CN115531185A - Massage control method and device of massage instrument and massage instrument - Google Patents

Abstract

The application provides a massage control method and device of a massage instrument and the massage instrument, and relates to the technical field of massage instruments. The method comprises the following steps: the method comprises the steps of obtaining the size of a target massage area, obtaining the position of bones in the target massage area according to the size of the target massage area and the type of the target massage area, determining the positions of preset acupuncture points according to the position of the bones in the target massage area and the position relation between the preset acupuncture points and the bones in the target massage area, and controlling a massage head to massage according to the positions of the preset acupuncture points. The acupuncture point locating device can accurately locate and massage acupuncture points of a user, and improves user experience.

Description

Massage control method and device for massager and massager

technical field

The invention relates to the technical field of massage instruments, in particular to a massage control method and device for a massage instrument and a massage instrument.

Background technique

Long-term physical labor, exercise and fitness, or sedentary office work are all causes of human muscle fatigue. Massage and massage on human acupoints can effectively relieve muscle fatigue.

Professional massage needs to go to a Chinese massage shop and ask a professional massage technician to perform a massage. Although this method can meet people's needs, it is very time-consuming and cannot be pressed at will. For this reason, various massage instruments have been released on the market, so that people can enjoy massage without going to a massage shop.

However, the massage techniques of the massagers currently on the market are usually in a fixed mode. Due to individual differences, acupoint massage cannot be effectively achieved, and the user experience is still not high.

Contents of the invention

The object of the present invention is to provide a massage control method and device for a massager, and a massager, so as to accurately locate and massage the acupoints of a user and improve user experience.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

In the first aspect, the embodiment of the present application provides a massage control method for a massager, which is applied to a controller of a massager, and the massager includes: a plurality of massage heads; the method includes:

Obtain the size of the target massage area;

According to the size of the target massage area and the type of the target massage area, acquire the position of the bones in the target massage area;

determining the positions of the preset acupuncture points according to the positions of the bones in the target massage area and the positional relationship between the preset acupuncture points and the bones in the target massage area;

According to the positions of the preset acupoints, the massage head is controlled to perform massage.

Optionally, the massager also includes: a plurality of connecting shafts, one end of each connecting shaft is adjustable connected to the corresponding massage head, and the other end of the connecting shaft is connected to the main body of the massager , and the controller of the massager is communicatively connected with each of the massage heads;

According to the positions of the preset acupuncture points, the massage head is controlled to perform massage, including:

According to the position of the preset acupuncture point, control each of the massage heads to move to the position of the preset acupuncture point centering on the connecting shaft;

Each of the massage heads is controlled to massage the preset acupoints according to a preset massage mode for the preset acupoints.

Optionally, there are multiple preset acupoints, and the massage head is controlled to perform massage according to the positions of the preset acupoints, including:

Determine the displacement and/or rotation angle of each massage head for massage according to the positions of the plurality of preset acupuncture points;

According to the massage displacement and/or the rotation angle of each massage head, each massage head is controlled to perform massage according to a preset massage sequence.

Optionally, the massager is a shoulder and neck massager; the size of the target massage area includes: the length of the cervical spine;

The acquiring the position of the bones in the target massage area according to the size of the target massage area and the type of the target massage area includes:

Calculating the positions of multiple cervical vertebrae according to the length of the cervical vertebrae;

The determining the position of the preset acupuncture point according to the position of the bone in the target massage area and the positional relationship between the preset acupuncture point and the bone in the target massage area includes:

The positions of the preset shoulder and neck points are determined according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder and neck point and the plurality of cervical vertebrae.

Optionally, determining the positions of the preset shoulder and neck points according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder and neck points and the plurality of cervical vertebrae includes:

determining the positions of the preset neck acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset neck acupoints and the plurality of cervical vertebrae;

According to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder acupoints and the plurality of cervical vertebrae, the positions of the preset shoulder acupoints are determined.

Optionally, the multiple massage heads include: shoulder massage heads and neck massage heads;

The acquisition of the size of the target massage area includes:

obtaining the included angle of the power arm between the neck massage head and the shoulder massage head;

Determine the height of the cervical spine according to the positions of the neck massage head and the shoulder massage head;

The length of the cervical spine is calculated according to the height of the cervical spine and the included angle of the dynamic arm.

Optionally, the massager further includes: an operating mechanism, the operating mechanism is connected to the main body of the massager through the connecting shaft;

The acquisition of the size of the target massage area includes:

The movement of the running mechanism is controlled from the limit position of the shoulder to the intersection of the neck and the head, and the running distance of the running mechanism is determined as the length of the cervical spine.

Optionally, the massager is a waist massager; the size of the target massage area includes: lumbar length;

The acquiring the position of the bones in the target massage area according to the size of the target massage area and the type of the target massage area includes:

Calculate the positions of multiple lumbar vertebrae according to the length of the lumbar vertebrae;

The determining the position of the preset acupuncture point according to the position of the bone in the target massage area and the positional relationship between the preset acupuncture point and the bone in the target massage area includes:

According to the positions of the plurality of lumbar vertebrae and the positional relationship between the preset lumbar acupoints and the plurality of lumbar vertebrae, the positions of the preset lumbar acupoints are determined.

Optionally, the acquiring the size of the target massage area includes:

Acquiring multiple deviation angles of the massage heads in the vertical direction;

Determine the height of the lumbar spine according to the positions of the upper and lower massage heads of the waist massager;

The lumbar length is calculated according to the lumbar height and the deviation angle.

In the second aspect, the embodiment of the present application also provides a massage control device for a massager, which is applied to a controller of a massager. The massager includes: a plurality of massage heads; the device includes:

A size acquisition module, used to acquire the size of the target massage area;

A bone position acquiring module, configured to acquire the position of bones in the target massage area according to the size of the target massage area and the type of the target massage area;

An acupoint position determining module, configured to determine the position of the preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area;

The massage control module is used to control the massage head to perform massage according to the positions of the preset acupuncture points.

Optionally, the massager also includes: a plurality of connecting shafts, one end of each connecting shaft is adjustable connected to the corresponding massage head, and the other end of the connecting shaft is connected to the main body of the massager , and the controller of the massager communicates with each of the massage heads; the massage control module includes:

A movement control unit, configured to control each of the massage heads to move to the position of the preset acupoint around the connecting shaft according to the position of the preset acupoint;

The massage control unit is configured to control each of the massage heads to massage the preset acupoints according to a preset massage mode for the preset acupoints.

Optionally, there are multiple preset acupuncture points, and the massage control module includes:

A massage head parameter control unit, configured to determine the displacement and/or rotation angle of each massage head for massaging according to the positions of a plurality of preset acupoints;

The massage control unit is configured to control each massage head to perform massage according to the massage displacement and/or the rotation angle of each massage head according to a preset massage sequence.

Optionally, the massager is a shoulder and neck massager; the size of the target massage area includes: the length of the cervical spine; the bone position acquisition module is specifically used to calculate the positions of multiple cervical vertebrae according to the length of the cervical spine;

The acupoint position determining module is specifically configured to determine the position of the preset shoulder and neck acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder and neck acupoints and the plurality of cervical vertebrae.

Optionally, the acupoint position determination module includes:

A cervical acupoint position determination unit, configured to determine the position of the preset cervical acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset cervical acupoints and the plurality of cervical vertebrae;

The shoulder acupoint position determining unit is configured to determine the position of the preset shoulder acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder acupoint and the plurality of cervical vertebrae.

Optionally, the multiple massage heads include: shoulder massage heads and neck massage heads; the size acquisition module includes:

An included angle obtaining unit, configured to obtain the included angle of the power arm between the neck massage head and the shoulder massage head;

a cervical spine height acquiring unit, configured to determine the cervical spine height according to the positions of the neck massage head and the shoulder massage head;

The cervical spine length calculation unit is configured to calculate the cervical spine length according to the cervical spine height and the included angle of the dynamic arm.

Optionally, the massager further includes: an operating mechanism, the operating mechanism is connected to the main body of the massager through the connecting shaft; the size acquisition module is also used to control the operating mechanism from the shoulder limit The position is moved to the intersection of the neck and the head, and the running distance of the running mechanism is determined to be the length of the cervical spine.

Optionally, the massager is a waist massager; the size of the target massage area includes: the length of the lumbar spine; the bone position acquisition module is specifically used to calculate the positions of multiple lumbar vertebrae according to the length of the lumbar spine;

The acupoint position determination module is specifically configured to determine the position of the preset lumbar acupoints according to the positions of the plurality of lumbar vertebrae and the positional relationship between the preset lumbar acupoints and the plurality of lumbar vertebrae.

Optionally, the size acquisition module includes:

a deviation angle acquisition unit, configured to acquire a plurality of deviation angles of the massage heads in the vertical direction;

A lumbar spine height acquisition unit, configured to determine the lumbar spine height according to the positions of the upper and lower massage heads of the waist massager;

A lumbar length calculating unit, configured to calculate the lumbar length according to the lumbar height and the deviation angle.

In the third aspect, the embodiment of the present application also provides a massager, including: a processor, a storage medium, and a bus, the storage medium stores program instructions executable by the processor, and when the massager is running, the processing The processor communicates with the storage medium through a bus, and the processor executes the program instructions to execute the steps of the massage control method of the massager according to any one of the first aspect.

In the fourth aspect, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the massage device according to any one of the first aspect. The steps of the control method.

The beneficial effect of this application is:

The application provides a massage control method and device for a massager, and a massager. By acquiring the size of the target massage area, the position of the bones in the target massage area is obtained according to the size of the target massage area and the type of the target massage area. The positions of the bones in the area and the positional relationship between the preset acupuncture points and the bones in the target massage area determine the positions of the preset acupuncture points, so as to control the massage head to perform massage according to the positions of the preset acupuncture points. By determining the position of the bones in the user's target massage area according to the size of the user's target massage area, the position of the preset acupoints can be precisely positioned according to the position of the bones, and the problem of inability to accurately massage the acupoints due to individual differences can be solved. Through Accurately locate and massage the acupuncture points of the user to improve the user experience.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 is a schematic flowchart of a first embodiment of a massage control method for a massager provided by the present application;

Fig. 2 is a schematic flow chart of the second embodiment of the massage control method of the massager provided by the present application;

FIG. 3 is a schematic flowchart of a third embodiment of a massage control method for a massager provided by the present application;

FIG. 4 is a schematic flowchart of a fourth embodiment of a massage control method for a massager provided by the present application;

FIG. 5 is a schematic flowchart of a fifth embodiment of a massage control method for a massager provided by the present application;

Fig. 6 is a schematic diagram of an embodiment of the wearing shoulder and neck massager provided by the present application;

Fig. 7 is a schematic structural view of an embodiment of the shoulder and neck massager provided by the present application;

Fig. 8 is a schematic flowchart of the sixth embodiment of the massage control method of the massager provided by the present application;

FIG. 9 is a schematic flowchart of a seventh embodiment of a massage control method for a massager provided by the present application;

FIG. 10 is a schematic structural view of an embodiment of a massage control device for a massager provided by the present application;

Fig. 11 is a schematic structural view of an embodiment of the massager provided by the present application.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments.

Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

In the description of this application, it should be noted that if the orientation or positional relationship indicated by the terms "upper", "lower", etc. appear, it is based on the orientation or positional relationship shown in the drawings, or is the usual practice when using the product of this application. The orientation or positional relationship of placement is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a reference to this application. limits.

In addition, the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

It should be noted that, in the case of no conflict, the features in the embodiments of the present application may be combined with each other.

This application intends to provide a massage control method and device for a massager, and a massager. According to the size of the user's target massage area and the type of the target massage area, the position of the bone in the target massage area is determined, so that according to the position of the bone and the target massage area The positional relationship between the preset acupuncture points and the bones realizes the precise positioning of the user's preset acupuncture points, so as to control the massage head of the massager to massage the preset acupuncture points.

The massager includes: a main body, a controller, a plurality of massage heads and a plurality of connecting shafts. The connecting shafts are movable, the other ends of the multiple connecting shafts are connected to the main body, and the controller communicates with each massage head to control the movement and massage of the massage heads.

It should be noted that the massager provided in the embodiment of the present application can be a physical massager, which acts on the muscle layer where the predetermined acupoint is located for mechanical massage through physical kneading; it can also be an electric stimulation massager, which interacts with the human body through a conductive sheet The preset acupoints are contacted, and the muscles at the preset acupoints are stimulated by electric current to relax. The massager can be a massager for different areas, such as a cervical spine massager, a lumbar massager, a back massager, a leg massager, etc., and its corresponding massage head is a massage head that can massage the location. Not specifically limited.

Based on the above-mentioned massager, the present application provides a massage control method and device for a massager, which are applied to the controller in the above-mentioned massager.

Please refer to FIG. 1 , which is a schematic flow chart of the first embodiment of the massage control method for a massager provided by the present application. As shown in FIG. 1 , the method includes:

S10: Obtain the size of the target massage area.

In this embodiment, the target massage area is the massage area targeted by the massager. According to the massage area targeted by the massager, the massager is worn on the target massage area to obtain the size of the target massage area. The target massage area may be a shoulder and neck massage area, a waist massage area, a leg massage area, a foot massage area, etc., which are not limited in this embodiment.

In a possible implementation, the way to obtain the size of the target massage area can be as follows: wearing multiple massage heads of the massager on the designated positions of the target massage area, and determining the target area according to the distance between the multiple massage heads. The dimensions of the massaged area.

S20: According to the size of the target massage area and the type of the target massage area, acquire the positions of the bones in the target massage area.

In this embodiment, the massage areas are classified according to the massage areas supported by the massager. The types and distribution of bones in different massage areas are different. Distribution position within the massage area.

Wherein, the memory of the massager can pre-store the types of different massage areas, for example, the types of different massage areas such as shoulders, neck, waist, legs, and soles. The type of the target massage area currently being massaged by the massager can be set by the user, or can be determined by the massager according to the size of the target massage area. Or, for massagers with different functions, the type of the target massage area for massage by the massager can be set by default. For example, if the shoulder and neck massager performs massage, then the target massage area can be determined to be the shoulder and neck massage area.

In some embodiments, the position of the bone in the target massage area of the wearer can be determined according to the relationship between the standard size of the target massage area in the standard human body diagram and the position of the bone.

S30: Determine the positions of the preset acupuncture points according to the positions of the bones in the target massage area and the positional relationship between the preset acupuncture points and the bones in the target massage area.

In this embodiment, according to the acupoint distribution table summarized by the Chinese medicine industry, the positional relationship between the preset acupoints and the bones in the target massage area in the standard human body map is determined, and according to the position of the bones in the target massage area and the positional relationship between the preset acupoints and the bones, Determine the location of preset acupuncture points within the targeted massage area.

In some embodiments, if multiple preset acupuncture points in the target massage area need to be massaged, the positional relationship between at least one preset acupuncture point that can be located through the bone and the bone can be determined from the multiple preset acupuncture points according to the acupuncture point distribution table , according to the position of the bone in the target massage area and the positional relationship between at least one preset acupuncture point and the bone, determine the position of at least one preset acupuncture point in the target massage area; then according to the relationship between at least one preset acupuncture point and other preset acupuncture points in the acupuncture point distribution table According to the position of at least one preset acupoint in the target massage area and the positional relationship between at least one preset acupoint and other preset acupoints, the positions of other preset acupoints are determined.

S40: According to the positions of preset acupoints, control the massage head to perform massage.

In this embodiment, after the position of the preset acupoint is determined, the massage head is controlled to move to the position of the preset acupoint, and then the preset acupoint is massaged.

In a possible implementation, if the number of preset acupoints is equal to the number of multiple massage heads, each massage head is controlled to massage the corresponding preset acupoints, and after the massage is completed, each massage head is controlled to stop massaging and wait for the user to Re-enter the massage command to the controller.

It should be noted that the input of each massage command can be input before the controller executes S10, that is, after the user inputs the massage command, the controller executes the process of S10-S40 to complete the positioning and massage of the preset acupuncture points; After the user wears the massager, he first inputs the acupoint determination command, the controller executes the process of S10-S30 to determine the position of the preset acupoint, and then the user inputs the massage command, and the controller executes the process of S40 to perform the preset acupoint position. massage.

In another possible implementation, if the number of preset acupuncture points is greater than the number of multiple massage heads, each massage head is controlled to massage the corresponding first group of preset acupuncture points, and each massage head is controlled to move to the The positions of the second group of preset acupuncture points are massaged to the corresponding first group of preset acupuncture points.

In some embodiments, the massager further includes: a plurality of connecting shafts, one end of each connecting shaft is adjustable connected to the corresponding massage head, and the other end of the connecting shaft is connected to the main body of the massager , and the controller of the massager is communicatively connected with each of the massage heads; please refer to FIG. 2, which is a schematic flow chart of the second embodiment of the massage control method of the massager provided by the present application. As shown in FIG. 2, the above S40 According to the position of preset acupoints, the process of controlling the massage head to perform massage can include:

S41: According to the position of the preset acupuncture point, control each massage head to move to the position of the preset acupuncture point centered on the connecting shaft.

S42: Control each massage head to massage the preset acupoints according to the preset massage method for the preset acupoints.

In this embodiment, after the controller calculates the position of the preset acupuncture point, it controls each massage head to move to the position of the corresponding preset acupuncture point with its respective connection axis as the axis, and after determining that each massage head reaches the corresponding After the positions of the acupuncture points are preset, the corresponding preset acupuncture points are massaged according to the preset massage modes for the preset acupuncture points.

In one embodiment, if the massager is a physical massager, the massage method is similar to the massage techniques in the Chinese medicine industry, which may include kneading massage, beating massage, kneading hammer massage, finger pressure massage, telescopic massage, etc. Multiple massage frequencies corresponding to various massage modes are also set in the device for the user to choose. If the user does not select, one massage frequency is determined from the multiple massage frequencies as the default massage frequency.

In another embodiment, if the massager is an electric stimulation massager, the massage method includes a variety of electric stimulation currents with different current values, and the different preset acupuncture points in the target massage area can be determined according to the type of the target massage area. The current value of the electrical stimulation current. At the same time, multiple current values are set in the controller for user adjustment. If the user does not adjust, one current value is determined from the multiple current values as the default current value.

The massage control method of the massager provided by the above-mentioned embodiment determines the position of the bone in the user's target massage area according to the size of the user's target massage area, so as to accurately locate the position of the preset acupuncture point according to the position of the bone, and solve the problem caused by individual differences. Due to the problem of not being able to accurately massage the acupuncture points, the user's experience can be improved by accurately positioning and massaging the user's acupuncture points.

In some embodiments, please refer to FIG. 3 , which is a schematic flowchart of the third embodiment of the massage control method for a massager provided by the present application. As shown in FIG. 3 , there are multiple preset acupuncture points. The position of the massage head is controlled to perform the massage process, which can include:

S43: Determine the displacement and/or rotation angle of each massage head for massage according to the positions of a plurality of preset acupoints.

S44: Control each massage head according to the massage displacement and/or rotation angle of each massage head to perform massage according to a preset massage sequence.

Wherein, after the controller calculates the positions of multiple preset acupuncture points, it can control each massage head to move or rotate to the positions of multiple preset acupuncture points in turn with their respective connecting shafts as the axis. Considering different target massage In the area, the distance between the positions of multiple preset acupoints is different, so the displacement or rotation angle of massage massage is also different. Therefore, each massage head can be controlled according to the preset displacement or rotation angle of each massage head. Tuina sequence, massage massage.

In the massage control method of the massager provided in the above embodiments, the displacement and/or rotation angle of each massage head is determined according to the positions of a plurality of preset acupoints, so as to control the movement of each massage head according to the displacement and/or rotation angle of massage To the preset acupuncture points, complete the massage of multiple preset acupuncture points, and improve the user experience by accurately positioning and massaging the user's acupuncture points.

On the basis of the above embodiments, the embodiment of the present application further provides a massage control method for a massager, which is aimed at a shoulder and neck massager. Please refer to FIG. 4, which is a schematic flow chart of the fourth embodiment of the massage control method of the massager provided by the present application. As shown in FIG. 4, for the shoulder and neck massager, the size of the target massage area includes: the length of the cervical spine, and the method includes:

S11: Obtain the length of the cervical spine.

In this embodiment, the target massage area is the shoulder and neck massage area, and the massager is worn on the shoulder and neck massage area to obtain the length of the cervical spine in the shoulder and neck massage area.

In a possible implementation, the method of obtaining the length of the cervical spine in the shoulder and neck massage area may be as follows: wearing multiple massage heads of the shoulder and neck massager on designated positions in the shoulder and neck massage area, and according to the to determine the length of the cervical spine in the shoulder and neck massage area. Wherein, the specified position of the shoulder and neck massage area may include: a specified position of the shoulder and a specified position of the neck.

S12: Calculate the positions of multiple cervical vertebrae according to the length of the cervical vertebrae.

In this embodiment, the cervical vertebrae are composed of seven cervical vertebrae, and the positions of the multiple cervical vertebrae can be calculated according to the proportions of the lengths of the seven cervical vertebrae in the entire cervical vertebrae of the human body and the length of the cervical vertebrae.

其中，n＝1、2、3、4、5、6、7。For example, if the length of the cervical vertebra is L, then the position of each cervical vertebra is

Wherein, n=1, 2, 3, 4, 5, 6, 7.

S13: Determine the preset positions of the shoulder and neck points according to the positions of the multiple cervical vertebrae and the positional relationship between the preset shoulder and neck point and the multiple cervical vertebrae.

In this embodiment, according to the acupoint distribution table summarized by the Chinese medicine industry, the positional relationship between the preset shoulder and neck acupoints and the cervical vertebra in the shoulder and neck massage area in the standard human body map is determined, and according to the position of the cervical vertebra in the shoulder and neck massage area, and the preset The relationship between the shoulder and neck acupoints and the cervical vertebrae determines the preset position of the shoulder and neck acupoints in the shoulder and neck massage area.

S14: Control the massage head to perform massage according to the preset positions of the shoulder and neck acupuncture points.

In this embodiment, after the predetermined position of the shoulder and neck acupoint is determined, the massage head is controlled to move to the position where the predetermined shoulder and neck acupoint is located, and then the preset shoulder and neck acupoint is massaged.

In a possible implementation, the process of determining the positions of the preset shoulder and neck points according to the positions of multiple cervical vertebrae and the positional relationship between the preset shoulder and neck point and multiple cervical vertebrae in S13 may include:

According to the positions of multiple cervical vertebrae, and the positional relationship between the predetermined neck point and multiple cervical vertebrae, determine the position of the preset neck point; according to the position of multiple cervical vertebrae, and the relationship between the preset shoulder point and multiple cervical vertebrae The relationship between bone position and determine the position of preset shoulder acupoints.

In this embodiment, according to the acupoint distribution table summarized by the Chinese medicine industry, the positional relationship between the preset shoulder acupoints and the cervical vertebrae in the shoulder and neck massage area in the standard human body map, and the positional relationship between the preset neck acupoints and the cervical vertebrae are determined, according to The position of the cervical vertebrae in the shoulder and neck massage area and the positional relationship between the preset shoulder acupoints and the cervical vertebrae determine the position of the preset shoulder acupoints in the shoulder and neck massage area; according to the position of the cervical vertebrae in the shoulder and neck massage area and the preset neck The positional relationship between the acupuncture points on the neck and the cervical spine, and determine the position of the preset neck points in the shoulder and neck massage area.

In another possible implementation, the position of the preset shoulder acupoints in the shoulder and neck massage area can be determined first according to the position of the cervical vertebrae in the shoulder and neck massage area and the positional relationship between the preset shoulder acupoints and the cervical vertebrae, and then According to the positional relationship between the preset shoulder acupoints and the preset neck acupoints, determine the positions of the preset neck acupoints in the shoulder and neck massage area; or, firstly, according to the position of the cervical vertebra in the shoulder and neck massage area and the preset neck acupoints and The positional relationship of the cervical vertebrae determines the position of the preset neck acupoints in the shoulder and neck massage area, and then determines the position of the preset shoulder acupoints in the shoulder and neck massage area according to the positional relationship between the preset shoulder acupoints and the preset neck acupoints.

For example, if the preset shoulder and neck acupoints include: shoulder acupoints: a set of Jianjing points, neck acupoints: a set of Fengchi acupoints and a set of Tianguang acupoints, and the massager includes a set of massage heads, then according to the preset shoulder and neck The location of acupoints, control a group of massage heads to massage in the order of Fengchi, Tianchuang, and Jianjing. During the massage of each acupoint, the user can adjust the massage frequency or current value of the massager. If the massager includes two groups of massage heads: shoulder massage head and neck massage head, the shoulder massage head will massage the Jianjing point, and the neck massage head will massage the Fengchi point and Tianchuang point respectively. Fengchi point and then massage Tianchuang point.

The massage control method of the massager provided by the above-mentioned embodiment determines the position of the cervical vertebra in the shoulder and neck massage area of the user according to the length of the cervical spine in the shoulder and neck massage area of the user, so as to accurately determine the position of the preset shoulder and neck acupoints according to the position of the cervical vertebra. Positioning, to solve the problem of inability to accurately massage the shoulder and neck points due to individual differences, and improve the user experience by accurately positioning and massaging the user's shoulder and neck points.

On the basis of the above embodiments, the embodiment of the present application further provides a massage control method of a massager. Please refer to Fig. 5, which is a schematic flow chart of the fifth embodiment of the massage control method of the massager provided by the present application. As shown in Fig. 5, for the shoulder and neck massager, a plurality of massage heads include: a shoulder massager and a neck massager First, the process of obtaining the length of the cervical spine in the above S11 may include:

S111: Obtain the included angle of the power arm between the neck massage head and the shoulder massage head.

For example, please refer to Fig. 6, which is a schematic diagram of an embodiment of wearing a shoulder and neck massager provided by this application, please refer to Fig. 7, which is a schematic structural diagram of an embodiment of a shoulder and neck massager provided by this application, such as As shown in Figures 6 and 7, a neck massage head 11 and a shoulder massage head 12 are adjustable connected to a connecting shaft 13, and both the neck massage head and the shoulder massage head move around the corresponding connecting shaft. Adjust the wearing positions of the neck massage head and the shoulder massage head in the preset shoulder and neck area, so that a certain power arm angle α is formed between the neck massage head and the shoulder massage head.

S112: Determine the height of the cervical spine of the user according to the positions of the neck massage head and the shoulder massage head.

In this embodiment, the user's cervical spine height h is determined by acquiring the distance between the upper part of the neck massage head and the lower part of the shoulder massage head.

In some embodiments, a standard coordinate system is established, and according to the positions of the neck massage head and the shoulder massage head in the initial default state, the distance between the neck massage head and the shoulder massage head in the initial default state is calculated as the initial distance, After wearing the shoulder and neck massager on the shoulder and neck area, calculate the positions of the neck massage head and the shoulder massage head in the wearing state according to the angles between the neck massage head and the shoulder massage head and the connection axis respectively. The position of the neck massage head and the shoulder massage head in the wearing state is calculated, and the distance between the neck massage head and the shoulder massage head in the wearing state is calculated, and the distance is used as the height of the cervical spine of the user.

S113: Calculate the length of the cervical spine according to the height of the cervical spine and the included angle of the dynamic arm.

In this embodiment, the angle between the power arm between the neck massage head and the shoulder massage head is used as the inclination angle α of the user's cervical spine, and the length L of the user's cervical spine is calculated according to the height h of the cervical spine and the inclination angle α of the cervical spine. For example, the length of the user's cervical spine

In a possible implementation manner, the massager also includes an operating mechanism, which can be adjustably connected to the main body of the massager through a connecting shaft. Based on the operating mechanism, the process of obtaining the length of the cervical spine in S11 above may also include:

Control the movement of the operating mechanism from the extreme position of the shoulder to the intersection of the neck and the head, and determine the running distance of the operating mechanism as the length of the cervical spine of the user.

In this embodiment, in the process of wearing the massager, the operating mechanism of the massager is worn at the limit position of the shoulder, and the controller controls the upward movement from the limit position of the shoulder. When it is detected that the running resistance of the operating mechanism increases, Determine that the running mechanism runs to the intersection of the neck and the head, and determine the length of the user's cervical spine according to the running distance of the running mechanism.

In the massage control method of the massager provided in the above embodiments, the length of the cervical spine is calculated according to the included angle of the power arm between the neck massage head and the shoulder massage head and the height of the cervical spine, so that the position of the cervical spine determined according to the length of the cervical spine can be determined Preset the position of the shoulder and neck acupoints to achieve accurate calculation of the user's cervical spine length under different postures for different users, so as to realize the precise positioning of the preset shoulder and neck acupoints. By accurately positioning and massaging the user's shoulder and neck acupoints, Improve user experience.

On the basis of the above embodiments, the embodiment of the present application further provides a massage control method for a massager, which is aimed at a waist massager. Please refer to FIG. 8, which is a schematic flow chart of the sixth embodiment of the massage control method of the massager provided by the present application. As shown in FIG. 8, for the waist massager, the size of the target massage area includes: the length of the lumbar spine, and the method includes:

S21: Obtain the length of the lumbar spine.

In this embodiment, the target massage area is the waist massage area, and the massager is worn on the waist massage area to obtain the length of the lumbar spine in the waist massage area.

In a possible implementation, the method of obtaining the length of the lumbar spine in the waist massage area may be: wearing multiple massage heads of the waist massage instrument at designated positions in the waist massage area, and according to the distance between the multiple massage heads, Determine the length of the lumbar spine in the lumbar massage area.

S22: Calculate the positions of multiple lumbar vertebrae according to the length of the lumbar vertebrae.

In this embodiment, the lumbar vertebrae are composed of five lumbar vertebrae, and the positions of the multiple lumbar vertebrae can be calculated according to the proportions of the lengths of the five lumbar vertebrae in the entire lumbar vertebrae of the human body and the length of the lumbar vertebrae.

S23: Determine the positions of the preset lumbar acupoints according to the positions of the multiple lumbar vertebrae and the positional relationship between the preset lumbar acupoints and the multiple lumbar vertebrae.

In this embodiment, according to the acupoint distribution table summarized by the Chinese medicine industry, the positional relationship between the preset waist acupoints and the lumbar vertebrae in the waist massage area in the standard human body map is determined, according to the position of the lumbar vertebrae in the waist massage area, and the preset waist acupoints and lumbar vertebrae. The positional relationship of the lumbar vertebrae determines the position of the preset lumbar acupoints in the lumbar massage area.

S24: Control the massage head to perform massage according to the preset waist acupoint positions.

In this embodiment, after the position of the preset waist acupoint is determined, the massage head is controlled to move to the position where the preset waist acupoint is located, and then the preset waist acupoint is massaged.

The massage control method of the massager provided by the above embodiment determines the position of the lumbar vertebra in the user's waist massage area according to the length of the lumbar spine in the user's waist massage area, so as to accurately locate the position of the preset waist acupoints according to the position of the lumbar vertebra, and solve the problem of Due to individual differences, it is impossible to accurately massage the waist acupoints. By accurately positioning and massaging the user's waist acupoints, the user experience can be improved.

On the basis of the above embodiments, the embodiment of the present application further provides a massage control method of a massager. Please refer to FIG. 9, which is a schematic flow chart of the seventh embodiment of the massage control method of the massager provided by the present application. As shown in FIG. 9, the process of obtaining the length of the lumbar spine in S21 above may include:

S211: Obtain the deviation angles of the multiple massage heads in the vertical direction.

S212: Determine the user's lumbar height according to the positions of the upper and lower massage heads of the waist massager.

S213: Calculate the length of the lumbar spine according to the height of the lumbar spine and the deviation angle.

In this embodiment, the gravity direction of the main body of the massager is used as the vertical direction to determine the deviation angles of multiple massage heads relative to the vertical direction, and by obtaining the angle between the upper and lower massage heads centered on the main body among the multiple massage heads The distance is to determine the height of the user's lumbar spine, and the deviation angle of multiple massage heads in the vertical direction is used as the inclination angle of the user's lumbar spine, and the length of the user's lumbar spine is calculated according to the height of the lumbar spine and the inclination angle of the lumbar spine.

In some embodiments, a standard coordinate system is established, and the distance between the upper and lower massage heads in the initial default state is calculated as the initial distance according to the positions of the upper and lower massage heads in the initial default state, and the waist massager is worn on the waist area Finally, according to the angle between the upper and lower massage heads and the connecting shaft, calculate the positions of the upper and lower massage heads in the wearing state, and calculate the positions of the upper and lower massage heads in the wearing state according to the positions of the upper and lower massage heads in the wearing state. The distance in the wearing state, the distance is taken as the height of the user's lumbar spine.

The massage control method of the massager provided by the above-mentioned embodiments calculates the length of the lumbar spine according to the deviation angle of the massage head and the height of the lumbar spine, so that the position of the lumbar spine determined according to the length of the lumbar spine determines the position of the preset lumbar acupoints, so as to achieve different users. Accurately calculate the length of the user's lumbar spine in different postures, so as to realize the precise positioning of the preset waist acupoints, and improve the user's experience by accurately positioning and massaging the user's waist acupoints.

It should be noted that, since the length of the cervical spine is different from that of the lumbar spine, the size of the shoulder and neck massager and the waist massager adopting the massage control method of the massager provided in the embodiment of the present application are different.

On the basis of the foregoing method embodiments, embodiments of the present application further provide a massage control device for a massager, which is applied to a controller of a massager, and the massager includes: a plurality of massage heads. Please refer to FIG. 10, which is a schematic structural diagram of an embodiment of a massage control device for a massager provided by the present application. As shown in FIG. 10, the device includes:

Size acquisition module 10, used to acquire the size of the target massage area;

The bone position acquisition module 20 is used to acquire the position of the bones in the target massage area according to the size of the target massage area and the type of the target massage area;

The acupoint position determining module 30 is used to determine the position of the preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area;

The massage control module 40 is used to control the massage head to perform massage according to the positions of preset acupuncture points.

Optionally, the massager also includes: a plurality of connecting shafts, one end of each connecting shaft is adjustable connected to the corresponding massage head, the other end of the connecting shaft is connected to the main body of the massager, and the controller of the massager is connected to each massager Head communication connection; massage control module 40, comprising:

The mobile control unit is used to control the movement of each massage head to the preset position of the preset point with the connecting shaft as the center according to the position of the preset point;

The massage control unit is used for controlling each massage head to massage the preset acupoints according to the preset massage mode for the preset acupoints.

Optionally, there are multiple preset acupuncture points, and the massage control module 40 includes:

The massage head parameter control unit is used to determine the displacement and/or rotation angle of each massage head for massage according to the positions of multiple preset acupuncture points;

The massage control unit is used to control each massage head to perform massage according to the preset massage sequence according to the displacement and/or rotation angle of each massage head.

Optionally, the massager is a shoulder and neck massager; the size of the target massage area includes: the length of the cervical spine; the bone position acquisition module 20 is specifically used to calculate the positions of multiple cervical vertebrae according to the length of the cervical spine;

The acupoint position determination module 30 is specifically configured to determine the positions of the preset shoulder and neck acupoints according to the positions of multiple cervical vertebrae and the positional relationship between the preset shoulder and neck acupoints and the multiple cervical vertebrae.

Optionally, the acupoint position determination module 30 includes:

The cervical acupoint position determination unit is used to determine the position of the preset neck acupoint according to the positions of multiple cervical vertebrae and the positional relationship between the preset neck acupoint and the multiple cervical vertebrae;

The shoulder acupoint position determining unit is used for determining the position of the preset shoulder acupoint according to the positions of multiple cervical vertebrae and the positional relationship between the preset shoulder acupoint and the multiple cervical vertebrae.

Optionally, a plurality of massage heads include: a shoulder massage head and a neck massage head; the size acquisition module 10 includes:

An included angle obtaining unit, configured to obtain the included angle of the power arm between the neck massage head and the shoulder massage head;

The cervical spine height acquisition unit is used to determine the user's cervical spine height according to the positions of the neck massage head and the shoulder massage head;

The cervical spine length calculation unit is used to calculate the cervical spine length according to the cervical spine height and the included angle of the dynamic arm.

Optionally, the massager also includes: an operating mechanism, the operating mechanism is connected to the main body of the massager through a connecting shaft; the size acquisition module 10 is also used to control the movement of the operating mechanism from the extreme position of the shoulder to the intersection of the neck and the head, Determine the running distance of the running mechanism as the length of the user's cervical spine.

Optionally, the massager is a waist massager; the size of the target massage area includes: the length of the lumbar spine; the bone position acquisition module 20 is specifically used to calculate the positions of multiple lumbar vertebrae according to the length of the lumbar spine;

The acupoint position determining module 30 is specifically configured to determine the positions of the preset lumbar acupoints according to the positions of the multiple lumbar vertebrae and the positional relationship between the preset lumbar acupoints and the multiple lumbar vertebrae.

Optionally, the dimension acquisition module 10 includes:

A deviation angle acquiring unit, configured to acquire the deviation angles of a plurality of massage heads in the vertical direction;

The lumbar spine height acquisition unit is used to determine the user's lumbar spine height according to the positions of the upper and lower massage heads of the waist massager;

The lumbar spine length calculation unit is used to calculate the lumbar spine length according to the lumbar spine height and deviation angle.

The above-mentioned apparatus is used to execute the methods provided in the foregoing embodiments, and its implementation principles and technical effects are similar, and details are not repeated here.

The above modules may be one or more integrated circuits configured to implement the above method, for example: one or more specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC), or, one or more microprocessors, or, One or more Field Programmable Gate Arrays (Field Programmable Gate Array, FPGA for short), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU for short) or other processors that can call program codes. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC for short).

Please refer to FIG. 11 , which is a schematic structural diagram of an embodiment of a massage device provided by the present application. As shown in FIG. 11 , the massage device 100 includes: a processor 101 , a storage medium 102 and a bus.

The storage medium 102 stores program instructions executable by the processor 101. When the massager 100 is running, the processor 101 communicates with the storage medium 102 through the bus, and the processor 101 executes the program instructions to implement the above method embodiments. The specific implementation manner and technical effect are similar, and will not be repeated here.

Optionally, the present invention further provides a program product, such as a computer-readable storage medium, including a program, and the program is used to execute the foregoing method embodiments when executed by a processor.

In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units may be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the program described in each embodiment of the present invention. part of the method. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), magnetic disk or optical disc, etc. Various media that can store program code.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention, and they should all be included in the scope of the present invention. within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A massage control method of a massage apparatus is characterized in that the massage apparatus comprises: a plurality of massage heads; the method comprises the following steps:

acquiring the size of a target massage area;

acquiring the position of a bone in the target massage area according to the size of the target massage area and the type of the target massage area;

determining the positions of preset acupuncture points according to the positions of bones in the target massage area and the position relation between the preset acupuncture points and the bones in the target massage area;

and controlling the massage heads to massage according to the positions of the preset acupuncture points.

2. The method of claim 1, wherein the massager further comprises: one end of each connecting shaft is adjustably connected with the corresponding massage head, the other end of each connecting shaft is connected with the main body of the massage instrument, and a controller of the massage instrument is in communication connection with the massage heads;

according to the position of predetermineeing the acupuncture point, control massage head massages, include:

controlling each massage head to move to the position of the preset acupuncture point by taking the connecting shaft as a center according to the position of the preset acupuncture point;

and controlling each massage head to massage the preset acupuncture points according to a preset massage mode aiming at the preset acupuncture points.

3. The method as claimed in claim 1, wherein there are a plurality of the predetermined acupuncture points, and the controlling of the massage heads to perform the massage according to the positions of the predetermined acupuncture points comprises:

determining the displacement and/or rotation angle of each massage head for massage according to the positions of the preset acupuncture points;

and controlling the massage heads to carry out massage according to a preset massage sequence according to the displacement and/or the rotation angle of the massage heads for massage.

4. A method according to any one of claims 1-3, wherein the massager is a shoulder and neck massager; the dimensions of the target massage area include: cervical vertebra length;

the obtaining of the position of the bone within the target massage area according to the size of the target massage area and the type of the target massage area includes:

calculating the positions of a plurality of cervical vertebrae according to the length of the cervical vertebrae;

the determining the positions of the preset acupuncture points according to the positions of the bones in the target massage area and the position relationship between the preset acupuncture points and the bones in the target massage area comprises:

and determining the positions of the preset shoulder and neck acupuncture points according to the positions of the cervical vertebrae and the position relationship between the preset shoulder and neck acupuncture points and the cervical vertebrae.

5. The method of claim 4, wherein the plurality of massage heads comprises: shoulder massage heads and neck massage heads;

the acquiring of the size of the target massage area comprises:

acquiring a power arm included angle between the neck massage head and the shoulder massage head;

determining the height of the cervical vertebra according to the positions of the neck massage head and the shoulder massage head;

and calculating the length of the cervical vertebra according to the height of the cervical vertebra and the included angle of the power arm.

6. The method of claim 4, wherein the massager further comprises: the running mechanism is connected with the main body of the massage instrument through the connecting shaft;

the acquiring of the size of the target massage area comprises:

and controlling the running mechanism to move from the shoulder limit position to the intersection of the neck and the head, and determining the running distance of the running mechanism as the length of the cervical vertebra.

7. The method of any one of claims 1-3, wherein the massager is a lumbar massager; the dimensions of the target massage area include: lumbar vertebra length;

the obtaining of the position of the bone within the target massage area according to the size of the target massage area and the type of the target massage area includes:

calculating the positions of a plurality of lumbar vertebrae according to the length of the lumbar vertebrae;

the determining the positions of the preset acupuncture points according to the positions of the bones in the target massage area and the position relationship between the preset acupuncture points and the bones in the target massage area comprises:

and determining the position of the preset lumbar acupuncture point according to the positions of the lumbar vertebrae and the position relation between the preset lumbar acupuncture point and the lumbar vertebrae.

8. The method of claim 7, wherein the obtaining the size of the target massage area comprises:

acquiring deviation angles of a plurality of massage heads in the vertical direction;

determining the height of the lumbar according to the positions of an upper massage head and a lower massage head of the waist massage instrument;

and calculating the length of the lumbar according to the height of the lumbar and the deviation angle.

9. A massage control device of a massage apparatus is applied to a controller of the massage apparatus, the massage apparatus includes: a plurality of massage heads; the device comprises:

the size acquisition module is used for acquiring the size of the target massage area;

the bone position acquisition module is used for acquiring the positions of bones in the target massage area according to the size of the target massage area and the type of the target massage area;

the acupoint position determining module is used for determining the position of a preset acupoint according to the position of a skeleton in the target massage area and the position relation between the preset acupoint and the skeleton in the target massage area;

and the massage control module is used for controlling the massage heads to massage according to the positions of the preset acupuncture points.

10. A massage apparatus, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the massage apparatus is in operation, the processor executing the program instructions to perform the steps of the massage control method of the massage apparatus according to any one of claims 1 to 8.

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