Massage robot control method and system

Abstract

The invention belongs to the field of intelligent massage, and particularly relates to a massage robot control method and system.The method comprises the steps that according to a back image of a person to be massaged, whether the back of the person to be massaged has an injured area or not is determined, if yes, the injury type is determined, whether massage can be carried out or not is judged according to the injury type, and if yes, the massage robot is controlled; if yes, the to-be-massaged area and the massage force of the massage robot are controlled according to the injury degree. According to the actual injury condition of the to-be-massaged user, different massage areas of the massage robot and the massage strength in the different massage areas are reasonably controlled, and the bad massage effect on the to-be-massaged user is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent massage, and in particular relates to a massage robot control method and system. Background Art

[0002] Tuina is a traditional Chinese medicine treatment method that mainly massages the muscles, joints and meridians of the body. Its purpose is to help relax muscles, improve blood circulation, relieve pain and promote the body's self-healing ability by stimulating specific parts of the body. Since Tuina requires a deep understanding of meridians and massage techniques, it takes a lot of time to practice in the early stage, resulting in a small number of experienced therapists who cannot meet the needs of a large number of people. Therefore, Tuina robots appear.

[0003] In the related technology, the massage robot is realized by recording the human body's acupuncture points and muscle distribution in advance, and then recording the therapist's professional techniques into the robot, so that the massage robot can recognize different parts of the human body and perform professional massage.

[0004] With regard to the above-mentioned related technologies, the massage robot cannot identify the physical condition of the person being massaged when performing massage. Instead, the massage may have a worse effect on the person's body and endanger health. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a massage robot control method and system, which can select different massage methods according to different physical conditions of people to avoid damage to the human body during massage.

[0006] The content of the present invention includes:

[0007] A massage robot control method, comprising:

[0008] Acquire a back image of the person to be massaged;

[0009] Judging whether there is an injured area on the back of the person to be massaged according to the back image;

[0010] If there is an injured area, determine the type of injury;

[0011] Determine whether massage can be performed based on the type of injury described;

[0012] If massage can be performed, the back image is divided into an injured area and a normal area;

[0013] Determining the extent of injury to the injured area;

[0014] According to the injury degree of the injured area, the area to be massaged and the massage intensity of the massage robot are controlled.

[0015] Optionally, judging whether there is an injured area on the back of the person to be massaged according to the back image includes:

[0016] Obtaining a preset injury image;

[0017] Segmenting the back image into a plurality of regional images;

[0018] Comparing the preset injured image with each of the regional images to obtain a similarity;

[0019] Determining whether the similarity is greater than a preset similarity;

[0020] If the similarity is greater than the preset similarity, all the region images with similarities greater than the preset similarity are taken as injured regions.

[0021] Optionally, controlling the area to be massaged and the massage intensity of the massage robot according to the injury degree of the injured area includes:

[0022] The extent of the injury described includes both general extent and severity;

[0023] When the injury degree is severe, obtaining the adjacent area of ​​the injured area, the first massage intensity corresponding to massaging the injured area, and the normal massage intensity for massaging the remaining normal area;

[0024] taking the adjacent area and the normal area as areas to be massaged and taking the first massage intensity and the normal massage intensity as massage intensity;

[0025] When the injury degree is normal, the injured area and the normal area are used as areas to be massaged;

[0026] Obtain the second massage intensity when massaging the injured area;

[0027] The second massage intensity and the normal massage intensity are used as massage intensity.

[0028] Optionally, the injury type includes an external injury type and an internal injury type, and determining whether massage can be performed according to the injury type includes:

[0029] Determine whether the injury type is a trauma type;

[0030] If the injury type is traumatic, massage cannot be performed;

[0031] If the injury type is an internal injury type, determining whether the internal injury type is a bruise type;

[0032] If the internal injury type is bruise type, massage can definitely be performed.

[0033] Optionally, determining the injury degree of the injured area includes:

[0034] Get the area and color of the bruise;

[0035] Determine whether the color of the bruise is dark or whether the area of ​​the injured area is larger than a preset area;

[0036] If the color of the bruise is dark or the area of ​​the injured area is larger than the preset area, the injury degree of the injured area is determined to be the severity degree;

[0037] If the color of the bruise is not dark and the area of ​​the injured region is not greater than a preset area, it is determined that the injury degree of the injured region is the general degree.

[0038] A massage robot control system, comprising:

[0039] An acquisition module is used to acquire a back image of the person to be massaged;

[0040] A first judging module is used to judge whether there is an injured area on the back of the person to be massaged according to the back image;

[0041] The second judgment module is used to determine the type of injury if there is an injured area;

[0042] A third judgment module is used to determine whether massage can be performed according to the injury type;

[0043] A division module, used for dividing the back image into an injured area and a normal area if massage can be performed;

[0044] A fourth judgment module, used to judge the injury degree of the injured area;

[0045] The control module is used to control the area to be massaged and the massage intensity of the massage robot according to the injury degree of the injured area.

[0046] Optionally, the first judgment module includes:

[0047] An acquisition unit, used for acquiring a preset injury image;

[0048] A segmentation unit, used for segmenting the back image into a plurality of regional images;

[0049] A comparison unit, used for comparing the injured image with each of the regional images to obtain a similarity;

[0050] A judging unit, used to judge whether the similarity is greater than a preset similarity;

[0051] The execution unit is configured to, if the similarity is greater than the preset similarity, take all the region images having similarities greater than the preset similarity as the injured region.

[0052] A terminal device comprises a memory and a processor. The memory stores a computer program that can be run on the processor. When the processor loads and executes the computer program, a massage robot control method is adopted.

[0053] A computer-readable storage medium stores a computer program. When the computer program is loaded and executed by a processor, a massage robot control method is adopted.

[0054] The beneficial effects of the present invention are as follows: according to the back image of the person to be massaged, whether there is an injured area on the back of the person to be massaged is determined; if there is an injured area, the type of injury is determined; whether massage can be performed is determined according to the type of injury; if massage can be performed, the area to be massaged and the massage intensity of the massage robot are controlled according to the degree of injury. According to the actual injury of the user to be massaged, different massage areas of the massage robot and the massage intensity in different massage areas are reasonably controlled to avoid causing bad massage effects to the massaged person. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The figure is a flow chart of a massage robot control method of the present invention. DETAILED DESCRIPTION

[0056] A massage robot control method, such as Figure 1 As shown, the present invention includes:

[0057] S100: Acquire a back image of the person to be massaged.

[0058] Specifically, the back image of the person to be massaged can be obtained by taking a photo.

[0059] S110. Judging whether there is an injured area on the back of the person to be massaged based on the back image.

[0060] Specifically, if there is an injury on the back during massage, whether massage can be performed should be determined based on the injury, so firstly, it is necessary to confirm whether there is an injured area on the back through image recognition. There can be multiple injured areas.

[0061] S120. If there is an injured area, determine the type of injury.

[0062] S130. Determine whether massage can be performed based on the type of injury.

[0063] Specifically, the injury types include those that can be massaged and those that cannot be massaged. First, the injury type must be determined. If massage is not possible, the massage robot stops working. If massage is possible, proceed to the next step.

[0064] S140: If massage can be performed, the back image is divided into an injured area and a normal area.

[0065] Specifically, the injured area is the injured area in the recognized back image, and the uninjured area is divided into the normal area. There are multiple injured areas and normal areas.

[0066] S150: Determine the injury extent of the injured area.

[0067] S160. Control the area to be massaged and the massage intensity of the massage robot according to the degree of injury of the injured area.

[0068] Specifically, the injury degree is used to confirm the area and intensity of massage when the back is injured. If the injury degree is very serious, the area may not be suitable for massage or may require light massage.

[0069] In one implementation of this embodiment, step S110, i.e., judging whether there is an injured area on the back of the person to be massaged according to the back image, includes:

[0070] S200: Acquire a preset injury image.

[0071] Specifically, a plurality of different types of injury images are stored in a database as standard images for comparison.

[0072] S210: Segment the back image into a plurality of regional images.

[0073] S220: Compare the injured image with each regional image to obtain similarity.

[0074] Specifically, a database consisting of preset injured images is used, and then the images in the database are divided into a training set and a validation set. The training set is input into the neural network model for training, and then the validation set is used for validation to obtain a training model. Each regional image is then input into the trained training model to obtain the similarity between each regional image and the injured image. If the similarity is greater than the preset similarity, it means that the regional image is an injured image, and step S240 is executed. If the similarity of the regional image is less than or equal to the preset similarity, no action is taken. The preset similarity is the minimum similarity set for identifying whether the regional image is an injured image. Generally speaking, it can be set to 80%. Once the similarity exceeds 80%, it can be determined that the image is an injured image and which type of injured image it is. The type is determined based on the injured image input during training.

[0075] S230: Determine whether the similarity is greater than a preset similarity.

[0076] S240: If the similarity is greater than a preset similarity, all region images with similarities greater than the preset similarity are regarded as injured regions.

[0077] In one implementation of this embodiment, step S160, i.e., controlling the area to be massaged and the massage intensity of the massage robot according to the degree of injury of the injured area, comprises:

[0078] S300. The degree of injury includes the general degree and the serious degree.

[0079] S310. When the injury degree is severe, obtain the adjacent area of ​​the injured area, the first massage intensity corresponding to massaging the injured area, and the normal massage intensity for massaging the remaining normal area.

[0080] Specifically, the severity level indicates that the injured area is severely injured and is not suitable for direct massage. You can perform light massage on adjacent areas and massage on normal areas.

[0081] S320: taking the adjacent area and the normal area as the area to be massaged, and taking the first massage intensity and the normal massage intensity as the massage intensity.

[0082] Specifically, during massage, the massage intensity of the adjacent area of ​​the injured area is different from that of other normal areas. Since the adjacent area is close to the injured area, the massage intensity of the adjacent area must be smaller than that of the normal area to avoid involving the injured area due to excessive intensity. As for the injured area, it is not suitable to massage directly to avoid counter-effects. By massaging and relaxing the adjacent area, the injury of the injured area can be relieved.

[0083] S330: When the injury degree is normal, the injured area and the normal area are used as areas to be massaged.

[0084] S340, obtaining a second massaging force when massaging the injured area.

[0085] S350: Use the second massage intensity and the normal massage intensity as the massage intensity.

[0086] Specifically, when the injury is of a normal degree, the injured area can also be massaged lightly, that is, the second massage intensity is used for massage, the normal massage intensity is greater than the first massage intensity, and the first massage intensity is greater than the second massage intensity. The specific intensity values ​​of the normal massage intensity, the first massage intensity, and the second massage intensity can be entered into the database in advance according to different acupuncture points to be massaged.

[0087] By selecting different massage areas and massaging intensities in different massage areas according to the different degrees of injuries of the massage recipients, better massage effects can be achieved, and aggravation of injuries caused by forced massage of the massage recipients can be avoided.

[0088] In one implementation of this embodiment, step S130, i.e. the injury type includes an external injury type and an internal injury type, and determining whether massage can be performed according to the injury type includes:

[0089] S400: Determine whether the injury type is a trauma type.

[0090] Specifically, if the person to be massaged has a back injury, massage cannot be performed. If there is an injury, the wound may rupture during massage, which may interfere with the recovery of the injury. Step S410 is executed.

[0091] S410. If the injury type is traumatic, massage cannot be performed.

[0092] S420: If the injury type is an internal injury type, determine whether the internal injury is similar to a bruise type.

[0093] Specifically, if it is an internal injury, when the injury type identified by the back image is bruising, it means that massage is possible. Although bruises are caused by broken blood vessels, light massage or massage around the bruised area and gently massaging the surrounding muscles can promote blood circulation and help relieve discomfort.

[0094] S430. If the internal injury type is bruise type, it is determined that massage can be performed.

[0095] Specifically, in actual applications, the types of internal injuries that can be massaged include not only bruises but also other types, such as edema, etc. You can add settings yourself based on the types of injuries that can be massaged and then train the model.

[0096] In one implementation of this embodiment, step S130 of determining the injury degree of the injured area includes:

[0097] S500: Obtain the area and color of the bruise.

[0098] Specifically, the area and color of the bruise are two important factors in evaluating the type of injury. The darker the color of the bruise and the larger the area, the more serious the injury.

[0099] The bruise area is the total area of ​​the entire back with bruises, and the preset area is the minimum bruise area set to determine whether it is serious. The color of the bruise is determined by image recognition, and can be determined by RGB value. The dark RGB value range is defined by yourself, and then the actual image RGB value is compared with the defined dark RGB value range to determine whether the area is dark.

[0100] S510: Determine whether the color of the bruise is dark or whether the area of ​​the injured area is larger than a preset area.

[0101] S520: If the color of the bruise is dark or the area of ​​the injured area is larger than the preset area, the injury degree of the injured area is determined to be severe.

[0102] S530: If the color of the bruise is not dark and the area of ​​the injured region is not larger than the preset area, it is determined that the injury degree of the injured region is of a general degree.

[0103] Specifically, if one of the following two conditions is met: the bruise is dark in color or the injured area is larger than a preset area, it is considered to be a serious degree. If neither of these two conditions is met, it is considered to be a general degree.

[0104] In one implementation of this embodiment, after step S530, that is, if the color of the bruise is not dark and the area of ​​the injured area is not greater than the preset area, the following steps are included:

[0105] S600: Determine whether the interval between adjacent injured areas is less than a preset distance.

[0106] S610: If the interval between adjacent injured areas is less than a preset distance, the injury degree of the injured area is determined to be a serious degree.

[0107] S620: If the interval between adjacent injured areas is greater than or equal to the preset distance, the process of determining whether the injury degree of the injured area is normal is started.

[0108] Specifically, during massage, even if the bruise is dark in color and the area of ​​the injured area is smaller than the preset area, if the bruise is not continuous but discrete, when massaging, considering that massaging the adjacent area of ​​one injured area may affect other injured areas around, the distance between the injured areas needs to be greater than the preset distance to avoid affecting other injured areas during massage. The preset distance is the closest distance that can affect other areas during massage.

[0109] A massage robot control system, comprising:

[0110] An acquisition module is used to acquire a back image of the person to be massaged;

[0111] The first judgment module is used to judge whether there is an injured area on the back of the person to be massaged according to the back image;

[0112] The second judgment module is used to determine the type of injury if there is an injured area;

[0113] The third judgment module is used to determine whether massage can be performed according to the type of injury;

[0114] A division module, used for dividing the back image into an injured area and a normal area if massage can be performed;

[0115] The fourth judgment module is used to judge the injury degree of the injured area;

[0116] The control module is used to control the area to be massaged and the massage intensity of the massage robot according to the degree of injury of the injured area.

[0117] The first judgment module includes:

[0118] An acquisition unit, used for acquiring a preset injury image;

[0119] A segmentation unit, used for segmenting the back image into a plurality of regional images;

[0120] A comparison unit, used for comparing the injured image with each region image to obtain a similarity;

[0121] A judging unit, used to judge whether the similarity is greater than a preset similarity;

[0122] The execution unit is used for treating all the regional images with similarities greater than the preset similarity as the injured regions if the similarity is greater than the preset similarity.

[0123] The embodiment of the present application also discloses a terminal device, including a memory and a processor. The memory stores a computer program that can be run on the processor. When the processor loads and executes the computer program, a massage robot control method is adopted.

[0124] The terminal device may be a computer device such as a desktop computer, a laptop computer or a cloud server, and the terminal device includes but is not limited to a processor and a memory. For example, the terminal device may also include input and output devices, a network access device and a bus.

[0125] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc., and this application does not impose any restrictions on this.

[0126] Among them, the memory can be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device, or it can be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD) or a flash memory card (FC) equipped on the terminal device, etc., and the memory can also be a combination of an internal storage unit and an external storage device of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or is to be output, and this application does not impose any restrictions on this.

[0127] Among them, through this terminal device, a massage robot control method in the above embodiment is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device for easy use.

[0128] The embodiment of the present application further discloses a computer-readable storage medium, and the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, a massage robot control method in the above embodiment is adopted.

[0129] Among them, the computer program can be stored in a computer-readable medium, the computer program includes computer program code, the computer program code can be in the form of source code, object code, executable file or certain middleware, etc. The computer-readable medium includes any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the computer-readable medium includes but is not limited to the above-mentioned components.

[0130] Among them, through this computer-readable storage medium, a massage robot control method in the above embodiment is stored in a computer-readable storage medium, and is loaded and executed on a processor to facilitate the storage and application of the above method.

[0131] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as above, which are not provided in detail for the sake of simplicity.

[0132] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A massage robot control method, characterized in that: include: Acquire a back image of the person to be massaged; Judging whether there is an injured area on the back of the person to be massaged according to the back image; If there is an injured area, determine the type of injury; Determine whether massage can be performed based on the type of injury described; If massage can be performed, the back image is divided into an injured area and a normal area; Determining the extent of injury to the injured area; According to the injury degree of the injured area, the area to be massaged and the massage intensity of the massage robot are controlled.

2. The massage robot control method according to claim 1, characterized in that: The determining, based on the back image, whether the back of the person to be massaged has an injured area includes: Obtaining a preset injury image; Segmenting the back image into a plurality of regional images; Comparing the injured image with each of the regional images to obtain a similarity; Determining whether the similarity is greater than a preset similarity; If the similarity is greater than the preset similarity, all the region images with similarities greater than the preset similarity are taken as injured regions.

3. The massage robot control method according to claim 1, characterized in that: According to the injury degree of the injured area, controlling the area to be massaged and the massage intensity of the massage robot comprises: The extent of the injury described includes both general extent and severity; When the injury degree is severe, obtaining the adjacent area of ​​the injured area, the first massage intensity corresponding to massaging the injured area, and the normal massage intensity for massaging the remaining normal area; taking the adjacent area and the normal area as areas to be massaged and taking the first massage intensity and the normal massage intensity as massage intensity; When the injury degree is normal, the injured area and the normal area are used as areas to be massaged; Obtain the second massage intensity when massaging the injured area; The second massage intensity and the normal massage intensity are used as massage intensity.

4. The massage robot control method according to claim 3, characterized in that: The injury type includes an external injury type and an internal injury type, and determining whether massage can be performed according to the injury type includes: Determine whether the injury type is a trauma type; If the injury type is traumatic, massage cannot be performed; If the injury type is an internal injury type, determining whether the internal injury type is a bruise type; If the internal injury type is bruise type, massage can definitely be performed.

5. The massage robot control method according to claim 4, characterized in that: Determining the injury degree of the injured area includes: Get the area and color of the bruise; Determine whether the color of the bruise is dark or whether the area of ​​the injured area is larger than a preset area; If the color of the bruise is dark or the area of ​​the injured area is larger than the preset area, the injury degree of the injured area is determined to be the severity degree; If the color of the bruise is not dark and the area of ​​the injured region is not greater than a preset area, it is determined that the injury degree of the injured region is the general degree.

6. The massage robot control method according to claim 5, characterized in that: If the color of the bruise is not dark and the area of ​​the injured area is not greater than a preset area, the following steps may be followed: Determining whether the interval between adjacent injured areas is less than a preset distance; If the interval between the adjacent injured areas is less than the preset distance, the injury degree of the injured area is determined to be severe; If the interval distance between the adjacent injured areas is greater than or equal to the preset distance, then the process proceeds to determine that the injury degree of the injured area is the general degree.

7. A massage robot control system, characterized in that: include: An acquisition module is used to acquire a back image of the person to be massaged; A first judging module is used to judge whether there is an injured area on the back of the person to be massaged according to the back image; The second judgment module is used to determine the type of injury if there is an injured area; A third judgment module is used to determine whether massage can be performed according to the injury type; A division module, used for dividing the back image into an injured area and a normal area if massage can be performed; A fourth judgment module, used to judge the injury degree of the injured area; The control module is used to control the area to be massaged and the massage intensity of the massage robot according to the injury degree of the injured area.

8. The massage robot control system as claimed in claim 6, characterized in that: The first judgment module includes: An acquisition unit, used for acquiring a preset injury image; A segmentation unit, used for segmenting the back image into a plurality of regional images; A comparison unit, used for comparing the injured image with each of the regional images to obtain a similarity; A judging unit, used to judge whether the similarity is greater than a preset similarity; The execution unit is configured to, if the similarity is greater than the preset similarity, take all the region images having similarities greater than the preset similarity as the injured region.

9. A terminal device, comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and when the processor loads and executes the computer program, the control method according to any one of claims 1 to 6 is adopted.

10. A computer-readable storage medium having a computer program stored therein, characterized in that: When the computer program is loaded and executed by the processor, the control method according to any one of claims 1 to 6 is adopted.

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