WO2020125657A1 - 按摩座椅的控制方法、装置、按摩座椅及系统 - Google Patents

按摩座椅的控制方法、装置、按摩座椅及系统 Download PDF

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Publication number
WO2020125657A1
WO2020125657A1 PCT/CN2019/126172 CN2019126172W WO2020125657A1 WO 2020125657 A1 WO2020125657 A1 WO 2020125657A1 CN 2019126172 W CN2019126172 W CN 2019126172W WO 2020125657 A1 WO2020125657 A1 WO 2020125657A1
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WO
WIPO (PCT)
Prior art keywords
massage
movement
seat
remote controller
mode
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/126172
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English (en)
French (fr)
Inventor
刘元江
石功磊
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Goertek Inc
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Goertek Inc
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Filing date
Publication date
Application filed by Goertek Inc filed Critical Goertek Inc
Publication of WO2020125657A1 publication Critical patent/WO2020125657A1/zh
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Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
    • A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Definitions

  • the invention relates to the technical field of massage equipment, and more particularly, to a control method of a massage seat, a control device of a massage seat, a massage seat and a massage seat system.
  • the massage mechanism of the massage chair usually adopts an elastic body structure. After the user lies or leans on the massage chair, the user's body comes into contact with the massage mechanism. Through the motion generated by the massage mechanism, the user can experience the massage effect.
  • An object of the present invention is to provide a new technical solution for seamlessly switching the massage mode of the massage seat.
  • a massage seat control method comprising:
  • the massage movement is controlled to perform a massage operation after the first position.
  • the massage parameter information includes at least rotation information of a motor driving the movement of the massage movement, wherein,
  • Said controlling the massage movement according to the massage parameter information to perform the massage operation after the first position includes:
  • the rotation information of the motor driving the movement of the massage movement is used to control the rotation of the motor to drive the massage movement to perform a massage operation after the first position.
  • the method further includes:
  • the method further includes:
  • a message indicating that the operating state is normal is sent to the remote controller, so that the remote controller releases the lock according to the message indicating that the operating state is normal.
  • the method further includes:
  • control the massage movement In the case of receiving a massage operation pause command sent by the remote controller, control the massage movement to stop performing the massage operation corresponding to the first massage mode, and determine the second position where the massage movement is currently located;
  • the massage movement Upon receiving the instruction of restoring the massage operation sent by the remote controller, the massage movement is controlled to perform the massage operation after the second position according to the massage parameter information.
  • a massage seat control device comprising:
  • a receiving module configured to receive a massage mode switching instruction sent by the remote controller and carrying second massage mode information when the massage chair performs a massage operation corresponding to the first massage mode;
  • a position determination module for controlling the massage movement to stop performing the massage operation corresponding to the first massage mode, and determining the first position where the massage movement is currently located;
  • An obtaining module configured to obtain massage parameter information after the massage movement moves to the first position in the second massage mode
  • the control module is configured to control the massage movement to perform a massage operation after the first position according to the massage parameter information.
  • a massage seat control device including a memory and a processor, wherein the memory is used to store instructions, the instructions are used to control the processor to operate to perform according to The control method of the massage seat according to any one of the first aspect.
  • a massage seat comprising: at least one massage movement and the massage seat control device according to the second or third aspect.
  • a massage seat system including a remote controller and the massage chair of the fourth aspect, wherein the remote controller and the massage chair are communicatively connected.
  • the massage seat is used to send a message to the remote controller that the massage seat is powered on before detecting the running status of each functional component
  • the remote controller is used to perform a self-locking operation according to the message that the power is on;
  • the massage seat is used to send a message that the operating status is normal to the remote controller when the detected operating status of each functional component is normal.
  • the remote controller is used to release the lock according to the message that the operating status is normal.
  • the massage seat in a case where the massage seat performs a massage operation corresponding to the first massage mode, the massage seat receives a massage mode switching instruction sent by the remote controller and carries the second massage mode information, and controls the massage machine
  • the core stops performing the massage operation corresponding to the first massage mode, and determines the first position where the massage movement is currently located, and obtains the massage parameter information after the movement of the massage movement to the first position in the second massage mode, according to the massage parameter information Controlling the massage movement to perform the massage operation after the first position, realizes seamless switching between different massage modes, and enhances the user experience.
  • FIG. 1 is a processing flowchart of a massage chair control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a massage movement according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of another perspective of a massage movement according to an embodiment of the present invention.
  • FIG. 4 is a partial structural diagram of a massage movement according to an embodiment of the present invention.
  • FIG. 5 is a partial structural diagram of a beating mechanism according to an embodiment of the present invention.
  • FIG. 6 is a functional block diagram of a massage seat control device according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a hardware structure of a massage seat control device according to an embodiment of the present invention.
  • FIG. 8 shows another processing flowchart of a massage chair control method according to an embodiment of the present invention.
  • FIG. 1 is a processing flowchart of a massage chair control method according to an embodiment of the present invention.
  • control method of the massage seat includes the following steps:
  • Step S1100 When the massage chair performs a massage operation corresponding to the first massage mode, receive a massage mode switching instruction sent by the remote controller and carrying the second massage mode information.
  • Step S1200 Control the massage movement to stop performing the massage operation corresponding to the first massage mode, and determine the first position where the massage movement is currently located.
  • the current position of the massage movement is determined relative to the initial movement position of the massage movement.
  • the current first position of the massage movement can be determined according to the rotation information of the motor driving the massage movement.
  • the motor rotation information is at least the motor rotation direction and the number of rotations.
  • the first position of the massage movement is determined according to the rotation information of the motor when the massage movement moves from the initial movement position to the first position and the movement distance value of the massage movement corresponding to each rotation of the motor.
  • Step S1300 Acquire massage parameter information after the massage movement moves to the first position in the second massage mode.
  • the massage parameter information after the movement of the massage movement to the first position in the second massage mode is determined according to the correspondence between the position information of the massage movement in each mode pre-stored and the subsequent massage parameter information.
  • step S1400 the massage movement is controlled to perform the massage operation after the first position according to the massage parameter information.
  • the massage parameter information includes at least the rotation information of the motor driving the movement of the massage movement.
  • the massage seat uses the rotation information of the motor driving the movement of the massage movement to control the rotation of the motor to drive the massage movement to perform the massage operation after the first position.
  • the massage movement includes at least two massage components 100, at least two airbags 200, a horizontal walking mechanism 300, a longitudinal walking mechanism 400 and a tapping mechanism 500.
  • the lateral traveling mechanism 300 includes a lateral traveling motor 310, a first pulley 320, a lead screw 330, and a lead nut 340.
  • the first pulley 320 drives the screw to rotate, so that the screw nut 340 can linearly reciprocate on the screw 330, thereby driving the massage assembly 100 to slide horizontally.
  • the longitudinal travel mechanism 400 includes a longitudinal travel motor 410, a second pulley 420, a transmission shaft 430, and a gear 440.
  • the second pulley 420 drives the transmission shaft 430 to rotate, thereby driving the gears provided at both ends of the transmission shaft 430 to move along the racks provided on the massage seat.
  • the beating mechanism 500 includes a beating motor 510, a third pulley 520, an eccentric shaft 530, a transmission rod 540, and a rotating assembly 550.
  • the rotating assembly 550 includes an inner ring member 551, an outer ring member 552, and an elastic member 553.
  • the third pulley 520 drives the eccentric shaft 530 to rotate, driving the transmission rod 540 to move along its axial direction, thereby driving the rotary assembly 500 to rotate, and driving the massage assembly 100 to generate a tapping massage action.
  • the massage mode of massage is that the massage assembly 100 moves longitudinally under the driving of the longitudinal walking mechanism 400 and horizontally slides under the driving of the horizontal walking mechanism 300.
  • the tapping massage mode is that the massage assembly 100 is moved longitudinally by the vertical walking mechanism 400, and at the same time, the tapping action is performed by the tapping mechanism 500.
  • the massage mode being performed by the massage seat is a massage massage mode.
  • the massage seat controls the massage movement to stop performing the massage operation corresponding to the massage massage mode, and obtains the longitudinal movement of the massage movement from the initial movement position to the current position Rotation information of the walking motor 410.
  • the current position of the massage movement is determined according to the rotation information of the longitudinal movement motor 410 and the movement distance value of the massage movement corresponding to each rotation of the longitudinal movement motor 410.
  • the massage seat determines the massage parameter information after the movement of the massage movement to the current position in the knocking massage mode according to the correspondence relationship between the position information of the massage movement in the pre-existing knocking massage mode and the subsequent massage parameter information, for example, the longitudinal walking motor 410
  • the rotation information from the current position is the rotation information of the knocking motor 510 from the current position.
  • the massage seat uses the rotation information of the longitudinal walking motor 410 from the current position and the rotation information of the knocking motor 510 from the current position to control the rotation of the longitudinal walking motor 410 and the knocking motor 510, respectively, to drive the massage movement to perform in the knocking massage mode Massage operation since the current position.
  • the operation status of each functional component of the massage seat is detected to obtain a detection result.
  • the malfunction of the massage seat can be detected in time.
  • the massage seat issues an alarm prompt.
  • the alarm prompt can be one of voice alarm prompt and sound and light alarm prompt.
  • Each functional component includes at least a motor that drives the movement of the massage movement.
  • the massage seat also includes at least one rotation speed sensor. The speed sensor is used to detect the speed of the motor.
  • the steps for the massage seat to detect the running status of the motor are as follows:
  • Step S201 the massage seat control motor executes the state detection instruction
  • Step S202 Obtain the rotation speed of the motor detected by the rotation speed sensor.
  • step S203 the rotation speed of the motor is compared with the set rotation speed in the state detection instruction to obtain a comparison result.
  • Step S204 when the rotation speed of the motor is less than the set rotation speed, it is determined that the motor has a fault and an alarm prompt is issued.
  • the massage seat In this embodiment, in order to avoid the device malfunction caused by the user triggering the remote controller to send instructions to the massage seat when the massage seat is powered on and self-checking, before detecting the operating status of each functional part of the massage seat, the massage seat Send a message to the remote control that the massage seat is powered on, so that the remote control performs its own locking operation based on the message that the massage seat is powered on.
  • the massage chair when the massage chair performs a massage operation corresponding to the first massage mode, the massage chair receives a massage operation pause command sent by the remote controller.
  • the massage seat controls the massage movement to stop performing the massage operation corresponding to the first massage mode, and determines the second position where the massage movement is currently located.
  • the massage seat obtains the massage parameter information after the massage movement moves to the second position in the first massage mode, and upon receiving the resume massage operation instruction sent by the remote controller, controls the massage movement to execute the second movement according to the massage parameter information.
  • Massage operation after position.
  • the second position where the massage movement is currently located is determined relative to the initial movement position of the massage movement.
  • the second position where the massage movement is currently located can be determined according to the rotation information of the motor driving the massage movement.
  • the massage seat in a case where the massage seat performs a massage operation corresponding to the first massage mode, the massage seat receives a massage mode switching instruction sent by the remote controller and carries the second massage mode information, and controls the massage machine
  • the core stops performing the massage operation corresponding to the first massage mode, and determines the first position where the massage movement is currently located, and obtains the massage parameter information after the movement of the massage movement to the first position in the second massage mode, according to the massage parameter information Controlling the massage movement to perform the massage operation after the first position, realizes seamless switching between different massage modes, and enhances the user experience.
  • FIG. 6 is a functional block diagram of a massage seat control device according to an embodiment of the present invention.
  • the control device of the massage seat includes at least a receiving module 6100, a position determining module 6200, an acquiring module 6300, and a control module 6400.
  • the receiving module 6100 is configured to receive a massage mode switching instruction sent by a remote controller and carrying second massage mode information when the massage chair performs a massage operation corresponding to the first massage mode.
  • the position determination module 6200 is used to control the massage movement to stop performing the massage operation corresponding to the first massage mode, and determine the first position where the massage movement is currently located.
  • the obtaining module 6300 is used to obtain massage parameter information after the massage movement moves to the first position in the second massage mode.
  • the control module 6400 is used to control the massage movement to perform the massage operation after the first position according to the massage parameter information.
  • control device of the massage seat further includes a self-test module and an alarm module.
  • the self-checking module is used to detect the running state of each functional part of the massage seat after the massage seat is powered on, and obtain the detection result.
  • the alarm module is used to issue an alarm prompt when the detection result is that the operating state of at least one functional component is abnormal.
  • control device of the massage seat further includes a sending module.
  • the sending module is used to send a message that the massage seat is powered on to the remote control before detecting the running status of each functional part of the massage seat, so that the remote control performs its own locking operation according to the message that the massage seat is powered on;
  • a message of normal operating status is sent to the remote controller, so that the remote controller unlocks according to the message of normal operating status.
  • the position determination module 5200 is further configured to control the massage movement to stop executing the One massage mode corresponds to the massage operation and determines the second position of the massage movement.
  • the obtaining module 5300 is further used to obtain massage parameter information after the massage movement moves to the second position in the first massage mode.
  • the control module 5400 is further configured to control the massage movement to perform the massage operation after the second position according to the massage parameter information when receiving the resume massage operation instruction sent by the remote controller.
  • FIG. 7 is a schematic diagram of a hardware structure of a massage seat control device according to an embodiment of the present invention.
  • control device of the massage seat may include a memory 710 and a processor 720.
  • the memory 710 is used to store instructions for controlling the processor 720 to operate to perform the control method of the massage seat according to any embodiment of the present invention.
  • the control device of the massage seat can be implemented in various ways.
  • the processor can be configured by instructions to implement a massage seat control device.
  • the instructions can be stored in the ROM, and when the device is started, the instructions are read from the ROM into the programmable device to implement the massage seat control device.
  • the control device of the massage seat can be cured into a dedicated device (for example, ASIC).
  • the control device of the massage seat can be divided into independent units, or they can be combined together.
  • the control device of the massage seat may be implemented by one of the above-mentioned various implementations, or may be implemented by a combination of two or more of the above-mentioned various implementations.
  • An embodiment of the present invention provides a massage chair.
  • the massage seat includes at least one massage movement and the control device of the massage seat as shown in FIG. 6 or FIG. 7.
  • An embodiment of the present invention provides a massage seat system.
  • the massage seat system includes a remote control and a massage seat.
  • the remote control and the massage seat may be connected to the massage seat in a wired communication manner, or may be connected to the massage seat in a wireless communication manner.
  • the massage seat after the massage seat is powered on, the massage seat performs an operation to detect the running state of each functional component. Before the massage seat performs the detection of the running state of each functional component, the massage seat sends a message to the remote control that the massage seat has been powered on. The remote control performs its own lock operation based on the message that power is on. When the detected operating status of each functional component is normal, the massage chair sends a message to the remote controller that the operating status is normal. The remote control unlocks according to the message that the operating status is normal.
  • FIG. 8 shows another processing flowchart of a massage chair control method according to an embodiment of the present invention.
  • control method of the massage seat includes the following steps:
  • Step S8100 after the massage seat is powered on, it sends a message to the remote control that the massage seat is powered on, so that the remote control performs its own locking operation according to the message that the massage seat is powered on.
  • step S8200 it is detected whether the operation status of each functional component of the massage seat is normal.
  • step S8300 is executed to give an alarm prompt.
  • step S8400 is executed to send a message that the operating status is normal to the remote controller, so that the remote controller unlocks according to the message that the operating status is normal.
  • Step S8500 the massage chair receives the first massage mode instruction sent by the remote controller, and executes the massage operation corresponding to the first massage mode.
  • Step S8600 the massage chair receives a massage mode switching instruction sent by the remote controller and carrying the second massage mode information.
  • Step S8700 controlling the massage movement to stop performing the massage operation corresponding to the first massage mode, and determining the first position where the massage movement is currently located, and acquiring the massage after the movement of the massage movement to the first position in the second massage mode Parameter information.
  • step S8800 the massage movement is controlled to perform the massage operation after the first position according to the massage parameter information.
  • the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device.
  • the computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), and erasable programmable read only memory (EPROM (Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a computer on which instructions are stored
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick floppy disk
  • mechanical encoding device such as a computer on which instructions are stored
  • the convex structure in the hole card or the groove and any suitable combination of the above.
  • the computer-readable storage medium used here is not to be interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, optical pulses through fiber optic cables), or through wires The transmitted electrical signal.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
  • the computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages Source code or target code written in any combination.
  • Programming languages include object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
  • Computer readable program instructions can be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer and partly on a remote computer, or completely on the remote computer or server carried out.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider to pass the Internet connection).
  • electronic circuits such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLA), are personalized by utilizing the status information of computer-readable program instructions.
  • Computer-readable program instructions are executed to implement various aspects of the present invention.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, or other programmable data processing device, thereby producing a machine that causes these instructions to be executed by the processor of a computer or other programmable data processing device A device that implements the functions/actions specified in one or more blocks in the flowchart and/or block diagram is generated.
  • the computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause the computer, programmable data processing apparatus, and/or other devices to work in a specific manner. Therefore, the computer-readable medium storing the instructions includes An article of manufacture that includes instructions to implement various aspects of the functions/acts specified in one or more blocks in the flowchart and/or block diagram.
  • the computer-readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment, so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing device, or other equipment implement the functions/acts specified in one or more blocks in the flowchart and/or block diagram.
  • each block in the flowchart or block diagram may represent a module, a program segment, or a part of an instruction, and a module, a program segment, or a part of an instruction contains one or more executables for implementing a specified logical function instruction.
  • the functions marked in the blocks may also occur in an order different from that marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented with a dedicated hardware-based system that performs specified functions or actions Or, it can be realized by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by combining software and hardware are all equivalent.

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Abstract

一种按摩座椅的控制方法、装置、按摩座椅及系统，控制方法包括：在按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令（S1100）；控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置（S1200）；获取在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息（S1300）；根据按摩参数信息控制按摩机芯执行自第一位置后的按摩操作（S1400）。

Description

按摩座椅的控制方法、装置、按摩座椅及系统 技术领域
本发明涉及按摩设备技术领域，更具体地，涉及一种按摩座椅的控制方法、一种按摩座椅的控制装置、一种按摩座椅及一种按摩座椅系统。
背景技术
目前，按摩椅成为人们生活中常用的放松工具。
按摩椅的按摩机构通常采用弹性体结构，用户躺在或者靠在按摩椅上后，用户的身体与按摩机构接触，通过按摩机构产生的运动，用户可以体验到按摩的效果。
现有的按摩座椅在进行按摩时不能实现不同按摩模式的无缝切换，使得用户的体验较差。
因此，需要提供一种新的技术方案，针对上述现有技术中的技术问题进行改进。
发明内容
本发明的一个目的是提供一种用于无缝切换按摩座椅的按摩模式的新技术方案。
根据本发明的第一方面，提供了一种按摩座椅的控制方法，所述方法包括：
在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收所述遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令；
控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第一位置；
获取在所述第二按摩模式下按摩机芯运动至第一位置后的按摩参数 信息；
根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作。
可选地，所述按摩参数信息至少包括驱动按摩机芯运动的电机的转动信息，其中，
所述根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作包括：
利用驱动按摩机芯运动的电机的转动信息控制电机转动，以驱动所述按摩机芯执行自第一位置后的按摩操作。
可选地，所述方法还包括：
在所述按摩座椅通电后，检测按摩座椅的各个功能部件的运行状态，得到检测结果；
在所述检测结果为至少一个功能部件的运行状态出现异常的情况下，发出报警提示。
可选地，所述方法还包括：
在检测按摩座椅的各个功能部件的运行状态之前，向所述遥控器发送按摩座椅已通电的消息，以使所述遥控器根据所述按摩座椅已通电的消息执行自身锁定操作；
在检测得到的按摩座椅的各个功能部件的运行状态均已正常的情况下，向所述遥控器发送运行状态正常的消息，以使所述遥控器根据所述运行状态正常的消息解除锁定。
可选地，在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，所述方法还包括：
在接收到所述遥控器发送的暂停按摩操作指令的情况下，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第二位置；
获取在所述第一按摩模式下按摩机芯运动至第二位置后的按摩参数信息；
在接收到所述遥控器发送的恢复按摩操作指令的情况下，根据所述按 摩参数信息控制所述按摩机芯执行自第二位置后的按摩操作。
根据本发明的第二方面，提供了一种按摩座椅的控制装置，所述装置包括：
接收模块，用于在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收所述遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令；
位置确定模块，用于控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第一位置；
获取模块，用于获取在所述第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息；
控制模块，用于根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作。
根据本发明的第三方面，提供了一种按摩座椅的控制装置，包括存储器和处理器，其中，所述存储器用于存储指令，所述指令用于控制所述处理器进行操作以执行根据第一方面中任一项所述的按摩座椅的控制方法。
根据本发明的第四方面，提供了一种按摩座椅，包括：至少一个按摩机芯和第二方面或第三方面所述的按摩座椅的控制装置。
根据本发明的第五方面，提供了一种按摩座椅系统，包括遥控器和第四方面所述的按摩座椅，其中，所述遥控器和所述按摩座椅通信连接。
可选地，所述按摩座椅用于在检测各个功能部件的运行状态之前，向所述遥控器发送按摩座椅已通电的消息，
所述遥控器用于根据所述已通电的消息执行自身锁定操作；以及，
所述按摩座椅用于在检测得到的各个功能部件的运行状态均已正常的情况下，向所述遥控器发送运行状态正常的消息，
所述遥控器用于根据所述运行状态正常的消息解除锁定。
根据本发明的一个实施例，在按摩座椅执行第一按摩模式对应的按摩操作的情况下，按摩座椅接收遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置，获取在第二按摩模式下按摩机芯运 动至第一位置后的按摩参数信息，根据按摩参数信息控制按摩机芯执行自第一位置后的按摩操作，实现了不同按摩模式的无缝切换，提升了用户的体验。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1是根据本发明实施例的按摩座椅的控制方法的处理流程图。
图2是根据本发明实施例的按摩机芯的结构示意图。
图3是根据本发明实施例的按摩机芯的另一种视角的结构示意图。
图4是根据本发明实施例按摩机芯的部分结构示意图。
图5是根据本发明实施例的敲打机构的部分结构示意图。
图6是根据本发明实施例的按摩座椅的控制装置的原理框图。
图7是根据本发明一个实施例的按摩座椅的控制装置的硬件结构示意图。
图8示出了根据本发明实施例的按摩座椅的控制方法的另一种处理流程图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例 性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
<方法实施例>
图1是根据本发明实施例的按摩座椅的控制方法的处理流程图。
根据图1所示，按摩座椅的控制方法包括以下步骤：
步骤S1100，在按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令。
步骤S1200，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置。
在本发明实施例中，按摩机芯当前所处的第一位置是相对于按摩机芯的起始运动位置确定的。按摩机芯当前所处的第一位置可以根据驱动按摩机芯的电机的转动信息确定。电机的转动信息至少电机的转动方向和转动圈数。根据按摩机芯自起始运动位置运动至第一位置时的电机的转动信息和电机每转动一圈对应的按摩机芯的移动距离值，确定按摩机芯的第一位置。
步骤S1300，获取在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息。
在本发明实施例中，根据预存的各个模式下按摩机芯的位置信息与后续按摩参数信息的对应关系，确定在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息。
步骤S1400，根据按摩参数信息控制按摩机芯执行自第一位置后的按摩操作。
在本发明实施例中，按摩参数信息至少包括驱动按摩机芯运动的电机的转动信息。按摩座椅利用驱动按摩机芯运动的电机的转动信息控制电机转动，以驱动按摩机芯执行自第一位置后的按摩操作。
以图2-5示出的按摩机芯的结构视图为例，对本发明一个实施例提供 的按摩座椅的控制方法进行具体说明。
根据图2-5所示，按摩机芯包括至少两个按摩组件100、至少两个气囊200、横向行走机构300、纵向行走机构400和敲打机构500。
该横向行走机构300包括横向行走电机310、第一皮带轮320、丝杠330、丝杠螺母340。
当横向行走电机310转动时，通过第一皮带轮320带动丝杠转动，使得丝杠螺母340能够在丝杠330上线性往复运动，进而带动按摩组件100的水平滑动。
该纵向行走机构400包括纵向行走电机410、第二皮带轮420、传动轴430和齿轮440。
当纵向行走电机410转动时，通过第二皮带轮420带动传动轴430转动，进而带动设置在传动轴430两端的各齿轮沿着设置在按摩座椅上的齿条移动。
该敲打机构500包括敲打电机510、第三皮带轮520、偏心轴530、传动杆540和旋转组件550。其中，旋转组件550包括内环部件551、外环部件552和弹性部件553。
当敲打电机510转动时，通过第三皮带轮520带动偏心轴530转动，带动传动杆540沿着其轴向发生移动，进而带动旋转组件500发生旋转运动，以带动按摩组件100产生敲打按摩动作。
推拿按摩模式为按摩组件100在纵向行走机构400的带动下进行纵向移动的同时，在横向行走机构300的带动下进行水平滑动。
敲打按摩模式为按摩组件100在纵向行走机构400的带动下进行纵向移动的同时，在敲打机构500的带动下进行敲打动作。
在该实施例中，按摩座椅正在执行的按摩模式为推拿按摩模式。按摩座椅在接收到遥控器发送的切换至敲打按摩模式的切换指令后，控制按摩机芯停止执行推拿按摩模式对应的按摩操作，并获取按摩机芯自起始运动位置运动至当前位置时纵向行走电机410的转动信息。根据纵向行走电机410的转动信息和纵向行走电机410每转动一圈对应的按摩机芯的移动距离值，确定按摩机芯的当前位置。
按摩座椅根据预存的敲打按摩模式下按摩机芯的位置信息与后续按摩参数信息的对应关系，确定在敲打按摩模式下按摩机芯运动至当前位置后的按摩参数信息，例如，纵向行走电机410自当前位置后的转动信息，敲打电机510自当前位置后的转动信息。
按摩座椅利用纵向行走电机410自当前位置后的转动信息和敲打电机510自当前位置后的转动信息，分别控制纵向行走电机410和敲打电机510转动，以驱动按摩机芯执行在敲打按摩模式下自当前位置后的按摩操作。
在本发明的一个实施例中，在按摩座椅通电后，检测按摩座椅的各个功能部件的运行状态，得到检测结果。通过按摩座椅执行按摩操作之前的自检操作，可以及时检测出按摩座椅的故障。
在检测结果为至少一个功能部件的运行状态出现异常的情况下，按摩座椅发出报警提示。报警提示可以是语音报警提示、声光报警提示中的一种。
各个功能部件至少包括驱动按摩机芯运动的电机。按摩座椅还包括至少一个转速传感器。转速传感器用于检测电机的转速。
按摩座椅检测电机的运行状态的步骤具体如下：
步骤S201，按摩座椅控制电机执行状态检测指令；
步骤S202，获取转速传感器检测得到的电机的转速。
步骤S203，将电机的转速与状态检测指令中的设定转速进行比较，得到比较结果。
步骤S204，在电机的转速小于设定转速的情况下,确定电机出现故障并发出报警提示。
在该实施例中，为了避免按摩座椅在通电自检时，用户触发遥控器向按摩座椅发送指令导致的设备故障问题，在检测按摩座椅的各个功能部件的运行状态之前，按摩座椅向遥控器发送按摩座椅已通电的消息，以使遥控器根据按摩座椅已通电的消息执行自身锁定操作。
在检测得到的按摩座椅的各个功能部件的运行状态均已正常的情况下，向遥控器发送运行状态正常的消息，以使遥控器根据运行状态正常的消息解除锁定。
在本发明的一个实施例中，在按摩座椅执行第一按摩模式对应的按摩操作时，按摩座椅接收到遥控器发送的暂停按摩操作指令。按摩座椅控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第二位置。按摩座椅获取在第一按摩模式下按摩机芯运动至第二位置后的按摩参数信息，并在接收到遥控器发送的恢复按摩操作指令时，根据按摩参数信息控制按摩机芯执行自第二位置后的按摩操作。
按摩机芯当前所处的第二位置是相对于按摩机芯的起始运动位置确定的。按摩机芯当前所处的第二位置可以根据驱动按摩机芯的电机的转动信息确定。
根据本发明的一个实施例，在按摩座椅执行第一按摩模式对应的按摩操作的情况下，按摩座椅接收遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置，获取在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息，根据按摩参数信息控制按摩机芯执行自第一位置后的按摩操作，实现了不同按摩模式的无缝切换，提升了用户的体验。
<装置实施例>
图6是根据本发明实施例的按摩座椅的控制装置的原理框图。
根据图6所示，按摩座椅的控制装置至少包括接收模块6100、位置确定模块6200、获取模块6300和控制模块6400。
接收模块6100用于在按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令。
位置确定模块6200用于控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置。
获取模块6300用于获取在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息。
控制模块6400用于根据按摩参数信息控制按摩机芯执行自第一位置 后的按摩操作。
在一个实施例中，按摩座椅的控制装置还包括自检模块和报警模块。
该自检模块用于在按摩座椅通电后，检测按摩座椅的各个功能部件的运行状态，得到检测结果。该报警模块用于在检测结果为至少一个功能部件的运行状态出现异常的情况下，发出报警提示。
在一个实施例中，按摩座椅的控制装置还包括发送模块。
该发送模块用于在检测按摩座椅的各个功能部件的运行状态之前，向遥控器发送按摩座椅已通电的消息，以使遥控器根据按摩座椅已通电的消息执行自身锁定操作；在检测得到的按摩座椅的各个功能部件的运行状态均已正常的情况下，向遥控器发送运行状态正常的消息，以使遥控器根据运行状态正常的消息解除锁定。
在一个实施例中，在按摩座椅执行第一按摩模式对应的按摩操作时，位置确定模块5200进一步用于在接收到遥控器发送的暂停按摩操作指令的情况下，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第二位置。获取模块5300进一步用于获取在第一按摩模式下按摩机芯运动至第二位置后的按摩参数信息。控制模块5400进一步用于在接收到遥控器发送的恢复按摩操作指令的情况下，根据按摩参数信息控制按摩机芯执行自第二位置后的按摩操作。
图7是根据本发明一个实施例的按摩座椅的控制装置的硬件结构示意图。
根据图7所示，按摩座椅的控制装置可以包括存储器710和处理器720。
存储器710用于存储指令，该指令用于控制处理器720进行操作以执行根据本发明任一实施例提供的按摩座椅的控制方法。
本领域技术人员应当明白，可以通过各种方式来实现按摩座椅的控制装置。例如，可以通过指令配置处理器来实现按摩座椅的控制装置。例如，可以将指令存储在ROM中，并且当启动设备时，将指令从ROM读取到可编程器件中来实现按摩座椅的控制装置。例如，可以将按摩座椅的控制装置固化到专用器件(例如ASIC)中。可以将按摩座椅的控制装置分成相互独 立的单元，或者可以将它们合并在一起实现。按摩座椅的控制装置可以通过上述各种实现方式中的一种来实现，或者可以通过上述各种实现方式中的两种或更多种方式的组合来实现。
本发明的一个实施例提供了一种按摩座椅。该按摩座椅包括至少一个按摩机芯和如图6或图7示出的按摩座椅的控制装置。
本发明的一个实施例提供了一种按摩座椅系统。该按摩座椅系统包括遥控器和按摩座椅。
遥控器和按摩座椅可以以有线通信方式与按摩座椅通信连接，也可以以无线通信方式与按摩座椅通信连接。
在本发明的一个实施例中，在按摩座椅通电后，按摩座椅执行检测各个功能部件的运行状态的操作。在按摩座椅执行检测各个功能部件的运行状态之前，按摩座椅向遥控器发送按摩座椅已通电的消息。遥控器根据已通电的消息执行自身锁定操作。在检测得到的各个功能部件的运行状态均已正常的情况下，按摩座椅向遥控器发送运行状态正常的消息。遥控器根据运行状态正常的消息解除锁定。
<例子1>
图8示出了根据本发明实施例的按摩座椅的控制方法的另一种处理流程图。
根据图8所示，该按摩座椅的控制方法包括以下步骤：
步骤S8100，按摩座椅在通电后，向遥控器发送按摩座椅已通电的消息，以使遥控器根据按摩座椅已通电的消息执行自身锁定操作。
步骤S8200，检测按摩座椅的各个功能部件的运行状态是否正常。
在至少一个功能部件的运行状态出现异常时，执行步骤S8300，发出报警提示。
在各个功能部件的运行状态均为正常时，执行步骤S8400，向遥控器发送运行状态正常的消息，以使遥控器根据运行状态正常的消息解除锁定。
步骤S8500，按摩座椅接收到遥控器发送的第一按摩模式指令，并执行第一按摩模式对应的按摩操作。
步骤S8600，按摩座椅接收到遥控器发送的携带有第二按摩模式信息的按摩模式切换指令。
步骤S8700，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定按摩机芯当前所处的第一位置，并获取在第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息。
步骤S8800，根据按摩参数信息控制按摩机芯执行自第一位置后的按摩操作。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本发明操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数 据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本发明的各个方面。
这里参照根据本发明实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本发明的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。对于本领域技术人员来说公知的是，通过硬件方式实现、通过软件方式实现以及通过软件和硬件结合的方式实现都是等价的。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种按摩座椅的控制方法，其特征在于，所述方法包括：
    在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收所述遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令；
    控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第一位置；
    获取在所述第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息；
    根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作。
  2. 根据权利要求1所述的方法，其特征在于，所述按摩参数信息至少包括驱动按摩机芯运动的电机的转动信息，其中，
    所述根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作包括：
    利用驱动按摩机芯运动的电机的转动信息控制电机转动，以驱动所述按摩机芯执行自第一位置后的按摩操作。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述按摩座椅通电后，检测按摩座椅的各个功能部件的运行状态，得到检测结果；
    在所述检测结果为至少一个功能部件的运行状态出现异常的情况下，发出报警提示。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    在检测按摩座椅的各个功能部件的运行状态之前，向所述遥控器发送按摩座椅已通电的消息，以使所述遥控器根据所述按摩座椅已通电的消息执行自身锁定操作；
    在检测得到的按摩座椅的各个功能部件的运行状态均已正常的情况下，向所述遥控器发送运行状态正常的消息，以使所述遥控器根据所述运行状态正常的消息解除锁定。
  5. 根据权利要求1所述的方法，其特征在于，在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，所述方法还包括：
    在接收到所述遥控器发送的暂停按摩操作指令的情况下，控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第二位置；
    获取在所述第一按摩模式下按摩机芯运动至第二位置后的按摩参数信息；
    在接收到所述遥控器发送的恢复按摩操作指令的情况下，根据所述按摩参数信息控制所述按摩机芯执行自第二位置后的按摩操作。
  6. 一种按摩座椅的控制装置，其特征在于，所述装置包括：
    接收模块，用于在所述按摩座椅执行第一按摩模式对应的按摩操作的情况下，接收所述遥控器发送的、携带有第二按摩模式信息的按摩模式切换指令；
    位置确定模块，用于控制按摩机芯停止执行第一按摩模式对应的按摩操作，并确定所述按摩机芯当前所处的第一位置；
    获取模块，用于获取在所述第二按摩模式下按摩机芯运动至第一位置后的按摩参数信息；
    控制模块，用于根据所述按摩参数信息控制所述按摩机芯执行自第一位置后的按摩操作。
  7. 一种按摩座椅的控制装置，其特征在于，包括存储器和处理器，其中，所述存储器用于存储指令，所述指令用于控制所述处理器进行操作以执行根据权利要求1-5中任一项所述的按摩座椅的控制方法。
  8. 一种按摩座椅，其特征在于，包括：至少一个按摩机芯和权利要求6或7所述的按摩座椅的控制装置。
  9. 一种按摩座椅系统，其特征在于，包括遥控器和权利要求8所述的按摩座椅，其中，所述遥控器和所述按摩座椅通信连接。
  10. 根据权利要求9所述的系统，其特征在于，所述按摩座椅用于在检测各个功能部件的运行状态之前，向所述遥控器发送按摩座椅已通电的消息，
    所述遥控器用于根据所述已通电的消息执行自身锁定操作；以及，
    所述按摩座椅用于在检测得到的各个功能部件的运行状态均已正常的情况下，向所述遥控器发送运行状态正常的消息，
    所述遥控器用于根据所述运行状态正常的消息解除锁定。
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