Massage table and massage table control method

Abstract

The application provides a massage bed and a massage bed control method, wherein the massage bed comprises a suspension type multi-axis massage unit and a bed body; the suspension type multi-axis massage unit comprises a frame support structure, a driving module arranged on the frame support structure, a plurality of massage arms arranged on the frame support structure, and an actuator arranged at the end of each massage arm; the driving module is connected with each massage arm to drive each massage arm and / or each actuator to move; and the bed body comprises a bed plate body used for carrying a target object to be massaged by the actuator at the end of the massage arm driven by the driving module. The application can complete a three-dimensional massage task through a multi-degree-of-freedom mechanical structure, and fundamentally solves the problems of a limited coverage range, a low degree of individualization and poor controllability of a conventional massage bed in the prior art.

Description

Technical Field

[0001] This application relates to the field of smart device technology, and more specifically, to a massage bed and a massage bed control method. Background Technology

[0002] With the aging population and the continued growth in the number of patients with chronic diseases and those recovering from surgery, the demand for massage among bedridden patients is becoming increasingly prominent.

[0003] Currently, most massage beds on the market have basic posture adjustment functions such as backrest height adjustment and leg adjustment, and some are equipped with airbag vibration or local heating modules to achieve basic massage effects.

[0004] However, existing technologies still have many limitations, such as limited coverage, low personalization, and poor controllability. First, the function of traditional massage beds is limited to the structure of the bed itself, and they cannot effectively massage non-contact areas such as limbs, resulting in limited massage coverage. Second, existing massage and turning functions are mostly driven by preset programs, lacking the ability to perceive and respond to the real-time state of the human body (such as changes in posture, vital signs, and skin condition), making it difficult to achieve personalized and safe controllable operation. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a massage bed and a massage bed control method to solve the problems of limited coverage, low personalization, and poor controllability in the prior art.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, one embodiment of this application provides a massage bed, the massage bed comprising: a suspended multi-axis massage unit and a bed frame; The suspended multi-axis massage unit includes: a frame support structure, a drive module disposed on the frame support structure, a plurality of massage arms (500) disposed on the frame support structure, and an actuator (700) disposed at the end of each of the massage arms (500). The drive module is connected to each of the massage arms (500) to drive each of the massage arms (500) and / or each of the actuators (700) to move. The bed includes a bed board body (600), which is used to support a target object so as to drive the actuator (700) at the end of the massage arm (500) to massage the target object through the drive module.

[0007] Secondly, another embodiment of this application provides a massage bed control method, which is applied to the massage bed described in the first aspect, the massage bed comprising: a suspended multi-axis massage unit and a bed frame; The suspended multi-axis massage unit includes: a frame support structure, a drive module disposed on the frame support structure, a plurality of massage arms (500) disposed on the frame support structure, and an actuator (700) disposed at the end of each of the massage arms (500). The drive module is connected to each of the massage arms (500) to drive each of the massage arms (500) and / or each of the actuators (700) to move. The bed body includes: a bed board body (600), which is used to support the target object so as to drive the actuator (700) at the end of the massage arm (500) to massage the target object through the drive module; The method includes: driving each of the massage arms (500) and / or each of the actuators (700) to move via the drive module to massage the target object.

[0008] The beneficial effects of this application are as follows: by setting a suspended multi-axis massage unit and a bed frame in the massage bed, and setting a frame support structure, drive module, multiple massage arms 500 and actuators 700 in the suspended multi-axis massage unit, the drive module is connected to each massage arm 500, thereby driving each massage arm 500 and / or each actuator 700 to move, and setting a bed board body 600 in the bed frame, so that the actuators 700 at the end of the massage arms 500 can be driven by the drive module to massage the target object, a three-dimensional massage task can be completed through the coordinated multi-degree-of-freedom mechanical structure, which fundamentally solves the problems of limited coverage, low personalization and poor controllability of traditional massage beds in the prior art. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a first structure of the massage bed provided in an embodiment of this application; Figure 2 This is a schematic diagram of a second structure of the massage bed provided in an embodiment of this application; Figure 3 A flowchart illustrating a massage bed control method provided in an embodiment of this application; Figure 4 A schematic flowchart illustrating another massage bed control method provided in an embodiment of this application; Figure 5A schematic flowchart illustrating another massage bed control method provided in an embodiment of this application; Figure 6 A schematic flowchart illustrating another massage bed control method provided in an embodiment of this application; Figure 7 A schematic flowchart illustrating another massage bed control method provided in an embodiment of this application; Figure 8 This is a flowchart illustrating another massage bed control method provided in an embodiment of this application.

[0011] Reference numerals: 100-Support rod; 200-First connecting rod; 300-Second connecting rod; 400-Third connecting rod; 500-Massage arm; 401-Control box; 402-Reinforcing connecting rod; 403-Telescopic control rod; 600-Bed board body; 301-First slider; 404-Second slider; 700-Actuator; 302-Second drive motor; 4011-Third drive motor; 4012-Fourth drive motor; 303-Coupling; 304-Lead screw; 101-Switch module. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0013] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0014] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0015] Currently, most massage beds on the market have basic posture adjustment functions such as backrest height adjustment and leg adjustment, and some are equipped with airbag vibration or local heating modules to achieve basic massage effects.

[0016] However, the functions of traditional massage beds are limited by the structure of the bed itself, and they cannot effectively massage non-contact areas such as limbs, resulting in a limited massage coverage. Secondly, the existing massage and turning functions are mostly driven by preset programs, lacking the ability to perceive and respond to the real-time state of the human body (such as changes in posture, vital signs, and skin condition), making it difficult to achieve personalized and safe and controllable operation.

[0017] Therefore, traditional massage beds in the current technology still have many limitations, such as limited coverage, low degree of personalization, and poor controllability.

[0018] Based on the aforementioned problems, this application proposes a massage bed. The massage bed incorporates a suspended multi-axis massage unit and a bed frame. The suspended multi-axis massage unit includes a frame support structure, a drive module, multiple massage arms 500, and actuators 700. The drive module is connected to each massage arm 500, thereby driving the movement of each massage arm 500 and / or each actuator 700. A bed board body 600 is provided within the bed frame, allowing the drive module to drive the actuators 700 at the ends of the massage arms 500 to massage the target object. This multi-degree-of-freedom mechanical structure collaboratively completes a three-dimensional task, fundamentally solving the problems of limited coverage, low personalization, and poor controllability inherent in traditional massage beds in the prior art.

[0019] The massage bed provided in this application will be described in detail below with reference to several embodiments.

[0020] Figure 1 This is a schematic diagram of a first structure of the massage bed provided in an embodiment of this application. Figure 2 This is a schematic diagram of a second structure of the massage bed provided in an embodiment of this application, with reference to... Figure 1 as well as Figure 2 As shown, the massage bed includes a suspended multi-axis massage unit and a bed frame.

[0021] The suspended multi-axis massage unit includes: a frame support structure, a vision module disposed on the frame support structure, a drive module disposed on the frame support structure, multiple massage arms 500 disposed on the frame support structure, and an actuator 700 disposed at the end of each massage arm 500. The drive module is connected to each massage arm 500 to drive each massage arm 500 and / or each actuator 700 to move.

[0022] The bed frame includes: a bed board body 600, a dynamic support structure disposed on the bed board body 600, a massage module disposed on the bed board body 600, and a sensing module disposed on the bed board body 600. The dynamic support structure includes: multiple dynamic support modules evenly arranged.

[0023] Optionally, the frame support structure refers to the structure installed above the bed to support the vision module, drive module, and each massage arm 500.

[0024] For example, continue to refer to Figure 2 As shown, on the bed board body 600, four support rods 100 are vertically arranged with the four corners of the bed board body 600 as one end, and the other end of each support rod 100 is connected by two first connecting rods 200 and two second connecting rods 300. In the formed frame structure, multiple first sliders 301 are nested, and two third connecting rods 400 are arranged in parallel through the first sliders 301 to obtain the frame support structure.

[0025] Optionally, each of the two third connecting rods 400 is nested with a plurality of second sliders 404, each second slider 404 being configured accordingly, and the two third connecting rods 400 are also provided with a plurality of reinforcing connecting rods 402 in parallel through the second sliders 404.

[0026] Optionally, a telescopic control rod 403 may also be provided on the two second sliders 404 located on the same third connecting rod 400, so as to control the distance between the two second sliders 404 by telescopic control rod 403.

[0027] For example, each support rod 100 may employ a telescopic rod mechanism to adjust the height of the telescopic frame structure.

[0028] Optionally, the vision module can be set on the support rod 100, two first connecting rods 200, two second connecting rods 300 or a third connecting rod 400 in the frame support structure. The vision module may include a 3D depth camera, an infrared camera and an RGB camera, etc.

[0029] For example, the vision module can be mounted on one of the four support rods 100, two first connecting rods 200, two second connecting rods 300, or a third connecting rod 400 (not shown in the figure) in the frame support structure via a vision mounting slider. Specifically, taking the vision module mounted on the third connecting rod 400 as an example, the vision module is fixedly mounted on the vision mounting slider, which can smoothly slide linearly along the axial direction of the third connecting rod 400 to achieve flexible adjustment of the vision module's position. The vision mounting slider can specifically be a sliding bearing or a sliding sleeve, and can be driven manually or electrically to move.

[0030] Optionally, the drive module can be fixedly mounted on the support rod 100, two first connecting rods 200, two second connecting rods 300 or a third connecting rod 400 in the frame support structure. The drive module includes multiple drive motors to drive the displacement of each massage arm 500, the actuator 700 at the end of each massage arm 500 and the visual sliding module.

[0031] For example, continue to refer to Figure 2 As shown, there can be three drive motors, which are respectively mounted on the third connecting rod 400 and the telescopic control rod 403.

[0032] Optionally, the top end of the massage arm 500 is fixedly mounted on the telescopic control rod 403 in the frame support structure, and the end of the massage arm 500 is provided with an actuator 700. The massage arm 500 can be a multi-degree-of-freedom or specific-degree-of-freedom massage arm 500, and its posture can be adjusted according to actual needs. The actuator 700 may include: a multi-wheel massage head, a deep impact head, a heat therapy / moxibustion head, a massage medicine application head, an auxiliary rehabilitation clamp, and a robotic arm, etc., which can be replaced according to actual applications.

[0033] For example, a specific degree of freedom can be a single degree of freedom. When the massage arm 500 is a single-degree-of-freedom massage arm 500, the massage arm 500 is fixed to the support rod 100, the first connecting rod 200, the two second connecting rods 300, or the third connecting rod 400 or the reinforcing connecting rod 402 in the frame support structure through connectors. The drive module can control the massage arm 500 to move up and down, left and right, and forward and backward, thereby driving the actuator 700 to perform massage or massage.

[0034] For example, continue to refer to Figure 2 As shown, the massage arm 500 is fixed to the reinforcing link 402 in the frame support structure, and the end of the massage arm 500 is connected to the actuator 700 via a spring assembly (not shown). Optionally, continuing to refer to... Figure 2 As shown, the massage arm 500 adopts a sleeve structure with an elastic element inside. The sleeve is connected to the actuator 700 through the elastic element to control the operation of the actuator 700.

[0035] For example, continue to refer to Figure 2 As shown, the distance between the two massage arms 500 can change as the reinforcing link 402 moves on the third connecting link 400, the position of the two massage arms 500 relative to the bed board body 600 can change as the third connecting link 400 moves on the second connecting link 300, and the vertical position of the two massage arms 500 can be changed under the control of the drive motor.

[0036] In this embodiment, a suspended multi-axis massage unit and a bed frame are provided in the massage bed. The suspended multi-axis massage unit is provided with a frame support structure, a drive module, multiple massage arms 500, and actuators 700. The drive module is connected to each massage arm 500 to drive the movement of each massage arm 500 and / or each actuator 700. A bed board body 600 is provided in the bed frame so that the actuators 700 at the ends of the massage arms 500 can be driven by the drive module to massage the target object. The three-dimensional massage task can be completed through the coordinated multi-degree-of-freedom mechanical structure, which fundamentally solves the problems of limited coverage, low personalization, and poor controllability of traditional massage beds in the prior art.

[0037] In one possible implementation, the bed body further includes: a dynamic support structure disposed on the bed board body 600, a massage module disposed on the bed board body 600, and a sensing module disposed on the bed board body 600. The dynamic support structure includes: a plurality of dynamic support modules evenly arranged.

[0038] Optionally, continue to refer to Figure 1 as well as Figure 2 As shown, a mattress can also be installed on the bed board body 600, and the dynamic support structure, massage module and sensing module can be installed in the mattress.

[0039] For example, a mattress may include multiple layers, and dynamic support structures, massage modules, and sensing modules may be distributed in different layers of the mattress.

[0040] Specifically, the dynamic support structure is used to achieve pressure redistribution, body posture optimization, and assisted movement coordination. For example, the dynamic support modules can be arranged in a matrix layout, and each module can be raised and lowered independently. The dynamic support modules may include electric actuators, cylinders, or linear motors, and their surfaces may be covered with flexible materials.

[0041] For example, the massage module may include massage units such as airbags and vibration units.

[0042] For example, the sensing module includes a matrix pressure sensor network and a non-contact biosensor. The matrix pressure sensor network is used to monitor the pressure distribution of different parts of the target object's body in real time, while the non-contact biosensor is used to monitor vital signs such as heart rate and respiration.

[0043] For example, Figure 1 as well as Figure 2 The following example uses two massage arms 500.

[0044] In one possible implementation, continue to refer to Figure 1 as well as Figure 2As shown, the frame support structure includes: four support rods 100, two first connecting rods 200, and two second connecting rods 300.

[0045] Four support rods 100 are vertically installed, and the four corners of the bed board body 600 are fixedly connected to the corresponding support rods 100 respectively; the tops of the four support rods 100 are connected in the length direction by a first connecting rod 200 and in the width direction by a second connecting rod 300.

[0046] Optionally, the support rod 100 is a nested telescopic structure.

[0047] Each support rod 100 includes: an outer sleeve and an inner sleeve; the drive module includes: a first drive motor (not shown in the figure).

[0048] An outer sleeve is fitted onto the outside of an inner sleeve, and a first drive motor is provided on the inner sleeve. The first drive motor is used to drive the inner sleeve to extend and retract.

[0049] It is understood that a switch module 101 can also be provided on the support rod 100 to control the first drive motor, thereby realizing the lifting and lowering control of the support rod 100.

[0050] Meanwhile, the switch module 101 can also control the second drive motor 302, thereby realizing the sliding control of the third connecting rod 400 on the second connecting rod 300.

[0051] Furthermore, the switch module 101 can also control the third drive motor 4011 to drive the massage arm 500 to move in the extension direction of the third connecting rod 400.

[0052] In addition, the switch module 101 can also control the fourth drive motor 4012 to drive the telescopic control rod 403 (403) to extend or retract.

[0053] In one possible implementation, the frame support structure also includes two third connecting rods 400; the two ends of the third connecting rods 400 are respectively sleeved on the two second connecting rods 300.

[0054] The drive module includes a second drive motor 302, and one end of the third connecting rod 400 is provided with the second drive motor 302. The second drive motor 302 drives the third connecting rod 400 to slide on the second connecting rod 302. The visual module and massage arm 500 are both mounted on the third connecting rod 400.

[0055] Optionally, the two third connecting rods 400 can be arranged in parallel and connected to the second connecting rod 300 via a plurality of first sliders 301.

[0056] Optionally, the second drive motor 302 can be connected to the lead screw 304 via a coupling 303, and the lead screw 304 can be arranged parallel to the second connecting rod 300.

[0057] In one possible implementation, the system further includes: a control box 401, a reinforcing link 402, and a telescopic control rod 403. The two ends of the control box 401 and the two ends of the reinforcing link 402 are respectively sleeved on two third connecting rods 400. One end of the telescopic control rod 403 is fixedly connected to the control box 401, and the other end of the telescopic control rod 403 is an internal telescopic rod that is telescopically connected to the reinforcing link 402. The control box 401 includes a power supply unit, a third drive motor 4011, and a fourth drive motor 4012.

[0058] The massage arm 500 includes a fixing mechanism, which is fixedly connected to the telescopic control rod 403; a third drive motor 4011 is used to drive the massage arm 500 to move in the extension direction of the third connecting rod 400; and a fourth drive motor 4012 is disposed at one end of the telescopic control rod 403 and is used to drive the telescopic control rod 403 to extend or retract.

[0059] The control unit is connected to the vision module, drive module, various dynamic support modules, sensing module, and massage module respectively.

[0060] Optionally, the control unit can be installed in the massage bed or in a cloud server. When the control unit is installed in a cloud server, the massage bed may also include a communication module to communicate with the control unit in the cloud server.

[0061] The control unit is used to respond to the current control command and obtain the current status information of the target user through the vision module and the perception module.

[0062] Optionally, the target user can use the massage bed provided in this application embodiment in a supine, side-lying, or reclining posture. During the target user's use, the control unit of the massage bed responds to the current control command and sends acquisition signals to the vision module and the perception module to obtain the target user's current status information.

[0063] The target user is the person being massaged by the massage bed. Current control commands instruct the massage bed on the massage task to be performed. Current status information indicates the target user's current real-time condition.

[0064] The control unit is used to generate control information based on the current control command and the current status information, and to control the target module to perform massage operations based on the control information.

[0065] Optionally, after obtaining the current control command and current status information, the control unit processes the current control command and current status information to generate control information, and controls the target module to perform massage operations based on the control information. The target module includes at least one of the following modules: a drive module, various dynamic support modules, and a massage module.

[0066] For example, taking the current control command as starting the "Leg Relaxation Massage" program, the current status information can be obtained, including the outline, length, and position of the target user's legs, as well as pressure sensor data. After obtaining the current control command and current status information, the control unit analyzes the pressure sensor data, discovers that the area behind the target user's knees is unsupported, and generates control information. This control information is used to indicate the position of the target user's legs and the leg massage information, and instructs the dynamic support unit of the bed to slightly raise, providing more comfortable support for the legs.

[0067] For example, after the control information is generated, the massage arm 500 moves to the corresponding position above the leg indicated by the control information and performs a precise reciprocating massage along the direction of the calf muscle group with preset pressure and speed. At the same time, the control unit finely adjusts the massage intensity in real time based on feedback from biosensors (such as changes in heart rate).

[0068] In one example, the control unit can store pre-obtained current control commands, current status information, and mapping relationships of control information. After obtaining the current control commands and current status information, the control unit can obtain the control information through mapping.

[0069] In another example, the control unit can store a pre-trained control information generation model. After obtaining the current control command and the current state information, the current control command and the current state information can be input into the control information generation model to generate control information.

[0070] In this embodiment, by incorporating a control unit, a suspended multi-axis massage unit, and a bed frame within the massage bed, and by including a frame support structure, a vision module, a drive module, massage arms 500, and actuators 700 within the suspended multi-axis massage unit, the physical boundaries of the bed frame can be overcome. A dynamic support structure, massage modules, and sensing modules can be integrated into the bed frame, enabling the control unit to respond to current control commands and acquire the current state information of the target user through the vision and sensing modules. Based on the current control commands and state information, control information is generated, and at least one target module within the suspended multi-axis massage unit and bed frame is controlled accordingly. This achieves a closed-loop intelligent massage for the target user, from dynamic perception to intelligent decision-making and multi-dimensional collaborative execution, fundamentally solving the problems of limited coverage, low personalization, and poor controllability inherent in traditional massage beds. Furthermore, the massage bed provided in this embodiment can be connected to a medical management system or a home health platform, facilitating full-cycle health management for the target user.

[0071] In one possible implementation, the control unit is specifically used for: In response to the current control command of the current user, the current state information of the target user is obtained through the vision module and the perception module.

[0072] In one possible implementation, the control unit is specifically used for: The system acquires the target user's first real-time status information through the vision module and the perception module; based on the first real-time status information, it generates the target user's current control commands.

[0073] In one possible implementation, the control unit is specifically used for: Based on the current control instructions, determine the target user's data collection location and method; Based on the data collection location and method, the current status information of the target user is obtained through the vision module and the perception module.

[0074] In one possible implementation, the control unit is specifically used for: Based on the data acquisition location, determine the target arrival location of the vision module; The driver module controls the vision module to reach the target location, and according to the acquisition method, the vision module acquires the target user's current visual information. According to the acquisition method, the current perception information of the target user is obtained through the perception module, and the current visual information and the current perception information are used as the current state information.

[0075] In one possible implementation, the control unit is specifically used for: Based on the current status information, determine the target user's current massage status, which includes the target user's current treatment area and massage avoidance area; Determine the current control mode based on the current control command and current status information; Generate target control information based on the current control command, current control mode, and current massage status.

[0076] In one possible implementation, the control unit is specifically used for: Based on the current state information, construct a body model of the target user; Based on the current visual information in the current status information, determine whether the target user is in a treatment state; If so, determine the current massage state of the target user based on the target user's body model and the current treatment area corresponding to the treatment state; If not, then generate the target user's current massage state based on the target user's body model.

[0077] In one possible implementation, the control unit is specifically used for: Determine the initial control mode based on the current control command; Based on the current status information, determine whether the target user has an abnormal status; If so, determine the target control method corresponding to the part of the target user to be controlled, and determine the current control method based on the initial control method and the target control method; If not, the initial control mode will be used as the current control mode.

[0078] In one possible implementation, the control unit is specifically used for: If the initial control mode is unidirectional suspension massage mode and the target control mode is bidirectional massage mode, then the current control mode is determined to be bidirectional massage mode; If the initial control mode is unidirectional suspension massage mode and the target control mode is unidirectional tilt massage mode, then the current control mode is determined to be bidirectional massage mode; If the initial control mode is unidirectional suspension massage mode and the target control mode is unidirectional suspension massage mode, then the current control mode is determined to be unidirectional suspension massage mode. If the initial control mode is a one-way tilt massage mode and the target control mode is a one-way suspension massage mode, then the current control mode is determined to be a two-way massage mode. If the initial control mode is one-way pitch massage mode, and the target control mode is one-way pitch massage mode, then the current control mode is determined to be one-way pitch massage mode. If the initial control mode is a one-way tilt massage mode and the target control mode is a two-way massage mode, then the current control mode is determined to be a two-way massage mode. If the initial control mode is bidirectional massage mode and the target control mode is unidirectional suspension massage mode, then the current control mode is determined to be bidirectional massage mode; If the initial control mode is bidirectional massage mode and the target control mode is bidirectional massage mode, then the current control mode is determined to be bidirectional massage mode; If the initial control mode is bidirectional massage mode and the target control mode is unidirectional tilt massage mode, then the current control mode is determined to be bidirectional massage mode.

[0079] Based on the same inventive concept, this application also provides a massage bed control method corresponding to the massage bed. Figure 3 A flowchart illustrating a massage bed control method provided in this application embodiment is shown below. Figure 3 As shown, this method is applied to a control unit in a massage bed, and the method includes: S301. In response to the current control command, obtain the current status information of the target user through the vision module and the perception module.

[0080] Optionally, the target user can use the massage bed provided in this application embodiment in a supine, side-lying, or reclining posture. During the target user's use, the control unit of the massage bed responds to the current control command and sends acquisition signals to the vision module and the perception module to obtain the target user's current status information.

[0081] The target user is the object of the massage bed. Current control commands instruct the massage bed on the massage task to be performed. Current status information describes the target user's current real-time condition.

[0082] S302. Based on the current control command and current status information, generate control information, and based on the control information, control the target module to perform massage operations.

[0083] Optionally, after obtaining the current control command and current status information, the control unit processes the current control command and current status information to generate control information, and controls the target module to perform massage operations based on the control information. The target module includes at least one of the following modules: a drive module, various dynamic support modules, and a massage module.

[0084] For example, taking the current control command as starting the "Leg Relaxation Massage" program, the current status information can be obtained, including the outline, length, and position of the target user's legs, as well as pressure sensor data. After obtaining the current control command and current status information, the control unit analyzes the pressure sensor data, discovers that the area behind the target user's knees is unsupported, and generates control information. This control information is used to indicate the position of the target user's legs and the leg massage information, and instructs the dynamic support unit of the bed to slightly raise, providing more comfortable support for the legs.

[0085] For example, after the control information is generated, the massage arm 500 moves to the corresponding position above the leg indicated by the control information and performs a precise reciprocating massage along the direction of the calf muscle group with preset pressure and speed. At the same time, the control unit finely adjusts the massage intensity in real time based on feedback from biosensors (such as changes in heart rate).

[0086] In one example, the control unit can store pre-obtained current control commands, current status information, and mapping relationships of control information. After obtaining the current control commands and current status information, the control unit can obtain the control information through mapping.

[0087] In another example, the control unit can store a pre-trained control information generation model. After obtaining the current control command and the current state information, the current control command and the current state information can be input into the control information generation model to generate control information.

[0088] By responding to current control commands and acquiring the target user's current state information through vision and perception modules, control information is generated based on the current control commands and state information. This control information is then used to control the suspended multi-axis massage unit and at least one target module within the bed. This enables closed-loop intelligent massage for the target user, from dynamic perception to intelligent decision-making and multi-dimensional collaborative execution. This fundamentally solves the problems of limited coverage, low personalization, and poor controllability inherent in traditional massage beds. Furthermore, it can be integrated into medical management systems or home health platforms, facilitating full-cycle health management for the target user.

[0089] In one possible implementation, the response to the current control command in S301 above includes: In response to the current control command of the current user, the current state information of the target user is obtained through the vision module and the perception module.

[0090] Optionally, the current user can issue a current control command to the control unit, and the control unit can respond to the current user's current control command by obtaining the target user's current status information through the vision module and the perception module.

[0091] The current user refers to the target user or other users corresponding to the target user, such as the target user's caregiver or medical staff.

[0092] In the first example, multiple massage buttons can be provided on the support rod 100 of the frame support structure. Each massage button corresponds to a massage program, such as back massage, leg massage, and turning assistance. The current user can issue the current control command by pressing the massage button.

[0093] In the second example, multiple sets of massage arm 500 control buttons can be provided on the support rod 100 of the frame support structure. Taking one set of massage arm 500 control buttons controlling one massage arm 500 as an example, the set of massage arm 500 control buttons may include: up and down control buttons for controlling the massage arm 500 up and down, left and right control buttons for controlling the massage arm 500 left and right, and intensity control buttons for controlling the massage intensity or massage rate of the massage arm 500. The current user can issue the current control command by pressing the corresponding control button.

[0094] In the third example, the massage bed is also connected to an external display screen, which displays a graphical user interface. The current user can configure and issue current control commands through touch and other operations in the graphical user interface.

[0095] In the fourth example, the massage bed is also connected to an application on a mobile terminal, where the current user can configure and issue control commands through touch and other operations in the application's graphical user interface.

[0096] In the fifth example, the massage bed is also equipped with a voice acquisition unit, which can collect the current user's voice input and generate the current control commands.

[0097] By responding to the current user's control commands and acquiring the target user's current state information through the vision and perception modules, the clarity and determinism of the current control commands can be improved, thus increasing the system's response rate. Furthermore, when the current user is the target user, it also enables the target user to autonomously control the environment, thereby satisfying personalized preferences and mitigating negative emotions.

[0098] In one possible implementation, the response to the current control command in S301 above includes: The system acquires the target user's first real-time status information through the vision module and the perception module; based on the first real-time status information, it generates the target user's current control commands.

[0099] Optionally, the first real-time status information of the target user can be obtained in real time through the vision module and the perception module, and the first real-time status information can be analyzed in combination with a preset status analysis algorithm to determine whether the target user has an abnormal state. If so, the current control command of the target user can be generated based on the first real-time status information.

[0100] Optionally, the system can also acquire the first real-time status information of the target user through the vision module and the perception module, analyze the first real-time status information in combination with the preset status scoring algorithm, determine the current status score of the target user, and generate the current control command of the target user based on the first real-time status information and the current status score of the target user.

[0101] In one example, the first real-time status information can be judged to determine whether there is an abnormal pressure distribution, prolonged inactivity, or heart rate fluctuation. If so, the current control command for controlling the target user to turn over, relieve local pressure, or elevate the target user is automatically generated.

[0102] In another example, the initial real-time state information can be analyzed to identify changes in the target user's posture, facial expressions, or gestures, and corresponding current control commands can be generated. For example, when the target user attempts to sit up or fails to roll over, a corresponding current control command can be generated; when the target user's facial expression indicates pain, a corresponding current control command can be generated.

[0103] The system acquires the target user's first real-time status information through the vision and perception modules, and generates the target user's current control commands based on the first real-time status information. This enables preventive massage, effectively reducing the risk of complications, while also improving the continuity and real-time response of the massage.

[0104] In one possible implementation, Figure 4 A flowchart illustrating another massage bed control method provided in this application embodiment is shown below. Figure 4 As shown, in S301 above, in response to the current control command, the current state information of the target user is obtained through the vision module and the perception module, including: S401. Based on the current control command, determine the target user's data collection location and data collection method.

[0105] Optionally, after receiving the current control command, the control unit can parse the current control command to identify the target user's data acquisition location and acquisition method.

[0106] Among them, the collection site refers to the body area where status information needs to be acquired, and the collection method refers to the sensing means and parameter configuration to be used for the collection site.

[0107] For example, the control unit may have a built-in command parsing engine, which integrates a pre-trained natural language processing model. After receiving the current control command, the pre-trained natural language processing model can process the current control command to generate the target user's acquisition location and acquisition method.

[0108] For example, taking the current control command as turning over, we can obtain the whole body as the acquisition part, the acquisition method as RGB whole body image and the whole body pressure distribution.

[0109] S402. Based on the collection location and collection method, obtain the current status information of the target user through the vision module and the perception module.

[0110] Optionally, the vision module can be moved to the corresponding position according to the acquisition location and acquisition method, and the acquisition methods of the vision module and the perception module can be set, so as to obtain the current status information of the target user through the vision module and the perception module.

[0111] For example, taking the whole body as the acquisition site and the acquisition method as RGB whole body image and whole body pressure distribution as an example, the angle of the vision module can be adjusted, and the RGB whole body image and whole body pressure distribution of the target user can be acquired through the vision module and the perception module.

[0112] By using current control commands to determine the target user's data collection location and method, and then acquiring the target user's current status information according to the data collection location and method, perception efficiency can be improved, on-demand data collection can be achieved, and data relevance can be enhanced, thereby improving decision-making accuracy.

[0113] In one possible implementation, Figure 5 A flowchart illustrating another massage bed control method provided in this application embodiment is shown below. Figure 5 As shown, in S402 above, the current state information of the target user is obtained through the vision module and the perception module according to the acquisition location and acquisition method, including: S501. Determine the target arrival location of the vision module based on the acquisition location.

[0114] Optionally, after obtaining the acquisition location, the control unit can calculate the ideal pose of the vision module at the acquisition location using an inverse kinematics algorithm, and determine the observation point that can cover the acquisition location to the greatest extent and is unobstructed based on the ideal pose using a viewpoint optimization algorithm, and use the observation point as the target arrival position.

[0115] Specifically, the target arrival position can be a six-degree-of-freedom target pose, used to indicate the desired arrival position and desired arrival angle of the vision module.

[0116] S502. Through the drive module, control the vision module to reach the target location, and according to the acquisition method, acquire the target user's current visual information through the vision module.

[0117] Optionally, the control unit sends the target arrival position to the drive module, which controls the motor to move in coordination using a PID algorithm, thereby controlling the vision module to reach the target arrival position.

[0118] Optionally, when the vision module reaches the target location, the control unit acquires the target user's current visual information through the vision module according to the acquisition method.

[0119] S503. According to the acquisition method, the current perception information of the target user is obtained through the perception module, and the current visual information and the current perception information are used as the current state information.

[0120] Optionally, when the vision module reaches the target location, the control unit synchronously acquires the target user's current perception information through the perception module according to the acquisition method.

[0121] Optionally, the current visual information and the current perception information can be timestamped and then used as the current state information.

[0122] The above provides an illustrative explanation of the process by which the control unit acquires the current status information of the target user. It can be understood that after acquiring the current status information of the target user, control information can be generated based on the current control command and the current status information, and the target module can be controlled to perform massage operations based on the control information. The following provides an illustrative explanation.

[0123] In one possible implementation, Figure 6 A flowchart illustrating another massage bed control method provided in this application embodiment is shown below. Figure 6 As shown, in step S302 above, control information is generated based on the current control command and the current status information, including: S601. Determine the current massage status of the target user based on the current status information.

[0124] Optionally, the current status information can be identified to determine the current massage status of the target user.

[0125] For example, the control unit can use a built-in image recognition algorithm to perform image recognition on the current visual information in the current status information, identify the target user's current treatment area and massage avoidance area, and thus determine the target user's current massage status.

[0126] The current massage status includes the target user's current treatment area and massage avoidance area.

[0127] Specifically, the current treatment area refers to the area that can be massaged, while the massage avoidance area refers to the area that needs to be avoided during massage.

[0128] S602. Determine the current control mode based on the current control command and the current status information.

[0129] In one example, the control unit can store a mapping relationship between the current control command, the current status information, and the current control mode. After obtaining the current control command and the current status information, the control unit can obtain the current control mode through the mapping.

[0130] In another example, the control unit can store a pre-trained control mode generation model. After obtaining the current control command and the current state information, the current control command and the current state information can be input into the control mode generation model to generate the current control mode.

[0131] The current control mode refers to the behavior pattern adopted by the control unit at the current moment. The current control mode instructs the target modules on how to work collaboratively. The current control modes include unidirectional suspension massage mode, unidirectional tilt massage mode, and bidirectional massage mode. Specifically, unidirectional suspension massage mode means controlling only the massage arm 500 in the suspended multi-axis massage unit for massage; unidirectional tilt massage mode means controlling only the sensing module and the massage module for massage; and bidirectional massage mode means simultaneously controlling the massage arm 500, the sensing module, and the massage module for massage.

[0132] S603. Generate target control information based on the current control command, current control mode, and current massage status.

[0133] Optionally, after obtaining the current massage state and the current control mode, target control information can be generated based on the current control command, the current control mode, and the current massage state.

[0134] Specifically, initial control information can be generated based on the current control mode and the current massage state, and the initial control information can be fine-tuned based on the current control command to generate target control information.

[0135] The initial control information is a standardized, safe and compliant action plan generated based on the current control method and the current massage state, while the target control information refers to the final command set that can be sent to each target module.

[0136] For example, the control unit may have a built-in control strategy knowledge base, which stores preset behavior templates corresponding to the current control mode. After obtaining the current control mode, the behavior template corresponding to the current control mode can be read from the control strategy knowledge base.

[0137] For example, the behavior template may include: the module or massage arm 500 used, and related parameters such as the force, frequency, direction, and time when using the module or massage arm 500.

[0138] For example, after obtaining the behavior template, the current massage state can be superimposed on the behavior template to fill the current treatment area and massage avoidance area in the behavior template, thus obtaining the current behavior template.

[0139] For example, after obtaining the current behavior template, it can be fine-tuned according to the current control command. If there are adjustment fields related to parameters such as force, frequency, direction, and time in the current control command, the corresponding content in the current behavior template is fine-tuned accordingly, and target control information is generated based on the fine-tuned current behavior template.

[0140] By identifying the current status information, the system determines the target user's current massage state. Based on the current control commands and status information, it determines the current control method. Then, according to the current control commands, control method, and massage state, it generates target control information, enabling the massage bed to adapt to individual differences and dynamic changes during massage, thus achieving a highly personalized massage. Furthermore, it can construct an active safety protection system to prevent mechanical misoperation.

[0141] In one possible implementation, Figure 7 A flowchart illustrating another massage bed control method provided in this application embodiment is shown below. Figure 7 As shown, in step S601 above, determining the target user's current massage status based on the current status information includes: S701. Based on the current state information, construct the target user's body model.

[0142] Optionally, a body model of the target user can be constructed based on the current state information using semantic segmentation and keypoint detection algorithms. This body model can be a three-dimensional contour model.

[0143] S702. Based on the current visual information in the current status information, determine whether the target user is in a treatment state.

[0144] Optionally, image detection can be performed on the current visual information to identify whether massage devices such as urinary catheters, intravenous infusion lines, and electrocardiogram monitoring leads exist in the current visual information. If they are present, it can be determined that the target user is in a treatment state.

[0145] Specifically, object detection algorithms can be used to identify massage devices such as urinary catheters and intravenous infusion lines.

[0146] S703. If so, determine the current massage state of the target user based on the target user's body model and the current treatment area corresponding to the treatment state.

[0147] Optionally, if it is determined that the target user is in a treatment state, the current treatment area corresponding to the treatment state can be identified, and the current treatment area can be superimposed and marked onto the target user's body model to obtain an updated body model. Based on the updated body model, the target user's current treatment area and massage avoidance area can be segmented.

[0148] For example, the area where massage devices such as urinary catheters and intravenous infusion lines are located can be used as the current treatment area, and the current treatment area can be superimposed and marked onto the target user's body model. This allows for segmentation and mapping of the body model, with unmarked areas used as the target user's current treatment area and marked areas used as the target user's massage avoidance areas.

[0149] S704. If not, generate the target user's current massage state based on the target user's body model.

[0150] Optionally, if it is determined that the target user is not in a treatment state, all areas in the body model can be used as the current treatment area.

[0151] By utilizing the current visual information within the current status data, it can be determined whether the target user is in a treatment state, thereby identifying the user's current massage status. This improves massage safety and avoids risky behaviors caused by unawareness. Furthermore, it can prevent ineffective or repetitive massage operations.

[0152] In one possible implementation, Figure 8 A flowchart illustrating another massage bed control method provided in this application embodiment is shown below. Figure 8 As shown, in S602 above, determining the current control mode based on the current control command and current status information includes: S801. Determine the initial control mode based on the current control command.

[0153] Optionally, the initial control mode can be determined from the current control command. The initial control mode refers to the preset control mode associated with the current control command.

[0154] For example, the control unit pre-stores a mapping relationship between the current control command and the initial control mode, from which the initial control mode can be matched.

[0155] For example, taking the current control command as leg massage as an example, the initial control mode can be determined to be a two-way massage mode.

[0156] S802. Based on the current status information, determine whether the target user has an abnormal status.

[0157] Optionally, the control unit may store abnormal state determination rules, which can perform anomaly detection on the current state information to determine whether the target user has an abnormal state. Anomaly detection includes pressure anomaly detection and heart rate anomaly detection.

[0158] For example, the pressure sensor data in the current status information can be detected, and if abnormal pressure data is found at the knee, i.e. the knee is suspended in the air, then it can be determined that the target user has an abnormal status.

[0159] For example, the average pressure can be calculated based on pressure sensor data. A preset fluctuation range can then be added to this average pressure to obtain the current pressure range. The pressure data at each point in the pressure sensor data can then be compared with the current pressure range. If the pressure data at any point is outside the current pressure range, it can be determined that the target user is experiencing an anomaly. Simultaneously, the controllable part of the target user corresponding to this anomaly point can also be identified.

[0160] S803. If so, determine the target control method corresponding to the part of the target user to be controlled, and determine the current control method based on the initial control method and the target control method.

[0161] Optionally, if the target user has an abnormal state, the part of the target user to be controlled can be determined, and the target control method corresponding to the part to be controlled can be determined.

[0162] For example, continuing with the case of the target user's knees being suspended in the air, it can be determined that the target control method is a two-way massage method.

[0163] Optionally, the initial control mode is matched with the target control mode to obtain the current control mode.

[0164] For example, if the initial control mode is a unidirectional suspension massage mode and the target control mode is a bidirectional massage mode, then the current control mode is determined to be a bidirectional massage mode.

[0165] For example, if the initial control mode is a one-way suspension massage mode and the target control mode is a one-way tilt massage mode, then the current control mode is determined to be a two-way massage mode.

[0166] For example, if the initial control mode is unidirectional suspension massage mode and the target control mode is unidirectional suspension massage mode, then the current control mode is determined to be unidirectional suspension massage mode.

[0167] For example, if the initial control mode is a one-way tilt massage mode and the target control mode is a one-way suspension massage mode, then the current control mode is determined to be a two-way massage mode.

[0168] For example, if the initial control mode is a one-way tilt massage mode and the target control mode is a one-way tilt massage mode, then the current control mode is determined to be a one-way tilt massage mode.

[0169] For example, if the initial control mode is a one-way tilt massage mode and the target control mode is a two-way massage mode, then the current control mode is determined to be a two-way massage mode.

[0170] For example, if the initial control mode is bidirectional massage mode and the target control mode is unidirectional suspension massage mode, then the current control mode is determined to be bidirectional massage mode.

[0171] For example, if the initial control mode is a two-way massage mode and the target control mode is a two-way massage mode, then the current control mode is determined to be a two-way massage mode.

[0172] For example, if the initial control mode is a two-way massage mode and the target control mode is a one-way tilt massage mode, then the current control mode is determined to be a two-way massage mode.

[0173] S804. If not, the initial control mode will be used as the current control mode.

[0174] Optionally, if the target user does not have an abnormal state, the initial control method will be used as the current control method.

[0175] By determining whether the target user is in an abnormal state, the current control method can be determined. Potential dangers can be transformed into input variables for the control strategy, thereby proactively avoiding personal risks and fundamentally improving massage safety. Furthermore, it can also improve massage continuity and user experience.

[0176] In one possible implementation, the control unit is specifically used for: The system acquires the second real-time status information of the target user through the vision module and the perception module, and determines whether to stop the massage operation of the target module based on the second real-time status information.

[0177] Optionally, during the massage process performed by the target module, the second real-time status information of the target user can be obtained in real time through the vision module and the perception module. Based on the second real-time status information, it can be determined whether to stop the massage operation of the target module, thereby effectively preventing secondary injuries caused by continuous force and significantly improving the operational safety and clinical reliability of the massage bed.

[0178] For example, the control unit can also detect anomalies in the second real-time status information of the target user through pre-stored abnormal status judgment rules. If the target user has an abnormal status during the massage process of the target module, the massage operation of the target module will be stopped.

[0179] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A massage bed, characterized in that, include: Suspended multi-axis massage unit and bed frame; The suspended multi-axis massage unit includes: a frame support structure, a drive module disposed on the frame support structure, a plurality of massage arms (500) disposed on the frame support structure, and an actuator (700) disposed at the end of each of the massage arms (500). The drive module is connected to each of the massage arms (500) to drive each of the massage arms (500) and / or each of the actuators (700) to move. The bed includes a bed board body (600), which is used to support a target object so as to drive the actuator (700) at the end of the massage arm (500) to massage the target object through the drive module.

2. The massage bed according to claim 1, characterized in that, The bed also includes: a dynamic support structure disposed on the bed board body (600), a massage module disposed on the bed board body (600), and a sensing module disposed on the bed board body (600). The dynamic support structure includes: a plurality of dynamic support modules evenly arranged.

3. The massage bed according to claim 2, characterized in that, The frame support structure includes: four support rods (100), two first connecting rods (200), and two second connecting rods (300). Four support rods (100) are vertically arranged, and the four corners of the bed board body (600) are fixedly connected to the corresponding support rods (100); the tops of the four support rods (100) are connected in the length direction by the first connecting rod (200) and in the width direction by the second connecting rod (300).

4. The massage bed according to claim 3, characterized in that, The support rod (100) is a nested telescopic structure; Each of the support rods (100) includes: an outer sleeve and an inner sleeve; the drive module includes: a first drive motor; The outer sleeve is fitted onto the outside of the inner sleeve, and the inner sleeve is provided with the first drive motor, which is used to drive the inner sleeve to extend and retract.

5. The massage bed according to claim 3, characterized in that, The frame support structure also includes two third connecting rods (400); the two ends of the third connecting rods (400) are respectively sleeved on the two second connecting rods (300); The drive module includes a second drive motor (302), and one end of the third connecting rod (400) is provided with the second drive motor (302). The second drive motor (302) drives the third connecting rod (400) to slide on the second connecting rod (300). The visual module and the massage arm (500) are both mounted on the third connecting rod (400).

6. The massage bed according to claim 5, characterized in that, Also includes: The control box (401), the reinforcing link (402), and the telescopic control rod (403) are respectively sleeved on the two third connecting rods (400) at both ends of the control box (401) and the two ends of the reinforcing link (402); one end of the telescopic control rod (403) is fixedly connected to the control box (401), and the other end of the telescopic control rod (403) is an internal telescopic rod that is telescopically connected to the reinforcing link (402); the control box (401) includes a power supply unit, a third drive motor (4011), and a fourth drive motor (4012). The massage arm (500) includes a fixing mechanism, which is fixedly connected to the telescopic control rod (403); the third drive motor (4011) is used to drive the massage arm (500) to move in the extension direction of the third connecting rod (400); the fourth drive motor (4012) is disposed at one end of the telescopic control rod (403) and is used to drive the telescopic control rod (403) to extend and retract.

7. The massage bed according to claim 2, characterized in that, The massage bed also includes: a control unit; The control unit is connected to the drive module, each of the dynamic support modules, the sensing module, and the massage module respectively; The control unit is used to respond to the current control command and obtain the current status information of the target user through the sensing module, wherein the target user is the target object of the massage bed; The control unit is used to generate control information based on the current control command and the current status information, and to control the target module to perform massage operations based on the control information. The target module includes at least one of the following modules: the drive module, each of the dynamic support modules, and the massage module.

8. The massage bed according to claim 7, characterized in that, The suspended multi-axis massage unit further includes: a visual module disposed on the frame support structure; the visual module is connected to the control unit; The control unit is specifically used to respond to the current control command by acquiring the current state information of the target user through the vision module and the perception module.

9. The massage bed according to claim 7, characterized in that, The control unit is specifically used for: Based on the current control command, determine the target user's data collection location and data collection method; According to the acquisition location and acquisition method, the current status information of the target user is obtained through the vision module and the perception module.

10. A method for controlling a massage bed, characterized in that, The massage bed according to any one of claims 1-9, the massage bed comprising: a suspended multi-axis massage unit and a bed frame; The suspended multi-axis massage unit includes: a frame support structure, a drive module disposed on the frame support structure, a plurality of massage arms (500) disposed on the frame support structure, and an actuator (700) disposed at the end of each of the massage arms (500). The drive module is connected to each of the massage arms (500) to drive each of the massage arms (500) and / or each of the actuators (700) to move. The bed body includes: a bed board body (600), which is used to support the target object so as to drive the actuator (700) at the end of the massage arm (500) to massage the target object through the drive module; The method includes: driving each of the massage arms (500) and / or each of the actuators (700) to move via the drive module to massage the target object.

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