Control Method, System, Device and Storage Medium of a Massage Robot

Abstract

The present application discloses a control method, system, device, electronic device and computer-readable storage medium for a massage robot. The method includes: receiving a massage request sent by a user terminal, and acquiring human body point cloud data according to the massage request; sending the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image based on the point cloud data; receiving a massage control instruction sent by the user terminal, and controlling a robotic arm to execute a corresponding massage action according to the massage control instruction. This method introduces the human body point cloud image to the user terminal, realizes the visual interaction between the user terminal and the robot server based on the human body point cloud image, enables the user to control the massage robot by himself / herself, and solves the problems of poor user autonomy and insufficient immersive experience in the existing massage robot control methods.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular, to a control method for a massage robot. This application also relates to a control system, a control device, an electronic device, a massage robot, and a computer-readable storage medium for a massage robot. Background Art

[0002] With the development of artificial intelligence technology, household service robots (such as: floor-sweeping robots, mopping robots, massage robots, etc.) have gradually entered the consumer market and have been favored by consumers.

[0003] Currently, for massage robots, they mainly rely on staff or physiotherapists to control the massage robots, so as to control the massage robots to perform massage actions on users. In this process, users cannot control the massage robots by themselves, resulting in poor user autonomy and insufficient immersive experience in the massage experience. Summary of the Invention

[0004] This application provides a control method, system, device, massage robot, electronic device, and computer-readable storage medium for a massage robot to solve the problems of poor user autonomy and insufficient immersive experience existing in the existing massage robot control methods.

[0005] An embodiment of this application provides a control method for a massage robot, which is applied to a robot server, and the method includes:

[0006] Receiving a massage request sent by a user terminal, and obtaining human body point cloud data according to the massage request;

[0007] Sending the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image according to the point cloud data;

[0008] Receiving a massage control instruction sent by the user terminal, and controlling a robotic arm to perform a corresponding massage action according to the massage control instruction.

[0009] Optionally, the method further includes:

[0010] Sending execution data of the massage action to the user terminal for the user terminal to display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0011] Optionally, the massage control instruction includes: a massage start instruction; and controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0012] Controlling the robotic arm to move to a preset massage starting position according to the massage start instruction.

[0013] Optionally, the method further includes:

[0014] Sending the point data corresponding to the massage starting position to the client, so that the client can display the massage starting point on the human body point cloud image according to the point data corresponding to the massage starting position.

[0015] Optionally, the massage control instruction further includes: a massage point movement instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0016] Controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction according to the massage point movement instruction.

[0017] Optionally, the method further includes:

[0018] Sending the point data corresponding to each current movement position during the movement of the robotic arm to the client at a preset frequency, so that the client can display the movement process of the robotic arm on the human body point cloud image according to the point data corresponding to each current movement position.

[0019] Optionally, the massage control instruction further includes: a massage point change instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0020] Controlling the robotic arm to move to a target position according to the massage point change instruction, where the target position is the position corresponding to the target point indicated by the massage point change instruction.

[0021] Optionally, the method further includes:

[0022] Sending the point data corresponding to each current movement position during the process of moving the robotic arm to the target position to the client at a preset frequency, so that the client can display the movement process of the robotic arm moving to the target position on the human body point cloud image according to the point data corresponding to each current movement position.

[0023] Optionally, the massage control instruction further includes: a massage force adjustment instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0024] Adjusting the force at the end of the robotic arm to a target force according to the massage force adjustment instruction, where the target force is the force indicated by the massage force adjustment instruction.

[0025] Optionally, the massage control instruction further includes: a massage end instruction; controlling the robotic arm to perform corresponding massage actions according to the massage control instruction includes:

[0026] Controlling the robotic arm to stop the massage action and move back to the initial position according to the massage end instruction.

[0027] An embodiment of the present application also provides a control method for a massage robot, which is applied to a user terminal. The method includes:

[0028] Sending a massage request to a robot server, so that the robot server can obtain human body point cloud data according to the massage request;

[0029] Receiving the human body point cloud data sent by the robot server, constructing a human body point cloud image according to the human body point cloud data, and displaying the human body point cloud image on a screen;

[0030] Sending a massage control instruction to the robot server, so that the robot server can control the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0031] Optionally, the method further includes:

[0032] Receiving the execution data of the massage action sent by the robot server, and displaying the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0033] An embodiment of the present application also provides a control system for a massage robot, including: a user terminal and a robot server;

[0034] The user terminal is configured to send a massage request to the robot server; receive the human body point cloud data sent by the robot server, construct a human body point cloud image according to the human body point cloud data, and display the human body point cloud image on a screen; send a massage control instruction to the robot server;

[0035] The robot server is configured to receive the massage request sent by the user terminal, and obtain human body point cloud data according to the massage request; send the human body point cloud data to the user terminal; receive the massage control instruction sent by the user terminal, and control the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0036] An embodiment of the present application also provides a control device for a massage robot, which is applied to a robot server. The device includes: a first receiving unit, a data acquisition unit, a sending unit, a second receiving unit, and a control unit;

[0037] The first receiving unit is configured to receive the massage request sent by the user terminal;

[0038] The data acquisition unit is configured to acquire human body point cloud data according to the massage request;

[0039] The sending unit is configured to send the human body point cloud data to the client, so that the client constructs a human body point cloud image according to the point cloud data;

[0040] The second receiving unit is configured to receive a massage control instruction sent by the client;

[0041] The control unit is configured to control the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0042] An embodiment of the present application further provides a control device for a massage robot, which is applied to a client. The device includes: a first sending unit, a receiving unit, a constructing unit, a display unit, and a second sending unit;

[0043] The first sending unit is configured to send a massage request to the robot server, so that the robot server acquires human body point cloud data according to the massage request;

[0044] The receiving unit is configured to receive the human body point cloud data sent by the robot server;

[0045] The constructing unit is configured to construct a human body point cloud image according to the human body point cloud data;

[0046] The display unit is configured to display the human body point cloud image on the screen;

[0047] The second sending unit is configured to send a massage control instruction to the robot server, so that the robot server controls the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0048] An embodiment of the present application further provides a massage robot, which at least includes: a memory, a processor, and a robotic arm;

[0049] The memory is configured to store one or more computer instructions;

[0050] The processor is configured to execute the one or more computer instructions to implement the above method;

[0051] The robotic arm is configured to perform massage actions.

[0052] An embodiment of the present application further provides an electronic device, which at least includes: a memory, a processor, and a display;

[0053] The memory is configured to store one or more computer instructions;

[0054] The processor is configured to execute the one or more computer instructions to implement the above method;

[0055] The display is configured to display the human body point cloud image.

[0056] An embodiment of the present application further provides a computer-readable storage medium, on which one or more computer instructions are stored, and when the instructions are executed by a processor, the above method is executed.

[0057] Compared with the prior art, the control method of the massage robot provided by the present application includes: receiving a massage request sent by a user terminal, and acquiring human body point cloud data according to the massage request; sending the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image according to the point cloud data; receiving a massage control instruction sent by the user terminal, and controlling a robotic arm to execute a corresponding massage action according to the massage control instruction. This method passes information between the robot server and the user terminal to construct a human body point cloud image at the user terminal, enabling the robot server to control the robotic arm to execute massage actions according to the massage control instruction sent by the user terminal. The control method of the massage robot provided by the present application creatively introduces a human body point cloud image to the user terminal, realizes visual interaction between the user terminal and the robot server based on the human body point cloud image, enables the user to control the massage robot by himself, and solves the problems of poor user autonomy and insufficient immersive experience in the existing massage robot control methods. Description of the Drawings

[0058] Figure 1 is an application scenario diagram of an existing massage robot;

[0059] Figure 2 is a flowchart of the control method of the massage robot provided in the first embodiment of the present application;

[0060] Figure 3 is a flowchart of the control method of the massage robot provided in the second embodiment of the present application;

[0061] Figure 4 is a signaling flowchart of the control method of the massage robot provided in the second embodiment of the present application;

[0062] Figure 5 is a signaling flowchart of the start control method of the massage robot provided in the third embodiment of the present application;

[0063] Figure 6 is a signaling flowchart of the massage point movement control method of the massage robot provided in the third embodiment of the present application;

[0064] Figure 7It is a signaling flowchart of the massage point position change control method of the massage robot provided in the third embodiment of the present application;

[0065] Figure 8 It is a signaling flowchart of the massage intensity adjustment control method of the massage robot provided in the third embodiment of the present application;

[0066] Figure 9 It is a signaling flowchart of the end control method of the massage robot provided in the third embodiment of the present application;

[0067] Figure 10 It is a schematic structural diagram of the control system of the massage robot provided in the fourth embodiment of the present application;

[0068] Figure 11 It is a schematic structural diagram of the control device of the massage robot provided in the fifth embodiment of the present application;

[0069] Figure 12 It is a schematic structural diagram of the control device of the massage robot provided in the sixth embodiment of the present application;

[0070] Figure 13 It is a schematic structural diagram of the massage robot provided in the seventh embodiment of the present application;

[0071] Figure 14 It is a schematic structural diagram of the electronic device provided in the eighth embodiment of the present application. Detailed implementation manners

[0072] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementations disclosed below.

[0073] The following explains the professional terms involved in the embodiments of the present application for easy understanding.

[0074] Artificial Intelligence (AI) is a branch of computer science that can generate intelligent machines close to human intelligence. The research in this field mainly involves technologies such as robots, speech recognition, and image recognition. Artificial Intelligence analyzes and simulates the process of human consciousness and thinking to design artificial intelligence robots that can behave like humans. In terms of single intelligence, such as calculation, it can even exceed human intelligence.

[0075] The massage robot is an artificial intelligence product that can perform massage actions. It mainly includes a robotic arm and a control device. Among them, the robotic arm is used to perform massage actions, and the control device is used to issue massage instructions and control the robotic arm to perform massage actions. At present, since the massage robot depends on staff or physiotherapists for operation, the massage robot is mainly applied in the medical field and has not been applied in the home service field.

[0076] Point Cloud is a collection of points. Each point in the point cloud is a three-dimensional point. The information contained in the point cloud includes the position information of each point (i.e., the three-dimensional coordinates X, Y, Z of each point), and can also include information such as color, light intensity, class label, normal vector, grayscale value, etc. The point cloud can atomize the real world, and the real world can be restored through high-precision point cloud data.

[0077] Point Cloud Data refers to a collection of a group of vectors in a three-dimensional coordinate system. These vectors are usually represented in the form of three-dimensional coordinates (X, Y, Z), and generally mainly used to represent the outer surface shape of an object. In addition to the geometric position information represented by (X, Y, Z), the point cloud data can also represent the color information, grayscale value information, etc. of a point. If P i ={X i , Y i , Z i , ……} represents a point in the point cloud, then, Point Cloud={P1, P2, P3, ……, P i} can represent a set of point cloud data.

[0078] The point cloud image is an image formed by converting the point cloud data to a 3D surface through the method of surface reconstruction. The human point cloud image is a human image obtained by rendering the acquired human point cloud data.

[0079] The massage robot belongs to an artificial intelligence product that can replace massage staff to massage users. At present, the massage robot is mainly applied in the medical field, and the physiotherapist controls the massage robot to perform massage actions on users. Figure 1 It is an application scenario diagram of an existing massage robot.

[0080] As Figure 1 shown, using the massage robot 101 to massage the user 102 mainly depends on the operation of the physiotherapist 103 on the massage robot 101. Specifically, by the physiotherapist 103 operating the control device 1011 of the massage robot 101, the robotic arm 1012 of the massage robot 101 is controlled to perform massage actions on the user 102.

[0081] Among them, the control device can be a remote control or a visualization device. The physiotherapist remotely controls the massage actions of the massage robot through the control buttons on the remote control or the interface interaction buttons on the visualization device. No matter which form of control device it is, it is designed for the physiotherapist and has a certain degree of professionalism, which is difficult for ordinary users to quickly understand and master. That is to say, without the physiotherapist, users cannot independently control the massage robot.

[0082] However, during the massage process, the user is the direct service object of the massage robot, and the user can directly feel the comfort and accuracy of the massage. When the user feels that the massage is abnormal (such as: too strong massage force or inaccurate massage position), the user needs to inform the physiotherapist to let the physiotherapist adjust the massage actions of the massage robot. However, since the physiotherapist is not the direct person who feels, the adjusted massage actions by the physiotherapist often cannot meet the user's expectations. Therefore, how to establish a direct interaction between the user and the massage robot so that the user can independently control the massage robot is an urgent problem to be solved.

[0083] In view of this, the present application provides a control method for a massage robot, which realizes the visual interaction between the user side and the robot server, enables the user to independently control the massage robot, and solves the problems of poor user autonomy and insufficient immersive experience in the existing massage robot control methods.

[0084] In addition, the solution of the above problems can also enable the application of the massage robot to enter the home service field from the medical field, expanding the application market of the massage robot.

[0085] The following further elaborates in detail on the control method, system, device, electronic device, massage robot, and computer-readable storage medium of the massage robot described in the present application in combination with specific embodiments and the accompanying drawings.

[0086] The first embodiment of the present application provides a control method for a massage robot, which is applied to the robot server. The robot server includes a massage robot that provides massage services for users.

[0087] Figure 2 It is the flowchart of the control method for the massage robot provided in this embodiment. The following combines Figure 2 to describe in detail the control method for the massage robot provided in this embodiment. The embodiments involved in the following description are used to explain the technical solutions of the present application and are not used as limitations for actual use.

[0088] As Figure 2 shown, the control method for the massage robot provided in this embodiment includes the following steps:

[0089] Step S201: Receive the massage request sent by the client and obtain the human body point cloud data according to the massage request.

[0090] The massage request includes the massage plan selection information sent by the user to the robot server through the client. The massage plan can include automatic massage and manual massage, and can also include back massage, shoulder massage, and waist massage. Then the massage request can correspondingly include an automatic massage request and a manual massage request, or can correspondingly include a back massage request, a shoulder massage request, and a waist massage request.

[0091] This embodiment provides an optional implementation method for the client to send a massage request to the robot server, that is, the user sends a massage request to the robot server by clicking on the "automatic massage" option or the "manual massage" option on the screen of the client. In fact, it is to send the user's selection information of the massage plan to the robot server.

[0092] For different massage requests, the robot server will obtain different human body point cloud data. For example, if the massage request is a shoulder massage request, then the robot server will obtain the point cloud data of the human shoulder. Another example, if the massage request is a back massage request, then the robot server will obtain the point cloud data of the human back. Another example, if the massage request is a manual massage request, then the robot server will obtain the entire point cloud data of the human shoulder, back, and waist.

[0093] The robot server can obtain the point cloud data by scanning the human body part corresponding to the massage request through the camera of the robot server. The camera can be a camera set on the robotic arm or a camera independent of the robotic arm.

[0094] Step S202: Send the human body point cloud data to the client for the client to construct a human body point cloud image according to the point cloud data.

[0095] When the robot server sends the human body point cloud data to the client, it needs to consider the data volume of the point cloud data and the transmission bandwidth between the robot server and the client. Usually, the data volume of the obtained point cloud data is large, and the point cloud data needs to be fragmented and transmitted according to the transmission bandwidth between the client and the robot server. When the robot server transmits a data fragment to the client, it also attaches two parameters, namely: the total number of data fragments of the point cloud data to be transmitted, and which number the currently transmitted data fragment is. The client can judge whether all the data fragments have been received according to the above two parameters. For example, if a point cloud data is divided into 100 data fragments, when the parameters attached to the data fragment received by the client are that the total number of fragments is 100 and the current data fragment is the 100th, the client can judge that all 100 data fragments have been received.

[0096] After the client receives the point cloud data, for example, after the client receives all the point cloud data segments, it can use point cloud rendering technology to construct a human body point cloud image. The human body point cloud image is a three-dimensional image and can be regarded as a set of points, where each point is rendered from the corresponding point cloud data.

[0097] This embodiment provides an optional method for rendering a point cloud image, that is, rendering the received human body point cloud data into a human body point cloud graphic through WebGL and presenting the human body point cloud image on the screen of the client.

[0098] WebGL (Web Graphics Library) is a 3D drawing protocol with the ability to render point clouds, capable of rendering high-performance interactive 3D and 2D graphics in any compatible web browser without using plugins.

[0099] Through the human body point cloud image rendered by WebGL, the user can not only visually see the whole process of robot massage in real time, but also directly interact with the robot to control the massage actions of the robot.

[0100] Step S203: Receive the massage control instruction sent by the client, and control the robotic arm to execute the corresponding massage action according to the massage control instruction.

[0101] After the human body point cloud image is displayed on the screen of the client, the user can visually see the current human body state of the user and the execution state of the robotic arm of the massage robot through the human body point cloud image displayed on the screen. Thus, the user can visually send a massage control instruction to the robot server through the client based on the human body point cloud image.

[0102] The massage control instruction is a massage control command generated by the user through the client. For example, the user generates a massage start instruction by clicking the massage start button on the screen of the client; for another example, the user generates a massage point movement instruction by manipulating the movement control on the screen of the client; for another example, the user generates a massage point change instruction by clicking the target massage point on the human body point cloud image displayed on the screen of the client; for another example, the user generates a massage force adjustment instruction by adjusting the force display indicator on the screen of the client; for another example, the user generates a massage end instruction by clicking the massage end button on the screen of the client. Therefore, the massage control instruction is actually the massage demand information of the user, and the robot server can provide a massage experience that meets the user's expectations in response to the massage control instruction.

[0103] After the massage control instruction is generated, the client will immediately send the massage control instruction to the robot server.

[0104] For different massage control instructions, the robot server will control the robotic arm to perform different massage actions.

[0105] The following are several different massage control instructions provided in this embodiment, and alternative implementation manners in which the robot server controls the robotic arm to perform different massage actions in response to different massage control instructions.

[0106] First, if the massage control instruction is a massage start instruction, then the robot server controls the robotic arm to perform a massage action of moving the robotic arm to a preset massage start position according to the massage start instruction.

[0107] The massage start instruction may be an instruction generated by a user clicking a massage start button on the user terminal screen. In response to the robot server receiving this massage start instruction, the robot server can control the robotic arm to perform the action corresponding to the massage start instruction, that is, the action of moving the robotic arm to the preset massage start position.

[0108] The preset massage start position may be any position set to be able to perform massage actions, or a corresponding position convenient for performing massage actions set according to a massage request. For example, if the massage request is for shoulder massage, then the preset massage start position may be the central position corresponding to the human shoulder. Another example is that if the massage request is for waist massage, then the preset massage start position may be any position corresponding to the human waist.

[0109] Second, if the massage control instruction is a massage point movement instruction, then the robot server controls the robotic arm to perform a massage action of moving the robotic arm along the movement direction indicated by the massage point movement instruction according to the massage point movement instruction.

[0110] The massage point movement instruction may be an instruction generated by a user manipulating a movement control on the user terminal screen. In response to the robot server receiving this massage point movement instruction, the robot server can control the robotic arm to perform the action corresponding to the massage point movement instruction, that is, the action of moving the robotic arm along the movement direction indicated by the massage point movement instruction.

[0111] The movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control. Usually, the movement control includes buttons in four directions: up, down, left, and right. Whichever direction the user presses the button, that direction is the movement direction indicated by the massage point movement instruction. The movement direction can be one direction or multiple directions with a sequence. Since the speed of information transmission and information response is extremely fast, the movement of the robotic arm can be regarded as being synchronized with the user's manipulation of the movement control, and the robotic arm moves in real time according to the movement direction indicated by the user.

[0112] Third, if the massage control instruction is a massage point position change instruction, then, according to the massage point position change instruction, the robot server controls the massage action executed by the robotic arm to be moving the robotic arm to the target position, where the target position is the position corresponding to the target point indicated by the massage point position change instruction.

[0113] The massage point position change instruction may be an instruction generated by a user clicking on a target point on the human body point cloud image displayed on the user terminal screen. In response to the robot server receiving this massage point position change instruction, the robot server can control the robotic arm to execute the action corresponding to the massage point position change instruction, that is, the action of moving the robotic arm to the target position, where the target position is the position corresponding to the target point indicated by the massage point position change instruction.

[0114] The target point indicated by the massage point position change instruction is the point clicked by the user on the human body point cloud image. This embodiment provides an optional implementation manner to enable the points on the human body point cloud image to respond to the user's click, that is, to realize that the points on the human body point cloud image can be touched by the user through the point cloud point picking technology.

[0115] After the target point is selected, coordinate system conversion is still required to be recognized by the robot server and control the robotic arm to move to the target position corresponding to the target point.

[0116] The coordinate system conversion includes the conversion from the user terminal coordinate system to the robot terminal coordinate system. The human body point cloud image needs to be rotated 180 degrees around the local z-axis to obtain the correct image, otherwise the person's head is facing down.

[0117] The coordinate system conversion also includes the conversion from the world coordinate system to the local coordinate system. When the user clicks on the target point on the human body point cloud image displayed on the user terminal screen, it is actually clicking on the screen of the user terminal, and the point obtained is in the world coordinate system. It needs to be converted into a point in the local coordinate system where the human body point cloud image is located to be recognized by the robot server.

[0118] The conversion of the target point from the world coordinate to the local coordinate can be carried out through the following formula:

[0119] Local coordinate = World coordinate × World transformation matrix -1

[0120] Specifically:

[0121]

[0122] Among them, [x1, y1, z1] is the target point in the local coordinate system, and [x, y, z] is the target point in the world coordinate system.

[0123] Fourth, if the massage control instruction is a massage intensity adjustment instruction, then, according to the massage intensity adjustment instruction, the robot server controls the massage action executed by the robotic arm to adjust the intensity at the end of the robotic arm to the target intensity, and the target intensity is the intensity indicated by the massage intensity adjustment instruction.

[0124] The massage intensity adjustment instruction may be an instruction generated by the user adjusting the intensity display identifier on the user terminal screen. In response to the robot server receiving this massage intensity adjustment instruction, the robot server can control the robotic arm to execute the action corresponding to the massage intensity adjustment instruction, that is, the action of adjusting the intensity at the end of the robotic arm to the target intensity, where the target intensity is the intensity indicated by the massage intensity adjustment instruction.

[0125] The intensity indicated by the massage intensity adjustment instruction is the intensity reached by the user adjusting the intensity display identifier. Since the speed of information transmission and information response is extremely fast, the intensity adjustment of the robotic arm can be regarded as being synchronized with the user's adjustment of the intensity display identifier. Therefore, the user can gradually increase or decrease the massage intensity by continuously adjusting the intensity display identifier until the felt massage intensity is appropriate.

[0126] Fifth, if the massage control instruction is a massage end instruction, then, according to the massage end instruction, the robot server controls the massage action executed by the robotic arm to control the robotic arm to stop the massage action and move back to the reset state.

[0127] The massage end instruction may be an instruction generated by the user clicking the massage end button on the user terminal screen. In response to the robot server receiving this massage end instruction, the robot server can control the robotic arm to execute the action corresponding to the massage end instruction, that is, the action of the robotic arm stopping the massage action and moving back to the reset state.

[0128] The movement back to the reset state means that the robotic arm moves to the reset state. For example, the robotic arm moves to a position away from the user so that the user can leave. Another example is that the robotic arm folds into the reset state, etc.

[0129] In addition to the above steps, the control method of the massage robot provided in this embodiment further includes: establishing a communication architecture between the user terminal and the robot server.

[0130] This embodiment provides a method for establishing a communication architecture between the user terminal and the robot server, that is, establishing a communication architecture between the user terminal and the robot server through WebSocket.

[0131] WebSocket is a network communication protocol that enables more convenient data exchange between the client and the server and allows the server to actively send data to the client. In the WebSocket application programming interface, only one connection needs to be established between the client and the server, and the two can create a persistent connection and perform two-way data transmission.

[0132] Using WebSocket as the communication architecture between the client and the robot server can establish a persistent connection between the client and the robot server and achieve two-way communication between the client and the robot server.

[0133] The control method of the massage robot provided in this embodiment further includes: sending the execution data of the massage action to the client for the client to display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0134] After the robot server controls the robotic arm to execute the corresponding massage action according to the massage control instruction, the robot server can send the execution data of the massage action to the client.

[0135] The execution data may include the process data of the robotic arm executing the massage action and may also include the result data of the robotic arm executing the massage action.

[0136] The result data may be the starting massage point position data of the robotic arm or the target massage point position data of the robotic arm. The process data may be each moving point position data of the robotic arm during the movement process.

[0137] The result data and the process data cannot be clearly distinguished. For example: in response to the massage point movement instruction, the robot server controls the robotic arm to move synchronously in the moving direction indicated by the massage point movement instruction. During the movement of the robotic arm, the robot server will send the execution data to the client at a frequency of returning the execution data once every 1 s. When the user continuously instructs the movement, the current massage point position data sent every 1 s are all process data. When the user stops instructing the movement, the current massage point position data sent in the last 1 s is the result data.

[0138] After receiving the execution data sent by the robot server, the client can display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0139] The following takes several massage control instructions provided in this embodiment as examples to illustrate the optional implementation manners of displaying the execution process and / or execution result of the massage action on the human body point cloud image.

[0140] When the massage control instruction is a massage start instruction, the implementation method is as follows:

[0141] First, in response to the robot server receiving the massage start instruction sent by the user terminal, the robot server controls the robotic arm to move to a preset massage starting position.

[0142] Second, the robot server sends the point data corresponding to the massage starting position to the user terminal.

[0143] Third, in response to the user terminal receiving the point data corresponding to the massage starting position, the user terminal displays the massage starting point on the human point cloud image according to the point data corresponding to the massage starting position.

[0144] The point data corresponding to the massage starting position is the result data of the robotic arm executing the massage action. After the robotic arm moves to the massage starting position, it sends the point data corresponding to the massage starting position to the user terminal. The user terminal renders the point data and displays the massage starting point corresponding to the point data on the human point cloud image, so that the user can visually see the current position of the robotic arm.

[0145] When the massage control instruction is a massage point movement instruction, the implementation method is as follows:

[0146] First, in response to the robot server receiving the massage point movement instruction sent by the user terminal, the robot server controls the robotic arm to move along the movement direction indicated by the massage point movement instruction.

[0147] Second, the robot server sends the point data corresponding to each current movement position during the movement of the robotic arm to the user terminal at a preset frequency.

[0148] Third, in response to the user terminal receiving the point data corresponding to each current movement position during the movement of the robotic arm, the user terminal displays the movement process of the robotic arm on the human point cloud image according to the point data corresponding to each current movement position.

[0149] The point data corresponding to each current movement position during the movement of the robotic arm is the process data of the robotic arm executing the massage action. During the movement of the robotic arm along the movement direction indicated by the massage point movement instruction, the robot server will send the point data corresponding to several movement positions during the movement to the user terminal at a preset frequency (for example: a frequency of returning execution data every 1 s). The user terminal renders these point data and displays the points corresponding to these point data on the human point cloud image, so that the user can visually see the movement process of the robotic arm.

[0150] When the massage control instruction is a massage point change instruction, the implementation method is as follows:

[0151] First, in response to the robot server receiving the massage point change instruction sent by the client, the robot server controls the robotic arm to move to a target position, and the target position is the position corresponding to the target point indicated by the massage point change instruction.

[0152] Second, the robot server sends the point data corresponding to each current moving position of the robotic arm moving to the target position to the client at a preset frequency.

[0153] Third, in response to the client receiving the point data corresponding to each current moving position of the robotic arm moving to the target position, the client displays the moving process of the robotic arm moving to the target position on the human point cloud image according to the point data corresponding to each current moving position.

[0154] The point data corresponding to each current moving position of the robotic arm moving to the target position is the process data of the robotic arm performing the massage action. During the process of the robot server controlling the robotic arm to move to the target position, the robot server will send the point data corresponding to several moving positions during the moving process to the client at a preset frequency (for example: a frequency of returning execution data every 1s). The client can render these point data and display the points corresponding to these point data on the human point cloud image, so that the user can visually see the moving process of the robotic arm moving to the target position.

[0155] In addition, this embodiment also provides an optional implementation method for distinguishing the points in the moving stage from the points in the moving completion stage, that is, using the ripple map rendering technology to render the points in the moving stage and the points in the moving completion stage in different colors, and distinguishing them from other points that do not participate in the execution action in the form of brightness changes. For example: using bright-changing gray points to represent the points in the moving stage, and using bright-changing blue points to represent the points in the moving completion stage.

[0156] After receiving the movement control instruction from the client, in addition to sending the execution data to the client, the robot server can also send execution information to the client, such as: sending completion information, exception information, etc. to the client. These execution information can be fed back to the user in the form of text or icons through the screen of the client.

[0157] The above first embodiment takes the robot server as the main body and details the control method of the massage robot provided by the present application. The control method of the massage robot provided by the present application includes but is not limited to the method described in the first embodiment of the present application.

[0158] The second embodiment of the present application provides a control method for a massage robot. This method is applied to the user side, and the user side includes devices such as mobile phones, computers, and tablets used by the user.

[0159] Figure 3 It is a flowchart of the control method for the massage robot provided in this embodiment.

[0160] As Figure 3 shown, the control method for the massage robot provided in this embodiment includes the following steps:

[0161] Step S301: Send a massage request to the robot server so that the robot server can obtain human body point cloud data according to the massage request.

[0162] The massage request includes massage plan selection information sent by the user through the user side to the robot server. The massage plan can include automatic massage and manual massage, and can also include back massage, shoulder massage, and waist massage. Then the massage request can correspondingly include an automatic massage request and a manual massage request, or can correspondingly include a back massage request, a shoulder massage request, and a waist massage request.

[0163] After the user side sends a massage request to the robot server, the robot server can obtain corresponding human body point cloud data according to different massage requests.

[0164] Step S302: Receive the human body point cloud data sent by the robot server, construct a human body point cloud image according to the human body point cloud data, and display the human body point cloud image on the screen.

[0165] When the user side receives the point cloud data, the user side can use point cloud rendering technology to construct a human body point cloud image. An optional method for constructing a human body point cloud image is: Render the received human body point cloud data into a human body point cloud graphic through WebGL, and present the human body point cloud image on the screen of the user side.

[0166] The human body point cloud image rendered by the user through WebGL can not only visually see the whole process of the robot's massage in real time, but also directly interact with the robot to control the robot's massage actions.

[0167] Step S303: Send a massage control instruction to the robot server so that the robot server can control the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0168] After the human body point cloud image is displayed on the screen of the user terminal, the user can visually see the current human body state of the user and the execution state of the robotic arm of the massage robot through the visually displayed human body point cloud image on the screen. Thus, the user can send massage control instructions to the robot server visually through the user terminal based on the human body point cloud image.

[0169] The massage control instruction is a massage control command generated by the user through the user terminal. Therefore, the massage control instruction is actually the massage demand information of the user. In response to the massage control instruction, the robot server can provide a massage experience that meets the user's expectations for the user.

[0170] After the massage control instruction is generated, the user terminal will immediately send the massage control instruction to the robot server. For different massage control instructions, the robot server will control the robotic arm to execute different massage actions.

[0171] In the first embodiment, the control of the robotic arm by the robot server to execute massage actions has been described in detail and will not be elaborated here.

[0172] The control method of the massage robot provided in this embodiment further includes: receiving the execution data of the massage action sent by the robot server, and displaying the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0173] After the robot server controls the robotic arm to execute the corresponding massage action according to the massage control instruction, the robot server can send the execution data of the massage action to the user terminal.

[0174] After receiving the execution data sent by the robot server, the user terminal can display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0175] In the first embodiment, the display of the execution process and / or execution result of the massage action on the human body point cloud image has been described in detail and will not be elaborated here.

[0176] Combining the first embodiment and the second embodiment, this embodiment further provides an optional implementation manner of the control method of the massage robot. Figure 4 It is the signaling flowchart of the control method of the massage robot provided in this embodiment.

[0177] As Figure 4 shown, the control method of the massage robot provided in this embodiment includes the following steps:

[0178] Step S401, the user terminal sends a massage request to the robot server;

[0179] Step S402, in response to the robot server receiving the massage request, the robot server obtains human body point cloud data according to the massage request;

[0180] Step S403, the robot server sends the human body point cloud data to the user terminal;

[0181] Step S404, in response to the user terminal receiving the human body point cloud data, the user terminal constructs and displays a human body point cloud image according to the human body point cloud data;

[0182] Step S405, based on the human body point cloud image, the user terminal sends a massage control instruction to the robot server;

[0183] Step S406, in response to the robot server receiving the massage control instruction, the robot server controls the robotic arm to perform corresponding massage actions according to the massage control instruction;

[0184] Step S407, the robot server sends the execution data of the massage action to the user terminal;

[0185] Step S408, in response to the user terminal receiving the execution data, the user terminal displays the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0186] In the above second embodiment, with the user terminal as the main body, the control method of the massage robot provided by the present application is described in detail. The control method of the massage robot provided by the present application includes but is not limited to the method described in the second embodiment of the present application.

[0187] The third embodiment of the present application provides a control method for a massage robot. In order to more comprehensively understand the control method of the massage robot provided by the present application, in this embodiment, the start control method, the massage point movement control method, the massage point change control method, the massage intensity adjustment control method, and the end control method of the massage robot are described in detail respectively.

[0188] Figure 5 is the signaling flowchart of the start control method of the massage robot provided in this embodiment.

[0189] As Figure 5 shown, the start control method of the massage robot provided in this embodiment includes the following steps:

[0190] Step S501, the user terminal sends a massage request to the robot server.

[0191] For example: By clicking on the "automatic massage" option or the "manual massage" option on the screen of the user terminal, the user sends a massage request to the robot server.

[0192] Step S502, in response to the robot server receiving the massage request, the robot server scans the human body according to the massage request and obtains human body point cloud data.

[0193] For example: In response to the robot server receiving a manual massage request, the robot server controls the robotic arm to move, and scans the shoulders, back, and waist of the human body through the camera installed on the robotic arm, and obtains human body point cloud data.

[0194] Step S503, the robot server sends the human body point cloud data to the user terminal, and it can be sent in pieces.

[0195] For example: The obtained 5M of human body point cloud data is sent in pieces according to 64K per piece until all 5M of human body point cloud data is sent.

[0196] Step S504, in response to the user terminal receiving the human body point cloud data, the user terminal renders the human body point cloud data and displays a human body point cloud image on the screen of the user terminal.

[0197] For example: In response to the user terminal receiving all data segments, the human body point cloud image is rendered through WebGL and the human body point cloud image is displayed on the screen of the user terminal. Through the human body point cloud image displayed on the screen of the user terminal, the user can not only visually see the whole process of robot massage in real time, but also directly interact with the robot to control the massage actions of the robot. Therefore, the human body point cloud image displayed on the screen of the user terminal is a necessary condition for realizing visual interaction between the user terminal and the robot server.

[0198] Step S505, the user terminal sends a massage start instruction to the robot server.

[0199] For example: By clicking on the "massage start" button on the screen of the user terminal, the user sends a massage start instruction to the robot server.

[0200] Step S506, in response to the robot server receiving the massage start instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal, and when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0201] The ACK signal is an executable signal. When the robot server determines that the massage start instruction can be executed, it sends an ACK signal to the user terminal. After receiving the ACK signal, the user terminal can display a text prompt message such as "The robot is preparing and will start the massage soon" on the screen to prompt the user about the current preparation status of the robot.

[0202] The NACK signal is a non-executable signal. When the robot server determines that the massage start instruction cannot be executed, it sends a NACK signal to the user terminal. After receiving the NACK signal, the user terminal can display a text prompt message such as "Failed to start the massage" on the screen to prompt the user about an abnormal start of the robot.

[0203] When situations such as the user suddenly leaving after starting the massage, the robotic arm not being in the reset state, or abnormal power supply occur, the robot server can determine that the start instruction cannot be executed.

[0204] Step S507, in response to the robot server determining that the massage start instruction can be executed, the robot server controls the robotic arm to move to a preset massage starting position.

[0205] For example: When the robot server determines that the massage start instruction can be executed, the robot server will control the robotic arm to move from the reset state to a preset massage starting position. The reset state can be a stationary state where the robotic arm is on the left side of the massage bed, and the preset massage starting position can be a position above the massage area.

[0206] Step S508, the robot server sends a COMPLETE signal and starting point data corresponding to the massage starting position to the user terminal.

[0207] The COMPLETE signal is a completion signal. When the robot server sends a COMPLETE signal to the user terminal, it means that the robot server has completed the startup of the massage robot and can start executing the massage action.

[0208] Step S509, in response to the user terminal receiving the COMPLETE signal and the starting point data, the user terminal renders the starting point on the human point cloud image.

[0209] For example: The rendered starting point can be displayed as bright blue dots on the human point cloud image to provide the user with a visual indication of the current massage point.

[0210] Figure 6 is the signaling flowchart of the massage point movement control method of the massage robot provided in this embodiment. The massage point movement control is carried out on the premise that the massage robot has completed startup, and the startup steps of the massage robot are not repeated in Figure 6 which will not be repeated here.

[0211] AsFigure 6 As shown in the figure, the method for controlling the movement of massage points of the massage robot provided in this embodiment includes the following steps:

[0212] Step S601, the user terminal sends a massage point movement instruction to the robot server.

[0213] For example: The user presses the "move up" button on the screen of the user terminal to send a move up instruction to the robot server.

[0214] Step S602, in response to the robot server receiving the massage point movement instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal; when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0215] Step S603, when the robot server determines that it can execute the massage point movement instruction, the robot server controls the robotic arm to move along the movement direction indicated by the massage point movement instruction.

[0216] For example: If the massage point movement instruction is a move up instruction, then the robot server will control the robotic arm to move up synchronously.

[0217] Step S604, the robot server sends an EXECUTING signal and the current movement point data corresponding to the current movement position to the user terminal at a preset frequency.

[0218] The EXECUTING signal is a signal indicating that it is being executed. When the robot server sends the EXECUTING signal to the user terminal, it means that the robot server is controlling the robotic arm to execute a movement action.

[0219] The EXECUTING signal and the current movement point data are sent to the user terminal continuously at a preset frequency. For example: If the preset frequency is to return the execution data every 1 s, then the robot server will send the EXECUTING signal and the current movement point data to the user terminal every 1 s.

[0220] Step S605, in response to the user terminal receiving the EXECUTING signal and the current movement point data, the user terminal renders the current movement point on the human body point cloud image.

[0221] After the user terminal receives the EXECUTING signal and the current movement point data each time, it will render the current movement point on the human body point cloud image once. In this way, a visual point movement process can be provided to the user. In order to distinguish it from the target massage point, the rendered current movement point can be displayed on the human body point cloud image in the form of brightening and changing gray points.

[0222] Step S606, the client sends a stop movement instruction to the robot server.

[0223] For example: The user releases the pressed "move up" button and sends a stop movement instruction to the robot server.

[0224] Step S607, in response to the robot server receiving the stop movement instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the client; when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the client.

[0225] Step S608, when the robot server determines that it can execute the stop movement instruction, the robot server controls the robotic arm to stop moving.

[0226] Step S609, the robot server sends a COMPLETE signal and the current massage point data corresponding to the current massage position to the client.

[0227] The current massage position is the position where the robotic arm stops and is also the position where the user expects massage.

[0228] Step S610, in response to the client receiving the COMPLETE signal and the current massage point data, the client renders the current massage point on the human body point cloud image.

[0229] The rendered current massage point can be displayed as a bright blue dot that changes on the human body point cloud image to distinguish it from the current moving point during movement.

[0230] Figure 7 It is the signaling flow chart of the massage point change control method of the massage robot provided in this embodiment. The massage point change control is carried out on the premise that the massage robot has been started, and the start steps of the massage robot are not repeated herein. Figure 7 No longer repeat the start steps of the massage robot.

[0231] As Figure 7 shown, the massage point change control method of the massage robot provided in this embodiment includes the following steps:

[0232] Step S701, the client sends a massage point change instruction to the robot server.

[0233] For example: The user clicks on the target point on the human body point cloud image displayed on the client screen and sends a massage point change instruction to the robot server.

[0234] After the user clicks on the target point on the human body point cloud image displayed on the user terminal screen, the user terminal will perform coordinate system conversion, converting the world coordinates of the target point in the world coordinate system into local coordinates in the local coordinate system, that is, converting from global coordinates to human body local coordinates. The specific conversion process has been described in the first embodiment and will not be elaborated here.

[0235] After the user terminal completes the coordinate system conversion of the target point, the massage point change instruction sent to the robot server actually includes a movement instruction and the target point coordinates.

[0236] Step S702, in response to the robot server receiving the massage point transformation instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal. When the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0237] Step S703, when the robot server determines that it can execute the massage point change instruction, the robot server controls the robotic arm to move to the target position corresponding to the target point.

[0238] Step S704, the robot server sends an EXECUTING signal and the current movement point data corresponding to the current movement position to the user terminal at a preset frequency.

[0239] The EXECUTING signal is a signal indicating that it is being executed. When the robot server sends the EXECUTING signal to the user terminal, it means that the robot server is controlling the robotic arm to move to the target position.

[0240] The EXECUTING signal and the current movement point data are sent to the user terminal continuously at a preset frequency. For example: if the preset frequency is to return the execution data once every 1 s, then the robot server will send the EXECUTING signal and the current movement point data to the user terminal every 1 s.

[0241] Step S705, in response to the user terminal receiving the EXECUTING signal and the current movement point data, the user terminal renders the current movement point on the human body point cloud image.

[0242] After the user terminal receives the EXECUTING signal and the current movement point data each time, it will render the current movement point on the human body point cloud image once. In this way, a visual point movement process can be provided to the user. To distinguish it from the target point, the rendered current movement point can be displayed as a gray point with a bright change on the human body point cloud image.

[0243] Step S706: In response to the robotic arm moving to the target position, the robot server sends a COMPLETE signal and the current massage point data corresponding to the current massage position to the user terminal.

[0244] The current massage position is the target position and also the position where the user expects to receive a massage.

[0245] Step S707: In response to the user terminal receiving the COMPLETE signal and the current massage point data, the user terminal renders the current massage points on the human point cloud image.

[0246] The rendered current massage points can be displayed as bright blue points that change in color on the human point cloud image, differentiating them from the current moving points during movement.

[0247] Figure 8 is the signaling flowchart of the massage intensity adjustment control method of the massage robot provided in this embodiment. The massage intensity adjustment control is carried out on the premise that the massage robot has completed startup, and the startup steps of the massage robot are not repeated here. Figure 8 in

[0248] As Figure 8 shown, the massage intensity adjustment control method of the massage robot provided in this embodiment includes the following steps:

[0249] Step S801: The user terminal sends a massage intensity adjustment instruction to the robot server.

[0250] For example: The user adjusts the intensity display identifier on the user terminal screen, gradually increases the massage intensity, and sends a massage intensity increase instruction to the robot server.

[0251] Step S802: In response to the robot server receiving the massage intensity adjustment instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal; when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0252] Step S803: When the robot server determines that it can execute the massage intensity adjustment instruction, the robot server controls the robotic arm to gradually increase or decrease the end force.

[0253] For example: The robot server controls the end force of the robotic arm to gradually increase from 30% until the massage intensity felt by the user is appropriate.

[0254] Step S804: The user terminal sends a stop adjustment instruction to the robot server.

[0255] For example: When the user stops the adjustment operation on the force display identifier and sends a stop adjustment instruction to the robot server. At this time, the force displayed on the force display identifier is the appropriate massage force felt by the user.

[0256] Step S805: In response to the robot server receiving the stop adjustment instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal; when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0257] Step S806: When the robot server determines that it can execute the stop adjustment instruction, the robot server controls the robotic arm to stop adjusting the end force.

[0258] Step S807: The robot server sends a COMPLETE signal to the user terminal.

[0259] The robot server sending a COMPLETE signal to the user terminal indicates that the robot server has completed the massage force adjustment, and the following massage will be executed according to the adjusted target force.

[0260] Figure 9 is the signaling flowchart of the end control method of the massage robot provided in this embodiment. The end control is carried out on the premise that the massage robot has been started, and the start steps of the massage robot are not repeated herein. Figure 9 in

[0261] such as Figure 9 shown, the end control method of the massage robot provided in this embodiment includes the following steps:

[0262] Step S901: The user terminal sends a massage end instruction to the robot server.

[0263] For example: The user sends a massage end instruction to the robot server by clicking the "Massage End" button on the screen of the user terminal.

[0264] Step S902: In response to the robot server receiving the massage end instruction, when the robot server determines that it can execute the instruction, it sends an ACK signal to the user terminal; when the robot server determines that it cannot execute the instruction, it sends a NACK signal to the user terminal.

[0265] Step S903: In response to the robot server determining that it can execute the massage end instruction, the robot server controls the robotic arm to stop the massage action and move back to the reset position.

[0266] For example: When the robot server determines that it can execute the massage end instruction, the robot server will control the robotic arm to leave the user's massage area and move to the left position of the massage bed.

[0267] Step S904, the robot server sends a COMPLETE signal to the user terminal.

[0268] The robot server sending a COMPLETE signal to the user terminal indicates that the robot server has ended the current robot massage service.

[0269] Step S905, in response to the user terminal receiving the COMPLETE signal, an end page is displayed on the screen of the user terminal.

[0270] The end page may include service information of the current robot massage service, such as: massage duration, massage intensity, massage trajectory, etc., and may also include information to be evaluated for the current robot massage service, such as: comfort level to be evaluated by the user, rating to be evaluated by the user, etc.

[0271] The above third embodiment has described in detail the control method of the massage robot provided in the present application with several different control contents. Of course, the control method of the massage robot provided in the present application is also applicable to other control contents, which will not be elaborated one by one here.

[0272] The fourth embodiment of the present application provides a control system for a massage robot. Figure 10 It is a schematic structural diagram of the control system for the massage robot provided in this embodiment.

[0273] As Figure 10 shown, the control system for the massage robot provided in this embodiment includes: a user terminal 1001 and a robot server 1002;

[0274] The user terminal 1001 is configured to send a massage request to the robot server 1002; receive the human body point cloud data sent by the robot server 1002, construct a human body point cloud image according to the human body point cloud data, and display the human body point cloud image on the screen; send a massage control instruction to the robot server 1002;

[0275] The robot server 1002 is configured to receive the massage request sent by the user terminal 1001, and obtain human body point cloud data according to the massage request; send the human body point cloud data to the user terminal 1001; receive the massage control instruction sent by the user terminal 1001, and control the robotic arm to execute corresponding massage actions according to the massage control instruction.

[0276] The user terminal 1001 and the robot server 1002 establish a communication architecture through WebSocket to achieve a persistent connection between the user terminal 1001 and the robot server 1002, and two-way communication between the user terminal 1001 and the robot server 1002.

[0277] The fifth embodiment of the present application provides a control device for a massage robot, which is applied to a robot server. Figure 11 It is a schematic structural diagram of the control device for the massage robot provided in this embodiment.

[0278] As Figure 11 shown, the control device for the massage robot provided in this embodiment includes: a first receiving unit 1101, a data acquisition unit 1102, a sending unit 1103, a second receiving unit 1104, and a control unit 1105;

[0279] The first receiving unit 1101 is configured to receive a massage request sent by a user terminal;

[0280] The data acquisition unit 1102 is configured to acquire human body point cloud data according to the massage request;

[0281] The sending unit 1103 is configured to send the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image according to the point cloud data;

[0282] The second receiving unit 1104 is configured to receive a massage control instruction sent by the user terminal;

[0283] The control unit 1105 is configured to control the robotic arm to execute corresponding massage actions according to the massage control instruction.

[0284] Optionally, the massage control instruction includes: a massage start instruction; the controlling the robotic arm to execute corresponding massage actions according to the massage control instruction includes:

[0285] Controlling the robotic arm to move to a preset massage start position according to the massage start instruction.

[0286] Optionally, the method further includes:

[0287] Sending the point position data corresponding to the massage start position to the user terminal for the user terminal to display the massage start point position on the human body point cloud image according to the point position data corresponding to the massage start position.

[0288] Optionally, the massage control instruction further includes: a massage point position moving instruction; the controlling the robotic arm to execute corresponding massage actions according to the massage control instruction includes:

[0289] Controlling the robotic arm to move along the moving direction indicated by the massage point position moving instruction according to the massage point position moving instruction.

[0290] Optionally, the method further includes:

[0291] Send the point data corresponding to each current movement position during the movement of the robotic arm to the client according to a preset frequency, so that the client can display the movement process of the robotic arm on the human point cloud image based on the point data corresponding to each current movement position.

[0292] Optionally, the massage control instruction further includes: a massage point change instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0293] According to the massage point change instruction, control the robotic arm to move to the target position, where the target position is the position corresponding to the target point indicated by the massage point change instruction.

[0294] Optionally, the method further includes:

[0295] Send the point data corresponding to each current movement position during the process of moving the robotic arm to the target position to the client according to a preset frequency, so that the client can display the movement process of the robotic arm moving to the target position on the human point cloud image based on the point data corresponding to each current movement position.

[0296] Optionally, the massage control instruction further includes: a massage force adjustment instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0297] According to the massage force adjustment instruction, adjust the force at the end of the robotic arm to the target force, where the target force is the force indicated by the massage force adjustment instruction.

[0298] Optionally, the massage control instruction further includes: a massage end instruction; controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes:

[0299] According to the massage end instruction, control the robotic arm to stop the massage action and move back to the initial position.

[0300] Optionally, the method further includes:

[0301] Send the execution data of the massage action to the client, so that the client can display the execution process and / or execution result of the massage action on the human point cloud image based on the execution data.

[0302] The sixth embodiment of the present application provides a control device for a massage robot, which is applied to a client. Figure 12 It is a schematic structural diagram of the control device for the massage robot provided in this embodiment.

[0303] AsFigure 12 As shown in the figure, the control device of the massage robot provided in this embodiment includes: a first sending unit 1201, a receiving unit 1202, a constructing unit 1203, a display unit 1204, and a second sending unit 1205;

[0304] The first sending unit 1201 is configured to send a massage request to the robot server, so that the robot server can obtain human body point cloud data according to the massage request;

[0305] The receiving unit 1202 is configured to receive the human body point cloud data sent by the robot server;

[0306] The constructing unit 1203 is configured to construct a human body point cloud image according to the human body point cloud data;

[0307] The display unit 1204 is configured to display the human body point cloud image on the screen;

[0308] The second sending unit 1205 is configured to send a massage control instruction to the robot server, so that the robot server can control the robotic arm to perform corresponding massage actions according to the massage control instruction.

[0309] Optionally, the method further includes:

[0310] Receiving the execution data of the massage action sent by the robot server, and displaying the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0311] The seventh embodiment of the present application provides a massage robot, Figure 13 which is a schematic structural diagram of the massage robot provided in this embodiment.

[0312] As Figure 13 shown, the massage robot provided in this embodiment includes at least: a memory 1301, a processor 1302, and a robotic arm 1303;

[0313] The memory 1301 is configured to store computer instructions for executing the control method of the massage robot;

[0314] The processor 1302 is configured to execute the computer instructions stored in the memory 1301 to perform the following operations:

[0315] Receiving a massage request sent by the user terminal, and obtaining human body point cloud data according to the massage request;

[0316] Sending the human body point cloud data to the user terminal, so that the user terminal can construct a human body point cloud image according to the point cloud data;

[0317] Receive the massage control instruction sent by the client, and control the robotic arm to perform the corresponding massage action according to the massage control instruction.

[0318] Optionally, the method further includes:

[0319] Send the execution data of the massage action to the client for the client to display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0320] Optionally, the massage control instruction includes: a massage start instruction; and the controlling the robotic arm to perform the corresponding massage action according to the massage control instruction includes:

[0321] Control the robotic arm to move to a preset massage starting position according to the massage start instruction.

[0322] Optionally, the method further includes:

[0323] Send the point data corresponding to the massage starting position to the client for the client to display the massage starting point on the human body point cloud image according to the point data corresponding to the massage starting position.

[0324] Optionally, the massage control instruction further includes: a massage point movement instruction; and the controlling the robotic arm to perform the corresponding massage action according to the massage control instruction includes:

[0325] Control the robotic arm to move along the moving direction indicated by the massage point movement instruction according to the massage point movement instruction.

[0326] Optionally, the method further includes:

[0327] Send the point data corresponding to each current moving position during the movement of the robotic arm to the client at a preset frequency for the client to display the movement process of the robotic arm on the human body point cloud image according to the point data corresponding to each current moving position.

[0328] Optionally, the massage control instruction further includes: a massage point change instruction; and the controlling the robotic arm to perform the corresponding massage action according to the massage control instruction includes:

[0329] Control the robotic arm to move to a target position according to the massage point change instruction, where the target position is the position corresponding to the target point indicated by the massage point change instruction.

[0330] Optionally, the method further includes:

[0331] During the process of moving the robotic arm to the target position at a preset frequency, the point data corresponding to each current moving position is sent to the client, so that the client can display the moving process of the robotic arm moving to the target position on the human point cloud image according to the point data corresponding to each current moving position.

[0332] Optionally, the massage control instruction further includes: a massage intensity adjustment instruction; controlling the robotic arm to execute a corresponding massage action according to the massage control instruction includes:

[0333] According to the massage intensity adjustment instruction, adjust the end intensity of the robotic arm to the target intensity, where the target intensity is the intensity indicated by the massage intensity adjustment instruction.

[0334] Optionally, the massage control instruction further includes: a massage end instruction; controlling the robotic arm to execute a corresponding massage action according to the massage control instruction includes:

[0335] According to the massage end instruction, control the robotic arm to stop the massage action and move back to the reset position.

[0336] The robotic arm 1303 is used to execute massage actions.

[0337] The eighth embodiment of the present application provides an electronic device. Figure 14 It is a schematic structural diagram of the electronic device provided in this embodiment.

[0338] As Figure 14 shown, the electronic device provided in this embodiment includes: a memory 1401, a processor 1402, and a display 1403;

[0339] The memory 1401 is used to store computer instructions for executing the control method of the massage robot.

[0340] The processor 1402 is used to execute the computer instructions stored in the memory 1401 to perform the following operations:

[0341] Send a massage request to the robot server, so that the robot server can obtain human point cloud data according to the massage request;

[0342] Receive the human point cloud data sent by the robot server, construct a human point cloud image according to the human point cloud data, and display the human point cloud image on the screen;

[0343] Send a massage control instruction to the robot server, so that the robot server can control the robotic arm to execute a corresponding massage action according to the massage control instruction.

[0344] Optionally, the method further includes:

[0345] Receiving the execution data of the massage action sent by the robot server, and displaying the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

[0346] The display 1403 is configured to display a human body point cloud image.

[0347] A ninth embodiment of the present application provides a computer-readable storage medium, which includes computer instructions that are used to implement the methods described in the embodiments of the present application when executed by a processor.

[0348] It should be noted that the relational terms such as "first" and "second" in this article are only used to distinguish one entity or operation from another entity or operation, and do not require or imply any actual relationship or order between these entities or operations. In addition, words such as "including", "having", "containing" and "including" have the same meaning, and, at the end of any one or more items after any of the above words, it is open-ended, and none of the above nouns indicates that the one or more items have been enumerated exhaustively, or are limited to these enumerated one or more items.

[0349] When used in this article, unless otherwise clearly stated, the term "or" includes all possible combinations, except those that are not feasible. For example, if it is expressed that a database may include A or B, then unless otherwise specifically specified or not feasible, it may include database A, or B, or A and B. As a second example, if it is expressed that a certain database may include A, B or C, then unless otherwise specifically specified or not feasible, the database may include database A, or B, or C, or A and B, or A and C, or B and C, or A and B and C.

[0350] It is worth noting that the above embodiments can be implemented by hardware or software (program code), or a combination of hardware and software. If implemented by software, it can be stored in the above computer-readable medium. When the software is executed by a processor, it can execute the methods disclosed above. The computing units and other functional units described in the present disclosure can be implemented by hardware or software, or a combination of hardware and software. Those of ordinary skill in the art will also understand that the above-mentioned multiple modules / units can be combined into one module / unit, and each of the above modules / units can be further divided into multiple sub-modules / sub-units.

[0351] In the foregoing detailed description, embodiments have been described with reference to numerous specific details that may vary from implementation to implementation. Certain adaptations and modifications may be made to the described embodiments. For those skilled in the art, some other embodiments may be readily obtained from the specific implementations disclosed in this application. This specification and examples are for illustrative purposes only, and the true scope and nature of the present application are set forth by the claims. The order of steps shown in the drawings is also for illustrative purposes only and does not imply limitation to any particular steps or order. Thus, those skilled in the art will recognize that these steps may be performed in a different order when implementing the same method.

[0352] In the drawings and detailed description of this application, exemplary embodiments are disclosed. However, many variations and modifications can be made to these embodiments. Accordingly, although specific terms are used, these terms are merely general and descriptive and not for purposes of limitation.

Claims

1. A control method for a massage robot, characterized in that The method is applied to a robot server, and the method includes: Receiving a massage request sent by a user terminal, and acquiring human body point cloud data according to the massage request; Sending the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image according to the point cloud data; Receiving a massage control instruction sent by the user terminal, and controlling a robotic arm to perform a corresponding massage action according to the massage control instruction; Wherein, the robot server includes a massage robot that provides massage services for users, and the user terminal at least includes a mobile phone, a computer, and a tablet computer used by the user; a communication architecture is established between the user terminal and the robot server; The massage control instruction includes: a massage point movement instruction, and the massage point movement instruction is an instruction generated when the user manipulates a movement control on the screen of the user terminal; The controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes: Controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction according to the massage point movement instruction, and the movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control.

2. The method according to claim 1, characterized in that, The method further includes: Sending the execution data of the massage action to the user terminal for the user terminal to display the execution process and / or execution result of the massage action on the human body point cloud image according to the execution data.

3. The method according to claim 1, characterized in that, The massage control instruction further includes: a massage start instruction; the controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes: Controlling the robotic arm to move to a preset massage starting position according to the massage start instruction.

4. The method according to claim 3, wherein The method further includes: Sending the point data corresponding to the massage starting position to the user terminal for the user terminal to display the massage starting point on the human body point cloud image according to the point data corresponding to the massage starting position.

5. The method according to claim 1, wherein The method further includes: Sending the point data corresponding to each current movement position during the movement of the robotic arm to the user terminal at a preset frequency for the user terminal to display the movement process of the robotic arm on the human body point cloud image according to the point data corresponding to each current movement position.

6. The method according to claim 1, characterized in that, The massage control instruction further includes: a massage point change instruction; the controlling the robotic arm to perform a corresponding massage action according to the massage control instruction includes: Controlling the robotic arm to move to a target position according to the massage point change instruction, and the target position is the position corresponding to the target point indicated by the massage point change instruction.

7. The method according to claim 6, wherein The method further includes: Sending the point data corresponding to each current movement position during the process of the robotic arm moving to the target position to the user terminal at a preset frequency for the user terminal to display the movement process of the robotic arm moving to the target position on the human body point cloud image according to the point data corresponding to each current movement position.

8. The method according to claim 1, wherein The massage control instruction further includes: a massage intensity adjustment instruction; and controlling the robotic arm to perform corresponding massage actions according to the massage control instruction includes: Adjusting the intensity at the end of the robotic arm to a target intensity according to the massage intensity adjustment instruction, where the target intensity is the intensity indicated by the massage intensity adjustment instruction.

9. The method according to claim 1, characterized in that, The massage control instruction further includes: a massage end instruction; and controlling the robotic arm to perform corresponding massage actions according to the massage control instruction includes: Controlling the robotic arm to stop the massage action and move back to the initial position according to the massage end instruction.

10. A control method for a massage robot, characterized in that, The method is applied to a user terminal, and the method includes: Sending a massage request to the robot server for the robot server to obtain human point cloud data according to the massage request; Receiving the human point cloud data sent by the robot server, constructing a human point cloud image according to the human point cloud data, and displaying the human point cloud image on the screen; Sending a massage control instruction to the robot server for the robot server to control the robotic arm to perform corresponding massage actions according to the massage control instruction; Wherein, the robot server includes a massage robot that provides massage services for users, and the user terminal at least includes a mobile phone, a computer, and a tablet computer used by the user; a communication architecture is established between the user terminal and the robot server; The massage control instruction includes: a massage point movement instruction, which is an instruction generated when the user manipulates a movement control on the screen of the user terminal; Controlling the robotic arm to perform corresponding massage actions according to the massage control instruction includes: Controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction according to the massage point movement instruction, where the movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control.

11. The method according to claim 10, wherein The method further includes: Receiving the execution data of the massage action sent by the robot server, and displaying the execution process and / or execution result of the massage action on the human point cloud image according to the execution data.

12. A control system of a massage robot, characterized in that, The system includes: a user terminal and a robot server; The user terminal is configured to send a massage request to the robot server; receive the human point cloud data sent by the robot server, construct a human point cloud image according to the human point cloud data, and display the human point cloud image on the screen; send a massage control instruction to the robot server; The robot server is configured to receive the massage request sent by the user terminal, obtain human point cloud data according to the massage request; send the human point cloud data to the user terminal; receive the massage control instruction sent by the user terminal, and control the robotic arm to perform corresponding massage actions according to the massage control instruction: Wherein, the robot server includes a massage robot that provides massage services for users, and the user terminal at least includes a mobile phone, a computer, and a tablet computer used by the user; a communication architecture is established between the user terminal and the robot server; The massage control instruction includes: a massage point movement instruction, which is an instruction generated when the user manipulates a movement control on the user terminal screen; Controlling the robotic arm to execute corresponding massage actions according to the massage control instruction includes: According to the massage point movement instruction, controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction, and the movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control.

13. A control device for a massage robot, characterized in that, The device is applied to a robot server, and the device includes: a first receiving unit, a data acquisition unit, a sending unit, a second receiving unit, and a control unit; The first receiving unit is configured to receive a massage request sent by the user terminal; The data acquisition unit is configured to acquire human body point cloud data according to the massage request; The sending unit is configured to send the human body point cloud data to the user terminal for the user terminal to construct a human body point cloud image according to the point cloud data; The second receiving unit is configured to receive the massage control instruction sent by the user terminal; The control unit is configured to control the robotic arm to execute corresponding massage actions according to the massage control instruction; Wherein, the robot server includes a massage robot that provides massage services for the user, and the user terminal at least includes a mobile phone, a computer, and a tablet computer used by the user; a communication architecture is established between the user terminal and the robot server; The massage control instruction includes: a massage point movement instruction, which is an instruction generated when the user manipulates a movement control on the user terminal screen; Controlling the robotic arm to execute corresponding massage actions according to the massage control instruction includes: According to the massage point movement instruction, controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction, and the movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control.

14. A control device for a massage robot, characterized in that, The device is applied to the user terminal, and the device includes: a first sending unit, a receiving unit, a construction unit, a display unit, and a second sending unit; The first sending unit is configured to send a massage request to the robot server for the robot server to acquire human body point cloud data according to the massage request; The receiving unit is configured to receive the human body point cloud data sent by the robot server; The construction unit is configured to construct a human body point cloud image according to the human body point cloud data; The display unit is configured to display the human body point cloud image on the screen; The second sending unit is configured to send a massage control instruction to the robot server for the robot server to control the robotic arm to execute corresponding massage actions according to the massage control instruction; Wherein, the robot server includes a massage robot that provides massage services for the user, and the user terminal at least includes a mobile phone, a computer, and a tablet computer used by the user; a communication architecture is established between the user terminal and the robot server; The massage control instruction includes: a massage point movement instruction, which is an instruction generated by the user manipulating a movement control on the user terminal screen; Controlling the robotic arm to perform corresponding massage actions according to the massage control instruction includes: According to the massage point movement instruction, controlling the robotic arm to move along the movement direction indicated by the massage point movement instruction, and the movement direction indicated by the massage point movement instruction is the direction in which the user manipulates the movement control.

15. A massage robot, characterized in that, It at least includes: a memory, a processor, and a robotic arm; The memory is used to store one or more computer instructions; The processor is used to execute the one or more computer instructions to implement the method described in any one of claims 1-9; The robotic arm is used to perform massage actions.

16. An electronic device, characterized in that, It at least includes: A memory, a processor, and a display; The memory is used to store one or more computer instructions; The processor is used to execute the one or more computer instructions to implement the method described in any one of claims 10-11; The display is used to display a human body point cloud image.

17. A computer-readable storage medium having one or more computer instructions stored thereon, characterized in that, When the instruction is executed by the processor, it executes the method described in any one of claims 1-9 or claims 10-11.

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