CN110412879A - A kind of adaptive massage armchair control method based on human skin impedance - Google Patents
A kind of adaptive massage armchair control method based on human skin impedance Download PDFInfo
- Publication number
- CN110412879A CN110412879A CN201910850830.6A CN201910850830A CN110412879A CN 110412879 A CN110412879 A CN 110412879A CN 201910850830 A CN201910850830 A CN 201910850830A CN 110412879 A CN110412879 A CN 110412879A
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- CN
- China
- Prior art keywords
- massage armchair
- massage
- chip microcontroller
- massager core
- control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
Abstract
The adaptive massage armchair control method based on human skin impedance that the invention discloses a kind of, belong to massage armchair, massager core control field, this method includes carrying out self adaptive control to massage armchair using control module, and the control module includes line control machine, single-chip microcontroller, driving circuit, massager core, pressure sensor；The line control machine is connected with single-chip microcontroller, instructs for sending to single-chip microcontroller；The single-chip microcontroller is connected with driving circuit, for controlling driving circuit；The driving circuit is connected with massager core, for controlling massager core work；The pressure sensor is mounted on massage roller, is used for real-time detection surging, and surging signal is passed to single-chip microcontroller after analog-to-digital conversion.The present invention, without manually adjusting pressing dynamics by people, only needs machine to be automatically adjustable to the demand of different user, so that massage armchair is more intelligent for different users and using position.
Description
Technical field
The invention belongs to massage armchairs, massager core control technology field, and in particular to a kind of based on human skin impedance
Adaptive massage armchair control method.
Background technique
Massage armchair is more and more welcomed by the people as a kind of family health care instrument.People are using the same of massage armchair
When, also to its intelligence, more stringent requirements are proposed.Traditional massage armchair massage force uses opened loop control, i.e. massage armchair is set in advance
Several massage force gears to be set to select for user, different stalls correspondence gives the different voltage of massage motor or current strength, from
And change massage force.Pressure sensor and massager core are combined into involvement massage chair control system, it can be to massage force
It is monitored and feeds back, form the control of a closed loop to massage force using massage armchair kinetic model algorithm.It can be according to not
With the Skin Resistance characteristic of user, adjust automatically pressing dynamics, so that the more intelligent hommization of massage armchair.
Summary of the invention
The adaptive massage armchair control method based on human skin impedance that the purpose of the present invention is to provide a kind of, to solve
The problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme:
A kind of adaptive massage armchair control method based on human skin impedance, including use control module to massage armchair into
Row self adaptive control, the control module include line control machine, single-chip microcontroller, driving circuit, massager core, pressure sensor；
The line control machine is connected with single-chip microcontroller, instructs for sending to single-chip microcontroller；
The single-chip microcontroller is connected with driving circuit, for controlling driving circuit；
The driving circuit is connected with massager core, for controlling massager core work；
The pressure sensor is mounted on massage roller, is used for real-time detection surging, and surging signal is passed through
Single-chip microcontroller is passed to after analog-to-digital conversion；
This method specifically comprises the following steps:
S1, pressure sensor is added in massager core, by establishing the stress model of massage armchair and user, to skin
Coefficient of elasticity KhIt is assessed；
The mathematical description formula of the stress model of the massage armchair and user are as follows:
Ideal massage armchair impedance function are as follows:
The coefficient of elasticity of skinExpression formula are as follows:
Md=Mu, control input function FsExpression formula are as follows:
XdIt is the physical location of massager core, is found out by formula (2), controls impedance KdExpression formula are as follows:
FhdIt is actually applied massage force, human body reaction force FhExpression formula are as follows:
XeIt is human body reaction force FhThe position for being zero, skin elasticity metewandExpression formula are as follows:
Wherein, XuIndicate the position of massage device, MuIndicate the moment of inertia, DuIndicate heeling moment, KuIndicate the elasticity of massage armchair
Torque, KhAnd DhRespectively represent the skin elasticity coefficient and human body inclination factor of massage armchair user, KdAnd DdIt is control impedance,
Human skin coefficient of elasticity can be calculated using the model, so as to adjust the pressing dynamics of massage armchair；
S2, the elastic metewand according to skin are adjusted massager core motor by single-chip microcontroller, so that user
Dynamic change occurs for stress, forms the feedback control system of a closed loop, realizes massage armchair pressing dynamics FhdSelf adaptive control.
As a preferred embodiment, the process that dynamic change occurs for user's stress described in S2 is as follows:
The skin elasticity coefficient obtained according to the stress model of massage armchair and user, in manual massage's practical data library
Optimal massage pressure degree is matched, massager core is controlled by single-chip microcontroller and adjusts best press dynamics.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is for different users and is not necessarily to manually adjust pressing dynamics by people using position, only needs machine
It is automatically adjustable to the demand of different user, so that massage armchair is more intelligent.
Detailed description of the invention
Fig. 1 is massager core of the invention and user's Controlling model；
Fig. 2 is massage force control flow chart of the invention.
Specific embodiment
Below with reference to embodiment, the present invention will be further described.
The following examples are intended to illustrate the invention, but cannot be used to limit the scope of the invention.Item in embodiment
Part can be adjusted according to actual conditions are further, under concept thereof of the invention all to method simple modifications of the invention
Belong to the scope of protection of present invention.
The present invention provides a kind of adaptive massage armchair control method based on human skin impedance, including uses control module
Self adaptive control is carried out to massage armchair, the control module includes line control machine, single-chip microcontroller, driving circuit, massager core, pressure
Sensor；
The line control machine is connected with single-chip microcontroller, instructs for sending to single-chip microcontroller；
The single-chip microcontroller is connected with driving circuit, for controlling driving circuit；
The driving circuit is connected with massager core, for controlling massager core work；
The pressure sensor is mounted on massage roller, is used for real-time detection surging, and surging signal is passed through
Single-chip microcontroller is passed to after analog-to-digital conversion；
This method specifically comprises the following steps:
S1, pressure sensor is added in massager core, by establishing the stress model of massage armchair and user, to skin
Coefficient of elasticity KhIt is assessed；
Wherein, referring to Fig. 1, the elastic metewand of skin is obtained by establishing the stress model of massage armchair and user
, the mathematical description formula of the stress model of massage armchair and user are as follows:
Ideal massage armchair impedance function are as follows:
The coefficient of elasticity of skinExpression formula are as follows:
Md=Mu, control input function FsExpression formula are as follows:
XdIt is the physical location of massager core, is found out by formula (2).Control impedance KdExpression formula are as follows:
FhdIt is actually applied massage force, human body reaction force FhExpression formula are as follows:
XeIt is human body reaction force FhThe position for being zero, skin elasticity metewandExpression formula are as follows:
Wherein, XuIndicate the position of massage device, MuIndicate the moment of inertia, DuIndicate heeling moment, KuIndicate the elasticity of massage armchair
Torque.KhAnd DhRespectively represent the skin elasticity coefficient and human body inclination factor of massage armchair user.KdAnd DdIt is control impedance.
Human skin coefficient of elasticity can be calculated using the model, so as to adjust the pressing dynamics of massage armchair.
S2, the elastic metewand according to skin are adjusted massager core motor by single-chip microcontroller, so that user
Dynamic change occurs for stress, forms the feedback control system of a closed loop, realizes massage armchair pressing dynamics FhdSelf adaptive control.
Wherein, the process of user's stress generation dynamic change is as follows:
The skin elasticity coefficient obtained according to the stress model of massage armchair and user, in manual massage's practical data library
Optimal massage pressure degree is matched, massager core is controlled by single-chip microcontroller and adjusts best press dynamics.
Referring to Fig. 2, the specific control flow of adaptive pressing dynamics is as follows:
Firstly, user take massage armchair using massage armchair itself set by die pressing type, pressure F can be generatedh, pressure biography
Voltage signal is carried out analog-to-digital conversion in specified voltage range by sensor, and the signal after conversion is then passed to single-chip microcontroller.
Secondly, the parameter according to involved in massage armchair and the stress model of user, writes into list for algorithmic formula in advance
In piece machine, sensor utilizes the formula (4) and formula in massage armchair and the stress model of user after getting pressure signal
(6), control impedance and human skin coefficient of elasticity are determined.
Then, the human skin coefficient of elasticity of acquisition and manual massage's practical data library are matched, obtains one most preferably
Massage force.Finally, single-chip microcontroller, according to obtained optimal massage force, output control signal drive motor adjusts massage force
Degree, obtains the massage state of the most comfortable.By pressure sensor by whole process, a closed-loop control system is formd, is realized
A kind of adaptive massage armchair control method based on human skin impedance.
In the present embodiment, the cut-in pressure sensor on massage ball, pressing while, detects its dynamics, and dynamics is anti-
It is fed back to main control chip, skin elasticity metewand K is calculated by the parametric equation after equivalenth, to obtain massage object most
Suitable massage force is showed in the form of two signal of revolving speed and distance.
A kind of adaptive massage armchair control method based on human skin impedance provided by the present invention, makes for different
User and using position without manually adjusting pressing dynamics by people, only need machine to be automatically adjustable to the need of different user
It asks, so that massage armchair is more intelligent.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (2)
1. a kind of adaptive massage armchair control method based on human skin impedance, which is characterized in that including using control module
Self adaptive control is carried out to massage armchair, the control module includes line control machine, single-chip microcontroller, driving circuit, massager core, pressure
Sensor；
The line control machine is connected with single-chip microcontroller, instructs for sending to single-chip microcontroller；
The single-chip microcontroller is connected with driving circuit, for controlling driving circuit；
The driving circuit is connected with massager core, for controlling massager core work；
The pressure sensor is mounted on massage roller, is used for real-time detection surging, and by surging signal through modulus
Single-chip microcontroller is passed to after conversion；
This method specifically comprises the following steps:
S1, pressure sensor is added in massager core, by establishing the stress model of massage armchair and user, to the bullet of skin
Property coefficient KhIt is assessed；
The mathematical description formula of the stress model of the massage armchair and user are as follows:
Ideal massage armchair impedance function are as follows:
The coefficient of elasticity of skinExpression formula are as follows:
Md=Mu, control input function FsExpression formula are as follows:
XdIt is the physical location of massager core, is found out by formula (2), controls impedance KdExpression formula are as follows:
FhdIt is actually applied massage force, human body reaction force FhExpression formula are as follows:
XeIt is human body reaction force FhThe position for being zero, skin elasticity metewandExpression formula are as follows:
Wherein, XuIndicate the position of massage device, MuIndicate the moment of inertia, DuIndicate heeling moment, KuIndicate the moment of elasticity of massage armchair,
KhAnd DhRespectively represent the skin elasticity coefficient and human body inclination factor of massage armchair user, KdAnd DdIt is control impedance, utilizes this
Model can calculate human skin coefficient of elasticity, so as to adjust the pressing dynamics of massage armchair；
S2, the coefficient of elasticity according to skin are adjusted massager core motor by single-chip microcontroller, so that user's stress occurs
Dynamic change forms the feedback control system of a closed loop, realizes massage armchair pressing dynamics FhdSelf adaptive control.
2. the adaptive massage armchair control method according to claim 1 based on human skin impedance, it is characterised in that: S2
Described in user's stress occur dynamic change process it is as follows:
The skin elasticity coefficient obtained according to the stress model of massage armchair and user matches in manual massage's practical data library
Optimal massage pressure degree controls massager core by single-chip microcontroller and adjusts best press dynamics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850830.6A CN110412879A (en) | 2019-09-10 | 2019-09-10 | A kind of adaptive massage armchair control method based on human skin impedance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850830.6A CN110412879A (en) | 2019-09-10 | 2019-09-10 | A kind of adaptive massage armchair control method based on human skin impedance |
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| Publication Number | Publication Date |
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| CN110412879A true CN110412879A (en) | 2019-11-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910850830.6A Withdrawn CN110412879A (en) | 2019-09-10 | 2019-09-10 | A kind of adaptive massage armchair control method based on human skin impedance |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111407617A (en) * | 2020-03-31 | 2020-07-14 | 绿生生电子科技(广州)有限公司 | Far infrared anion health care pad |
| CN113616462A (en) * | 2020-05-08 | 2021-11-09 | 未来穿戴技术有限公司 | Control method and device of wearable massage instrument, computer equipment and storage medium |
-
2019
- 2019-09-10 CN CN201910850830.6A patent/CN110412879A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111407617A (en) * | 2020-03-31 | 2020-07-14 | 绿生生电子科技(广州)有限公司 | Far infrared anion health care pad |
| CN111407617B (en) * | 2020-03-31 | 2022-04-08 | 绿生生电子科技(广州)有限公司 | Far infrared anion health care pad |
| CN113616462A (en) * | 2020-05-08 | 2021-11-09 | 未来穿戴技术有限公司 | Control method and device of wearable massage instrument, computer equipment and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191105 |