Massage device control method and massage device

Abstract

The application provides a massage equipment control method and massage equipment, and relates to the technical field of massage, and the method comprises the following steps: if a massage adjustment instruction is received, target massage data is determined according to the massage adjustment instruction, and current massage data and load characteristic data of the massage equipment are obtained; candidate transition frequency trajectories of the massage equipment are determined according to the current massage data and the target massage data; current user characteristic resonance zones are determined according to the load characteristic data and standard working parameters of the massage equipment; and the massage equipment is controlled according to the candidate transition frequency trajectories and the current user characteristic resonance zones. The application improves the massage experience and intelligence of a user in a massage process.

Description

Technical Field

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

[0002] Massage chairs are widely used in homes, offices, and wellness facilities. Users often need to switch massage modes or adjust massage intensity to achieve a personalized comfort experience. This adjustment essentially involves controlling the operating frequency or output torque of internal actuators such as motors and air pumps to change the intensity. However, when the actuators rapidly switch between different intensities, it can easily cause noticeable mechanical shock, vibration noise, or abrupt sensations, negatively impacting the user experience.

[0003] Currently, massage chairs primarily use step control to handle intensity changes, meaning they immediately jump to the target frequency upon receiving an adjustment command, or smooth transition control, which inserts a continuously changing speed curve between the start and end points to gradually change the intensity and reduce the impact.

[0004] However, while a smooth curve can mitigate the impact of sudden changes in force, it may cause the actuator to stay in the user's individual resonance zone for too long, which may prolong the resonance excitation time, aggravate vibration and noise, and the transition path may not be combined with user information, which may lead to the risk of crossing the resonance zone and reduce the user's massage experience. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a massage device control method and a massage device to enhance the user's massage experience and intelligence during the massage process.

[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 method for controlling a massage device, the method comprising: If a massage adjustment command is received, the target massage data is determined according to the massage adjustment command, and the current massage data and load characteristic data of the massage device are obtained; Based on the current massage data and the target massage data, a candidate transition frequency trajectory for the massage device is determined; The current user characteristic resonance zone is determined based on the load characteristic data and the standard operating parameters of the massage device; The massage device is controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

[0007] Optionally, the current massage data includes: the current control level; the target massage data includes: the target control level; The step of determining the candidate transition frequency trajectory of the massage device based on the current massage data and the target massage data includes: The current massage intensity and frequency are determined based on the current control setting. The target massage intensity and target massage frequency are determined based on the target control level. The candidate transition frequency trajectory is determined based on the current massage intensity, the current massage frequency, the target massage intensity, and the target massage frequency.

[0008] Optionally, determining the candidate transition frequency trajectory based on the current massage intensity, the current massage frequency, the target massage intensity, and the target massage frequency includes: The difference between the current massage intensity and the target massage intensity is determined as the intensity range; The corresponding trajectory curve type is determined based on the force span using a preset trajectory determination rule; The candidate transition frequency trajectory is determined based on the trajectory curve type, the current massage frequency, and the target massage frequency.

[0009] Optionally, the load characteristic data includes: the peak value of the phase current at the moment the massage device is started; the standard operating parameters of the massage device include: the resonant frequency of the standard reference body shape, the peak value of the standard reference phase current, the no-load current, and the standard reference equivalent mass; The step of determining the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device includes: The equivalent quality of the first user is determined based on the peak phase current, the standard reference equivalent quality, the no-load current, and the peak phase current of the standard reference. The first estimated resonance frequency is determined based on the first user equivalent mass and the standard reference equivalent mass. A narrowband frequency conversion scan is performed on the first estimated resonance frequency to determine the first characteristic resonance region corresponding to the first estimated resonance frequency as the current user characteristic resonance region.

[0010] Optionally, the load characteristic data includes: total seat pressure, center of seat pressure distribution, and user contact area; the standard operating parameters include: preset resonant frequency mapping relationship; The step of determining the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device includes: The equivalent mass of the second user is determined based on the total pressure of the seat cushion and the center of the seat cushion pressure distribution. Based on the second user's equivalent mass and the user's contact area, the second estimated resonance frequency is determined using the preset resonance frequency mapping relationship; A narrowband frequency conversion scan is performed on the second estimated resonance frequency to determine the second characteristic resonance region corresponding to the second estimated resonance frequency as the current user characteristic resonance region.

[0011] Optionally, controlling the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance region includes: Determine whether the candidate transition frequency trajectory falls into the current user feature resonance region; If the candidate transition frequency trajectory falls into the current user characteristic resonance region, then based on the candidate transition frequency trajectory and the current user characteristic resonance region, the resonance crossing segment of the current user characteristic resonance region in the candidate transition frequency trajectory is determined. The massage device is controlled based on the candidate transition frequency trajectory and the resonance crossing segment.

[0012] Optionally, controlling the massage device based on the candidate transition frequency trajectory and the resonant crossing segment includes: The transition frequency trajectory of the non-resonance crossing segment is determined from the candidate transition frequency trajectories, and the massage device is controlled using the transition frequency trajectory. In the resonant crossing section, the candidate transition frequency trajectory is reconstructed according to the preset crossing time to obtain the crossing section frequency trajectory, and the massage device is controlled according to the crossing section frequency trajectory.

[0013] Optionally, controlling the massage device based on the candidate transition frequency trajectory and the resonant crossing segment includes: The candidate transition frequency trajectory is reconstructed based on the resonance crossing segment to obtain a reconstructed candidate transition frequency trajectory, which avoids the resonance crossing segment. The massage device is controlled based on the reconstructed candidate transition frequency trajectory.

[0014] Optionally, the method further includes: The current massage data of the massage device is subject to change detection; If a change in the current running data is detected and the user replacement determination condition is not met, then the body shape correction coefficient is determined based on the user's current equivalent mass and the user's equivalent mass at the previous moment. The current user feature resonance region is corrected according to the body shape correction coefficient to obtain a new current user feature resonance region; The step of controlling the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance region includes: The massage device is controlled based on the candidate transition frequency trajectory and the new current user characteristic resonance zone.

[0015] Secondly, another embodiment of this application provides a massage device control apparatus, the apparatus comprising: The acquisition module is used to determine the target massage data according to the massage adjustment instruction if a massage adjustment instruction is received, and to acquire the current massage data and load characteristic data of the massage device. The first determining module is used to determine the candidate transition frequency trajectory of the massage device based on the current massage data and the target massage data; The second determining module is used to determine the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device. The control module is used to control the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

[0016] Thirdly, another embodiment of this application provides a control device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the control device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of any of the massage device control methods described in the first aspect above.

[0017] Fourthly, another embodiment of this application provides a massage device, which includes at least: a device body and a control device disposed on the device body, the control device being used to perform the steps of any of the massage device control methods described in the first aspect above.

[0018] Fifthly, another embodiment of this application provides a storage medium storing a computer program, which, when executed by a processor, performs the steps of the massage device control method as described in any of the first aspects above.

[0019] The beneficial effects of this application are: This application provides a massage device control method and a massage device. Upon receiving a massage adjustment command, the method determines the target massage data based on the command and acquires the current massage data and load characteristic data of the massage device. Based on the current massage data and the target massage data, it determines the candidate transition frequency trajectory of the massage device. Based on the load characteristic data and the standard operating parameters of the massage device, it determines the current user characteristic resonance zone. Based on the candidate transition frequency trajectory and the current user characteristic resonance zone, it controls the massage device. This application identifies the current user's characteristic resonance zone by combining individualized load characteristic data. The original transition trajectory is reconstructed to ensure smooth changes in intensity while minimizing the dwell time in the resonance zone, avoiding discomfort and noise problems caused by device vibration and resonance of local human tissues. This achieves synergistic optimization of user massage comfort and quietness, improving the overall consistency and intelligence level of the massage process. Attached Figure Description

[0020] 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.

[0021] Figure 1 A flowchart illustrating a massage device control method provided in an embodiment of this application; Figure 2 A flowchart illustrating the determination of a candidate transition frequency trajectory in a massage device control method provided in this application embodiment; Figure 3 A flowchart illustrating the determination of a candidate transition frequency trajectory in another massage device control method provided in this application embodiment; Figure 4 This is a flowchart illustrating the process of determining the current user characteristic resonance zone in a massage device control method provided in an embodiment of this application. Figure 5 A flowchart illustrating the process of determining the current user characteristic resonance zone in another massage device control method provided in this application embodiment; Figure 6 A schematic flowchart illustrating the control process of a massage device in an embodiment of this application; Figure 7 A schematic diagram of the massage device control process in another massage device control method provided in this application; Figure 8 A schematic diagram of the massage device control process in another massage device control method provided in this application; Figure 9 This is a schematic diagram of the structure of a massage device control device provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a massage device provided in an embodiment of this application. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Existing massage chairs employ direct step changes to the motor drive frequency, smooth transitions based on a single preset speed curve, or adaptive adjustments to the motor's operating state based on load, pressure, speed, and force sensor signals when switching modes or adjusting intensity. While these technologies mitigate sudden shocks or maintain specific massage movements, they treat intensity switching trajectory planning and individualized resonance avoidance as independent control problems. They fail to introduce the user's individual characteristic resonance zone boundaries when generating intensity transition trajectories, thus failing to ensure smooth switching while avoiding potentially uncomfortable resonance frequency bands.

[0026] Therefore, this application provides a massage device control method. The method determines candidate transition frequency trajectories through massage adjustment commands and determines the current user characteristic resonance zone based on user load characteristic data. Based on the current user characteristic resonance zone and the candidate transition frequency trajectory, the massage device is controlled, improving the switching efficiency of the massage device and the user's massage experience. This massage device control method is applied during mode switching or intensity adjustment in the operation of the massage device. The massage device can be any intelligent massage device with a variable frequency actuator, such as a massage chair, massage bed, shoulder and neck massage device, or waist massage device. During the massage process, the corresponding target massage data is obtained according to the massage adjustment command. The control device combines the current massage data and load characteristic data to determine the candidate transition frequency trajectory and the current user characteristic resonance zone. The massage actuator, which includes a drive motor, air pump, and other actuator components, is then controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

[0027] To clearly describe the method provided in the embodiments of this application, the method will be described below in conjunction with several accompanying drawings. Figure 1 This is a flowchart illustrating a massage device control method provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes: Step 101: If a massage adjustment command is received, determine the target massage data according to the massage adjustment command, and obtain the current massage data and load characteristic data of the massage device.

[0028] The massage adjustment command is the user's current demand command, which can be a user-input command, a preset massage program, or a mode switching command. User-input commands can be voice input, text input, or commands selected on the operation interface. Preset massage programs are combinations of actions, intensity levels, and durations determined by the user, based on different scenarios, effects, and user-defined parameters. Mode switching commands can be user-triggered commands or automatically triggered commands by the massage device based on the current scenario; this application embodiment does not impose limitations on these.

[0029] The target massage data can be massage data determined based on the current massage adjustment command. The effect of the current massage adjustment command can be achieved based on the target massage data. The target massage data may include: target control level, target frequency, target mode type, etc. This application embodiment does not limit this.

[0030] The current massage data refers to the massage state that the massage device is currently performing. It may include parameters related to the massage device, such as the current control level, current start frequency, and current actuator operating status. This application embodiment does not limit this.

[0031] The load characteristic data refers to the load characteristics of the massage device in contact with the user, which may include mechanical characteristics, electrical characteristics of the motor, pneumatic system characteristics, etc. This application embodiment does not limit these.

[0032] Optionally, the massage adjustment instructions are parsed to determine one or more of the user input instructions, preset massage programs, or mode switching instructions, thereby obtaining the corresponding target massage data.

[0033] Optionally, current massage data and load characteristic data fed back by the massage actuator of the massage device can be obtained.

[0034] Step 102: Determine the candidate transition frequency trajectory of the massage device based on the current massage data and the target massage data.

[0035] Among them, the candidate transition frequency trajectory is a curve of frequency changing with time.

[0036] Optionally, based on the current massage data and the target massage data, a candidate transition frequency trajectory for the massage device is determined from multiple transition frequency trajectories.

[0037] Step 103: Determine the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device.

[0038] The standard operating parameters are determined through pre-experimentation and serve as the baseline operating parameter range for the massage device, acting as a reference for determining whether the current state is abnormal. These standard operating parameters are load-related. The current user characteristic resonance zone is the frequency band where the body and massage mechanism resonate under the current load condition.

[0039] Optionally, the load characteristic data is filtered and denoised, and point-by-point difference calculation is performed with the standard operating parameters of the massage device to obtain personalized load residuals. Then, a fast Fourier transform is performed on the personalized load residuals to convert them from the time domain to the frequency domain. The peak frequencies higher than the background noise in the power spectral density and their corresponding half-power bandwidths are extracted to obtain the frequency forbidden zone centered on the peak frequency, with the bandwidth dynamically shrinking or expanding with the load change rate as the current user characteristic resonance zone.

[0040] Step 104: Control the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

[0041] Optionally, the candidate transition frequency trajectory is corrected based on the current user characteristic resonance zone, so that the candidate transition frequency trajectory avoids the current user characteristic resonance zone and obtains a new transition frequency trajectory. The massage actuator in the massage device is controlled based on the new transition frequency trajectory. The massage actuator can be a DC brushless kneading motor, a tapping motor, an air pump actuator, or other possible actuators. This application embodiment does not limit this, and the specific actuator is determined according to the massage area.

[0042] In this embodiment, if a massage adjustment command is received, the target massage data is determined according to the command, and the current massage data and load characteristic data of the massage device are acquired. Based on the current massage data and the target massage data, a candidate transition frequency trajectory of the massage device is determined. Based on the load characteristic data and the standard operating parameters of the massage device, the current user characteristic resonance zone is determined. Based on the candidate transition frequency trajectory and the current user characteristic resonance zone, the massage device is controlled. This application identifies the current user's characteristic resonance zone by combining the user's individualized load characteristic data. The original transition trajectory is reconstructed to ensure that while maintaining the smoothness of the intensity change, the dwell time in the resonance zone is minimized, avoiding discomfort and noise problems caused by device vibration and resonance of local human tissues. This achieves synergistic optimization of user massage comfort and quietness, improving the overall consistency and intelligence level of the massage process.

[0043] Based on the above embodiments, the current massage data includes: the current control level; the target massage data includes: the target control level. This application also provides a flowchart for determining candidate transition frequency trajectories in a massage device control method. Figure 2 This is a flowchart illustrating the process of determining a candidate transition frequency trajectory in a massage device control method provided in an embodiment of this application, as shown below. Figure 2 As shown, in step 102 above, the candidate transition frequency trajectory of the massage device is determined based on the current massage data and the target massage data, including: Step 201: Determine the current massage intensity and frequency based on the current control setting.

[0044] The current control level refers to the level of massage currently being performed by the massage device. Each level corresponds to the current massage intensity and frequency. The current massage intensity is the intensity corresponding to the current control level, which is the amplitude of the mechanical force acting on the human body at the current level. The current massage frequency is the periodic repetition rate of the massage movements at the current level, that is, the motor speed or the fundamental frequency of the tapping / slapping movements is determined by the main frequency of the speed curve corresponding to the level.

[0045] Optionally, the current massage intensity and frequency corresponding to the current control gear are determined using a gear parameter mapping table. The gear parameter mapping table is a pre-determined table based on experiments and includes the gear level, the corresponding massage intensity, and the massage frequency.

[0046] Optionally, before determining the current massage intensity and frequency based on the current control setting, the actual operating setting of the massage device is also determined based on the real-time drive frequency, actuator current, and pressure feedback value. If the actual operating setting differs from the current control setting, the drive motor of the massage device is controlled to make the actual operating setting the same as the current control setting.

[0047] Step 202: Determine the target massage intensity and target massage frequency based on the target control level.

[0048] Optionally, the target massage intensity and target massage frequency corresponding to the target control level can be determined using a level parameter mapping table based on the target control level.

[0049] Step 203: Determine the candidate transition frequency trajectory based on the current massage intensity, current massage frequency, target massage intensity, and target massage frequency.

[0050] Optionally, a massage intensity difference is determined based on the current massage intensity and the target massage intensity, a massage frequency difference is determined based on the current massage frequency and the target massage frequency, and a candidate transition frequency trajectory is determined based on the massage intensity difference and the massage frequency difference.

[0051] In this embodiment, the changes in massage state are precisely quantified by the current massage intensity, current massage frequency, target massage intensity, and target massage frequency, generating candidate transition frequency trajectories. This ensures that the linkage between intensity and frequency conforms to a preset comfort curve model, making the switching process of massage intensity smooth and natural, and avoiding the physical shock caused by sudden changes.

[0052] Based on the above embodiments, this application also provides another process for determining candidate transition frequency trajectories in a massage device control method. Figure 3 A flowchart illustrating the determination of candidate transition frequency trajectories in another massage device control method provided in this application embodiment is shown below. Figure 3 As shown, in step 203 above, a candidate transition frequency trajectory is determined based on the current massage intensity, current massage frequency, target massage intensity, and target massage frequency, including: Step 301: Determine the difference between the current massage intensity and the target massage intensity as the intensity range.

[0053] The intensity span is the absolute difference between the target massage intensity and the current massage intensity, used to determine the degree of intensity of the adjustment.

[0054] Optionally, the difference between the current massage intensity and the target massage intensity is used to obtain the intensity difference value, and the absolute value of the intensity difference value is used as the intensity span.

[0055] Step 302: Determine the corresponding trajectory curve type based on the force span using the preset trajectory determination rules.

[0056] Among them, the preset trajectory determination rule is the correspondence between the force span and the trajectory curve type determined through pre-experimentation. The preset trajectory determination rule also includes the transition time corresponding to the force span and the upper limit of frequency change.

[0057] Optionally, a preset trajectory determination rule is used to match the force span to obtain the trajectory curve type corresponding to the force span.

[0058] The trajectory curve types can be linear, S-shaped, or double S-shaped. A linear curve is a trapezoidal curve in terms of velocity and time, with constant acceleration and deceleration. A S-shaped curve is a 7-segment S-curve; based on the trapezoidal curve, the acceleration rise and fall are softened to create an S-shape in the velocity and time graph. The 7-segment S-curve includes acceleration, uniform acceleration, deceleration, uniform speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration segments, with acceleration increasing from 0 and deceleration decreasing to 0. A double S-shaped curve is a 5-segment S-curve; the uniform acceleration and deceleration segments are compressed to 0, merging the 7 segments into 5. The 5-segment S-curve includes acceleration, deceleration, uniform speed, acceleration / deceleration, and deceleration / deceleration segments.

[0059] For example, when the force span is less than the first force span threshold, the candidate trajectory type is a linear curve; when the force span is between the first and second force span thresholds, the candidate trajectory type is an S-curve; when the force span is greater than or equal to the second force span threshold, the candidate trajectory type is a double S-shaped piecewise curve. The double S-shaped piecewise curve includes a force rise segment and a force stability segment, each configured with different curvature parameters to balance response speed and output smoothness. The first force span threshold is the maximum force step size at which the motor can respond instantaneously without significant impact under rated torque. The second force span threshold is the minimum force span at which the motor can achieve a smooth transition under the constraints of maximum allowable acceleration and maximum allowable jerk. The first and second force span thresholds are determined based on the massage device; different massage devices correspond to different thresholds, and this application embodiment does not impose any limitations on this.

[0060] Step 303: Determine the candidate transition frequency trajectory based on the trajectory curve type, the current massage frequency, and the target massage frequency.

[0061] Optionally, the current massage frequency is used as the starting point of the curve corresponding to the trajectory curve type, and the target massage frequency is used as the ending point of the curve. Based on the transition time of the trajectory curve type and the upper limit of frequency change, the duration and frequency change rate of each segment are calculated respectively to obtain the candidate transition frequency trajectory.

[0062] In this embodiment, by quantifying the difference between the current massage intensity and the target massage intensity into an intensity span and determining the trajectory curve type, refined hierarchical control of the transition process is achieved. This can match the comfort requirements under different adjustment ranges. By combining the current and target frequencies to generate a complete candidate transition frequency trajectory, the frequency change process is ensured to conform to human perception characteristics, thereby improving the structure and executability of the control logic.

[0063] Based on the above embodiments, the load characteristic data includes: the peak phase current at the moment the massage device starts; the standard operating parameters of the massage device include: the resonant frequency of the standard reference body shape, the peak phase current of the standard reference, the no-load current, and the standard reference equivalent mass. Therefore, this application also provides a process for determining the current user characteristic resonant region in a massage device control method. Figure 4 This is a flowchart illustrating the process of determining the current user characteristic resonance zone in a massage device control method provided in an embodiment of this application. Figure 4 As shown, in step 103 above, the current user characteristic resonance zone is determined based on load characteristic data and the standard operating parameters of the massage device, including: Step 401: Determine the equivalent quality of the first user based on the peak phase current, the standard reference equivalent quality, the no-load current, and the peak phase current of the standard reference.

[0064] The peak phase current is the maximum phase current measured at the moment of first startup after the massage device is used. Since human weight loads the actuator, the greater the load, the higher the starting current required. Therefore, the peak phase current can be used to indirectly estimate the user's weight or overall load. The standard reference equivalent mass is the preset equivalent mass corresponding to the peak phase current, usually a representative human load mass obtained through experimental calibration. The peak phase current is the typical peak phase current generated by a user of a standard body type under the same movements, set during the factory calibration of the massage device. This serves as a benchmark reference value; the standard body type can be determined based on the massage device, and this application does not impose any limitations on this. The no-load current is the minimum current required for the actuator to operate when the massage chair is unoccupied, representing the basic current level of the massage device's mechanical and electrical losses.

[0065] Optionally, the first user's equivalent quality m_estimated = m_ref × (I_stall - I_idle) / (I_stall_ref - I_idle) is determined based on the phase current peak value I_stall, the standard reference equivalent quality m_ref, the no-load current I_idle, and the standard reference phase current peak value I_stall_ref.

[0066] Step 402: Determine the first estimated resonant frequency based on the first user equivalent mass and the standard reference equivalent mass.

[0067] The first estimated resonance frequency is determined based on the current user's equivalent mass, and serves as the center frequency of the current user's characteristic resonance region.

[0068] Optionally, the first estimated resonant frequency f_estimated = f_ref × (m_ref / m_estimated)^(1 / 2) is determined based on the first user equivalent mass m_estimated and the standard reference equivalent mass m_ref.

[0069] Step 403: Perform narrowband frequency conversion scanning on the first estimated resonance frequency to determine the first characteristic resonance region corresponding to the first estimated resonance frequency as the current user characteristic resonance region.

[0070] Narrowband frequency conversion scanning involves scanning a small range of frequencies around the estimated resonant frequency, gradually changing the drive frequency of the actuator to determine the vibration response. The current user characteristic resonant region is the frequency range that causes vibration amplification during the scanning process; that is, the sensitive frequency band where the current user is likely to experience discomfort or noise.

[0071] Optionally, a narrowband frequency conversion scan is performed within a preset neighborhood, centered on the first estimated resonance frequency, to collect the vibration amplitude near the actuator base or massage head. When the vibration amplitude at a certain frequency point exceeds a preset multiple of the average amplitude of the current scan segment, that frequency point and its adjacent range are marked as the characteristic resonance region [f_low, f_high] of the current user, and the resonance center frequency is recorded to obtain the first characteristic resonance region corresponding to the first estimated resonance frequency. The scanning frequency step of the narrowband frequency conversion can be 2-3 Hz, the dwell time at each frequency point is 0.3-0.5 seconds, and the preset multiple can be 1.3-2.0 times.

[0072] In this embodiment, the equivalent mass of the current user is determined by comparing the peak phase current with standard parameters, and the estimated resonant frequency is derived from this. This avoids blind scanning of the entire frequency band and narrows the resonance detection range. Based on this, a narrowband frequency conversion scan is performed to finely detect the vibration response only in the neighborhood of the estimated frequency, accurately locking the characteristic resonance area of ​​the current user, improving detection efficiency and accuracy, and reducing the interference of the scanning process on the massage experience.

[0073] Based on the above embodiments, the load characteristic data includes: total seat pressure, seat pressure distribution center, and user contact area; the standard operating parameters include: preset resonance frequency mapping relationship. Therefore, this application also provides another process for determining the current user characteristic resonance zone in a massage device control method. Figure 5 A flowchart illustrating the process of determining the current user characteristic resonance zone in another massage device control method provided in this application embodiment is shown below. Figure 5 As shown, in step 103 above, the current user characteristic resonance zone is determined based on load characteristic data and the standard operating parameters of the massage device, including: Step 501: Determine the equivalent mass of the second user based on the total pressure of the seat cushion and the center of the pressure distribution of the seat cushion.

[0074] The total seat pressure is calculated by summing the values ​​from multiple pressure sensors distributed beneath the massage chair, reflecting the static gravity exerted by the user on the massage device. The center of gravity, calculated by weighted averaging the coordinates of the sensor points and their pressure values, reflects the user's center of gravity shift on the massage device. The second, the user's equivalent mass, is an estimated value obtained after posture compensation correction based on the total seat pressure and the center of gravity.

[0075] Optionally, the user's posture deviation is determined by comparing the center of the seat pressure distribution with the geometric center of the seat. The total seat pressure value is then compensated based on the user's posture deviation to determine the equivalent mass of the second user. The compensation value for the total seat pressure value based on the user's posture deviation is determined based on a pre-selected experiment, and this embodiment of the application does not impose any limitations on this.

[0076] Step 502: Based on the second user's equivalent mass and the user's contact area, determine the second estimated resonance frequency using a preset resonance frequency mapping relationship.

[0077] The user contact area is the effective contact area between the user and the massage device, which can be detected by capacitive or resistive pressure array sensors on the massage device. The number of sensor units with pressure values ​​exceeding the contact threshold is multiplied by the unit area. The preset resonance frequency mapping relationship is obtained through biomechanical modeling or extensive human experiments, mapping mass and contact area to the mechanical resonant frequencies of the human body and the massage system. The second estimated resonance frequency is the center value of the resonant frequency estimated based on the current user's mass and contact area using the preset resonance frequency mapping relationship.

[0078] Optionally, the unit area mass is determined based on the second user equivalent mass and the user contact area, and the second estimated resonance frequency corresponding to the unit area mass is determined based on the unit area mass and the preset resonance frequency mapping relationship.

[0079] Step 503: Perform narrowband frequency conversion scanning on the second estimated resonance frequency to determine the second characteristic resonance region corresponding to the second estimated resonance frequency as the current user characteristic resonance region.

[0080] Optionally, a narrowband frequency conversion scan is performed within a preset neighborhood, centered on the second estimated resonance frequency, to collect the vibration amplitude near the actuator base or massage head. When the vibration amplitude at a certain frequency point exceeds a preset multiple of the average amplitude of the current scan segment, that frequency point and its adjacent range are marked as the characteristic resonance region [f_low, f_high] of the current user, and the resonance center frequency is recorded to obtain the second characteristic resonance region corresponding to the second estimated resonance frequency. The scanning frequency step of the narrowband frequency conversion can be 2-3 Hz, the dwell time at each frequency point is 0.3-0.5 seconds, and the preset multiple can be 1.3-2.0 times.

[0081] In this embodiment, the user's equivalent mass is determined by comprehensively considering the total pressure value of the cushion and the center of pressure distribution. This can more accurately reflect the user's actual body shape distribution and avoid misjudgments caused by relying solely on a single pressure value. Furthermore, the calculation of the estimated resonance frequency is optimized by combining the user's contact area, which improves the accuracy of individualized resonance zone prediction. This increases detection efficiency, reduces interference with the massage process, and makes the characteristic resonance zone more closely match the current user's actual vibration-sensitive frequency band.

[0082] Based on the above embodiments, this application also provides a process for controlling a massage device in a massage device control method. Figure 6 This is a flowchart illustrating the control process of a massage device in an embodiment of this application. Figure 6 As shown, in step 104 above, the massage device is controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone, including: Step 601: Determine whether the candidate transition frequency trajectory falls into the current user feature resonance zone.

[0083] Optionally, the candidate transition frequency trajectories are discretized and sampled on the time and frequency planes to obtain the frequency points corresponding to the candidate transition frequency trajectories. These frequency points corresponding to the candidate transition frequency trajectories are compared with the current user feature resonance region to determine whether the candidate transition frequency trajectory falls into the current user feature resonance region.

[0084] Step 602: If the candidate transition frequency trajectory falls into the current user characteristic resonance region, then determine the resonance crossing segment of the current user characteristic resonance region in the candidate transition frequency trajectory based on the candidate transition frequency trajectory and the current user characteristic resonance region.

[0085] Among them, the resonance crossing segment is the part of the candidate transition frequency trajectory that overlaps with the resonance region of the current user feature, that is, the frequency path corresponding to a period of time during which the execution structure will run within the resonance frequency range.

[0086] Optionally, if, within any time period, the frequency point corresponding to the candidate transition frequency trajectory falls within the current user characteristic resonance zone, then it is determined whether the candidate transition frequency trajectory falls within the current user characteristic resonance zone, and all frequency segments in the candidate trajectory that fall within the current user characteristic resonance zone are extracted to form a continuous time interval as a resonance crossing segment. The frequencies entering the resonance crossing segment, the frequencies leaving the resonance crossing segment, and the crossing duration are determined.

[0087] Step 603: Control the massage device based on the candidate transition frequency trajectory and the resonance crossing segment.

[0088] Optionally, if the candidate transition frequency trajectory does not fall within the current user characteristic resonance zone, the actuator of the massage device can be directly controlled based on the candidate transition frequency trajectory.

[0089] Optionally, if the candidate transition frequency trajectory falls into the resonance zone of the current user characteristics, the candidate transition frequency trajectory is reconstructed according to the resonance crossing segment to obtain a new transition frequency trajectory, and the massage device is controlled according to the new transition frequency trajectory.

[0090] In this embodiment, it is determined whether the candidate transition frequency trajectory falls into the current user characteristic resonance zone, and the resonance crossing segment is identified when they intersect. This enables targeted optimization and control of key segments in the trajectory that cause uncomfortable vibrations, shortens the dwell time in the resonance zone, reduces noise and physical discomfort caused by resonance excitation, and achieves synergistic optimization of comfort and quietness.

[0091] Based on the above embodiments, this application also provides another massage device control method, wherein in step 603 above, the massage device is controlled according to the candidate transition frequency trajectory and the resonance crossing segment, including: In the non-resonance crossing segment of the candidate transition frequency trajectory, the frequency in the candidate transition frequency trajectory is used to control the massage device.

[0092] Optionally, all non-resonant crossing segments in the candidate transition frequency trajectories are non-resonant crossing segments. The transition frequency trajectory of the non-resonant crossing segment is determined from the candidate transition frequency trajectories, and the transition frequency trajectory is used to control the massage actuator of the massage device.

[0093] In the resonance crossing section, the trajectory of the candidate transition frequency trajectory in the resonance crossing section is reconstructed according to the preset crossing time to obtain the crossing section frequency trajectory, and the massage device is controlled according to the crossing section frequency trajectory.

[0094] The preset crossing time is a time threshold pre-set through experiments, representing the shortest safe time that the actuator in the massage device is allowed to remain within the resonance crossing zone. The crossing segment frequency trajectory refers to the frequency change path after the candidate transition frequency trajectory is locally reconstructed within the resonance crossing segment. By increasing the frequency change rate in the resonance crossing segment, the actuator can quickly cross the resonance crossing segment within the preset crossing time, thereby shortening the duration of resonance excitation.

[0095] Optionally, the required frequency width to be crossed is determined based on the resonant crossing segment, and the instantaneous frequency change rate is determined based on the preset crossing time and frequency width. The instantaneous frequency change rate is applied to the resonant crossing segment to generate a rapidly rising or falling linear or approximately linear frequency path, which replaces the candidate transition frequency trajectory in the resonant crossing segment.

[0096] Optionally, the actuator of the massage device is controlled according to the transition frequency trajectory corresponding to the non-resonance crossing segment and the crossing segment frequency trajectory of the resonance crossing segment.

[0097] In this embodiment, while ensuring the overall smoothness of the intensity switching, dynamic optimization is performed on the user's individual resonance-sensitive area. In the non-resonance crossing section, the original candidate transition frequency trajectory is used to ensure that the intensity change meets the requirements of human perception and comfort. In the resonance crossing section, the trajectory is locally reconstructed by preset crossing time to shorten the dwell time in the resonance area, effectively suppressing abnormal vibrations and noise caused by resonance excitation, and improving the user's actual massage experience.

[0098] Based on the above embodiments, this application also provides a process for controlling a massage device in another massage device control method. Figure 7 A flowchart illustrating the control process of a massage device in another massage device control method provided in this application is shown below. Figure 7 As shown, in step 603 above, the massage device is controlled based on the candidate transition frequency trajectory and the resonance crossing segment, including: Step 701: Reconstruct the candidate transition frequency trajectory based on the resonance crossing segment to obtain the reconstructed candidate transition frequency trajectory, so that the reconstructed candidate transition frequency trajectory avoids the resonance crossing segment.

[0099] Specifically, the reconstruction of the candidate transition frequency trajectory involves bypassing the resonance region to actively avoid it, thus forming a new execution trajectory. The resonance bypass segment ensures that the entire reconstruction of the candidate transition frequency trajectory completely skips the resonance frequency range.

[0100] Optionally, the candidate transition frequency trajectory is reconstructed based on the resonance crossing segment, and the minimum frequency value of the candidate transition frequency trajectory is modified to the maximum frequency value of the resonance crossing segment, or the maximum frequency value of the candidate transition frequency trajectory is modified to the minimum frequency value of the resonance crossing segment, and the reconstructed candidate transition frequency trajectory is obtained based on the modified candidate transition frequency trajectory boundary value.

[0101] Step 702: Control the massage device according to the reconstructed candidate transition frequency trajectory.

[0102] Optionally, the actuators in the massage device can be controlled based on the reconstructed candidate transition frequency trajectory.

[0103] In this embodiment, when the candidate transition frequency trajectory intersects with the user's characteristic resonance zone, reconstruction is performed to avoid the resonance crossing segment. This ensures the overall continuity of force switching while preventing the actuator from operating for extended periods within the user's individual resonance frequency band. It reduces abnormal vibrations and noise caused by resonance, improving the quietness and comfort of the massage process. Furthermore, it avoids the physical impact that might result from simple, rapid crossings, making the frequency conversion transition process both smooth and intelligent.

[0104] Based on the above embodiments, this application also provides a process for controlling a massage device in another massage device control method. Figure 8 A flowchart illustrating the control process of the massage device in another massage device control method provided in this application is shown below. Figure 8 As shown, based on steps 101-104 above, the method further includes: Step 801: Detect changes to the current massage data of the massage device.

[0105] The current massage data may include: peak phase current, total cushion pressure, center of cushion pressure distribution, and user contact area.

[0106] Optionally, the current massage data of the massage device can be obtained, and changes to the current massage data can be detected.

[0107] Step 802: If a change in the current running data is detected and the user replacement judgment condition is not met, then determine the body shape correction coefficient based on the user's current equivalent mass and the user's equivalent mass at the previous moment.

[0108] The user change determination criteria are used to determine whether different users are seated. For example, these could be: a change in total pressure exceeding 50%, a sudden change in the center of pressure distribution, or reloading after a long period without pressure.

[0109] Optionally, if a change in the current running data is detected but the user change determination condition is not met, it means that the user has only changed their posture and has not changed their user.

[0110] Optionally, the body shape correction coefficient K_body=(m_prev / m_current)^(1 / 2) is determined based on the user's current equivalent mass m_current and the user's previous equivalent mass m_prev.

[0111] Step 803: Correct the current user feature resonance region according to the body shape correction coefficient to obtain a new current user feature resonance region.

[0112] Optionally, the current user feature resonance region f_detected is corrected according to the body shape correction coefficient K_body to obtain a new current user feature resonance region f_updated=f_detected×K_body.

[0113] Optionally, the current user feature resonance region is corrected according to the body shape correction coefficient K_body to obtain a new current user feature resonance region [f_low×K_body, f_high×K_body]. Here, f_low is the lower boundary value of the current user feature resonance region, and f_high is the upper boundary value of the current user feature resonance region.

[0114] In step 104 above, the massage device is controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone, including: Step 804: Control the massage device based on the candidate transition frequency trajectory and the new current user characteristic resonance zone.

[0115] Optionally, if the change in the new current user characteristic resonance zone is less than a preset correction threshold, the massage device is controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone. The preset correction threshold is an empirical value pre-set through factory calibration and experimental testing, and can be determined based on the typical fluctuation range of human physiological activities; this embodiment does not impose any limitations on it.

[0116] Optionally, if the change in the new current user feature resonance zone is greater than or equal to a preset correction threshold, the massage device is controlled based on the new candidate transition frequency trajectory and the current user feature resonance zone.

[0117] Based on the same inventive concept, this application also provides a massage device control device corresponding to the massage device control method. Since the principle of the device in this application is similar to the massage device control 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.

[0118] Figure 9 This is a schematic diagram of the structure of a massage device control device provided in an embodiment of this application, as shown below. Figure 9 As shown, the device includes: The acquisition module 901 is used to determine the target massage data according to the massage adjustment command if a massage adjustment command is received, and to acquire the current massage data and load characteristic data of the massage device. The first determining module 902 is used to determine the candidate transition frequency trajectory of the massage device based on the current massage data and the target massage data; The second determining module 903 is used to determine the current user characteristic resonance zone based on load characteristic data and the standard operating parameters of the massage device. The control module 904 is used to control the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

[0119] In one possible implementation, the current massage data includes: the current control level; the target massage data includes: the target control level; the acquisition module 901 is specifically used to: determine the current massage intensity and the current massage frequency based on the current control level; Determine the target massage intensity and frequency based on the target control level; Based on the current massage intensity, current massage frequency, target massage intensity, and target massage frequency, determine the candidate transition frequency trajectory.

[0120] In one possible implementation, the acquisition module 901 is specifically used to: determine the difference between the current massage intensity and the target massage intensity as the intensity span; The corresponding trajectory curve type is determined based on the force span using a preset trajectory determination rule; Candidate transition frequency trajectories are determined based on the trajectory curve type, the current massage frequency, and the target massage frequency.

[0121] In one possible implementation, the load characteristic data includes: the peak value of the phase current at the moment the massage device is started; the standard operating parameters of the massage device include: the resonant frequency of the standard reference body shape, the peak value of the standard reference phase current, the no-load current, and the standard reference equivalent mass; the first determining module 902 is specifically used to: determine the first user equivalent mass based on the peak value of the phase current, the standard reference equivalent mass, the no-load current, and the peak value of the standard reference phase current. The first estimated resonant frequency is determined based on the first user equivalent mass and the standard reference equivalent mass. A narrowband frequency conversion scan is performed on the first estimated resonance frequency to determine the first characteristic resonance region corresponding to the first estimated resonance frequency as the current user characteristic resonance region.

[0122] In one possible implementation, the load characteristic data includes: total seat pressure, center of seat pressure distribution, and user contact area; the standard operating parameters include: a preset resonant frequency mapping relationship; the first determining module 902 is specifically used to: determine the second user equivalent mass based on the total seat pressure and center of seat pressure distribution; Based on the equivalent mass of the second user and the user contact area, the second estimated resonance frequency is determined using a preset resonance frequency mapping relationship. A narrowband frequency conversion scan is performed on the second estimated resonance frequency to determine the second characteristic resonance region corresponding to the second estimated resonance frequency as the current user characteristic resonance region.

[0123] In one possible implementation, the control module 904 is specifically used to: determine whether the candidate transition frequency trajectory falls into the current user characteristic resonance region; If the candidate transition frequency trajectory falls into the current user characteristic resonance region, then the resonance crossing segment of the current user characteristic resonance region in the candidate transition frequency trajectory is determined based on the candidate transition frequency trajectory and the current user characteristic resonance region. The massage device is controlled based on the candidate transition frequency trajectory and the resonance crossing segment.

[0124] In one possible implementation, the control module 904 is specifically used to: determine the transition frequency trajectory of the non-resonance crossing segment in the candidate transition frequency trajectory, and use the transition frequency trajectory to control the massage device; In the resonance crossing section, the trajectory of the candidate transition frequency trajectory in the resonance crossing section is reconstructed according to the preset crossing time to obtain the crossing section frequency trajectory, and the massage device is controlled according to the crossing section frequency trajectory.

[0125] In one possible implementation, the control module 904 is specifically used to: reconstruct the candidate transition frequency trajectory based on the resonance crossing segment to obtain the reconstructed candidate transition frequency trajectory, so that the reconstructed candidate transition frequency trajectory avoids the resonance crossing segment. The massage device is controlled based on the reconstructed candidate transition frequency trajectory.

[0126] In one possible implementation, the control module 904 is further configured to: detect changes in the current massage data of the massage device; If a change in the current running data is detected but the user replacement judgment condition is not met, then the body shape correction coefficient is determined based on the user's current equivalent mass and the user's equivalent mass at the previous moment. The current user feature resonance region is corrected based on the body shape correction coefficient to obtain a new current user feature resonance region; In one possible implementation, the control module 904 is specifically used to control the massage device based on the candidate transition frequency trajectory and the new current user characteristic resonance zone.

[0127] 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.

[0128] This application also provides a control device. Figure 10 This is a schematic diagram of the structure of a control device provided in an embodiment of this application, such as... Figure 10 As shown, the control device 1000 includes a processor 1001 and a memory 1002, and optionally, a bus 1003. The memory 1002 stores machine-readable instructions executable by the processor 1001. When the control device is running, the processor 1001 and the memory 1002 communicate via the bus 1003. When the machine-readable instructions are executed by the processor 1001, the steps of the massage device control method described above are performed.

[0129] This application also provides a massage device. Figure 11 This is a schematic diagram of the structure of a massage device provided in an embodiment of this application, such as... Figure 11 As shown, the massage device includes at least: a device body 1101 and a control device 1000 disposed on the device body, the control device 1000 being used to execute the steps of any of the massage device control methods described above.

[0130] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the massage device control method described above.

[0131] 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.

[0132] 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.

[0133] 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 controlling a massage device, characterized in that, The method includes: If a massage adjustment command is received, the target massage data is determined according to the massage adjustment command, and the current massage data and load characteristic data of the massage device are obtained; Based on the current massage data and the target massage data, a candidate transition frequency trajectory for the massage device is determined; The current user characteristic resonance zone is determined based on the load characteristic data and the standard operating parameters of the massage device; The massage device is controlled based on the candidate transition frequency trajectory and the current user characteristic resonance zone.

2. The method according to claim 1, characterized in that, The current massage data includes: the current control level; the target massage data includes: the target control level; The step of determining the candidate transition frequency trajectory of the massage device based on the current massage data and the target massage data includes: The current massage intensity and frequency are determined based on the current control setting. The target massage intensity and target massage frequency are determined based on the target control level. The candidate transition frequency trajectory is determined based on the current massage intensity, the current massage frequency, the target massage intensity, and the target massage frequency.

3. The method according to claim 2, characterized in that, The step of determining the candidate transition frequency trajectory based on the current massage intensity, the current massage frequency, the target massage intensity, and the target massage frequency includes: The difference between the current massage intensity and the target massage intensity is determined as the intensity range; The corresponding trajectory curve type is determined based on the force span using a preset trajectory determination rule; The candidate transition frequency trajectory is determined based on the trajectory curve type, the current massage frequency, and the target massage frequency.

4. The method according to claim 1, characterized in that, The load characteristic data includes: the peak phase current at the moment the massage device is started; the standard operating parameters of the massage device include: the standard reference body resonant frequency, the standard reference peak phase current, the no-load current, and the standard reference equivalent mass. The step of determining the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device includes: The equivalent quality of the first user is determined based on the peak phase current, the standard reference equivalent quality, the no-load current, and the peak phase current of the standard reference. The first estimated resonance frequency is determined based on the first user equivalent mass and the standard reference equivalent mass. A narrowband frequency conversion scan is performed on the first estimated resonance frequency to determine the first characteristic resonance region corresponding to the first estimated resonance frequency as the current user characteristic resonance region.

5. The method according to claim 1, characterized in that, The load characteristic data includes: total seat pressure, center of seat pressure distribution, and user contact area; the standard operating parameters include: preset resonant frequency mapping relationship; The step of determining the current user characteristic resonance zone based on the load characteristic data and the standard operating parameters of the massage device includes: The equivalent mass of the second user is determined based on the total pressure of the seat cushion and the center of the seat cushion pressure distribution. Based on the second user's equivalent mass and the user's contact area, the second estimated resonance frequency is determined using the preset resonance frequency mapping relationship; A narrowband frequency conversion scan is performed on the second estimated resonance frequency to determine the second characteristic resonance region corresponding to the second estimated resonance frequency as the current user characteristic resonance region.

6. The method according to claim 1, characterized in that, The step of controlling the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance region includes: Determine whether the candidate transition frequency trajectory falls into the current user feature resonance region; If the candidate transition frequency trajectory falls into the current user characteristic resonance region, then based on the candidate transition frequency trajectory and the current user characteristic resonance region, the resonance crossing segment of the current user characteristic resonance region in the candidate transition frequency trajectory is determined; The massage device is controlled based on the candidate transition frequency trajectory and the resonance crossing segment.

7. The method according to claim 6, characterized in that, The step of controlling the massage device based on the candidate transition frequency trajectory and the resonant crossing segment includes: The transition frequency trajectory of the non-resonance crossing segment is determined from the candidate transition frequency trajectories, and the massage device is controlled using the transition frequency trajectory. In the resonant crossing section, the candidate transition frequency trajectory is reconstructed according to the preset crossing time to obtain the crossing section frequency trajectory, and the massage device is controlled according to the crossing section frequency trajectory.

8. The method according to claim 7, characterized in that, The step of controlling the massage device based on the candidate transition frequency trajectory and the resonant crossing segment includes: The candidate transition frequency trajectory is reconstructed based on the resonance crossing segment to obtain a reconstructed candidate transition frequency trajectory, which avoids the resonance crossing segment. The massage device is controlled based on the reconstructed candidate transition frequency trajectory.

9. The method according to claim 1, characterized in that, The method further includes: The current massage data of the massage device is subject to change detection; If a change in the current running data is detected and the user replacement determination condition is not met, then the body shape correction coefficient is determined based on the user's current equivalent mass and the user's equivalent mass at the previous moment. The current user feature resonance region is corrected according to the body shape correction coefficient to obtain a new current user feature resonance region; The step of controlling the massage device based on the candidate transition frequency trajectory and the current user characteristic resonance region includes: The massage device is controlled based on the candidate transition frequency trajectory and the new current user characteristic resonance zone.

10. A massage device, characterized in that, The massage device includes at least: a device body and a control device disposed on the device body, the control device being used to perform the steps of the massage device control method according to any one of claims 1-9.

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