Control method and muscle massage device using control method

Abstract

The present invention discloses a control method and muscle massage device applying the control method. The muscle massage device comprises a drive motor; an actuating mechanism and a rotating wheel set which are connected to the driving motor; wherein the drive motor is configured to simultaneously drive the actuating mechanism and the rotating wheel set; wherein the control method comprises the steps: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; controlling the driving motor to rotate according to the number of rotations. The invention individually obtains the massage area for each user and then controls the muscle-massage device to work only within that area, so that the massage action completely covers the user-specified region without exceeding it, thereby providing a significantly better massage effect.

Description

Field of invention

[0001] The present invention relates to the technical field of body-building apparatus, and particularly relates to a control method and muscle massage device applying the control method.Background art of the invention

[0002] As people's expectations for health continue to rise, an increasing number of users are turning to massage equipment to dredge meridians, relax muscles and eliminate fatigue.

[0003] Existing devices are usually shipped with a single, factory-fixed travel distance; during operation they simply reciprocate over this preset length. Because users differ in stature and because the height-distribution of body parts varies between sexes, such a fixed-distance approach often fails to cover the entire user-defined massage area-or even overshoots it-resulting in unsatisfactory massage performance.Disclosure of the invention

[0004] In view of this, the purpose of the present invention is to provide a control method and a muscle-massage device applying the same, which solve the problem of poor massage effectiveness caused by improper control in existing massage equipment.

[0005] In one aspect, the present application provides a control method, the control method applied to a muscle-massage device, the muscle-massage device comprising:a drive motor; an actuating mechanism and a rotating wheel set operatively coupled to the drive motor, the drive motor being configured to simultaneously drive the actuating mechanism and the rotating wheel set; wherein the control method specifically comprises the following steps: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; controlling the driving motor to rotate according to the number of rotations.

[0006] In some embodiments, the step of obtaining a number of rotations that the rotating wheel set should make according to the massage area comprises: acquiring a height and a gender of the user, calculating the massage area for each part of a body based on the height and the gender, or setting the massage area for each part according to a massage need of the user, and converting the massage area into the number of rotations.

[0007] In some embodiments, the driving motor is connected to the rotating wheel set through a planetary gear set, and a number of pulses N corresponding to the number of rotations is: N = L / πd ⋅ z ⋅ δ ; where L is a length of the massage area, d is a diameter of a massage part, Z is a transmission ratio of a planet carrier to a sun gear in the planetary gear set, and δ is a pulse equivalent of the driving motor.

[0008] In some embodiments, the step of acquiring a massage area is specifically as follows: setting the length of the massage area according to the massage need of the user; or determining the length L of the massage area according to the height of the user and a proportion coefficient of the massage area to the height of the user, L = H ·l , where H is the height of the user, and l is the proportion coefficient of the massage area to the height of the user.

[0009] In some embodiments, wherein the rotating wheel set is provided with position sensors; the step of controlling the drive motor to rotate according to the number of rotations comprises: starting the driving motor; reading an actual number of pulses N' of the position sensors on the rotating wheel set in real time; judging whether the actual number of pulses N' is equal to a number of pulses corresponding to the number of rotations that the rotating wheel set should make;

[0010] If N' equals the target pulse count, resetting the number of pulses of the position sensors to zero, and controlling the driving motor to rotate reversely, so as to drive the rotating wheel set to move in an opposite direction or stop moving; if not, controlling the driving motor to continue rotating without changing direction, so as to drive the rotating wheel set to continue moving.

[0011] In some embodiments, wherein the number of pulses corresponding to the number of rotations that the rotating wheel set should make is a number of pulses corresponding to the number of rotations of the rotating wheel set when the muscle massage device moves from a starting position to an ending position of the massage area;

[0012] The actual number of pulses N' is a number of pulses of the position sensors on the rotating wheel set in a massage process of muscle massage device.

[0013] In some embodiments, the control method further comprises: setting a target rotational speed of the device for relaxing muscles,and regulating the current rotational speed of the muscle massage device in accordance with the target speed.

[0014] In some embodiments, wherein the process of regulating the current rotational speed comprises: collecting a current rotational speed of muscle massage device during the massage operation; comparing the current rotational speed with the target rotational speed, and adjusting the current rotational speed to the target rotational speed according to a comparison result.

[0015] In some embodiments, wherein the step of adjusting the current rotational speed to the target rotational speed comprises: using incremental PID to calculate an adjustment amount Vu(k) of the muscle massage device from the current rotational speed to the target rotational speed, which is specifically as follows: V u k = u k − u k − 1 = K p e k − e k − 1 + K I e k + K D e k − 2 e k − 1 + e k − 2 where u(k) is an output of a k th< control cycle, u(k-1) is an output of a (k-1) th< control cycle, K p is a proportional parameter, K, is an integral parameter, K D is a differential parameter, k is a number of control cycles, e(k) is an error between the current rotational speed and the target rotational speed in the k th< control cycle, e(k-1) is an error between the current rotational speed and the target rotational speed in the (k-1) th< control cycle, and e(k - 2) is an error between the current rotational speed and the target rotational speed in a (k - 2 ) th< control cycle.

[0016] In some embodiments, a specific calculation process of the current rotational speed current_speed is as follows: current _ speed = m n i − m 1 i / M / n − 1 ⋅ V t ; where n is a number of times that a number of pulses of the rotating wheel set is read, m 1 i and m n i are respectively numbers of pulses of the rotating wheel set read at a first time and an n th< time in an i th< round of reading, M is a corresponding number of pulses of the rotating wheel set when the massage part rotates one circle, and Vt is a preset time.

[0017] In another aspect, the present application provides a muscle-massage device that applies the control method described in any one of the preceding embodiments. The device comprising: a driving motor; an actuating mechanism and a rotating wheel set which are connected to the driving motor; wherein the drive motor is configured to simultaneously drive the actuating mechanism and the rotating wheel set; the actuating mechanism being configured to: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; and controlling the driving motor to rotate according to the number of rotations.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:Compared with the prior art, the technical effect of the present invention is that, by individually acquiring the user-specific massage area according to the user's body height, gender and / or personal needs, and then precisely converting this area into the required number of rotations of the rotating wheel set, the muscle-massage device is controlled to work exactly within the user-specified region, so that the whole target area is completely covered without any over-travel, resulting in a significantly improved, uniform and comfortable massage experience.Description of the drawings

[0019] FIG. 1 is a flowchart of the control method for the muscle-massage device provided by the present invention; FIG. 2 is a flowchart of controlling the drive motor in accordance with the required number of rotations; FIG. 3 is an overall perspective view of the muscle-massage device according to Embodiment 1; FIG. 4 is an exploded view of the muscle-massage device according to Embodiment 1; FIG. 5 is an enlarged view of detail A in FIG. 4; FIG. 6 is a structural view of the planetary gear set.

[0020] In the drawings: 1. support shaft; 2. drive motor; 21. output shaft; 3. planetary gear set; 31. sun gear; 32. planet gear; 33. planet carrier; 34. ring gear; 4. massage part; 5.first chassis; 51. drive wheel;52. rack; 6. second chassis; 7. Hall sensor(position sensors); 8. magnet; Detailed description of the invention

[0021] To make the purpose, the technical solution and the advantages of the present invention more clear, the present invention will be further described below in detail in combination with the drawings and the embodiments. It should be understood that the specific embodiments described herein are only used for explaining the present invention, not used for limiting the present invention.

[0022] Terms such as "first" and "second" in the embodiments of the present invention are only used for distinguishing relevant technical features and do not indicate a sequence. It shall be understood that such data may be exchanged under appropriate circumstances so as to describe the embodiments of the present application. Moreover, terms of "comprise" and "have" as well as any other variant are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products or devices including a series of steps or units are not limited to those steps or units clearly listed, but include other steps or units that are not listed clearly or are inherent to these processes, methods, products or devices.

[0023] In the present application, terms such as "upper", "lower", "inner", "middle", "outer", "front" and "rear" indicate direction or position relationships shown based on the drawings. These terms are mainly intended to better describe the present application and embodiments and not intended to limit that the devices, elements or components indicated must have a specific direction or must be constructed and operated in a specific direction.

[0024] Terms such as "first" and "second" in the embodiments of the present invention are only used for distinguishing relevant technical features and do not indicate a sequence. It shall be understood that such data may be exchanged under appropriate circumstances so as to describe the embodiments of the present application. Moreover, terms of "comprise" and "have" as well as any other variant are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products or devices including a series of steps or units are not limited to those steps or units clearly listed, but include other steps or units that are not listed clearly or are inherent to these processes, methods, products or devices.

[0025] In the present application, terms such as "upper", "lower", "inner", "middle", "outer", "front" and "rear" indicate direction or position relationships shown based on the drawings. These terms are mainly intended to better describe the present application and embodiments and not intended to limit that the devices, elements or components indicated must have a specific direction or must be constructed and operated in a specific direction.

[0026] Moreover, part of the above terms may be used for indicating other meanings in addition to the direction or position relationships. For example, the term "up" may also be used for indicating a dependency relationship or connection relationship in some cases. For those ordinary skilled in the art, the specific meanings of these terms in the present application may be understood according to concrete conditions.

[0027] In addition, terms such as "assembly", "arrange", "connect" and "fix" shall be understood in a broad sense. For example, "connect" may refer to fixed connection, detachable connection or an integral structure; may refer to mechanical connection or electrical connection; and may refer to direct connection or indirect connection through an intermediate medium or inner communication of two devices, elements or components.

[0028] To make the purpose, the technical solution and the advantages of the present invention more clear, the present invention will be further described below in detail in combination with the drawings and the embodiments. It should be understood that the specific embodiments described herein are only used for explaining the present invention, not used for limiting the present invention.Ebodiment 1

[0029] The muscle massage device of the present embodiment comprises a drive motor and an actuating mechanism as well as a rotating wheel set connected thereto, the drive motor being arranged to drive both the actuating mechanism and the rotating wheel set simultaneously. The actuating mechanism is configured to: acquire a massage area of the user, determine a required number of rotations of the rotating wheel set from the massage area, and control the drive motor to rotate in accordance with the required number of rotations.

[0030] In some embodiments of the invention the drive motor is linked to the actuating mechanism and to the rotating wheel set through a planetary gear set, and a position sensor for detecting the number of rotations of the rotating wheel set is mounted on the latter. The position sensor may be a Hall sensor, an optical-flow sensor, a gyroscope or an encoder (mechanical, photoelectric, inductive or magnetic).

[0031] As shown in Fig. 3, the muscle massage device comprises a supporting shaft 1, the drive motor 2, a planetary gear set 3, a massage part 4, a first chassis 5, a second chassis 6 and a control module; as shown in Fig. 4, one end of the supporting shaft 1 is connected to the second chassis 6, the other end of the supporting shaft 1 is fixedly provided with the motor 2, the motor 2 is further connected to the control module by signals, and the planetary gear set 3 and the first chassis 5 are arranged in sequence on one side of the motor 2 away from the supporting shaft 1. With further reference to FIGS. 5 and 6, a sun gear 31 in the planetary gear set 3 is connected to an output shaft 21 of the motor 2, a planet carrier 33 is connected to a driving wheel 51 of the first chassis 5, planet gears 32 are meshed with the sun gear 31 and a ring gear 34, and the ring gear 34 is further connected to the massage part 4 sheathed outside the supporting shaft 1.

[0032] The first chassis 5 is a track chassis and further comprises a rack 52, a driven wheel and a track, both the driving wheel 51 and the driven wheel are rotatably arranged on the rack 52, the driving wheel 51 is connected to the driven wheel through the track, Hall sensors 7 are arranged on an edge of the driving wheel 51, and a magnet 8 is arranged on the rack 52 at a position near the driving wheel 51. Hall sensors 7 and magnets 8 cooperate to provide real-time pulse feedback for the number of rotations of the rotating wheel set, enabling the control module to stop or reverse motor 2 exactly when the required number of rotations is reached.

[0033] When the muscle massage device is used, the drive motor 2 is started, the sun gear 31 of the planetary gear set 3 is driven by the output shaft 21 of the motor 2 to rotate; on one hand, the massage part 4 is driven by sun gear 31 through the planet gears 32 and the ring gear 34 to rotate around an axis thereof, and a massage area is massaged by an outer side of the massage part 4; on the other hand, the driving wheel 51 is driven by the planet carrier 33 to rotate, and then the driven wheel is driven by the driving wheel 51 to rotate and make the first chassis 5 drive the massage part 4 to move in the massage area, thus to achieve all-round massage.

[0034] When the Hall sensors 7 are driven by the driving wheel 51 to rotate, a level jump will be produced and a pulse signal will be sent out whether the Hall sensors 7 approach or move away from the magnet 8, and a number of pulses of a rising edge or a falling edge can be counted to obtain a number of pulses corresponding to a number of rotations of the driving wheel 51.

[0035] When encoders are used as position sensors 7, a number of pulses recorded by the encoders when the driving wheel 51 rotates can be read directly.Ebodiments 2

[0036] Based on the muscle massage device provided in Embodiment 1, the control method is described in detail below. As shown in FIG. 1, the method comprises the following steps: S1: Acquiring a massage area of a user; S2: Obtaining a number of rotations that the rotating wheel set should make according to the massage area; S3: Controlling the driving motor to rotate according to the number of rotations.

[0037] Specifically, an existing device for relaxing muscles can basically meet usage needs of users of various body shapes, and a width of the massage part 4 is fixed and cannot be adjusted. Therefore, when acquiring the user's massage area, there is no need to consider the width of the area-only its length, i.e., the forward travel distance of the massage part (4), needs to be taken into account.

[0038] In an automatic mode, the step of acquiring a massage area of a user is specifically as follows: determining the length L of the massage area, wherein L is set by the user according to his / her own massage need, or determined according to a height of the user and a proportion coefficient of the massage area to the height of the user, and calculated by the control module. L = H · l , where L is in cm, H is the height of the user, which is also in cm, and l is the proportion coefficient of the massage area to the height of the user; when a gender of the user is changed, the proportion coefficient is also changed accordingly.

[0039] The massage area is a thigh, a shank, a buttock, a waist, an upper back, a forearm, an upper arm, etc. of the user. When the user is a male with a height of 18 cm and the massage area is the shank, as the length of the shank of an adult male is approximately 0.21 times the height, the length of the massage area on the shank of the user is 0.21 * 18 cm = 37.8 cm.

[0040] The step of obtaining a number of rotations that the rotating wheel set should make according to the massage area is specifically as follows: Acquiring the height and the gender of the user, calculating the massage area for each part of a body based on the height and the gender, and converting the massage area into the number of rotations.

[0041] As shown in Fig. 2, in some embodiments of the present invention, the step of controlling the driving motor to rotate according to the number of rotations is specifically as follows: Starting the driving motor; Reading an actual number of pulses N' of the position sensors on the rotating wheel set in real time; Judging whether the actual number of pulses N' is equal to a number of pulses corresponding to the number of rotations that the rotating wheel set should make; If yes, resetting the number of pulses of the position sensors to zero, and controlling the driving motor to rotate reversely, so as to drive the rotating wheel set to move in an opposite direction or stop moving; If not, controlling the driving motor to continue rotating without changing direction, so as to drive the rotating wheel set to continue moving.

[0042] After changing direction of the device for relaxing muscles, repeatedly collecting the actual number of pulses of the position sensors on the rotating wheel set, comparing the actual number of pulses with the number of pulses corresponding to the number of rotations that the rotating wheel set should make, and controlling a moving direction of the device for relaxing muscles to achieve repeated massage.

[0043] Specifically, the number of pulses corresponding to the number of rotations that the rotating wheel set should make is a number of pulses corresponding to the number of rotations of the rotating wheel set when the device for relaxing muscles moves from a starting position to an ending position of the massage area; The actual number of pulses N' is a number of pulses of the position sensors on the rotating wheel set in a massage process of the device for relaxing muscles.

[0044] The number of pulses N corresponding to the number of rotations is calculated as follows: N = L / πd ⋅ z ⋅ δ ; where L is the length of the massage area, which is in cm, d is a diameter of the massage part 4 in the device for relaxing muscles, which is in cm, Z is a transmission ratio of the planet carrier 33 to the sun gear 31 in the planetary gear set 3, and δ is a pulse equivalent of the driving motor.

[0045] In the present embodiment, before massage, the number of pulses corresponding to the number of rotations that the driving wheel 51 should make when the massage part 4 in the device for relaxing muscles moves from the starting position to the ending position of the massage area is calculated according to the length of the massage area. During massage, the massage part 4 of the device for relaxing muscles is first placed at the starting position of the massage area, the drive motor 2 is started, the actual number of pulses N' of the Hall sensors 7 on the driving wheel 51 is read in real time, and whether N' is equal to N is judged; if N' is equal to N , it indicates that the device for relaxing muscles has reached the ending position of the massage area; at this time, the number of pulses of the Hall sensors 7 is reset to zero by the control module, the motor 32 is driven to rotate in the opposite direction, and the massage part 4 is driven by the driving wheel 51 to continue massaging in the opposite direction or stop massaging; if N' is less than N, it indicates that the device for relaxing muscles has not yet moved to the ending position of the massage area; at this time, the motor 32 is controlled by the control module to drive the driving wheel 51 and the massage part 4 to continue massaging in the same direction until the device reaches the ending position.

[0046] In the present invention, corresponding lengths of different massage areas of the user are calculated for each user, and then the length of each massage area is converted into the number of pulses corresponding to the number of rotations that the rotating wheel set in the device for relaxing muscles should make, thus to control the device for relaxing muscles to perform massage on the massage area, which can fully cover the massage area specified by the user without leaving any part unmassaged or exceeding the massage area, so that the massage effect and user experience are improved.

[0047] In some embodiments of the present invention, the above control method further comprises setting a target rotational speed of the device for relaxing muscles, and controlling a current rotational speed of the device for relaxing muscles according to the target rotational speed, which is specifically as follows: Collecting the current rotational speed of the device for relaxing muscles in the massage process of the device for relaxing muscles, comparing the current rotational speed with the target rotational speed, and adjusting the current rotational speed to the target rotational speed according to a comparison result.

[0048] A setting range of the target rotational speed is 30 rpm-90 rpm.

[0049] In the present embodiment, the target rotational speed of the driving wheel 51 in the device for relaxing muscles is set according to a massage experience effect of the user, the current rotational speed of the driving wheel 51 is collected at a preset time interval, and the current rotational speed of the driving wheel 51 is compared with the target rotational speed; if the current rotational speed is consistent with the target rotational speed, no processing is needed; if an error exist between the current rotational speed and the target rotational speed, the current rotational speed of the driving wheel 51 is adjusted to the target rotational speed.

[0050] In some embodiments of the present invention, incremental PID is used to adjust the current rotational speed of the driving wheel 51 to the target rotational speed.

[0051] A calculation formula of incremental PID is as follows: V u k = u k − u k − 1 = K p e k − e k − 1 + K I e k + K D e k − 2 e k − 1 + e k − 2 ; where Vu(k) is an adjustment amount of the device for relaxing muscles from the current rotational speed to the target rotational speed, u(k) is an output of a k th< control cycle, u(k - 1) is an output of a (k-1) th< control cycle, K p is a proportional parameter, K I is an integral parameter, K D is a differential parameter, k is a number of control c yc< les, e(k) is an error between the current rotational speed and the target rotational speed in the k th< control cycle, e(k - 1) is an error between the current rotational speed and the target rotational speed in the (k - 1) th< control cycle, and e(k - 2) is an error between the current rotational speed and the target rotational speed in a (k - 2 ) th< control cycle.

[0052] In the present embodiment, it is assumed that the current rotational speed of the driving wheel 51 is current_speed, the target rotational speed is target_speed , e(k) is current_error=current_speed - target_speed , e(k-1) is last_error , e(k-2) is llast_error , v u (k) is output , and all values are initialized to 0, then output = K p current _ error − last _ error + K I ⋅ current _ error + K D current _ error − 2 ⋅ last _ error + llast _ error Updating is carried out after each adjustment

[0053] llast_error=last_error , last_error=current_error , and then the current rotational speed of the driving wheel 51 is adjusted to the target rotational speed through incremental PID on this basis.

[0054] In some embodiments of the present invention, the number of pulses of the Hall sensors 7 on the driving wheel 51 is read at a preset time interval in the massage process of the device for relaxing muscles; and after reading for n times, an array m 1 i , m 2 i , m 3 i , L , m n i is formed. The array is updated after the preset time interval, and a new array is m 2 i + 1 , m 3 i + 1 , m 4 i + 1 , L , m n + 1 i + 1 , where n is a number of times that the number of pulses of the Hall sensors 7 is read, n≤6, i is a number of rounds that the number of pulses of the Hall sensors 7 is read, m 1 i , m 2 i , m 3 i and m n i are respectively numbers of pulses of the Hall sensors 7 read at a first time, a second time, a third time and an n th< time in an i th< round of reading, and m 2 i + 1 , m 3 i + 1 , m 4 i + 1 and m n + 1 i + 1 are respectively numbers of pulses of the Hall sensors 7 read at a first time, a second time, a third time and an n th< time in an (i+1) th< round of reading.

[0055] The current rotational speed current_speed of the Hall sensors 7 is calculated according to the numbers of pulses read, and current _ speed = m n i − m 1 i / M / n − 1 ⋅ V t where m 1 i and m n i are respectively the numbers of pulses of the Hall sensors 7 read at the first time and the n th< time in the i th< round of reading, M is a corresponding number of pulses of the Hall sensors 7 when the massage part 4 rotates one circle, Vt is the preset time interval, i.e., a time interval between two readings of the number of pulses, and Vt ≤ 10 ms.

[0056] Specifically, it is assumed that the corresponding number of pulses of the Hall sensors 7 when the massage part 4 or the ring gear 44 rotates one full circle is 1000, the preset time interval Vt is 10 ms, n=6, the array is read again at a time interval of 10 ms, the numbers of pulses of the Hall sensors 7 read in the first round are m 1 1 , m 2 1 , m 3 1 , L , m 6 1 = 5 10 15 20 25 30 , the numbers of pulses of the Hall sensors 7 read after the time interval of 10 ms are m 2 2 , m 3 2 , m 4 2 , L , m 7 2 = 10 15 20 25 30 35 , and so on.

[0057] Then the current rotational speed of the driving wheel 51 at the 60 th< ms is current _ speed = 65 − 10 / 1000 / 6 − 1 ⋅ 10 = 0.5 × 10 − 3 rpms = 30 rpmEmbodiment 3

[0058] In the present embodiment, when the muscle massage device of Embodiment 1 operates in manual mode, a specific process of determining the number of pulses corresponding to the number of rotations that the rotating wheel set should make, i.e., the number of pulses corresponding to the number of rotations of the driving wheel 51, based on the length of the massage area is as follows: Before massage, the length of the massage area is visually estimated or perceived by the user, the massage part 4 of the device for relaxing muscles is placed at the starting position of the massage area, the number of pulses of the Hall sensors 7 on the driving wheel 51 is reset to zero, then the drive motor 2 is started, and the massage part 4 is driven by the drive motor 2 to move in the massage area; when the device reaches the ending position of the massage area, the number of pulses N corresponding to the number of rotations of the driving wheel 51 is read.

[0059] During massage, the actual number of pulses of the Hall sensors 7 on the driving wheel 51 is read in real time and compared with the number of pulses N corresponding to the number of rotations of the driving wheel 51, thus to adjust a rotation direction of the motor 32 and a moving direction of the massage part 4.

[0060] In some embodiments of the present invention, during massage in the manual mode, the user can also set the target rotational speed of the driving wheel 51 to 30 rpm-90 rpm according to his / her own massage experience, read the current rotational speed of the driving wheel 51 at the preset time interval, and manually adjust the current rotational speed of the driving wheel 51 to the target rotational speed.

[0061] The remaining steps are identical to those described in Embodiment 1 or 2 and will not be repeated here.

[0062] The above only describes preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement contemplated easily by those skilled in the art familiar with the technical field within the technical scope disclosed by the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Examples

embodiment 3

[0058]In the present embodiment, when the muscle massage device of Embodiment 1 operates in manual mode, a specific process of determining the number of pulses corresponding to the number of rotations that the rotating wheel set should make, i.e., the number of pulses corresponding to the number of rotations of the driving wheel 51, based on the length of the massage area is as follows: Before massage, the length of the massage area is visually estimated or perceived by the user, the massage part 4 of the device for relaxing muscles is placed at the starting position of the massage area, the number of pulses of the Hall sensors 7 on the driving wheel 51 is reset to zero, then the drive motor 2 is started, and the massage part 4 is driven by the drive motor 2 to move in the massage area; when the device reaches the ending position of the massage area, the number of pulses N corresponding to the number of rotations of the driving wheel 51 is read.

[0059]During massage, the actual numbe...

Field of invention

[0001] The present invention relates to the technical field of body-building apparatus, and particularly relates to a control method and muscle massage device applying the control method.Background art of the invention

[0002] As people's expectations for health continue to rise, an increasing number of users are turning to massage equipment to dredge meridians, relax muscles and eliminate fatigue.

[0003] Existing devices are usually shipped with a single, factory-fixed travel distance; during operation they simply reciprocate over this preset length. Because users differ in stature and because the height-distribution of body parts varies between sexes, such a fixed-distance approach often fails to cover the entire user-defined massage area-or even overshoots it-resulting in unsatisfactory massage performance.Disclosure of the invention

[0004] In view of this, the purpose of the present invention is to provide a control method and a muscle-massage device applying the same, which solve the problem of poor massage effectiveness caused by improper control in existing massage equipment.

[0005] In one aspect, the present application provides a control method, the control method applied to a muscle-massage device, the muscle-massage device comprising:a drive motor; an actuating mechanism and a rotating wheel set operatively coupled to the drive motor, the drive motor being configured to simultaneously drive the actuating mechanism and the rotating wheel set; wherein the control method specifically comprises the following steps: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; controlling the driving motor to rotate according to the number of rotations.

[0006] In some embodiments, the step of obtaining a number of rotations that the rotating wheel set should make according to the massage area comprises: acquiring a height and a gender of the user, calculating the massage area for each part of a body based on the height and the gender, or setting the massage area for each part according to a massage need of the user, and converting the massage area into the number of rotations.

[0007] In some embodiments, the driving motor is connected to the rotating wheel set through a planetary gear set, and a number of pulses N corresponding to the number of rotations is: N = L / πd ⋅ z ⋅ δ ; where L is a length of the massage area, d is a diameter of a massage part, Z is a transmission ratio of a planet carrier to a sun gear in the planetary gear set, and δ is a pulse equivalent of the driving motor.

[0008] In some embodiments, the step of acquiring a massage area is specifically as follows: setting the length of the massage area according to the massage need of the user; or determining the length L of the massage area according to the height of the user and a proportion coefficient of the massage area to the height of the user, L = H ·l , where H is the height of the user, and l is the proportion coefficient of the massage area to the height of the user.

[0009] In some embodiments, wherein the rotating wheel set is provided with position sensors; the step of controlling the drive motor to rotate according to the number of rotations comprises: starting the driving motor; reading an actual number of pulses N' of the position sensors on the rotating wheel set in real time; judging whether the actual number of pulses N' is equal to a number of pulses corresponding to the number of rotations that the rotating wheel set should make;

[0010] If N' equals the target pulse count, resetting the number of pulses of the position sensors to zero, and controlling the driving motor to rotate reversely, so as to drive the rotating wheel set to move in an opposite direction or stop moving; if not, controlling the driving motor to continue rotating without changing direction, so as to drive the rotating wheel set to continue moving.

[0011] In some embodiments, wherein the number of pulses corresponding to the number of rotations that the rotating wheel set should make is a number of pulses corresponding to the number of rotations of the rotating wheel set when the muscle massage device moves from a starting position to an ending position of the massage area;

[0012] The actual number of pulses N' is a number of pulses of the position sensors on the rotating wheel set in a massage process of muscle massage device.

[0013] In some embodiments, the control method further comprises: setting a target rotational speed of the device for relaxing muscles,and regulating the current rotational speed of the muscle massage device in accordance with the target speed.

[0014] In some embodiments, wherein the process of regulating the current rotational speed comprises: collecting a current rotational speed of muscle massage device during the massage operation; comparing the current rotational speed with the target rotational speed, and adjusting the current rotational speed to the target rotational speed according to a comparison result.

[0015] In some embodiments, wherein the step of adjusting the current rotational speed to the target rotational speed comprises: using incremental PID to calculate an adjustment amount Vu(k) of the muscle massage device from the current rotational speed to the target rotational speed, which is specifically as follows: V u k = u k − u k − 1 = K p e k − e k − 1 + K I e k + K D e k − 2 e k − 1 + e k − 2 where u(k) is an output of a k th< control cycle, u(k-1) is an output of a (k-1) th< control cycle, K p is a proportional parameter, K, is an integral parameter, K D is a differential parameter, k is a number of control cycles, e(k) is an error between the current rotational speed and the target rotational speed in the k th< control cycle, e(k-1) is an error between the current rotational speed and the target rotational speed in the (k-1) th< control cycle, and e(k - 2) is an error between the current rotational speed and the target rotational speed in a (k - 2 ) th< control cycle.

[0016] In some embodiments, a specific calculation process of the current rotational speed current_speed is as follows: current _ speed = m n i − m 1 i / M / n − 1 ⋅ V t ; where n is a number of times that a number of pulses of the rotating wheel set is read, m 1 i and m n i are respectively numbers of pulses of the rotating wheel set read at a first time and an n th< time in an i th< round of reading, M is a corresponding number of pulses of the rotating wheel set when the massage part rotates one circle, and Vt is a preset time.

[0017] In another aspect, the present application provides a muscle-massage device that applies the control method described in any one of the preceding embodiments. The device comprising: a driving motor; an actuating mechanism and a rotating wheel set which are connected to the driving motor; wherein the drive motor is configured to simultaneously drive the actuating mechanism and the rotating wheel set; the actuating mechanism being configured to: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; and controlling the driving motor to rotate according to the number of rotations.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:Compared with the prior art, the technical effect of the present invention is that, by individually acquiring the user-specific massage area according to the user's body height, gender and / or personal needs, and then precisely converting this area into the required number of rotations of the rotating wheel set, the muscle-massage device is controlled to work exactly within the user-specified region, so that the whole target area is completely covered without any over-travel, resulting in a significantly improved, uniform and comfortable massage experience.Description of the drawings

[0019] FIG. 1 is a flowchart of the control method for the muscle-massage device provided by the present invention; FIG. 2 is a flowchart of controlling the drive motor in accordance with the required number of rotations; FIG. 3 is an overall perspective view of the muscle-massage device according to Embodiment 1; FIG. 4 is an exploded view of the muscle-massage device according to Embodiment 1; FIG. 5 is an enlarged view of detail A in FIG. 4; FIG. 6 is a structural view of the planetary gear set.

[0020] In the drawings: 1. support shaft; 2. drive motor; 21. output shaft; 3. planetary gear set; 31. sun gear; 32. planet gear; 33. planet carrier; 34. ring gear; 4. massage part; 5.first chassis; 51. drive wheel;52. rack; 6. second chassis; 7. Hall sensor(position sensors); 8. magnet; Detailed description of the invention

[0021] To make the purpose, the technical solution and the advantages of the present invention more clear, the present invention will be further described below in detail in combination with the drawings and the embodiments. It should be understood that the specific embodiments described herein are only used for explaining the present invention, not used for limiting the present invention.

[0022] Terms such as "first" and "second" in the embodiments of the present invention are only used for distinguishing relevant technical features and do not indicate a sequence. It shall be understood that such data may be exchanged under appropriate circumstances so as to describe the embodiments of the present application. Moreover, terms of "comprise" and "have" as well as any other variant are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products or devices including a series of steps or units are not limited to those steps or units clearly listed, but include other steps or units that are not listed clearly or are inherent to these processes, methods, products or devices.

[0023] In the present application, terms such as "upper", "lower", "inner", "middle", "outer", "front" and "rear" indicate direction or position relationships shown based on the drawings. These terms are mainly intended to better describe the present application and embodiments and not intended to limit that the devices, elements or components indicated must have a specific direction or must be constructed and operated in a specific direction.

[0024] Terms such as "first" and "second" in the embodiments of the present invention are only used for distinguishing relevant technical features and do not indicate a sequence. It shall be understood that such data may be exchanged under appropriate circumstances so as to describe the embodiments of the present application. Moreover, terms of "comprise" and "have" as well as any other variant are intended to cover non-exclusive inclusion, for example, processes, methods, systems, products or devices including a series of steps or units are not limited to those steps or units clearly listed, but include other steps or units that are not listed clearly or are inherent to these processes, methods, products or devices.

[0025] In the present application, terms such as "upper", "lower", "inner", "middle", "outer", "front" and "rear" indicate direction or position relationships shown based on the drawings. These terms are mainly intended to better describe the present application and embodiments and not intended to limit that the devices, elements or components indicated must have a specific direction or must be constructed and operated in a specific direction.

[0026] Moreover, part of the above terms may be used for indicating other meanings in addition to the direction or position relationships. For example, the term "up" may also be used for indicating a dependency relationship or connection relationship in some cases. For those ordinary skilled in the art, the specific meanings of these terms in the present application may be understood according to concrete conditions.

[0027] In addition, terms such as "assembly", "arrange", "connect" and "fix" shall be understood in a broad sense. For example, "connect" may refer to fixed connection, detachable connection or an integral structure; may refer to mechanical connection or electrical connection; and may refer to direct connection or indirect connection through an intermediate medium or inner communication of two devices, elements or components.

[0028] To make the purpose, the technical solution and the advantages of the present invention more clear, the present invention will be further described below in detail in combination with the drawings and the embodiments. It should be understood that the specific embodiments described herein are only used for explaining the present invention, not used for limiting the present invention.Ebodiment 1

[0029] The muscle massage device of the present embodiment comprises a drive motor and an actuating mechanism as well as a rotating wheel set connected thereto, the drive motor being arranged to drive both the actuating mechanism and the rotating wheel set simultaneously. The actuating mechanism is configured to: acquire a massage area of the user, determine a required number of rotations of the rotating wheel set from the massage area, and control the drive motor to rotate in accordance with the required number of rotations.

[0030] In some embodiments of the invention the drive motor is linked to the actuating mechanism and to the rotating wheel set through a planetary gear set, and a position sensor for detecting the number of rotations of the rotating wheel set is mounted on the latter. The position sensor may be a Hall sensor, an optical-flow sensor, a gyroscope or an encoder (mechanical, photoelectric, inductive or magnetic).

[0031] As shown in Fig. 3, the muscle massage device comprises a supporting shaft 1, the drive motor 2, a planetary gear set 3, a massage part 4, a first chassis 5, a second chassis 6 and a control module; as shown in Fig. 4, one end of the supporting shaft 1 is connected to the second chassis 6, the other end of the supporting shaft 1 is fixedly provided with the motor 2, the motor 2 is further connected to the control module by signals, and the planetary gear set 3 and the first chassis 5 are arranged in sequence on one side of the motor 2 away from the supporting shaft 1. With further reference to FIGS. 5 and 6, a sun gear 31 in the planetary gear set 3 is connected to an output shaft 21 of the motor 2, a planet carrier 33 is connected to a driving wheel 51 of the first chassis 5, planet gears 32 are meshed with the sun gear 31 and a ring gear 34, and the ring gear 34 is further connected to the massage part 4 sheathed outside the supporting shaft 1.

[0032] The first chassis 5 is a track chassis and further comprises a rack 52, a driven wheel and a track, both the driving wheel 51 and the driven wheel are rotatably arranged on the rack 52, the driving wheel 51 is connected to the driven wheel through the track, Hall sensors 7 are arranged on an edge of the driving wheel 51, and a magnet 8 is arranged on the rack 52 at a position near the driving wheel 51. Hall sensors 7 and magnets 8 cooperate to provide real-time pulse feedback for the number of rotations of the rotating wheel set, enabling the control module to stop or reverse motor 2 exactly when the required number of rotations is reached.

[0033] When the muscle massage device is used, the drive motor 2 is started, the sun gear 31 of the planetary gear set 3 is driven by the output shaft 21 of the motor 2 to rotate; on one hand, the massage part 4 is driven by sun gear 31 through the planet gears 32 and the ring gear 34 to rotate around an axis thereof, and a massage area is massaged by an outer side of the massage part 4; on the other hand, the driving wheel 51 is driven by the planet carrier 33 to rotate, and then the driven wheel is driven by the driving wheel 51 to rotate and make the first chassis 5 drive the massage part 4 to move in the massage area, thus to achieve all-round massage.

[0034] When the Hall sensors 7 are driven by the driving wheel 51 to rotate, a level jump will be produced and a pulse signal will be sent out whether the Hall sensors 7 approach or move away from the magnet 8, and a number of pulses of a rising edge or a falling edge can be counted to obtain a number of pulses corresponding to a number of rotations of the driving wheel 51.

[0035] When encoders are used as position sensors 7, a number of pulses recorded by the encoders when the driving wheel 51 rotates can be read directly.Ebodiments 2

[0036] Based on the muscle massage device provided in Embodiment 1, the control method is described in detail below. As shown in FIG. 1, the method comprises the following steps: S1: Acquiring a massage area of a user; S2: Obtaining a number of rotations that the rotating wheel set should make according to the massage area; S3: Controlling the driving motor to rotate according to the number of rotations.

[0037] Specifically, an existing device for relaxing muscles can basically meet usage needs of users of various body shapes, and a width of the massage part 4 is fixed and cannot be adjusted. Therefore, when acquiring the user's massage area, there is no need to consider the width of the area-only its length, i.e., the forward travel distance of the massage part (4), needs to be taken into account.

[0038] In an automatic mode, the step of acquiring a massage area of a user is specifically as follows: determining the length L of the massage area, wherein L is set by the user according to his / her own massage need, or determined according to a height of the user and a proportion coefficient of the massage area to the height of the user, and calculated by the control module. L = H · l , where L is in cm, H is the height of the user, which is also in cm, and l is the proportion coefficient of the massage area to the height of the user; when a gender of the user is changed, the proportion coefficient is also changed accordingly.

[0039] The massage area is a thigh, a shank, a buttock, a waist, an upper back, a forearm, an upper arm, etc. of the user. When the user is a male with a height of 18 cm and the massage area is the shank, as the length of the shank of an adult male is approximately 0.21 times the height, the length of the massage area on the shank of the user is 0.21 * 18 cm = 37.8 cm.

[0040] The step of obtaining a number of rotations that the rotating wheel set should make according to the massage area is specifically as follows: Acquiring the height and the gender of the user, calculating the massage area for each part of a body based on the height and the gender, and converting the massage area into the number of rotations.

[0041] As shown in Fig. 2, in some embodiments of the present invention, the step of controlling the driving motor to rotate according to the number of rotations is specifically as follows: Starting the driving motor; Reading an actual number of pulses N' of the position sensors on the rotating wheel set in real time; Judging whether the actual number of pulses N' is equal to a number of pulses corresponding to the number of rotations that the rotating wheel set should make; If yes, resetting the number of pulses of the position sensors to zero, and controlling the driving motor to rotate reversely, so as to drive the rotating wheel set to move in an opposite direction or stop moving; If not, controlling the driving motor to continue rotating without changing direction, so as to drive the rotating wheel set to continue moving.

[0042] After changing direction of the device for relaxing muscles, repeatedly collecting the actual number of pulses of the position sensors on the rotating wheel set, comparing the actual number of pulses with the number of pulses corresponding to the number of rotations that the rotating wheel set should make, and controlling a moving direction of the device for relaxing muscles to achieve repeated massage.

[0043] Specifically, the number of pulses corresponding to the number of rotations that the rotating wheel set should make is a number of pulses corresponding to the number of rotations of the rotating wheel set when the device for relaxing muscles moves from a starting position to an ending position of the massage area; The actual number of pulses N' is a number of pulses of the position sensors on the rotating wheel set in a massage process of the device for relaxing muscles.

[0044] The number of pulses N corresponding to the number of rotations is calculated as follows: N = L / πd ⋅ z ⋅ δ ; where L is the length of the massage area, which is in cm, d is a diameter of the massage part 4 in the device for relaxing muscles, which is in cm, Z is a transmission ratio of the planet carrier 33 to the sun gear 31 in the planetary gear set 3, and δ is a pulse equivalent of the driving motor.

[0045] In the present embodiment, before massage, the number of pulses corresponding to the number of rotations that the driving wheel 51 should make when the massage part 4 in the device for relaxing muscles moves from the starting position to the ending position of the massage area is calculated according to the length of the massage area. During massage, the massage part 4 of the device for relaxing muscles is first placed at the starting position of the massage area, the drive motor 2 is started, the actual number of pulses N' of the Hall sensors 7 on the driving wheel 51 is read in real time, and whether N' is equal to N is judged; if N' is equal to N , it indicates that the device for relaxing muscles has reached the ending position of the massage area; at this time, the number of pulses of the Hall sensors 7 is reset to zero by the control module, the motor 32 is driven to rotate in the opposite direction, and the massage part 4 is driven by the driving wheel 51 to continue massaging in the opposite direction or stop massaging; if N' is less than N, it indicates that the device for relaxing muscles has not yet moved to the ending position of the massage area; at this time, the motor 32 is controlled by the control module to drive the driving wheel 51 and the massage part 4 to continue massaging in the same direction until the device reaches the ending position.

[0046] In the present invention, corresponding lengths of different massage areas of the user are calculated for each user, and then the length of each massage area is converted into the number of pulses corresponding to the number of rotations that the rotating wheel set in the device for relaxing muscles should make, thus to control the device for relaxing muscles to perform massage on the massage area, which can fully cover the massage area specified by the user without leaving any part unmassaged or exceeding the massage area, so that the massage effect and user experience are improved.

[0047] In some embodiments of the present invention, the above control method further comprises setting a target rotational speed of the device for relaxing muscles, and controlling a current rotational speed of the device for relaxing muscles according to the target rotational speed, which is specifically as follows: Collecting the current rotational speed of the device for relaxing muscles in the massage process of the device for relaxing muscles, comparing the current rotational speed with the target rotational speed, and adjusting the current rotational speed to the target rotational speed according to a comparison result.

[0048] A setting range of the target rotational speed is 30 rpm-90 rpm.

[0049] In the present embodiment, the target rotational speed of the driving wheel 51 in the device for relaxing muscles is set according to a massage experience effect of the user, the current rotational speed of the driving wheel 51 is collected at a preset time interval, and the current rotational speed of the driving wheel 51 is compared with the target rotational speed; if the current rotational speed is consistent with the target rotational speed, no processing is needed; if an error exist between the current rotational speed and the target rotational speed, the current rotational speed of the driving wheel 51 is adjusted to the target rotational speed.

[0050] In some embodiments of the present invention, incremental PID is used to adjust the current rotational speed of the driving wheel 51 to the target rotational speed.

[0051] A calculation formula of incremental PID is as follows: V u k = u k − u k − 1 = K p e k − e k − 1 + K I e k + K D e k − 2 e k − 1 + e k − 2 ; where Vu(k) is an adjustment amount of the device for relaxing muscles from the current rotational speed to the target rotational speed, u(k) is an output of a k th< control cycle, u(k - 1) is an output of a (k-1) th< control cycle, K p is a proportional parameter, K I is an integral parameter, K D is a differential parameter, k is a number of control c yc< les, e(k) is an error between the current rotational speed and the target rotational speed in the k th< control cycle, e(k - 1) is an error between the current rotational speed and the target rotational speed in the (k - 1) th< control cycle, and e(k - 2) is an error between the current rotational speed and the target rotational speed in a (k - 2 ) th< control cycle.

[0052] In the present embodiment, it is assumed that the current rotational speed of the driving wheel 51 is current_speed, the target rotational speed is target_speed , e(k) is current_error=current_speed - target_speed , e(k-1) is last_error , e(k-2) is llast_error , v u (k) is output , and all values are initialized to 0, then output = K p current _ error − last _ error + K I ⋅ current _ error + K D current _ error − 2 ⋅ last _ error + llast _ error Updating is carried out after each adjustment

[0053] llast_error=last_error , last_error=current_error , and then the current rotational speed of the driving wheel 51 is adjusted to the target rotational speed through incremental PID on this basis.

[0054] In some embodiments of the present invention, the number of pulses of the Hall sensors 7 on the driving wheel 51 is read at a preset time interval in the massage process of the device for relaxing muscles; and after reading for n times, an array m 1 i , m 2 i , m 3 i , L , m n i is formed. The array is updated after the preset time interval, and a new array is m 2 i + 1 , m 3 i + 1 , m 4 i + 1 , L , m n + 1 i + 1 , where n is a number of times that the number of pulses of the Hall sensors 7 is read, n≤6, i is a number of rounds that the number of pulses of the Hall sensors 7 is read, m 1 i , m 2 i , m 3 i and m n i are respectively numbers of pulses of the Hall sensors 7 read at a first time, a second time, a third time and an n th< time in an i th< round of reading, and m 2 i + 1 , m 3 i + 1 , m 4 i + 1 and m n + 1 i + 1 are respectively numbers of pulses of the Hall sensors 7 read at a first time, a second time, a third time and an n th< time in an (i+1) th< round of reading.

[0055] The current rotational speed current_speed of the Hall sensors 7 is calculated according to the numbers of pulses read, and current _ speed = m n i − m 1 i / M / n − 1 ⋅ V t where m 1 i and m n i are respectively the numbers of pulses of the Hall sensors 7 read at the first time and the n th< time in the i th< round of reading, M is a corresponding number of pulses of the Hall sensors 7 when the massage part 4 rotates one circle, Vt is the preset time interval, i.e., a time interval between two readings of the number of pulses, and Vt ≤ 10 ms.

[0056] Specifically, it is assumed that the corresponding number of pulses of the Hall sensors 7 when the massage part 4 or the ring gear 44 rotates one full circle is 1000, the preset time interval Vt is 10 ms, n=6, the array is read again at a time interval of 10 ms, the numbers of pulses of the Hall sensors 7 read in the first round are m 1 1 , m 2 1 , m 3 1 , L , m 6 1 = 5 10 15 20 25 30 , the numbers of pulses of the Hall sensors 7 read after the time interval of 10 ms are m 2 2 , m 3 2 , m 4 2 , L , m 7 2 = 10 15 20 25 30 35 , and so on.

[0057] Then the current rotational speed of the driving wheel 51 at the 60 th< ms is current _ speed = 65 − 10 / 1000 / 6 − 1 ⋅ 10 = 0.5 × 10 − 3 rpms = 30 rpmEmbodiment 3

[0058] In the present embodiment, when the muscle massage device of Embodiment 1 operates in manual mode, a specific process of determining the number of pulses corresponding to the number of rotations that the rotating wheel set should make, i.e., the number of pulses corresponding to the number of rotations of the driving wheel 51, based on the length of the massage area is as follows: Before massage, the length of the massage area is visually estimated or perceived by the user, the massage part 4 of the device for relaxing muscles is placed at the starting position of the massage area, the number of pulses of the Hall sensors 7 on the driving wheel 51 is reset to zero, then the drive motor 2 is started, and the massage part 4 is driven by the drive motor 2 to move in the massage area; when the device reaches the ending position of the massage area, the number of pulses N corresponding to the number of rotations of the driving wheel 51 is read.

[0059] During massage, the actual number of pulses of the Hall sensors 7 on the driving wheel 51 is read in real time and compared with the number of pulses N corresponding to the number of rotations of the driving wheel 51, thus to adjust a rotation direction of the motor 32 and a moving direction of the massage part 4.

[0060] In some embodiments of the present invention, during massage in the manual mode, the user can also set the target rotational speed of the driving wheel 51 to 30 rpm-90 rpm according to his / her own massage experience, read the current rotational speed of the driving wheel 51 at the preset time interval, and manually adjust the current rotational speed of the driving wheel 51 to the target rotational speed.

[0061] The remaining steps are identical to those described in Embodiment 1 or 2 and will not be repeated here.

[0062] The above only describes preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement contemplated easily by those skilled in the art familiar with the technical field within the technical scope disclosed by the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Examples

embodiment 3

[0058]In the present embodiment, when the muscle massage device of Embodiment 1 operates in manual mode, a specific process of determining the number of pulses corresponding to the number of rotations that the rotating wheel set should make, i.e., the number of pulses corresponding to the number of rotations of the driving wheel 51, based on the length of the massage area is as follows: Before massage, the length of the massage area is visually estimated or perceived by the user, the massage part 4 of the device for relaxing muscles is placed at the starting position of the massage area, the number of pulses of the Hall sensors 7 on the driving wheel 51 is reset to zero, then the drive motor 2 is started, and the massage part 4 is driven by the drive motor 2 to move in the massage area; when the device reaches the ending position of the massage area, the number of pulses N corresponding to the number of rotations of the driving wheel 51 is read.

[0059]During massage, the actual numbe...

Claims

1. A control method, the method being applied to a muscle-massage device, characterized in that:the muscle-massage device comprising: a driving motor; an actuating mechanism and a rotating wheel set which are connected to the driving motor; wherein the drive motor is configured to simultaneously drive the actuating mechanism and the rotating wheel set; wherein the control method comprises the steps: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; controlling the driving motor to rotate according to the number of rotations.

2. The control method according to claim 1, characterized in that the step of obtaining a number of rotations that the rotating wheel set should make according to the massage area comprises: acquiring a height and a gender of the user, calculating the massage area for each part of a body based on the height and the gender, or setting the massage area for each part according to a massage need of the user, and converting the massage area into the number of rotations.

3. The control method according to claim 2, wherein the driving motor is connected to the rotating wheel set through a planetary gear set, and a number of pulses N corresponding to the number of rotations is: N = L / πd ⋅ z ⋅ δ ; where L is a length of the massage area, d is a diameter of a massage part, Z is a transmission ratio of a planet carrier to a sun gear in the planetary gear set, and δ is a pulse equivalent of the driving motor.

4. The control method according to claim 1,2 or 3, characterized in that the step of acquiring a massage area comprises: setting the length of the massage area according to the massage need of the user; or determining the length L of the massage area according to the height of the user and a proportion coefficient of the massage area to the height of the user, L = H · l , where H is the height of the user, and l is the proportion coefficient of the massage area to the height of the user.

5. The control method according to claim 4, wherein the rotating wheel set is provided with position sensors; and the step of controlling the driving motor to rotate according to the number of rotations comprises: starting the driving motor; reading an actual number of pulses N' of the position sensors on the rotating wheel set in real time; judging whether the actual number of pulses N' is equal to a number of pulses corresponding to the number of rotations that the rotating wheel set should make; if yes, resetting the number of pulses of the position sensors to zero, and controlling the driving motor to rotate reversely, so as to drive the rotating wheel set to move in an opposite direction or stop moving; if not, controlling the driving motor to continue rotating without changing direction, so as to drive the rotating wheel set to continue moving.

6. The control method according to claim 5, wherein the number of pulses corresponding to the number of rotations that the rotating wheel set should make is a number of pulses corresponding to the number of rotations of the rotating wheel set when the muscle massage device moves from a starting position to an ending position of the massage area; The actual number of pulses N' is a number of pulses of the position sensors on the rotating wheel set in a massage process of muscle massage device.

7. The control method according to claim 1, 2 or 3, further comprising: setting a target rotational speed of muscle massage device; and regulating the current rotational speed of the muscle massage device in accordance with the target speed.

8. The control method according to claim 7, wherein the step of regulating the current rotational speed comprises: collecting a current rotational speed of muscle massage device during the massage operation; comparing the current rotational speed with the target rotational speed, and adjusting the current rotational speed to the target rotational speed according to a comparison result.

9. The control method according to claim 8, wherein the step of adjusting the current rotational speed to the target rotational speed comprises: using incremental PID to calculate an adjustment amount Vu(k) of the muscle massage device from the current rotational speed to the target rotational speed, which is specifically as follows: V u k = u k − u k − 1 = K p e k − e k − 1 + K I e k + K D e k − 2 e k − 1 + e k − 2 where u(k) is an output of a kth control cycle, u(k -1) is an output of a (k-1)th control cycle, Kp is a proportional parameter, KI is an integral parameter, KD is a differential parameter, k is a number of control cycles, e(k) is an error between the current rotational speed and the target rotational speed in the kth control cycle, e(k - 1) is an error between the current rotational speed and the target rotational speed in the (k - 1)th control cycle, and e(k - 2) is an error between the current rotational speed and the target rotational speed in a (k- 2)th control cycle.

10. The control method according to claim 7, characterized in that the current rotational speed (current_speed) is calculated as: current _ speed = m n i − m 1 i / M / n − 1 ⋅ V t ; where n is a number of times that a number of pulses of the rotating wheel set is read, m 1 i and m n i are respectively numbers of pulses of the rotating wheel set read at a first time and an nth time in an ith round of reading, M is a corresponding number of pulses of the rotating wheel set when the massage part rotates one circle, and Vt is a preset time.

11. A muscle massage device, applying the control method of any one of claims 1 to 10, comprising: a driving motor; an actuating mechanism and a rotating wheel set which are connected to the driving motor; wherein the drive motor is configured to simultaneously drive the actuating mechanism and the rotating wheel set; the actuating mechanism being configured to: acquiring a massage area of a user; obtaining a number of rotations that the rotating wheel set should make according to the massage area; and controlling the driving motor to rotate according to the number of rotations.

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