CN112354082A

CN112354082A - Massage apparatus, control method of massage apparatus, and computer-readable storage medium

Info

Publication number: CN112354082A
Application number: CN202010949805.6A
Authority: CN
Inventors: 刘杰; 颜建平; 余超
Original assignee: SKG Health Technologies Co Ltd.
Current assignee: SKG Health Technologies Co Ltd.
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2021-02-12
Anticipated expiration: 2040-09-10
Also published as: CN112354082B

Abstract

The embodiment of the application discloses a massage device, a control method of the massage device and a computer readable storage medium. The massage equipment comprises a controller, a roller device and a massage device, wherein the controller is electrically connected with the roller device and the massage device respectively; the roller device is used for sending a pulse signal to the controller when a roller of the roller device rotates; the controller is used for receiving the pulse signal sent by the roller device, determining the rolling direction according to the pulse signal and generating a voltage regulating instruction according to the rolling direction, wherein the voltage regulating instruction is used for regulating the pulse voltage input to the massage device; the massage device is used for executing massage operation according to the input regulated pulse voltage. The massage device, the control method of the massage device and the computer readable storage medium can simplify the control mode of the massage device, prevent misoperation and improve operation efficiency.

Description

Massage apparatus, control method of massage apparatus, and computer-readable storage medium

Technical Field

The present application relates to the field of electronic devices, and in particular, to a massage device, a control method of the massage device, and a computer-readable storage medium.

Background

With the rapid development of electronic technology, more and more kinds of massage apparatuses are available on the market, such as massage chairs for massaging the whole body of a user, neck massage apparatuses for massaging the neck of a user, or face massage apparatuses for massaging the face skin. The massage device can eliminate fatigue of the user and ensure the health of joints or skin of each part of the user.

In order to realize some function control of a conventional massage apparatus, such as selecting a massage mode, turning on and off the machine, a plurality of keys are usually arranged on the massage apparatus, and a user can realize the function control of the massage apparatus by pressing the corresponding keys. However, in the using process of the massage device, the plurality of keys are not easy to distinguish, misoperation is easy to occur, and the operation efficiency is low.

Disclosure of Invention

The embodiment of the application discloses a massage device, a control method of the massage device and a computer readable storage medium, which can simplify the control mode of the massage device, prevent misoperation and improve operation efficiency.

The embodiment of the application discloses massage equipment, which comprises a controller, a roller device and a massage device, wherein the controller is electrically connected with the roller device and the massage device respectively;

the roller device is used for sending a pulse signal to the controller when a roller of the roller device rotates;

the controller is configured to receive the pulse signal sent by the roller device, determine that the rolling direction of the roller is a first direction if the pulse signal is a first pulse signal, determine that the rolling direction of the roller is a second direction if the pulse signal is a second pulse signal, and generate a voltage adjustment instruction according to the rolling direction, where the voltage adjustment instruction is used to adjust a pulse voltage input to the massage device;

and the massage device is used for executing massage operation according to the input regulated pulse voltage.

The embodiment of the application discloses a control method of massage equipment, which is applied to the massage equipment, wherein the massage equipment comprises a roller device and a massage device, and the method comprises the following steps:

when the roller of the roller device rotates, acquiring a pulse signal generated by the roller device;

if the pulse signal is a first pulse signal, determining that the rolling direction of the roller is a first direction, and if the pulse signal is a second pulse signal, determining that the rolling direction of the roller is a second direction;

and generating a voltage regulating instruction according to the rolling direction, and regulating the pulse voltage input to the massage device according to the voltage regulating instruction so that the massage device executes massage operation according to the regulated pulse voltage.

The embodiment of the application discloses an electronic device, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is enabled to realize the method.

An embodiment of the application discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method as described above.

According to the massage device, the control method of the massage device, the electronic device and the computer readable storage medium, when the roller of the roller device rotates, the controller can determine the rolling direction according to the pulse signal sent by the roller device, if the pulse signal is the first pulse signal, the rolling direction of the roller is determined to be the first direction, if the pulse signal is the second pulse signal, the rolling direction of the roller is determined to be the second direction, and a voltage adjusting instruction is generated according to the rolling direction to adjust the pulse voltage input to the massage device, so that the massage device executes corresponding massage operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is an application scenario diagram of a control method of a massage apparatus in one embodiment;

FIG. 2 is a block diagram showing the structure of a massage apparatus according to an embodiment;

fig. 3 is a block diagram showing the construction of a massage apparatus in another embodiment;

fig. 4 is a block diagram showing the construction of a massage apparatus in another embodiment;

fig. 5 is a flowchart of a control method of the massage apparatus in one embodiment;

fig. 6 is a flowchart of a control method of the massage apparatus in another embodiment;

fig. 7 is a block diagram of a control device of the massage apparatus in one embodiment;

FIG. 8 is a block diagram of an electronic device in one embodiment.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the examples and figures of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, the first pulse signal may be referred to as a second pulse signal, and similarly, the second pulse signal may be referred to as the first pulse signal, without departing from the scope of the present application. The first pulse signal and the second pulse signal are both pulse signals, but are not the same pulse signal.

Fig. 1 is an application scenario diagram of a control method of a massage apparatus in one embodiment. As shown in fig. 1, the massage device 10 may be a neck massager, and in a conventional manner, a plurality of buttons are generally provided on the neck massager to control the neck massager. When the user wears the neck massage appearance and massages the operation, hardly see a plurality of buttons of setting on the neck massage appearance usually, lead to difficultly distinguishing each button, the maloperation appears easily, and operating efficiency is low.

In the embodiment of the present application, the massage apparatus 10 may include a roller device 110 and a massage device 120, wherein the massage device 120 may act on a body part of the user, such as the skin, joints, etc. of the user, to provide massage services. The user can control the operation state of the massage device 120 by operating the rollers of the roller device 110 to rotate. When the roller of the roller device 110 rotates, the roller device 110 may generate a pulse signal. The massage apparatus 10 may determine a rolling direction of the roller according to the pulse signal generated by the roller device 110, generate a corresponding control command according to the determined rolling direction, and control the operation of the massage device 120 according to the control command.

It should be understood that the massage device 10 shown in fig. 1 is only one configuration of the massage device, and the massage device in the embodiment of the present invention is not limited to the configuration shown in fig. 1, and may be other configurations, and the massage device in the embodiment of the present invention may be various massage devices such as a neck massage apparatus, a face massage apparatus, and an eye massage apparatus, and the embodiment of the present invention is not limited thereto.

Fig. 2 is a block diagram showing the structure of the massage apparatus in one embodiment. As shown in fig. 2, in one embodiment, a massage apparatus 10 is provided, the massage apparatus 10 may include a roller device 110, a controller 130 and a massage device 120, wherein the controller 130 is electrically connected to the roller device 110 and the massage device 120, respectively.

The roller device 110 is used for sending a pulse signal to the controller 130 when the roller 112 of the roller device 110 rotates.

The roller device 110 may include a roller 112, and the user may operate the roller 112 to rotate in a certain direction to control the functional operation of the massage apparatus 10. Alternatively, the roller device 110 may be provided on the handle of the massage apparatus 10 so that the user can easily operate the rollers during use of the massage apparatus 10.

In some embodiments, the roller device 110 may further include a roller control circuit (not shown), and an output of the roller control circuit may be connected to the controller 130. The wheel 112, when rotating, may trigger the wheel control circuit to generate a pulse signal. Optionally, the roller control circuit may be triggered to generate a first pulse signal when the roller rotates in a first direction, and to generate a second pulse signal when the roller rotates in a second direction, wherein the first pulse signal is distinguishable from the second pulse signal. Alternatively, the difference between the first pulse signal and the second pulse signal may include one or more of a frequency difference, an amplitude difference, a width difference, and the like, but is not limited thereto.

The controller 130 is configured to receive the pulse signal transmitted by the roller device 110, determine a rolling direction of the roller according to the pulse signal, and generate a voltage adjustment command according to the rolling direction, wherein the voltage adjustment command is used to adjust the pulse voltage input to the massage device 120.

A massage device 120 for performing a massage operation according to the inputted adjusted pulse voltage.

The controller 130 may determine the scrolling direction of the scroll wheel 112 according to the pulse signal transmitted from the scroll wheel device 110. The controller 130 may receive the pulse signal sent by the wheel control circuit of the wheel device 110, and analyze the pulse signal to determine whether the received pulse signal is the first pulse signal or the second pulse signal. If the pulse signal received by the controller 130 is the first pulse signal, the scrolling direction of the wheel 112 can be determined as the first direction, and if the received pulse signal is the second pulse signal, the scrolling direction of the wheel 112 can be determined as the second direction. Alternatively, the first direction may be the roller 112 rolling forward (counterclockwise), and the second direction may be the roller rolling backward (clockwise); alternatively, the first direction may be the roller rolling backward, and the second direction may be the roller rolling forward.

The controller 130 may generate a voltage adjustment command according to the rolling direction of the roller 112 to adjust the pulse voltage input to the massage device 120 according to the voltage adjustment command. The massage device 120 may perform a massage operation, which may include, but is not limited to, an electrical stimulation massage operation, a vibration massage operation, and the like, driven by the input pulse voltage. Taking the electrical stimulation massage operation as an example, the massage device 120 may generate a pulse current under the driving of the input pulse voltage, and transmit the pulse current to the human body through the electrode plate, and the pulse current acts on the skin of the human body to generate electrical stimulation, thereby implementing the electrical stimulation massage operation.

The massage device 120 may be driven to generate different massage effects according to the magnitude of the pulse voltage inputted to the massage device 120, and the massage effect generated by the massage device 120 may be stronger as the inputted pulse voltage is larger, and the massage effect generated by the massage device 120 may be weaker as the inputted pulse voltage is smaller. The user can adjust a desired massage effect by turning to the roller 112, and the controller 130 generates a voltage adjustment command according to the rolling direction of the roller 112 to adjust the pulse voltage input to the massage device 120, so that the massage device 120 can generate a corresponding massage effect under the action of the adjusted pulse voltage.

In the embodiment of the application, when the roller of the roller device rotates, the controller can determine the rolling direction according to the pulse signal sent by the roller device, if the pulse signal is the first pulse signal, the rolling direction of the roller is determined to be the first direction, if the pulse signal is the second pulse signal, the rolling direction of the roller is determined to be the second direction, and a voltage adjusting instruction is generated according to the rolling direction to adjust the pulse voltage input to the massage device, so that the massage device executes corresponding massage operation.

As shown in fig. 3, in one embodiment, the massage apparatus 10 further includes a voltage boosting circuit 140 in addition to the roller device 110, the controller 130 and the massage device 120, wherein the massage device 120 includes a pulse output circuit 122 and at least two electrode pads 124, the voltage boosting circuit 140 can be electrically connected to the controller 130 and the pulse output circuit 122, respectively, and the pulse output circuit 122 can be electrically connected to the at least two electrode pads 124.

The controller 130 is further configured to send a voltage adjustment command to the voltage boost circuit 140 after generating the voltage adjustment command according to the rolling direction of the roller 112. And a boost circuit 140 for adjusting the pulse voltage input to the pulse output circuit according to the voltage adjustment command sent from the controller 130.

The controller 130 may control the pulse voltage output from the voltage boost circuit 140 to the pulse output circuit 122, so that the pulse output circuit 122 generates a corresponding pulse current driven by the pulse voltage to achieve a desired massage effect. In some embodiments, the controller 130 is further configured to generate a first voltage adjustment command when the rolling direction of the roller wheel 112 is a first direction, the first voltage adjustment command being operable to increase the pulse voltage input to the massage device to enhance the massage operation effect of the massage device 120. The controller 130 is further configured to generate a second voltage adjustment command when the rolling direction of the roller wheel 112 is a second direction, wherein the second voltage adjustment command is used to reduce the pulse voltage input to the massage device 120 to reduce the massage operation effect of the massage device 120.

In some embodiments, a plurality of different gears of the massage device may be provided in the massage apparatus. The gears are different and can correspond to different massage operation effects respectively, optionally, the higher the gear is, the stronger the corresponding massage operation effect can be, and the user can adjust the gear of the massage device 120 by rotating the roller 112. The controller 130, upon receiving the pulse signal from the roller device 110 and determining the rolling direction of the roller 112 according to the pulse signal, can adjust the gear of the massage device 120 according to the rolling direction. If the scrolling direction is the first direction, the gear can be increased, and if the scrolling direction is the second direction, the gear can be decreased.

Each gear may be preset with a corresponding voltage value. The controller 130 may obtain a voltage value corresponding to the adjusted gear, perform digital-to-analog conversion on the voltage value to obtain a pulse signal corresponding to the adjusted gear, and input the pulse signal to the voltage boost circuit 140 as a voltage adjustment command. The boosting circuit 140 receives the pulse signal, generates a pulse voltage corresponding to the adjusted gear according to the pulse signal, and inputs the generated pulse voltage to the pulse output circuit 122.

And a pulse output circuit 122 for generating a pulse current according to the regulated pulse voltage output by the voltage boost circuit 140 and outputting the pulse current to the electrode sheet 124.

The pulse output circuit 122 is driven by the pulse voltage output by the voltage boost circuit 140 to generate a pulse current corresponding to the adjusted gear, and the pulse current can flow through a load (a user when wearing) via the electrode plate 124 to generate an electrical stimulation effect matched with the adjusted gear, so as to realize electrical stimulation massage.

In some embodiments, the roller device 110 further includes an encoder 114, and the encoder 114 may be electrically connected to the controller 130.

The encoder 114 is configured to send a first pulse signal to the controller 130 once when the roller 112 rotates in the first direction by a preset angle, and send a second pulse signal to the controller 130 once when the roller 112 rotates in the second direction by a preset angle.

Alternatively, the encoder 114 may be disposed at one side of the roller 112, and the encoder 114 may be used for sensing the rolling direction and the rotation angle of the roller 112 when the roller 112 rotates. The encoder 114 may be electrically connected to the roller control circuit, and when the encoder 114 senses that the rotation angle of the roller 112 reaches a predetermined angle, the roller control circuit may be triggered according to the sensed rolling direction to generate a first pulse signal or a second pulse signal. As an embodiment, the preset angle may be set according to actual requirements, for example, 15 ° (degrees), 20 °, 38 °, and the like, and is not limited herein. The controller 130 may determine that the encoder 114 outputs a pulse when receiving a first pulse signal or a second pulse signal.

When the encoder 114 senses that the rotation angle of the roller 112 does not reach the preset angle, the first pulse signal or the second pulse signal is not generated, the controller 130 does not receive the first pulse signal and the second pulse signal, the rolling operation of the roller 112 is not determined as effective control operation, the small-angle rolling of the roller can be avoided, the control parameter adjustment of the massage device 120 can also be triggered, the possibility of misoperation is further reduced, and the accuracy of operation is improved.

In some embodiments, the preset angle may be determined according to the number of pulses output by the encoder 114 when the roller 112 rotates for one circle, wherein the number of pulses output by the encoder 114 when the roller 112 rotates for one circle may match the total number of the gears of the massage device 120. For example, the massage force of the electrical stimulation massage operation provided by the massage device 120 may include 12 gears of 1-12, and according to the gear from low to high, the electrical stimulation effect of each gear becomes stronger and stronger, the number of pulses output by the encoder 114 when the roller rotates for one circle may be set to be 12.

As an embodiment, the preset angle may be a ratio of 360 ° to the number of pulses output by the encoder 114 when the roller 112 rotates once, for example, when the number of pulses output by the encoder 114 when the roller 112 rotates once is 12, the preset angle may be 360 °/12 ═ 30 °, when the roller 112 rotates once is 15, the preset angle may be 360 °/15 ═ 24 °, and the like. The controller 130 can adjust the position of the massage device 120 once according to the rolling direction of the roller for each pulse output by the encoder 114. The user can select the gears of the massage device 120 by rotating the roller 112, and all the gears can be selected just once when the roller 112 rotates for a circle, and the user does not need to remember the rotating angle specially, so that the convenience of gear selection can be improved, and the operation efficiency can be improved.

In some embodiments, the controller 130 is further configured to obtain a first number of the first pulse signals sent by the encoder 114 within a preset time period and a second number of the second pulse signals sent by the encoder 114 within the preset time period, determine a target gear according to the first number and the second number, and generate a voltage adjustment command corresponding to the target gear. The voltage adjustment command may be used to adjust the pulse voltage input to the massage device 120 such that the adjusted pulse voltage matches the target gear.

The target gear refers to a gear that the massage device 120 needs to reach after adjustment. Alternatively, the preset time period may be set according to actual requirements, for example, 2 seconds, 3 seconds, 5 seconds, and the like, and is not limited herein. The controller 130 can adjust the position of the massage device 120 according to the number of pulses outputted by the encoder 114 within a preset time period and the rolling direction of the roller 112. The controller 120 is further configured to calculate a difference between the first number and the second number after obtaining the first number and the second number, determine a gear adjustment direction and a number of gears to be adjusted according to the difference, and determine a target gear according to the current gear, the gear adjustment direction, and the number of gears to be adjusted of the massage device 120.

The gear adjustment direction may include increasing the gear and decreasing the gear. The controller 130 may determine the gear adjustment direction according to the rolling direction of the wheel 112. Optionally, within the preset time period, if the first number is greater than the second number (i.e., the difference is greater than 0), it indicates that the rolling angle of the roller in the first direction is greater than the rolling angle in the second direction within the preset time period, and the rolling direction is the first direction, and the gear adjustment direction may be determined as increasing the gear. If the second number is greater than the first number (i.e., the difference is less than 0), it indicates that the rolling angle of the roller in the second direction is greater than the rolling angle in the first direction within the preset time period, and the rolling direction is the second direction, and the gear adjustment direction may be determined as a reduced gear. It should be noted that, the gear adjustment direction corresponding to the first direction as the rolling direction may also be a reduced gear, and the gear adjustment direction corresponding to the second direction as the rolling direction is an increased gear, and the corresponding manner may be set according to actual requirements, which is not limited herein.

The number of gear to be shifted may be an absolute value of a difference between the first number and the second number. The controller 130 may adjust the number of gears to be shifted according to the determined gear adjusting direction based on the current gear of the massage device 120. For example, the encoder 114 outputs 2 first pulse signals and 3 second pulse signals within 2 seconds, which means that the user rotates the roller 112 twice in the first direction and then rotates the roller 114 three times in the second direction, the difference between the receiving numbers of the first pulse signals and the second pulse signals is-1, the gear adjustment direction can be determined to be the reduction gear, the number of the gear to be adjusted is 1, and the 1 gear can be reduced on the basis of the current gear of the massage device 120.

In this embodiment, the controller 120 may directly determine the target gear according to the first number of the received first pulse signals and the second number of the received second pulse signals within the preset time period, and adjust the gear of the massage device 120 to the target gear, so that gear adjustment may be performed quickly, and the operation efficiency of gear adjustment may be improved.

In some embodiments, the controller 130 is further configured to determine that the number of gears to be shifted is a preset number of gears if the difference is greater than a preset threshold, determine that the target gear is a current gear of the massage device 120 increased by the preset number of gears, and determine that the target gear is a current gear of the massage device 120 increased by a number of gears matching the difference if the difference is greater than 0 and not greater than the preset threshold.

If the difference between the first number of the first pulse signals received by the controller 120 and the second number of the second pulse signals received by the controller is greater than the preset threshold within the preset time period, it may be determined that the gear adjustment direction is the increased gear, and the increased gear number is greater. In order to avoid discomfort to the user caused by sudden increase of the electrical stimulation effect due to too large increase of the gear, a preset gear number may be preset, and the preset gear number may be smaller than or equal to a preset threshold. For example, the preset threshold may be 5, and the preset number of gears may be 3, 2, or 4, but is not limited thereto. If the difference value is larger than 0 and not larger than the preset threshold value, the gear adjusting direction can be determined to be the increased gear, and the number of the increased gears is smaller, so that the number of the gears with the same absolute value as the difference value can be directly increased on the basis of the current gear of the massage device. The gear which is increased each time can be controlled within a certain range, and the situation that the massage effect is suddenly strengthened and the user is uncomfortable due to the fact that the gear is suddenly increased too much can be prevented.

In some embodiments, after obtaining the first number and the second number, the controller 130 is further configured to determine the target gear as the current gear of the massage device 120 plus 1 gear if the first number is greater than the second number, and determine the target gear as the current gear of the massage device minus 1 gear if the second number is greater than the first number. Within a preset time, no matter the roller rolls a plurality of angles along the first direction/the second direction, only one gear is adjusted, the situation that the gear changes too fast and the user is uncomfortable due to the fact that the user continuously shifts the gear when the single rotation of the roller is too large can be avoided.

In this application embodiment, can distinguish the regulation direction of gear through the roll direction of gyro wheel, can realize massage device's gear through a gyro wheel and adjust, it is more convenient to operate, and improves the degree of accuracy of operation.

As shown in fig. 4, the roller device 110 of the massage apparatus 10 further includes a button 116, and the button 116 can be electrically connected to the controller 130. The massage device 120 may include an electrical stimulation massage module 410, a vibration massage module 420, and a heating module 430, wherein the electrical stimulation massage module 410, the vibration massage module 420, and the heating module 430 may be respectively electrically connected to the controller 130.

A key 116 for sending a pressing signal to the controller 130 when the wheel 112 is pressed.

The encoder 114 is disposed on one side of the scroll wheel 112 and the keys 116 may be disposed on the other side of the scroll wheel 112. When the scroll wheel 112 is pressed, the pressing button 116 is driven. The button 116 may be electrically connected to the scroll wheel control circuit, and when the button 116 is pressed, the scroll wheel control circuit may be triggered to generate a pressing signal and transmit the pressing signal to the controller 130.

The controller 130 is also configured to generate a state switching instruction for switching the operation state of the target function of the massage apparatus 10 according to the pressing signal. After receiving the pressing signal sent by the button 116 through the roller control circuit, the controller 130 may switch the operating state of the target function of the massage device 110 according to the pressing signal, where the target function may be set and selected according to actual needs, for example, the target function may include, but is not limited to, a massage function, a heating function, a power on/off function, a voice prompt function, and the like. The operation states of the target functions may be different, for example, the operation state switching of the massage function may be massage mode switching, the operation state switching of the heating function may be heating on and heating off, the operation state switching of the power on/off function may be power on and power off switching, and the like.

In one embodiment, the controller 130 is further configured to determine a duration range to which a receiving duration of the continuously received pressing signal belongs, and generate the state switching instruction according to the duration range. When the key 116 is continuously pressed, the pressing signal may be continuously transmitted to the controller 130. After receiving the pressing signal generated by the key 116, the controller 130 may count the receiving time duration of the pressing signal, and determine the time duration of the key 116 being pressed based on the receiving time duration of the pressing signal.

The controller 130 may determine a duration range to which a reception duration of the pressing signal is continuously received belongs, and generate the state switching instruction according to the duration range, where different duration ranges may correspond to different state switching instructions. In some embodiments, at least a first range of durations and a second range of durations may be included, wherein the first range of durations may be less than the second range of durations. When the receiving time length of the controller 130 continuously receiving the pressing signal belongs to the first time length range, the operation of pressing the key 116 may be determined as a short pressing operation, and when the receiving time length of the controller 130 continuously receiving the pressing signal belongs to the second time length range, the operation of pressing the key 116 may be determined as a long pressing operation. The short-press operation and the long-press operation of the key 116 may correspond to different target functions, respectively, for example, the short-press operation is used to switch the working state of the massage function, and the long-press operation is used to switch the power-on and power-off states of the massage apparatus 10; the short-press operation and the long-press operation of the key 116 may correspond to different operation states of the same target function, for example, the short-press operation is used to turn on the massage device 10, the long-press operation is used to turn off the massage device 10, etc., and may be set according to actual requirements, which is not limited in the embodiment of the present application.

In some embodiments, after determining that the pressing operation of the key 116 is finished, the controller 130 may determine a duration range to which a receiving duration corresponding to the pressing operation for continuously receiving the pressing signal belongs. Alternatively, the end of the pressing operation of the key 116 may be determined if the controller 130 does not receive the pressing signal within a certain time period, which may be set according to actual requirements, for example, 20ms (milliseconds), 30ms, and so on.

In one embodiment, the controller 130 is further configured to acquire a target massage mode to be switched when the receiving duration of the pressing signal belongs to the first duration range, generate a mode switching instruction according to the target massage mode, and send the mode switching instruction to the massage device 120. The massage device 120 is further configured to switch to the target massage mode according to the mode switching instruction sent by the controller 130, and perform a massage operation corresponding to the target massage mode.

In the embodiment of the present application, the massage device 120 may electrically stimulate the massage module 410 and the vibration massage module 420. As an embodiment, the electrical stimulation massage module 410 may include a pulse output circuit 122 and at least two electrode pads 124, the pulse output circuit 122 may be electrically connected to the voltage boost circuit 140 and the at least two electrode pads 124, respectively, and the electrical signals (e.g., voltage signals/current signals, etc.) output by the electrode pads 124 may act on the skin of the user to generate a massage effect. The vibration massage module 420 may include one or more vibration motors that generate a vibration massage effect on a portion of the user when the vibration motors vibrate.

The user can switch the massage mode of the currently running massage module by pressing the roller 112 with a short press operation, optionally, the massage mode may include a relaxation mode, an intelligent mode, a power mode, and the like, and control parameters such as massage strength, massage duration, and the like of different massage modes may be different. If the currently running massage module is the electrical stimulation massage module 410, the massage mode corresponding to the electrical stimulation massage module 410 may be switched, and the electrode plates 124 of the electrical stimulation massage module 410 may output electrical signals with different intensities in different massage modes. If the massage module currently running is the vibration massage module 420, the massage mode corresponding to the vibration massage module 420 may be switched, and the vibration motor of the vibration massage module 420 may vibrate at different frequencies and different amplitudes in different massage modes.

In some embodiments, the massage modes may also refer to different types of massage operations, such as may include an electrical stimulation massage mode and a vibratory massage mode. If the currently running massage module is the electrical stimulation massage module 410, the massage device 120 can be controlled to switch to the vibration massage mode by pressing the roller 112, and the vibration massage module 420 is controlled to provide the vibration massage operation. If the currently running massage module is a vibration massage operation, the massage device 120 can be controlled to switch to the electrical stimulation massage mode by pressing the roller 112, and the electrical stimulation massage module 410 is controlled to provide an electrical stimulation massage operation.

Alternatively, after the user switches the massage mode of the massage device 120 by pressing the roller 112, the roller 112 may be operated to rotate to adjust the shift of the massage mode currently being operated. For example, after the roller 112 is pressed for a short time, the massage mode of the electrostimulation massage module 410 is switched to the relaxing mode, and then the massage force level of the electrostimulation massage module 410 is increased or decreased by rotating the roller 112 forward or backward.

In some embodiments, the controller 130 is further configured to generate a heating-on command and send the heating-on command to the heating module 430 when the receiving time length of the pressing signal belongs to the second time length range. The user can press the roller 112 by a long press operation to control the massage device 120 to turn on the heating function. And the heating module 430 is configured to start heating according to the heating start instruction until the temperature of the heating module reaches the target temperature. Alternatively, the target temperature may be a preset temperature parameter, such as 15 ℃, 20 ℃, or the like, or a temperature parameter selected by a user. In some embodiments, the user may rotate by operating the wheel 112 to select a target temperature after turning on the heating function by long pressing the wheel 112. The controller 130 is further configured to generate a temperature adjustment command according to the pulse signal sent by the roller device 110 after sending the heating start command to the heating module 430, and the temperature adjustment command can be used to adjust the target temperature. For example, the target temperature may be raised or lowered by rotating the roller 112 forward or backward. After the heating module 430 starts heating, the temperature may be fed back to the controller 130 in real time or according to a preset time period. When the controller 130 detects that the temperature of the heating module 430 reaches the target temperature, the controller may control the control circuit corresponding to the heating module 430 to be turned off to stop the heating module 430 from heating.

In other embodiments, the pressing of the scroll wheel 112 may correspond to other target functions, and is not limited to the above-described functions. It is understood that the massage device 120 may include only one or two of the electric stimulation massage module 410, the vibration massage module 420 and the heating module 430, and may also include other functional modules, which are not limited herein.

In the embodiment of the application, the rolling direction and the pressing operation of the roller are combined, so that various different operation modes can be realized, the operation is more convenient, and the accuracy of the operation is improved.

As shown in fig. 5, in one embodiment, a control method of a massage apparatus is provided, which is applicable to the massage apparatuses described in the above embodiments, and the method may include the following steps:

step 510, when the roller of the roller device rotates, acquiring a pulse signal generated by the roller device.

In step 520, if the pulse signal is the first pulse signal, the rolling direction of the roller is determined to be the first direction, and if the pulse signal is the second pulse signal, the rolling direction of the roller is determined to be the second direction.

And 530, generating a voltage adjusting instruction according to the rolling direction, and adjusting the pulse voltage input to the massage device according to the voltage adjusting instruction, so that the massage device performs a massage operation according to the adjusted pulse voltage.

In one embodiment, the step of generating a voltage adjustment command according to the rolling direction and adjusting the pulse voltage input to the massage device according to the voltage adjustment command includes: when the rolling direction of the roller is the first direction, generating a first voltage regulating instruction, and increasing the pulse voltage input to the massage device according to the first voltage regulating instruction so as to enhance the massage operation effect of the massage device; when the rolling direction of the roller is the second direction, a second voltage regulating instruction is generated, and the pulse voltage input to the massage device is reduced according to the second voltage regulating instruction, so that the massage operation effect of the massage device is reduced.

As shown in fig. 6, in an embodiment, another control method of a massage apparatus is provided, which is applicable to the massage apparatuses described in the above embodiments, and the method may include the following steps:

step 602, when the roller rotates a preset angle along a first direction, a first pulse signal generated by an encoder of the roller device is obtained, and when the roller rotates a preset angle along a second direction, a second pulse signal generated by the encoder is obtained.

Step 604, a first number of the first pulse signals generated by the encoder within a preset time duration and a second number of the second pulse signals generated by the encoder within the preset time duration are obtained.

Step 606, determining a target gear according to the first number and the second number.

In one embodiment, step 606 includes: calculating a difference value between the first quantity and the second quantity, and determining a gear adjusting direction according to the difference value, wherein when the difference value is greater than 0, the gear adjusting direction is an increasing gear, and when the difference value is less than 0, the gear adjusting direction is a decreasing gear; determining the number of gears to be shifted according to the absolute value of the difference; and determining a target gear according to the current gear, the gear adjusting direction and the number of gears to be adjusted of the massage device.

In one embodiment, the step of determining the number of to-be-shifted bits based on the absolute value of the difference comprises: and if the difference value is larger than the preset threshold value, determining that the gear number to be shifted is the preset gear number.

The method comprises the following steps of determining a target gear according to the current gear, the gear adjusting direction and the number of gears to be adjusted of the massage device, and comprises the following steps: and determining a target gear as the current gear of the massage device and adding a preset gear.

In one embodiment, step 606 includes: if the first number is larger than the second number, determining that the target gear is the current gear plus 1 gear of the massage device; and if the second number is larger than the first number, determining that the target gear is the current gear minus 1 gear of the massage device.

And 608, generating a voltage adjusting instruction corresponding to the target gear, and adjusting the pulse voltage input to the massage device according to the voltage adjusting instruction so that the adjusted pulse voltage is matched with the target gear.

In one embodiment, the control method of the massage apparatus further includes the steps of: when the roller is pressed, a pressing signal triggered by a key of the roller device is acquired; and generating a state switching instruction according to the pressing signal, and switching the working state of the target function of the massage equipment according to the state switching instruction.

In one embodiment, generating the state switching instruction according to the pressing signal comprises: and acquiring the pressing time length of the roller pressed according to the pressing signal, determining the time length range of the pressing time length, and generating a state switching instruction according to the time length range.

In one embodiment, the target function includes a massage function. Generating a state switching instruction according to the duration range, wherein the state switching instruction comprises the following steps: and when the pressing duration belongs to the first duration range, acquiring a target massage mode to be switched, and generating a mode switching instruction according to the target massage mode.

Switching the working state of the target function of the massage equipment according to the state switching instruction, comprising the following steps: and switching the massage mode of the massage device to a target massage mode according to the mode switching instruction, and controlling the massage device to execute massage operation corresponding to the target massage mode.

In one embodiment, the target function includes a heating function. Generating a state switching instruction according to the duration range, wherein the state switching instruction comprises the following steps: and generating a heating starting instruction when the pressing time length belongs to the second time length range.

Switching the working state of the target function of the massage equipment according to the state switching instruction, comprising the following steps: and controlling the massage device to start the heating function according to the heating starting instruction until the temperature of the massage device reaches the target temperature.

As shown in fig. 7, in one embodiment, a control device 700 of a massage apparatus is provided, which is applicable to the massage apparatuses described in the above embodiments. The control device 700 of the massage apparatus may include a signal obtaining module 710, a direction determining module 720, and a voltage adjusting module 730.

The signal obtaining module 710 obtains a pulse signal generated by the roller device when the roller of the roller device rotates.

The direction determining module 720 determines that the rolling direction of the roller is the first direction if the pulse signal is the first pulse signal, and determines that the rolling direction of the roller is the second direction if the pulse signal is the second pulse signal.

And a voltage adjusting module 730 for generating a voltage adjusting command according to the rolling direction and adjusting the pulse voltage inputted to the massage device according to the voltage adjusting command, so that the massage device performs a massage operation according to the adjusted pulse voltage.

In one embodiment, the voltage regulating module 730 includes a first regulating unit and a second regulating unit.

And the first adjusting unit is used for generating a first voltage adjusting instruction when the rolling direction of the roller is the first direction, and increasing the pulse voltage input to the massage device according to the first voltage adjusting instruction so as to enhance the massage operation effect of the massage device.

And the second adjusting unit is used for generating a second voltage adjusting instruction when the rolling direction of the roller is the second direction, and reducing the pulse voltage input into the massage device according to the second voltage adjusting instruction so as to reduce the massage operation effect of the massage device.

In one embodiment, the control device 700 of the massage apparatus includes a gear determining module in addition to the signal acquiring module 710, the direction determining module 720 and the voltage adjusting module 730.

The signal obtaining module 710 is further configured to obtain a first pulse signal generated by an encoder of the roller device when the roller rotates by a preset angle in the first direction, and obtain a second pulse signal generated by the encoder when the roller rotates by a preset angle in the second direction.

The gear determining module is used for acquiring a first number of first pulse signals generated by the encoder in a preset time length and a second number of second pulse signals generated by the encoder in the preset time length, and determining a target gear according to the first number and the second number.

In one embodiment, the gear determining module is further configured to calculate a difference between the first number and the second number, determine a gear adjusting direction according to the difference, determine a gear to be adjusted according to an absolute value of the difference, and determine a target gear according to a current gear, a gear adjusting direction, and the gear to be adjusted of the massage device, where the gear adjusting direction is an increasing gear when the difference is greater than 0, and the gear adjusting direction is a decreasing gear when the difference is less than 0.

In one embodiment, the gear determining module is further configured to, after calculating a difference between the first number and the second number, determine that the number of gears to be shifted is a preset number of gears if the difference is greater than a preset threshold, and: and determining the target gear as the current gear of the massage device and increasing the preset gear.

In one embodiment, the gear determining module is further configured to determine the target gear as the current gear of the massage device plus 1 gear if the first number is greater than the second number, and determine the target gear as the current gear of the massage device minus 1 gear if the second number is greater than the first number.

The voltage adjusting module 730 is further configured to generate a voltage adjusting instruction corresponding to the target gear, and adjust the pulse voltage input to the massage device according to the voltage adjusting instruction, so that the adjusted pulse voltage is matched with the target gear.

In one embodiment, the control device 700 of the massage apparatus includes a state switching module in addition to the signal acquiring module 710, the direction determining module 720, the voltage adjusting module 730 and the gear determining module.

The signal obtaining module 710 is further configured to obtain a pressing signal triggered by a key of the scroll wheel apparatus when the scroll wheel is pressed.

And the state switching module is used for generating a state switching instruction according to the pressing signal and switching the working state of the target function of the massage equipment according to the state switching instruction.

In one embodiment, the state switching module includes an instruction generating unit and a switching unit.

And the instruction generating unit is used for acquiring the pressing time length of the roller according to the pressing signal, determining the time length range to which the pressing time length belongs, and generating a state switching instruction according to the time length range.

And the switching unit is used for switching the working state of the target function of the massage equipment according to the state switching instruction.

In one embodiment, the target function includes a massage function. And the instruction generating unit is also used for acquiring a target massage mode to be switched when the pressing duration belongs to the first duration range, and generating a mode switching instruction according to the target massage mode.

And the switching unit is also used for switching the massage mode of the massage device to the target massage mode according to the mode switching instruction and controlling the massage device to execute the massage operation corresponding to the target massage mode.

In one embodiment, the target function includes a heating function. And the instruction generating unit is also used for generating a heating starting instruction when the pressing time length belongs to the second time length range.

And the switching unit is also used for controlling the massage device to start the heating function according to the heating starting instruction until the temperature of the massage device reaches the target temperature.

FIG. 8 is a block diagram of an electronic device in one embodiment. The electronic device may include, but is not limited to, the massage device, the treatment device, etc. described above. As shown in fig. 8, electronic device 800 may include one or more of the following components: the system comprises a processor 810, a memory 820 coupled with the processor 810, and a scroll wheel device 830 coupled with the processor 810, wherein the memory 820 may store one or more computer programs, and the one or more computer programs may be configured to implement the method described in the above embodiments when executed by the one or more processors 810.

Processor 810 may include one or more processing cores. The processor 810 interfaces with various interfaces and circuitry throughout the electronic device 800 to perform various functions and process data of the electronic device 800 by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 820 and invoking data stored in the memory 820. Alternatively, the processor 810 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 810 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 810, but may be implemented by a communication chip.

The Memory 820 may include a Random Access Memory (RAM) or a Read-Only Memory (ROM). The memory 820 may be used to store instructions, programs, code sets, or instruction sets. The memory 820 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The stored data area may also store data created during use by the electronic device 800, and the like.

It is understood that the electronic device 800 may include more or less structural elements than those shown in the above structural block diagrams, for example, a power module, a speaker, a bluetooth module, a sensor, etc., and is not limited herein.

The embodiment of the application discloses a neck massager, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is enabled to realize the method described in each embodiment.

The embodiment of the application discloses a computer readable storage medium, which stores a computer program, wherein the computer program realizes the method described in the above embodiment when being executed by a processor.

Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the method as described in the embodiments above.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a ROM, etc.

Any reference to memory, storage, database, or other medium as used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), and Direct Rambus DRAM (DRDRAM).

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.

In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present application, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, may be embodied in the form of a software product, stored in a memory, including several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of the embodiments of the present application.

The massage device, the control method of the massage device and the computer readable storage medium disclosed in the embodiments of the present application are described in detail, and the principles and embodiments of the present application are explained herein using specific examples, and the description of the embodiments is only used to help understand the method and the core idea of the present application. Meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The massage equipment is characterized by comprising a controller, a roller device and a massage device, wherein the controller is electrically connected with the roller device and the massage device respectively;

2. The massage apparatus according to claim 1, further comprising a voltage boost circuit, wherein the massage device comprises a pulse output circuit and at least two electrode plates, the voltage boost circuit is electrically connected to the controller and the pulse output circuit, respectively, and the pulse output circuit is further electrically connected to the at least two electrode plates;

the controller is further configured to send a voltage adjustment instruction to the voltage boost circuit after generating the voltage adjustment instruction according to the rolling direction;

the booster circuit is used for adjusting the pulse voltage input to the pulse output circuit according to the voltage adjusting instruction sent by the controller;

the pulse output circuit is used for generating pulse current according to the regulated pulse voltage output by the booster circuit and outputting the pulse current to the electrode slice.

3. The massage apparatus according to claim 1 or 2, wherein the controller is further configured to generate a first voltage adjustment command for increasing the pulse voltage input to the massage device to enhance the massage operation effect of the massage device when the rolling direction of the roller is a first direction;

the controller is further configured to generate a second voltage adjustment command when the rolling direction of the roller is a second direction, where the second voltage adjustment command is used to reduce the pulse voltage input to the massage device to reduce the massage operation effect of the massage device.

4. The massage apparatus of claim 1, wherein the roller device includes an encoder electrically connected to the controller;

the encoder is used for sending the first pulse signal once to the controller when the roller rotates for a preset angle along a first direction, and sending the second pulse signal once to the controller when the roller rotates for the preset angle along a second direction.

5. The massaging apparatus of claim 4, wherein the preset angle is determined according to the number of pulses output by the encoder during one rotation of the roller, the number of pulses matching the total number of gear positions of the massaging device.

6. The massaging apparatus of claim 5 wherein the predetermined angle is a ratio of 360 degrees to the number of pulses.

7. The massage apparatus as recited in any one of claims 4 to 6, wherein the controller is further configured to obtain a first number of the first pulse signals transmitted by the encoder during a preset time period and a second number of the second pulse signals transmitted by the encoder during the preset time period, determine a target gear according to the first number and the second number, and generate a voltage adjustment command corresponding to the target gear, wherein the voltage adjustment command is configured to adjust the pulse voltage input to the massage device so that the adjusted pulse voltage matches the target gear.

8. The massaging apparatus of claim 7, wherein the controller is further configured to calculate a difference between the first number and the second number after obtaining the first number and the second number, determine a gear adjustment direction and a number of gears to be adjusted according to the difference, and determine the target gear according to a current gear of the massaging device, the gear adjustment direction, and the number of gears to be adjusted.

9. The massage apparatus as recited in claim 8, wherein the controller is further configured to determine that the number of shifts to be performed is a preset number of shifts and determine that the target shift is a current shift of the massage device increased by the preset number of shifts if the difference is greater than a preset threshold, and determine that the target shift is a current shift of the massage device increased by a number of shifts matching the difference if the difference is greater than 0 and not greater than the preset threshold.

10. The massage apparatus as recited in claim 7, wherein the controller, after obtaining the first number and the second number, is further configured to determine the target gear as the current gear of the massage device plus 1 gear if the first number is greater than the second number, and determine the target gear as the current gear of the massage device minus 1 gear if the second number is greater than the first number.

11. The massage apparatus of claim 1, wherein the roller device comprises a button, the button being electrically connected to the controller;

the key is used for sending a pressing signal to the controller when the roller is pressed;

the controller is further configured to generate a state switching instruction according to the pressing signal, wherein the state switching instruction is used for switching the working state of the target function of the massage device.

12. The massage apparatus of claim 11, wherein the controller is further configured to determine a duration range to which a duration of the continuous reception of the pressing signal belongs, and to generate the state switching instruction according to the duration range.

13. The massage apparatus of claim 12, wherein the target function is a massage function;

the controller is further used for acquiring a target massage mode to be switched when the receiving duration of the pressing signal belongs to a first duration range, generating a mode switching instruction according to the target massage mode, and sending the mode switching instruction to the massage device;

the massage device is further used for switching to the target massage mode according to the mode switching instruction sent by the controller and executing massage operation corresponding to the target massage mode.

14. The massage apparatus of claim 12, wherein the massage device includes a heating module electrically connected to the controller, the target function being a heating function;

the controller is further configured to generate a heating start instruction when the receiving duration of the pressing signal belongs to a second duration range, and send the heating start instruction to the heating module;

the heating module is used for starting heating according to the heating starting instruction sent by the controller until the temperature of the heating module reaches a target temperature.

15. The massage apparatus as recited in claim 14, wherein the controller is further configured to generate a temperature adjustment command according to the pulse signal sent by the roller device after sending the heating start command to the heating module, wherein the temperature adjustment command is used for adjusting the target temperature.

16. A control method of a massage apparatus is applied to the massage apparatus, the massage apparatus includes a roller device and a massage device, the method includes:

17. The method of claim 16, wherein generating a voltage adjustment command based on the rolling direction and adjusting the pulse voltage input to the massage device based on the voltage adjustment command comprises:

when the rolling direction of the roller is a first direction, generating a first voltage regulating instruction, and increasing the pulse voltage input to the massage device according to the first voltage regulating instruction so as to enhance the massage operation effect of the massage device;

and when the rolling direction of the roller is a second direction, generating a second voltage regulating instruction, and reducing the pulse voltage input to the massage device according to the second voltage regulating instruction so as to reduce the massage operation effect of the massage device.

18. The method of claim 16, wherein acquiring the pulse signal generated by the roller device while the roller of the roller device is rotating comprises:

when the roller rotates for a preset angle along a first direction, acquiring a first pulse signal generated by an encoder of the roller device;

and when the roller rotates by the preset angle along a second direction, acquiring a second pulse signal generated by the encoder.

19. The method of claim 18, wherein generating a voltage adjustment command based on the rolling direction and adjusting the pulse voltage input to the massage device based on the voltage adjustment command comprises:

acquiring a first number of the first pulse signals generated by the encoder in a preset time length and a second number of the second pulse signals generated by the encoder in the preset time length;

determining a target gear according to the first quantity and the second quantity;

and generating a voltage regulation instruction corresponding to the target gear, and regulating the pulse voltage input to the massage device according to the voltage regulation instruction so as to enable the regulated pulse voltage to be matched with the target gear.

20. The method of claim 19, wherein determining a target gear based on the first and second numbers comprises:

calculating a difference value between the first quantity and the second quantity, and determining a gear adjusting direction according to the difference value, wherein the gear adjusting direction is an increasing gear when the difference value is greater than 0, and the gear adjusting direction is a decreasing gear when the difference value is less than 0;

determining the number of gears to be shifted according to the absolute value of the difference;

and determining the target gear according to the current gear of the massage device, the gear adjusting direction and the number of gears to be adjusted.

21. The method of claim 20, wherein determining the number of pending gears based on the absolute value of the difference comprises:

if the difference value is larger than a preset threshold value, determining that the gear number to be shifted is a preset gear number;

the determining the target gear according to the current gear of the massage device, the gear adjusting direction and the number of gears to be adjusted comprises the following steps:

and determining the target gear as the current gear of the massage device and increasing the preset gear.

22. The method of claim 19, wherein determining a target gear based on the first and second numbers comprises:

if the first number is larger than the second number, determining that the target gear is the current gear plus 1 gear of the massage device;

and if the second number is larger than the first number, determining that the target gear is the current gear minus 1 gear of the massage device.

23. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, causes the processor to carry out the method of any one of claims 16 to 22.

24. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 16 to 22.