time adjustment on the fitting pressure and the pressure of the air bag in each subarea, and maps the gazing direction of a user into area selection and force and time setting, so that non-contact interaction control is realized. Dynamic self-adaption and constant output of massage pressure are achieved, partition differentiation and personalized programs are supported, fitting stability, wearing comfort and interaction convenience are improved, and the intelligent massage system is suitable for scenes such as family health care and office relaxation.

Description

Technical Field

[0001] This invention relates to the field of intelligent wearable massage devices, and more particularly to an AI head massager based on pressure closed-loop feedback and capable of eye-tracking control. Background Technology

[0002] Most existing head massagers use fixed mechanical compression or single airbag pressurization methods, making it difficult to adjust in real time according to the user's head shape and actual pressure intensity, and lacking flexible human-computer interaction methods. Although some devices have pressure detection functions, they generally use open-loop control, which cannot achieve adaptive adjustment of massage pressure; at the same time, existing devices mostly rely on manual buttons or mobile apps for human-computer interaction, lacking convenience and immersion. Summary of the Invention

[0003] This invention aims to solve the problems of existing technologies, such as the single massage intensity, the inconsistency between the actual intensity and the setting due to open-loop control, and the lack of convenience and immersion due to reliance on buttons / voice for interaction. It provides an AI head massager based on pressure closed-loop feedback and eye-tracking control, which can achieve adaptive, zoned, and personalized control of the intensity and time for different head areas.

[0004] The technical means employed in this invention are as follows:

[0005] An AI-powered head massager based on pressure closed-loop feedback and eye-tracking control includes: The headgear has a shell with several gearboxes embedded in its brim, each gearbox containing a bidirectional transmission mechanism driven by a micro motor. The U-shaped threaded rod is threadedly coupled to the gear box and achieves axial extension and retraction under the drive of the motor; The pressure feedback shrink cap band is made of elastic fabric and embedded flexible circuit layer, with its two ends connected to the U-shaped threaded rod to form a closed-loop structure with adjustable clamping force. A flexible pad is fitted and fixed to the inside of the pressure feedback shrink cap strap, and the surface is provided with breathable micropores. The first thin-film pressure sensor is located at the contact point between the kneading pad and the chin to collect the contact pressure signal in real time; The pneumatic pressure feedback massage mechanism includes several independently controllable airbags, an air pump, a solenoid valve group, a massage plate, and a second thin-film pressure sensor, wherein the airbags transmit pressure to acupoints on the head through the massage plate; An eye-tracking mechanism, including an infrared beam scanner and a photoelectric sensor positioned above the eye socket, is used to capture eye movement trajectories and analyze the gaze direction; The screen display mechanism includes two curved OLED screens located directly in front of the user's eyes, used to display massage pressure, massage time settings, and eye-tracking feedback interface; The main control AI unit is electrically connected to the gearbox motor, the first thin-film pressure sensor, the second thin-film pressure sensor, the air pump, the eye-tracking mechanism, and the screen display mechanism, respectively, and is used to execute the pressure closed-loop control algorithm and realize massage interactive control based on the eye-tracking signal.

[0006] Furthermore, the gearbox adopts a bidirectional gear-screw transmission structure to achieve automatic adjustment of the clamping force.

[0007] Furthermore, the flexible circuit layer embedded in the pressure feedback shrink cap includes a temperature sensing unit and signal transmission wires to achieve synchronous acquisition of multi-point pressure and temperature.

[0008] Furthermore, the infrared beam scanner and photoelectric sensor in the eye-tracking mechanism work together to recognize gaze in the up, down, left, and right directions, and convert the gaze signal into massage control commands through the main control AI unit.

[0009] Furthermore, the screen display mechanism can dynamically switch the display interface based on the eye-tracking results, including a real-time pressure curve, a massage area selection interface, and countdown information.

[0010] Furthermore, the main control AI unit incorporates a PID pressure closed-loop control algorithm to adjust the extension and retraction stroke of the U-shaped threaded rod and the pneumatic massage pressure in real time, thereby achieving a constant and comfortable massage effect.

[0011] Furthermore, the PID pressure closed-loop control algorithm includes: The hood strap tightening circuit uses the contact pressure detected by the first thin-film pressure sensor as feedback, employs a discrete PID algorithm to calculate the motor control output, and controls the direction and speed of the motor in the gearbox through a PWM signal. The airbag pressure circuit uses the cavity pressure detected by the second thin-film pressure sensor as feedback, and uses a discrete PID algorithm combined with a feedforward compensation term to calculate the solenoid valve control output. The opening degree of the corresponding solenoid valve is controlled by the PWM duty cycle.

[0012] Furthermore, the main control AI unit assigns an independent control task unit to each airbag zone. Each control task unit runs in parallel with a fixed control cycle, and maintains an independent data buffer, control parameter area and output mapping relationship, thereby realizing quasi-parallel independent closed-loop control of multiple airbag zones.

[0013] Furthermore, the main control AI unit executes corresponding control commands based on the mapping relationship between the gaze point coordinates (xs, ys) resolved by the eye-tracking mechanism and the functional partitions of the screen display mechanism. The mapping rules include: When the gaze point falls within the range of the massage area selection icon, perform the selection or deselection operation of the corresponding massage area; When the gaze point falls into different areas of the pressure adjustment control, the pressure level is incremented, decremented, or directly mapped to the pressure setting value. When the gaze point falls into different areas of the time adjustment control, the massage time is reduced, increased, or directly mapped to the target time value. When the gaze point falls within the area of ​​a mode icon in the mode selection menu, the massage mode corresponding to that icon will be switched; When the gaze point remains continuously in the confirmation button area for more than the confirmation threshold time, a confirmation execution command is output.

[0014] Compared with the prior art, the present invention has the following advantages: Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the head massager of the present invention; Figure 2 This is a sectional view of the massage mechanism structure; Figure 3 This is a schematic diagram of the external structure of the present invention; Figure 4 This is a sectional view of the hood strap tightening feedback mechanism. Figure 5 This is a block diagram illustrating the control and interaction relationships of the present invention; In the diagram: 1. Headgear shell, 11. Gearbox, 12. U-shaped threaded rod, 13. Pressure feedback shrinkable cap strap, 14. Kneading pad, 15. First thin-film pressure sensor, 2. Pneumatic pressure feedback massage mechanism, 21. Airbag, 22. Air pump, 23. Massage plate, 24. Second thin-film pressure sensor, 3. Eye tracking mechanism, 4. Screen display mechanism, 5. Main control AI unit. Detailed Implementation

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0021] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0022] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0023] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0024] like Figures 1-5 As shown, this invention discloses an AI head massager based on pressure closed-loop feedback and eye-tracking control. The overall design is modular and integrated, with each functional component connected mechanically and electrically to form a complete intelligent massage system, specifically including: The headgear shell 1 has several gear boxes 11 embedded in its brim. Each gear box 11 contains a bidirectional transmission mechanism driven by a micro motor. In this embodiment, the headgear shell 1 is a ring-shaped frame structure, injection molded from a high-strength, lightweight composite material, and its inner contour is adapted to the physiological curve of the human head. The brim area of ​​the headgear shell 1 has four mounting slots at equal angles along the circumference, each slot containing a gear box 11. The gear box 11 is a metal shell, preferably made of aluminum alloy, and houses a micro DC geared motor and a bidirectional gear-screw transmission mechanism. Specifically, the output shaft of the micro motor is keyed to the driving gear, which meshes with the driven gear. The driven gear has an internal thread at its center, forming a threaded transmission pair with the external thread of the U-shaped threaded rod 12. When the motor rotates forward and backward, the gears reduce speed and increase torque, driving the U-shaped threaded rod 12 to extend or retract axially.

[0025] The U-shaped threaded rod 12 is threadedly coupled to the gear box 11 and achieves axial extension and retraction under the drive of the motor. Specifically, the U-shaped threaded rod 12 is a U-shaped bent metal rod with external threaded sections at both ends, which are threadedly coupled to the corresponding gear boxes 11. The bent part of the U-shaped threaded rod 12 is hinged to the end of the pressure feedback contraction cap 13 by a pin, ensuring smooth force transmission during adjustment.

[0026] The pressure feedback shrinkable headband 13 is composed of an elastic fabric and an embedded flexible circuit layer. Its two ends are connected to the U-shaped threaded rods 12, forming a closed-loop structure with adjustable clamping force. In this embodiment, the pressure feedback shrinkable headband 13 adopts a multi-layer composite structure, consisting of a nylon abrasion-resistant fabric layer, a polyurethane foam elastic buffer layer, and a flexible circuit layer from the outside in. The flexible circuit layer is an FPC flexible board, on which signal transmission wires and an optional temperature sensing unit are integrated. The two ends of the pressure feedback shrinkable headband 13 are hinged to the U-shaped threaded rods 12 on the left and right sides, respectively, forming a closed-loop structure surrounding the head.

[0027] A flexible pad 14 is fitted and fixed to the inner side of the pressure feedback contraction cap 13, and its surface is provided with breathable micropores. Specifically, the flexible pad 14 is an arc-shaped soft pad made of medical-grade silicone material, and its back side is bonded and fixed to the inner side of the pressure feedback contraction cap 13 by heat pressing or medical adhesive. The surface of the flexible pad 14 is arrayed with breathable micropores, with a micropore diameter of 0.5~1.0mm and a distribution density of 10~15 micropores / cm². 2 This design enhances breathability and comfort during extended wear. The area of ​​the rubbed pad 14 that contacts the chin has an embedded groove containing a first thin-film pressure sensor 15.

[0028] The first thin-film pressure sensor 15 is located at the contact point between the kneading pad 14 and the chin, and is used to collect the contact pressure signal in real time; optionally, a thin-film piezoresistive sensor is used.

[0029] The pneumatic pressure feedback massage mechanism 2 includes several independently controllable airbags 21, an air pump 22, a solenoid valve group, a massage plate 23, and a second thin-film pressure sensor 24, wherein the airbags 21 transmit pressure to acupoints on the head through the massage plate 23. The eye-tracking mechanism 3 includes an infrared beam scanner and a photoelectric sensor arranged above the eye socket to capture the trajectory of eye movement and analyze the gaze direction; The screen display mechanism 4 includes two OLED curved screens located directly in front of the user's eyes, used to display massage pressure, massage time settings and eye movement feedback interface; The main control AI unit 5 is electrically connected to the gearbox motor, the first thin-film pressure sensor 15, the second thin-film pressure sensor 24, the air pump 22, the eye-tracking mechanism 3, and the screen display mechanism 4, respectively, and is used to execute the pressure closed-loop control algorithm and realize massage interactive control based on the eye-tracking signal.

[0030] In this embodiment, the pneumatic pressure feedback massage mechanism 2 is integrally assembled into the inner ring of the headwear shell 1, and is divided into multiple independent zones along the circumference. In this embodiment, it is preferably divided into five zones: the forehead zone, the left temple zone, the right temple zone, the top zone, and the back of the head zone.

[0031] Each section contains an airbag 21, a massage plate 23, and a second thin-film pressure sensor 24. The air inlet of the airbag 21 is connected to a solenoid valve assembly via a flexible air tube. The solenoid valve assembly consists of multiple two-position three-way miniature solenoid valves, each corresponding to one airbag section. The air pump 22 is a miniature diaphragm pump, and its outlet is connected to the common air inlet of the solenoid valve assembly via a pipeline. The massage plate 23 is an arc-shaped rigid plastic plate, whose back is fixed to the outer surface of the airbag 21 by heat pressing or adhesive. The front has multiple massage bumps to concentrate the pressure to the acupoints on the head when the airbag is inflated. The edge of the massage plate 23 has positioning buckles that engage with the positioning grooves on the inner ring of the headgear shell 1 to prevent displacement when the airbag is inflated. The second thin-film pressure sensor 24 is embedded in the inner wall of the airbag 21, and its lead is led out from the sealed interface of the airbag and electrically connected to the main control AI unit 5 via a flexible circuit to detect the pressure value inside the airbag in real time.

[0032] Furthermore, the gearbox 11 adopts a bidirectional gear-screw transmission structure to achieve automatic adjustment of the clamping force.

[0033] Furthermore, the flexible circuit layer embedded in the pressure feedback shrink cap 13 includes a temperature sensing unit and a signal transmission wire to achieve synchronous acquisition of multi-point pressure and temperature.

[0034] Furthermore, the infrared beam scanner and photoelectric sensor in the eye-tracking mechanism 3 work together to achieve gaze recognition in the up, down, left, and right directions, and the gaze signal is converted into massage control commands through the main control AI unit 5.

[0035] In this embodiment, the eye-tracking mechanism 3 is fixedly installed on the inner front side of the head-mounted outer shell 1, located above the user's eye socket. This mechanism includes an infrared beam scanner array and a photoelectric sensor array. The infrared beam scanner consists of four low-power infrared LEDs arranged in an arc, used to project modulated infrared light onto the surface of the eyeball. The photoelectric sensor array consists of 16 silicon photodiodes arranged in a 4×4 grid pattern, used to receive light signals reflected from the cornea and the surface of the eyeball. The output of the sensor array is connected to the main control AI unit 5 via an interface containing amplification and filtering analog front-end circuitry.

[0036] Furthermore, the screen display mechanism 4 can dynamically switch the display interface based on the eye-tracking results, including a real-time pressure curve, a massage area selection interface, and countdown information.

[0037] Furthermore, the main control AI unit 5 incorporates a built-in PID pressure closed-loop control algorithm to adjust the extension and retraction stroke of the U-shaped threaded rod 12 and the pneumatic massage pressure in real time, thereby achieving a constant and comfortable massage effect. Specifically, the main control AI unit 5 is integrated into the control box at the rear of the headgear shell 1, and the control box adopts a sealed structure design.

[0038] Furthermore, the PID pressure closed-loop control algorithm includes: The hood strap tightening circuit uses the contact pressure detected by the first thin-film pressure sensor 15 as feedback, employs a discrete PID algorithm to calculate the motor control output, and controls the direction and speed of the motor in the gearbox 11 through a PWM signal. The airbag pressure circuit uses the cavity pressure detected by the second thin-film pressure sensor 24 as feedback, and uses a discrete PID algorithm combined with a feedforward compensation term to calculate the solenoid valve control output. The opening degree of the corresponding solenoid valve is controlled by the PWM duty cycle.

[0039] Furthermore, the main control AI unit 5 assigns an independent control task unit to each airbag partition. Each control task unit runs in parallel with a fixed control cycle and maintains an independent data buffer, control parameter area and output mapping relationship, thereby realizing quasi-parallel independent closed-loop control of multiple airbag partitions.

[0040] Furthermore, the main control AI unit 5 executes corresponding control commands based on the gaze point coordinates (xs, ys) parsed by the eye-tracking mechanism 3 and the functional partition mapping relationship of the screen display mechanism 4. The mapping rules include: When the gaze point falls within the range of the massage area selection icon, perform the selection or deselection operation of the corresponding massage area; When the gaze point falls into different areas of the pressure adjustment control, the pressure level is incremented, decremented, or directly mapped to the pressure setting value. When the gaze point falls into different areas of the time adjustment control, the massage time is reduced, increased, or directly mapped to the target time value. When the gaze point falls within the area of ​​a mode icon in the mode selection menu, the massage mode corresponding to that icon will be switched; When the gaze point remains continuously in the confirmation button area for more than the confirmation threshold time, a confirmation execution command is output.

[0041] In this embodiment, the clamping force closed-loop adjustment module is composed of a first thin-film pressure sensor 15, a main control AI unit 5, a micro motor in the gear box 11, and a U-shaped threaded rod 12.

[0042] The main control AI unit 5 establishes multiple independent pressure closed-loop control loops for each airbag. For the n airbag zones arranged along the inner ring of the headband shell 1, the main control AI unit 5 assigns a corresponding control task unit to each airbag zone, with the i-th airbag corresponding to the i-th pressure control task, where i=1,2,…,n. Each control task receives the real-time pressure signal collected by the corresponding second thin-film pressure sensor 24, and independently calculates the control output based on the target pressure value and duration of the zone in the current massage mode, thereby driving the corresponding solenoid valve group to adjust the inflation, pressure stabilization, or depressurization process of the airbag.

[0043] Specifically, each airbag control loop includes four basic steps: pressure acquisition, error calculation, control quantity solution, and actuator drive. First, the corresponding second thin-film pressure sensor 24 acquires the current airbag cavity pressure, and the actual pressure value is obtained after analog-to-digital conversion and filtering. Secondly, compare the actual pressure value with the preset target pressure value for that zone. The pressure error is obtained by comparison. Subsequently, the main control AI unit calculates the control output based on the pressure error using a control algorithm. The opening degree, on / off frequency or PWM duty cycle of the corresponding solenoid valve are adjusted accordingly to control the air supply or release volume of the air pump 22 to the airbag, so that the internal pressure of the airbag gradually approaches the target pressure value and achieves a stable massage force output.

[0044] In implementing multi-channel parallel control, the main control AI unit 5 periodically executes the pressure control tasks of each airbag zone through a task scheduling mechanism. Preferably, the main control AI unit sequentially performs pressure sampling, error calculation, and control output update for each airbag zone according to a fixed control cycle. Since the control cycle is much shorter than the human body's perception timescale of pressure changes, the macroscopic effect is that each airbag zone simultaneously and independently performs closed-loop pressure adjustment, thereby achieving multi-channel parallel control.

[0045] Preferably, the main control AI unit 5 includes a microcontroller, a memory, an analog-to-digital converter module, a PWM output module, a motor drive interface, a valve drive interface, and a communication interface. The microcontroller can be an embedded control chip with a timer, an interrupt controller, and multiple ADC sampling channels, used for periodically performing pressure sampling, error calculation, control quantity updates, and actuator drive output. The control algorithm can run on a microcontroller, DSP, FPGA control logic, or an embedded processor platform with a real-time operating system, preferably on a microcontroller platform with real-time timer interrupt functionality.

[0046] Furthermore, when multiple airbags share the air pump 22, the main control AI unit 5 independently controls the on / off state of each airbag branch through the solenoid valve group, and dynamically allocates the air pump output according to the pressure error of each zone or the priority of the preset massage program. When multiple airbags have inflation needs at the same time, the main control AI unit sequentially opens the corresponding solenoid valves according to the error priority principle or the time slice rotation principle, so that the air pump output is distributed among multiple airbags as needed, thereby reducing airflow competition and ensuring the stable operation of the pressure control circuit of each airbag. Preferably, the control process for each airbag zone includes four working states: inflation, pressure stabilization, depressurization, and standby. The inflation state occurs when the actual pressure is below the target lower limit; the pressure stabilization state occurs when the actual pressure is within the allowable fluctuation range of the target pressure; the depressurization state occurs when the actual pressure is above the target upper limit or the massage time ends; and the standby state occurs when the zone is not selected for a massage task. This state switching mechanism allows for independent control of different massage intensities and rhythms for different head areas.

[0047] Specifically, for n independent airbag zones, the main control AI unit 5 establishes n independent pressure closed-loop control tasks. Each control task corresponds to one airbag 21, one second thin-film pressure sensor 24, and one solenoid valve control channel. The i-th control task periodically reads the current pressure value collected by the corresponding sensor, and obtains the actual pressure through filtering and calibration. and the target pressure in the current massage mode of that zone. By comparison, the pressure error is obtained. The main control AI unit generates the i-th control output quantity based on the error using a preset control algorithm. This allows for the control of the corresponding solenoid valve's on-time, opening and closing frequency, or PWM duty cycle. Combined with the output of the shared air pump 22, this enables the inflation, pressure stabilization, and depressurization regulation of the airbags in that zone. Each control task is executed cyclically with a fixed control cycle under the management of a unified scheduler, and each maintains an independent data buffer, control parameter area, and output mapping relationship, thereby achieving quasi-parallel independent closed-loop control of multiple airbag zones.

[0048] Preferably, when multiple zones simultaneously require pressurization, the main control AI unit allocates the output of the shared air pump according to the pressure error of each zone, preset priority, or time-slice rotation strategy to reduce the impact of resource competition when multiple zones work in parallel. Furthermore, each control task has four operating states: inflation, pressure stabilization, pressure depressurization, and standby. These states transition based on real-time pressure feedback, massage duration, and mode switching commands, thereby achieving zoned massage control with different intensities, rhythms, and durations for different head areas.

[0049] Optionally, in the hood strap tightening circuit, the contact pressure detected by the first thin-film pressure sensor (15) is used as the feedback quantity, and the target contact pressure is set as follows: The actual detection pressure is The fitting pressure error is:

[0050] Preferably, the main control AI unit uses a discrete PID algorithm to calculate the control output of the gearbox motor. Let the sampling period be... The error at the kth sampling time is:

[0051] The output of the discrete PID control is then:

[0052] Furthermore, to reduce overshoot and prevent excessively tight bonding, an integral separation PID strategy is preferred, i.e., when the absolute value of the error satisfies: At this time, only proportional or proportional-derivative control is used; When the absolute value of the error satisfies: Then, an integral term is introduced to improve steady-state accuracy.

[0053] Preferably, an integration limit is also set for the integration term:

[0054] To prevent integral saturation.

[0055] The main control AI unit, based on the control output quantity u h (k) Generate a motor drive signal, the drive signal including a motor rotation direction signal and a PWM duty cycle signal; wherein, the sign of the control output is used to determine whether the gearbox motor rotates forward or backward to drive the U-shaped threaded rod 12 to extend or retract, and the absolute value of the control output is used to determine the magnitude of the PWM duty cycle, thereby adjusting the motor speed and the micro-extension and retraction speed of the threaded rod.

[0056] When the following conditions are met: When the current bonding pressure reaches the target range, the main control AI unit switches to maintenance mode, only periodically detecting pressure changes. If the bonding pressure deviates from the allowable range, it re-enters closed-loop adjustment. Preferably, the maintenance mode also includes a motor soft limit and a maximum stroke limit to prevent mechanical jamming or excessive tightening.

[0057] In the airbag massage pressure circuit, the target pressure of the i-th airbag zone is denoted as , and the actual detected pressure is denoted as . Then, its pressure error is:

[0058] At discrete time k, the discrete PID output of the i-th airbag control loop is:

[0059] Because the airbag system has characteristics such as flexible cavity, inflation / deflation hysteresis, and material elasticity, preferably, the main control AI unit adds a feedforward compensation term to the PID, forming: where is the feedforward compensation term, which can be calculated based on the target pressure change rate, the rated flow rate of the air pump, the estimated volume of the airbag, and the flow characteristics of the solenoid valve. It is used to compensate for the inflation inertia in advance during the pressurization stage and to reduce the valve control output in advance during the depressurization stage, thereby reducing overshoot and improving response speed.

[0060] For the i-th airbag compartment, the main control AI unit generates the corresponding solenoid valve control signal based on the control output. Preferably: At that time, the i-th intake valve was turned on, and the valve opening and closing frequency or conduction duration was controlled according to the corresponding PWM duty cycle to increase the inflation volume of the airbag. At that time, the pressure relief valve of the i-th path was opened, or the duty cycle of the intake valve was reduced, so that the airbag was depressurized; At that time, the rapid inflation / deflation action was turned off, and the system entered a stable pressure maintenance state, with only small duty cycle corrections performed.

[0061] Furthermore, the control process of the i-th airbag zone includes four states: inflation, pressure stabilization, depressurization, and standby. The main control AI unit switches between these states based on the current error value, the target pressure curve, and the duration of action to achieve constant pressure output or a massage curve output of increase-stabilization-decrease.

[0062] Preferably, the screen display interface adopts a two-dimensional functional partition layout, and the main control AI unit displays the calibrated gaze point coordinates. Mapping to the corresponding UI control area follows the specific rules: when When the target falls within the range of the massage area selection icon, the corresponding massage area is selected or deselected. when When the pressure falls into the upper half of the pressure adjustment control, the pressure level increases; when it falls into the lower half, the pressure level decreases; when it falls into different positions of the pressure slider, it is directly mapped to the corresponding pressure setting value. when When the massage time falls into the left area of ​​the time adjustment control, the massage time is reduced; when it falls into the right area, the massage time is increased; when it falls into different positions on the time scale, it is directly mapped to the corresponding target time value. when When you fall into the mode selection menu and enter the area of ​​a mode icon, you will switch to the massage mode corresponding to that icon. When the gaze point remains continuously in the confirmation button area for more than the confirmation threshold time, a confirmation execution command is output; when the gaze point remains in the return button area for more than the confirmation threshold time, a return to the previous menu command is output.

[0063] An eye-tracking mechanism 3 is positioned above the user's eye socket and includes an infrared beam scanner and a photoelectric sensor array. The infrared beam scanner emits low-power infrared light towards the surface of the eyeball, and the photoelectric sensor array receives the light signals reflected by the cornea and the surface of the eyeball, and outputs corresponding photoelectric sampling data. The main control AI unit 5 filters, normalizes, and extracts features from the sampled data to obtain the pupil center position, corneal reflection point position, and eyeball direction feature parameters. Then, it converts the eye-tracking features into gaze point coordinates on the screen display mechanism 4 using a pre-calibrated mapping function.

[0064] To reduce errors caused by natural eye saccades, environmental interference, and instantaneous blinking, the main control AI unit 5 performs moving average or low-pass filtering on the gaze point coordinates over multiple consecutive sampling periods, and combines this with gaze point fluctuation thresholds and dwell time thresholds to determine effective gaze. When the smoothed gaze point remains continuously within the same screen functional area for more than a preset confirmation time, and the positional fluctuation is less than a preset stability threshold, it is determined to be a valid selection; otherwise, only the current control is highlighted, without triggering actual control commands.

[0065] The screen display mechanism 4 uses two curved OLED screens positioned directly in front of the user's eyes to display massage zones, pressure levels, massage time, mode menus, and interactive interfaces such as confirmation / return. The main control AI unit executes command mapping based on the interface area where the effective gaze point is located: when the gaze point is in the massage area selection area, it outputs the corresponding airbag zone selection command for the head area; when the gaze point is in the intensity adjustment area, it outputs the target pressure increase / decrease or pressure level setting command; when the gaze point is in the time setting area, it outputs the massage duration increase / decrease or target time setting command; when the gaze point is in the mode switching area, it outputs the corresponding massage mode switching command; when the gaze point is in the confirmation or return area and meets the dwell threshold, it outputs the confirmation or return command. This achieves contactless control of the massage area, intensity, time, and mode.

[0066] The screen interface is divided into five main functional areas: top, bottom, left, right, and center. The top area increases massage intensity, the bottom area decreases intensity, the left area switches between the previous massage area or mode, the right area switches between the next massage area or mode, and the center area confirms execution or starts / pauses the massage. When the main control AI unit detects that the user is looking at a certain functional area and stays there for more than a preset threshold time, it outputs the corresponding operation command to the relevant control module.

[0067] 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. An AI head massager based on pressure closed-loop feedback and capable of eye-tracking control, characterized in that, include: The headgear shell (1) has several gear boxes (11) embedded in its brim, and each gear box (11) has a built-in bidirectional transmission mechanism driven by a micro motor; The U-shaped threaded rod (12) is threadedly coupled to the gear box (11) and achieves axial extension and retraction under the drive of the motor; The pressure feedback shrink cap band (13) is made of elastic fabric and embedded flexible circuit layer, and its two ends are respectively connected to the U-shaped threaded rod (12) to form a closed loop structure with adjustable clamping force. A kneadable pad (14) is fitted and fixed to the inside of the pressure feedback shrink cap (13), and its surface is provided with breathable micropores; The first thin-film pressure sensor (15) is set at the contact point between the kneading pad (14) and the chin, and is used to collect the contact pressure signal in real time; The pneumatic pressure feedback massage mechanism (2) includes several independently controllable airbags (21), an air pump (22), a solenoid valve group, a massage plate (23) and a second thin-film pressure sensor (24), wherein the airbags (21) transmit pressure to the acupoints on the head through the massage plate (23); An eye-tracking mechanism (3) includes an infrared beam scanner and a photoelectric sensor arranged above the eye socket to capture the trajectory of eye movement and analyze the gaze direction; The screen display mechanism (4) includes two OLED curved screens located directly in front of the user's eyes for displaying massage pressure, massage time settings and eye movement feedback interface; The main control AI unit (5) is electrically connected to the gearbox motor, the first thin-film pressure sensor (15), the second thin-film pressure sensor (24), the air pump (22), the eye-tracking mechanism (3), and the screen display mechanism (4), respectively, and is used to execute the pressure closed-loop control algorithm and realize massage interactive control based on the eye-tracking signal.

2. The AI ​​head massager according to claim 1, characterized in that, The gearbox (11) adopts a two-way gear-screw transmission structure to achieve automatic adjustment of clamping force.

3. The AI ​​head massager according to claim 1, characterized in that, The flexible circuit layer embedded in the pressure feedback shrink cap (13) includes a temperature sensing unit and a signal transmission wire to achieve synchronous acquisition of multi-point pressure and temperature.

4. The AI ​​head massager according to claim 1, characterized in that, The infrared beam scanner and photoelectric sensor in the eye-tracking mechanism (3) work together to realize gaze recognition in the up, down, left and right directions, and convert the gaze signal into massage control commands through the main control AI unit (5).

5. The AI ​​head massager according to claim 4, characterized in that, The screen display mechanism (4) can dynamically switch the display interface according to the eye tracking results, including the real-time pressure curve, the massage area selection interface and the countdown information.

6. The AI ​​head massager according to claim 1, characterized in that, The main control AI unit (5) has a built-in PID pressure closed-loop control algorithm to adjust the extension stroke and pneumatic massage pressure of the U-shaped threaded rod (12) in real time.

7. The AI ​​head massager according to claim 6, characterized in that, The PID pressure closed-loop control algorithm includes: The hood strap tightening circuit uses the contact pressure detected by the first thin sheet pressure sensor (15) as feedback, and uses a discrete PID algorithm to calculate the motor control output. The direction and speed of the motor in the gearbox (11) are controlled by the PWM signal. The airbag pressure circuit uses the cavity pressure detected by the second thin-film pressure sensor (24) as feedback, and uses a discrete PID algorithm combined with a feedforward compensation term to calculate the solenoid valve control output. The opening degree of the corresponding solenoid valve is controlled by the PWM duty cycle.

8. The AI ​​head massager according to claim 7, characterized in that, The main control AI unit (5) assigns an independent control task unit to each airbag partition. Each control task unit runs in parallel with a fixed control cycle and maintains an independent data buffer, control parameter area and output mapping relationship, thereby realizing quasi-parallel independent closed-loop control of multiple airbag partitions.

9. The AI ​​head massager according to claim 7, characterized in that, The main control AI unit (5) executes corresponding control commands based on the gaze point coordinates (xs, ys) parsed by the eye-tracking mechanism (3) and the functional partition mapping relationship between the screen display mechanism (4). The mapping rules include: When the gaze point falls within the range of the massage area selection icon, perform the selection or deselection operation of the corresponding massage area; When the gaze point falls into different areas of the pressure adjustment control, the pressure level is incremented, decremented, or directly mapped to the pressure setting value. When the gaze point falls into different areas of the time adjustment control, the massage time is reduced, increased, or directly mapped to the target time value. When the gaze point falls within the area of ​​a mode icon in the mode selection menu, the massage mode corresponding to that icon will be switched; When the gaze point remains continuously in the confirmation button area for more than the confirmation threshold time, a confirmation execution command is output.

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