Traditional Chinese medicine massage robot control method and device based on machine vision

Abstract

The invention provides a traditional Chinese medicine massage robot control method, device and equipment based on machine vision and a computer readable storage medium. The traditional Chinese medicine massage robot control method based on machine vision comprises the following steps: acquiring an image of a human body part to be massaged through a binocular depth vision camera; based on the human body part image, determining an acupoint meridian image through a point recognition algorithm; planning a massage scheme based on a pre-selected massage mode and the acupoint and meridian image; wherein the massage scheme comprises a moving path of a mechanical arm massage head, and a massage mode, frequency, duration, force and temperature; according to the massage scheme, the mechanical arm is controlled to conduct massage, and a massage result is obtained in real time for adjustment. According to the embodiment of the invention, the traditional Chinese medicine massage robot can be controlled more accurately, and massage can be performed more accurately.

Description

Technical Field

[0001] The present application belongs to the field of control of a traditional Chinese medicine massage robot, and in particular, to a control method, device, equipment and computer-readable storage medium of a traditional Chinese medicine massage robot based on machine vision. Background Art

[0002] At present, the traditional Chinese medicine massage in the related art is performed according to a pre-selected massage mode, but it is impossible to perform differentiated and personalized massage for different people and different parts of the body.

[0003] Therefore, how to more accurately control the traditional Chinese medicine massage robot and perform massage more accurately is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and computer-readable storage medium for controlling a traditional Chinese medicine massage robot based on machine vision, which can more accurately control the traditional Chinese medicine massage robot and perform massage more accurately.

[0005] In a first aspect, an embodiment of the present application provides a control method for a traditional Chinese medicine massage robot based on machine vision, characterized in that it includes:

[0006] Using a binocular depth vision camera, an image of the body part to be massaged is obtained;

[0007] Based on the human body part images, the acupuncture point and meridian images are determined through point recognition algorithms;

[0008] Based on the pre-selected massage mode and acupuncture point meridian images, a massage plan is planned; wherein the massage plan includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature;

[0009] According to the massage plan, control the robotic arm to perform massage, and obtain the massage results in real time for adjustment.

[0010] Optionally, a binocular depth vision camera is used to obtain an image of a human body part to be massaged, including:

[0011] The binocular depth vision camera is used to simultaneously capture images of human body parts from different angles, and the depth information of each point on the human body surface is calculated through the principle of triangulation;

[0012] Based on the human body part image and depth information, the shape and position of the human body part are determined.

[0013] Optionally, based on the human body part image, the acupuncture point and meridian image is determined by a point recognition algorithm, including:

[0014] Preprocessing the images of human body parts; wherein the preprocessing includes image denoising and image enhancement;

[0015] Detect key points in the preprocessed human body part images through human posture estimation algorithms;

[0016] Match the key points with the standard templates of acupuncture points and meridians to determine the locations of acupuncture points and meridians;

[0017] Based on the locations of acupoints and meridians, the acupoints and meridians are marked with different colors to determine the acupoint meridian images.

[0018] Optionally, based on the pre-selected massage mode and acupuncture point meridian images, a massage program is planned, including:

[0019] According to the patient's specific condition, symptoms and needs, choose the appropriate massage mode; different massage modes include pressing, kneading, pushing and holding;

[0020] Generate the movement path of the robotic massage head based on the location of acupuncture points and meridians;

[0021] Determine the method, frequency, duration, strength and temperature of massage according to the massage pattern, individual differences of patients and the needs of different acupoints.

[0022] Optionally, based on the locations of acupuncture points and meridians, a movement path of the robotic massage head is generated, including:

[0023] Based on the location of acupuncture points and meridians and obstacle avoidance algorithms, the initial movement path of the robotic massage head is determined so as not to collide with other parts;

[0024] The initial moving path is optimized through the shortest path algorithm to obtain the final moving path.

[0025] Optionally, the massage method, frequency, duration, strength, and temperature are determined according to the massage mode, individual differences of patients, and the needs of different acupoints, including:

[0026] Set the frequency of massage according to the massage mode and individual differences of patients;

[0027] Set the duration of each massage according to the needs of different acupoints;

[0028] According to the massage mode, set the force of the massage head;

[0029] The temperature of the massage is determined by the heating element according to the needs of different acupuncture points.

[0030] Optionally, according to the massage program, the robot arm is controlled to perform massage, and the massage results are obtained in real time for adjustment, including:

[0031] According to the massage plan, control the robotic arm to perform massage, and obtain the force and temperature in real time through the force sensor and temperature sensor;

[0032] When the strength and temperature obtained in real time do not meet the preset strength and temperature corresponding to the massage program, the set parameters of the massage are adjusted immediately.

[0033] In a second aspect, the present application provides a control device for a Chinese medicine massage robot based on machine vision, comprising:

[0034] A human body part image acquisition module is used to acquire the image of the human body part to be massaged through a binocular depth vision camera;

[0035] An acupuncture point and meridian image determination module is used to determine the acupuncture point and meridian image based on the human body part image through a point recognition algorithm;

[0036] A massage program planning module is used to plan a massage program based on a pre-selected massage mode and acupuncture point meridian images; wherein the massage program includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature;

[0037] The massage module is used to control the robotic arm to perform massage according to the massage plan, and obtain the massage results in real time for adjustment.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, a control method for a traditional Chinese medicine massage robot based on machine vision is implemented.

[0040] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements a method for controlling a traditional Chinese medicine massage robot based on machine vision.

[0041] The machine vision-based control method, device, equipment and computer-readable storage medium of the traditional Chinese medicine massage robot of the embodiments of the present application can more accurately control the traditional Chinese medicine massage robot and perform massage more accurately.

[0042] The control method of the Chinese medicine massage robot based on machine vision is characterized by comprising:

[0043] Using a binocular depth vision camera, an image of the body part to be massaged is obtained;

[0044] Based on the human body part images, the acupuncture point and meridian images are determined through point recognition algorithms;

[0045] Based on the pre-selected massage mode and acupuncture point meridian images, a massage plan is planned; wherein the massage plan includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature;

[0046] According to the massage plan, control the robotic arm to perform massage, and obtain the massage results in real time for adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a flowchart of a method for controlling a Chinese medicine massage robot based on machine vision provided by an embodiment of the present application;

[0049] Figure 2 It is a structural schematic diagram of a control device for a traditional Chinese medicine massage robot based on machine vision provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0051] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0053] In order to solve the problems of the prior art, the embodiments of the present application provide a control method, device, equipment and computer-readable storage medium of a Chinese medicine massage robot based on machine vision. The following first introduces the control method of a Chinese medicine massage robot based on machine vision provided by the embodiments of the present application.

[0054] Figure 1 FIG. 1 is a flow chart of a control method of a Chinese medicine massage robot based on machine vision provided by an embodiment of the present application. Figure 1 As shown, the control method of the Chinese medicine massage robot based on machine vision includes:

[0055] S101, obtaining an image of a human body part to be massaged by a binocular depth vision camera;

[0056] S102, based on the human body part image, determining the acupuncture point and meridian image by using a point recognition algorithm;

[0057] S103, planning a massage program based on the pre-selected massage mode and acupuncture point meridian image; wherein the massage program includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature;

[0058] S104, according to the massage plan, control the robotic arm to perform massage, and obtain the massage results in real time for adjustment.

[0059] In one embodiment, the image of the human body part to be massaged is obtained by using a binocular depth vision camera, including:

[0060] The binocular depth vision camera is used to simultaneously capture images of human body parts from different angles, and the depth information of each point on the human body surface is calculated through the principle of triangulation;

[0061] Based on the human body part image and depth information, the shape and position of the human body part are determined.

[0062] In one embodiment, based on the human body part image, the acupuncture point and meridian image is determined by a point recognition algorithm, including:

[0063] Preprocessing the images of human body parts; wherein the preprocessing includes image denoising and image enhancement;

[0064] Detect key points in the preprocessed human body part images through human posture estimation algorithms;

[0065] Match the key points with the standard templates of acupuncture points and meridians to determine the locations of acupuncture points and meridians;

[0066] Based on the locations of acupoints and meridians, the acupoints and meridians are marked with different colors to determine the acupoint meridian images.

[0067] In one embodiment, based on the pre-selected massage mode and acupuncture point meridian images, a massage program is planned, including:

[0068] According to the patient's specific condition, symptoms and needs, choose the appropriate massage mode; different massage modes include pressing, kneading, pushing and holding;

[0069] Generate the movement path of the robotic massage head based on the location of acupuncture points and meridians;

[0070] Determine the method, frequency, duration, strength and temperature of massage according to the massage pattern, individual differences of patients and the needs of different acupoints.

[0071] In one embodiment, based on the locations of acupuncture points and meridians, a moving path of the robotic massage head is generated, including:

[0072] Based on the location of acupuncture points and meridians and obstacle avoidance algorithms, the initial movement path of the robotic massage head is determined so as not to collide with other parts;

[0073] The initial moving path is optimized through the shortest path algorithm to obtain the final moving path.

[0074] In one embodiment, the massage method, frequency, duration, strength, and temperature are determined according to the massage mode, individual differences of patients, and needs of different acupoints, including:

[0075] Set the frequency of massage according to the massage mode and individual differences of patients;

[0076] Set the duration of each massage according to the needs of different acupoints;

[0077] According to the massage mode, set the force of the massage head;

[0078] The temperature of the massage is determined by the heating element according to the needs of different acupuncture points.

[0079] In one embodiment, according to the massage scheme, the robot arm is controlled to perform massage, and the massage result is obtained in real time for adjustment, including:

[0080] According to the massage plan, control the robotic arm to perform massage, and obtain the force and temperature in real time through the force sensor and temperature sensor;

[0081] When the strength and temperature obtained in real time do not meet the preset strength and temperature corresponding to the massage program, the set parameters of the massage are adjusted immediately.

[0082] Figure 2 The structure diagram of a Chinese medicine massage robot control device based on machine vision provided by an embodiment of the present application. The Chinese medicine massage robot control device based on machine vision includes:

[0083] The human body part image acquisition module 201 is used to acquire the image of the human body part to be massaged by using a binocular depth vision camera;

[0084] An acupuncture point and meridian image determination module 202 is used to determine the acupuncture point and meridian image based on the human body part image by a point recognition algorithm;

[0085] The massage program planning module 203 is used to plan a massage program based on the pre-selected massage mode and acupoint meridian images; wherein the massage program includes: the moving path of the mechanical arm massage head, the massage method, frequency, duration, strength, and temperature;

[0086] The massage module 204 is used to control the robot arm to perform massage according to the massage plan, and obtain the massage results in real time for adjustment.

[0087] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0088] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0089] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0090] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the electronic device. In a particular embodiment, the memory 302 may be a non-volatile solid-state memory.

[0091] In one embodiment, the memory 302 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0092] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the machine vision-based traditional Chinese medicine massage robot control methods in the above embodiments.

[0093] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0094] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0095] Bus 310 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0096] In addition, in combination with the control method of the TCM massage robot based on machine vision in the above embodiments, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the control methods of the TCM massage robot based on machine vision in the above embodiments is implemented.

[0097] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0098] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0099] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0100] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0101] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A control method for a Chinese medicine massage robot based on machine vision, characterized in that: include: Using a binocular depth vision camera, an image of the human body part to be massaged is obtained; Based on the human body part images, the acupuncture point and meridian images are determined through point recognition algorithms; Based on the pre-selected massage mode and acupuncture point meridian images, a massage plan is planned; wherein the massage plan includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature; According to the massage plan, control the robotic arm to perform massage, and obtain the massage results in real time for adjustment.

2. The control method of a Chinese medicine massage robot based on machine vision according to claim 1 is characterized in that: Through the binocular depth vision camera, the image of the human body part to be massaged is obtained, including: The binocular depth vision camera is used to simultaneously capture images of human body parts from different angles, and the depth information of each point on the human body surface is calculated through the principle of triangulation. Based on the human body part image and depth information, the shape and position of the human body part are determined.

3. The control method of a Chinese medicine massage robot based on machine vision according to claim 1, characterized in that: Based on the human body part image, the acupuncture point and meridian image is determined through the point recognition algorithm, including: Preprocessing the images of human body parts; wherein the preprocessing includes image denoising and image enhancement; Detect key points in the preprocessed human body part images through human posture estimation algorithms; Match the key points with the standard templates of acupuncture points and meridians to determine the locations of acupuncture points and meridians; Based on the locations of acupoints and meridians, the acupoints and meridians are marked with different colors to determine the acupoint meridian images.

4. The control method of a Chinese medicine massage robot based on machine vision according to claim 1, characterized in that: Based on the pre-selected massage modes and acupuncture point meridian images, a massage program is planned, including: According to the patient's specific condition, symptoms and needs, choose the appropriate massage mode; different massage modes include pressing, kneading, pushing and holding; Generate the movement path of the robotic massage head based on the location of acupuncture points and meridians; Determine the method, frequency, duration, strength and temperature of massage according to the massage pattern, individual differences of patients and the needs of different acupoints.

5. The control method of a Chinese medicine massage robot based on machine vision according to claim 4 is characterized in that: Based on the location of acupuncture points and meridians, the movement path of the robotic massage head is generated, including: Based on the location of acupuncture points and meridians and obstacle avoidance algorithms, the initial movement path of the robotic massage head is determined so as not to collide with other parts; The initial moving path is optimized through the shortest path algorithm to obtain the final moving path.

6. The control method of a Chinese medicine massage robot based on machine vision according to claim 4 is characterized in that: According to the massage mode, individual differences of patients and the needs of different acupoints, the massage method, frequency, duration, strength and temperature are determined, including: Set the frequency of massage according to the massage mode and individual differences of patients; Set the duration of each massage according to the needs of different acupoints; According to the massage mode, set the force of the massage head; The temperature of the massage is determined by the heating element according to the needs of different acupuncture points.

7. The control method of a Chinese medicine massage robot based on machine vision according to claim 1, characterized in that: According to the massage plan, control the robotic arm to perform massage, and obtain the massage results in real time for adjustment, including: According to the massage plan, control the robotic arm to perform massage, and obtain the force and temperature in real time through the force sensor and temperature sensor; When the strength and temperature obtained in real time do not meet the preset strength and temperature corresponding to the massage program, the set parameters of the massage are adjusted immediately.

8. A Chinese medicine massage robot control device based on machine vision, characterized in that: The device comprises: A human body part image acquisition module is used to acquire the image of the human body part to be massaged through a binocular depth vision camera; An acupuncture point and meridian image determination module is used to determine the acupuncture point and meridian image based on the human body part image through a point recognition algorithm; A massage program planning module is used to plan a massage program based on a pre-selected massage mode and acupuncture point meridian images; wherein the massage program includes: the movement path of the robotic arm massage head, the massage method, frequency, duration, strength, and temperature; The massage module is used to control the robotic arm to perform massage according to the massage plan, and obtain the massage results in real time for adjustment.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the machine vision-based traditional Chinese medicine massage robot control method as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the machine vision-based traditional Chinese medicine massage robot control method as described in any one of claims 1 to 7 is implemented.

Images