Massage robot remote massage control method and device based on virtual reality technology

Abstract

The invention provides a massage robot remote massage control method and device based on a virtual reality technology, and the method comprises the steps: obtaining first real initial pose data of a real handle and second real initial pose data of a mechanical arm of a massage robot, based on the first real initial pose data and the second real initial pose data, first virtual initial pose data of a virtual handle and second virtual initial pose data of a mechanical arm digital twin model are determined; based on the first virtual initial pose data and the second virtual initial pose data, the virtual handle and the mechanical arm digital twinborn model are aligned; acquiring first real displacement data of a real handle operated by the operation user, and mapping the first real displacement data into second real displacement data of a mechanical arm of the massage robot through the virtual handle and the mechanical arm digital twinborn model based on the first real displacement data; wherein each piece of displacement data comprises pose data and moving speed. Remote control of the massage robot can be achieved, and the massage effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of massage robots, and in particular to a remote massage control method and device for massage robots based on virtual reality technology. Background Art

[0002] With the progress of modern civilization, robots have become well-known and recognized by people. Robots have moved from narrow industrial and other fields to the service field closely related to humans. In recent years, service robots, as a member of the robot family, have developed rapidly. Various types of service robots such as medical, rehabilitation, cleaning, construction, and disaster relief have entered our lives. With the acceleration of people's pace of life, massage has become an effective entertainment activity for people to quickly relax their bodies and minds. Correspondingly, massage robots have also developed rapidly.

[0003] At present, massage robots use pre-set massage programs to achieve massage during massage. For example, during the massage process, the user's status is obtained, and then the user is massaged according to the pre-stored massage mode based on the user's status. Although the massage mode in this method is matched based on the user's status, the entire massage process of this method is completed by a pre-defined program, so it is impossible to achieve personalized customization for the user, and it is also impossible for experienced masseurs or doctors to remotely control the massage robot to achieve remote massage, resulting in poor massage effect. Therefore, how to achieve remote control massage of the massage robot to improve the massage effect is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a remote massage control method and device for a massage robot based on virtual reality technology to eliminate or improve one or more defects existing in the prior art.

[0005] One aspect of the present invention provides a remote massage control method for a massage robot based on virtual reality technology, wherein a virtual massage scene image and a virtual handle are displayed in a virtual reality environment, wherein the virtual massage scene image includes a digital twin model image of a mechanical arm of the massage robot and a massage object model image, and the method includes the following steps:

[0006] Acquire first real initial posture data of the real handle and second real initial posture data of the mechanical arm of the massage robot, and determine first virtual initial posture data of the virtual handle and second virtual initial posture data of the mechanical arm digital twin model respectively based on the first real initial posture data and the second real initial posture data;

[0007] aligning the virtual handle with the digital twin model of the robotic arm based on the first virtual initial pose data and the second virtual initial pose data;

[0008] Acquire first real displacement data of a real handle operated by an operating user, and map the first real displacement data to second real displacement data of the robotic arm of the massage robot through the virtual handle and the digital twin model of the robotic arm; wherein each displacement data includes posture data and moving speed.

[0009] In some embodiments of the present invention, mapping the first real displacement data into the second real displacement data of the mechanical arm of the massage robot through the virtual handle and the mechanical arm digital twin model includes:

[0010] Determine a first real displacement increment of the real handle based on the first real initial posture data and the first real current posture data included in the first real displacement data;

[0011] Determining a virtual displacement increment of the virtual handle and the digital twin model of the robotic arm based on the first real displacement increment;

[0012] Determine a second real displacement increment of the robotic arm based on the virtual displacement increment and the second real initial pose data;

[0013] The second real displacement data of the robot arm is determined based on the second real initial pose data and the second real displacement increment.

[0014] In some embodiments of the present invention, determining a second real displacement increment of the robotic arm based on the virtual displacement increment and the second real initial pose data includes:

[0015] Acquire a contact force relative to the massage object detected by a sensor at the end of the digital twin model of the robotic arm;

[0016] A second real displacement increment of the robot arm is determined based on the virtual displacement increment, the contact force and the second real initial pose data.

[0017] In some embodiments of the present invention, determining a second real displacement increment of the robot arm based on the virtual displacement increment, the contact force and the second real initial pose data includes:

[0018] Determining whether the contact force is less than a contact force threshold;

[0019] When the contact force is not less than the contact force threshold, obtaining a maximum virtual displacement increment;

[0020] A second real displacement increment of the robotic arm is determined based on the maximum virtual displacement increment and the second real initial pose data.

[0021] In some embodiments of the present invention, when the contact force is not less than the contact force threshold, the method further includes:

[0022] calculating a vibration amplitude of the real handle based on the contact force;

[0023] A vibration signal corresponding to the vibration amplitude is sent to the real handle, so that the real handle vibrates based on the vibration amplitude.

[0024] In some embodiments of the present invention, the virtual handle after the alignment operation is located at the bottom of the end of the digital twin model of the robotic arm.

[0025] In some embodiments of the present invention, the method further comprises:

[0026] Determining the positional relationship between the aligned virtual handle and the digital twin model of the robotic arm;

[0027] When the virtual handle is not located at the bottom of the end of the digital twin model of the robotic arm, updating the first virtual initial pose data of the virtual handle;

[0028] And based on the updated first virtual initial pose data, the virtual handle is realigned with the digital twin model of the robotic arm.

[0029] In some embodiments of the present invention, the pose data of the virtual handle and the real handle include three-axis position coordinates and quaternions, and the pose data of the robotic arm and the robotic arm digital twin model include three-axis position coordinates and three-axis Euler numbers.

[0030] According to another aspect of the present invention, a massage robot remote massage control system based on virtual reality technology is also disclosed, including a processor, a memory and a computer program stored in the memory, the processor is used to execute the computer program, and when the computer program is executed, the system implements the steps of the method described in any of the above embodiments.

[0031] According to yet another aspect of the present invention, a computer-readable storage medium is disclosed, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0032] The massage robot remote massage control method and device based on virtual reality technology of the present invention obtains first real displacement data based on a real handle operated by an operating user during a specific massage, and then maps the first real displacement data to second real displacement data of the mechanical arm of the massage robot through the virtual handle and the digital twin model of the mechanical arm, so that the mechanical arm of the massage robot can be remotely controlled through the real handle. This method allows a masseur or doctor to remotely control the massage robot and observe the status of the mechanical arm and the massage object in a virtual reality environment, so as to control the massage strength and massage method of the massage robot through the remote handle. This method can not only realize remote control massage of the massage robot, but also improve the massage effect.

[0033] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0034] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0036] Figure 1 The figure is a flow chart of a remote massage control method of a massage robot based on virtual reality technology in one embodiment of the present invention.

[0037] Figure 2 It is a flowchart of a remote massage control method of a massage robot based on virtual reality technology in another embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0039] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0040] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0041] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0042] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0043] The virtual reality environment of the present application displays a virtual massage scene image and a virtual handle, and the virtual massage scene image includes a digital twin model image of the mechanical arm of the massage robot and a model image of the massage object. Exemplarily, the virtual reality environment can be implemented based on a VR device, that is, during remote massage, the masseur or doctor wears a VR device and holds a real handle, and based on the massage robot remote massage control method disclosed in the embodiment of the present application, the synchronous movement of the mechanical arm of the massage robot and the massage handle is realized, so that the massage object can be remotely massaged.

[0044] Figure 1 FIG. 1 is a flow chart of a remote massage control method for a massage robot based on virtual reality technology in one embodiment of the present invention. Figure 1 As shown, the remote massage control method at least includes steps S10 to S30.

[0045] Step S10: Obtain the first real initial posture data of the real handle and the second real initial posture data of the robotic arm of the massage robot, and determine the first virtual initial posture data of the virtual handle and the second virtual initial posture data of the robotic arm digital twin model based on the first real initial posture data and the second real initial posture data.

[0046] In this embodiment, the first real initial pose data and the second real initial pose data can be understood as the pose data of the handle and the robot arm in the actual state, and the first virtual initial pose data and the second virtual initial pose data are the pose data of the handle and the robot arm in the virtual environment (VR space) in the initial state. Exemplarily, the pose data of the virtual handle and the real handle include three-axis position coordinates and quaternions, the three-axis position coordinates are used to represent the position of the handle in three-dimensional space, and the quaternion is used to represent the posture of the handle; and the pose data of the robot arm and the digital twin model of the robot arm include three-axis position coordinates and three-axis Euler numbers.

[0047] In this step, after obtaining the posture data of the handle and the robotic arm, the posture data of the virtual arm in the virtual reality environment can be sent to the server through the UDP protocol, so that the server can then send the posture data of the virtual handle to the industrial computer of the robotic arm through the UDP protocol, thereby realizing the connection between the virtual handle and the industrial computer of the robotic arm; it can be understood that since the posture data of the virtual handle corresponds to the posture data of the real handle, the connection between the virtual handle and the industrial computer of the robotic arm can also be understood as the connection between the real handle and the industrial computer of the robotic arm.

[0048] Exemplarily, the pose data of the virtual handle in the VR space is [X, Y, Z, R, P, Q], where X, Y, and Z represent the coordinates in the x-axis, y-axis, and z-axis directions, respectively, R represents the angle with the X-axis, P represents the angle with the Y-axis, and Q represents the angle with the Z-axis. In other handles with buttons, the pose data may also include the button pressing status, such as [A, B], where A represents whether the first button is pressed, and B represents whether the second button is pressed. Furthermore, the pose data of the virtual handle is sent to the server via UDP in the form of a string. The server stores the pose string of the virtual handle and simultaneously sends the string to the industrial computer of the robot arm via UDP, thereby realizing the connection between the virtual handle and the industrial computer of the robot arm.

[0049] Step S20: Aligning the virtual handle with the robotic arm digital twin model based on the first virtual initial pose data and the second virtual initial pose data.

[0050] In this step, the alignment of the digital twin model of the robot arm and the virtual handle in the virtual environment (VR space) is achieved. The alignment of the virtual handle and the digital twin model of the robot arm can also be understood as constructing a positional relationship between the virtual handle and the digital twin model of the robot arm. Exemplarily, the virtual handle after the alignment operation is located at the bottom end of the digital twin model of the robot arm; in this embodiment, the digital twin model of the robot arm in the VR space is first updated based on the posture data of the real robot arm, and the virtual handle model in the VR space is updated based on the posture data of the real handle, and the virtual handle is further moved to the bottom end of the digital twin model of the robot arm, thereby achieving the alignment operation of the virtual handle and the digital twin model of the robot arm.

[0051] Step S30: Obtain first real displacement data of a real handle based on operation of the operating user, and map the first real displacement data to second real displacement data of the robotic arm of the massage robot through the virtual handle and the digital twin model of the robotic arm; wherein each displacement data includes posture data and moving speed.

[0052] In this step, the user operates the real handle, so that the real handle generates the first real displacement data. Accordingly, based on the mapping relationship between the virtual handle and the real handle, and the mapping relationship between the real robotic arm and the digital twin model of the robotic arm, the first real displacement data of the real handle is mapped to the displacement of the real robotic arm, so that the robotic arm in different spatial environments can be linked with the real handle to ensure the remote massage control of the massage robot. In one embodiment, the movement of the real handle and the real robotic arm can be synchronized, that is, the movement of the robotic arm is a 1:1 mapping of the movement of the real handle, and the robotic arm can move in various directions and change its posture by following the real handle. For example, when the real handle moves quickly, the robotic arm also moves quickly with the handle.

[0053] In a specific embodiment, the second real displacement data of the mechanical arm of the massage robot is mapped to the virtual handle and the mechanical arm digital twin model based on the first real displacement data, which may specifically include: determining the first real displacement increment of the real handle based on the first real initial posture data and the first real current posture data contained in the first real displacement data; determining the virtual displacement increment of the virtual handle and the mechanical arm digital twin model based on the first real displacement increment; determining the second real displacement increment of the mechanical arm based on the virtual displacement increment and the second real initial posture data; determining the second real displacement data of the mechanical arm based on the second real initial posture data and the second real displacement increment. In this embodiment, the real displacement data of the real handle is first converted into the real displacement increment of the real handle, and then the real displacement increment of the real handle is converted into the virtual displacement increment of the virtual handle and the mechanical arm digital twin model, and then the virtual displacement increment of the mechanical arm digital twin model is converted into the real displacement increment of the real mechanical arm, so as to determine the real displacement data of the real mechanical arm. It can be understood that since the virtual handle and the mechanical arm digital twin model are aligned in the VR space, it can be considered that the displacement increments of the virtual handle and the mechanical arm digital twin model in the VR space are consistent.

[0054] For example, when performing remote massage control, the initial posture data of the virtual handle and the digital twin model of the robotic arm in the VR space are first calibrated. For example, the first virtual initial posture data of the virtual handle is [Xin, Yin, Zin, Rin, Pin, Yin], and the second real initial posture data of the robotic arm is [Xrin, Yrin, Zrin, Rrin, Prin, Yrin]; after the real handle is operated, the current virtual posture data of the corresponding virtual handle is [Xr, Yrin, Zrin, Rrin, Prin, Yrin]. r,Zr,Rr,Pr,Yr], then the virtual displacement increment of the virtual handle [Xt,Yt,Zt,Rt,Pt,Yt]=[Xr,Yr,Zr,Rr,Pr,Yr]-[Xin,Yin,Zin,Rin,Pin,Yin], at this time, the virtual displacement increment [Xt,Yt,Zt,Rt,Pt,Yt] is sent to the industrial computer, and the industrial computer controls the real robot arm to move to the target posture based on the relative posture of the virtual handle at the current moment relative to the initial moment. The target posture of the robot arm is [Xrin,Yrin,Zrin,Rrin,Prin,Yrin]+[Xt,Yt,Zt,Rt,Pt,Yt], that is, the displacement of the robot arm relative to its initial position (the position corresponding to the second real initial posture data) is the same as the displacement of the virtual handle relative to its own initial position (the position corresponding to the first virtual initial posture data), thereby realizing 1:1 motion tracking between the robot arm and the virtual handle.

[0055] In some other embodiments, in order to improve the massage safety of the massage robot, the second real displacement increment of the mechanical arm is determined based on the virtual displacement increment and the second real initial posture data, which may also include: obtaining the contact force detected by the sensor at the end of the digital twin model of the mechanical arm relative to the massage object; determining the second real displacement increment of the mechanical arm based on the virtual displacement increment, the contact force and the second real initial posture data. The contact force can characterize the force between the end of the mechanical arm and the body of the massage object. It can be understood that when the force is within the safe range, the massage force felt by the massage object is appropriate. When the force exceeds the safe range, the massage object will feel that the massage force is too large, thereby affecting the massage comfort; in this embodiment, the industrial computer converts the handle posture into the desired mechanical arm end posture and combines the contact force input to the controller to obtain a specific mechanical arm control signal, and finally uses the moveit_servo open source package provided by moveit2 to realize the servo control of the mechanical arm. In some embodiments, the contact force can be obtained by the force sensor at the end of the mechanical arm.

[0056] Further, determining the second real displacement increment of the manipulator based on the virtual displacement increment, the contact force and the second real initial posture data may specifically include: judging whether the contact force is less than the contact force threshold; obtaining the maximum virtual displacement increment when the contact force is not less than the contact force threshold; determining the second real displacement increment of the manipulator based on the maximum virtual displacement increment and the second real initial posture data. In this embodiment, when it is detected that the contact force is greater than the threshold, even if the handle displacement continues to increase, the force between the end of the manipulator and the body of the massage object will not increase. Exemplarily, when the manipulator touches the body of the massage object, the increment of the handle in the normal direction of the contact surface will be linearly converted into contact force; for example, contact force F = displacement increment of the handle after touching * artificially set gain K; when the calculated contact force is greater than the safety threshold Fm, even if the displacement increment of the handle continues to increase, the contact force F will not increase, but remain at Fm; if the displacement increment of the handle begins to decrease and decreases to below Fm / K, the contact force F will begin to decrease. It can be seen from this that this embodiment sets an allowable interval for the contact force, thereby ensuring that the massage robot provides a suitable massage force for the massage object.

[0057] In some other embodiments, when the contact force is not less than the contact force threshold, the method further includes: calculating the vibration amplitude of the real handle based on the contact force; and sending a vibration signal corresponding to the vibration amplitude to the real handle, so that the real handle vibrates based on the vibration amplitude. In this embodiment, when the contact force is greater than the contact force threshold, the contact force is converted into the vibration amplitude of the real handle to prompt the operating user by means of handle vibration. Exemplarily, the operating user is a masseur or doctor who operates the handle.

[0058] In order to calculate the actual vibration amplitude of the handle, for example, the load of the robotic arm can be set to a maximum of 5kg. Taking into account factors such as the acceleration of the robotic arm, the force sensor can withstand a maximum force of about 100N, so the upper force limit of the force sensor is designed to be 100N; the input signal range of the handle vibration is 0 to 1, then the actual resultant force data of the force sensor is divided by 100N to obtain the handle vibration signal, so that the handle vibrates based on the amplitude corresponding to the handle vibration signal.

[0059] In some other embodiments, as the robotic arm moves, the force sensor signal and the real posture data of the robotic arm are transmitted back in real time to VR as a somatosensory signal and a visualization model of the robotic arm to be presented to the operating user. The operating user can see the dynamic and real-time digital twin model of the robotic arm in VR; and from the above content, it can be seen that the force sensor signal is also converted into a handle vibration signal, so that the operating user can perceive the massage force exerted on the massage object through the handle vibration and the sensor data displayed in VR.

[0060] In the above embodiment, the real-time posture data of the robotic arm can also be displayed through the digital twin model of the robotic arm in the VR space. The digital twin model of the robotic arm is a nested model, that is, the base nests the first joint, the first joint nests the second joint, the second joint nests the third joint, and so on. The six joints are all nested. When one joint moves, all the joints nested in this joint will follow the movement; therefore, the server converts the control signal into the action of the digital twin model of the robotic arm by sending the angles of the six joints to each joint respectively.

[0061] In addition, if the virtual handle in the VR space is offset from the posture of the digital twin model of the robotic arm, the virtual initial posture of the virtual handle is recalibrated at this time; exemplarily, in one embodiment, the massage robot remote massage control method also includes the following steps: judging the positional relationship between the aligned virtual handle and the digital twin model of the robotic arm; when the virtual handle is not located at the bottom of the end of the digital twin model of the robotic arm, updating the first virtual initial posture data of the virtual handle; and realigning the virtual handle with the digital twin model of the robotic arm based on the updated first virtual initial posture data.

[0062] Figure 2 The present invention is a flowchart of a remote massage control method for a massage robot based on virtual reality technology in another embodiment. In this embodiment, the server is connected to the VR to realize the transmission of the handle posture, the mechanical arm posture and the contact force, and the motion control of the mechanical arm is realized based on the moveit_servo open source package provided by moveit2 of the ros system. Specifically, first align the virtual handle with the digital twin model of the mechanical arm in the VR space, obtain the posture data of the handle as the initial posture, and the posture data of the virtual handle includes the three-axis coordinates and quaternion of the virtual handle in the VR space; further send the obtained virtual posture data of the virtual handle to the server, and the server sends it to the industrial computer, the industrial computer converts the quaternion into the three-axis posture Euler angle required by moveit2, and maps the virtual initial posture of the virtual handle to the virtual initial posture of the digital twin model of the mechanical arm. In addition, when determining the virtual displacement increment of the digital twin model of the robot arm, the virtual current posture data of the received virtual handle is subtracted from the virtual initial posture data; after determining the virtual displacement increment, the virtual initial posture of the digital twin model of the robot arm is further added to the virtual displacement increment to obtain the end virtual posture data of the digital twin model of the robot arm, and then based on the corresponding relationship between the actual robot arm and the digital twin model of the robot arm, the end real posture data of the actual robot arm is determined. In addition, while determining the end posture data of the robot arm, the force between the robot arm and the massage object is obtained through the force sensor, and the force can be a three-axis force. At this time, the resultant force is obtained based on the three-axis force, such as the resultant force F = (Fx^2+Fy^2+Fz^2)^(1 / 2); in addition, while obtaining the force, the angle of each joint is further obtained, and the resultant force and the joint angle are sent to the server, so that the server considers the contact force of the digital twin model of the robot arm relative to the massage object when determining the control signal.

[0063] Through the above embodiments, it can be found that the remote massage control method of the massage robot based on virtual reality technology of the present application realizes the remote control of the mechanical arm through the VR handle, and at the same time displays the 2D image taken by the camera and the 3D model of the mechanical arm and the human body in real time in VR, thereby realizing the remote visual massage control of the massage robot. In addition, when the contact force between the mechanical arm and the massage object is greater than a certain value, the mechanical arm will not continue to move with the displacement of the handle, thereby improving the massage safety of the massage robot.

[0064] Correspondingly, the present invention also provides a massage robot remote massage control system based on virtual reality technology, including a processor, a memory and a computer program stored in the memory, wherein the processor is used to execute the computer program, and when the computer program is executed, the system implements the steps of the method described in any of the above embodiments.

[0065] like Figure 2 As shown, the system may specifically include a server and an industrial computer. The server is used to transfer data, that is, to realize public network data transmission between VR and the industrial computer. The industrial computer can not only realize coordinate conversion and contact force judgment, but also includes a posture controller, a real-time servo control module and a force-position hybrid controller. The force-position hybrid controller controls the posture of the end of the robot arm so that the normal force of the contact point is positively correlated with the normal displacement of the VR handle, and the tangential displacement of the robot arm is synchronized with the tangential movement of the VR handle.

[0066] In addition, before remotely controlling the massage robot based on the massage robot remote massage control method and system of the present application, you can first enter the VR login interface, log in to the account to obtain the control of the specified mechanical arm and control the mechanical arm, and the login interface displays the image of the massage object taken by the camera. In addition, during the massage process, video communication can also be carried out through WebRTC; because the existing WebRTC is difficult to communicate across platforms, it is chosen to build a browser in VR and log in to the website display interface to achieve cross-platform communication of the video; at the same time, use the 3D WebView forAndroid with Gecko Engine Web Browser plug-in in Unity to generate a browser and keyboard, and the operating user can enter the login interface through the browser in VR and see the image of the massage object.

[0067] The embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned edge computing server deployment method are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0068] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0069] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0070] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote massage control method for a massage robot based on virtual reality technology, characterized in that: A virtual massage scene image and a virtual handle are displayed in a virtual reality environment, wherein the virtual massage scene image includes a digital twin model image of a mechanical arm of a massage robot and a massage object model image, and the method includes the following steps: Acquire first real initial posture data of the real handle and second real initial posture data of the mechanical arm of the massage robot, and determine first virtual initial posture data of the virtual handle and second virtual initial posture data of the mechanical arm digital twin model respectively based on the first real initial posture data and the second real initial posture data; aligning the virtual handle with the digital twin model of the robotic arm based on the first virtual initial pose data and the second virtual initial pose data; Acquire first real displacement data of a real handle operated by an operating user, and map the first real displacement data to second real displacement data of the robotic arm of the massage robot through the virtual handle and the digital twin model of the robotic arm; wherein each displacement data includes posture data and moving speed.

2. The massage robot remote massage control method based on virtual reality technology according to claim 1 is characterized in that: Based on the first real displacement data, the second real displacement data of the mechanical arm of the massage robot is mapped through the virtual handle and the mechanical arm digital twin model, including: Determine a first real displacement increment of the real handle based on the first real initial posture data and the first real current posture data included in the first real displacement data; Determining a virtual displacement increment of the virtual handle and the digital twin model of the robotic arm based on the first real displacement increment; Determine a second real displacement increment of the robotic arm based on the virtual displacement increment and the second real initial pose data; The second real displacement data of the robot arm is determined based on the second real initial pose data and the second real displacement increment.

3. The massage robot remote massage control method based on virtual reality technology according to claim 2 is characterized in that: Determining a second real displacement increment of the robotic arm based on the virtual displacement increment and the second real initial pose data includes: Acquire a contact force relative to the massage object detected by a sensor at the end of the digital twin model of the robotic arm; A second real displacement increment of the robot arm is determined based on the virtual displacement increment, the contact force and the second real initial pose data.

4. The massage robot remote massage control method based on virtual reality technology according to claim 3 is characterized in that: Determining a second real displacement increment of the robot arm based on the virtual displacement increment, the contact force and the second real initial pose data includes: Determining whether the contact force is less than a contact force threshold; When the contact force is not less than the contact force threshold, obtaining a maximum virtual displacement increment; A second real displacement increment of the robotic arm is determined based on the maximum virtual displacement increment and the second real initial pose data.

5. The remote massage control method of a massage robot based on virtual reality technology according to claim 4, characterized in that: When the contact force is not less than the contact force threshold, the method further includes: calculating a vibration amplitude of the real handle based on the contact force; A vibration signal corresponding to the vibration amplitude is sent to the real handle, so that the real handle vibrates based on the vibration amplitude.

6. The massage robot remote massage control method based on virtual reality technology according to claim 1, characterized in that: After the alignment operation, the virtual handle is located at the bottom end of the robotic arm digital twin model.

7. The massage robot remote massage control method based on virtual reality technology according to claim 6 is characterized in that: The method further comprises: Determining the positional relationship between the aligned virtual handle and the digital twin model of the robotic arm; When the virtual handle is not located at the bottom of the end of the digital twin model of the robotic arm, updating the first virtual initial pose data of the virtual handle; And based on the updated first virtual initial pose data, the virtual handle is realigned with the digital twin model of the robotic arm.

8. The massage robot remote massage control method based on virtual reality technology according to any one of claims 1 to 6, characterized in that: The pose data of the virtual handle and the real handle include three-axis position coordinates and quaternions, and the pose data of the robotic arm and the robotic arm digital twin model include three-axis position coordinates and three-axis Euler numbers.

9. A massage robot remote massage control system based on virtual reality technology, comprising a processor, a memory and a computer program stored in the memory, characterized in that: The processor is used to execute the computer program. When the computer program is executed, the system implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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