Massage machine core collapse identification method, control method, massage machine core and medium

Abstract

The application provides a massage machine core collapse identification method, a control method, a massage machine core and a medium, and relates to the technical field of massage equipment control and safety protection. The collapse identification method adopts a two-level detection architecture of pre-screening and cross-rechecking: the speed change characteristics of the massage actuator are extracted in each pre-checking period, and the pre-checking result statistics of the current and historical multiple pre-checking periods are combined to determine abnormal working conditions; if there is an abnormal working condition, the interference detection mode is entered, the control height adjustment actuator is controlled to perform a controlled depth scanning, and the counting period and fluctuation of the counting signal sequence are analyzed in a preset time window to realize collapse event identification. Without increasing hardware sensors and without changing the existing massage machine core mechanical structure, the two-level detection architecture realizes high-confidence identification and safety closed-loop control of the collapse event.

Description

Technical Field

[0001] This application relates to the field of massage equipment control and safety protection technology, and more specifically, to a method for identifying the collapse of a massage mechanism, a control method, a massage mechanism, and a medium. Background Technology

[0002] As people's demands for riding comfort continue to increase, seat systems with integrated massage functions are being used more and more widely in transportation vehicles, homes, and commercial settings. Smart massage devices typically have embedded massage head components that can perform kneading, tapping, and vibration massage actions to provide users with a comfortable massage experience. However, in transportation applications, when a vehicle experiences sudden braking, a collision, or strong vibrations, the massage head components, which were originally in their working position, may cause additional impact injuries to occupants due to inertial forces or other external forces. This secondary impact injury can seriously threaten the personal safety of occupants, especially in collisions, where protruding hard massage heads may exacerbate injuries to the chest, back, and other areas of the occupant.

[0003] In existing technologies, one approach involves incorporating an energy storage mechanism and a collapsible component within the massage mechanism. When the vehicle experiences emergency braking or a collision, the collapsible component releases the locking mechanism, allowing the energy storage element to release energy and rapidly retract the massage head assembly along a guide rail to its stored position, thereby reducing the risk of secondary impact injury to occupants. However, this type of technology primarily focuses on the design and optimization of the mechanical collapsible structure itself.

[0004] To prevent abnormal operation of the massage mechanism, existing products are usually equipped with limit switches, travel switches, or position sensors for purposes such as positioning protection and overtravel prevention. However, these devices are not specifically designed for collapse events. When faced with rapid retraction driven by a mechanical collapse mechanism, relying solely on the above-mentioned conventional positioning and detection information is usually insufficient to directly and reliably determine the timing information of the collapse.

[0005] Furthermore, in existing massage mechanisms employing mechanical collapse structures, the collapse action is directly driven by energy storage components. However, the control system, lacking dedicated collapse detection sensors, often fails to directly detect when collapse has occurred. After collapse, the massage mechanism's actuators may continue operating according to the original control commands, attempting to push out or move the massage head further. This can cause the retracted massage head to be pushed out again by the motor or become stuck in an abnormal position, weakening the original safety protection and potentially creating new risks of secondary injury. Simultaneously, prolonged operation of the motor under abnormal loads can lead to increased power consumption, heightened heat generation, and shortened lifespan.

[0006] Furthermore, during long-term use, the energy storage spring, airbag, and locking components inevitably experience mechanical fatigue and lifespan issues: after a large number of collapse actions, the locking force weakens, and the movement is easily triggered by vibration or slight impact even in non-emergency situations, resulting in false collapse. Existing products generally lack the function of statistical analysis of the number and frequency of collapses, and cannot provide early warnings or policy downgrades at the software level for movements approaching their lifespan limits.

[0007] In summary, existing technologies focus more on the collapse realization at the mechanical structure level, and there is still a lack of a technical solution that can identify the collapse state of the massage mechanism and link it to safe shutdown and lifespan management through software without adding additional sensors or changing the existing hardware structure of the mechanism. Summary of the Invention

[0008] The purpose of this application is to address the shortcomings of the prior art by providing a method for identifying and controlling the collapse of a massage mechanism, as well as a massage mechanism and medium, to improve the accuracy of identifying collapse events, reduce the risk of secondary injury after collapse, and extend the service life of the massage mechanism.

[0009] 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 method for identifying the collapse of a massage mechanism, the method comprising: Obtain the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle; Based on the operating data of the current pre-inspection cycle, extract the speed change characteristics of the massage actuator; Based on the speed change characteristics, a pre-inspection is performed within the current pre-inspection cycle to obtain the pre-inspection result for the current pre-inspection cycle; Based on the pre-inspection results of the current pre-inspection cycle and several consecutive historical pre-inspection cycles prior to the current pre-inspection cycle, it is determined whether the massage mechanism has any abnormal operating conditions. If an abnormal operating condition is detected, the interference detection mode will be activated and the massage program will be paused. The massage actuator is controlled to drive to a preset detection position, and the height adjustment actuator is controlled to perform a controlled depth scan to obtain the counting signal sequence of the height adjustment actuator during the controlled depth scan process; The counting signal sequence is analyzed within a preset time window to obtain the counting period and fluctuation. Collapse events are identified based on the counting period and fluctuation.

[0010] Optionally, the massage actuator includes a kneading actuator; the operating data for the current pre-inspection cycle includes instantaneous rotational speed; The step of extracting the speed change characteristics of the massage actuator based on the operating data of the current pre-inspection cycle includes: The speed change characteristics are obtained by comparing the instantaneous rotational speed of the current pre-inspection cycle with the preset reference rotational speed.

[0011] Optionally, the preset reference speed includes the instantaneous speed of the kneading actuator in the previous pre-inspection cycle and / or the historical baseline speed; the historical baseline speed is an adaptive baseline, which is updated online on the pre-inspection samples that are determined to be normal; the update of the historical baseline speed is frozen when the massage mechanism has abnormal operating conditions or is in interference detection mode.

[0012] Optionally, determining whether the massage mechanism has abnormal operating conditions based on the pre-inspection results of the current pre-inspection cycle and multiple consecutive historical pre-inspection cycles prior to the current pre-inspection cycle includes: The percentage of abnormal pre-inspections is obtained based on the pre-inspection results of the current pre-inspection cycle and the pre-inspection results of several consecutive historical pre-inspection cycles preceding the current pre-inspection cycle. If the percentage of abnormal pre-detection exceeds a preset threshold, it is determined that the massage mechanism is in an abnormal operating condition.

[0013] Optionally, the massage actuator includes: a kneading actuator, a walking actuator, and a height adjustment actuator; controlling the massage actuator to drive to a preset detection position includes: Based on the information of the preset detection reference position of the kneading actuator, the walking actuator is driven to move the kneading actuator to the preset detection reference position; The controlled depth scanning includes: after the kneading actuator reaches the preset detection reference position, driving the height adjustment actuator to run to the preset lower limit position, and collecting the counting signal of the height adjustment actuator as the counting signal sequence during the operation.

[0014] Optionally, the step of identifying the collapse event based on the counting period and the fluctuation includes: Based on the counting period and the fluctuation, it is determined whether there is an abnormal pattern in the counting signal sequence. The abnormal pattern includes at least one of continuous lost counts, abnormal jumps in the count, or fluctuations in the counting period exceeding the normal reference range. If the aforementioned abnormal pattern exists, then a collapse event is determined to have occurred.

[0015] Optionally, the method further includes: If a collapse event occurs, the massage mechanism is determined to be in an abnormal fault state. The massage actuator is controlled to move to a preset safe position, thus preventing the massage program from being executed. Within a preset time period, the height adjustment actuator is prohibited from outputting in the upward direction, or the target position of the height adjustment actuator is restricted to a safe position.

[0016] Optionally, the method further includes: If no collapse event occurs, clear the interference detection mode flag and related anomaly flags; Drive the massage actuator to return from the preset detection position to the field position recorded before entering the interference detection mode; Restart the massage program that was paused.

[0017] Optionally, the method further includes: Obtain the cumulative number of times the massage mechanism has collapsed; If the cumulative number of collapses exceeds a preset lifespan threshold, the massage program of the massage actuator is locked, and a maintenance reminder is sent to the human-machine interface of the massage mechanism.

[0018] Optionally, the method further includes: When the massage mechanism is powered on, the cumulative number of collapses is read from the non-volatile memory and compared with the preset lifespan threshold. If the cumulative number of collapses reaches or exceeds the preset lifespan threshold, the massage program will be disabled, and only the fault indication and diagnosis functions will be retained.

[0019] Secondly, another embodiment of this application provides a method for collapsible safety control of a massage mechanism, the method comprising: After identifying a collapse event in the massage mechanism, if a collapse event is detected, an abnormal fault status flag is set, and the massage actuator is controlled to move to a preset safe position, prohibiting the execution of the massage program; wherein, the collapse event is an event identified by any of the collapse identification methods of the massage mechanism described in the first aspect above; Within a preset time, the height adjustment actuator in the massage actuator is prohibited from outputting in the upward direction, or the target position of the height adjustment actuator is restricted to a safe position. If no collapse event is detected, the interference detection mode flag and related abnormal flags are cleared, the massage actuator is driven to restore the field position recorded before entering the detection mode, and the massage program before the pause is restarted.

[0020] Thirdly, another embodiment of this application provides a collapsibility detection device for a massage mechanism, the device comprising: The acquisition module is used to acquire the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle; The extraction module is used to extract the speed change characteristics of the massage actuator based on the operating data of the current pre-inspection cycle; The pre-inspection module is used to perform pre-inspection within the current pre-inspection cycle based on the speed change characteristics, and obtain the pre-inspection result for the current pre-inspection cycle. The determination module is used to determine whether the massage mechanism has any abnormal operating conditions based on the pre-inspection results of the current pre-inspection cycle and multiple consecutive historical pre-inspection cycles prior to the current pre-inspection cycle. The pause module is used to enter the interference detection mode and pause the massage program if abnormal operating conditions are found. The control module is used to control the massage actuator to drive to a preset detection position and control the height adjustment actuator to perform controlled depth scanning, and to acquire the counting signal sequence of the height adjustment actuator during the controlled depth scanning process; The identification module is used to analyze the counting signal sequence within a preset time window to obtain the counting period and fluctuation, and to identify the collapse event based on the counting period and fluctuation.

[0021] Fourthly, another embodiment of this application provides a massage mechanism, the massage mechanism including: a massage actuator and a controller, the controller being communicatively connected to the massage actuator, the controller being used to perform the steps of any of the methods described in the first and second aspects above.

[0022] Fifthly, another embodiment of this application provides a controller, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the controller is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the collapse detection method for the massage mechanism as described in any of the first aspects above.

[0023] In a sixth aspect, another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the collapse identification method for the massage mechanism as described in any of the first aspects above.

[0024] The beneficial effects of this application are: This application provides a method for identifying and controlling the collapse of a massage mechanism, as well as the massage mechanism and medium. It employs a two-stage detection architecture of pre-screening and cross-verification. In each pre-screening cycle, the speed change characteristics of the massage actuator are extracted. Statistical filtering is performed by combining the pre-screening results from the current and historical cycles to determine abnormal operating conditions. Then, a controlled depth scan is performed by controlling the height adjustment actuator, and the counting signal sequence is analyzed within a preset time window to confirm the collapse event. This application achieves high-confidence identification and response to mechanical collapse events through a two-stage detection architecture without adding any hardware sensors or altering the existing mechanical structure of the massage mechanism. It also reduces system overhead, overcoming the limitations of traditional methods relying on dedicated collapse sensors or purely mechanical protection, and improving the safety of the massage mechanism. Specifically, the pre-screening stage utilizes speed change characteristics combined with a sliding window to statistically filter transient interferences such as road bumps and human body micro-movements, ensuring that misjudgments are not made due to single fluctuations. The cross-verification stage performs a controlled depth scan under standardized detection conditions, making the abnormal patterns of the counting sequence discriminable and effectively distinguishing between genuine collapse and false screening triggers.

[0025] Furthermore, this application automatically executes a safety shutdown control upon detecting a collapse event, prohibiting the height adjustment actuator from outputting in the ejection direction. This prevents the massage head from being ejected again or stuck in an abnormal position, reducing the risk of secondary injury to occupants. This application also establishes a lifespan management mechanism by recording and statistically analyzing collapse events, automatically triggering warnings or functional limitations when the energy storage element approaches its lifespan limit, reducing false collapses caused by mechanical fatigue. When the detection result is normal, this application can automatically restore the system to its pre-detection state and continue the massage program, balancing safety and user experience continuity. Attached Figure Description

[0026] 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.

[0027] Figure 1 A flowchart illustrating a method for identifying the collapse of a massage mechanism according to an embodiment of this application; Figure 2 This is a flowchart illustrating the process of determining abnormal operating conditions in a method for identifying the collapse of a massage mechanism according to an embodiment of this application. Figure 3 A flowchart illustrating the process of determining a counting signal in a method for identifying the collapse of a massage mechanism according to an embodiment of this application; Figure 4 This is a schematic diagram of the process for identifying collapse events in a method for identifying collapse of a massage mechanism provided in an embodiment of this application. Figure 5 A schematic flowchart illustrating the anomaly handling process in a method for identifying the collapse of a massage mechanism according to an embodiment of this application; Figure 6 A schematic diagram of the equipment maintenance process in a method for identifying the collapse of a massage mechanism provided in an embodiment of this application; Figure 7 A schematic diagram of the life detection process in a method for identifying the collapse of a massage mechanism provided in an embodiment of this application; Figure 8 A schematic diagram of the normal recovery process in a method for identifying the collapse of a massage mechanism provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a collapsibility recognition device for a massage mechanism provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a massage mechanism provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a controller provided in an embodiment of this application. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] With the increasing popularity of products such as automobiles, massage chairs, and massage sofas, users are demanding higher levels of comfort and safety during the massage process. To enhance the massage effect, the industry widely adopts mechanical massage mechanisms composed of motors, gears, and linkages. These mechanisms drive massage heads to perform kneading, tapping, and pressing actions on the back area, achieving an experience similar to a manual massage. To prevent abnormal operation of the massage mechanism, existing products are typically equipped with limit switches, travel switches, or position sensors for purposes such as positioning protection and overtravel prevention. However, when faced with rapid retraction driven by a mechanical collapse mechanism, relying solely on the aforementioned conventional positioning and detection information is usually insufficient to directly and reliably determine the timing of the collapse.

[0032] To address this, this application provides a method for identifying the collapse of a massage mechanism. It employs a two-level detection architecture of "pre-screening + cross-verification." Within each pre-screening cycle, the speed change characteristics of the massage actuator are extracted. Combined with the pre-screening results from current and historical cycles, abnormal operating conditions are statistically determined. If an abnormal condition is found, an interference detection mode is entered, the massage program is paused, the massage actuator is driven to a preset detection position, and the height adjustment actuator performs a controlled depth scan. Within a preset time window, the counting period and fluctuation of the counting signal sequence are analyzed to identify the collapse event. The method in this application uses a rapid screening mechanism based on reference position sampling and window statistics to suppress false alarms caused by strong disturbances. Cross-verification is performed using a standardized depth scan of the detection reference position, thus forming a recoverable safety closed loop. Without adding sensors, it accurately identifies collapse events of the massage mechanism, ensuring the safety of the massage equipment and extending its lifespan.

[0033] Figure 1 A flowchart illustrating a method for identifying the collapse of a massage mechanism according to an embodiment of this application is shown below. Figure 1 As shown, the method includes: Step 101: Obtain the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle.

[0034] The massage mechanism is the core driving structure of the massage device, used to convert electrical energy into mechanical motion. The massage mechanism includes a controller and a massage actuator. The controller executes the method described in this application and controls the motor of the corresponding massage actuator, enabling the massage actuator to adjust the kneading motion, massage depth, and massage position of the massage mechanism. The current pre-inspection cycle is the time period corresponding to the massage mechanism completing one massage cycle during the massage process. The operating data refers to the operating data of the massage actuator and the data of the corresponding motor of the massage actuator during the current pre-inspection cycle. For example, it can be position data, posture data, speed data, acceleration data, current data, etc., which are not limited in this embodiment.

[0035] Optionally, the operating data of the massage mechanism in the current pre-inspection cycle can be obtained through the encoder and counting sampling circuit in the motor of the massage actuator in the massage mechanism.

[0036] Step 102: Extract the speed change characteristics of the massage actuator based on the operating data of the current pre-inspection cycle.

[0037] The operational data for the current pre-inspection cycle can be the operational data of the drive motor corresponding to the massage actuator. For example, it can be the timestamp sequence of quadrature pulses from an encoder or Hall sensor, the sequence of phase current sampling values ​​of the drive motor, or the target command parameters sent. The speed change characteristic is the speed change of the massage actuator in the current pre-inspection cycle.

[0038] Optionally, based on the operating data of the current pre-inspection cycle, the speed information of the massage actuator in the operating data is determined, and the speed change characteristics of the massage actuator in the current pre-inspection cycle are extracted based on the speed information of the massage actuator.

[0039] Step 103: Based on the speed change characteristics, perform a pre-inspection within the current pre-inspection cycle to obtain the pre-inspection results for the current pre-inspection cycle.

[0040] The pre-inspection result is whether any abnormal operating conditions have occurred in the current cycle.

[0041] Optionally, based on the speed change characteristics and a preset speed change threshold, a pre-inspection is performed within the current pre-inspection cycle to obtain the pre-inspection result for the current pre-inspection cycle. The preset speed change threshold is determined based on the massage mechanism model and the current massage mode; this embodiment does not impose any limitations on this. When the speed change characteristics reach the preset speed change threshold, the pre-inspection cycle is recorded as an abnormal sampling.

[0042] Step 104: Based on the current pre-inspection cycle and the pre-inspection results of several consecutive historical pre-inspection cycles prior to the current pre-inspection cycle, determine whether there are any abnormal operating conditions in the massage mechanism.

[0043] Among them, the pre-inspection results of multiple consecutive historical pre-inspection cycles indicate whether abnormal operating conditions have occurred in multiple consecutive historical pre-inspection cycles.

[0044] Optionally, a sliding window is used to determine the current pre-inspection cycle and several consecutive historical pre-inspection cycles preceding the current pre-inspection cycle. Based on the pre-inspection results of the current pre-inspection cycle and the several consecutive historical pre-inspection cycles preceding the current pre-inspection cycle, it is determined whether there are abnormal operating conditions in the massage mechanism. The controller performs statistical filtering on the most recent consecutive pre-inspection cycles, such as using sliding window statistics, percentage statistics, hysteresis threshold, and minimum duration constraints. When the number of abnormal samples or the percentage exceeds a preset abnormal threshold, it is determined that there is a continuous abnormal operating condition related to collapse or mechanical interference.

[0045] For example, based on the operating data of the current pre-inspection cycle, the speed change characteristics of the massage actuator are extracted. Based on the speed change characteristics, a pre-inspection is performed in the current pre-inspection cycle to obtain the pre-inspection results. Then, based on the pre-inspection results of the current pre-inspection cycle and several previous consecutive historical pre-inspection cycles, it is determined whether there are any abnormal operating conditions in the massage mechanism.

[0046] Step 105: If an abnormal operating condition is found, enter the interference detection mode and pause the massage program.

[0047] Among them, the interference detection mode is the detection mode when the massage program stops.

[0048] Optionally, if an abnormal operating condition is found, the system will enter the interference detection mode, which means pausing the massage program, recording the current massage data (including the current massage mode, massage duration, and the position of each actuator), setting the interference detection mode flag, and controlling the actuators in the massage mechanism to stop or reduce their power to avoid the massage mechanism from continuing to apply pressure, knocking, or other mechanical actions to the user's body during subsequent detection.

[0049] Step 106: Control the massage actuator to drive to the preset detection position, and control the height adjustment actuator to perform controlled depth scanning, and obtain the counting signal sequence of the height adjustment actuator during the controlled depth scanning process.

[0050] The preset detection position is the location where the massage actuator will not cause secondary harm to the user and where it can be determined whether the massage actuator has collapsed. For example, it can be the area where the curvature of the contact surface with the user is minimal and the pressure distribution on the user's back is most uniform during the massage process. Controlled depth scanning refers to the process of driving the height adjustment actuator to a preset lower limit position at a predetermined level and in a predetermined direction, continuously collecting the counting signals of the height adjustment actuator during this process to form a counting signal sequence.

[0051] Optionally, after controlling the massage actuator to drive to the preset detection position, the height adjustment actuator is controlled to perform a controlled depth scan in a predetermined direction at a predetermined level. During the scan, the counting signal of the motor corresponding to the height adjustment actuator is collected as a counting signal sequence.

[0052] Step 107: Analyze the counting signal sequence within a preset time window to obtain the counting period and fluctuation. Based on the counting period and fluctuation, identify the collapse event.

[0053] Among them, the collapse event refers to an event in which the mechanical collapse mechanism of the massage mechanism is triggered under abnormal or protective conditions, causing the massage head assembly to retract rapidly.

[0054] Optionally, the counting signal sequence is analyzed within a preset time window to obtain the counting period and fluctuation. Based on the counting period and fluctuation, it is determined whether there is an abnormal pattern in the counting signal sequence. If there is an abnormal pattern, it is determined that there is a collapse event; otherwise, there is no collapse event.

[0055] In this embodiment, the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle is acquired; speed change characteristics are extracted and statistically determined based on multiple pre-inspection cycles to identify abnormal operating conditions; if abnormal operating conditions exist, the interference detection mode is entered and the massage program is paused; the height adjustment actuator is controlled to perform controlled depth scanning to acquire a counting signal sequence; and the counting cycle and fluctuation are analyzed within a preset time window to identify collapse events. This application adopts a two-level detection architecture of "pre-screening + cross-verification". Without adding any hardware sensors or changing the existing mechanical structure of the massage mechanism, it achieves high-confidence identification and response to mechanical collapse events through the operating data of the massage actuator, while reducing system overhead. This not only breaks through the limitations of traditional reliance on dedicated collapse sensors or pure mechanical protection, but also improves the safety of the massage mechanism.

[0056] Based on the above embodiments, the massage actuator includes: a kneading actuator; the operating data of the current pre-inspection cycle includes: instantaneous rotational speed. This application also provides a process for determining speed change characteristics in a method for identifying the collapse of a massage mechanism. In step 102 above, based on the operating data of the current pre-inspection cycle, the speed change characteristics of the massage actuator are extracted, including: The speed change characteristics are obtained by comparing the instantaneous speed of the current pre-inspection cycle with the preset reference speed.

[0057] The kneading actuator is the core mechanical subsystem of the massage mechanism responsible for implementing kneading massage techniques, simulating the action of a human hand grasping and rotating muscles. The kneading actuator includes a kneading motor, a transmission structure, actuator components, and a conversion mechanism. The kneading motor is the driving element that provides power to the kneading actuator, converting electrical energy into mechanical rotational motion. The transmission structure transmits the rotational motion of the kneading motor to the actuator components, simultaneously acting as an intermediate mechanism to reduce speed, increase torque, and change the direction or form of motion. The actuator components are the parts of the kneading actuator that directly contact the human body and apply massage force. The conversion mechanism converts the continuous rotational motion of the motor into the reciprocating oscillation or squeezing motion of the massage head, thus forming the kneading action. The instantaneous rotational speed is the instantaneous rotational speed of the kneading actuator at the preset kneading position. The preset kneading position can be the position that the kneading actuator can repeatedly traverse within one mechanical cycle, making the load at the sampling points more comparable. For example, if a complete massage action includes kneading the back in one circle, then the position where the back is kneaded halfway is the preset kneading position. The preset reference speed can be the instantaneous speed of the kneading actuator in the previous pre-inspection cycle and / or the historical baseline speed. The speed change characteristic can be the speed change rate or the speed change amplitude.

[0058] The historical baseline rotational speed is an adaptive baseline used to track changes in normal rotational speed levels under different body loads, massage postures, and mechanical wear conditions. It can be updated online on pre-detection samples deemed normal, using methods such as moving average, exponential smoothing, or robust statistics. During periods of pre-detection anomalies or interference detection mode, updates to the historical baseline rotational speed are frozen to prevent abnormal samples from contaminating the baseline, thereby reducing the risk of misjudgments and missed detections. Baseline updates resume only after normal operation is restored and several consecutive cycles of normal operation have occurred.

[0059] Optionally, the instantaneous rotational speed of the current pre-inspection cycle is compared with the preset reference rotational speed to determine the rate of change or the amplitude of change of the instantaneous rotational speed as a speed change characteristic.

[0060] In this embodiment, by performing a differential comparison between the instantaneous rotational speed and a preset reference rotational speed at a preset reference position, the false triggering defects of fixed thresholds under different user body types, massage modes, and mechanical wear conditions are avoided. This allows the speed change characteristics to reflect abrupt disturbances caused by collapse or severe interference, achieving high-precision, low-false-alarm-rate pre-detection. Through online updates of the adaptive baseline and a freeze mechanism during anomalies, the pre-detection system can adapt to normal load changes while maintaining the stability of the judgment benchmark when anomalies occur.

[0061] Based on the above embodiments, this application also provides a process for determining abnormal operating conditions in a method for identifying the collapse of a massage mechanism. Figure 2This is a flowchart illustrating the process of determining abnormal operating conditions in a method for identifying the collapse of a massage mechanism according to an embodiment of this application. Figure 2 As shown, in step 104 above, based on the pre-inspection results of the current pre-inspection cycle and several consecutive historical pre-inspection cycles prior to the current pre-inspection cycle, it is determined whether the massage mechanism has any abnormal operating conditions, including: Step 201: Based on the current pre-inspection cycle and the pre-inspection results of several consecutive historical pre-inspection cycles before the current pre-inspection cycle, obtain the percentage of abnormal pre-inspections.

[0062] Among them, the abnormal pre-inspection ratio is the proportion of abnormal working conditions in the pre-inspection results of the current pre-inspection cycle and the previous several consecutive historical pre-inspection cycles.

[0063] Optionally, the proportion of abnormal operating conditions can be determined as the abnormal pre-inspection proportion based on the pre-inspection results of the current pre-inspection cycle and several consecutive historical pre-inspection cycles prior to the current pre-inspection cycle.

[0064] Step 202: If the proportion of abnormal pre-inspection exceeds the preset threshold, it is determined that there is an abnormal working condition in the massage mechanism.

[0065] The preset threshold is determined based on the model of the massage mechanism and the massage mode of the massage device, and this application embodiment does not impose any restrictions on it.

[0066] Optionally, if the proportion of abnormal pre-detection exceeds a preset threshold, that is, if the proportion of abnormal pre-detection is greater than the preset threshold, it is determined that there is an abnormal working condition of the massage mechanism; if the proportion of abnormal pre-detection is less than or equal to the preset threshold, it is determined that there is no abnormal working condition of the massage mechanism.

[0067] In this embodiment, by introducing statistical analysis in the time dimension, the accidental judgment of a single pre-detection is transformed into a fault identification with trend and stability, overcoming the problem of false triggering caused by instantaneous interference. By using multiple consecutive historical periods and the current period to form a sliding window, it not only ensures the ability to respond quickly to sudden anomalies, but also accurately distinguishes between real collapse risks and transient disturbances through quantitative assessment of the frequency of anomaly occurrence, thereby improving the credibility and robustness of the identification results.

[0068] Based on the above embodiments, the massage actuator further includes: a kneading actuator, a walking actuator, and a height adjustment actuator. Therefore, this application also provides a process for determining a counting signal in a method for recognizing the collapse of a massage mechanism. Figure 3 This is a flowchart illustrating the process of determining a counting signal in a method for identifying the collapse of a massage mechanism according to an embodiment of this application. Figure 3As shown, in step 106 above, the massage actuator is driven to a preset detection position, and the height adjustment actuator is controlled to perform a controlled depth scan, acquiring the counting signal sequence of the height adjustment actuator during the controlled depth scan process, including: Step 301: Based on the information of the preset detection reference position of the kneading actuator, drive the walking actuator to move the kneading actuator to the preset detection reference position.

[0069] The preset detection reference position is a pre-marked point in the three-dimensional space of the massage mechanism. This position is located in the area where the force is most evenly distributed on the back of the human body, while the kneading ball is in the stable range with the least load fluctuation during the mechanical stroke. The preset detection reference position is determined through prior experiments. The walking actuator refers to the drive unit that controls the up and down movement of the massage mechanism along the backrest guide rail. It is usually composed of a walking motor, lead screw, or rack and pinion. The controller can accurately obtain the current position through its encoder feedback and issue target position commands to achieve fixed-point movement.

[0070] Optionally, based on the current position information of the kneading actuator and the information of the preset detection reference position, the distance that the kneading actuator needs to move is determined, and the distance is sent to the drive motor of the walking actuator, so that the drive motor of the walking actuator drives the walking actuator to move the kneading actuator to the preset detection reference position.

[0071] Step 302: After the kneading actuator reaches the preset detection reference position, drive the height adjustment actuator to run to the preset lower limit position.

[0072] The height adjustment actuator refers to the unit used to adjust the depth of the massage head. The preset lower limit position can be either the mechanical lower limit position or the software lower limit position of the height adjustment actuator. The mechanical lower limit position is the lowest physical position that the height adjustment actuator can reach, determined according to the model of the massage mechanism; the software lower limit position is determined according to the current massage mode of the massage device corresponding to the massage mechanism.

[0073] Optionally, after the kneading actuator reaches the preset detection reference position, the height adjustment actuator is driven to move to the preset lower limit position. When it reaches either the mechanical lower limit position or the software lower limit position, the height adjustment actuator is controlled to stop descending. This depth scan is a controlled scan, and its scan level, scan direction, and scan time window are calibrable parameters, making the normal pattern of the counting sequence have a predictable range, thereby improving the discriminability of abnormal pattern recognition.

[0074] Step 303: During the operation of the height adjustment actuator, the counting signal of the height adjustment actuator is collected as the counting signal to be identified.

[0075] Among them, the counting signal of the height adjustment actuator refers to the set of timestamps or count values ​​corresponding to the pulse sequence output by the encoder of the motor corresponding to the height adjustment actuator during the entire process of the height adjustment actuator running from the starting position to the preset lower limit position.

[0076] Optionally, during the operation of the height adjustment actuator, the counting signal of the motor corresponding to the height adjustment actuator is collected as the counting signal to be identified.

[0077] In this embodiment, the kneading actuator is precisely positioned at a preset detection reference position to ensure that each detection is initiated under the most stable human load condition. This standardizes the detection conditions, making the load at this position more singular and reproducible, thus facilitating the differentiation between genuine collapse and false alarms. The height adjustment actuator is driven to a preset lower limit position, allowing its movement to fully expose the abnormal mechanical response caused by collapse. This accurately reflects the structural state of the mechanism itself, rather than being affected by initial position deviations, changes in human posture, or motion inertia, thereby accurately identifying collapse events.

[0078] Based on the above embodiments, this application provides a process for identifying collapse events in a method for recognizing collapse of a massage mechanism. Figure 4 This is a flowchart illustrating the collapse event identification process in a collapse identification method for a massage mechanism provided in this application embodiment. Figure 4 As shown, in step 107 above, collapse event identification is performed based on the counting period and fluctuation, including: Step 401: Analyze the counting signal to be identified within a preset time window to obtain the counting period and fluctuation.

[0079] The preset time window refers to a pre-defined continuous time interval during the operation of the height adjustment actuator, used to limit the analysis range of the counting signal to be identified. It allows for the extraction of the most diagnostically valuable stable operating phase from the counting signal. The counting period is the interval between each counting signal and its adjacent counting signals. Fluctuation refers to the degree of dispersion of the counting period within the preset time window, which can be quantified using statistical methods. This can be expressed as the standard deviation of the period values, the difference between the maximum and minimum values, the number of consecutive identical periods, and the absolute value distribution of the difference between adjacent periods.

[0080] Optionally, the counting signal to be identified is extracted within a preset time window, the counting signal to be identified within the preset time window is determined, and the counting period and fluctuation are calculated based on the counting signal to be identified within the preset time window.

[0081] Step 402: Based on the counting period and fluctuation, determine whether there is an abnormal pattern in the counting signal to be identified.

[0082] Abnormal modes may include, but are not limited to: continuous loss of count or no count change for a long time (indicator jamming or abnormal load), abnormal count jumps (abnormal displacement characteristics caused by loosening or rapid retraction of the indicator structure), and count cycles or fluctuations exceeding the normal reference range (inconsistent with the calibration curve or statistical reference at the detection reference position).

[0083] Optionally, based on the counting period and fluctuation, it is determined whether there is an abnormal counting period or an abnormal fluctuation. If the counting period and / or fluctuation is abnormal, the counting signal to be identified is determined to be an abnormal signal; if the counting period and fluctuation are not abnormal, the counting signal to be identified is determined to be not an abnormal signal. An abnormal signal is then used to determine whether there is an abnormal pattern in the counting signal to be identified. An abnormal signal is a counting signal to be identified that does not conform to the counting period variation pattern under normal operating conditions.

[0084] Step 403: If an abnormal pattern exists, then a collapse event is confirmed.

[0085] Optionally, if an abnormal pattern exists, a collapse event is identified, and information such as the current time, massage mode, and location of the massage actuator is recorded synchronously.

[0086] In this embodiment, the counting cycle and its fluctuation are used to form a multi-dimensional criterion, which can identify instantaneous jumps caused by collapse and capture continuous jitter or step loss caused by jamming, thereby improving the ability to distinguish fault types and ensuring the reliability of safety control.

[0087] Based on the above embodiments, this application also provides a process for anomaly handling in a method for identifying the collapse of a massage mechanism. Figure 5 This is a flowchart illustrating the anomaly handling process in a method for identifying the collapse of a massage mechanism according to an embodiment of this application. Figure 5 As shown, based on steps 101-107 above, the method further includes: Step 501: If a collapse event occurs, it is determined that the massage mechanism is in an abnormal fault state.

[0088] The abnormal fault state refers to the massage mechanism entering a special operating state that cannot be automatically exited. In this state, the system suspends all non-essential functions, maintaining only basic communication, fault indication, and data recording capabilities; this state is persistently stored in non-volatile memory to ensure traceability after power failure.

[0089] Optionally, if a collapse event occurs, the massage mechanism is determined to be in an abnormal fault state, the abnormal fault state flag is set to true and written to non-volatile memory, and the current time, the massage mode when the collapse occurs, the current position of the massage actuator, and the sequence number of this collapse in the life cycle are recorded.

[0090] Step 502: Control the massage actuator to move to the preset safe position and prohibit the execution of the massage program.

[0091] Optionally, controlling the massage actuator to move to the preset safe position specifically includes driving the height adjustment actuator to run at a low speed until it reaches the preset lower limit position and confirming the limit signal; controlling the kneading actuator to slowly return to the middle position, avoiding the spine area; and moving the walking actuator to the safe area at the bottom of the backrest. The massage program should be prohibited after the above actions are completed.

[0092] Step 503: Prohibit the height adjustment actuator from outputting in the upward direction within a preset time, or restrict the target position of the height adjustment actuator to a safe position.

[0093] The safety setting can be set to the safe height.

[0094] Optionally, after a collapse event is confirmed, the controller may prohibit the height adjustment actuator from outputting in the ejection direction or restrict its target position to a safe position within a preset time. This is to prevent the massage head from being ejected again or from continuing to move if the mechanism has collapsed or there is mechanical interference, thereby reducing the risk of secondary injury to the occupant and abnormal wear on the actuator and mechanical structure.

[0095] In this embodiment, by determining the abnormal fault state, the system's operating state is clearly defined and persistently locked, avoiding the risk of misoperation caused by state ambiguity. The control actuator moves sequentially to a preset safe position and prohibits output in the push-out direction within a preset time, eliminating the possibility of secondary injury. This achieves a closed-loop implementation from identifying collapse to ensuring personal safety, improving the product's safety and reliability.

[0096] Based on the above embodiments, this application also provides a device maintenance process in the method for identifying the collapse of a massage mechanism. Figure 6 This is a schematic diagram of the equipment maintenance process in a method for identifying the collapse of a massage mechanism provided in an embodiment of this application, as shown below. Figure 6 As shown, based on steps 101-107 above, the method further includes: Step 601: Obtain the cumulative number of times the massage mechanism has collapsed.

[0097] The cumulative number of collapses refers to the total number of collapse events identified and confirmed since the massage mechanism left the factory or was last reset.

[0098] Optionally, the current collapse event can be stored in non-volatile memory, and the stored cumulative number of collapses can be read from the non-volatile memory.

[0099] Step 602: If the cumulative number of collapses exceeds the preset lifespan threshold, lock the massage program of the massage actuator and send a maintenance reminder to the human-machine interface of the massage mechanism.

[0100] Among them, the preset lifespan threshold refers to the threshold set in advance during the product design stage, which is used to indicate the maximum number of collapses that the collapse mechanism is allowed to occur while ensuring safety performance.

[0101] Optionally, the cumulative number of collapses is compared with a preset lifespan threshold. If the cumulative number of collapses exceeds the preset lifespan threshold, it indicates that the collapse structure can no longer reliably perform the collapse protection function. In this case, the massage program of the massage actuator is locked, and a maintenance reminder is sent to the human-machine interface of the massage mechanism. The maintenance reminder is used to remind the user to maintain or replace the massage mechanism. When the lifespan threshold is triggered, the control strategy can be to lock all massage functions, or only disable the high-intensity mode, reduce the massage depth, or limit massage in certain areas. After the massage mechanism is maintained, the maintenance personnel confirm that the mechanical fault has been eliminated through a dedicated reset operation or diagnostic program, clear the abnormal fault status and interference detection mode flags, and allow the massage mechanism to re-enter the power-on startup and normal monitoring process.

[0102] In this embodiment, the physical wear and tear of mechanical components is converted into a digital lifespan indicator. By acquiring the actual cumulative number of collapses and comparing it with a preset lifespan threshold, an objective assessment and proactive intervention of the aging state of energy storage elements is achieved. This prevents the risk of erroneous collapse from escalating, improving user safety and the continuity of the user experience. Collapse count checks during the power-on phase ensure that a safe protection state is maintained even after a power outage and restart.

[0103] Based on the above embodiments, this application also provides a lifespan detection process in a method for identifying the collapse of a massage mechanism. Figure 7 This is a schematic flowchart of a life detection method for identifying the collapse of a massage mechanism provided in an embodiment of this application, as shown below. Figure 7 As shown, based on steps 601-602 above, the method further includes: Step 701: When the massage mechanism is powered on, read the cumulative number of collapses from the non-volatile memory and compare it with the preset lifespan threshold.

[0104] The preset lifespan threshold is determined based on the structure of the massage mechanism and is a fixed attribute of the massage mechanism.

[0105] Optionally, when the massage mechanism is powered on, that is, before the massage device is started after being powered on, the cumulative number of collapses is read from the non-volatile memory of the massage device and compared with a preset lifespan threshold.

[0106] Step 702: If the cumulative number of collapses reaches or exceeds the preset lifespan threshold, the massage program will be disabled, and only the fault indication and diagnostic functions will be retained.

[0107] Optionally, if the cumulative number of collapses reaches or exceeds the preset lifespan threshold, it means that the massage device can no longer collapse, and continuing to execute the massage program will damage the massage mechanism. In this case, the massage program will be prohibited from starting, and only the fault indication and diagnostic functions will be retained.

[0108] In this embodiment, life assessment avoids accidental collapse upon power-on or sudden abnormal collapse during operation caused by fatigue of the energy storage spring airbag and its locking components, thus blocking potential safety hazards at the source. By forcibly prohibiting massage activation instead of degrading operation, the risk of aging mechanisms working under critical conditions is eliminated, ensuring the reliability and predictability of massage actions and improving the user experience.

[0109] Based on the above embodiments, this application also provides a flowchart of a method for controlling the collapse safety of a massage mechanism. Figure 8 This is a flowchart illustrating a method for controlling the collapse safety of a massage mechanism according to an embodiment of this application. Figure 8 As shown, the method also includes: Step 801: After recognizing the collapse event of the massage mechanism, if a collapse event is detected, set the abnormal fault status flag, control the massage actuator to move to the preset safe position, and prohibit the execution of the massage program.

[0110] Among them, the collapse event is the event identified by the collapse identification method of any of the above-mentioned massage mechanism.

[0111] Optionally, after recognizing a collapse event in the massage mechanism, if a collapse event is detected, an abnormal fault status flag is set, and the massage actuator is controlled to move to a preset safe position. Controlling the massage actuator to move to the preset safe position includes driving the height adjustment actuator to run at a low speed until it reaches the preset lower limit position and confirming the limit signal; controlling the kneading actuator to slowly return to the middle position, avoiding the human spine area; and moving the walking actuator to the bottom safe area of ​​the backrest.

[0112] Step 802: Within a preset time, prohibit the height adjustment actuator in the massage actuator from outputting in the upward direction, or restrict the target position of the height adjustment actuator to within a safe range.

[0113] The preset time is a fixed or configurable time window that starts after the collapse event is confirmed, such as 500 milliseconds to 5 seconds. Its length is set according to the mechanical response inertia, user safety margin, and system real-time requirements. This application embodiment does not impose any restrictions on this. The target position is the desired position value set in the position closed-loop control, which can be the minimum ejection height.

[0114] Optionally, control commands output in the ejection direction can be blocked within a preset time period, rendering any manually or automatically triggered ejection action invalid and limiting the target position of the height adjustment actuator to a safe range.

[0115] Step 803: If no collapse event occurs, clear the interference detection mode flag and related abnormal flags.

[0116] Optionally, when the detection result is that the counting signal is normal, the controller determines that the aforementioned window screening based on reference position sampling is a false trigger and clears the interference detection mode flag and related abnormal flags.

[0117] Step 804: Drive the massage actuator to return from the preset detection position to the field position recorded before entering the interference detection mode.

[0118] Optionally, a control command to exit the detection is generated, driving the massage mechanism to return from the detection position to the previously recorded field position, and clearing the temporary motor operation data recorded during the interference detection process.

[0119] Step 805: Restart the massage program that was paused.

[0120] Optionally, after the massage mechanism is restored to its original position, the massage program and the control parameters of the corresponding motor in the corresponding massage actuator are restarted, and the system returns to the aforementioned screening and monitoring process.

[0121] In this embodiment, when the review result is normal, the system automatically restores the site to its pre-detection position and continues the original massage procedure, thus achieving automatic recovery from false triggering of the screening. This balances security and user experience continuity, and avoids unnecessary interruptions caused by false triggering.

[0122] In some alternative embodiments of this application, the following features of the method may be replaced or extended: Alternatives and extensions of pre-inspection signals: In addition to using the rate of change of speed of the kneading actuator at the preset position as the pre-inspection basis, other characteristic quantities can also be selected or superimposed, such as the average rotational speed, rate of change of acceleration, displacement increment per unit time, and current change slope of the kneading actuator within one cycle. As long as they can reflect the load change caused by collapse or mechanical interference, they can be used as pre-inspection criteria.

[0123] Alternatives for detection actuators: When performing depth scanning at the detection position, the height adjustment actuator is not limited to a specific type of motor drive mechanism. It can also be any actuator that can provide reciprocating stroke and output counting signals, such as a linear motor, lead screw motor, rack and pinion mechanism or belt drive. Even a walking actuator or other actuators directly related to the collapse motion can be selected as the detection object.

[0124] Alternative detection conditions and strokes: The detection position can be near the kneading center, or any position near the upper or lower limit; the stroke of the actuator during the depth scan can be the full stroke or a partial stroke, such as moving downwards a predetermined distance from the current position, as long as the counting abnormalities caused by collapse or mechanical interference can be fully exposed within the stroke.

[0125] Alternatives to anomaly detection logic: In addition to using the method of determining whether the counting period and fluctuation are within the normal range, the analysis of the counting signal at the detection location can also adopt a combination of pattern recognition, threshold comparison and trend analysis, or introduce a simple machine learning model to classify normal and abnormal patterns to improve the robustness of collapse detection.

[0126] Alternatives to lifespan management strategies: The cumulative number of collapses and abnormal events can be stored in local non-volatile memory, or uploaded to a host computer or cloud server for centralized management via vehicle network or wireless communication.

[0127] Expansion of applicable product forms: In addition to car massage seats, the method of this application is also applicable to home or commercial massage chairs, massage sofas, massage beds, train or airplane seats, and other massage devices with internally integrated mechanical collapse mechanisms. Only the corresponding actuators and controller interfaces need to be replaced with equivalent ones.

[0128] Based on the same inventive concept, this application also provides a massage mechanism collapse identification device corresponding to the massage mechanism collapse identification method. Since the principle of the device in this application is similar to the massage mechanism collapse identification method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0129] Figure 9 This is a schematic diagram of the structure of a collapsibility detection device for a massage mechanism provided in an embodiment of this application, as shown below. Figure 9 As shown, the device includes: an acquisition module 901, an extraction module 902, a pre-inspection module 903, a determination module 904, a pause module 905, a control module 906, and an identification module 907; wherein, the acquisition module 901 is used to acquire the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle; The acquisition module 901 is used to acquire the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle; Extraction module 902 is used to extract the speed change characteristics of the massage actuator based on the operating data of the current pre-inspection cycle; The pre-inspection module 903 is used to perform a pre-inspection within the current pre-inspection cycle based on the speed change characteristics, and obtain the pre-inspection result of the current pre-inspection cycle; The determination module 904 is used to determine whether the massage mechanism has any abnormal operating conditions based on the pre-inspection results of the current pre-inspection cycle and multiple consecutive historical pre-inspection cycles before the current pre-inspection cycle. The pause module 905 is used to enter the interference detection mode and pause the massage program if an abnormal operating condition is found. The control module 906 is used to control the massage actuator to drive to a preset detection position and control the height adjustment actuator to perform controlled depth scanning, and to acquire the counting signal sequence of the height adjustment actuator during the controlled depth scanning process; The identification module 907 is used to analyze the counting signal sequence within a preset time window to obtain the counting period and fluctuation, and to identify the collapse event based on the counting period and fluctuation.

[0130] In one possible implementation, the massage actuator includes a kneading actuator; the operating data of the current pre-inspection cycle includes instantaneous rotational speed; and the extraction module 902 is specifically used to: compare the instantaneous rotational speed of the current pre-inspection cycle with a preset reference rotational speed to obtain speed change characteristics.

[0131] In one possible implementation, the determining module 902 is further configured to: the preset reference speed includes the instantaneous speed of the kneading actuator in the previous pre-inspection cycle and / or the historical baseline speed; the historical baseline speed is an adaptive baseline, which is updated online on the pre-inspection samples that are determined to be normal; and freeze the update of the historical baseline speed during periods when the massage mechanism is in an abnormal operating condition or in an interference detection mode.

[0132] In one possible implementation, the pre-inspection module 903 is specifically used to: obtain the abnormal pre-inspection ratio based on the pre-inspection results of the current pre-inspection cycle and multiple consecutive historical pre-inspection cycles prior to the current pre-inspection cycle; If the percentage of abnormal pre-detection exceeds the preset threshold, it is determined that there is an abnormal working condition in the massage mechanism.

[0133] In one possible implementation, the massage actuator further includes a kneading actuator and a walking actuator; the control module 906 is specifically used to drive the walking actuator to move the kneading actuator to the preset detection reference position based on the information of the preset detection reference position of the kneading actuator; After the kneading actuator reaches the preset detection reference position, the height adjustment actuator is driven to move to the preset lower limit position; During the operation of the height adjustment actuator, the counting signal of the height adjustment actuator is collected as a counting signal sequence.

[0134] In one possible implementation, the identification module 907 is specifically used to: determine whether there is an abnormal pattern in the counting signal sequence based on the counting period and fluctuation, the abnormal pattern including at least one of continuous lost counts, abnormal jumps in counting, or fluctuations in the counting period exceeding the normal reference range; If an abnormal pattern exists, then a collapse event is confirmed.

[0135] In one possible implementation, the device further includes: the control module 906 is also configured to: determine that the massage mechanism is in an abnormal fault state if a collapse event occurs; Control the massage actuator to move to a preset safe position and prevent the massage program from running; Within a preset time period, the height adjustment actuator is prohibited from outputting in the upward direction, or the target position of the height adjustment actuator is restricted to a safe position.

[0136] In one possible implementation, the control module 906 is further configured to: clear the interference detection mode flag and related abnormal flags if no collapse event occurs; drive the massage actuator to restore from the preset detection position to the field position recorded before entering the interference detection mode; and restart the massage program before the pause.

[0137] In one possible implementation, the device further includes: the control module 906 is also configured to: acquire the cumulative number of times the massage mechanism has collapsed; If the cumulative number of collapses exceeds the preset lifespan threshold, the massage program of the massage actuator will be locked, and a maintenance reminder will be sent to the human-machine interface of the massage mechanism.

[0138] In one possible implementation, the control module 906 is further configured to: read the cumulative number of collapses from the non-volatile memory when the massage mechanism is powered on, and compare it with a preset lifespan threshold; if the cumulative number of collapses reaches or exceeds the preset lifespan threshold, then the massage program is prohibited from starting, and only the fault indication and diagnostic functions are retained.

[0139] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0140] This application also provides a massage mechanism. Figure 10 This is a schematic diagram of the structure of a massage mechanism provided in an embodiment of this application, as shown below. Figure 10 The massage mechanism shown includes a massage actuator 1001 and a controller 1002. The controller 1002 is communicatively connected to the massage actuator 1001 and is used to execute the steps of the above-mentioned massage mechanism collapse recognition method.

[0141] This application also provides a controller. Figure 11 A schematic diagram of the structure of a controller provided in an embodiment of this application is shown below. Figure 11 As shown, the controller 1002 includes a processor 1101 and a memory 1102, and optionally, a bus 1103. The memory 1102 stores machine-readable instructions executable by the processor 1101. When the computer device is running, the processor 1101 communicates with the memory 1102 via the bus 1103. When the machine-readable instructions are executed by the processor 1101, the steps of the aforementioned massage mechanism collapse recognition method are performed.

[0142] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for recognizing the collapse of a massage mechanism.

[0143] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0145] 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 method for identifying the collapse of a massage mechanism, characterized in that, The method includes: Obtain the operating data of the massage actuator in the massage mechanism during the current pre-inspection cycle; Based on the operating data of the current pre-inspection cycle, extract the speed change characteristics of the massage actuator; Based on the speed change characteristics, a pre-inspection is performed within the current pre-inspection cycle to obtain the pre-inspection result for the current pre-inspection cycle; Based on the pre-inspection results of the current pre-inspection cycle and several consecutive historical pre-inspection cycles prior to the current pre-inspection cycle, it is determined whether the massage mechanism has any abnormal operating conditions. If an abnormal operating condition is detected, the interference detection mode will be activated and the massage program will be paused. The massage actuator is controlled to drive to a preset detection position, and the height adjustment actuator is controlled to perform a controlled depth scan to obtain the counting signal sequence of the height adjustment actuator during the controlled depth scan process; The counting signal sequence is analyzed within a preset time window to obtain the counting period and fluctuation. Collapse events are identified based on the counting period and fluctuation.

2. The method according to claim 1, characterized in that, The massage actuator includes a kneading actuator; the operating data for the current pre-inspection cycle includes instantaneous rotational speed; The step of extracting the speed change characteristics of the massage actuator based on the operating data of the current pre-inspection cycle includes: The speed change characteristics are obtained by comparing the instantaneous rotational speed of the current pre-inspection cycle with the preset reference rotational speed.

3. The method according to claim 2, characterized in that, The preset reference speed includes the instantaneous speed of the kneading actuator in the previous pre-inspection cycle and / or the historical baseline speed; the historical baseline speed is an adaptive baseline, which is updated online on the pre-inspection samples that are determined to be normal; the update of the historical baseline speed is frozen when the massage mechanism has abnormal operating conditions or is in interference detection mode.

4. The method according to claim 1, characterized in that, The step of determining whether the massage mechanism has abnormal operating conditions based on the pre-inspection results of the current pre-inspection cycle and multiple consecutive historical pre-inspection cycles preceding the current pre-inspection cycle includes: The percentage of abnormal pre-inspections is obtained based on the pre-inspection results of the current pre-inspection cycle and the pre-inspection results of several consecutive historical pre-inspection cycles preceding the current pre-inspection cycle. If the percentage of abnormal pre-detection exceeds a preset threshold, it is determined that the massage mechanism is in an abnormal operating condition.

5. The method according to claim 1, characterized in that, The massage actuator further includes: a kneading actuator, a walking actuator, and a height adjustment actuator; controlling the massage actuator to drive it to a preset detection position and controlling the height adjustment actuator to perform a controlled depth scan, acquiring the counting signal sequence of the height adjustment actuator during the controlled depth scan, includes: Based on the information of the preset detection reference position of the kneading actuator, the walking actuator is driven to move the kneading actuator to the preset detection reference position; The controlled depth scanning includes: after the kneading actuator reaches the preset detection reference position, driving the height adjustment actuator to run to the preset lower limit position, and collecting the counting signal of the height adjustment actuator as the counting signal sequence during the operation.

6. The method according to claim 1, characterized in that, The step of identifying collapse events based on the counting period and the fluctuation includes: Based on the counting period and the fluctuation, it is determined whether there is an abnormal pattern in the counting signal sequence. The abnormal pattern includes at least one of continuous lost counts, abnormal jumps in the count, or fluctuations in the counting period exceeding the normal reference range. If the aforementioned abnormal pattern exists, then a collapse event is determined to have occurred.

7. The method according to claim 1, characterized in that, The method further includes: If a collapse event occurs, the massage mechanism is determined to be in an abnormal fault state. The massage actuator is controlled to move to a preset safe position, thus preventing the massage program from being executed. Within a preset time period, the height adjustment actuator is prohibited from outputting in the upward direction, or the target position of the height adjustment actuator is restricted to a safe position.

8. The method according to claim 1, characterized in that, The method further includes: If no collapse event occurs, clear the interference detection mode flag and related anomaly flags; Drive the massage actuator to return from the preset detection position to the field position recorded before entering the interference detection mode; Restart the massage program that was paused.

9. The method according to claim 7, characterized in that, The method further includes: Obtain the cumulative number of times the massage mechanism has collapsed; If the cumulative number of collapses exceeds a preset lifespan threshold, the massage program of the massage actuator is locked, and a maintenance reminder is sent to the human-machine interface of the massage mechanism.

10. The method according to claim 9, characterized in that, The method further includes: When the massage mechanism is powered on, the cumulative number of collapses is read from the non-volatile memory and compared with the preset lifespan threshold. If the cumulative number of collapses reaches or exceeds the preset lifespan threshold, the massage program will be disabled, and only the fault indication and diagnostic functions will be retained.

11. A method for collapsible safety control of a massage mechanism, characterized in that, The method includes: After identifying a collapse event in the massage mechanism, if a collapse event is detected, an abnormal fault status flag is set, the massage actuator is controlled to move to a preset safe position, and the massage program is prohibited from being executed; wherein, the collapse event is an event identified by the collapse identification method of any of the massage mechanisms described in claims 1-10 above; Within a preset time, the height adjustment actuator in the massage actuator is prohibited from outputting in the upward direction, or the target position of the height adjustment actuator is restricted to a safe position. If no collapse event is detected, the interference detection mode flag and related abnormal flags are cleared, the massage actuator is driven to restore the field position recorded before entering the detection mode, and the massage program before the pause is restarted.

12. A massage mechanism, characterized in that, The massage mechanism includes a massage actuator and a controller, wherein the controller is communicatively connected to the massage actuator and is used to perform the steps of the method according to any one of claims 1-11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the collapse identification method for the massage mechanism according to any one of claims 1-10.

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