Human shoulder blade massage method and device of massage robot and robot

Abstract

The invention relates to a human shoulder blade massage method and device of a massage robot and the robot. The massage robot comprises a mechanical arm capable of freely moving, and a massage tool head used for massage is arranged on the mechanical arm. The massage method comprises the steps that a human body back image is acquired, and a human body shoulder blade area is determined; establishing a plane-coordinate system of the human body back based on the human body back image; drawing a pentagonal area according to the plane coordinate system, substituting vertex coordinates of the pentagonal area into a preset algorithm model to obtain a movement track, and finally controlling the mechanical arm to move so as to enable the massage tool head to massage the shoulder blade area of the human body along the movement track. According to the human body shoulder blade massage method of the massage robot, the massage track specially aiming at the human body shoulder blade position is designed through the algorithm model, a more comfortable massage method is provided for a user, the massage effect is effectively improved, and the user requirement is met.

Description

Technical Field

[0001] The present invention relates to the field of massage robots, and in particular to a method and device for massaging human scapula of a massage robot, and a robot. Background Art

[0002] In modern society, due to the increasing pressure of life and long periods of sitting work, people are often prone to problems such as back muscle fatigue, stiffness and discomfort. In order to alleviate these problems, people often relax their back muscles through massage, but traditional massage methods have the following problems: it requires professional masseurs to operate, is time-consuming and laborious, and the massage strength and techniques are difficult to accurately control. This method may have problems of fatigue and inconsistency. The massage method of existing massage robots usually requires finding the acupuncture points of the human body and switching between different acupuncture points to massage. This massage method cannot meet the needs of massaging specific parts of the human body.

[0003] To solve these problems, we proposed a method for massaging the human scapula area using a six-axis robot, a massage tool, and some specific techniques. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method, device and robot for massaging the human scapula of a massage robot to solve the problem that the existing massage robots only massage the acupuncture points of the human body but do not have a massage method for massaging the scapula position on the back of the human body.

[0005] In a first aspect, the present invention provides a method for massaging a human shoulder blade using a massage robot, wherein the massage robot comprises a freely movable mechanical arm, wherein a massage tool head for massage is provided on the mechanical arm, and the massage method comprises the following steps:

[0006] Acquire a human back image, and determine a human shoulder blade region according to the human back image;

[0007] Establishing a plane coordinate system of the human back based on the human back image;

[0008] Draw a pentagonal area according to the plane coordinate system, and obtain the vertex coordinates of each vertex of the pentagonal area; wherein the pentagonal area is an axisymmetric pentagonal shape;

[0009] Substituting the vertex coordinates into a preset algorithm model to generate a motion curve;

[0010] determining the motion trajectory of the massage tool head according to the motion curve;

[0011] The mechanical arm is controlled to move so that the massage tool head massages the shoulder blade area of ​​the human body along the motion trajectory.

[0012] Further, drawing a pentagonal area according to the plane coordinates and obtaining the vertex coordinates of each vertex of the pentagonal area includes:

[0013] Determining the coordinates of the scapula region according to the plane coordinate system;

[0014] A pentagonal area is drawn according to the scapula area coordinates; wherein the pentagonal area can cover the scapula area.

[0015] Furthermore, a pentagonal area is drawn according to the shoulder blade area, including:

[0016] The central coordinate of the top of the scapula region is used as a vertex B of the pentagonal region, and the two coordinate points A and E on the left side of the scapula region and the two coordinate points C and D on the right side of the scapula region are used as the remaining vertices of the pentagonal region;

[0017] Connect the vertices in the order of ABCDEA to draw a pentagonal area;

[0018] Further, drawing a pentagonal area according to the plane coordinate system and obtaining vertex coordinates of each vertex of the pentagonal area includes:

[0019] The vertex coordinates of each vertex are determined according to the position of each vertex in the plane coordinates; wherein the vertical coordinates of the vertices A and C are the same, and the vertical coordinates of the vertices E and D are the same.

[0020] Furthermore, the algorithm model expression is:

[0021] B(t)=(1-t) 2 P0+2t(1-t)P1+t 2 P2, t∈[0,1]

[0022] Wherein, t is a parameter of the expression, and its value range is [0,1], which is used to describe the movement process of a point on the curve on the entire curve path; B(t) represents the position of any point on the curve, P0 represents the starting endpoint, P2 represents the end point, and P1 is a point outside the curve, which is used to control the curvature of the curve.

[0023] Furthermore, substituting the vertex coordinates into a preset algorithm model to generate a motion curve includes:

[0024] Substituting the vertex coordinates of points A, B, and C into the algorithm model to generate a first motion curve; wherein vertices A and C are the starting end point and the end point of the first motion curve respectively;

[0025] Divide the first motion curve into three equal parts to obtain equal division points F and G;

[0026] Substituting the vertex coordinates of vertices A, E and equally divided point F into the algorithm model to generate a second motion curve; wherein vertex A and equally divided point F are the starting end point and the end point of the second motion curve respectively;

[0027] Substitute the vertex coordinates of vertices C, D and equally divided point G into the algorithm model to generate a third motion curve; wherein vertex C and equally divided point G are the starting end point and the end point of the third motion curve respectively.

[0028] Further, determining the motion trajectory of the massage tool head according to the motion curve includes:

[0029] The first motion curve, the second motion curve and the third motion curve are connected;

[0030] The motion trajectory of the massage tool head is determined according to the motion curve after the connection.

[0031] In a second aspect, the present invention provides a control device for a massage robot, wherein the massage robot comprises a freely movable mechanical arm, wherein the mechanical arm is provided with a tool head for massage, and the control device comprises:

[0032] An image acquisition module, used for acquiring a human back image;

[0033] A coordinate system establishing module, used for establishing a plane coordinate system of the human back based on the human back image;

[0034] A position frame selection module, used for drawing a pentagonal area according to the plane coordinate system, and obtaining the vertex coordinates of each vertex of the pentagonal area; wherein the pentagonal area is an axisymmetric pentagonal shape;

[0035] A path planning module, used to substitute the vertex coordinates into a preset algorithm model to generate a motion curve;

[0036] A track drawing module, used for drawing a motion track according to the motion curve;

[0037] The control module is used to control the movement of the mechanical arm so that the massage tool head massages the shoulder blade area of ​​the human body along the motion trajectory.

[0038] In a third aspect, the present application provides a massage robot, comprising:

[0039] processor;

[0040] a memory for storing instructions executable by the processor;

[0041] The processor is configured to execute any one of the methods provided in the first aspect.

[0042] Furthermore, the massage robot is a six-axis robot.

[0043] The human shoulder blade massage method of the massage robot provided in the embodiment of the present application, the massage robot includes a freely movable mechanical arm, and the mechanical arm is provided with a massage tool head for massage; obtains a human back image, finds the human shoulder blade area, and obtains the plane coordinate system of the human back according to the human back image; draws a pentagonal area in the plane coordinate system, and obtains the vertex coordinates of the five vertices of the pentagonal area, and then substitutes the vertex coordinates into a preset algorithm model to generate a motion curve, determines the motion trajectory of the mechanical arm, and finally controls the movement of the mechanical arm to make the massage tool head massage the human shoulder blade area. The embodiment of the present application uses a massage robot to massage the human back shoulder blade area, and the massage trajectory can fit the curve of the human shoulder blade, so that the massage tool head can massage the shoulder blade position along the massage trajectory. Its movement process is continuous and dynamic, which provides a more fitting and comfortable massage method for massaging the human shoulder blade area, meets user needs, and improves the massage effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art 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.

[0045] Figure 1 A flow chart of a method for massaging human shoulder blades using a massage robot provided in an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of a motion trajectory according to an embodiment of the present invention;

[0047] Figure 3 A schematic structural diagram of a control device for a massage robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that if there is a design directional indication (such as up, down, left, right, front, back...) in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication also changes accordingly. It should be understood that the schematic drawings are not drawn according to the physical occupancy rate. The flowchart used in this application shows the operations implemented in some embodiments of the embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical contextual relationships can be reversed or implemented simultaneously. In addition, under the guidance of the content of this application, those skilled in the art can add at least one other operation to the flowchart or remove at least one operation from the flowchart.

[0049] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] First, see Figure 1 , Figure 1 A flow chart of a human shoulder blade massage method using a massage robot provided in an embodiment of the present invention, wherein the massage robot comprises a freely movable mechanical arm, and a massage tool head for massage is provided on the mechanical arm. The massage method comprises the following steps:

[0051] S101. Acquire a human back image, and determine a human shoulder blade region according to the human back image;

[0052] S102. Establishing a plane coordinate system of the human back based on the human back image;

[0053] S103. Draw a pentagonal region according to the plane coordinate system, and obtain vertex coordinates of each vertex of the pentagonal region; wherein the pentagonal region is an axisymmetric pentagonal shape;

[0054] S104. Substituting the vertex coordinates into a preset algorithm model to generate a motion curve;

[0055] S105. Determine the motion trajectory of the robotic arm according to the motion curve;

[0056] S106. Control the movement of the robotic arm so that the massage tool head massages the shoulder blade area of ​​the human body along the motion trajectory.

[0057] The embodiment of the present application provides a method for massaging the human scapula of a massage robot, wherein the massage robot includes a freely movable mechanical arm, and the mechanical arm is provided with a massage tool head for massage; an image of the human back is obtained, the human scapula region is found, and a plane coordinate system of the human back is obtained according to the image of the human back; a pentagonal region is drawn in the plane coordinate system, and the vertex coordinates of the five vertices of the pentagonal region are obtained, and then the vertex coordinates are substituted into a preset algorithm model to generate a motion curve, the motion trajectory of the mechanical arm is determined, and finally the mechanical arm is controlled to move so that the massage tool head massages the human scapula region. The embodiment of the present application uses the massage tool head on the end of the massage robot to massage the scapula position along the massage trajectory, and its movement process is continuous and dynamic, providing a more fitting and comfortable massage method for massaging the human scapula region, meeting user needs and improving the massage effect.

[0058] The embodiments of the present application will be described in detail below.

[0059] S101. Acquire a human back image, and determine a human shoulder blade region according to the human back image.

[0060] The massage robot comprises a camera, through which the back of a human body is photographed to obtain an image of the back of the human body.

[0061] In some other embodiments, the massage robot further includes a depth sensor for sensing the posture and curve of the back of the human body. The massage robot can adjust the massage trajectory and massage intensity according to the data of the depth sensor to meet the massage needs of different users.

[0062] The human scapula region is determined based on the human back image. In some embodiments, the human scapula region can be identified and demarcated in real time by the user. In other embodiments, the human back image can be input into a preset human body part recognition algorithm model, and the human scapula can be identified based on the human body part features, thereby determining the human scapula region.

[0063] S102. Establish a plane coordinate system of the human back based on the human back image. In one embodiment of the present application, the horizontal line at the top of the human back image is taken as the x-axis, and the direction from the left shoulder blade to the right shoulder blade is taken as the positive direction of the x-axis; the vertical line perpendicular to the horizontal line and located at the left edge of the human back image is taken as the y-axis, the direction pointing to the bottom of the human back image is taken as the positive direction of the y-axis, and the intersection of the horizontal line and the vertical line is taken as the coordinate origin O(0,0), and a plane coordinate system xOy of the human back is established. Optionally, a pixel point of the human back image can be taken as a coordinate unit. In some other embodiments, the data of the human back image can be first collected, and the data is processed by a filter to obtain a set of processed feature points, and the feature points are taken as the coordinate units of the coordinate system.

[0064] S103. Draw a pentagonal area according to the plane coordinate system, and obtain the vertex coordinates of each vertex of the pentagonal area, wherein the pentagonal area is an axisymmetric pentagonal shape.

[0065] S1031: Determine the coordinates of the scapula region according to the plane coordinate system. Find the coordinates of the position of the scapula in the plane coordinate system, so as to determine the coordinates of the scapula region.

[0066] S1032: Draw a pentagonal area according to the coordinates of the scapula area, wherein the pentagonal area can cover the scapula area. The central coordinates of the top of the scapula area are used as a vertex B of the pentagonal area, and the two coordinate points A and E on the left side of the scapula area and the two coordinate points C and D on the right side of the scapula area are used as the remaining vertices of the pentagonal area; the vertices are connected in the order of ABCDEA to draw a pentagonal area. The vertex B is located on the symmetry axis of the pentagonal area, the left coordinate points A and E are not on the same horizontal coordinates, and the right coordinate points C and D are not on the same horizontal coordinates.

[0067] The vertex coordinates of each vertex are determined according to the position of each vertex in the plane coordinate system; wherein the vertical coordinates of the vertices A and C are the same, and the vertical coordinates of the vertices E and D are the same.

[0068] In one embodiment of the present application, the pentagonal area is an axisymmetric pentagonal shape, which is exactly tangent to the outer edge of the human shoulder blade and is the smallest circumscribed axisymmetric pentagon of the human shoulder blade area. The specific drawing process is: take the edge of the left shoulder as vertex A, the center point of the connection between the neck and the back as vertex B, the edge of the right shoulder as vertex C, the lowest edge of the right shoulder blade as vertex D, and the lowest edge of the left shoulder blade as vertex E, connect the vertices in the order of ABCDEA, and draw the pentagonal area; wherein, the straight line passing through point B and perpendicular to the x-axis is the symmetry axis of the pentagonal shape.

[0069] Based on the above-mentioned plane coordinate system of the human back, the corresponding coordinates of the five vertices are: (137, 234), (243, 183), (349, 234), (315, 334), (171, 334).

[0070] S104. Substitute the vertex coordinates into a preset algorithm model to generate a motion curve.

[0071] The algorithm model expression is:

[0072] B(t)=(1-t) 2 P0+2t(1-t)P1+t 2 P2, t∈[0,1]

[0073] Among them, t is a parameter of the expression, with a value range of [0,1], which is used to describe the movement process of a point on the curve on the entire curve path; B(t) represents the position of any point on the curve, P0 represents the starting endpoint, P2 represents the end point, and P1 is a point outside the curve, which is used to control the curvature of the curve.

[0074] See also Figure 2 , Figure 2 Schematic diagram of the motion trajectory described in an embodiment of the present invention.

[0075] The above step S104 includes:

[0076] S1041. Substitute the vertex coordinates of points A, B, and C into the algorithm model to generate a first motion curve AC; wherein vertices A and C are the starting endpoint and the end point of the first motion curve AC, respectively.

[0077] S1042. Divide the first motion curve AC into three equal parts to obtain equal-partition points F and G. The equal-partition point F is located at the right side of the left shoulder blade, and the equal-partition point G is located at the left side of the right shoulder blade.

[0078] S1043. Substitute the vertex coordinates of vertices A, E and equally divided point F into the algorithm model to generate a second motion curve AHF; wherein vertex A and equally divided point F are the starting endpoint and the end point of the second motion curve AHF respectively.

[0079] S1044. Substitute the vertex coordinates of vertices C, D and equally divided point G into the algorithm model to generate a third motion curve CIG; wherein, vertex C and equally divided point G are respectively the starting endpoint and the end point of the third motion curve CIG.

[0080] The first motion curve AC, the second motion curve AHF and the third motion curve CIG are the motion curves.

[0081] S105. Determine the motion trajectory of the massage tool head according to the motion curve.

[0082] S1051. Connect the first motion curve, the second motion curve and the third motion curve; and connect the first motion curve AC, the second motion curve AHF and the third motion curve CIG according to the motion curve.

[0083] S1052. Determine the motion trajectory of the massage tool head according to the connected motion curve. The motion trajectory is similar to the structural curve of the human scapula and can better fit the scapula.

[0084] When the massage robot is used for massage, the massage tool head massages and relaxes the shoulders along the curve AC segment, and then massages the shoulder blades along the curves AHF and CIG respectively. The motion track composed of the first motion curve AC, the second motion curve AHF and the third motion curve CIG, the order in which the massage tool head moves on each curve segment of the track and the massage duration can be adjusted according to the user's own needs.

[0085] In this embodiment, the massage robot is a six-axis robot, which includes a freely movable mechanical arm and a massage tool head for massage. The massage tool head is installed on the end effector of the mechanical arm and connected to the control system of the massage robot.

[0086] When the embodiment of the present invention is used, the massage robot first uses a camera to capture an image of the back of a human body, analyzes the image and establishes a plane coordinate system, identifies the scapula from the image and the coordinate system, then draws an axisymmetric pentagonal area in the scapula area, and substitutes each vertex of the pentagonal area into a preset algorithm model expression according to a rule to generate a motion curve, thereby obtaining a massage trajectory for the massage robot to massage, and finally achieving massage of the human scapula. The intensity of the massage and the massage trajectory can be adjusted according to the user's real-time control of the massage robot.

[0087] The human scapula massage method of the massage robot provided in the embodiment of the present invention can specifically target the scapula area on the back of the human body and perform massage with a massage trajectory that is more comfortable and more in line with the scapula curve, thereby meeting user needs and effectively improving the massage effect.

[0088] Second, see Figure 3 , Figure 3 A schematic diagram of the structure of a control device of a massage robot provided in an embodiment of the present invention, wherein the massage robot comprises a freely movable mechanical arm, wherein the mechanical arm is provided with a massage tool head for massage, and the control device comprises:

[0089] The image acquisition module 11 is used to acquire an image of the back of a human body.

[0090] The coordinate establishing module 12 is used to establish a plane coordinate system of the human back based on the human back image.

[0091] The position frame selection module 13 is used to draw a pentagonal area according to the plane coordinate system and obtain the vertex coordinates of each vertex of the pentagonal area; wherein the pentagonal area is an axisymmetric pentagonal shape.

[0092] The path planning module 14 is used to substitute the vertex coordinates into a preset algorithm model to generate a motion curve.

[0093] The trajectory drawing module 15 is used to draw a motion trajectory according to the motion curve.

[0094] The control module 16 is used to control the movement of the mechanical arm and enable the massage tool head to massage the shoulder blade area of ​​the human body along the movement trajectory.

[0095] The control device of the massage robot in the embodiment of the present application is basically similar to the embodiment of the human shoulder blade massage method of the massage robot. For relevant details, please refer to the introduction of the embodiment of the human shoulder blade massage method of the massage robot mentioned above.

[0096] In a third aspect, an embodiment of the present invention provides a massage robot, which is a six-axis robot, and includes at least a camera, a processor, a memory, etc. The memory is used to store executable instructions of the processor, and the processor is configured to execute the human shoulder blade massage method of the above-mentioned massage robot.

[0097] It can be understood that the same or similar parts in the above embodiments can refer to each other. In some embodiments, the content that is not described in detail can refer to the same or similar content in other embodiments.

[0098] It should be noted that any process or method description in the flowchart or otherwise described herein may be understood as identifying a module, fragment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and that the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art of the technical field described in the embodiments of the present application.

[0099] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

Claims

1. A human shoulder blade massage method using a massage robot, characterized in that: The massage robot comprises a freely movable mechanical arm, on which a massage tool head for massage is provided, and the massage method comprises the following steps: Acquire a human back image, and determine a human shoulder blade region according to the human back image; Establishing a plane coordinate system of the human back based on the human back image; Draw a pentagonal area according to the plane coordinate system, and obtain the vertex coordinates of each vertex of the pentagonal area; wherein the pentagonal area is an axisymmetric pentagonal shape; Substituting the vertex coordinates into a preset algorithm model to generate a motion curve; determining the motion trajectory of the massage tool head according to the motion curve; The mechanical arm is controlled to move so that the massage tool head massages the shoulder blade area of ​​the human body along the motion trajectory.

2. The massage method according to claim 1, characterized in that: Drawing a pentagonal area according to the plane coordinate system and obtaining vertex coordinates of each vertex of the pentagonal area includes: Determining the coordinates of the scapula region according to the plane coordinate system; A pentagonal area is drawn according to the scapula area coordinates; wherein the pentagonal area can cover the scapula area.

3. The massage method according to claim 2, characterized in that: Drawing a pentagonal area according to the scapula area includes: The central coordinate of the top of the scapula region is used as a vertex B of the pentagonal region, and the two coordinate points A and E on the left side of the scapula region and the two coordinate points C and D on the right side of the scapula region are used as the remaining vertices of the pentagonal region; Connect the vertices in the order of ABCDEA to draw a pentagonal area.

4. The massage method according to claim 3, characterized in that: The step of drawing a pentagonal region according to the plane coordinate system and obtaining vertex coordinates of each vertex of the pentagonal region further includes: The vertex coordinates of each vertex are determined according to the position of each vertex in the plane coordinates; wherein the vertical coordinates of the vertices A and C are the same, and the vertical coordinates of the vertices E and D are the same.

5. The massage method according to claim 4, characterized in that: The algorithm model expression is: B(t)=(1-t) 2 P0+2t(1-t)P1+t 2 P2, t∈[0, 1], where t is a parameter of the expression, with a value range of [0, 1], which is used to describe the movement process of a point on the curve on the entire curve path; B(t) represents the position of any point on the curve, P0 represents the starting endpoint, P2 represents the end point, and P1 is a point outside the curve, which is used to control the curvature of the curve.

6. The massage method according to claim 5, characterized in that: Substituting the vertex coordinates into a preset algorithm model to generate a motion curve includes: Substituting the vertex coordinates of points A, B, and C into the algorithm model to generate a first motion curve; wherein vertices A and C are the starting end point and the end point of the first motion curve respectively; Divide the first motion curve into three equal parts to obtain equal division points F and G; Substituting the vertex coordinates of vertices A, E and equally divided point F into the algorithm model to generate a second motion curve; wherein vertex A and equally divided point F are the starting end point and the end point of the second motion curve respectively; Substitute the vertex coordinates of vertices C, D and equally divided point G into the algorithm model to generate a third motion curve; wherein vertex C and equally divided point G are the starting end point and the end point of the third motion curve respectively.

7. The massage method according to claim 6, characterized in that: Determining the motion trajectory of the massage tool head according to the motion curve includes: connecting the first motion curve, the second motion curve and the third motion curve; The motion trajectory of the massage tool head is determined according to the motion curve after the connection.

8. A control device for a massage robot, characterized in that: The massage robot comprises a freely movable mechanical arm, on which a massage tool head for massage is provided, and the control device comprises: An image acquisition module, used to acquire an image of the back of a human body to be massaged; A coordinate system establishing module, used for establishing a plane coordinate system of the human back based on the human back image; A position frame selection module, used for drawing a pentagonal area according to the plane coordinate system, and obtaining the vertex coordinates of each vertex of the pentagonal area; wherein the pentagonal area is an axisymmetric pentagonal shape; A path planning module, used to substitute the vertex coordinates into a preset algorithm model to generate a motion curve; A trajectory drawing module, used for drawing a motion trajectory according to the motion curve; The control module is used to control the movement of the mechanical arm and enable the massage tool head to massage the shoulder blade area of ​​the human body along the motion trajectory.

9. A massage robot, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1 to 7.

10. The massage robot according to claim 9, characterized in that: The massage robot is a six-axis robot.

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