A control method and system for a massage robot

Abstract

The present invention belongs to the field of intelligent massage, and specifically relates to a massage robot control method and system, including: determining whether there is an injured area on the back of the person to be massaged according to the back image of the person to be massaged; in the case of having an injured area, determining the type of injury; judging whether massage can be performed according to the type of injury; if massage can be performed, controlling the area to be massaged and the massage strength of the massage robot according to the degree of injury. According to the actual injury situation of the user to be massaged, reasonably controlling different massage areas of the massage robot and the massage strength in different massage areas, so as to avoid causing bad massage effects to the person to be massaged.

Description

Technical Field

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

[0002] Massage is a traditional Chinese medical treatment method, mainly massaging the muscles, joints and meridians of the body through techniques. 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 massage requires a good understanding of meridians and massage techniques, a large amount of time is needed for practice in the early stage, resulting in fewer experienced physiotherapists and being unable to meet the large population. Therefore, massage robots appear.

[0003] In related technologies, massage robots pre-enter human acupoints and muscle distributions, etc., and then enter the professional techniques of physiotherapists into the robots, so that the massage robots can identify different parts of the human body and perform professional massage.

[0004] In view of the above related technologies, when the massage robot performs massage, it cannot identify the physical condition of the person to be massaged, and the massage may instead have a worse effect on the person's body and endanger physical 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 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 includes:

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

[0009] According to the back image, judge whether there is an injured area on the back of the person to be massaged;

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

[0011] According to the type of injury, determine whether massage can be performed;

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

[0013] Judge the degree of injury of the injured area;

[0014] According to the degree of injury of the injured area, control the area to be massaged and the massage force of the massage robot.

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

[0016] Obtain a preset injured image;

[0017] Segment the back image into several regional images;

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

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

[0020] If the similarity is greater than the preset similarity, then use all the regional images with similarities greater than the preset similarity as the injured areas.

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

[0022] The degree of injury includes a general degree and a severe degree;

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

[0024] Use the adjacent area and the normal area as the areas to be massaged and use the first massage force and the normal massage force as the massage forces;

[0025] When the degree of injury is general, use the injured area and the normal area as the areas to be massaged;

[0026] Obtain the second massage force for massaging the injured area;

[0027] Use the second massage force and the normal massage force as the massage forces.

[0028] Optionally, the types of injuries include external injury types and internal injury types. Determining whether massage can be performed according to the type of injury includes:

[0029] Determine whether the type of injury is an external injury type;

[0030] If the type of injury is an external injury type, then massage cannot be performed;

[0031] If the type of injury is an internal injury type, then determine whether the internal injury type is a bruise type;

[0032] If the internal injury type is a bruise type, then determine that massage can be performed.

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

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

[0035] Judging whether the color of the bruise is dark or whether the area of the injured area is greater than a preset area;

[0036] If the color of the bruise is dark or the area of the injured area is greater than the preset area, it is determined that the degree of injury of the injured area is the severe degree;

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

[0038] A control system for a massage robot, comprising:

[0039] An acquisition module, configured to acquire a back image of a person to be massaged;

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

[0041] A second judgment module, configured to determine the type of injury if there is an injured area;

[0042] A third judgment module, configured to determine whether massage can be performed according to the type of injury;

[0043] A division module, configured to divide the back image into an injured area and a normal area if massage can be performed;

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

[0045] A control module, configured to control the area to be massaged and the massage force of the massage robot according to the degree of injury of the injured area.

[0046] Optionally, the first judgment module includes:

[0047] An acquisition unit, configured to acquire a preset injured image;

[0048] A segmentation unit, configured to segment the back image into a plurality of regional images;

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

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

[0051] An execution unit, configured to, if the similarity is greater than the preset similarity, use all the regional images with the similarity greater than the preset similarity as the injured areas.

[0052] A terminal device includes a memory and a processor. The memory stores a computer program that can 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, it is determined whether there are injured areas on the back of the massage person. In the case of having injured areas, the type of injury is determined. According to the type of injury, it is judged whether massage can be performed. If massage can be performed, the area to be massaged and the massage force of the massage robot are controlled according to the degree of injury. According to the actual injury situation of the user to be massaged, the different massage areas of the massage robot and the massage force in different massage areas are reasonably controlled, so as to avoid causing bad massage effects on the person to be massaged. Description of the Drawings

[0055] Figure 1 It is a schematic flowchart of a massage robot control method of the present invention. Detailed Embodiments

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

[0057] S100. Obtain the 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. According to the back image, judge whether there are injured areas on the back of the person to be massaged.

[0060] Specifically, since when performing massage, if there is an injury on the back, it is necessary to judge whether massage can be performed according to the injury situation. Therefore, it is first necessary to confirm whether there are injured areas on the back through image recognition. There can be multiple injured areas.

[0061] S120. If there are injured areas, determine the type of injury.

[0062] S130. Determine whether massage can be performed according to the type of injury.

[0063] Specifically, the types of injuries include those that can be massaged after injury and those that cannot be massaged after injury. First, it is necessary to determine the type of injury. If massage is not possible, the massage robot stops working. If massage is possible, the next step is carried out.

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

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

[0066] S150. Judge the degree of injury of the injured area.

[0067] S160. According to the degree of injury of the injured area, control the area to be massaged and the massage strength of the massage robot.

[0068] Specifically, the degree of injury is used to confirm the area to be massaged and the massage strength in the case of confirming an injury on the back. If the degree of injury is very serious, this area may not be suitable for massage or requires gentle massage.

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

[0070] S200. Obtain a preset injured image.

[0071] Specifically, various types of injured images are stored in a database as standard images for comparison.

[0072] S210. Divide the back image into several regional images.

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

[0074] Specifically, through a database composed of preset injured images, then the images in the database are divided into a training set and a validation set. The training set is input into a neural network model for training, and then the validation set is used for validation to obtain a training model. Then each regional image is 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 indicates that this regional image is an injured image, and step S240 is executed. If the similarity of this regional image is less than or equal to the preset similarity, no action is taken. The preset similarity is the lowest similarity set to identify whether a 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 what type of injured image it is. The type is determined according to the injured images input during training.

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

[0076] S240. If the similarity is greater than the preset similarity, use all the regional images with similarity greater than the preset similarity as the injured area.

[0077] In one implementation of this embodiment, step S160, that is, controlling the area to be massaged and the massage force of the massage robot according to the injury degree of the injured area, includes:

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

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

[0080] Specifically, the serious degree indicates that the injury condition of the injured area is relatively serious and is not suitable for direct massage. Slight massage can be performed in the adjacent area and massage can be performed in the normal area.

[0081] S320. Use the adjacent area and the normal area as the areas to be massaged and use the first massage force and the normal massage force as the massage force.

[0082] Specifically, when massaging, the massage forces for massaging the adjacent area of the injured area and other normal areas are different. Since the adjacent area is close to the injured area, the massage force for massaging the adjacent area is definitely smaller than that for the normal area to avoid pulling the injured area due to excessive force. As for the injured area, it is not suitable for direct massage to avoid causing adverse effects. By massaging and relaxing in the adjacent area, the injury of the injured area can be relieved.

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

[0084] S340. Obtain the second massage force for massaging the injured area.

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

[0086] Specifically, when the injury degree is general, the injured area can also be slightly massaged, that is, massaged with the second massage force. The normal massage force is greater than the first massage force, and the first massage force is greater than the second massage force. The specific force values of the normal massage force, the first massage force, and the second massage force can be pre-entered into the database according to different massage acupoints.

[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 area of the bruise is the total area of the bruised region on the entire back, and the preset area is the minimum bruise area set for judging the severity. The color of the bruise is determined by image recognition. It can be judged by the RGB values. Define the RGB value range of the dark color by yourself, and then compare the RGB values of the actual image with the defined RGB value range of the dark color, and then it can be obtained whether the area is dark.

[0100] S510. Judge whether the color of the bruise is dark or whether the area of the injured area is greater than the preset area.

[0101] S520. If the color of the bruise is dark or the area of the injured area is greater than the preset area, then judge that the injury degree of the injured area is the severe degree.

[0102] S530. If the color of the bruise is not dark and the area of the injured area is not greater than the preset area, then judge that the injury degree of the injured area is the general degree.

[0103] Specifically, when one of the two situations that the color of the bruise is dark or the area of the injured area is greater than the preset area is met, it is considered to be the severe degree. If neither of these two situations exists, it is the general degree.

[0104] In one implementation manner 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, it includes:

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

[0106] S610. If the interval distance between adjacent injured areas is less than the preset distance, then judge that the injury degree of the injured area is the severe degree.

[0107] S620. If the interval distance between adjacent injured areas is greater than or equal to the preset distance, then enter the judgment that the injury degree of the injured area is the general degree.

[0108] Specifically, during massage, even if the color part of the bruise is dark and the area of the injured area is less than the preset area, but if the bruise is not continuous but discrete, at this time during massage, when considering the adjacent area of one injured area, it may affect other surrounding injured areas. Therefore, the interval 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 includes:

[0110] An acquisition module, configured to acquire a back image of a person to be massaged;

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

[0112] A second judgment module, configured to determine the type of injury if there is an injured area;

[0113] A third judgment module, configured to determine whether massage can be performed according to the type of injury;

[0114] A division module, configured to divide the back image into an injured area and a normal area if massage can be performed;

[0115] A fourth judgment module, configured to judge the degree of injury of the injured area;

[0116] A control module, configured to control the area to be massaged and the massage force of the massage robot according to the degree of injury of the injured area.

[0117] The first judgment module includes:

[0118] An acquisition unit, configured to acquire a preset injured image;

[0119] A segmentation unit, configured to segment the back image into several regional images;

[0120] A comparison unit, configured to compare the injured image with each regional image to obtain a similarity;

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

[0122] An execution unit, configured to use all regional images with similarities greater than the preset similarity as the injured area if the similarity is greater than the preset similarity.

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

[0124] Among them, the terminal device can be a computer device such as a desktop computer, a notebook 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 / output devices, network access devices, and a bus, etc.

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

[0126] Among them, the memory may be an internal storage unit of the terminal device. For example, the hard disk or memory of the terminal device, or it may also be an external storage device of the terminal device. For example, the plug-in hard disk, smart media card (SMC), secure digital card (SD) or flash card (FC), etc. equipped on the terminal device. And the memory may also be a combination of the internal storage unit and the 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 may also be used to temporarily store the data that has been output or will be output. The present application does not limit 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 convenient use.

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

[0129] Among them, the computer program may be stored in a computer-readable medium. The computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some middleware form, 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 disc, 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 components.

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

[0131] Those of ordinary skill in the art should understand that any discussion of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; under the concept of this application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments in the present application as described above, and for the sake of brevity, they are not provided in detail.

[0132] One or more embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this application shall be included within the scope of protection of this 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, controlling the area to be massaged and the massage intensity of the massage robot; 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; using the second massage intensity and the normal massage intensity as the massage intensity; 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, it is determined that massage can be performed; 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.

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: 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.

4. 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; A control module, used for controlling the area to be massaged and the massage intensity of the massage robot according to the degree of injury of the injured area; 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; using the second massage intensity and the normal massage intensity as the massage intensity; 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, it is determined that massage can be performed; 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.

5. The massage robot control system as claimed in claim 4, 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.

6. 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 3 is adopted.

7. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, 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 3 is adopted.

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