WO2022217994A1 - 电动按摩器及其与人体接触状态判断方法、降噪控制方法 - Google Patents
电动按摩器及其与人体接触状态判断方法、降噪控制方法 Download PDFInfo
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- electric massager
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000009467 reduction Effects 0.000 title claims abstract description 33
- 210000003195 fascia Anatomy 0.000 claims abstract description 50
- 230000008569 process Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 7
- 238000005457 optimization Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000003079 width control Methods 0.000 description 1
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- 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
Definitions
- the invention belongs to the technical field of electric massage equipment, and particularly relates to an electric massager, a method for judging a contact state with a human body, and a noise reduction control method.
- Electric massager is mainly composed of battery, motor and control circuit board.
- the motor is driven by the eccentric wheel to drive the massage head to reciprocate to achieve the massage effect of hitting back and forth on the human body.
- the whole-section noise reduction scheme mainly adopts brushless motors with relatively low noise, improves the precision of components in the transmission part, adopts rubber pads for buffering, and adds lubricating oil to the moving parts to reduce noise.
- the segmented noise reduction scheme is usually to reduce the noise when the electric massager is not in contact with the human body during the working process. Meaningless noise can be reduced by reducing the motor speed at this time.
- the key point is how to judge whether the electric massager is in contact with the human body.
- photoelectric sensors and current sensors requires additional components to be added to the electric massager, which will increase the hardware cost, and the structure of the electric massager itself needs to be changed, which increases the difficulty of production and assembly.
- the technical problem to be solved by the present invention is: to propose an electric massager, a method for judging the state of contact with the human body, and a noise reduction control method, which solves the problem of judging whether the electric massager is in contact with the human body in the segmented noise reduction scheme of the traditional technology. Increase the cost of hardware and the difficulty of production and assembly.
- the present invention proposes a method for judging the contact state between an electric massager and a human body, including:
- the N1 to N2 are the range thresholds of the fluctuation of the PWM pulse width value when the electric massager in the no-load state runs at the speed of the set gear in the same gear.
- the method also includes:
- M is the threshold set to avoid misidentification caused by the normal fluctuation of the motor speed.
- the present invention provides a noise reduction control method for an electric massager, comprising:
- step S4 compare T and T n , if the absolute value of the difference between T and T n is between N1 and N2, it is determined that the electric massager is not currently in contact with the human body, and the process goes to step S5;
- the N1 to N2 are the range thresholds of the fluctuation of the PWM pulse width value when the electric massager in the no-load state runs at the speed of the set gear in the same gear.
- the method further includes the steps after step S5:
- step S6 When the motor of the electric massager is running at an idle speed, if it is detected that the motor speed continues to drop by more than M revolutions, it is determined that the electric massager is in contact with the human body, and then the process proceeds to step S7;
- step S2 After the electric massager switches gears, jump to step S2 for execution.
- step S4 the real-time PWM pulse width value T of the electric massager collected at least a certain number of times is compared with Tn, and if the absolute value of the difference between T and Tn is between N1 and N2, it is determined that Step S5 is entered only when the electric massager is not currently in contact with the human body.
- step S4 after it is determined that the electric massager is not currently in contact with the human body, the process proceeds to step S5 after a certain time delay.
- the present invention also provides an electric massager, which includes a controller and a memory; the memory is used to store a computer program; the controller is used to execute the computer program to realize the electric massager as described above A method for judging the state of contact with the human body.
- the present invention also provides another electric massager, which includes a controller and a memory; the memory is used to store a computer program; the controller is used to execute the computer program to realize the aforementioned electric massage noise reduction control method.
- the electric massager is a fascia gun.
- the motor speed is automatically controlled: when the human body is not in contact, the motor speed is controlled to decrease, so as to achieve the effect of reducing noise and save power; when judging that the human body is in contact, control the motor The speed is increased to the set gear speed under the current gear, so as to ensure the user's massage experience.
- the present invention adopts the real-time PWM pulse width value T of the electric massager and the electric massager in the no-load state to run at the set gear rotational speed under the same gear position when judging that the electric massager is not in contact with the human body. Compare with the PWM pulse width value T n at the same time, and judge whether the fluctuation exceeds the range threshold. Since the T n value is adaptively updated every time the machine is turned on or shifted, it can avoid assembly errors due to different machine manufacturing, different use environments, and aging. Different degrees cause different performances and functional failures on different machines, which improves the versatility and robustness of the solution of the present invention.
- the detection of the state of contacting the human body is judged according to the continuous decreasing trend and relative change of the motor speed, and the fixed threshold of the speed is not used for comparison, so as to avoid the function caused by the mismatch of parameters.
- the problem of failure also improves the generality and robustness of the solution of the present invention.
- FIG. 1 is a flowchart of a method for controlling noise reduction of a fascia gun in an embodiment of the present invention
- FIG. 2 is a PWM waveform diagram of the fascia gun in the embodiment of the present invention detecting the state of non-contact human body
- FIG. 3 is a schematic diagram of motor speed control for restoring the state of the fascia gun in contact with the human body in an embodiment of the present invention.
- the present invention aims to provide an electric massager, a method for judging the state of contact with the human body, and a noise reduction control method, so as to solve the problems of increasing hardware cost and production in the method of judging whether the electric massager is in contact with the human body in the segmented noise reduction scheme of the traditional technology. Assembly difficulty.
- the control software includes motor speed control and speed detection, that is, the speed of the motor can be controlled through the PWM pulse width signal, The higher the PWM pulse width, the higher the motor speed. On the contrary, the smaller the PWM pulse width value, the lower the motor speed. Under a certain PWM pulse width control signal, the motor contacts the human body and the massage head is stressed. After the massage head feeds back the force to the motor, the motor speed will decrease. At this time, if you want to maintain the speed, you need to increase the PWM pulse width value. , to compensate for the reduced speed.
- the motor needs to maintain the same speed.
- the PWM pulse width value is the lowest. After there is a load, the PWM pulse width value will gradually increase to maintain the same speed. Therefore, according to the level of the PWM pulse width value at the same rotational speed, it can be judged that the electric massager is in contact with the human body, and further, when it is judged that the electric massager is not in contact with the human body, the PWM pulse width value is controlled to reduce the motor speed to reduce the speed of the motor. noise and energy saving.
- the PWM pulse width value keeps a low constant value, and the motor runs at idle speed. If it is detected that the motor speed drops continuously, it means that the massage head is under force and affects the motor speed, which means that the electric massager In contact with the human body, in order not to affect the user's use, the PWM pulse width value is controlled to increase, so that the motor speed reaches the set gear speed under the current gear, so as to ensure the user's massage experience.
- the "contact state between the electric massager and the human body” described in the present invention refers to the contact state between the massage head of the electric massager and the human body.
- the electric massager will dynamically adjust the PWM pulse width value in real time: the contact force with the human body increases, and the real-time PWM pulse width value also changes. It will be adjusted to increase, the contact force with the human body will decrease, and the real-time PWM pulse width value will also be adjusted to decrease.
- a control circuit board and a motor are arranged in the fascia gun, a controller and a memory are arranged on the control circuit board, and the controller is connected with the motor and the memory;
- the specific computer control program of the noise reduction control method the controller can realize the corresponding control of the motor speed by reading the specific computer control program and executing the control of the motor, so as to achieve the noise reduction, energy saving and improvement in the present invention. Massage effect and other purposes.
- FIG. 1 The flow chart of the noise reduction control method of the fascia gun in this embodiment is shown in FIG. 1 , which includes the following implementation steps and processes:
- the fascia gun in this embodiment has multiple gears, and each gear has a corresponding set gear speed, for example: 1st gear 1800 rpm, 2nd gear 2400 rpm/min...
- the higher the gear the higher the gear speed.
- the higher the rotational speed the higher the massage frequency of the massage head.
- users can choose the gear according to their needs, so as to adapt to the different needs of different groups of people for massage frequency.
- This step is mainly to record the PWM pulse width value of the fascia gun when the fascia gun runs at the set gear speed of the current gear under no-load condition. For different gears, this PWM pulse width value will also be different.
- the PWM pulse width value T n must be recorded every time the power is turned on to select a gear or switch between gears, so as to perform an adaptive update of the parameters.
- the adaptive update of parameters is to avoid different performances and functional failures on different machines due to different machine manufacturing and assembly errors, different use environments, and different aging degrees. , Versatility and robustness at various degrees of aging.
- the focus of the present invention is that the fascia gun is in a suspended state when it is turned on, and the gear selection/switching is in a suspended state, that is, it is not in contact with the human body or objects.
- the situation that the switch is not in the floating state is not discussed in the present invention because it does not conform to the usage habits of most people.
- the real-time PWM pulse width value T can be set to be collected once every 0.5 seconds to ensure the timeliness of data collection and judgment, and the real-time PWM pulse width value T will be used for comparison with Tn.
- step S4 compare T and T n , if the absolute value of the difference between T and T n is between N1 and N2, it is determined that the fascia gun is not currently in contact with the human body, and the process goes to step S5;
- the fluctuation of the real-time PWM pulse width value T relative to Tn is judged, so as to judge whether it is in contact with the human body.
- the fascia gun When the fascia gun is in contact with the human body for massage, the human body will generate a reaction force on the massage head, resulting in a decrease in the speed. To maintain the speed of the current gear, the fascia gun needs to increase the real-time PWM pulse width value T.
- the real-time PWM pulse width value T at this time is bound to be higher than the PWM pulse width value T n required by the fascia gun to maintain the gear speed of the current gear when it is in the no-load state, and the higher amount will exceed
- the fascia gun is running at the gear speed of the current gear in the no-load state, the fluctuation of the PWM pulse width value; and in the no-load state of the fascia gun, the real-time PWM pulse when the fascia gun is running at the gear speed of the current gear.
- the wide value T will fluctuate due to product design factors, the fluctuation range is small.
- the PWM pulse width fluctuation in normal no-load state may be recognized as the contact state.
- the range is too small, the PWM pulse width fluctuation in normal no-load state may be recognized as the contact state.
- the range is too large, the user needs to use a relatively large force to touch the fascia gun to the body. , it can be recognized as a contact state, which is inconvenient to use.
- the measured PWM pulse width value data fluctuating between 101 and 102 when running at the set gear speed (such as 1800 rpm) in the 1st gear no-load state, then the magnitude of the fluctuation is 1, so setting the range size to 3 covers normal fluctuations without being too large or too small.
- the value of N1 can be 0, and the value of N2 can be 3.
- a plurality of consecutively collected real-time PWM pulse width values T and T n can be compared and judged, for example: the difference between three consecutive real-time PWM pulse width values T and T n When the absolute value of the difference is between N1 and N2, it is judged that the fascia gun is out of contact with the human body.
- the accuracy of the judgment of the state of the non-contact human body can be further improved by setting a delay t k , for example: when three consecutive real-time PWM pulse width values T and T n are detected, the absolute value of the difference is between The time point between N2 is time t 0 , then delay t k and then enter the next step to reduce the speed by reducing the PWM pulse width value.
- a delay t k for example: when three consecutive real-time PWM pulse width values T and T n are detected, the absolute value of the difference is between The time point between N2 is time t 0 , then delay t k and then enter the next step to reduce the speed by reducing the PWM pulse width value.
- the motor is controlled to enter the idle speed operation by adjusting and reducing the PWM pulse width value.
- the "idle speed" value here can be set in advance. In order to ensure a good noise reduction effect, and at the same time, the motor will not stop due to excessive contact force when contacting the human body.
- the PWM pulse The width value is also controlled to be a constant size (the normal fluctuations of the actual PWM output are not considered here).
- step S4 if it is detected and recognized in step S4 that the fascia gun is in a massage state in contact with the human body, the speed of the set gear of the current gear will be maintained. 1800 rpm/min operation, so as to ensure the user's massage effect.
- step S6 When the motor of the fascia gun is running at an idle speed, if it is detected that the motor speed continues to drop by more than M revolutions, it is determined that the fascia gun is in contact with the human body, and the process goes to step S7;
- the solution of the present invention will control the motor speed of the fascia gun to run at idle speed, so the change of the motor speed will only be within a normal fluctuation range due to product design factors. If the motor speed is detected If it continues to drop, it means that the motor speed drops because the massage head of the fascia gun contacts the human body, and it can be determined that the fascia gun is currently in contact with the human body.
- the "M rotation" in this step is to avoid the threshold value of misidentification caused by the normal fluctuation of the motor speed. If the threshold value is set too large, it may not be able to judge that the fascia gun is in contact with the human body in time. If the threshold value is set too small, it may cause At present, it has not touched the human body and is mistakenly judged to have contacted the human body, which affects the effect of noise reduction. Therefore, it is possible to measure the normal fluctuation of the motor speed of the fascia gun when it is running at the set gear speed of the corresponding gear when it is no-load by means of an experiment, and on this basis, an appropriate margin can be added.
- the judgment of the above-mentioned state of contact with the human body in the present invention does not use a fixed rotational speed threshold to compare with the current rotational speed, but judges based on the continuous decreasing trend and relative change of the motor rotational speed, thus avoiding multiple fascia guns. Due to the manufacturing and assembly errors of the parts, the battery voltage is different, the cooling machine and the heating machine are thermally expanded and contracted, and each fascia gun needs a different threshold due to the aging of the service life. If the threshold is unified, some fascia guns will adapt, and some will have the problem of parameter mismatch and permanent function failure. Thus, the approach in the present invention has excellent versatility and robustness.
- the fascia gun is only one of the electric massagers, others such as head massager, eye massager, neck (cervical spine) massager, waist massager, foot massager, body massager, etc.
- the human body contact state identification method and noise reduction control method proposed by the present invention are used. Therefore, the solution of the present invention has a wide application range.
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Abstract
本发明属于电动按摩设备技术领域，其公开了一种电动按摩器及其与人体接触状态判断方法、降噪控制方法，解决传统技术的分段降噪方案中判断电动按摩器是否接触人体的方式存在的增加硬件成本、生产装配难度高的问题。本发明通过比较电动按摩器实时PWM脉宽值T与处于空载状态的电动按摩器在相同档位下以设定档位转速运行时的PWM脉宽值T n；若T与T n的差值的绝对值在N1～N2之间，则判定电动按摩器当前未与人体接触，通过调节PWM脉宽值降低电机转速到怠速运行状态，在怠速状态下，若检测到电机转速连续下降一定转速，则判定接触人体，再通过调节PWM脉宽使得电机恢复到设定档位转速。本发明的判断方法和降噪控制方法适用于诸如筋膜枪的各种电动按摩器。
Description
本发明属于电动按摩设备技术领域，具体涉及一种电动按摩器及其与人体接触状态判断方法、降噪控制方法。
电动按摩器主要由电池、电机和控制电路板组成。电机通过偏心轮传动，带动按摩头做往复运动，实现在人体上来回击打的按摩效果。控制电路板上设置有控制不同档位的按键，电机在不同档位下对应有不同的转速；在调节档位后，电机按该档位的转速保持运动，即，无论是否接触人体，电机都一直保持该档位的转速运动。
由于电机在运动过程中会产生噪音，且转速越高，噪音越大，给用户带来了不好的体验。电动按摩器使用过程中的噪音问题一直是本行业重点解决的问题。
现有技术中对于降低电动按摩器的噪音的解决方案，主要分为整段降噪方案和分段降噪方案：
(1)整段降噪方案主要是采用噪音相对较低的无刷电机，提高传动部分元件精密度，采用橡胶垫缓冲，运动部分添加润滑油等方法降低噪音。
(2)分段降噪方案通常是降低在电动按摩器工作过程中未接触人体时的噪音，如：在电动按摩器开机还未接触人体时(处于悬空状态)，此时电机空转带来了无意义的噪音，可以通过降低此时电机转速降低噪音。
对于分段降噪方案而言，关键点在于如何判断电动按摩器是否接触人体。行业中通常有两种方式来判断：1、通过增加光电传感器来检测电动按摩器的按摩头与人体之间的距离，通过距离值来判断是否接触人体；2、通过增加电流传感器来检测电机的电流，当电机在固定转速下，接触人体时会增加负荷，电流会增大，则通过电流增大的幅度来判断是否接触人体。
而增加光电传感器和电流传感器均需要在电动按摩器上增加额外的部件，会带来硬件成本的增加，而且需要更改电动按摩器本身的结构，提高了生产装配难度。
发明内容
本发明所要解决的技术问题是：提出一种电动按摩器及其与人体接触状态判断方法、降噪控制方法，解决传统技术的分段降噪方案中判断电动按摩器是否接触人体的方 式存在的增加硬件成本、生产装配难度高的问题。
本发明解决上述技术问题采用的技术方案是：
一方面，本发明提出了一种电动按摩器与人体接触状态判断方法，包括：
比较电动按摩器实时PWM脉宽值T与处于空载状态的电动按摩器在相同档位下以设定档位转速运行时的PWM脉宽值T
n；
若T与T
n的差值的绝对值在N1～N2之间，则判定电动按摩器当前未与人体接触；
所述N1～N2为处于空载状态的电动按摩器在相同档位下以设定档位转速运行时PWM脉宽值的波动大小的范围阈值。
作为进一步优化，该方法还包括：
在判定电动按摩器当前未与人体接触，并通过指令降低电机转速后，若检测到电机转速在所述降低电机转速后的转速基础上持续下降超过M转，判定电动按摩器接触人体，所述M是为了避免电机转速正常波动造成误识别而设置的阈值。
另一方面，本发明提供了一种电动按摩器降噪控制方法，包括：
S1、电动按摩器开机；
S2、等待电动按摩器的电机转速达到当前档位的设定档位转速后，记录在当前档位下以设定档位转速运行时的PWM脉宽值T
n；
S3、在电动按摩器运行过程中，采集电动按摩器实时PWM脉宽值T；
S4、比较T与T
n，若T与T
n的差值的绝对值在N1～N2之间，则判定电动按摩器当前未与人体接触，进入步骤S5；
S5、控制电动按摩器的电机进入怠速运行；
所述N1～N2为处于空载状态的电动按摩器在相同档位下以设定档位转速运行时PWM脉宽值的波动大小的范围阈值。
作为进一步优化，该方法在步骤S5之后还包括步骤：
S6、在电动按摩器的电机以怠速运行的状态下，若检测到电机转速持续下降超过M转，判定电动按摩器接触人体，则进入步骤S7；
S7、控制电动按摩器的电机提速至当前档位下的设定档位转速。
作为进一步优化，当电动按摩器切换档位后，跳转至步骤S2执行。
作为进一步优化，步骤S4中，将至少连续一定次数采集的电动按摩器实时PWM脉宽值T与T
n比较，若T与T
n的差值的绝对值均在N1～N2之间，则判定电动按摩器当前未与人体接触，才进入步骤S5。
作为进一步优化，步骤S4中，在判定电动按摩器当前未与人体接触之后延时一定时间才进入步骤S5。
第三方面，本发明还提供了一种电动按摩器，其包括控制器和存储器；所述存储器用于存储计算机程序；所述控制器用于执行所述计算机程序，以实现如前述的电动按摩器与人体接触状态判断方法。
第四方面，本发明还提供了另外一种电动按摩器，其包括控制器和存储器；所述存储器用于存储计算机程序；所述控制器用于执行所述计算机程序，以实现如前述的电动按摩器降噪控制方法。
作为进一步优化，所述电动按摩器为筋膜枪。
本发明的有益效果是：
(1)在现有的电动按摩器结构上，通过软件算法来实现是否接触人体的判断，从而为分段降噪的低成本实现提供基础；由于不需要增加任何额外的装置或者结构，避免了硬件成本的增加；并且，避免了由于增加硬件带来的生产装配难度高的问题。
(2)在实现是否接触人体的判断的基础上，自动控制电机转速：在未接触人体时，控制电机转速降低，从而达到降低噪音的效果，并且能够省电；在判断接触人体时，控制电机转速提升到当前档位下的设定档位转速，从而保证用户的按摩体验。
(3)本发明在进行电动按摩器未接触人体状态的判断时，采用电动按摩器的实时PWM脉宽值T与处于空载状态的电动按摩器在相同档位下以设定档位转速运行时的PWM脉宽值T
n进行比较，判断波动大小是否超过范围阈值，由于T
n值是每次开机或者换档时自适应更新的，从而避免因不同机器制造装配误差，使用环境不同，老化程度不同造成不同的机器上有不同的表现和功能失效，提高了本发明方案的通用性和稳健性。
(4)本发明在判定未接触人体状态后，对于接触人体状态的检测是根据电机转速的持续降低趋势和相对变化来判断的，未采用转速固定阈值进行比较，从而避免出现参数不匹配造成功能失效的问题，也提高了本发明方案的通用性和稳健性。
图1为本发明实施例中的筋膜枪降噪控制方法流程图；
图2为本发明实施例中的筋膜枪检测非接触人体状态的PWM波形图；
图3为本发明实施例中的恢复筋膜枪接触人体状态的电机转速控制示意图。
本发明旨在提出一种电动按摩器及其与人体接触状态判断方法、降噪控制方法，解 决传统技术的分段降噪方案中判断电动按摩器是否接触人体的方式存在的增加硬件成本、生产装配难度高的问题。其核心思想是：对于PWM脉宽可调节的电动按摩器(如：筋膜枪)而言，其控制软件中包含电机调速控制和转速检测，即可以通过PWM脉宽信号控制电机的转速，PWM脉宽越高，电机转速越高，反之，PWM脉宽值越小，电机转速越低。在某一PWM脉宽控制信号下，电机接触人体使按摩头受力，按摩头将受力反馈给电机后，会造成电机转速下降，此时如果想要保持转速，就需要提高PWM脉宽值，补偿下降的转速。
由此可知，电机要保持相同的转速，在空载情况下(未接触人体/物体使得按摩头受力)，PWM脉宽值最低，在有负载以后，PWM脉宽值会逐渐升高才能保持相同的转速。因而，根据相同转速下PWM脉宽值的高低，就可以判断电动按摩器与人体接触状态，进而，在判断电动按摩器未与人体接触时，控制降低PWM脉宽值来降低电机转速，达到降噪、节能的目的。
在控制降低电机转速后，PWM脉宽值保持一个较低的恒定值，电机以怠速运行，若检测到电机转速连续下降，说明此时按摩头受力而影响电机的转速，即说明电动按摩器与人体接触，为了不影响用户使用，再控制PWM脉宽值上升，使得电机转速达到当前档位下的设定档位转速，从而保证用户的按摩体验。
可以理解的是，本发明中所述的“电动按摩器与人体接触状态”是指电动按摩器的按摩头与人体的接触状态。
此外，还可以理解的是，电动按摩器与人体接触后的按摩过程中，无论是人体对按摩头的反馈力因素，还是用户手持电动按摩器按摩过程中的用力大小因素，都会造成电动按摩器的按摩头与人体之间的接触力变化，电动按摩器为了保持当前档位下的设定档位转速，会实时动态调节PWM脉宽值：与人体接触力增大，实时PWM脉宽值也会被调节增大，与人体接触力减小，实时PWM脉宽值也会被调节减小。
实施例：
以筋膜枪这种电动按摩器为例，筋膜枪内设置有控制电路板和电机，控制电路板上设置有控制器和存储器，控制器与电机和存储器连接；存储器中存储有实现本发明降噪控制方法的特定计算机控制程序，控制器通过读取所述特定计算机控制程序并执行对电机的控制，则可以实现对电机转速的相应控制，从而达到本发明中的降噪、节能、提高按摩效果等目的。
本实施例中的筋膜枪降噪控制方法流程如图1所示，其包括以下实现步骤和过程：
S1、筋膜枪开机；
本实施例中的筋膜枪具有多个档位，每个档位都有对应设定的档位转速，比如：1档1800转/min，2档2400转/min…档位越高，档位转速越高，那么按摩头的按摩频率也会越高。在开机后，用户可以根据需求选择档位，从而适应不同人群对按摩频率的不同需求。
S2、等待筋膜枪的电机转速达到当前档位的设定档位转速后，记录在当前档位下以设定档位转速运行时的PWM脉宽值T
n；
本步骤主要是记录筋膜枪在空载情况下，达到当前档位的设定档位转速运行时的PWM脉宽值，此PWM脉宽值将作为后续识别与人体接触状态的比对基础，对于不同的档位，此PWM脉宽值也会不同。在每次开机选择档位或者进行档位切换后，都要记录此PWM脉宽值T
n，从而进行参数的自适应更新。参数的自适应更新是为了避免因不同机器制造装配误差，使用环境不同，老化程度不同造成不同的机器上有不同的表现和功能失效，即，保证各种类型、各种型号、各种使用环境、各种老化程度下的通用性和稳健性。
需要说明的是，本发明着重讨论的是筋膜枪开机处于悬空状态，档位选择/切换时处于悬空状态，即未与人体或物体接触的情况，而对于筋膜枪开机或档位选择/切换未处于悬空状态的情况，由于不符合绝大多数人的使用习惯，本发明并不作讨论。
S3、在筋膜枪运行过程中，采集筋膜枪实时PWM脉宽值T；
本步骤中，所述实时PWM脉宽值T可以设置为每0.5秒采集一次，确保数据采集判断的及时性，此实时PWM脉宽值T将被用于和T
n进行比对。
S4、比较T与T
n，若T与T
n的差值的绝对值在N1～N2之间，则判定筋膜枪当前未与人体接触，进入步骤S5；
本步骤中，是对实时PWM脉宽值T相对于T
n的波动大小的判断，从而判断是否接触人体。
在筋膜枪处于接触人体进行按摩的状态下，由于人体会产生对按摩头的反作用力，造成转速降低，筋膜枪要保持当前档位的档位转速，就需要提高实时PWM脉宽值T，此时的实时PWM脉宽值T势必要比处于空载状态时，筋膜枪维持当前档位的档位转速所需要的PWM脉宽值T
n要高，并且高出的量也会超过空载状态下筋膜枪运行在当前档位的档位转速时的PWM脉宽值波动大小；而在筋膜枪空载状态下，其运行在当前档位的档位转速时的实时PWM脉宽值T虽然会因为产品设计因素而波动，但是波动范围很小。
因此，通过设定一个合适的范围阈值区间N1～N2，将T与T
n的差值的绝对值与此范围阈值区间进行比较，就可以判断出筋膜枪当前是否与人体接触：若T与T
n的差值的绝对值在N1～N2之间，则判定筋膜枪当前未与人体接触，反之，则判定筋膜枪当前处于与人体接触状态。
对于范围阈值区间N1～N2的取值，设置方式考虑如下：
若此范围区间过小，则可能出现正常空载状态下的PWM脉宽波动会被识别为接触状态，反之，若此范围区间过大，则需要用户用比较大的力量将筋膜枪接触身体，才能识别为接触状态，使用不方便。
以某一型号的筋膜枪为例，实测在1档空载状态下运行在设定档位转速(如1800转/min)的PWM脉宽值数据在101～102波动，那么波动幅度大小为1，因此，将范围大小设置为3可以覆盖正常的波动而又不至于过大或过小。根据此述，N1值可以取0，N2值可以取3。
可以理解的是，本发明中所述“在N1～N2之间”包括N1和N2两个端点值。
此外，为了提高非接触人体状态判断的准确性，可以将多个连续采集的多个实时PWM脉宽值T与T
n进行比较判断，比如：连续3个实时PWM脉宽值T与T
n的差值的绝对值均在N1～N2之间时，才判断筋膜枪脱离人体接触。
进一步的，还可以通过设置一个延时t
k来进一步提高非接触人体状态判断的准确性，比如：当检测出连续3个实时PWM脉宽值T与T
n的差值的绝对值在N1～N2之间的时间点为t
0时刻，则延时t
k再进入下一步的通过降低PWM脉宽值来降低转速，此过程的PWM波形图如图2所示。
经过研究，如果t
k设置过长，将导致空载很久才会被识别降为怠速，影响降噪功能；如果设置过短，由于电机从静止到提高转速至档位转速，从接触状态到非接触状态都有PWM调速过程，有可能过程未结束就识别，从而造成误识别。经实验测试，t
k取2秒左右为最佳。
S5、控制筋膜枪的电机进入怠速运行；
本步骤中，为了降低筋膜枪在非接触人体状态下的噪音和节能，通过调节降低PWM脉宽值来控制电机进入怠速运行。这里的“怠速”值可以提前设定，设定时为了保证良好的降噪效果，同时在后续接触人体时不会因为接触力过大导致电机停转，可以考虑将该值设置在200转/min-800转/min之间，比如：400转/min，那么，筋膜枪在非接触人体状态时，其电机就会被控制以400转/min的速度运行，可以知晓，此时PWM脉宽值也 是被控制为恒定大小(此处不考虑实际PWM输出的正常波动)的。
当然，若步骤S4中通过检测识别出筋膜枪处于接触人体的按摩状态，则保持当前档位的设定档位转速运行，比如：当前位于1档，则以1档的设定档位转速1800转/min运行，从而保证用户的按摩效果。
S6、在筋膜枪的电机以怠速运行的状态下，若检测到电机转速持续下降超过M转时，判定筋膜枪接触人体，则进入步骤S7；
本步骤中，对于将筋膜枪的电机转速调节为怠速运行时，会实时监测电机的转速变化情况。由于在空载状态时，本发明方案均会控制筋膜枪的电机转速以怠速运行，那么，电机转速的变化只会在一个由于产品设计因素而存在的正常波动范围内，如果检测到电机转速持续下降，则说明是因为筋膜枪的按摩头接触人体造成电机转速下降，则可以判定为筋膜枪当前为接触人体状态。
本步骤中的“M转”是为了避免电机转速正常波动造成误识别的阈值，若该阈值设置过大，可能造成不能及时判断出筋膜枪接触人体，若该阈值设置过小，则可能造成当前还未接触人体而误判成已接触人体而影响降噪的效果。因此，可以通过实验的方式在测得筋膜枪的电机转速在空载时运行在对应档位的设定档位转速时的正常波动大小，在此基础上增加一个合适的裕量即可。
可以看出，本发明中对于上述接触人体状态的判断未采用固定的转速阈值与当前转速进行比较，而是根据电机转速的持续降低趋势和相对变化来判断的，这样避免了多台筋膜枪由于零部件的制造装配误差，电池电压高低不同，冷机热机热胀冷缩，使用年限老化带来每台筋膜枪都需要不同的阈值。而如果统一阈值，会带来有的筋膜枪适应，有的出现参数不匹配而造成功能永久失效的问题。由此，本发明中的该手段具有极好的通用性和稳健性。
S7、控制筋膜枪的电机提速至当前档位下的设定档位转速。
本步骤中，在判断出筋膜枪接触人体时，为了保证按摩效果，需要控制筋膜枪的电机转速提升到当前档位下的设定档位转速，并以此档位转速运行。比如：在t
a时刻，判断为已经接触人体，则通过调节PWM将电机转速升高到当前档位设定转速，此过程中的电机转速变化如图3所示。
由于筋膜枪只是电动按摩器的其中一种，其它诸如此类，如头部按摩器、眼部按摩器、颈部(颈椎)按摩器、腰部按摩器、足部按摩器、全身按摩器等均可以使用本发明提出的人体接触状态识别方法和降噪控制方法。因此，本发明方案适用范围广。
Claims (10)
- 电动按摩器与人体接触状态判断方法，其特征在于，包括：比较电动按摩器实时PWM脉宽值T与处于空载状态的电动按摩器在相同档位下以设定档位转速运行时的PWM脉宽值T n；若T与T n的差值的绝对值在N1～N2之间，则判定电动按摩器当前未与人体接触；所述N1～N2为处于空载状态的电动按摩器在相同档位下以设定档位转速运行时PWM脉宽值的波动大小的范围阈值。
- 如权利要求1所述的电动按摩器与人体接触状态判断方法，其特征在于，该方法还包括：在判定电动按摩器当前未与人体接触，并通过指令降低电机转速后，若检测到电机转速在所述降低电机转速后的转速基础上持续下降超过M转时，判定电动按摩器接触人体，所述M是为了避免电机转速正常波动造成误识别而设置的阈值。
- 电动按摩器降噪控制方法，其特征在于，包括：S1、电动按摩器开机；S2、等待电动按摩器的电机转速达到当前档位的设定档位转速后，记录在当前档位下以设定档位转速运行时的PWM脉宽值T n；S3、在电动按摩器运行过程中，采集电动按摩器实时PWM脉宽值T；S4、比较T与T n，若T与T n的差值的绝对值在N1～N2之间，则判定电动按摩器当前未与人体接触，进入步骤S5；S5、控制电动按摩器的电机进入怠速运行；所述N1～N2为处于空载状态的电动按摩器在相同档位下以设定档位转速运行时PWM脉宽值的波动大小的范围阈值。
- 如权利要求3所述的电动按摩器降噪控制方法，其特征在于，该方法在步骤S5之后还包括步骤：S6、在电动按摩器的电机以怠速运行的状态下，若检测到电机转速持续下降超过M转，判定电动按摩器接触人体，则进入步骤S7；S7、控制电动按摩器的电机提速至当前档位下的设定档位转速。
- 如权利要求3所述的电动按摩器降噪控制方法，其特征在于，当电动按摩器切换档位后，跳转至步骤S2执行。
- 如权利要求3所述的电动按摩器降噪控制方法，其特征在于，步骤S4中，将至少连续一定次数采集的电动按摩器实时PWM脉宽值T与T n比较，若T与T n的差值的绝对值均在N1～N2之间，判定电动按摩器当前未与人体接触，才进入步骤S5。
- 如权利要求6所述的电动按摩器降噪控制方法，其特征在于，步骤S4中，在判定电动按摩器当前未与人体接触之后延时一定时间才进入步骤S5。
- 电动按摩器，包括控制器和存储器，其特征在于，所述存储器用于存储计算机程序；所述控制器用于执行所述计算机程序，以实现如权利要求1或2所述的电动按摩器与人体接触状态判断方法。
- 电动按摩器，包括控制器和存储器，其特征在于，所述存储器用于存储计算机程序；所述控制器用于执行所述计算机程序，以实现如权利要求3-7任意一项所述的电动按摩器降噪控制方法。
- 如权利要求8或9所述的电动按摩器，其特征在于，所述电动按摩器为筋膜枪。
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