Control method and system of massage robot

Abstract

The invention discloses a control method and system of a massage robot, and belongs to the technical field of robot control. The technical problem that in an existing scheme, the automatic recognition control effect of massage equipment in the early stage, the middle stage and the later stage of automatic massage implementation is poor is solved. According to the method, active data processing analysis and mark control are performed on identity types of different users before massage implementation, differential control is performed on massage after the different users sit down, and active supervision and data analysis are further performed on the massage response corresponding to the first user subjected to mark selection on the basis of early-stage supervision processing marks, so that the user experience is improved. According to an analysis result, active control during massage implementation is further carried out, massage preference data corresponding to all effective massage users are processed and analyzed, dynamic optimization control is carried out on subsequent implementation of an existing massage operation scheme according to the analysis result, and autonomous supervision and data processing and utilization in the later period of massage implementation are achieved.

Description

Technical Field

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

[0002] A massage robot is a robot or automated device designed to simulate human massage techniques. It is intended to provide a variety of massage services to help relieve muscle tension, reduce stress, promote blood circulation and improve overall health. Massage robots are usually equipped with a variety of massage techniques, such as kneading, tapping, manipulation, vibration, etc. Some advanced models can also adaptively adjust according to the user's body contours to provide a more personalized massage experience.

[0003] When implementing the existing control scheme of massage robots, for example, massage equipment in movie theaters is usually fixed and centrally installed in the viewing area, and users will be automatically massaged before or during the movie. Due to the different physical health conditions of different users and the different degrees of massage acceptance of massage equipment by different users, the viewing experience of different users is affected. There is a poor effect of autonomous recognition control in the early, middle and late stages of automatic massage implementation of massage equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a control method for a massage robot, which is used to solve the technical problem that the massage equipment in the existing scheme has poor autonomous recognition and control effects in the early, middle and late stages of automatic massage.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A control method for a massage robot, comprising:

[0007] Supervise and process the interaction between the user and the target structure on the massage device, and supervise and process the user when sitting on the massage device to obtain first supervision analysis data, and perform a first massage control on the user according to the first supervision analysis data;

[0008] Monitoring and processing the user response data when starting the massage to obtain second monitoring analysis data, and performing a second massage control on the user according to the second monitoring analysis data;

[0009] Monitor and count the interaction data between the third user and the existing massage operation plan, process and analyze the interaction data to obtain ordinary massage users and effective massage users, conduct massage preference data statistics for effective massage users, and process and analyze the massage preference data corresponding to all effective massage users, and dynamically optimize and control the subsequent implementation of the existing massage operation plan based on the analysis results.

[0010] Preferably, a first supervision instruction is generated when the target structure on the massage device is turned over, a second supervision instruction is generated when the target structure is turned over and no longer rotates, and a third supervision instruction is generated when the target is detected to sit on the target structure after the second supervision instruction is generated;

[0011] Or, when it is detected that someone sits on the target structure during its flipping, a fourth supervision instruction is generated;

[0012] A first instruction generation timestamp, a second instruction generation timestamp, a third instruction generation timestamp or a fourth instruction generation timestamp corresponding to the first supervision instruction, the second supervision instruction, the third supervision instruction or the fourth supervision instruction is obtained respectively.

[0013] Preferably, a first regulatory time difference between the second instruction generation timestamp and the first instruction generation timestamp is calculated, and a second regulatory time difference between the third instruction generation timestamp and the second instruction generation timestamp is calculated, or a third regulatory time difference between the fourth instruction generation timestamp and the second instruction generation timestamp is calculated, and the first regulatory time difference, the second regulatory time difference or the third regulatory time difference obtained by processing is calculated to obtain a behavior regulatory value corresponding to the user;

[0014] If the behavior supervision value is less than or equal to 0, the user is marked as the first user;

[0015] Otherwise, the user is marked as the second user.

[0016] Preferably, the behavior supervision value obtained by the user corresponding supervision processing and the first user or the second user marked by the analysis are sorted and combined to obtain the corresponding first supervision analysis data;

[0017] And, a subsequent massage control supervision analysis is performed on the user according to the first user mark in the first supervision analysis data, and the massage is controlled not to be performed throughout the whole process according to the second user mark in the first supervision analysis data.

[0018] Preferably, when the marked first user leans back against the seat, the massage device is controlled to perform massage, and a behavior supervision instruction is generated at the same time, and the reaction of the first user to the massage device when performing massage is monitored and analyzed according to the behavior supervision instruction;

[0019] If the first user does not move away from the seat back when the massage device is performing massage, a massage acceptance signal is generated;

[0020] If the first user moves away from the seat back when the massage device is performing massage, a massage rejection signal is generated.

[0021] Preferably, the massage acceptance signal or massage rejection signal obtained by the first user in the corresponding supervision process is sorted and combined to obtain the corresponding second supervision analysis data;

[0022] And, according to the massage acceptance signal in the second supervision analysis data, the existing massage operation plan is implemented on it, and the tag of the first user is updated to the third user, and according to the massage rejection signal in the second supervision analysis data, it is controlled not to perform massage subsequently.

[0023] Preferably, if the third user scans the code to pay, he / she will be marked as a valid massage user;

[0024] If the third user does not scan the code to pay, he or she will be marked as an ordinary massage user.

[0025] Preferably, the massage preference data selected by the valid massage user according to the voice prompt after payment is obtained; the massage preference data includes massage method and massage order;

[0026] Obtain the total number of method selections corresponding to different massage methods, and the total number of sequence selections corresponding to different massage sequences;

[0027] According to the numerical value of the total number of method selections, different massage methods are arranged in descending order to obtain a massage method selection sequence; and according to the numerical value of the total number of sequence selections, different massage sequences are arranged in descending order to obtain a massage sequence selection sequence.

[0028] Preferably, the massage method ranked first in the massage method selection sequence is sequentially subjected to normative matching analysis with the massage sequence ranked first in the massage sequence selection sequence;

[0029] If the massage method ranked first in the massage method selection sequence meets the matching specification with the massage order ranked first in the massage order selection sequence, the massage method ranked first and the massage order ranked first are sorted and combined to obtain a first matching selection sequence, and the massage method and massage order in the existing massage operation plan are optimized and adjusted according to the first matching selection sequence.

[0030] A control system for a massage robot, comprising:

[0031] A supervision and control module before massage is implemented, which is used to supervise and process the interaction between the user and the target structure on the massage device, and supervise and process the user when sitting on the massage device, obtain first supervision and analysis data, and perform first massage control on the user according to the first supervision and analysis data;

[0032] The supervision and control module during the massage is used to supervise and process the user's response data when the massage starts, obtain the second supervision and analysis data, and perform the second massage control on the user according to the second supervision and analysis data;

[0033] The post-implementation supervision and control module of the massage is used to monitor and count the interaction data between the third user and the existing massage operation plan, process and analyze the interaction data, obtain ordinary massage users and effective massage users, conduct massage preference data statistics for effective massage users, and process and analyze the massage preference data corresponding to all effective massage users, and dynamically optimize and control the subsequent implementation of the existing massage operation plan based on the analysis results.

[0034] Compared with the existing solutions, the present invention achieves the following beneficial effects:

[0035] The present invention implements differentiated control on the massage after different users sit down by actively performing data processing and analysis and marking control on the identity types of different users before the massage is implemented, which can effectively improve the autonomous supervision and analysis effect and the autonomous control effect in the early stage of the massage implementation.

[0036] The present invention further actively supervises and performs data analysis on the massage response corresponding to the first user with the screening mark on the basis of the previous supervision processing mark, and further performs active control during the implementation of the massage according to the analysis result, thereby further improving the autonomous supervision analysis effect and the autonomous control effect during the implementation of the massage.

[0037] The present invention processes and analyzes the massage preference data corresponding to all effective massage users, and dynamically optimizes and controls the subsequent implementation of the existing massage operation plan based on the analysis results, thereby realizing autonomous supervision and data processing and utilization in the later stage of massage implementation, and further improving the autonomous supervision analysis effect and autonomous control effect after the massage implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below in conjunction with the accompanying drawings.

[0039] Figure 1 This is a flowchart of the steps for implementing a control method for a massage robot according to the present invention.

[0040] Figure 2 This is a module block diagram of a control system of a massage robot according to the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 of 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.

[0042] Embodiment 1, as Figure 1 As shown, the present invention is a control method for a massage robot, comprising:

[0043] Monitoring and processing analysis of the interaction between the user and the target structure on the massage device, and monitoring and processing analysis of the user sitting on the massage device, obtaining first monitoring analysis data, and performing first massage control on the user according to the first monitoring analysis data; including:

[0044] A first supervision instruction is generated when the target structure on the massage device is turned over, a second supervision instruction is generated when the target structure is turned over and no longer rotates, and a third supervision instruction is generated when the target is detected to sit on the target structure after the second supervision instruction is generated;

[0045] It should be noted that the massage device may specifically be a massage robot installed in a seat in a cinema; the target structure may specifically be a seat cushion, which is usually equipped with an automatic flipping function. When a user sits down to watch a movie, the seat cushion needs to be flipped manually; the supervision of the flipping of the seat cushion and different rotations after flipping can be obtained by detection and data analysis based on the built-in angle sensor of the seat cushion;

[0046] Or, when it is detected that someone sits on the target mechanism during the flipping process, a fourth supervision instruction is generated; this can be obtained through detection and data analysis based on a number of pressure sensors built into the seat cushion;

[0047] Respectively obtain the first instruction generation timestamp, the second instruction generation timestamp, the third instruction generation timestamp or the fourth instruction generation timestamp corresponding to the first supervision instruction, the second supervision instruction, the third supervision instruction or the fourth supervision instruction; the units of different generation timestamps are accurate to seconds;

[0048] It should be noted that by monitoring and processing the data of different changes in the target mechanism, reliable multi-dimensional regulatory data support can be provided for the automatic control before the subsequent massage is implemented;

[0049] Calculate the first regulatory time difference between the second instruction generation timestamp and the first instruction generation timestamp, and calculate the second regulatory time difference between the third instruction generation timestamp and the second instruction generation timestamp, or calculate the third regulatory time difference between the fourth instruction generation timestamp and the second instruction generation timestamp. The units of different regulatory time differences are accurate to seconds. The first regulatory time difference, the second regulatory time difference or the third regulatory time difference obtained by processing is calculated by the formula Calculate and obtain the behavior supervision value XJk corresponding to the user; where k is 1 or 2, which are the behavior supervision value corresponding to the third supervision instruction and the second behavior supervision value corresponding to the fourth supervision instruction respectively; TC0 is the first supervision time difference; TC′0 is the first supervision standard time difference; TCk is TC1 or TC2, which are the second supervision time difference or the third supervision time difference respectively; TC′k is TC′1 or TC′2, which are the second supervision standard time difference or the third supervision standard time difference respectively; the first supervision standard time difference, the second supervision standard time difference and the third supervision standard time difference can be determined according to the median corresponding to the different interaction data of all historical users, or according to the preliminary test data of the actual application scenario; N is a constant, which can be 2, or customized according to the application requirements of the actual application scenario;

[0050] It should be noted that the behavior supervision value is used to process and calculate the different interactive behavior data of the user preparing to sit in front of the seat to digitally represent the corresponding identity type;

[0051] If the behavior supervision value is less than or equal to 0, the user is marked as the first user; specifically, the user may be a young person or a child;

[0052] Otherwise, the user is marked as the second user; specifically, the user may be the elderly or a special group with slow movements, such as pregnant women;

[0053] Sort and combine the behavior supervision value obtained by the user corresponding to the supervision process and the first user or the second user marked by the analysis to obtain corresponding first supervision analysis data;

[0054] In the embodiment of the present invention, by actively processing and analyzing the identity types of different users before the massage is implemented, the rationality of the subsequent pre-massage control and the user experience can be effectively improved;

[0055] and, performing subsequent massage control supervision analysis on the user according to the first user mark in the first supervision analysis data, and controlling the user not to perform massage during the entire process according to the second user mark in the first supervision analysis data;

[0056] It should be noted that massage chairs occupy a lot of seats in the prime viewing area, and there is no clear mark when buying tickets, which leads to consumers being unaware and feeling uncomfortable, especially when the equipment is not running. There are also massage chairs that suddenly start up and affect the mood of watching movies, noise problems, and the inability to adjust the strength, resulting in a poor experience. These are the comfort and interference problems of existing cinema seat massages.

[0057] In the embodiment of the present invention, by actively performing data processing and analysis and marking control on the identity types of different users before the massage is implemented, differentiated control is implemented on the massage after different users sit down, which can effectively improve the autonomous supervision analysis effect and autonomous control effect in the early stage of the massage implementation.

[0058] The user response data at the start of massage is supervised and processed and analyzed to obtain second supervision analysis data, and a second massage control is performed on the user according to the second supervision analysis data; including:

[0059] When the marked first user leans back on the seat, the massage device is controlled to perform massage, which can be implemented based on the existing massage operation plan, and a behavior supervision instruction is generated at the same time, and the reaction of the first user to the massage device when performing massage is monitored and analyzed according to the behavior supervision instruction;

[0060] If the first user does not move away from the seat back when the massage device is performing massage, a massage acceptance signal is generated;

[0061] If the first user moves away from the seat back when the massage device is performing a massage, a massage rejection signal is generated;

[0062] The detection of whether the first user is away from the seat back when the massage device is performing massage can be implemented based on a plurality of pressure sensors built into the seat back; the massage rejection signal indicates that the first user is not very accepting of the massage being performed, or refuses the massage;

[0063] Sort and combine the massage acceptance signal or the massage rejection signal obtained by the first user in the corresponding supervision process to obtain corresponding second supervision analysis data;

[0064] and, implementing the existing massage operation plan according to the massage acceptance signal in the second supervision analysis data, updating the tag of the first user to the third user, and controlling the user not to perform massage in the future according to the massage rejection signal in the second supervision analysis data;

[0065] In the embodiment of the present invention, on the basis of the preliminary supervision processing mark, the massage response corresponding to the first user with the screening mark is further actively supervised and data analyzed, and the massage is further actively controlled during implementation based on the analysis result, thereby further improving the autonomous supervision analysis effect and autonomous control effect during the massage implementation.

[0066] Monitoring and counting the interaction data between the third user and the existing massage operation plan, processing and analyzing the interaction data, obtaining ordinary massage users and effective massage users, performing massage preference data statistics on effective massage users, and processing and analyzing the massage preference data corresponding to all effective massage users, and dynamically optimizing and controlling the subsequent implementation of the existing massage operation plan according to the analysis results; including:

[0067] If the third user scans the code to pay, he / she will be marked as a valid massage user;

[0068] If the third user does not scan the code to pay, he / she will be marked as a common massage user;

[0069] Among them, the third user can scan and pay for the subsequent massage through the voice prompt of the massage device; if the scanning code is not supported, the existing massage operation plan will be implemented for it, such as temporary massage service during the movie watching;

[0070] Obtain massage preference data selected by a valid massage user according to voice prompts after payment; the massage preference data includes massage method and massage order;

[0071] It should be noted that the massage methods include but are not limited to vibration massage, massage and kneading massage; vibration massage can be achieved based on the existing technology of generating broadband vibration by eccentric wheel motor;

[0072] Tuina massage can be achieved based on the existing technology of linearly moving rollers applying directional pressure;

[0073] Kneading massage can be achieved based on the existing technology of rotating rollers to simulate the kneading action of finger joints;

[0074] In addition, the massage sequence includes but is not limited to rolling massage in the up and down directions, neck kneading, shoulder blade massage, upper back vibration and waist fixed-point pressing;

[0075] Obtain the total number of method selections corresponding to different massage methods, and the total number of sequence selections corresponding to different massage sequences;

[0076] Arrange different massage modes in descending order according to the numerical value of the total number of mode selections to obtain a massage mode selection sequence; and arrange different massage sequences in descending order according to the numerical value of the total number of sequence selections to obtain a massage sequence selection sequence;

[0077] Conduct normative matching analysis on the massage method ranked first in the massage method selection sequence and the massage sequence ranked first in the massage sequence selection sequence;

[0078] It is worth noting that there are standard requirements for different massage methods and massage sequences. The specific content of the standard requirements can be determined based on the actual massage method and massage sequence combined with the existing sequence requirements from massage warm-up to deep massage to relaxation. The specific steps will not be repeated here;

[0079] Therefore, the embodiment of the present invention can effectively improve the reliability and autonomous optimization effect of the subsequent massage control implementation of the existing massage operation scheme by performing normative matching analysis on the different massage modes and the different massage orders;

[0080] If the massage method ranked first in the massage method selection sequence and the massage sequence ranked first in the massage sequence selection sequence meet the matching specification, the massage method ranked first and the massage sequence ranked first are sorted and combined to obtain a first matching selection sequence, and the massage method and massage sequence in the existing massage operation plan are optimized and adjusted according to the first matching selection sequence;

[0081] Embodiment 2, based on the technical solution of embodiment 1, further includes:

[0082] If the massage method ranked first in the massage method selection sequence and the massage sequence ranked first in the massage sequence selection sequence do not match properly, the existing massage operation plan is maintained for subsequent implementation.

[0083] Embodiment 3, based on the technical solution of embodiment 1, further includes:

[0084] If the massage method ranked first in the massage method selection sequence and the massage sequence ranked first in the massage sequence selection sequence do not match in a standard manner, then the massage method ranked first in the massage method selection sequence and the massage sequence ranked second in the massage sequence selection sequence are subjected to a standard matching analysis;

[0085] If the massage method ranked first in the massage method selection sequence and the massage sequence ranked second in the massage sequence selection sequence have matching specifications, the massage method ranked first and the massage sequence ranked first are sorted and combined to obtain a second matching selection sequence;

[0086] Otherwise, the massage method ranked first in the massage method selection sequence and the massage sequence ranked third in the massage sequence selection sequence are continuously subjected to normative matching analysis until a second matching selection sequence is obtained;

[0087] and performing a normative matching analysis between the massage sequence ranked first in the massage sequence selection sequence and the massage method ranked second in the massage method selection sequence;

[0088] If the massage sequence ranked first in the massage sequence selection sequence and the massage method ranked second in the massage method selection sequence have matching specifications, the massage sequence ranked first and the massage method ranked second are sorted and combined to obtain a third matching selection sequence;

[0089] Otherwise, the massage sequence ranked first in the massage sequence selection sequence and the massage method ranked third in the massage method selection sequence are continuously subjected to normative matching analysis until a third matching selection sequence is obtained;

[0090] Compare and judge the matching influence value corresponding to the first matching selection sequence with the matching influence value corresponding to the second matching selection sequence;

[0091] The matching influence value is obtained by summing the total number of selections and the total number of sequential selections in a corresponding association manner for different elements in the second matching selection sequence and the third matching selection sequence;

[0092] The second matching selection sequence and the third matching selection sequence are used to perform data analysis on the massage implementation specifications from different aspects, and further data analysis is required to determine the massage operation scheme that is both popular with users and meets the massage specifications;

[0093] The mark corresponding to the second matching selection sequence or the third matching selection sequence to which the matching influence value with a large numerical value belongs is updated to the first matching selection sequence, and the massage method and massage sequence in the existing massage operation plan are optimized and adjusted according to the first matching selection sequence.

[0094] In the embodiment of the present invention, by processing and analyzing the massage preference data corresponding to all valid massage users, the subsequent implementation of the existing massage operation plan is dynamically optimized and controlled according to the analysis results, thereby achieving autonomous supervision and data processing and utilization in the later stage of massage implementation, and further improving the autonomous supervision analysis effect and autonomous control effect after the massage implementation.

[0095] Embodiment 4, as Figure 2 As shown, a control system of a massage robot comprises:

[0096] A supervision and control module before massage is implemented, which is used to supervise and process the interaction between the user and the target structure on the massage device, and supervise and process the user when sitting on the massage device, obtain first supervision and analysis data, and perform first massage control on the user according to the first supervision and analysis data;

[0097] The supervision and control module during the massage is used to supervise and process the user's response data when the massage starts, obtain the second supervision and analysis data, and perform the second massage control on the user according to the second supervision and analysis data;

[0098] The post-implementation supervision and control module of the massage is used to monitor and count the interaction data between the third user and the existing massage operation plan, process and analyze the interaction data, obtain ordinary massage users and effective massage users, conduct massage preference data statistics for effective massage users, and process and analyze the massage preference data corresponding to all effective massage users, and dynamically optimize and control the subsequent implementation of the existing massage operation plan based on the analysis results.

[0099] In addition, the formulas involved in the above are all dimensionless and numerical calculations. They are a formula that is closest to the actual situation obtained by collecting a large amount of data and simulating it with simulation software.

[0100] In the several embodiments provided by the present invention, it should be understood that the disclosed system can be implemented in other ways. For example, the above-described embodiments of the invention are only illustrative, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.

[0101] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, and may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0103] It is obvious to a person skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the essential characteristics of the present invention.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A control method for a massage robot, characterized in that: include: Supervise and process the interaction between the user and the target structure on the massage device, and supervise and process the user when sitting on the massage device to obtain first supervision analysis data, and perform a first massage control on the user according to the first supervision analysis data; Monitoring and processing the user response data when starting the massage to obtain second monitoring analysis data, and performing a second massage control on the user according to the second monitoring analysis data; Monitor and count the interaction data between the third user and the existing massage operation plan, process and analyze the interaction data to obtain ordinary massage users and effective massage users, conduct massage preference data statistics for effective massage users, and process and analyze the massage preference data corresponding to all effective massage users, and dynamically optimize and control the subsequent implementation of the existing massage operation plan based on the analysis results.

2. The control method of a massage robot according to claim 1, characterized in that: A first supervision instruction is generated when the target structure on the massage device is turned over, a second supervision instruction is generated when the target structure is turned over and no longer rotates, and a third supervision instruction is generated when the target is detected to sit on the target structure after the second supervision instruction is generated; Or, when it is detected that someone sits on the target structure during its flipping, a fourth supervision instruction is generated; A first instruction generation timestamp, a second instruction generation timestamp, a third instruction generation timestamp or a fourth instruction generation timestamp corresponding to the first supervision instruction, the second supervision instruction, the third supervision instruction or the fourth supervision instruction is obtained respectively.

3. The control method of a massage robot according to claim 2, characterized in that: Calculate the first regulatory time difference between the second instruction generation timestamp and the first instruction generation timestamp, and calculate the second regulatory time difference between the third instruction generation timestamp and the second instruction generation timestamp, or calculate the third regulatory time difference between the fourth instruction generation timestamp and the second instruction generation timestamp, and obtain the behavior regulatory value corresponding to the user by calculating the first regulatory time difference, the second regulatory time difference or the third regulatory time difference obtained by processing; If the behavior supervision value is less than or equal to 0, the user is marked as the first user; Otherwise, the user is marked as the second user.

4. The control method of a massage robot according to claim 3, characterized in that: Sort and combine the behavior supervision value obtained by the user corresponding to the supervision process and the first user or the second user marked by the analysis to obtain corresponding first supervision analysis data; And, a subsequent massage control supervision analysis is performed on it according to the first user mark in the first supervision analysis data, and according to the second user mark in the first supervision analysis data, it is controlled not to perform massage throughout the whole process.

5. The control method of a massage robot according to claim 4, characterized in that: When the marked first user leans back on the seat, the massage device is controlled to perform massage, and a behavior supervision instruction is generated, and the reaction of the first user to the massage device when performing massage is monitored and analyzed according to the behavior supervision instruction; If the first user does not move away from the seat back when the massage device is performing massage, a massage acceptance signal is generated; If the first user moves away from the seat back when the massage device is performing massage, a massage rejection signal is generated.

6. The control method of a massage robot according to claim 5, characterized in that: Sort and combine the massage acceptance signal or the massage rejection signal obtained by the first user in the corresponding supervision process to obtain corresponding second supervision analysis data; And, according to the massage acceptance signal in the second supervision analysis data, the existing massage operation plan is implemented on it, and the tag of the first user is updated to the third user, and according to the massage rejection signal in the second supervision analysis data, it is controlled not to perform massage subsequently.

7. The control method of a massage robot according to claim 6, characterized in that: If the third user scans the code to pay, he / she will be marked as a valid massage user; If the third user does not scan the code to pay, he or she will be marked as an ordinary massage user.

8. The control method of a massage robot according to claim 7, characterized in that: Obtain massage preference data selected by a valid massage user according to voice prompts after payment; the massage preference data includes massage method and massage order; Obtain the total number of method selections corresponding to different massage methods, and the total number of sequence selections corresponding to different massage sequences; According to the numerical value of the total number of method selections, different massage methods are arranged in descending order to obtain a massage method selection sequence; and according to the numerical value of the total number of sequence selections, different massage sequences are arranged in descending order to obtain a massage sequence selection sequence.

9. The control method of a massage robot according to claim 8, characterized in that: Conduct normative matching analysis on the massage method ranked first in the massage method selection sequence and the massage sequence ranked first in the massage sequence selection sequence; If the massage method ranked first in the massage method selection sequence meets the matching specification with the massage order ranked first in the massage order selection sequence, the massage method ranked first and the massage order ranked first are sorted and combined to obtain a first matching selection sequence, and the massage method and massage order in the existing massage operation plan are optimized and adjusted according to the first matching selection sequence.

10. A control system for a massage robot, characterized in that: include: A supervision and control module before massage is implemented, which is used to supervise and process the interaction between the user and the target structure on the massage device, and supervise and process the user when sitting on the massage device, obtain first supervision and analysis data, and perform first massage control on the user according to the first supervision and analysis data; The supervision and control module during the massage is used to supervise and process the user's response data when the massage starts, obtain the second supervision and analysis data, and perform the second massage control on the user according to the second supervision and analysis data; The post-implementation supervision and control module of the massage is used to monitor and count the interaction data between the third user and the existing massage operation plan, process and analyze the interaction data, obtain ordinary massage users and effective massage users, conduct massage preference data statistics for effective massage users, and process and analyze the massage preference data corresponding to all effective massage users, and dynamically optimize and control the subsequent implementation of the existing massage operation plan based on the analysis results.

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