Intelligent ear massage device, control method and terminal

Abstract

The invention provides an intelligent ear massage device, a control method and a terminal.The method comprises the steps that user massage demand information is input through a user demand input module, and one or more target massage positions are determined through a control module according to the user massage demand information; then, a binocular vision module is used for collecting an ear image of a user and determining three-dimensional coordinates of all target massage positions, and a control module is used for controlling a corresponding number of massage probes to move along a sliding rail and align at all the target massage positions according to the three-dimensional coordinates of all the target massage positions and the positions of the corresponding massage probes on a probe platform; and finally massaging according to the massage demand information of the user. Massage can be carried out according to different requirements of different users, and personalized massage with rich functions and high flexibility is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an intelligent ear massage device, a control method and a terminal. Background Art

[0002] As a traditional relaxation and health care method, ear massage is favored by people because of its multiple functions such as relieving stress, improving sleep, and promoting blood circulation. However, many ear massage devices on the market currently have certain limitations in design. They often only provide one or a few preset massage modes, lacking flexibility and diversity. This single design means that these devices are difficult to adapt to the massage preferences and changing massage needs of different users. For example, some users may need a gentler massage to relieve tension, while others may prefer a more forceful massage to relax deep muscles, and fixed-function massage devices cannot provide customized solutions for these different needs. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide an intelligent ear massage device, a control method and a terminal, which are used to solve the problems that the existing ear massage devices are difficult to adapt to the massage preferences and changing massage needs of different users, and have fixed and inflexible functions.

[0004] To achieve the above-mentioned purpose and other related purposes, the present application provides an intelligent ear acupoint positioning and massage device, comprising the following contents: a user demand input module, used to input user massage demand information; a binocular vision module, used to collect the image of the user's ear to be massaged; a massage probe platform, including: multiple massage probes and a slide rail carrying each massage probe, used to massage one or more target massage positions of the user's ear to be massaged; the massage control module is connected to the user demand input module, the binocular vision module and the massage probe platform, and is used to control one or more massage probes of the massage probe platform to move and align with the target massage positions of the user's ear to be massaged according to the user's massage demand information and the user's ear to be massaged, so as to perform massage.

[0005] In some embodiments of the first aspect of the present application, the step of controlling one or more massage probes of the massage probe platform to move and align with one or more target massage positions on the user's ear to be massaged according to the user's massage demand information and the image of the user's ear to be massaged, so as to perform massage, comprises: determining massage parameters and one or more target massage positions to be massaged according to the user's massage demand information; wherein the massage parameters include massage type, massage time, and massage intensity; and each massage type corresponds to a combination of target massage positions to be massaged; determining the coordinates of each target massage position to be massaged according to the image of the user's ear to be massaged; and controlling one or more massage probes of the massage probe platform to move and align with each target massage position on the user's ear to be massaged according to the massage parameters and the determined coordinates of each target massage position, so as to perform massage.

[0006] In some embodiments of the first aspect of the present application, controlling one or more massage probes of the massage probe platform to move and align with target massage positions of the user's ears to be massaged, so as to perform massage, comprises: determining a corresponding number of massage probes as target massage probes according to the user's massage demand information, and controlling each target massage probe to move along the slide rail; detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each moved massage probe and the coordinates of each target massage position, and controlling the corresponding massage probe to change its direction to align it with the target massage position according to the detection result; and controlling the corresponding target massage probe to massage each target massage position according to the massage parameters according to the user's massage demand information.

[0007] In some embodiments of the first aspect of the present application, the detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each moving massage probe and the coordinates of each target massage position, and controlling the corresponding massage probe to change its direction to align it with the target massage position according to the detection result includes: obtaining the current user's ear image to be massaged collected in real time by the binocular vision module to determine the current position of the target massage probe; according to the target massage position and the current position of the target massage probe, using a CNN-based binocular vision algorithm to detect whether each target massage probe is aligned with the corresponding target massage position; if it is detected that a target massage probe is not aligned with the corresponding target massage position, controlling the target massage probe to change its direction so that its probe is aligned with the target massage position; if the target massage probe is already aligned with the target massage position, directly controlling the target massage probe to perform massage according to the user's massage demand information.

[0008] In some embodiments of the first aspect of the present application, the massage probe is configured to be retractable, so that the massage probe can be retracted into the massage probe platform or protrude outside the massage probe platform; the probe head of the massage probe can change direction.

[0009] In some embodiments of the first aspect of the present application, the control module performs three-dimensional reconstruction of the image of the user's ear to be massaged collected by the binocular vision module through a CNN-based binocular vision algorithm, and determines the three-dimensional coordinates of each target massage position of the user.

[0010] In some embodiments of the first aspect of the present application, the user demand input module includes a power button and a touch display screen, and the touch display screen is used to input and display the user massage demand information.

[0011] In some embodiments of the first aspect of the present application, the massage device is a head-mounted massage device or an ear-hook massage device.

[0012] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides an intelligent ear massage control method, which is applied to an intelligent ear massage device, wherein the device includes a user demand input module, a binocular vision module, a massage probe platform provided with multiple massage probes and slide rails for carrying each massage probe, and the method includes: obtaining user massage demand information input by the user demand input module; obtaining an image of the user's ear to be massaged collected by the binocular vision module; and according to the user massage demand information and the image of the user's ear to be massaged, controlling one or more massage probes of the massage probe platform to move and align with one or more target massage positions of the user's ear to be massaged, thereby performing massage.

[0013] The invention provides a terminal, comprising the intelligent ear massage device.

[0014] As described above, the intelligent ear massage device, control method and terminal of the present application have the following beneficial effects:

[0015] The user's massage demand information is determined through the user demand input module, and the target massage position is determined according to the user's massage demand information. Then, the user's ear image is collected through the binocular vision module and the three-dimensional coordinates of the target massage position are determined. The massage probe on the massage probe platform is controlled by the control module to move along the slide rail and align with the target massage position, so that the massage device can perform massage according to the different needs of different users, thereby realizing personalized massage with rich functions and high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of the framework of an intelligent ear massage device in one embodiment of the present application.

[0017] Figure 2 Shown is a structural diagram of a user demand input module in one embodiment of the present application.

[0018] Figure 3Shown is a schematic diagram of the structure of a massage probe platform in one embodiment of the present application.

[0019] Figure 4 Shown is a schematic diagram of human ear acupuncture points in one embodiment of the present application.

[0020] Figure 5 Shown is a schematic diagram of standard human ear partitions in one embodiment of the present application.

[0021] Figure 6 Shown is a schematic diagram of the process of a user using an intelligent ear massage device to perform ear acupoint massage in one embodiment of the present application.

[0022] Figure 7 Shown is a structural diagram of a head-mounted intelligent ear massage device in one embodiment of the present application.

[0023] Figure 8 Shown is a flow chart of an intelligent ear massage control method in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0025] It should be noted that in the following description, with reference to the accompanying drawings, several embodiments of the present application are described in the accompanying drawings. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0026] In this application, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "comprising" and "including" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. It should be further understood that the terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition occur only when a combination of elements, functions, or operations are inherently mutually exclusive in some manner.

[0028] The present application provides an intelligent ear massage device, a control method and a terminal, which determine user massage demand information through a user demand input module, determine a target massage position according to the user massage demand information, then collect the user's ear image through a binocular vision module and determine the three-dimensional coordinates of the target massage position, and control the massage probe on the massage probe platform through a control module to move along a slide rail and align with the target massage position, so that the massage device can perform massage according to the different needs of different users, thereby realizing personalized massage with rich functions and high flexibility.

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the technical solution in the embodiments of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0030] like Figure 1As shown, it is a framework diagram of an intelligent ear massage device in an embodiment of the present invention, the device includes a user demand input module 100, a binocular recognition module 200, a massage probe platform 300 and a control module 400; the massage control module 400 is connected to the user demand input module 100, the binocular vision module 200 and the massage probe platform 300; wherein:

[0031] The user demand input module 100 is used to input user massage demand information. The massage parameters include massage type, massage time, and massage intensity. The massage type is a massage type preset in the system, such as tragus massage, earlobe massage, full ear massage, etc., to meet the needs of different users and different situations, and each massage type corresponds to a target massage position combination that needs to be massaged, which can be composed of one or more target massage positions. Massage users can select corresponding massage parameters according to their needs, thereby determining user massage demand information.

[0032] The binocular vision module 200 is used to collect the image of the user's ear to be massaged. The binocular vision module 200 is provided with a binocular camera to simulate human binocular vision and collect the image of the user's ear to be massaged in real time. The image of the user's ear to be massaged includes the image of the user's complete ear, for example, specifically including the helix, triangular fossa, antihelix, ear periarthritis, concha, tragus, antitragus, and earlobe structure.

[0033] The massage probe platform 300 includes: a plurality of massage probes and a slide rail carrying each massage probe, and is used to massage one or more target massage positions of the user's ear to be massaged. The massage probe platform 300 is located inside the intelligent ear massage device, so that its massage probe can massage the ear, and the size of the massage probe platform 300 is not limited, and the standard for the user to choose is to cover the human ear.

[0034] The massage control module 400 is used to control one or more massage probes of the massage probe platform to move and align with various target massage positions of the user's ear to be massaged according to the user's massage demand information and the image of the user's ear to be massaged, so as to perform massage.

[0035] In one embodiment, if Figure 2 As shown, the user demand input module 100 is located on the outside of the intelligent ear massage device, and includes a power button 11 and a touch screen 12. The power button 11 is used to start and stop the massage device, and the touch screen 12 is used to input and display the user's massage demand information. The touch screen 12 can display the user's massage parameters.

[0036] In one embodiment, the binocular vision module 200 may also be disposed on the massage probe platform 300; Figure 3As shown, the massage probe platform 300 includes a lighting device 31, a binocular camera 34, a plurality of massage probes 32 and a slide rail 33 carrying each massage probe, and is used to massage one or more target massage positions of the user's ear to be massaged.

[0037] Among them, the binocular camera 34 is arranged on the edge of the massage probe platform 300 so as to collect a complete image of the user's ear to be massaged; the slide rail 33 is fixed on the probe platform, forming a multi-wheel ring structure, so that the massage probe can be moved along the slide rail to any massage position; the massage probe 32 includes a probe body and a probe, and the base of the probe is fixed on the slide rail 33. The massage probe 32 can move along the slide rail 33, and the massage probe 32 is configured to be retractable, so that the massage probe 32 can be retracted to the inside of the massage probe platform 300 or protrude to the outside of the massage probe platform 300, thereby providing massages of different intensities, rhythms and modes to meet the personalized needs of users; the probe of the massage probe can change its direction for massage to achieve more flexible and precise massage.

[0038] In one embodiment of the present application, according to the massage demand information of the user and the image of the ear to be massaged by the user, one or more massage probes of the massage probe platform are controlled to move and align with one or more target massage positions of the ear to be massaged by the user, so that the massage process includes:

[0039] Massage parameters and one or more target massage positions to be massaged are determined according to the user's massage demand information; wherein the number of target massage positions corresponds to the number of target massage probes; multiple target massage probes may massage the same target massage position, or one target massage probe may massage one target massage position respectively, so as to better realize the user's personalized massage demand.

[0040] The coordinates of each target massage position to be massaged are determined according to the image of the user's ear to be massaged; wherein the coordinates of each target massage position are three-dimensional coordinates, including an x-axis, a y-axis and a z-axis. The three-dimensional coordinates can better reflect the relative position of the target massage position and the surrounding structure, and help to more accurately locate the relative position of the target massage position on the ear.

[0041] According to the massage parameters and the determined coordinates of each target massage position, one or more massage probes of the massage probe platform are controlled to move and align with each target massage position of the user's ear to be massaged, so as to perform massage.

[0042] In one embodiment of the present application, controlling one or more massage probes 32 of the massage probe platform 300 to move to a target massage position of the user's ear to be massaged, and performing massage according to the user's massage needs includes: determining a corresponding number of massage probes 32 as target massage probes according to the user's massage need information, and controlling each target massage probe to move along the slide rail 33; detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each moving massage probe and the coordinates of each target massage position, and controlling the corresponding massage probe to change its direction to align it with the target massage position according to the detection result; and controlling the corresponding target massage probe to massage each target massage position according to the massage parameters according to the user's massage need information.

[0043] In some embodiments, detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each massage probe 32 and the coordinates of each target massage position, and controlling the corresponding massage probe to change its direction to align with the target massage position according to the detection result includes:

[0044] Acquire the current user's ear image to be massaged collected in real time by the binocular vision module 200 to determine the current position of the target massage probe 32;

[0045] According to the target massage position and the current position of the target massage probe, a binocular vision algorithm based on a convolutional neural network (CNN) is used to detect whether each target massage probe is aligned with the corresponding target massage position;

[0046] If it is detected that the target massage probe is not aligned with the corresponding target massage position, the target massage probe is controlled to change its direction so that its probe is aligned with the target massage position;

[0047] If the target massage probe has been aligned with the target massage position, the target massage probe is directly controlled to perform massage according to the user's massage demand information.

[0048] In one embodiment of the present application, the control module performs three-dimensional reconstruction of the ear image of the user to be massaged collected by the binocular vision module through a binocular vision algorithm based on CNN, and determines the three-dimensional coordinates of each target massage position of the user, including:

[0049] A binocular camera 34 is used to capture stereo images of the user's ear to be massaged from different angles; a disparity map is calculated using a stereo matching algorithm to generate a depth map; stereo correction and disparity calculation are performed using functions in the OpenCV library (stereoRectify and stereoSGBM), and then the disparity map can be converted into a three-dimensional point cloud through the reprojectImageTo3D function and saved in x, y and z coordinates, thereby achieving three-dimensional reconstruction of the ear; through a CNN-based binocular vision algorithm, the three-dimensional coordinates of the target massage position of the user's ear to be massaged can be identified and located.

[0050] In particular, by setting the target massage position to the ear acupoint position, the ear acupoint can be massaged by the above-mentioned intelligent ear massage device.

[0051] like Figure 4 As shown, the auricular points that can be massaged are any auricular points in the figure, such as Shenmen point, heart point, kidney point, liver point, spleen point, endocrine point, triple energizer point, cortex point, etc. The positioning of each auricular point is achieved by partitioning according to the auricular points, such as Figure 5 The middle of each partition and the junction of some adjacent partitions are Figure 4 The corresponding ear acupoints.

[0052] For example, determine Figure 4 The three-dimensional coordinates of the specific acupoint of Zhong Shenmen are as follows. First, determine that Shenmen is located in the outer 1 / 3 of the triangular fossa of the ear, before the upper and lower crus of the helix cross, which corresponds to Figure 5 Area 4 of the middle triangular fossa area; then the CNN-based binocular vision algorithm is used to perform three-dimensional reconstruction of the user's ear to be massaged, and then the Figure 5 The reconstructed ear is partitioned; finally, based on the three-dimensional reconstruction, the location of the Shenmen acupoint can be identified through the CNN-based binocular vision algorithm, and its three-dimensional coordinates in three-dimensional space can be given. In the algorithm training stage, a large number of ear acupoint location maps of the population are collected as training data. Through training, the model can learn the correlation between the ear structure and the acupoint location, thereby providing a basis for determining the target acupoint.

[0053] In a specific embodiment, if Figure 6 As shown, a flow chart of a user using the intelligent ear massage device in this embodiment to perform ear acupoint massage is shown, including:

[0054] S601: user turns on the massage device and selects the massage type as user massage demand information for relieving fatigue;

[0055] S602: Determine a target ear acupoint combination corresponding to the massage type according to the demand information, namely, nine target ear acupoint positions of Shenmen acupoint, heart acupoint, kidney acupoint, liver acupoint, spleen acupoint, endocrine acupoint, triple energizer acupoint, subcortical acupoint, and earlobe;

[0056] S603: Run the binocular camera to photograph and perform three-dimensional reconstruction of the user's ear to be massaged, so as to determine the three-dimensional coordinates of each target ear point position;

[0057] S604: Control nine massage probes corresponding to the number of target ear acupoint combinations to move along the slide rail, and then detect whether each massage probe is aligned with the target ear acupoint; if it is detected that a massage probe is not aligned with the corresponding target ear acupoint, control the massage probe to change its direction so that the probe is aligned with the target ear acupoint; if the massage probe is aligned with the target ear acupoint, directly control each massage probe to perform massage according to the user's massage demand information.

[0058] In one embodiment of the present application, the massage device is a head-mounted massage device or an ear-hook massage device, which can be selected according to actual conditions and is not limited in this embodiment. The head-mounted massage device can also be disassembled into an ear-hook massage device. Figure 7 As shown, a schematic diagram of the structure of a head-mounted massage device is shown.

[0059] Similar to the above embodiment, the present invention also provides an intelligent ear massage control method. The method is applied to an intelligent ear massage device, which includes a user demand input module, a binocular vision module, a massage probe platform provided with a plurality of massage probes and a slide rail for carrying each massage probe, such as Figure 8 FIG. 1 is a flow chart of an intelligent ear massage control method according to an embodiment of the present invention. The method comprises:

[0060] S801: Acquiring user massage demand information input by a user demand input module;

[0061] S802: Acquire the ear image of the user to be massaged collected by the binocular vision module;

[0062] S803: Determine one or more target massage positions according to the user's massage demand information and the image of the user's ear to be massaged, and control one or more massage probes of the massage probe platform to move and align with the target massage positions of the user's ear to be massaged, so as to perform massage.

[0063] It should be noted that the intelligent ear massage control method in this embodiment can realize all the functions of the intelligent ear massage device in the above embodiments, so it will not be repeatedly explained here.

[0064] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0065] In summary, the present application provides an intelligent ear massage device, a control method and a terminal, wherein user massage demand information is input through a user demand input module, one or more target massage positions are determined according to the user massage demand information through a control module, and then the user's ear image is collected through a binocular vision module and the three-dimensional coordinates of each target massage position are determined. The control module controls a corresponding number of massage probes to move along the slide rail and align with each target massage position according to the three-dimensional coordinates of each target massage position and the position of the corresponding massage probe on the probe platform, and finally massages according to the user's massage demand information. The present application can perform massages according to the different needs of different users, and realizes personalized massages with rich functions and high flexibility. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0066] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. An intelligent ear massage device, characterized in that: include: User demand input module, used to input user massage demand information; Binocular vision module, used to collect images of the user's ears to be massaged; The massage probe platform includes: a plurality of massage probes and a slide rail carrying each massage probe, and is used to massage one or more target massage positions of the user's ear to be massaged; The massage control module is connected to the user demand input module, the binocular vision module and the massage probe platform, and is used to control one or more massage probes of the massage probe platform to move and align with the target massage positions of the user's ear to be massaged according to the user's massage demand information and the image of the user's ear to be massaged, so as to perform massage.

2. The intelligent ear massage device according to claim 2, characterized in that: According to the massage demand information of the user and the image of the ear to be massaged by the user, controlling one or more massage probes of the massage probe platform to move and align with one or more target massage positions of the ear to be massaged by the user, so as to perform massage comprises: Determine massage parameters and one or more target massage positions that need to be massaged according to the massage demand information of the user; wherein the massage parameters include massage type, massage time, and massage intensity; and each massage type corresponds to a combination of target massage positions that need to be massaged; Determining the coordinates of each target massage position to be massaged according to the image of the user's ear to be massaged; According to the massage parameters and the determined coordinates of each target massage position, one or more massage probes of the massage probe platform are controlled to move and align with each target massage position of the user's ear to be massaged, so as to perform massage.

3. The intelligent ear massage device according to claim 1, characterized in that: Controlling one or more massage probes of the massage probe platform to move and align with each target massage position of the user's ear to be massaged, so as to perform massage comprises: Determining a corresponding number of massage probes as target massage probes according to the user massage demand information, and controlling each target massage probe to move along the slide rail; Detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each moving massage probe and the coordinates of each target massage position, and controlling the change direction of the corresponding massage probe to align it with the target massage position according to the detection result; According to the massage parameters, the corresponding target massage probe is controlled to massage each target massage position according to the user's massage demand information.

4. The intelligent ear massage device according to claim 3, characterized in that: The method of detecting whether each massage probe is aligned with the corresponding target massage position according to the current position of each massage probe and the coordinates of each target massage position, and controlling the corresponding massage probe to change its direction to align with the target massage position according to the detection result includes: Acquire the current user's ear image to be massaged collected in real time by the binocular vision module to determine the current position of the target massage probe; According to the target massage position and the current position of the target massage probe, a CNN-based binocular vision algorithm is used to detect whether each target massage probe is aligned with the corresponding target massage position; If it is detected that the target massage probe is not aligned with the corresponding target massage position, the target massage probe is controlled to change its direction so that its probe is aligned with the target massage position; If the target massage probe has been aligned with the target massage position, the target massage probe is directly controlled to perform massage according to the user's massage demand information.

5. The intelligent ear massage device according to claim 1, characterized in that: The massage probe is configured to be retractable, so that the massage probe can be retracted into the massage probe platform or protrude out of the massage probe platform; the probe head of the massage probe can change its direction.

6. The intelligent ear massage device according to claim 1, characterized in that: The control module performs three-dimensional reconstruction of the user's ear image to be massaged collected by the binocular vision module through a CNN-based binocular vision algorithm, and determines the three-dimensional coordinates of each target massage position of the user.

7. The intelligent ear massage device according to claim 1, characterized in that: The user demand input module includes a power button and a touch display screen, and the touch display screen is used to input and display the user massage demand information.

8. The intelligent ear massage device according to claim 1, characterized in that: The massage device is a head-mounted massage device or an ear-hook massage device.

9. An intelligent ear massage control method, characterized in that: Applied to an intelligent ear massage device, the device includes a user demand input module, a binocular vision module, a massage probe platform provided with a plurality of massage probes and a slide rail for carrying each massage probe, and the method includes: Acquire user massage demand information input by a user demand input module; Acquire an ear image of the user to be massaged collected by a binocular vision module; According to the massage demand information of the user and the image of the ear to be massaged, one or more massage probes of the massage probe platform are controlled to move and align with each target massage position of the ear to be massaged by the user, so as to perform massage.

10. An electronic terminal, characterized in that: include: one or more memories and one or more processors; The one or more memories are used to store computer programs; The one or more processors, connected to the memory, are configured to run the computer program to perform the method according to claim 9.

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