Control method and device of massage robot, electronic equipment and readable storage medium

Abstract

The invention provides a control method and device of a massage robot, electronic equipment and a readable storage medium, and the method comprises the steps: scanning the acupoint position of each human body acupoint in an initial to-be-massaged area of a target user through a depth camera; detecting a key massage area in the initial to-be-massaged area through an infrared thermal imager; determining a to-be-massaged target meridian of the target user based on the position of the key massage area on the target user; generating a massage path based on each human body acupoint on the target meridian and the acupoint position of each human body acupoint on the target meridian; and controlling a mechanical arm of the massage robot to execute massage operation on the target user according to the massage path. Through the method, the massage effectiveness of the massage robot is improved.

Description

Technical Field

[0001] This application relates to the field of massage robot technology, and in particular to a control method, device, electronic device, and readable storage medium for a massage robot. Background Technology

[0002] Traditional massage, as a form of physical therapy, has its core value in using specific techniques to act on the body's meridians, acupoints, and muscle tissues to achieve the effects of unblocking qi and blood and relieving pain.

[0003] Current massage techniques are mainly divided into those performed by therapists and those performed by AI massage robots. Traditional therapist-led massage relies heavily on the therapist's individual experience, making it difficult to quantify key parameters such as pressure, trajectory, and frequency. For example, different therapists apply force and direction significantly differently, leading to fluctuating treatment effects. Existing AI massage robots generally use preset massage paths and cannot dynamically adjust the path based on the user's constitution or symptoms. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method, device, electronic device and readable storage medium for a massage robot, which dynamically generates a massage path for the user based on the user's individual physical condition and symptoms, so as to improve the effectiveness of the massage robot.

[0005] In a first aspect, embodiments of this application provide a control method for a massage robot, including: Using a depth camera, the location of acupoints in the initial area to be massaged of the target user is scanned; and using an infrared thermal imager, key massage areas in the initial area to be massaged are detected. Based on the location of the key massage area on the target user, the target meridians to be massaged for the target user are determined; A massage path is generated based on the acupoints on the target meridian and their locations. The robotic arm of the massage robot is controlled to perform a massage operation on the target user according to the massage path.

[0006] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein scanning the acupoint locations of various acupoints in the initial area to be massaged of the target user using a depth camera includes: Using a depth camera, the location of bony landmarks in the initial area to be massaged of the target user is scanned; Based on the standard positional relationship between the bony landmarks and acupoints, and the position of the bony landmarks in the initial area to be massaged, the initial position of each acupoint in the initial area to be massaged is determined; the standard positional relationship includes standard distance and standard orientation. Based on the difference between the target user's body shape and the standard body shape, the initial position is adjusted, and the adjusted initial position is used as the acupoint position of each acupoint in the initial area to be massaged; the standard position relationship is determined based on the standard body shape.

[0007] In conjunction with the first aspect, this application provides a second possible implementation of the first aspect, wherein detecting key massage areas in the initial area to be massaged using an infrared thermal imager includes: Based on the acupoint locations of each acupoint in the initial area to be massaged, the body temperature of each acupoint in the initial area to be massaged is detected by an infrared thermal imager. Calculate the temperature difference between the body temperature of each acupoint in the initial area to be massaged and the standard body temperature, and select the acupoints with a temperature difference greater than the preset temperature difference as target acupoints. The conductivity of the target acupoints was measured using microcurrent. The acupoints of the target human body with conductivity greater than the preset conductivity are determined as the key massage areas in the initial massage area.

[0008] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein a massage path is generated based on each acupoint on the target meridian and the acupoint location of each acupoint on the target meridian, including: Construct a formula for a flower blooming curve; the formula for a flower blooming curve includes parameters for the number of petals, the amplitude of curve fluctuations, and the position of the curve. The number of internal circulations of the target meridian is queried, and the number of internal circulations of the target meridian is used as the value of the petal quantity parameter; Based on the location of each acupoint on the target meridian, adjust the value of the curve position parameter; Based on the positional relationship between various acupoints on the target meridian, the value of the curve fluctuation amplitude parameter is adjusted. Substitute the values ​​of the petal quantity parameter, the curve fluctuation amplitude parameter, and the curve position parameter into the flower curve formula to generate the main massage path used to control the movement trajectory of the robotic arm of the massage robot. Based on the target meridian, a manual vibration path is generated to control the oscillation path of the massage head on the robotic arm; The robotic arm controlling the massage robot to perform massage operations on the target user according to the massage path includes: The robotic arm of the massage robot is controlled to move along the main massage path, and the massage head is controlled to vibrate along the technique vibration path to perform a massage operation on the target user.

[0009] In conjunction with the first possible implementation of the first aspect, this application provides a fourth possible implementation of the first aspect, wherein the method further includes: During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the displacement of the bony landmarks in the initial area to be massaged is detected in real time by the depth camera, and the muscle deformation in the initial area to be massaged is measured in real time by the IMU sensor. Based on the displacement of bony landmarks in the initial area to be massaged at the current moment, the muscle deformation, and the acupoint positions of each acupoint in the initial area to be massaged at the previous moment, the acupoint positions of each acupoint in the initial area to be massaged at the current moment are determined. By performing resistance detection and / or temperature scanning on the acupoints of each human body in the initial area to be massaged at the current moment, it is verified whether the acupoints of each human body in the initial area to be massaged at the current moment are real human acupoints. If the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment are actual acupoint locations, then the massage path is updated based on the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment to obtain a new massage path. The robotic arm of the massage robot is controlled to perform a massage operation on the target user according to a new massage path.

[0010] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein the method further includes: Before controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the initial muscle tension of the target user and the initial microcirculation of the key massage area are collected; During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the current muscle tension of the target user and the current microcirculation of the key massage area are continuously collected; Based on the current muscle tension and the initial muscle tension, calculate the muscle tension reduction rate; and based on the initial microcirculation and the current microcirculation, determine the microcirculation changes in the key massage area; The rate of decrease in muscle tension and the changes in microcirculation were used as feedback evaluation parameters during this massage process.

[0011] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein the initial area to be massaged is the back of the target user's body; the target user lies face down on the massage bed; a pressure sensor is provided on the upper surface of the massage bed, and the upper surface is the contact surface of the target user; the method further includes: During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the pressure sensor collects the pressure received by the target user in real time; wherein, the pressure received by the target user is the force applied to the target user by the robotic arm of the massage robot when performing the massage operation on the target user; If the pressure exceeds the safe pressure threshold, the robotic arm is controlled to retract to a safe position to stop performing the massage operation on the target user.

[0012] Secondly, embodiments of this application also provide a control device for a massage robot, comprising: The scanning module is used to scan the acupoint locations of various acupoints in the initial area to be massaged of the target user using a depth camera; and to detect key massage areas in the initial area to be massaged using an infrared thermal imager. The first determining module is used to determine the target meridians to be massaged for the target user based on the location of the key massage area on the target user; The generation module is used to generate a massage path based on each acupoint on the target meridian and the location of each acupoint on the target meridian. The first control module is used to control the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps in any of the possible implementations of the first aspect described above are performed.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps in any of the possible implementations of the first aspect described above.

[0015] This application provides a control method, device, electronic device, and readable storage medium for a massage robot. The method involves using a depth camera to scan the acupoint locations of various acupoints in an initial area to be massaged for the target user; using an infrared thermal imager to detect key massage areas within the initial area; determining the target meridians to be massaged based on the location of the key massage areas on the target user; generating a massage path based on the acupoints on the target meridians and their locations; and controlling the robotic arm of the massage robot to perform massage operations on the target user according to the massage path. Therefore, this embodiment generates a massage path tailored to the target user based on their symptoms (i.e., key massage areas) and constitution (i.e., the locations of acupoints), which helps improve the effectiveness of the massage robot's massage.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a control method for a massage robot provided in an embodiment of this application is shown; Figure 2 A flowchart of another control method for a massage robot provided in an embodiment of this application is shown; Figure 3 This invention provides a schematic diagram of the structure of a control device for a massage robot according to an embodiment of the present application. Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] Considering that existing AI massage robots generally use preset massage paths and cannot dynamically adjust the massage path according to the user's physical condition or ailment, this application provides a control method, device, electronic device, and readable storage medium for a massage robot, which are described below through embodiments.

[0021] To facilitate understanding of this embodiment, a control method for a massage robot disclosed in this application will first be described in detail. For example... Figure 1 As shown, the process includes the following steps S101-S104: S101: Using a depth camera, scan the acupoints of each acupoint in the initial area to be massaged of the target user; and using an infrared thermal imager, detect the key massage areas in the initial area to be massaged.

[0022] In this embodiment, the depth camera is a ToF (Time of Flight) depth camera. The depth camera's resolution can be 1024×1024, and the point cloud density is 0.5mm / pixel.

[0023] The target user can be the user to be massaged, and the initial area to be massaged can be the back of the target user's body, including the back, the back of the legs, etc.

[0024] Throughout the process, the target user typically lies face down on the massage bed, with the initial area to be massaged (the back of the body) facing upwards. A depth camera and infrared thermal imager are positioned 1.2m above the massage bed, tilted downwards at a 15° angle, covering an area of ​​80×120cm. This facilitates scanning the target user's initial area to be massaged, as well as identifying key massage areas within that initial area.

[0025] In one possible implementation, such as Figure 2As shown, when performing step S101, which uses a depth camera to scan the acupoints of each acupoint in the initial area to be massaged of the target user, the specific steps S1011-S1013 can be performed as follows: S1011: Using a depth camera, scan the location of bony landmarks in the initial area to be massaged for the target user.

[0026] In this embodiment, when the initial area to be massaged is the back of the human body, the contour of the target user's body is scanned using a depth camera to locate the positions of bony landmarks in the initial area to be massaged. These bony landmarks include, for example, the cervical vertebrae (spinous processes) that protrude at the back of the neck, and the angle of the scapula (scapular angle) on the shoulder.

[0027] S1012: Determine the initial position of each acupoint in the initial area to be massaged based on the standard positional relationship between bony landmarks and acupoints, and the position of bony landmarks in the initial area to be massaged; the standard positional relationship includes standard distance and standard orientation.

[0028] In this embodiment, the location of each acupoint has a fixed standard (i.e., the standard positional relationship between bony landmarks and acupoints). For example, the location of "Jianjing acupoint" is "the middle of the highest point of the shoulder (acromion) and the Dazhui acupoint at the back of the neck".

[0029] Based on the standard positional relationship between bony landmarks and acupoints, and using the location of the found bony landmarks as a reference, the initial position of each acupoint in the initial area to be massaged is calculated.

[0030] S1013: Adjust the initial position based on the difference between the target user's body shape and the standard body shape, and use the adjusted initial position as the acupoint position of each acupoint in the initial area to be massaged; the standard position relationship is determined based on the standard body shape.

[0031] In this embodiment, considering that everyone's height, weight, and build are different, the distance between acupoints on the human body also varies. Therefore, by pre-obtaining the target user's body type (height and weight) and the difference between the target user's body type and the standard body type, the initial positions of each acupoint in the initial area to be massaged determined in step S1012 are adjusted, thereby accurately determining the initial position of each acupoint in the target user's initial area to be massaged.

[0032] In one possible implementation, when performing step S101, which uses an infrared thermal imager to detect key massage areas in the initial area to be massaged, the following steps S1014-S1017 can be specifically performed: S1014: Based on the acupoint locations of each acupoint in the initial area to be massaged, the body temperature of each acupoint in the initial area to be massaged is detected by an infrared thermal imager.

[0033] In this embodiment, infrared thermal imaging technology is used to capture the body temperature of each acupoint on the skin surface in the initial area to be massaged.

[0034] S1015: Calculate the temperature difference between the body temperature of each acupoint in the initial area to be massaged and the standard body temperature, and select the acupoints with a temperature difference greater than the preset temperature difference as target acupoints.

[0035] In this embodiment, the standard human body temperature varies depending on the season. For example, the standard human body temperature in summer is generally higher than that in winter. The preset temperature difference is, for example, 0.5℃. There can be one or multiple target acupoints.

[0036] S1016: Measure the conductivity of target acupoints in the human body using microcurrent.

[0037] In this embodiment, bioimpedance technology is used to further verify whether each target acupoint is an inflammatory area. Specifically, the conductivity of the target acupoint is measured using a microcurrent (50kHz) based on the low resistance characteristics of the acupoint.

[0038] S1017: The acupoints of the target human body with conductivity greater than the preset conductivity are identified as the key massage areas in the initial massage area.

[0039] In this embodiment, the key massage area usually refers to the inflamed area or the area of ​​muscle tension. The electrical conductivity of the target acupoints in the key massage area is usually high, for example, 100kΩ. The electrical conductivity of the target acupoints in the normal area (non-key massage area) is usually low, for example, 50kΩ.

[0040] S102: Based on the location of the key massage area on the target user, determine the target meridians to be massaged for the target user.

[0041] In this embodiment, the meridians located within the key massage area on the target user are designated as target meridians. Specifically, if the meridian within the key massage area on the target user is a complete meridian, then that complete meridian is designated as the target meridian. If the meridian within the key massage area on the target user is part of a complete meridian, then that complete meridian can also be designated as the target meridian.

[0042] If there are no meridians in the key massage area, then the meridian closest to the key massage area will be used as the target meridian.

[0043] S103: Generate a massage path based on the acupoints on the target meridian and their locations.

[0044] In this embodiment, a target meridian typically contains multiple acupoints. Using a complex curve, a massage path is generated based on the location of each acupoint on the target meridian.

[0045] In one possible implementation, when performing step S103, the following steps S1031-S1036 can be specifically performed: S1031: Construct the formula for the flower blooming curve; the formula for the flower blooming curve includes parameters for the number of petals, the amplitude of curve fluctuation, and the position of curve.

[0046] In this embodiment, the formula for the flowering curve is:

[0047] in, denoted by θ, r is the polar radius of the polar equation; k is the number of petals parameter; a is the curve fluctuation amplitude parameter; and b is the curve position parameter.

[0048] S1032: Query the number of internal circulations of the target meridian and use the number of internal circulations of the target meridian as the value of the petal quantity parameter.

[0049] In this embodiment, the petal quantity parameter is matched with the "internal circulation characteristics" of the target meridian. For example, if a target meridian circulates 6 times in the body, then k=6.

[0050] S1033: Adjust the value of the curve position parameter based on the location of acupoints on the target meridian.

[0051] In this embodiment, the curve position parameter b controls the "center offset" (overall position) of the curve. In polar coordinates, b is the "basic radius" when the curve rotates around the pole (origin). The larger b is, the farther the entire curve is from the pole (overall outward expansion); the smaller b is, the closer the curve is to the pole (overall inward contraction).

[0052] S1034: Adjust the value of the curve fluctuation amplitude parameter based on the positional relationship between various acupoints on the target meridian.

[0053] In this embodiment, the curve fluctuation amplitude parameter 'a' controls the "fluctuation amplitude" (degree of curvature) of the curve. The larger 'a' is, the greater the amplitude of the curve "bulging out" or "dipping out" in the loop (e.g., the petals are "fatter" and the curvature is more obvious); the smaller 'a' is, the flatter the curve is (the petals are "thinner" and are close to a straight line or slightly curved).

[0054] S1035: Substitute the values ​​of the petal quantity parameter, the curve fluctuation amplitude parameter, and the curve position parameter into the flower curve formula to generate the main massage path used to control the movement trajectory of the robotic arm of the massage robot.

[0055] S1036: Generate a manual vibration path based on the target meridian to control the oscillation path of the massage head on the robotic arm.

[0056] In this embodiment, the massage path = main massage path + manual vibration path. The main massage path refers to the movement trajectory of the massage robot's robotic arm, such as the shoulder arc from the Jianjing acupoint to the Tianzong acupoint.

[0057] The vibration path of the massage head on the robotic arm refers to the oscillation path of the massage head, which is used to simulate human massage techniques, such as a 3mm up-and-down rubbing motion twice per second.

[0058] S104: Control the robotic arm of the massage robot to perform massage operations on the target user according to the massage path.

[0059] In this embodiment, the end of the robotic arm of the massage robot is equipped with a massage head, which includes rollers and acupressure heads. The roller module is used for large-area muscle relaxation (speed adjustable from 0-120 rpm). The acupressure heads are made of titanium alloy, have a diameter of 8 mm, and simulate a "pressing" technique.

[0060] In one possible implementation, when performing step S104, specifically: The robotic arm of the massage robot is controlled to move along the main massage path, and the massage head is controlled to vibrate along the vibration path of the massage technique, so as to perform a massage operation on the target user.

[0061] In one possible implementation, the controller (e.g., a medical professional) can also interact via VR glasses. Specifically, the controller, wearing VR glasses, can see in real time the locations of acupoints in the initial area to be massaged for the target user, as well as the detected key massage areas within that initial area. This allows the controller to determine whether the massage head is accurately massaging the inflamed areas (key massage areas) when subsequently controlling the massage robot to massage the target user.

[0062] In one possible implementation, the control method of the massage robot in this embodiment is applied to the control unit of the massage robot, which can be located inside the massage robot or outside the massage robot and is communicatively connected to the massage robot.

[0063] This control unit supports custom wake words (such as "start massage") and recognizes user voice commands (adjusting intensity, switching modes, and locating body parts). It also integrates dialect models (such as Cantonese and Sichuanese) or a traditional Chinese medicine terminology database to enhance the user experience for the elderly.

[0064] In one possible implementation, considering that the massage path needs to be adjusted in a timely manner when the target user's posture changes during the massage process, in this embodiment, during the process of controlling the robotic arm of the massage robot to perform the massage operation on the target user according to the massage path, the massage path can be adjusted in a timely manner according to the following steps S1051-S1051: S1051: Real-time detection of the displacement of bony landmarks in the initial area to be massaged at the current moment using a depth camera, and real-time measurement of muscle deformation in the initial area to be massaged at the current moment using an IMU sensor.

[0065] S1052: Based on the displacement of bony landmarks and muscle deformation in the initial area to be massaged at the current moment, and the acupoints in the initial area to be massaged at the previous moment, determine the acupoints in the initial area to be massaged at the current moment.

[0066] For example, when the target user looks up, the position of the cervical spine (bone landmark) moves upward, that is, displacement occurs. At this time, it is necessary to immediately calculate the offset distance and offset direction of the human acupoints, so as to determine the acupoint position of each human acupoint in the initial area to be massaged at the current moment.

[0067] Similarly, when the target user raises their arm, the shoulder muscles will stretch, resulting in muscle deformation. The acupoints may shift downwards by 2-3 millimeters. At this time, it is necessary to immediately determine the location of each acupoint in the initial area to be massaged.

[0068] S1053: By performing resistance detection and / or temperature scanning on the acupoints of each human body in the initial area to be massaged at the current moment, verify whether the acupoints of each human body in the initial area to be massaged at the current moment are real human acupoints.

[0069] In this embodiment, the conductivity of the skin at real human acupoints is more than 30% lower than that of the surrounding skin (i.e., the conductivity of the skin at non-human acupoints). By detecting the resistance, it can be confirmed whether the acupoints in the initial area to be massaged at the current moment are real human acupoints or non-human acupoints.

[0070] Human acupoints are usually slightly warmer than the surrounding skin (non-human acupoints) (0.3-0.5℃ higher). By scanning with an infrared camera and comparing the temperatures, it is possible to confirm whether the acupoints in the initial area to be massaged are real human acupoints or non-human acupoints.

[0071] S1054: If the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment are real acupoints, then the massage path is updated based on the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment to obtain a new massage path.

[0072] In this embodiment, a new main massage path can be generated based on the various acupoints on the target meridian and the determined acupoint locations in the initial area to be massaged at the current moment. The new main massage path and the original manual vibration path are then used as the new massage path. The method for generating the new main massage path can be found in steps S1031-S1035, and will not be repeated in this embodiment.

[0073] S1055: Controls the robotic arm of the massage robot to perform massage operations on the target user according to the new massage path.

[0074] In this embodiment, the robotic arm of the massage robot is controlled to move along a new main massage path, and the massage head is controlled to vibrate along the original manual vibration path to perform a massage operation on the target user.

[0075] In one possible implementation, a feedback and evaluation mechanism is also included, specifically, it can be performed according to the following steps S1061-S1064: S1061: Before controlling the robotic arm of the massage robot to perform massage operations on the target user according to the massage path, collect the initial muscle tension of the target user and the initial microcirculation of the key massage area.

[0076] In this embodiment, the target user can wear an EMG (electromyography) sensor on their arm to collect the target user's initial muscle tension.

[0077] Microcirculation in the massage area, simply put, is the process of blood flow in the extremely small blood vessels (so small that they are invisible to the naked eye, such as capillaries, arterioles and veins) in the body parts directly affected by the massage techniques (such as the area where the shoulders or calves are massaged).

[0078] S1062: During the process of controlling the robotic arm of the massage robot to perform massage operations on the target user according to the massage path, continuously collect the target user's current muscle tension and the current microcirculation of the key massage areas.

[0079] S1063: Calculate the rate of decrease in muscle tension based on the current muscle tension and the initial muscle tension; and determine the microcirculation changes in the key massage area based on the initial microcirculation and the current microcirculation.

[0080] S1064: The rate of decrease in muscle tension and changes in microcirculation are used as feedback evaluation parameters during this massage process.

[0081] In this embodiment, the rate of decrease in muscle tension and changes in microcirculation can reflect the effectiveness of the massage on the target user. These metrics can be displayed on a screen for the control personnel to understand the massage's effectiveness.

[0082] In this embodiment, the coverage rate of acupoints, the force curve (reflecting the change in force applied to the target user by the robotic arm driving the massage head) and physiological response data (such as infrared thermal imaging results before and after the massage) of the target user can also be stored for each massage.

[0083] In one possible implementation, the initial area to be massaged is the back of the target user's body; the target user lies face down on the massage bed; a pressure sensor is installed on the upper surface of the massage bed, and the upper surface is the contact surface of the target user; the method can also be performed according to the following steps S1071-S1072: S1071: During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the pressure on the target user is collected in real time by a pressure sensor; wherein, the pressure on the target user is the force applied to the target user by the robotic arm of the massage robot when performing the massage operation on the target user.

[0084] S1072: If the pressure exceeds the safe pressure threshold, control the robotic arm to retract to a safe position to stop performing the massage operation on the target user.

[0085] In this embodiment, to avoid injury to the target user, a safety pressure threshold is set. When the pressure exerted on the target user by the robotic arm exceeds the safety pressure threshold, the robotic arm retracts to a safe position, thereby stopping the massage operation on the target user and ensuring the safety of the target user.

[0086] In this embodiment, the safe pressure threshold can be different for different human body regions. For example, the safe pressure threshold for bony prominences can be 5 kgf, and the safe pressure threshold for soft tissues can be 3 kgf.

[0087] In one possible implementation, during the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the temperature of the robotic arm and the massage head is measured in real time by a temperature sensor. When the temperature of the robotic arm exceeds a first temperature threshold, or the temperature of the massage head exceeds a second temperature threshold, the massage robot stops working. The first temperature threshold is greater than the second temperature threshold.

[0088] In this embodiment, the robotic arm can be the UR5e collaborative robotic arm (load capacity 5kg, repeatability ±0.1mm), with a quick-change interface (compatible with massage heads such as rollers and acupressure heads) added to the end.

[0089] Based on the same technical concept, embodiments of this application also provide a control device for a massage robot, such as... Figure 3 As shown, it includes: The scanning module 301 is used to scan the acupoint locations of various acupoints in the initial area to be massaged of the target user using a depth camera; and to detect key massage areas in the initial area to be massaged using an infrared thermal imager. The first determining module 302 is used to determine the target meridians to be massaged for the target user based on the location of the key massage area on the target user; The generation module 303 is used to generate a massage path based on each acupoint on the target meridian and the acupoint location of each acupoint on the target meridian. The first control module 304 is used to control the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path.

[0090] Optionally, when the scanning module 301 scans the acupoint locations of various acupoints in the initial massage area of ​​the target user using a depth camera, it is specifically used for: Using a depth camera, the location of bony landmarks in the initial area to be massaged of the target user is scanned; Based on the standard positional relationship between the bony landmarks and acupoints, and the position of the bony landmarks in the initial area to be massaged, the initial position of each acupoint in the initial area to be massaged is determined; the standard positional relationship includes standard distance and standard orientation. Based on the difference between the target user's body shape and the standard body shape, the initial position is adjusted, and the adjusted initial position is used as the acupoint position of each acupoint in the initial area to be massaged; the standard position relationship is determined based on the standard body shape.

[0091] Optionally, when the scanning module 301 is used to detect key massage areas in the initial area to be massaged using an infrared thermal imager, it is specifically used for: Based on the acupoint locations of each acupoint in the initial area to be massaged, the body temperature of each acupoint in the initial area to be massaged is detected by an infrared thermal imager. Calculate the temperature difference between the body temperature of each acupoint in the initial area to be massaged and the standard body temperature, and select the acupoints with a temperature difference greater than the preset temperature difference as target acupoints. The conductivity of the target acupoints was measured using microcurrent. The acupoints of the target human body with conductivity greater than the preset conductivity are determined as the key massage areas in the initial massage area.

[0092] Optionally, when generating a massage path based on each acupoint on the target meridian and the acupoint location of each acupoint on the target meridian, the generation module 303 is specifically used for: Construct a formula for a flower blooming curve; the formula for a flower blooming curve includes parameters for the number of petals, the amplitude of curve fluctuations, and the position of the curve. The number of internal circulations of the target meridian is queried, and the number of internal circulations of the target meridian is used as the value of the petal quantity parameter; Based on the location of each acupoint on the target meridian, adjust the value of the curve position parameter; Based on the positional relationship between various acupoints on the target meridian, the value of the curve fluctuation amplitude parameter is adjusted. Substitute the values ​​of the petal quantity parameter, the curve fluctuation amplitude parameter, and the curve position parameter into the flower curve formula to generate the main massage path used to control the movement trajectory of the robotic arm of the massage robot. Based on the target meridian, a manual vibration path is generated to control the oscillation path of the massage head on the robotic arm; When the first control module 304 controls the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, it is specifically used for: The robotic arm of the massage robot is controlled to move along the main massage path, and the massage head is controlled to vibrate along the technique vibration path to perform a massage operation on the target user.

[0093] Optionally, the device further includes: The detection module is used to detect the displacement of bony landmarks in the initial area to be massaged in real time using the depth camera and to measure the muscle deformation in the initial area to be massaged in real time using the IMU sensor during the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path. The second determining module is used to determine the acupoints in the initial area to be massaged at the current moment based on the displacement of the bony landmarks in the initial area to be massaged at the current moment, the muscle deformation, and the acupoints in the initial area to be massaged at the previous moment. The verification module is used to verify whether the acupoints in the initial area to be massaged at the current time are real human acupoints by performing resistance detection and / or temperature scanning on the acupoints. The update module is used to update the massage path based on the determined acupoint positions of each acupoint in the initial area to be massaged at the current time if the determined acupoint positions are actual acupoints, so as to obtain a new massage path. The second control module is used to control the robotic arm of the massage robot to perform massage operations on the target user according to the new massage path.

[0094] Optionally, the device further includes: The first acquisition module is used to acquire the initial muscle tension of the target user and the initial microcirculation of the key massage area before controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path. The second acquisition module is used to continuously acquire the current muscle tension of the target user and the current microcirculation of the key massage area during the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path; The calculation module is used to calculate the rate of decrease in muscle tension based on the current muscle tension and the initial muscle tension; and to determine the microcirculation changes in the key massage area based on the initial microcirculation and the current microcirculation. The evaluation module is used to use the rate of decrease in muscle tension and the changes in microcirculation as feedback evaluation parameters during this massage process.

[0095] Optionally, the initial area to be massaged is the back of the target user's body; the target user lies face down on the massage bed; a pressure sensor is provided on the upper surface of the massage bed, and the upper surface is the contact surface of the target user; the device further includes: The third acquisition module is used to acquire the pressure experienced by the target user in real time through the pressure sensor during the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path; wherein, the pressure experienced by the target user is the force applied to the target user by the robotic arm of the massage robot when performing the massage operation on the target user; The third control module is used to control the robotic arm to retract to a safe position if the pressure exceeds a safe pressure threshold, so as to stop performing the massage operation on the target user.

[0096] Figure 4A schematic diagram of an electronic device provided in this application embodiment includes: a processor 401, a memory 402, and a bus 403. The memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device runs the above-described information processing method, the processor 401 and the memory 402 communicate through the bus 403. The processor 401 executes the machine-readable instructions to perform the steps of the method described in Embodiment 1.

[0097] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps described in Embodiment 1.

[0098] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, electronic devices, and computer-readable storage media described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, electronic devices, and computer-readable storage media can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or modules may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0102] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0103] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. A control method for a massage robot, characterized in that, include: Using a depth camera, the location of acupoints in the target user's initial area to be massaged is scanned. And by using an infrared thermal imager, key massage areas are detected in the initial area to be massaged; Based on the location of the key massage area on the target user, the target meridians to be massaged for the target user are determined; A massage path is generated based on the acupoints on the target meridian and their locations. The robotic arm of the massage robot is controlled to perform a massage operation on the target user according to the massage path.

2. The method according to claim 1, characterized in that, The process of scanning the acupoint locations of various acupoints in the initial area to be massaged of the target user using a depth camera includes: Using a depth camera, the location of bony landmarks in the initial area to be massaged of the target user is scanned; Based on the standard positional relationship between the bony landmarks and acupoints, and the position of the bony landmarks in the initial area to be massaged, the initial position of each acupoint in the initial area to be massaged is determined; the standard positional relationship includes standard distance and standard orientation. Based on the difference between the target user's body shape and the standard body shape, the initial position is adjusted, and the adjusted initial position is used as the acupoint position of each acupoint in the initial area to be massaged; the standard position relationship is determined based on the standard body shape.

3. The method according to claim 1, characterized in that, The step of detecting key massage areas in the initial area to be massaged using an infrared thermal imager includes: Based on the acupoint locations of each acupoint in the initial area to be massaged, the body temperature of each acupoint in the initial area to be massaged is detected by an infrared thermal imager. Calculate the temperature difference between the body temperature of each acupoint in the initial area to be massaged and the standard body temperature, and select the acupoints with a temperature difference greater than the preset temperature difference as target acupoints. The conductivity of the target acupoints was measured using microcurrent. The acupoints of the target human body with conductivity greater than the preset conductivity are determined as the key massage areas in the initial massage area.

4. The method according to claim 1, characterized in that, Based on the acupoints on the target meridian and their locations, a massage path is generated, including: Construct a formula for a flower blooming curve; the formula for a flower blooming curve includes parameters for the number of petals, the amplitude of curve fluctuations, and the position of the curve. The number of internal circulations of the target meridian is queried, and the number of internal circulations of the target meridian is used as the value of the petal quantity parameter; Based on the location of each acupoint on the target meridian, adjust the value of the curve position parameter; Based on the positional relationship between various acupoints on the target meridian, the value of the curve fluctuation amplitude parameter is adjusted. Substitute the values ​​of the petal quantity parameter, the curve fluctuation amplitude parameter, and the curve position parameter into the flower curve formula to generate the main massage path used to control the movement trajectory of the robotic arm of the massage robot. Based on the target meridian, a manual vibration path is generated to control the oscillation path of the massage head on the robotic arm; The robotic arm controlling the massage robot to perform massage operations on the target user according to the massage path includes: The robotic arm of the massage robot is controlled to move along the main massage path, and the massage head is controlled to vibrate along the technique vibration path to perform a massage operation on the target user.

5. The method according to claim 2, characterized in that, The method further includes: During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the displacement of the bony landmarks in the initial area to be massaged is detected in real time by the depth camera, and the muscle deformation in the initial area to be massaged is measured in real time by the IMU sensor. Based on the displacement of bony landmarks in the initial area to be massaged at the current moment, the muscle deformation, and the acupoint positions of each acupoint in the initial area to be massaged at the previous moment, the acupoint positions of each acupoint in the initial area to be massaged at the current moment are determined. By performing resistance detection and / or temperature scanning on the acupoints of each human body in the initial area to be massaged at the current moment, it is verified whether the acupoints of each human body in the initial area to be massaged at the current moment are real human acupoints. If the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment are actual acupoint locations, then the massage path is updated based on the determined acupoint locations of each acupoint in the initial area to be massaged at the current moment to obtain a new massage path. The robotic arm of the massage robot is controlled to perform a massage operation on the target user according to a new massage path.

6. The method according to claim 1, characterized in that, The method further includes: Before controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the initial muscle tension of the target user and the initial microcirculation of the key massage area are collected; During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the current muscle tension of the target user and the current microcirculation of the key massage area are continuously collected; Based on the current muscle tension and the initial muscle tension, calculate the muscle tension reduction rate; and based on the initial microcirculation and the current microcirculation, determine the microcirculation changes in the key massage area; The rate of decrease in muscle tension and the changes in microcirculation were used as feedback evaluation parameters during this massage process.

7. The method according to claim 1, characterized in that, The initial area to be massaged is the back of the target user's body; the target user lies face down on the massage bed; a pressure sensor is installed on the upper surface of the massage bed, and the upper surface is the contact surface of the target user; the method further includes: During the process of controlling the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path, the pressure sensor collects the pressure received by the target user in real time; wherein, the pressure received by the target user is the force applied to the target user by the robotic arm of the massage robot when performing the massage operation on the target user; If the pressure exceeds the safe pressure threshold, the robotic arm is controlled to retract to a safe position to stop performing the massage operation on the target user.

8. A control device for a massage robot, characterized in that, include: The scanning module is used to scan the acupoints of each acupoint in the initial area to be massaged of the target user using a depth camera; And by using an infrared thermal imager, key massage areas are detected in the initial area to be massaged; The first determining module is used to determine the target meridians to be massaged for the target user based on the location of the key massage area on the target user; The generation module is used to generate a massage path based on each acupoint on the target meridian and the location of each acupoint on the target meridian. The first control module is used to control the robotic arm of the massage robot to perform a massage operation on the target user according to the massage path.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the machine-readable instructions, when executed by the processor, perform the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 7.

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