Massage control method and device based on sofa, electronic equipment and storage medium

Abstract

The invention relates to a massage control method and device based on a sofa, electronic equipment and a storage medium, the sofa comprises a posture detection module and at least one massage assembly, the posture detection module is used for detecting three-dimensional posture information of a user body, and the method comprises the following steps: receiving the three-dimensional posture information of the user body sent by the posture detection module, the information is sent to the user interaction system; obtaining interaction information in a user interaction system, wherein the interaction information is used for indicating first position information of a body part selected by a user according to the three-dimensional posture information in a three-dimensional space; determining second position information of the body part under the sofa coordinate system according to the first position information; according to the second position information, the first massage assembly at the corresponding position is controlled to massage the body part, or the second massage assembly is controlled to move to the corresponding position to massage the body part, by implementing the embodiment of the invention, the precise massage requirement of the user on the specific position of the body part can be met, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of sofas, and in particular to a massage control method, device, electronic device and storage medium based on a sofa. Background Art

[0002] As people pay more attention to health and comfort, the demand for massage sofas is becoming more and more diverse. Different users may have specific requirements for massage positions due to different physical conditions and fatigue parts. For example, people who work at a desk for a long time may need to focus on massage of the neck and waist; while sports enthusiasts may pay more attention to relaxing the legs and shoulders. However, most massage sofas currently can only provide preset massage programs and cannot meet users' needs for precise massage of specific parts of the body. Summary of the invention

[0003] The embodiments of the present application disclose a sofa-based massage control method, device, electronic device and storage medium, which can meet the user's demand for precise massage of specific positions of body parts through the sofa.

[0004] In a first aspect, an embodiment of the present application discloses a sofa-based massage control method, which is applied to a sofa, wherein the sofa comprises a posture detection module and at least one massage component, wherein the posture detection module is used to detect three-dimensional posture information of a user's body, and the method comprises:

[0005] receiving the three-dimensional posture information of the user's body sent by the posture detection module, and sending the three-dimensional posture information to the user interaction system;

[0006] Acquire interaction information in a user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in a three-dimensional space;

[0007] Determine second position information of the body part in the sofa coordinate system according to the first position information;

[0008] According to the second position information, the first massage component at the corresponding position is controlled to massage the body part, or the second massage component is controlled to move to the position corresponding to the second position information to massage the body part.

[0009] As an optional implementation manner, in the first aspect of this embodiment, determining the second position information of the body part in the sofa coordinate system according to the first position information includes:

[0010] The sofa pre-stores a conversion relationship between a user interaction system coordinate system and the sofa coordinate system, and uses the conversion relationship to convert the first position information from the user interaction system coordinate system to the sofa coordinate system to obtain second position information of the body part in the sofa coordinate system.

[0011] As an optional implementation manner, in the first aspect of this embodiment, controlling the first massage component at a corresponding position according to the second position information to massage the body part, or controlling the second massage component to move to a position corresponding to the second position information to massage the body part, includes:

[0012] Acquire position information of all massage components, and when it is detected that the first massage component does not exist at the corresponding position, determine that the massage component closest to the corresponding position is the second massage component;

[0013] The moving track of the second massage component is determined according to the position information of the second massage component and the second position information.

[0014] As an optional implementation, in the first aspect of this embodiment, determining the moving track of the second massage component according to the position information of the second massage component and the second position information includes:

[0015] Inputting the position information of the second massage component and the second position information into an algorithm model to obtain target movement trajectory data of the second massage component;

[0016] The second massage component is controlled to move along a predetermined trajectory according to the target movement trajectory data.

[0017] As an optional implementation, in the first aspect of this embodiment, the sofa further includes a pressure sensor and a bioelectric sensor, and the pressure sensor and the bioelectric sensor are used to detect the fatigue degree of the user's body part, and the method further includes:

[0018] Acquiring a fatigue degree of a body part selected by the user according to the three-dimensional posture information;

[0019] The massage parameters of the first massage component or the second massage component are determined according to the fatigue level of the body part.

[0020] As an optional implementation manner, in the first aspect of this embodiment, obtaining the fatigue level of the body part selected by the user according to the three-dimensional posture information includes:

[0021] Acquiring pressure data collected by the pressure sensor and bioelectric signals collected by the bioelectric sensor;

[0022] The fatigue degree of the body part is determined according to the pre-stored pressure data range and the mapping relationship between the bioelectric signal characteristics and the fatigue level.

[0023] As an optional implementation, in the first aspect of this embodiment, before determining the massage parameters of the first massage component or the second massage component according to the fatigue level of the body part, the method further includes:

[0024] Acquiring physiological data information of the user;

[0025] The recommended massage information is sent to the user interaction system according to the physiological data information and the fatigue degree of the body part.

[0026] A second aspect of an embodiment of the present application discloses a sofa-based massage control device, which is applied to a sofa. The sofa includes a posture detection module and at least one massage component. The device includes:

[0027] A posture detection module is used to detect the three-dimensional posture information of the user's body;

[0028] An interaction module, configured to receive the three-dimensional posture information of the user's body sent by the posture detection module, and send the three-dimensional posture information to a user interaction system;

[0029] Acquire interaction information in a user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in a three-dimensional space;

[0030] A coordinate conversion module, used for determining second position information of the body part in the sofa coordinate system according to the first position information;

[0031] The massage control module is used to control the first massage component at the corresponding position to massage the body part according to the second position information, or to control the second massage component to move to the corresponding position to massage the body part.

[0032] A third aspect of an embodiment of the present application discloses an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method described above.

[0033] A fourth aspect of an embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon, and the computer program implements the method described above when executed by a processor.

[0034] Compared with the related art, the embodiments of the present application include at least the following beneficial effects:

[0035] The sofa receives the three-dimensional posture information of the user's body sent by the posture detection module, and sends the three-dimensional posture information to the user interaction system; obtains interaction information in the user interaction system, the interaction information is used to indicate the first position information of the body part selected by the user according to the three-dimensional posture information in the three-dimensional space; determines the second position information of the body part in the sofa coordinate system according to the first position information; controls the first massage component at the corresponding position to massage the body part according to the second position information, or controls the second massage component to move to the position corresponding to the second position information to massage the body part.

[0036] In an embodiment of the present application, the sofa can detect the user's three-dimensional posture information through a posture detection module, and obtain the first position information of the body part selected by the user in the three-dimensional space, determine the second position information of the selected body part in the sofa coordinate system according to the first position information, and control the massage component to massage the body part selected by the user, thereby meeting the user's demand for precise massage of specific positions of the body parts, and also increasing the interactivity between the user and the massage sofa, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 This is an application scenario diagram of a sofa-based massage control method in an embodiment;

[0039] Figure 2 is a flowchart of a sofa-based massage control method in one embodiment;

[0040] Figure 3 is a flow chart of a control method of a second massage component in one embodiment;

[0041] Figure 4 A flow chart of a method for determining massage parameters of a massage component in one embodiment;

[0042] Figure 5 is a block diagram of a sofa-based massage control device in one embodiment;

[0043] Figure 6 FIG. 4 is a structural block diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first instruction and the second instruction are to distinguish different user instructions, and their order is not limited. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily limit them to be different.

[0046] It should be noted that, in this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0047] In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, where a, b, c can be single or multiple.

[0048] In addition, the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0049] The embodiments of the present application disclose a sofa-based massage control method, device, electronic device and storage medium, which can meet the user's demand for precise massage of specific body parts, increase the interactivity between the user and the massage sofa, and improve the user experience. The following are detailed descriptions.

[0050] See also Figure 1 , Figure 1 FIG. 1 is an application scenario diagram of a sofa-based massage control method in an embodiment. Figure 1 As shown, the application scenario may include a posture detection module 10, a user interaction system 20, a sofa 30 and a massage component 40, wherein the posture detection module 10 establishes a communication connection with the sofa 30, and the user interaction system 20 establishes a communication connection with the sofa 30. In one embodiment, the posture detection module 10 may also establish a communication connection with the user interaction system 20, wherein the massage component 40 may be independent of the sofa 30 or may be integrated on the sofa 30, which is not limited in the embodiment of the present invention.

[0051] In the embodiment of the present application, the posture detection module 10 is used to detect the three-dimensional posture information of the user's body. It can be a depth camera using structured light or time-of-flight (ToF) technology, which can detect the distance between the user's body and the sofa, and the relative position relationship between various parts of the user's body. By analyzing the depth changes on the user's body surface, the user's sitting posture, the degree of body curvature, and the position relationship between various body parts can be determined.

[0052] The posture detection module 10 can also be a combination of a depth camera and an infrared sensor. The depth camera can obtain the three-dimensional depth information of the user's body and can accurately identify the user's body contour and joint position. For example, the depth camera can determine the spatial position of the user's head, shoulders, waist and other key parts. The infrared sensor can detect the thermal radiation of the user's body, thereby determining the user's body activity state and posture changes. By combining the two, the three-dimensional posture information of the user's body can be detected. The posture detection module 10 can send the detected three-dimensional posture information of the user's body to the sofa 30, or directly to the user interaction system 20, and can detect the three-dimensional posture information of the user's body in real time during the user's use.

[0053] The sofa 30 can realize interactive operation with the user through the user interaction system 20. The user can select the body part to be massaged through the three-dimensional posture information of the user's body obtained from the user interaction system 20. The user interaction system 20 generates the position information of the body part in the three-dimensional space and sends the position information to the sofa 30, thereby realizing the interactive operation between the user and the sofa 30. In addition, the user can also select massage mode, parameters, etc. through the user interaction system 20. The user interaction system 20 can be a touch screen, a control panel installed on the sofa 30, or an external device display connected to the sofa 30, such as a tablet computer, a laptop computer, a mobile phone, a TV, etc. In some embodiments, the user interaction system 20 can also be a wearable device (such as a smart watch, a smart bracelet, smart glasses, etc.), and a virtual reality device, such as a VR helmet, AR glasses, etc.

[0054] The sofa 30 may include but is not limited to a microprocessor, a sensor, a communication module, etc. The sensors provided on the sofa 30 may include a pressure sensor and a bioelectric sensor. The sofa 30 may collect pressure data of a body part selected by the user through the pressure sensor, and collect bioelectric signals of the body part through the bioelectric sensor. In the embodiment of the present application, the pressure sensor and the bioelectric sensor may be provided in the armrest area, the backrest area, and the cushion area of ​​the sofa 30, or may be integrated in the massage component 40. It should be noted that the bioelectric sensor provided on the sofa 30 may be a non-contact bioelectric sensor. The microprocessor of the sofa 30 may be used to determine the second position information of the body part selected by the user in the three-dimensional space, and control the massage component 40 to massage the body part selected by the user according to the second position information.

[0055] In the embodiment of the present application, the communication module of the sofa 30 can receive the three-dimensional posture information of the user's body sent by the posture detection module 10, and send the three-dimensional posture information to the user interaction system; it can also receive the interaction information sent by the user interaction system. The communication module may include a wireless communication module and a wired communication module. The wireless communication module may include but is not limited to a Bluetooth Low Energy (BLE) module, a Wireless Fidelity (Wi-Fi) module, a cellular module, a Low Power Wide Area Network (LPWAN) module, a ZigBee module, etc., wherein the cellular module may include but is not limited to the fourth generation mobile communication technology (4G), the fifth generation mobile communication technology (5G), etc. The wired communication module may include but is not limited to wired interfaces such as RS-485 (Recommended Standard 485) interface and Ethernet interface.

[0056] The massage component 40 may be a mechanical massage component installed in the sofa 30, such as a massage roller, a massage ball, a vibrator, and an inflatable and deflated airbag, etc. The massage ball and the massage wheel may roll or rotate along a specific path to simulate a massage effect, such as squeezing, massaging, kneading, etc. In some embodiments, the massage roller may be used to deeply massage the back and waist of the human body in the area where the massage sofa is placed, and the soft massage ball may be used to gently massage the neck and shoulders of the human body in the neck and shoulder area of ​​the massage sofa. The vibrator may also be used to generate vibrations of different frequencies and intensities to stimulate body tissues, promote blood circulation and muscle relaxation, and the airbag may be installed in different parts of the sofa, such as the legs, buttocks, waist, and arms, etc. In the embodiment of the present application, the sofa 30 may control the working state of the massage component 40, such as controlling the massage component 40 to start or stop the massage, and may also control the massage component 40 to move according to a preset moving trajectory.

[0057] See also Figure 2 , Figure 2 FIG. 1 is a flowchart of a sofa-based massage control method in one embodiment. The method can be applied to Figure 1 The sofa shown in the figure includes a posture detection module and at least one massage component. Figure 2 As shown, the method may include the following steps:

[0058] Step 201: receiving three-dimensional posture information of a user's body sent by a posture detection module, and sending the three-dimensional posture information to a user interaction system.

[0059] In some embodiments, the three-dimensional posture information of the user's body includes information about the position and direction of the user's body in three-dimensional space, wherein the position information is used to determine the specific coordinate positions of the key parts of the user's body (such as the head, shoulders, chest, waist, hips, limbs, etc.) in three-dimensional space. For example, taking the space where the sofa is located as the reference system, the coordinates of the user's head are determined to be (X1, Y1, Z1), where X, Y, and Z represent the positions on the three coordinate axes respectively. The position information can also determine the relative position relationship between the various parts of the user's body. For example, the distance between the head and the shoulder, the angle between the arm and the body, etc., these relative position information can more accurately obtain the user's body posture and movement, and the position information can be expressed in different ways, such as three-dimensional coordinates (x, y, z), offset relative to a reference point, etc. The direction information includes the orientation of the user's body and the joint angle, etc., and the orientation of the user's body as a whole can be expressed by determining the angle of the main axis of the body (such as the direction of the spine) in three-dimensional space, such as facing forward, sideways or backward, etc. The joint angle information can be the bending and rotation angles of each joint. For example, the bending angle of the elbow, the extension angle of the knee joint, the twisting angle of the neck, etc., these joint angle information can reflect the user's specific posture and movement status.

[0060] The sofa can establish a communication connection with the posture detection module and the user interaction system through a wired connection (such as USB, serial port, etc.) or a wireless connection (such as Bluetooth, Wi-Fi, etc.) to provide the user with real-time three-dimensional posture information feedback, which can be achieved by sending data at regular intervals, event triggering, etc. For example, the sofa can send the latest three-dimensional posture information to the user interaction system at regular intervals (such as 100 milliseconds), or when the posture detection module detects a significant change in the user's body posture, it immediately sends the updated three-dimensional posture information. At the same time, the sofa can also communicate with the user interaction system in a two-way manner, receive the user's operation instructions, and feed them back to the sofa.

[0061] Step 202: Acquire interaction information in the user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in the three-dimensional space.

[0062] In an embodiment of the present application, the three-dimensional posture information of the user's body displayed in the user interaction system can be the original three-dimensional point cloud model of the user's body obtained by the depth camera in the posture detection module. In the image, each point represents a measurement point on the surface of the body, and different colors can represent different depth values. In this way, the general shape and outline of the body can be intuitively seen. The user can observe various parts of the body from different angles by rotating and scaling the point cloud model. For example, by rotating the model, you can clearly see the back, side and other parts that are usually difficult to directly observe. In order to facilitate users to distinguish various parts of the body, the point cloud data of different parts of the body can be colored, or annotations can be added to the point cloud model to mark the names of various major body parts, such as "head", "left shoulder", "right shoulder", etc. When the user moves the mouse pointer to the annotated area, the point cloud of the part can be highlighted to facilitate user selection.

[0063] In some embodiments, the user interaction system can also convert the point cloud data into a smooth three-dimensional mesh model, and the user can select the area to be massaged by clicking on different parts of the mesh model. When the user selects a part, the part can be highlighted, or a window can pop up to display detailed information about the part, or a massage mode can be selected. When the user moves or adjusts his posture on the massage sofa, the mesh model can be updated in real time to display the three-dimensional posture of the body. For example, if the user changes his body posture, the mesh model will deform accordingly, so that the user can select the body part to be massaged in different body postures.

[0064] The user can view the three-dimensional posture information of the body provided by the posture detection module through the user interaction system, and then select a specific body part in the user interaction system according to his needs and perception of his physical condition. For example, the user can select the waist, shoulder, neck and other parts by touching the screen, clicking the mouse, voice command and the like. When the user selects a body part, the user interaction system will generate corresponding interaction information, and the interaction information contains the position information of the body part selected by the user in the three-dimensional space. For example, if the user selects the shoulder, the first position information represents the coordinate value of the shoulder in the three-dimensional coordinate system, and the coordinate value can be used to control the positioning and movement of the massage component of the sofa to ensure that the massage can accurately act on the body part selected by the user. The three-dimensional coordinate system here is a three-dimensional coordinate system generated in the user interaction system, and this coordinate system can be established based on specific rules and reference points. For example, the origin of the coordinate system can be set to a fixed point of the sofa, or a specific part of the user's body (such as the center of the waist), and the direction of the coordinate axis can be defined according to the actual situation, such as the length direction of the sofa as the X axis, the width direction as the Y axis, and the height direction as the Z axis.

[0065] Step 203: Determine second position information of the body part in the sofa coordinate system according to the first position information.

[0066] In the embodiment of the present application, the sofa coordinate system is established to determine the position of the massage component on the sofa and the corresponding relationship with the user's body parts. It uses the sofa as a reference to ensure that the massage component can accurately reach the user's selected body part for massage. For example, the origin of the sofa coordinate system can be set to a fixed point of the sofa, such as the center or corner of the sofa. The direction of the coordinate axis can be determined according to the structure and layout of the sofa, usually corresponding to the length, width and height of the sofa, and is closely integrated with the actual physical layout of the massage component in the sofa, which can provide an accurate reference for the positioning and motion control of the massage component.

[0067] The second position information is the target position of the massage component in the sofa coordinate system. The sofa can control the massage component to move to the corresponding position according to the second position information in the sofa coordinate system to massage the body part selected by the user. The second position information can be a set of specific three-dimensional coordinate values, such as (X2, Y2, Z2), where X2 represents the position of the body part in the sofa coordinate system along the length direction of the sofa, Y2 represents the position along the width direction of the sofa, and Z2 represents the position along the height direction of the sofa. Alternatively, it can also be represented by an offset relative to a specific reference point on the sofa, such as the distance value of the body part from the upper left corner vertex of the sofa in three directions. In addition, it can also be presented in the form of a combination of angles and distances. For example, if there is a specific reference direction in the sofa coordinate system, then the second position information can include the angle between the body part and the reference direction and the distance to a fixed point on the sofa, which is not specifically limited here.

[0068] In the embodiment of the present application, the sofa pre-stores the conversion relationship between the user interaction system coordinate system and the sofa coordinate system, and uses the conversion relationship to convert the first position information from the user interaction system coordinate system to the sofa coordinate system to obtain the second position information of the body part in the sofa coordinate system. The conversion relationship is a mapping relationship, the purpose of which is to accurately correspond the position information specified by the user in the interactive system to the actual position on the sofa, so as to control the massage component to perform precise massage.

[0069] In practice, in order to ensure the accuracy of the conversion, the sofa can be continuously optimized through multiple actual measurements and calibrations when pre-storing the conversion relationship. For example, in different usage scenarios, the multiple positions specified by the user in the interactive system are compared with the actual positions on the sofa, and the conversion parameters are adjusted to make the mapping relationship more accurate. In this way, no matter what posture the user sits in on the sofa, the accurate conversion of the position information can be guaranteed. Secondly, this mapping relationship is not limited to static position conversion. When the user performs dynamic operations in the interactive system, such as adjusting the selection of body parts or moving the indicator points in the interactive system, the sofa can update the position information of the body parts in the sofa coordinate system in real time according to the conversion relationship, so that the massage component can quickly respond to the user's dynamic needs and achieve more flexible and personalized massage services.

[0070] Step 204: Control the first massage component at the corresponding position to massage the body part according to the second position information, or control the second massage component to move to the position corresponding to the second position information to massage the body part.

[0071] In the embodiment of the present application, after the second position information of the body part in the sofa coordinate system is determined, the sofa will quickly detect whether the first massage component already exists at the position. If a massage component already exists at the corresponding position of the body part, the sofa will immediately start the working state of the first massage component, so that the first massage component can perform precise massage on the designated body part according to the preset massage mode and parameters. For example, if the second position information corresponds to the user's neck position, and there happens to be a first massage component specially designed for neck massage at this position, then this massage component will be started, and the user's neck fatigue will be relieved through appropriate massage techniques such as kneading and massage.

[0072] In some embodiments, the position of the massage component in the sofa may not be limited to a fixed area, that is, the second massage component can be moved to the target position according to a preset moving trajectory, and the initial position of the second massage component in the sofa may be a specific area of ​​the sofa so as not to affect the normal sitting of the user when not in use. For example, the initial position of the second massage component can be set at the bottom or side of the sofa, and when it is needed, it is controlled to move to the target position. In order to accurately detect the position information of the second massage component, a position sensor can be installed on the second massage component, or a sensor for detecting the position information of the second massage component can be installed in the sofa. The position sensor can continuously monitor the position of the second massage component and send the real-time position information to the sofa. When the second massage component moves inside the sofa, the position sensor will collect position data at a very high frequency. These data may include the three-dimensional coordinate position, direction angle and other information of the massage component in the sofa coordinate system, and the sensor will transmit these data to the sofa in real time through wired communication or wireless communication, so that the sofa can accurately control the movement of the massage component.

[0073] When the sofa determines that the second massage component needs to be used to massage a certain part of the body, the sofa will calculate the target position of the second massage component based on the second position information of the body part selected by the user in the sofa coordinate system. The target position corresponds to the position where the body part specified by the user contacts the sofa. For example, if the user needs to massage the shoulder, the system will move the second massage component to a position above the backrest area of ​​the sofa where it contacts the user's shoulder.

[0074] By adopting the above embodiment, the sofa can detect the three-dimensional posture information of the user through the posture detection module, and obtain the first position information of the body part selected by the user in the three-dimensional space, determine the second position information of the selected body part in the sofa coordinate system according to the first position information, and control the massage component to massage the body part selected by the user, thereby meeting the user's demand for precise massage of specific positions of the body part, and also increasing the interactivity between the user and the massage sofa, thereby improving the user experience.

[0075] See also Figure 3 , Figure 3 This is a flow chart of a control method of the second massage component in one embodiment. The method may include the following steps:

[0076] Step 301, obtaining the position information of all massage components.

[0077] In one embodiment, the position information of all massage components can be obtained by installing position sensors on all massage components, or by installing corresponding sensors in the sofa to obtain the position information of the massage components, for example, Hall position sensors, capacitive position sensors, photoelectric position sensors, magnetostrictive position sensors, encoder position sensors, etc., which are not specifically limited in the embodiments of the present application.

[0078] Step 302, detecting whether there is a first massage component at a corresponding position.

[0079] In the embodiment of the present application, the corresponding position is the position where the body part selected by the user according to his / her three-dimensional posture information contacts the sofa. The sofa can receive the position information of all massage components collected by the position sensor, which may include the three-dimensional coordinates, direction, speed, etc. of the massage components in the sofa coordinate system. According to the position where the body part selected by the user contacts the sofa, the three-dimensional coordinate range of the corresponding position is determined, and then the position information of each massage component is compared with the coordinate range of the corresponding position. If the coordinates of the massage component are within the range of the corresponding position, it is considered that the massage component is at the corresponding position; if not within the range, it is considered that it is not at the corresponding position.

[0080] Step 303, controlling the first massage component to massage the body part.

[0081] If the sofa detects that the first massage component does not exist at the corresponding position, the second massage component is controlled to move to the corresponding target position. If the sofa detects that the first massage component exists at the corresponding position, the first massage component is controlled to massage the body part selected by the user.

[0082] Step 304: determine that the massage component closest to the corresponding position is the second massage component.

[0083] In one embodiment, the sofa can traverse all massage components and calculate the distance between each massage component and the corresponding position. For example, the distance between the three-dimensional coordinates of each massage component and the coordinates of the corresponding position is calculated using the Euclidean distance formula or other distance calculation methods, and then the massage component closest to the corresponding position is determined to be the second massage component.

[0084] Step 305: input the position information of the second massage component and the second position information into the algorithm model to obtain the target movement trajectory data of the second massage component.

[0085] In the embodiment of the present application, the second position information is the three-dimensional coordinate value corresponding to the target moving position of the second massage component in the sofa coordinate system. The three-dimensional coordinate position information of the second massage component in the sofa coordinate system can be obtained by detecting the position sensor. According to the position information of the second massage component and the second position information, the target moving trajectory data of the second massage component can be obtained in combination with the algorithm model. The algorithm model can be a path planning algorithm, a machine learning algorithm, etc. Common path planning algorithms include A* algorithm, Dijkstra algorithm, RRT (rapidly expanding random tree) algorithm, etc. These algorithms can search for the optimal path in a given environment according to the starting position and the target position. Further, the path planning algorithm can be optimized according to the motion constraints and user experience requirements of the massage component. For example, smoothing can be added to make the trajectory smoother and more comfortable; consider the speed, acceleration and other restrictions of the massage component to ensure the feasibility of the trajectory. In some embodiments, a machine learning algorithm can also be used to predict the target moving trajectory of the second massage component, such as decision trees, random forests, recurrent neural networks and other algorithms.

[0086] The target movement trajectory data of the second massage component includes the three-dimensional coordinate values ​​that the second massage component should reach at different time points, and the coordinate values ​​are determined in the sofa coordinate system. In addition to the absolute coordinates, the target movement trajectory data can also include the relative position information of the second massage component relative to a specific part of the human body or other reference points, such as the lateral and longitudinal distances of the massage component relative to the center of the human spine, or the height difference relative to the highest point of the human shoulder, etc., to ensure that the second massage component can accurately locate the area that needs massage, and can be adjusted according to the body shape of different users. The target movement trajectory data of the second massage component can also include the speed change of the second massage component during the movement. For example, in the early stage of movement, in order to quickly reach the target position, a higher movement speed will be set; and when approaching the target position, the speed will gradually decrease to ensure accurate positioning.

[0087] Step 306: Control the second massage component to move along a predetermined trajectory according to the target movement trajectory data.

[0088] In an embodiment of the present application, after the sofa obtains the target movement trajectory data of the second massage component, it will generate corresponding control instructions to control the movement of the second massage component. In a specific implementation, the position sensor monitors the position information of the second massage component in real time and sends the position information to the sofa. The controller in the sofa calculates the control instructions based on the target movement trajectory data and the actual status information fed back by the sensor to drive the actuator to achieve precise control of the massage component.

[0089] The controller can use a variety of control algorithms, such as proportional-integral-differential (PID) control algorithm, fuzzy control algorithm, neural network control algorithm, etc. By comparing the difference between the actual position and the target position, the control instruction is adjusted in real time to move the second massage component toward the target position. For example, a position error feedback control method can be used to calculate the control amount according to the deviation between the current position and the target position, and adjust the speed and direction of the motor to reduce the position error.

[0090] The actuator is responsible for converting the control instructions issued by the controller into actual actions, driving the second massage component to move along a predetermined trajectory. The actuator usually includes a motor, a driver and a transmission mechanism. The motor provides power, the driver controls the speed and direction of the motor, and the transmission mechanism converts the rotational motion of the motor into linear motion or curved motion of the massage component.

[0091] By adopting the above embodiment, the sofa can quickly determine the available massage component closest to the target position by obtaining the position information of all massage components and performing detection and screening, thereby shortening the time required for the massage component to reach the target position, improving the response speed of the massage service, and controlling the movement of the massage component according to the target movement trajectory data, which can ensure that the massage component accurately reaches the target position, achieve precise massage at a specific position, and better meet the needs of users.

[0092] In the process of the sofa controlling the corresponding massage component to massage the body part selected by the user according to the second position information, the massage parameters of the massage component can be selected according to the user's preference, or the massage parameters of the massage component can be determined according to the user's physical condition. The massage parameter determination method of the massage component is described in detail below.

[0093] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a method for determining massage parameters of a massage component in one embodiment. Figure 4 As shown, the method may include the following steps:

[0094] Step 401, obtaining pressure data collected by a pressure sensor and a bioelectric signal collected by a bioelectric sensor.

[0095] In some embodiments, pressure sensors can be installed in different parts of the sofa, such as the seat cushion area, the backrest area, the armrest area, and the leg placement area. These pressure sensors can monitor the pressure distribution of the user's body on various parts of the sofa in real time, thereby obtaining the pressure value applied to the sofa by the body part selected by the user, and the fatigue status of the body part can be obtained based on the pressure of the body part.

[0096] In some embodiments, some smart materials can change their physical properties, such as resistance, capacitance, etc., according to the pressure and deformation they are subjected to. By applying smart materials to the surface or internal structure of a sofa, the effect of the user's body on the sofa can be sensed, thereby inferring the degree of fatigue. For example, a smart material layer is embedded in the seat cushion, backrest and other parts of the sofa. When the user sits on the sofa, the smart material will change according to the pressure and shape of the user's body. By measuring the change in resistance or capacitance of the smart material, the pressure distribution and deformation of various parts of the user's body can be understood. For example, if the resistance of the smart material in a certain area changes greatly, it means that the pressure on this part is greater and the degree of fatigue may be higher.

[0097] In some embodiments, the bioelectric sensor can be a wearable bioelectric sensor, such as a patch electrode or a bracelet, which can detect the bioelectric signals of selected body parts. For example, if the user wants to detect the degree of arm fatigue, he can wear a bracelet with an electromyography sensor. The bioelectric sensor is wirelessly connected to the sofa's system and transmits the collected bioelectric signals to the sofa for analysis. The frequency and amplitude changes of the electromyography signal can reflect the degree of muscle fatigue. For example, when the muscles of a part of the user's body are fatigued, the frequency of the electromyography signal will usually decrease and the amplitude will increase. By monitoring the changes in the bioelectric signal, the fatigue state of the user's body part can be determined.

[0098] Step 402, determining the fatigue degree of the body part according to the pre-stored pressure data range and the mapping relationship between the bioelectric signal characteristics and the fatigue level.

[0099] Exemplarily, the pressure data range of different body parts under different fatigue states can be determined through a large number of experiments and data collection. For example, for the back, the pressure data can be divided into three ranges of low, medium and high, corresponding to mild fatigue, moderate fatigue and severe fatigue respectively. Afterwards, the collected pressure data is statistically analyzed to determine the pressure range boundary value corresponding to each fatigue level. For example, when the back pressure is between 0 and 50 Newtons, it is mild fatigue, 50 to 100 Newtons is moderate fatigue, and more than 100 Newtons is severe fatigue. Similarly, through experiments and data collection, the bioelectric signal characteristics of different body parts under different fatigue states are extracted, for example, the frequency and amplitude of the electromyographic signal. When the back muscles are fatigued, the frequency of the electromyographic signal will decrease and the amplitude will increase. These characteristics are matched with the fatigue level to establish a mapping relationship. The mapping relationship between the pressure data range and the bioelectric signal characteristics and the fatigue level is stored in a database, which can be a storage device built into the sofa or an external server connected to the sofa.

[0100] Step 403, determining massage parameters of the first massage component or the second massage component according to the fatigue level of the body part.

[0101] In some embodiments, the pressure data of the user's body parts collected in real time can be compared with the pressure data range in the database to determine the fatigue level range to which the pressure data belongs. For example, if the back pressure is 80 Newtons, it is judged as moderate fatigue according to the mapping relationship in the database; in addition, the sofa analyzes the extracted bioelectric signal features and compares them with the mapping relationship between the bioelectric signal features and the fatigue level in the database. For example, if the frequency of the back electromyographic signal decreases and the amplitude increases, it meets the characteristics of moderate fatigue, and further confirms that the fatigue level is moderate fatigue. Furthermore, the analysis results of the pressure data and the bioelectric signal can be combined to make a comprehensive judgment to determine the fatigue level of the body part. If both the pressure data and the bioelectric signal point to the same fatigue level, then it can be determined that the fatigue level of the body part is at that level. If the results of the two are inconsistent, a comprehensive judgment can be made based on certain weights.

[0102] In some embodiments, after determining the fatigue degree of a user's body part according to the above method, the sofa can adjust the massage parameters of the massage component in real time according to the fatigue degree of the body part. The massage parameters of the massage component may include massage intensity, massage frequency, massage mode (such as kneading, tapping, massage, etc.), massage range, etc. Exemplarily, the fatigue degree of a body part can be divided into several levels such as mild, moderate, and severe, and each level corresponds to a different massage parameter adjustment direction. For example, when the fatigue is mild, the massage intensity and frequency can be appropriately increased to promote blood circulation and relieve slight muscle tension; when the fatigue is moderate, the massage intensity and frequency can be further increased, but the user's comfort must be ensured; when the fatigue is severe, a gentler massage method can be used to avoid excessive muscle stimulation.

[0103] In the embodiment of the present application, before determining the massage parameters of the first massage component or the second massage component according to the fatigue degree of the body part, the sofa can also obtain the physiological data information of the user, and send the recommended massage information to the user interaction system according to the physiological data information and the fatigue degree of the body part. Exemplarily, the physiological data information of the user can be obtained through a physiological data acquisition device installed in the armrest area of ​​the sofa, such as obtaining the user's blood pressure data through a PPG sensor, obtaining the user's body temperature through a temperature sensor, and obtaining the user's heart rate data through a heart rate sensor. These sensors can be integrated in the physiological data acquisition device or in wearable devices such as smart bracelets and watches. The sofa generates information such as massage intensity, massage frequency, massage mode, and massage time suitable for the user's current physical state based on the collected user's physiological data information and the fatigue degree of the user's body part, and sends this information to the user interaction system. The user can directly view and choose whether to accept the recommended massage plan in the user interaction system. If the user chooses to accept this plan, the sofa controls the massage component to massage the user's body part according to the generated massage parameters, or the user can also independently select the massage parameters of the massage component, and the sofa controls the massage component to massage the user's body part according to the massage parameters selected by the user.

[0104] By adopting the above embodiment, the sofa can adjust the massage parameters of the massage component in real time according to the fatigue level of the user's body parts, and provide the user with more accurate and personalized recommended massage information by obtaining the user's physiological data information and combining it with the fatigue level of the body parts, thereby improving the user's massage experience and effect.

[0105] In some other embodiments, a user feedback mechanism is also provided in the user interaction system to provide a feedback channel for users, so that users can evaluate the massage effect according to their own feelings. For example, users can provide feedback through the user interaction system on whether the massage intensity is appropriate, whether the massage mode is comfortable, etc. Furthermore, the sofa can also adjust the massage parameters through software algorithms according to the fatigue degree of body parts and user feedback information, as well as the user's physiological data information. For example, using a fuzzy logic control algorithm, parameters such as massage intensity, frequency, and mode can be automatically adjusted according to the fatigue degree of body parts and user feedback information, as well as physiological data information.

[0106] In some other embodiments, the sofa can control the massage component to perform massage according to the massage parameters selected by the user. In this case, the sofa can activate a protection mechanism to ensure that the massage component does not cause harm to the user when the user adjusts the massage parameters independently. For example, when the massage intensity or frequency exceeds a certain limit, the massage is automatically stopped or the massage parameters are reduced. In addition, long-term massage may cause the temperature of the massaged part to rise, causing discomfort. The sofa can be equipped with a temperature sensor to monitor the temperature of the massaged part in real time. When the temperature exceeds a certain limit, the massage intensity is automatically reduced or the massage is suspended.

[0107] See also Figure 5 , Figure 5 FIG. 1 is a block diagram of a sofa-based massage control device according to an embodiment of the present invention. Figure 5 As shown, the sofa-based massage control device 500 may include a posture detection module 510 , an interaction module 520 , a coordinate conversion module 530 , and a massage control module 540 .

[0108] A posture detection module 510 is used to detect three-dimensional posture information of a user's body;

[0109] An interaction module 520, configured to receive the three-dimensional posture information of the user's body sent by the posture detection module, and send the three-dimensional posture information to a user interaction system;

[0110] Acquire interaction information in a user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in a three-dimensional space;

[0111] A coordinate conversion module 530, configured to determine second position information of the body part in the sofa coordinate system according to the first position information;

[0112] The massage control module 540 is used to control the first massage component at the corresponding position to massage the body part according to the second position information, or control the second massage component to move to the position corresponding to the second position information to massage the body part.

[0113] In some embodiments, the sofa-based massage control device 500 pre-stores a conversion relationship between a user interaction system coordinate system and the sofa coordinate system, and uses the conversion relationship to convert the first position information from the user interaction system coordinate system to the sofa coordinate system to obtain the second position information of the body part in the sofa coordinate system.

[0114] In some embodiments, the massage control module 540 is specifically configured to:

[0115] Acquire the position information of all massage components, and when it is detected that the first massage component does not exist at the corresponding position, determine that the massage component closest to the corresponding position is the second massage component;

[0116] The moving track of the second massage component is determined according to the position information of the second massage component and the second position information.

[0117] In some embodiments, the massage control module 540 is specifically configured to:

[0118] Inputting the position information of the second massage component and the second position information into an algorithm model to obtain target movement trajectory data of the second massage component;

[0119] The second massage component is controlled to move along a predetermined trajectory according to the target movement trajectory data.

[0120] In some embodiments, the massage control module 540 is specifically configured to:

[0121] Acquiring pressure data collected by the pressure sensor and bioelectric signals collected by the bioelectric sensor;

[0122] The fatigue degree of the body part is determined according to the pre-stored pressure data range and the mapping relationship between the bioelectric signal characteristics and the fatigue level.

[0123] In some embodiments, the interaction module 520 is specifically configured to:

[0124] Acquiring physiological data information of the user;

[0125] The recommended massage information is sent to the user interaction system according to the physiological data information and the fatigue degree of the body part.

[0126] In an embodiment of the present application, the sofa can detect the user's three-dimensional posture information through a posture detection module, and obtain the first position information of the body part selected by the user in the three-dimensional space, determine the second position information of the selected body part in the sofa coordinate system according to the first position information, and control the massage component to massage the body part selected by the user, thereby meeting the user's demand for precise massage of specific positions of the body parts, and also increasing the interactivity between the user and the massage sofa, thereby improving the user experience.

[0127] Figure 6 FIG. 1 is a structural block diagram of an electronic device in an embodiment. Figure 6 As shown, the terminal electronic device 600 may include: a memory 610 storing executable program codes and a processor 620 coupled to the memory 610 .

[0128] The processor 620 calls the executable program code stored in the memory 610 to execute any one of the sofa-based massage control methods disclosed in the embodiments of the present application. Those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0129] The processor 620 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 610, and calling data stored in the memory 610, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 620 may include one or more processing units; preferably, the processor 620 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 620.

[0130] The memory 610 can be used to store software programs and modules, and the processor 620 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 610. The memory 610 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 610 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0131] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program implements the methods described in the above embodiments when executed by a processor.

[0132] An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0133] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a ROM, etc.

[0134] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (Programmable ROM, PROM), erasable PROM (Erasable PROM, EPROM), electrically erasable PROM (Electrically Erasable PROM, EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. By way of illustration and not limitation, RAM may be in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM) and direct memory bus dynamic RAM (DRDRAM).

[0135] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application. It should be noted that "multiple" in the present application includes "two or more".

[0136] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0137] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0139] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above is a detailed introduction to a sofa-based massage control method, device, electronic device and storage medium disclosed in the embodiment of the present application. The principle and implementation method of the present application are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A sofa-based massage control method, characterized in that: Applied to a sofa, the sofa comprises a posture detection module and at least one massage component, the posture detection module is used to detect three-dimensional posture information of a user's body, and the method comprises: receiving the three-dimensional posture information of the user's body sent by the posture detection module, and sending the three-dimensional posture information to the user interaction system; Acquire interaction information in a user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in a three-dimensional space; Determine second position information of the body part in the sofa coordinate system according to the first position information; According to the second position information, the first massage component at the corresponding position is controlled to massage the body part, or the second massage component is controlled to move to the position corresponding to the second position information to massage the body part.

2. The method according to claim 1, characterized in that The determining the second position information of the body part in the sofa coordinate system according to the first position information includes: The sofa pre-stores a conversion relationship between a user interaction system coordinate system and the sofa coordinate system, and uses the conversion relationship to convert the first position information from the user interaction system coordinate system to the sofa coordinate system to obtain second position information of the body part in the sofa coordinate system.

3. The method according to claim 1, characterized in that The controlling the first massage component at the corresponding position according to the second position information to massage the body part, or controlling the second massage component to move to the position corresponding to the second position information to massage the body part, comprises: Acquire position information of all massage components, and when it is detected that the first massage component does not exist at the corresponding position, determine that the massage component closest to the corresponding position is the second massage component; The moving track of the second massage component is determined according to the position information of the second massage component and the second position information.

4. The method according to claim 3, characterized in that The step of determining the moving track of the second massage component according to the position information of the second massage component and the second position information includes: Inputting the position information of the second massage component and the second position information into an algorithm model to obtain target movement trajectory data of the second massage component; The second massage component is controlled to move along a predetermined trajectory according to the target movement trajectory data.

5. The method according to claim 1, characterized in that: The sofa further includes a pressure sensor and a bioelectric sensor, and the pressure sensor and the bioelectric sensor are used to detect the fatigue degree of the user's body parts. The method further includes: Acquiring a fatigue degree of a body part selected by the user according to the three-dimensional posture information; The massage parameters of the first massage component or the second massage component are determined according to the fatigue level of the body part.

6. The method according to claim 5, characterized in that The obtaining of the fatigue level of the body part selected by the user according to the three-dimensional posture information comprises: Acquiring pressure data collected by the pressure sensor and bioelectric signals collected by the bioelectric sensor; The fatigue degree of the body part is determined according to the pre-stored pressure data range and the mapping relationship between the bioelectric signal characteristics and the fatigue level.

7. The method according to claim 5, characterized in that Before determining the massage parameters of the first massage component or the second massage component according to the fatigue level of the body part, the method further includes: Acquiring physiological data information of the user; The recommended massage information is sent to the user interaction system according to the physiological data information and the fatigue degree of the body part.

8. A massage control device based on a sofa, characterized in that: Applied to a sofa, the sofa comprises a posture detection module and at least one massage component, the device comprises: A posture detection module is used to detect the three-dimensional posture information of the user's body; An interaction module, configured to receive the three-dimensional posture information of the user's body sent by the posture detection module, and send the three-dimensional posture information to a user interaction system; Acquire interaction information in a user interaction system, where the interaction information is used to indicate first position information of a body part selected by the user according to the three-dimensional posture information in a three-dimensional space; A coordinate conversion module, used for determining second position information of the body part in a sofa coordinate system according to the first position information; The massage control module is used to control the first massage component at the corresponding position to massage the body part according to the second position information, or control the second massage component to move to the corresponding position to massage the body part.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images