An intelligent finger massager

Abstract

The present invention discloses an intelligent finger massager, comprising a housing and a voice control module, a massage execution module, a camera recognition module, and a central control module disposed within the housing, wherein the voice control module, the camera recognition module, and the massage execution module are respectively connected to the central control module. The device primarily employs image recognition technology, utilizes a camera module to collect finger information of the current user, and controls the trajectory of a robotic arm based on the collected finger length and width data. Furthermore, the device controls the top, left, and right massage ball structures, and cooperates with heated balls to perform rolling massage on the inserted fingers, thereby meeting the user's personalized needs and making the massage program more tailored to the current user. Furthermore, the device changes the form of human-computer interaction, abandoning the traditional button-based selection method and adopting voice calling, which can adapt to a wider range of practical usage situations.

Description

Technical Field

[0001] The present invention relates to the field of finger massagers, and in particular to an intelligent finger massager. Background Art

[0002] Since fully connecting to the international internet in 1994, China's internet has grown from nothing to a powerful force, profoundly transforming people's lives and work. As of March 2020, my country had 904 million internet users, with an internet penetration rate of 64.5%. Mobile internet access accounted for 99.3% of these users, and the total number of mobile internet users reached 879 million. Among my country's internet users, students, self-employed individuals / freelancers, and corporate / company managers accounted for 26.9%, 22.4%, and 10.9%, respectively. While the development of the internet has greatly facilitated modern people's learning, daily life, and work, some people have also experienced physical damage due to their internet use and dependence. For example, office workers who repetitively type on keyboards and move their mice daily experience excessive strain on their fingers, leading to damage to nerves and muscles in their hands. Mobile phone addicts, known as "phone addicts," experience neuropathic pain in their fingers from prolonged daily use. The constant use of computers, mobile phones, and other internet-related products has increased the strain on hand muscles and joints, leading to a dramatic increase in cases of physiological hand injuries. Hand discomfort has a significant negative impact on people's daily lives.

[0003] As one of China's oldest medical treatments, massage has undergone significant changes in the modern era amidst the rapid advancement of technology. From primitive manual massage to manual massage using instruments like rollers, it has evolved to the widespread use of modern massage devices. Modern massage devices originated in the 1960s, boasting a decades-long history. Since the beginning of the 21st century, massage device consumption has become prevalent in North America, Europe, East Asia, and Southeast Asia, with the global market continuing to expand. China is now one of the fastest-growing regions in the world in terms of demand for massage devices.

[0004] Considering the current social demand for hand massage and the development of technology in today's era, research on various functional aspects of hand massage devices at home and abroad has basically achieved the goal of scientific and technological development. People have basically bid farewell to the stage where users need to manually massage and entered the stage of programmed massage after mechanical settings. At present, the common hand massagers on the market generally adopt several forms to achieve finger massage, such as: setting holes to prevent fingers from moving, connecting the massage mechanism with a push mechanism to push the massage mechanism to move back and forth towards the finger holes; using magnetic vibrators and medical magnets to achieve massage, etc., which have complete massage functions, portability, and diversified massage function implementation methods, meeting people's basic physiological needs for hand massage.

[0005] However, these hand massagers also have a significant shortcoming: their programming is mechanical. With the development of artificial intelligence, AI technology will inspire people to pursue more personalized hand massages. Current hand massagers vibrate according to a pre-programmed vibration, massaging only the areas within a pre-set range. They don't recognize the user's hand shape based on actual differences, such as size and weight, to provide personalized massages. Furthermore, massagers currently on the market generally lack human-computer interaction, relying solely on button controls and limited display screen interaction. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems in the background technology and provide an intelligent finger massager.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions:

[0008] An intelligent finger massager includes a housing and a voice control module, a massage execution module, a camera recognition module, and a central control module arranged in the housing, wherein the voice control module, the camera recognition module, and the massage execution module are respectively connected to the central control module;

[0009] The voice control module interacts with the user;

[0010] The camera recognition module takes a photo through the Raspberry Pi and processes the user's finger image through image processing, and performs data analysis on the thickness and length of the user's finger;

[0011] The massage execution module is used to perform rolling massage on the fingers.

[0012] By placing your finger inside the box, the user interacts with the voice control module and asks them pre-set questions, including selecting massage speed, duration, and temperature (high, medium, or low). After each question is asked, the massage system automatically presets to the desired mode based on the user's response.

[0013] Camera recognition system: The Raspberry Pi takes a photo and processes the user's finger image through image processing, and analyzes the thickness and length of the user's finger. After processing, the user's finger information is submitted to the Arduino board for the next step of controlling the robotic arm.

[0014] Central control module: The Arduino board communicates with the voice control module and the camera recognition module at the same time. It obtains the user's preset mode information through the voice control module and the user's finger information through the camera recognition module. The Arduino board matches the corresponding action that the robotic arm needs to perform based on the finger data. The Arduino board controls the massage speed, massage strength, and massage temperature of the robotic arm based on the information obtained from voice interaction.

[0015] Massage execution module: The robotic arm is controlled by an Arduino board. A heated ball mechanism is installed at the base of the arm, which performs massage based on the user's mode and finger information. During the massage, the ball rolls along the user's finger, maintaining a heated temperature for comfort. At the end of the massage, the robotic arm automatically returns to its original position, and a voice prompt indicates the end of the massage.

[0016] Preferably, the massage execution module includes a robotic arm, a heated ball mechanism is installed at the bottom of the robotic arm, and the ball mechanism includes a first fixed column, a top massage ball structure, a left L-shaped fixed frame, a right L-shaped fixed frame, a left massage ball structure, and a right massage ball structure. The first fixed column is arranged below the robotic arm, the top massage ball structure is arranged below the first fixed column, the left L-shaped fixed frame is arranged on the left side of the first fixed column, the right L-shaped fixed frame is arranged on the right side of the first fixed column, the left massage ball structure is arranged on the inner side of the left L-shaped fixed frame, and the right massage ball structure is arranged on the inner side of the right L-shaped fixed frame. The left massage ball structure and the right massage ball structure are arranged opposite to each other. The top of the finger is massaged by the top massage ball structure, and the left and right massage ball structures are massaged by the left and right massage ball structures, so that the finger can be massaged more comprehensively and the discomfort of the finger can be relieved.

[0017] Preferably, the top massage ball structure includes a first fixed block and a first ball. A first ball slot is formed at the bottom of the first fixed block. The slot of the first ball slot has two half-through slots along the axial direction. The two half-through slots are arranged opposite to each other. The first ball is clamped in the first ball slot and can roll freely. The first ball can be clamped into the first ball slot through the half-through slot, and then the first ball slot is embedded in the first ball slot, rolling freely without falling.

[0018] Preferably, a heating cavity is formed inside the first fixed column, and a first heating plate is installed in the heating cavity. A heat conducting plate is provided at the bottom of the first heating plate, and a heat conducting hole is provided from the bottom of the first fixed block to the bottom of the first ball bearing slot. The heat is heated by the first heating plate, and the heat is conducted from the heat conducting hole to the ball bearing through the heat conducting plate to heat the ball bearing, thereby promoting blood circulation and maintaining human comfort during the massage process.

[0019] Preferably, the left massage ball structure includes a second fixed column, an airbag, a second heating plate, a heat insulation board, a second fixed block, and a second ball. The second fixed column is fixedly connected to the inner side of the left L-shaped fixing frame. The interior of the second fixed column is hollow and the opening of the second fixed column faces the right side. The airbag, the heat insulation board, the second heating plate, the second fixed block, and the second ball are arranged in sequence in the second fixed column. The heat insulation board is fixedly connected to the second heating plate, and the second fixed block is fixedly connected to the second heating plate. A second ball slot is provided on the side of the second fixed block away from the second heating plate. The second ball is stuck in the second ball slot and can roll freely. An inlet is provided on the top of the second fixed column. The airbag is provided with an inflation port near the inlet, and a pressure sensor is provided in the inflation port. The inflation of the airbag can push the heat insulation plate, the second heating plate, and the second fixed block toward the opening of the second fixed column. The pressure sensor detects the pressure in the airbag, and by detecting the pressure value, it is determined that the ball is close to the side wall of the finger, so that the left massage ball structure can always roll in accordance with the side wall of the finger. After that, the airbag is deflated, so that the heat insulation plate, the second heating plate, and the second fixed block are not subjected to the squeezing force and can move freely back and forth in the first fixed column, so that the ball can leave the side wall of the finger, thereby realizing rolling massage of the left side wall of the finger. The airbag controls deflation and inflation, which is a very mature technology and will not be described in detail in this case.

[0020] The airbag can be separated from the second heating plate by the heat insulation plate to prevent the heating from affecting the airbag.

[0021] The second ball retaining groove has the same structure as the first ball retaining groove.

[0022] The right massage ball structure and the left massage ball structure have the same structure.

[0023] Preferably, a retaining ring is formed at the opening of the second fixing post, a limiting ring that cooperates with the retaining ring is formed on the left side of the second fixing block, and an elongated sliding groove is symmetrically formed on the inner side wall of the second fixing post along the length direction, and a slider that can slide in the elongated sliding groove is formed on the limiting ring. The retaining ring and the limiting ring cooperate to prevent the second fixing block from falling out of the second fixing post, and the slider and the elongated sliding groove cooperate to enable the second fixing block to move along the sliding groove.

[0024] Preferably, the robotic arm comprises a fixed plate, a rotating disk disposed at the bottom of the fixed plate, a first arm coupled to the rotating disk, a second arm coupled to the first arm, and a clamp coupled to the second arm. The fixed plate is provided with a first servo for controlling the rotation of the rotating disk. A second servo is provided at the connection between the rotating disk and the first arm to change the angle of the robotic arm joint. A third servo is provided at the connection between the first and second arms to change the angle of the robotic arm joint. A fourth servo is provided at the bottom of the second arm to change the angle of the robotic arm joint. The clamp comprises a fixed portion and a movable portion, the inner end of the fixed portion being coupled to the second arm, the outer end of the fixed portion being coupled to the movable portion. A fifth servo is provided at the connection between the second arm and the fixed portion to control the rotation of the fixed portion perpendicular to the axis of the second arm. The clamp further comprises a sixth servo for controlling the movement of the movable portion. The movement of the robotic arm is achieved by the first and fifth servos, which are rotatable about the axis, the second, third, and fourth servos, which change the angle of the robotic joint, and a sixth servo at the bottom to control the clamp angle. The six servos provide power to each free dimension of the robotic arm, making the operation of the robotic arm smoother.

[0025] Preferably, the movable part includes a first clamping part and a second clamping part, the first clamping part includes a first movable part connected to the steering wheel provided with the sixth servo, an upper gear part is provided on the side of the first movable part, one end of the first movable part is hinged to the second movable part, and a third movable part is hinged between the fixed part and the second movable part; the lower clamping part includes a fourth movable part hinged to the fixed part, a lower gear part meshing with the upper gear part is provided on the side of the fourth movable part, one end of the fourth movable part is hinged to the fifth movable part, and a sixth movable part is hinged between the fixed part and the fifth movable part.

[0026] Preferably, there are two of the first fixed columns and the top massage ball structure, the top of the first fixed column is fixedly connected to a mounting plate, a mounting hole is provided on the mounting plate, one of the first fixed columns is fixedly connected to the second movable part, and the other first fixed column is fixedly connected to the fifth movable part, so that the distance between the balls can be controlled, and the first fixed column can be fixedly connected to the second movable part and the fifth movable part through the mounting hole.

[0027] Preferably, a finger placement plate is provided in the box body, and the finger placement plate is located below the massage execution module. The finger placement plate is also provided with a sensing device that can sense the position of the finger. At the same time, two straight laser heads are provided on the box body, which can form a cross on the finger placement plate, thereby prompting the user to place the finger in an area for easy placement of the finger.

[0028] In summary, the beneficial effects of the present invention are:

[0029] 1. This invention uses image recognition technology, utilizing a camera module to collect finger information of the current user. Based on the collected finger length and width data, the robot arm controls its trajectory. This control then controls the top, left, and right massage ball structures, working in conjunction with heated balls to perform a rolling massage on the inserted fingers. This meets the user's personalized needs and makes the massage program more tailored to the current user. Secondly, it changes the form of human-computer interaction, abandoning the traditional button-based selection method in favor of voice call, which can adapt to more practical usage situations and realize a technologically advanced and modernized personalized home massage.

[0030] 2. The present invention massages the top of the finger through the top massage ball structure, and massages the left and right sides of the finger through the left and right massage ball structures, which can more comprehensively massage the finger and relieve the discomfort of the finger;

[0031] 3. The present invention heats the balls through the first heating plate, which conducts heat from the heat-conducting holes to the balls through the heat-conducting plate, thereby heating the balls and promoting blood circulation and maintaining a sense of comfort during the massage process.

[0032] 4. In this invention, inflation of the airbag pushes the heat shield, second heating plate, and second fixing block toward the opening of the second fixing column. A pressure sensor detects the pressure within the airbag and determines, based on the pressure value, whether the ball roller is in close contact with the side wall of the finger, thereby ensuring that the left massage ball structure always rolls in contact with the side wall of the finger. Subsequently, deflation of the airbag frees the heat shield, second heating plate, and second fixing block from being squeezed and can freely move back and forth within the first fixing column, allowing the ball roller to leave the side wall of the finger, thereby achieving rolling massage of the left side wall of the finger.

[0033] 5. The present invention controls the first movable part through the control of the sixth servo, thereby controlling the upper gear part and the lower gear part meshing with the upper gear part, thereby controlling the second movable part, the third movable part, the fourth movable part, the fifth movable part and the sixth movable part, thereby controlling the clamping angle, thereby controlling the spacing of the massage ball structure to match the thickness of the user's fingers, making it more user-friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an overall schematic diagram of the present invention;

[0035] Figure 2 It is a bottom view schematic diagram of the present invention;

[0036] Figure 3 Schematic diagram of the left and right ball bearing mechanisms of the present invention fitting the finger;

[0037] Figure 4 Schematic diagram of the left and right ball bearing mechanisms of the present invention when they are not attached to the finger;

[0038] Figure 5 Schematic diagram of the ball mechanism of the present invention;

[0039] Figure 6 is a three-dimensional schematic diagram of the first fixing block of the present invention;

[0040] Figure 7 This invention Figure 3 An enlarged schematic diagram of point A;

[0041] Figure 8 It is a cross-sectional schematic diagram of the connection between the second fixing column and the limiting ring of the present invention;

[0042] Figure 9 is a three-dimensional schematic diagram of the robotic arm of the present invention;

[0043] Figure 10 is a three-dimensional schematic diagram of the robotic arm of the present invention from another perspective;

[0044] Figure 11 Schematic diagram of the clamping member of the present invention. DETAILED DESCRIPTION

[0045] The following specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the embodiments as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

[0046] The present invention will be described in detail below with reference to the accompanying drawings using embodiments. Example

[0047] like Figure 1-2As shown, an intelligent finger massager includes a box body 1 and a voice control module 2, a massage execution module 3, a camera recognition module 4, and a central control module 5 arranged in the box body. The voice control module 2, the camera recognition module 4, and the massage execution module 3 are respectively connected to the central control module 5. A finger placement plate 11 is provided in the box body 1 and is located below the massage execution module 3.

[0048] The voice control module 2 interacts with the user;

[0049] The camera recognition module 4 takes a photo through the Raspberry Pi and processes the user's finger image through image processing, and performs data analysis on the thickness and length of the user's finger;

[0050] The massage execution module 3 is used to perform rolling massage on the fingers.

[0051] like Figure 5 As shown, the massage execution module 3 includes a robotic arm 30, and a heated ball mechanism 6 is installed at the bottom of the robotic arm 30. The ball mechanism 6 includes a first fixed column 61, a top massage ball structure 62, a left L-shaped fixing frame 63, a right L-shaped fixing frame 64, a left massage ball structure 65, and a right massage ball structure 66. The first fixed column 61 is arranged below the robotic arm 30, and the top massage ball structure 62 is arranged below the first fixed column 61. The left L-shaped fixing frame 63 is arranged on the left side of the first fixed column 61, and the right L-shaped fixing frame 64 is arranged on the right side of the first fixed column 61. The left massage ball structure 65 is arranged on the inner side of the left L-shaped fixing frame 63, and the right massage ball structure 66 is arranged on the inner side of the right L-shaped fixing frame 64. The left massage ball structure 65 and the right massage ball structure 66 are arranged opposite to each other.

[0052] like Figure 3-8 As shown, the top massage ball structure 62 includes a first fixed block 621 and a first ball 622. The bottom of the first fixed block 621 is formed with a first ball slot 623. The notch of the first ball slot 623 is provided with two half-through slots 624 along the axial direction. The two half-through slots 624 are arranged opposite to each other. The first ball 622 is stuck in the first ball slot 623 and can roll freely. The interior of the first fixed column 61 is formed with a heating cavity 611. The heating cavity 611 is provided with a first heating plate 612. The bottom of the first heating plate 612 is provided with a heat conducting plate 613. A heat conducting hole 614 is provided from the bottom of the first fixed block 621 to the bottom of the first ball slot 623. All the balls in this case are made of heat-conducting material.

[0053] like Figure 3-8As shown, the left massage ball structure 65 includes a second fixing column 651, an air bag 652, a second heating plate 653, a heat insulation board 654, a second fixing block 655, and a second ball 656. The second fixing column 651 is fixedly connected to the inner side of the left L-shaped fixing frame 63. The interior of the second fixing column 651 is hollow and the opening of the second fixing column 651 faces the right side. The air bag 652, the heat insulation board 654, the second heating plate 653, the second fixing block 655, and the second ball 656 are sequentially arranged in the second fixing column 651. The heat insulation board 654 is fixedly connected to the second heating plate 653. The second fixing block 655 is fixedly connected to the second heating plate 653. The second fixing block 655 is far away A second ball groove 657 is provided on the side away from the second heating plate 653, and the second ball 656 is stuck in the second ball groove 657 and can roll freely. An inlet 650 is provided at the top of the second fixed column 651, and an inflation port 658 is provided near the inlet 650 of the airbag 652. A pressure sensor is provided in the inflation port 658. A retaining ring 6510 is formed at the opening of the second fixed column 651, and a limiting ring 6511 that cooperates with the retaining ring 6510 is formed on the left side of the second fixed block 655. The inner side wall of the second fixed column 651 is symmetrically provided with an elongated sliding groove 6512 along the length direction, and a slider 6513 that can slide in the elongated sliding groove is formed on the limiting ring 6511.

[0054] like Figure 9-11As shown, the robotic arm 30 includes a fixed plate 301, a rotating disk 302 provided at the bottom of the fixed plate 301, a first arm 303 connected to the rotating disk 302, a second arm 304 connected to the first arm 303, and a clamping member 305 connected to the second arm 304. A first servo 306 for controlling the rotation of the rotating disk 302 is provided on the fixed plate 301. A second servo 307 for changing the angle of the robotic arm joint is provided at the connection between the rotating disk 302 and the first arm 303. A second servo 307 for changing the angle of the robotic arm joint is provided at the connection between the first arm 303 and the second arm 304. The third servo 308 is provided at the bottom of the second arm 304 for changing the angle of the mechanical arm joint. The fourth servo 313 is provided at the bottom of the second arm 304 for changing the angle of the mechanical arm joint. The clamping member 305 includes a fixed portion 309 and a movable portion 310. The inner end of the fixed portion 309 is connected to the second arm 304, and the outer end of the fixed portion 309 is connected to the movable portion 310. The connection between the second arm 304 and the fixed portion 309 is provided with a fifth servo 311 for controlling the rotation of the fixed portion 309 perpendicular to the axial direction of the second arm 304. The clamping member 305 is also provided with a sixth servo 312 for controlling the movement of the movable portion 310. The movable portion 310 includes a first clamping portion and a second clamping portion. The first clamping portion includes a first movable portion 811 connected to the steering wheel provided with the sixth servo 312. An upper gear portion 8111 is provided on the side of the first movable portion 811. A second movable portion 812 is hingedly connected to one end of the first movable portion 811. A third movable portion 813 is hingedly connected between the fixed portion 309 and the second movable portion 812. The lower clamping portion includes a fourth movable portion 814 hingedly connected to the fixed portion 309. A lower gear portion 811 is provided on the side of the fourth movable portion 814 to mesh with the upper gear portion 8111. Part 8141, one end of the fourth movable part 814 is hinged with the fifth movable part 815, and the sixth movable part 816 is hinged between the fixed part 309 and the fifth movable part 815. There are two of the first fixed columns 61 and the top massage ball structure 62. The top of the first fixed column 61 is fixedly connected with a mounting plate 616, and a mounting hole 617 is provided on the mounting plate 616. One of the first fixed columns 61 is fixedly connected to the second movable part 812, and the other first fixed column 61 is fixedly connected to the fifth movable part 815.

[0055] Physical principles:

[0056] The speech recognition module filters and samples the sound signal. This process is primarily intended to eliminate interference from signals with frequencies other than human speech and the 50Hz current frequency. This process is typically accomplished using a bandpass filter with set upper and lower frequency thresholds, followed by quantization of the original discrete signal. The transition between the high-frequency and low-frequency portions of the signal is then smoothed, allowing the spectrum to be solved under the same signal-to-noise ratio, making analysis more convenient and rapid. Frame segmentation and windowing are employed to impart short-term stability to the original time-varying frequency domain signal. This involves dividing the continuous signal into independent, stable frequency domain components using acquisition windows of varying lengths for analysis.

[0057] The servo's rotation angle range is typically 0 to 180 degrees. This is typically controlled by pulse width control. Typically, a servo has three input lines (power positive, ground, and signal). The PWM signal is input via the signal line. The host computer generates a square wave with a period of approximately 20ms as input. The duty cycle of the square wave determines the servo's rotation angle. When a control signal is sent to the servo, the output shaft rotates to a specific position. As long as the control signal remains constant, the servo maintains the shaft's angular position. If the control signal changes, the output shaft's position changes accordingly.

[0058] Unlike common hand massagers on the market, the hand massager designed by our team is user-friendly and offers superior human-computer interaction. To address the current problem of mechanized massager programming, our team designed a hand massager that matches the user's hand data. At the start of use, a camera module captures the user's hand. The captured image is then sent to the data processing hub, where it is processed using OpenCV to obtain the user's hand data. The massage program then fine-tunes the massage path to suit the user. This device recognizes both left and right hands and hand shape, achieving high accuracy.

[0059] In terms of the user operation module, button control is commonly used in the current market. Taking into account the situation where buttons may not be manually operated during actual use, our team made adjustments to the device and implemented voice control. This will make the use of the massager more convenient in actual situations and the human-computer interaction more effective.

[0060] The control board uses Arduino Mega2560 as an example. The workflow is as follows:

[0061] When the main switch is turned on, the device starts up and the top LED lights up; the voice recognition module identifies the set program running keywords and transmits the data to the control board Arduino Mega2560; the control board Arduino Mega2560 processes the data and feeds back the information to the voice broadcast module, which prompts the user to select the desired massage temperature, massage head massage speed, and massage program duration in sequence. The voice recognition module is used to identify keywords selected by the user, and the identified keywords are converted into data information and fed back to the control board Arduino Mega2560. After completing the massage program selection, the voice broadcast module plays a voice prompt to remind the user to put his hand. At the same time, the two straight laser heads installed on the left inner wall are powered on to prompt the user to place his hand. The chip capacitor placed on the operating table is used to sense the placement of the user's hand. The control board Arduino Mega2560 processes the data fed back by the chip capacitor to determine whether the user's hand is placed in the appropriate position; After determining that the user's hand is placed in the appropriate position, the control board sends a command to the power supply board Arduino Mega2560; The power supply board receives the command, converts the command into ASCII code format that can be recognized by the Raspberry Pi, and sends it to the Raspberry Pi. The Raspberry Pi receives the command, starts the camera module on the top of the device, takes a picture of the user's hand placed in the correct position, and collects the user's hand information. The Raspberry Pi receives the user's hand image captured by the camera module and uses OpenCV The program analyzes and processes the received image, extracting various data such as the position of the hand and the length of the fingers. The Raspberry Pi uses OpenCV to process the image as follows: first, the reference points in the image captured by the camera are compared with the inherent reference points and baselines defined by the two laser lights. Based on the hand contour identified and depicted by the program, the Raspberry Pi sends the extracted numerical information to the Arduino Mega2560 power supply board. After data conversion, the data is transmitted to the control board, which further processes the received data and sends it to the Arduino Nano, the main control board of the robotic arm. The Arduino Nano incorporates the received hand information into the pre-set massage program and then sends the massage command information to the servo control board. The servo control board controls the movement of each servo according to the received command, and the massager performs a massage adapted to the current user's hand condition. After the massage program is completed, the control board sends a command to the voice broadcast module to notify the user that the massage is over.

[0062] Working principle: Figure 1-11As shown, place your finger in the box 1, interact with the user through the voice control module 2, and ask the user questions through preset voice questions. The specific questions include: selecting the massage speed, selecting the massage duration, and selecting the massage temperature (high, medium, and low). After each question is asked, the massage system is automatically preset to the required mode according to the user's answer. Then, the Raspberry Pi of the camera recognition module 4 takes a photo and processes the user's finger image through image processing, and performs data analysis on the thickness and length of the user's finger. After the processing is completed, the user's finger information is submitted to the central control module 5. The central control module 5 communicates with the voice control module and the camera recognition module at the same time, obtains the mode information preset by the user through the voice control module, and obtains the user's finger information through the camera recognition module. The central control module 5 matches the corresponding action that the robotic arm 30 needs to perform based on the finger data, and controls the clamping angle of the clamping member 305 of the robotic arm 30 by analyzing the thickness and length of the user's finger, thereby controlling the distance between the two first balls, thereby controlling the distance between the two second balls 656, and then the heating plate starts to work so that the balls can be heated. The central control module 5 controls the inflation of the airbag 652 to put the second balls 656 at the same time. The second ball 656 moves toward the side wall of the finger. When the pressure detected by the pressure sensor meets the index, the inflation stops, so that the second ball 656 fits the side wall of the finger, and then the top and side wall of the first finger 10 are subjected to a fitting rolling massage, while maintaining the heated temperature to ensure comfort. After the massage of the first finger is completed, the central control module 5 controls the airbag 652 to deflate, so that the second ball 656 can move in the second fixed column 651. Then the robotic arm 30 moves to the next finger with the heated ball mechanism 6, repeats the massage steps of the first finger, and then completes the massage of each finger. After the massage is completed, the robotic arm will automatically return to its original position, and at the same time, a voice prompt will be given to the user that the massage is over, which meets the personalized needs of the user and makes the massage program more suitable for the current user. Secondly, the form of human-computer interaction has been changed, and the traditional button-type selection method has been abandoned. Voice calling is adopted to adapt to more actual usage situations and realize a technological and modern home customized massage.

Claims

1. An intelligent finger massager, characterized in that: It comprises a box (1) and a voice control module (2), a massage execution module (3), a camera recognition module (4), and a central control module (5) arranged in the box, wherein the voice control module (2), the camera recognition module (4), and the massage execution module (3) are respectively connected to the central control module (5); The voice control module (2) interacts with the user; The camera recognition module (4) takes a photo via the Raspberry Pi and processes the user's finger image through image processing, and performs data analysis on the thickness and length of the user's finger; The massage execution module (3) is used to perform rolling massage on the fingers; The massage execution module (3) includes a mechanical arm (30), and a heated ball mechanism (6) is installed at the bottom of the mechanical arm (30). The ball mechanism (6) includes a first fixed column (61), a top massage ball structure (62), a left L-shaped fixed frame (63), a right L-shaped fixed frame (64), a left massage ball structure (65), and a right massage ball structure (66). The first fixed column (61) is arranged below the mechanical arm (30), and the top massage ball structure (62) is arranged at the bottom. Below the first fixing column (61), the left L-shaped fixing frame (63) is arranged on the left side of the first fixing column (61), the right L-shaped fixing frame (64) is arranged on the right side of the first fixing column (61), the left massage ball structure (65) is arranged on the inner side of the left L-shaped fixing frame (63), the right massage ball structure (66) is arranged on the inner side of the right L-shaped fixing frame (64), and the left massage ball structure (65) and the right massage ball structure (66) are arranged opposite to each other; The left massage ball structure (65) includes a second fixing column (651), an air bag (652), a second heating plate (653), a heat insulation board (654), a second fixing block (655), and a second ball (656). The second fixing column (651) is fixedly connected to the inner side of the left L-shaped fixing frame (63). The interior of the second fixing column (651) is hollow and the opening of the second fixing column (651) faces the right side. The air bag (652), the heat insulation board (654), the second heating plate (653), the second fixing block (655), and the second ball (656) are sequentially arranged on the second fixing column ( 651), the heat insulation plate (654) is fixedly connected to the second heating plate (653), the second fixing block (655) is fixedly connected to the second heating plate (653), a second ball bearing groove (657) is provided on a side of the second fixing block (655) away from the second heating plate (653), the second ball bearing (656) is stuck in the second ball bearing groove (657) and can roll freely, an inlet (650) is provided on the top of the second fixing column (651), an inflation port (658) is provided on the airbag (652) near the inlet (650), and a pressure sensor is provided in the inflation port (658); The central control module (5) matches the corresponding action that the robot arm (30) needs to perform based on the finger data, and controls the clamping angle of the clamping member (305) of the robot arm (30) by analyzing the thickness and length of the user's finger, thereby controlling the distance between the two first balls, thereby controlling the distance between the two second balls (656). Then the heating plate starts to work so that the balls can be heated. The central control module (5) controls the airbag (652) to inflate and move the second ball (656) toward the side wall of the finger. When the pressure detected by the pressure sensor meets the finger pressure, the pressure sensor will move the second ball (656) to the side wall of the finger. When the time is right, the inflation is stopped, so that the second ball (656) fits the side wall of the finger, and then the first finger (10) is massaged by rolling on the top and side wall, while maintaining the heated temperature to ensure comfort. After the massage of the first finger is completed, the central control module (5) controls the airbag (652) to deflate, so that the second ball (656) can move in the second fixed column (651), and then the robotic arm (30) moves to the next finger with the heated ball mechanism (6), repeating the massage steps of the first finger, and then completing the massage of each finger.

2. The intelligent finger massager according to claim 1, characterized in that: The top massage ball structure (62) includes a first fixed block (621) and a first ball (622). A first ball retaining groove (623) is formed at the bottom of the first fixed block (621). The notch of the first ball retaining groove (623) is provided with two half-through grooves (624) along the axial direction. The two half-through grooves (624) are arranged opposite to each other. The first ball (622) is retained in the first ball retaining groove (623) and can roll freely.

3. The intelligent finger massager according to claim 2, characterized in that: A heating cavity (611) is formed inside the first fixing column (61), a first heating plate (612) is installed in the heating cavity (611), a heat conducting plate (613) is provided at the bottom of the first heating plate (612), and a heat conducting hole (614) is provided from the bottom of the first fixing block (621) to the bottom of the first ball bearing groove (623).

4. The intelligent finger massager according to claim 1, characterized in that: A retaining ring (6510) is formed at the opening of the second fixed column (651), and a limiting ring (6511) that cooperates with the retaining ring (6510) is formed on the left side of the second fixed block (655). The inner wall of the second fixed column (651) is symmetrically provided with a long strip sliding groove (6512) along the length direction, and a slider (6513) that can slide in the long strip sliding groove is formed on the limiting ring (6511).

5. The intelligent finger massager according to claim 1, characterized in that: The mechanical arm (30) comprises a fixed plate (301), a rotating disk (302) provided at the bottom of the fixed plate (301), a first arm (303) connected to the rotating disk (302), a second arm (304) connected to the first arm (303), and a clamping member (305) connected to the second arm (304); a first steering gear (306) for controlling the rotation of the rotating disk (302) is provided on the fixed plate (301); a second steering gear (307) for changing the angle of the mechanical arm joint is provided at the connection between the rotating disk (302) and the first arm (303); and a second steering gear (308) for changing the angle of the mechanical arm joint is provided at the connection between the first arm (303) and the second arm (304). The second arm (304) is provided with a third servo (308) for adjusting the angle of the mechanical arm joint, the bottom of the second arm (304) is provided with a fourth servo (313) for changing the angle of the mechanical arm joint, the clamping member (305) includes a fixed portion (309) and a movable portion (310), the inner end of the fixed portion (309) is connected to the second arm (304), the outer end of the fixed portion (309) is connected to the movable portion (310), the connection between the second arm (304) and the fixed portion (309) is provided with a fifth servo (311) for controlling the fixed portion (309) to rotate perpendicularly to the axial direction of the second arm (304), and the clamping member (305) is further provided with a sixth servo (312) for controlling the movement of the movable portion (310).

6. The intelligent finger massager according to claim 5, characterized in that: The movable part (310) includes a first clamping part and a second clamping part, the first clamping part includes a first movable part (811) connected to a steering wheel provided with a sixth steering gear (312), an upper gear part (8111) is provided on a side surface of the first movable part (811), one end of the first movable part (811) is hinged to the second movable part (812), and a third movable part (813) is hinged between the fixed part (309) and the second movable part (812); the lower clamping part includes a fourth movable part (814) hinged to the fixed part (309), a lower gear part (8141) meshed with the upper gear part (8111) is provided on a side surface of the fourth movable part (814), one end of the fourth movable part (814) is hinged to the fifth movable part (815), and a sixth movable part (816) is hinged between the fixed part (309) and the fifth movable part (815).

7. The intelligent finger massager according to claim 6, characterized in that: The first fixed column (61) and the top massage ball structure (62) are both provided with two. The top of the first fixed column (61) is fixedly connected to a mounting plate (616). The mounting plate (616) is provided with a mounting hole (617). One of the first fixed columns (61) is fixedly connected to the second movable part (812), and the other first fixed column (61) is fixedly connected to the fifth movable part (815).

8. The intelligent finger massager according to claim 1, characterized in that: A finger placement plate (11) is provided in the box body (1), and the finger placement plate (11) is located below the massage execution module (3).

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