WO2022217997A1 - Electric massager and acceleration-based skeleton recognition method therefor - Google Patents

Abstract

An electric massager and an acceleration-based skeleton recognition method therefor. The acceleration-based skeleton recognition method mainly comprises: acquiring acceleration data of an electric massager body (S1); performing Fourier transform on the acceleration data to obtain a frequency-domain signal corresponding to the acceleration data (S2); and determining whether the current massage part is a skeleton or not according to the frequency-domain signal (S3). According to the acceleration-based skeleton recognition method, the production and assembly difficulty and cost are reduced, the service life of the electric massager is prolonged, the accuracy of skeleton recognition is improved, and the electric massager is particularly suitable for a fascia gun.

Description

Electric massager and its acceleration-based bone identification method technical field

The invention relates to the technical field of massage equipment, in particular to an electric massager and an acceleration-based bone identification method thereof.

Background technique

Electric massager refers to an electric appliance that replaces manual massage. Electric massagers generally use a micro motor or a vibrator to vibrate the massage head through a transmission device to play a massage role. For example, a fascia gun is driven by a motor through an eccentric wheel to drive the massage head to perform high-frequency reciprocating motion to achieve the effect of beating back and forth on the human body. Massage effect.

The user uses the electric massager mainly to relax the muscles, but the electric massager moves back and forth on the body to massage, and inevitably it will contact the bones. If it touches the bones, the high-frequency vibration of the massage head will not only bring pain to the user, but also Bone damage may occur.

In the prior art, in order to realize the bone identification of the electric massager, the following two schemes are mainly adopted: one is to add a pressure sensor on the massage head of the electric massager, and the pressure received during the use of the massage head is detected by the pressure sensor, Due to the hardness of the bone, when the massage head hits the bone, the pressure detected by the pressure sensor will increase. Therefore, it can be determined whether the current massaged part is a bone by judging the change of the pressure value. The other is to add an acceleration sensor to the massage head of the electric massager. The acceleration sensor is used to detect the acceleration of the massage head during use. When the massage head moves from a non-skeletal part to a bone part, the acceleration detected by the acceleration sensor will change dramatically. , therefore, it can be determined whether the current massaged part is a bone by judging the change of the absolute value of the acceleration.

However, both the above-mentioned solutions need to set the sensor on the massage head, so that the connection between the body of the electric massager and the massage head needs to be increased, which is not only difficult to produce and assemble, the cost is high, but also affects the service life of the electric massager; , When the user uses the electric massager, if the force is large, the massage head will also have a large pressure and acceleration. Therefore, it is difficult to distinguish between vigorously massaged muscles and bones only through the change of the pressure value or the absolute value of the acceleration of the massage head. In both cases, this method cannot accurately determine whether the part currently being massaged is a bone.

SUMMARY OF THE INVENTION

The invention aims to solve the technical problems that the existing bone identification needs to increase the connection between the electric massager body and the massage head and the accuracy of the bone identification is not high, and proposes an electric massager and its acceleration-based bone identification method.

The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an acceleration-based bone identification method for an electric massager, comprising the following steps:

Collect acceleration data of electric massager body;

After performing Fourier transform on the acceleration data, a frequency domain signal corresponding to the acceleration data is obtained;

Whether the current massage part is a bone is determined according to the frequency domain signal.

Further, the method for judging whether the current massage part is a bone according to the frequency domain signal includes:

Obtain the motor frequency point amplitude corresponding to the current gear of the electric massager, and determine whether there is a frequency point in the frequency domain signal that is smaller than the motor frequency point amplitude and greater than the preset multiple of any other frequency point amplitude. The current massage position is the muscle, otherwise, it is determined that the current massage position is the bone, and any other frequency point does not include the motor frequency point.

Further, the method also includes:

If it is determined that the current massage part is bone, reduce the motor speed of the electric massager.

Further, the PWM pulse width value of the electric massager motor changes with the change of the contact force between the electric massager and the human body, and the method also includes:

Obtain the no-load PWM pulse width value of the current gear motor when the electric massager is not in contact with the human body;

Collect the real-time PWM pulse width value of the electric massager motor according to the preset period;

According to the real-time PWM pulse width value and the no-load PWM pulse width value, determine whether the current massage part is a bone;

When it is determined that the current massage part is bone according to the frequency domain signal and the current massage part is determined to be bone according to the real-time PWM pulse width value and the no-load PWM pulse width value, the current massage part is finally determined to be bone.

Further, the PWM pulse width value of the electric massager motor includes:

If the contact force between the electric massager and the human body increases, the PWM pulse width value increases, and if the contact force between the electric massager and the human body decreases, the PWM pulse width value decreases.

Further, the method for judging whether the current massage part is a bone according to the real-time PWM pulse width value and the no-load PWM pulse width value includes:

Compare the real-time PWM pulse width value collected each time with the no-load PWM pulse width value, and judge whether the real-time PWM pulse width value is always greater than the no-load PWM pulse width value. The massage site is the bone.

Further, the method also includes:

If it is finally determined that the current massage part is a bone, reduce the motor speed of the electric massager.

Further, the method also includes:

After reducing the motor speed of the electric massager for a preset time, restore the motor speed of the electric massager.

The present invention also provides an electric massager, comprising: an electric massager body and a controller arranged in the electric massager body, and the electric massager further includes an acceleration sensor arranged in the electric massager body, so The acceleration sensor is used to collect acceleration data of the body of the electric massager, and the controller uses the acceleration-based bone identification method of the electric massager to determine whether the current massage part is a bone.

Further, the electric massager is a fascia gun.

The beneficial effects of the present invention are: the electric massager and the acceleration-based bone identification method according to the present invention can perform bone identification through the frequency domain signal corresponding to the acceleration data of the electric massager body, and it is not necessary to set the sensor on the massage head There is no need to increase the connection between the body of the electric massager and the massage head, which reduces the difficulty and cost of production and assembly, and improves the service life of the electric massager; and because the frequency domain signal is used for bone identification, even if the user The force of the PWM will change greatly, and it will not affect the bone identification, thereby improving the accuracy of the bone identification; in addition, the present invention also combines the PWM pulse width value for multi-dimensional bone identification, which further improves the accuracy of bone identification. sex.

Description of drawings

1 is a schematic flowchart of an acceleration-based bone identification method for an electric massager according to an embodiment of the present invention;

2 is a schematic diagram of a time domain signal corresponding to acceleration data when the electric massager according to the embodiment of the present invention hits a muscle;

3 is a schematic diagram of a frequency domain signal corresponding to acceleration data when the electric massager according to an embodiment of the present invention hits a muscle;

4 is a schematic diagram of a time domain signal corresponding to acceleration data when the electric massager according to an embodiment of the present invention hits a bone;

5 is a schematic diagram of a frequency domain signal corresponding to acceleration data when the electric massager according to an embodiment of the present invention hits a bone;

Fig. 6 is the change schematic diagram of real-time PWM pulse width value when the electric massager according to the embodiment of the present invention hits muscle;

FIG. 7 is a schematic diagram of changes of real-time PWM pulse width values when the electric massager according to the embodiment of the present invention hits bones.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The invention aims to solve the technical problems that the existing bone identification needs to increase the connection between the electric massager body and the massage head and the accuracy of the bone identification is not high, and proposes an electric massager and its acceleration-based bone identification The method, the main technical scheme includes: arranging an acceleration sensor in the body of the electric massager, collecting the acceleration data of the body of the electric massager through the acceleration sensor, and performing Fourier transformation on the acceleration data by the controller in the body of the electric massager. , obtain the frequency domain signal corresponding to the acceleration data, and then judge whether the current massage part is a bone according to the frequency domain signal.

It can be understood that due to the hardness of the bones, when the massage part of the electric massager is a bone, the electric massager will have a large jump. At this time, whether it is the electric massager body or the massage head, the absolute value of the acceleration will be Increase, when the massage part of the electric massager is the muscle, it will cause the muscle and the electric massager to resonate, and the absolute value of the acceleration will not increase significantly, but it will still produce different acceleration changes according to the user's force. Therefore, it is difficult to distinguish between the two situations of vigorously massaging muscles and bones simply from the change of the absolute value of acceleration for bone identification.

In view of this, the present invention detects acceleration data by arranging an acceleration sensor on the body of the electric massager. The acceleration data reflects the vibration signal of the motor, the vibration signal of the whole electric massager, and the vibration superimposed signal of the vibration signal of the electric massager driving the human hand. . During the working process of the electric massager, no matter whether the massaged part is muscle or bone, in the frequency domain signal obtained after the Fourier transform of the acceleration data, there is always a high-frequency signal corresponding to the motor vibration, but when the electric massager When the massage part is bone, the electric massager will bounce irregularly. At this time, the frequency amplitude of the low frequency region in the frequency domain signal changes irregularly; when the massage part of the electric massager is muscle, due to the comparison of muscles Soft, the muscles will resonate with the electric massager. At this time, a low-frequency resonance signal will appear in the frequency domain signal. Although the frequency of the resonance signal will change to a certain extent with the user's force, the amplitude will not If there is a big change, by judging whether the resonance signal exists in the frequency domain signal, it can be accurately judged whether the massage part of the electric massager is a bone.

Example

The electric massager described in this embodiment includes: an electric massager body, a controller arranged in the electric massager body, a motor and an acceleration sensor electrically connected to the controller, and a reciprocating device connected to the motor output shaft The acceleration sensor is arranged in the body of the electric massager, and the reciprocating mechanism is provided with a sliding shaft which passes through the body of the electric massager and is connected with the massage head. The electric massager can be a fascia gun or an electric massager with the above structure.

The bone identification method described in this embodiment, as shown in Figure 1, includes the following steps:

S1. Collect the acceleration data of the electric massager body;

Among them, the acceleration data of the electric massager body can be collected by the acceleration sensor arranged in the electric massager body. During the use of the electric massager, the collected acceleration data reflects the vibration signal of the motor and the overall performance of the electric massager. The vibration signal and the vibration superimposed signal of the vibration signal of the electric massager driving the human hand. Since the acceleration sensor is arranged in the body of the electric massager, compared with being arranged in the massage head, there is no need to increase the connection between the electric massager body and the massage head, which reduces the difficulty and cost of production and assembly, and improves the electric massage. service life of the appliance.

S2, after Fourier transform is performed on the acceleration data, a frequency domain signal corresponding to the acceleration data is obtained;

Figure 2 shows a schematic diagram of a time domain signal corresponding to acceleration data when an electric massager hits a muscle, and the frequency domain corresponding to the time domain signal shown in Figure 3 can be obtained by performing Fourier transform on the time domain signal Signal. Figure 4 shows a schematic diagram of a time domain signal corresponding to acceleration data when an electric massager hits a bone, and the frequency domain corresponding to the time domain signal shown in Figure 5 can be obtained by performing Fourier transform on the time domain signal Signal. In the time domain signal, the abscissa is used to represent the time, and the ordinate is used to represent the acceleration. In the frequency domain signal, the abscissa is used to represent the frequency, and the ordinate is used to represent the amplitude. Converting a time-domain signal into a frequency-domain signal through Fourier transform belongs to the prior art, and details are not described herein again.

S3. Determine whether the current massage part is a bone according to the frequency domain signal.

Specifically, as shown in Figure 3, when the massage part of the electric massager is muscle, there is a motor vibration signal with a high frequency of about 30Hz in the frequency domain signal. In addition, because the muscles are relatively soft, the muscles will interact with the electric massager. Resonance, at this time, a 5Hz low frequency resonance signal will appear in the frequency domain signal. As shown in Figure 5, when the massage part of the electric massager is bone, there is a motor vibration signal with a high frequency of about 30Hz in the frequency domain signal. Due to the hardness of the bone, the electric massager will bounce irregularly. When , the amplitude of the frequency point in the low frequency region in the frequency domain signal changes irregularly.

Based on this, the present embodiment can judge whether the current massage part is a bone by the following method:

Obtain the motor frequency point amplitude corresponding to the current gear of the electric massager, and determine whether there is a frequency point in the frequency domain signal that is smaller than the motor frequency point amplitude and greater than the preset multiple of any other frequency point amplitude. The current massage position is the muscle, otherwise, it is determined that the current massage position is the bone, and any other frequency point does not include the motor frequency point.

It should be noted that the frequency point is used to represent the frequency corresponding to each peak point in the frequency domain signal, and the frequency point amplitude is used to represent the amplitude corresponding to the frequency point, that is, the amplitude corresponding to each peak point. In order to represent the amplitude corresponding to the motor vibration signal, the gears of the electric massager are different, and the corresponding motor frequency amplitudes are also different.

When the massage part of the electric massager is the muscle, in addition to the larger amplitude of the motor frequency point in the frequency domain signal, the amplitude of the frequency point corresponding to the resonance signal of the muscle and the electric massager is significantly larger than that of other frequency points, while When the massage part of the electric massager is bone, there is no frequency significantly larger than the amplitude of other frequency points in the frequency domain signal except the motor frequency point amplitude is larger. A frequency point whose amplitude is greater than any other preset multiple of the amplitude of the frequency point is used to determine whether the current massage part is a bone.

When the user exerts a lot of force, although the frequency corresponding to the resonance signal of the muscles and the electric massager in the frequency domain signal will change to a certain extent, the amplitude of the frequency will not change greatly. The size of the force changes greatly, and it will not cause too much impact on the bone recognition, thereby improving the accuracy of the bone recognition.

The preset multiple can be set according to the actual situation. In order to further improve the accuracy of bone identification, in this embodiment, the preset multiple is preferably 2 times.

Preferably, the acceleration-based bone identification method for an electric massager described in this embodiment may further include: if it is determined that the current massage part is a bone, reducing the motor speed of the electric massager.

Specifically, after it is determined that the current massage part is a bone, the speed of the motor can be reduced by controlling the PWM pulse width value to decrease, thereby reducing the hitting force of the massage head and protecting the bone from damage.

In order to ensure the normal operation of the electric massager, the acceleration-based bone identification method for the electric massager in this embodiment may further include: after reducing the motor speed of the electric massager for a preset time, restoring the motor speed of the electric massager.

Wherein, the preset time can be set according to the actual situation, in order to realize the effective protection of bones while ensuring that the electric massager can work normally, the preset time is preferably 5 seconds.

Preferably, the PWM pulse width value of the electric massager motor described in this embodiment changes with the change of the contact force between the electric massager and the human body, and the method may also include:

Obtain the no-load PWM pulse width value of the current gear motor when the electric massager is not in contact with the human body;

Collect the real-time PWM pulse width value of the electric massager motor according to the preset period;

According to the real-time PWM pulse width value and the no-load PWM pulse width value, determine whether the current massage part is a bone;

When it is determined that the current massage part is bone according to the frequency domain signal and the current massage part is determined to be bone according to the real-time PWM pulse width value and the no-load PWM pulse width value, the current massage part is finally determined to be bone.

It should be noted that, the gears of the electric massager are different, and the corresponding no-load PWM pulse width values are also different, that is, each gear position corresponds to a no-load PWM pulse width value. Before actual use, the no-load PWM pulse width value corresponding to different gears can be set in the controller, and then the no-load PWM pulse width value of the motor can be determined through the current gear position.

The preset period may be set according to the actual situation. In order to further improve the accuracy of bone identification, in this embodiment, the preset period is preferably 200 milliseconds.

It can be understood that the electric massager controls the motor speed by the PWM pulse width value. The larger the PWM pulse width value, the higher the motor speed, and the smaller the PWM pulse width value, the lower the motor speed. When the massage head is in contact with the human body, the contact force between the electric massager and the human body becomes larger. After the massage head transmits the force to the motor through the transmission device, the motor speed will decrease. At this time, the controller will control the PWM pulse width value to increase. To keep the motor at the rated speed; that is, when the massage head is not in contact with the human body, the PWM pulse width value is small, and when the massage head is in contact with the human body, the PWM pulse width value is large.

As shown in Figure 6, when the massage part of the electric massager is muscle, because the muscles are relatively soft, the massage head is always in contact with the human body, so the real-time PWM pulse width value is always greater than the no-load PWM pulse when the massage head is not in contact with the human body width value. As shown in Figure 7, when the massage part of the electric massager is bone, due to the high hardness of the bone, the massage head will bounce off the human body and be in a no-load state for a short time, so the real-time PWM pulse width value will exist and no-load PWM value. The case where the pulse width values are equal.

Based on this, in this embodiment, the real-time PWM pulse width value of the electric massager motor can also be collected according to a preset period, and bone identification can be performed according to the collected real-time PWM pulse width value and the no-load PWM pulse width value, thereby realizing multi-dimensional skeletal identification, which can specifically include:

Compare the real-time PWM pulse width value collected each time with the no-load PWM pulse width value, and judge whether the real-time PWM pulse width value is always greater than the no-load PWM pulse width value. The massage site is the bone.

It can be understood that when the real-time PWM pulse width value is always greater than the no-load PWM pulse width value, it means that the massage head is always in contact with the human body. At this time, it is determined that the current massage part is a muscle. When the real-time PWM pulse width value is not always greater than the no-load PWM pulse width When the width value is set, the real-time PWM pulse width value is equal to the no-load PWM pulse width value, which means that the massage head is in a state of non-contact with the human body. At this time, the current massage part is determined as the bone.

When the massage part is bone, due to the high hardness of the bone, even if the user exerts a lot of force, the massage head will still bounce, making the electric massager temporarily in the no-load state. Therefore, the PWM pulse width value can also be used. Realize the accurate identification of bones and improve the accuracy of bone identification.

In the scheme of bone identification through frequency domain signal and PWM pulse width value, only when the current massage part is determined to be bone according to the frequency domain signal and the current massage part is determined to be bone according to the PWM pulse width value, the current massage part is finally determined to be Bone, otherwise, it is determined that the current massage part is a muscle, and the accuracy of bone identification can be further improved through multi-dimensional bone identification.

In the actual use process, the bone identification can be carried out according to the frequency domain signal first. When it is determined that the current massage part is a bone, the bone identification can be carried out according to the PWM pulse width value, or the bone identification can be carried out according to the PWM pulse width value. When the massage part is a bone, the bone identification is carried out according to the frequency domain signal, and the bone identification can also be carried out according to the frequency domain signal and the PWM pulse width value at the same time.

When both identifications determine that the current massage part is a bone, the current massage part is finally determined to be a bone. Through the multi-dimensional identification of the frequency domain signal and the PWM pulse width value, the accuracy of the electric massager bone identification is further improved.

Similarly, after it is finally determined that the current massage part is a bone, the speed of the motor can also be reduced by controlling the PWM pulse width value to decrease, thereby reducing the hitting force of the massage head and protecting the bone from damage. It is also possible to restore the motor speed after reducing the motor speed of the electric massager for a preset time, thereby ensuring the normal operation of the electric massager.

Claims (10)

The acceleration-based bone identification method for an electric massager is characterized in that it includes the following steps: Collect acceleration data of electric massager body; After performing Fourier transform on the acceleration data, a frequency domain signal corresponding to the acceleration data is obtained; Whether the current massage part is a bone is determined according to the frequency domain signal. The acceleration-based bone identification method for an electric massager according to claim 1, wherein the method for judging whether the current massage part is a bone according to the frequency domain signal comprises: Obtain the motor frequency point amplitude corresponding to the current gear of the electric massager, and determine whether there is a frequency point in the frequency domain signal that is smaller than the motor frequency point amplitude and greater than the preset multiple of any other frequency point amplitude. The current massage position is the muscle, otherwise, it is determined that the current massage position is the bone, and any other frequency point does not include the motor frequency point. The acceleration-based bone identification method for an electric massager according to claim 1, wherein the method further comprises: If it is determined that the current massage part is bone, reduce the motor speed of the electric massager. The acceleration-based bone identification method of an electric massager according to claim 1, wherein the PWM pulse width value of the electric massager motor changes with the change of the contact force between the electric massager and the human body, and the method further include: Obtain the no-load PWM pulse width value of the current gear motor when the electric massager is not in contact with the human body; Collect the real-time PWM pulse width value of the electric massager motor according to the preset period; According to the real-time PWM pulse width value and the no-load PWM pulse width value, determine whether the current massage part is a bone; When it is determined that the current massage part is bone according to the frequency domain signal and the current massage part is determined to be bone according to the real-time PWM pulse width value and the no-load PWM pulse width value, the current massage part is finally determined to be bone. The acceleration-based bone identification method of an electric massager as claimed in claim 4, wherein the PWM pulse width value of the electric massager motor along with the change of the contact force between the electric massager and the human body comprises: If the contact force between the electric massager and the human body increases, the PWM pulse width value increases, and if the contact force between the electric massager and the human body decreases, the PWM pulse width value decreases. The acceleration-based bone identification method of an electric massager as claimed in claim 5, wherein the method for judging whether the current massage part is a bone according to the real-time PWM pulse width value and the no-load PWM pulse width value comprises: Compare the real-time PWM pulse width value collected each time with the no-load PWM pulse width value, and judge whether the real-time PWM pulse width value is always greater than the no-load PWM pulse width value. The massage site is the bone. The acceleration-based bone identification method for an electric massager according to claim 4, wherein the method further comprises: If it is finally determined that the current massage part is a bone, reduce the motor speed of the electric massager. The acceleration-based bone identification method for an electric massager according to claim 3 or 7, wherein the method further comprises: After reducing the motor speed of the electric massager for a preset time, restore the motor speed of the electric massager. An electric massager, comprising: an electric massager body and a controller arranged in the electric massager body, characterized in that the electric massager further comprises an acceleration sensor arranged in the electric massager body, the acceleration sensor The sensor is used to collect acceleration data of the body of the electric massager, and the controller adopts the acceleration-based bone identification method of the electric massager according to any one of claims 1-8 to determine whether the current massage part is a bone. The electric massager according to claim 9, wherein the electric massager is a fascia gun.

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