Massage head pressing direction control method, device and equipment

Abstract

The invention provides a massage head pressing direction control method, device and equipment, and the method comprises the steps: obtaining an image of a to-be-massaged region, and determining a space curved surface equation of the to-be-massaged region according to the image; obtaining the spatial position coordinates of a massage head on the surface of a to-be-massaged area, and calculating the curved surface normal direction of the current position of the massage head according to the spatial curved surface equation; an included angle between the normal direction of the curved surface and the axis direction of the massage head is obtained, and axial component force needing to be applied to each shaft of the massage head is determined according to the size of the included angle; and three axial motors are driven to apply corresponding axial component forces on three axial springs of the massage head respectively, so that the resultant force direction of the axial component forces is consistent with the normal direction of the curved surface. The magnitude and direction of the resultant force can be controlled to be always kept consistent with the normal of the curved surface, and accurate vertical force application of the massage head to the complex curved surface is achieved.

Description

Technical Field

[0001] The present invention relates to the field of massage technology, and in particular to a method, device and equipment for controlling the pressing direction of a massage head. Background Art

[0002] Massagers are popular among people because of their functions and effects such as promoting blood circulation, relieving fatigue, dredging meridians, relieving pain, and promoting lymphatic flow.

[0003] When using a massager to dredge the meridians, it is usually achieved by stimulating the acupoints with the massage head of the massager. In this case, two problems need to be solved: one is how to accurately locate the acupoints, and the other is how to apply pressure of appropriate size and direction to the acupoints. For the first problem, visual algorithms are currently widely used to accurately locate acupoints. For the second problem, the three-coordinate massage head can apply the appropriate amount of pressure to the acupoints, but the direction of the pressure cannot be changed. The five-coordinate massage head can apply pressure of appropriate size and direction, but its price is higher than that of the three-coordinate massage head, which increases the cost of the entire massager. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a massage head pressing direction control method, device and equipment to improve the above-mentioned problem.

[0005] A massage head pressing direction control method, comprising:

[0006] Acquire an image of the area to be massaged, and determine a spatial surface equation of the area to be massaged according to the image;

[0007] Obtaining the spatial position coordinates of the massage head located on the surface of the area to be massaged, and calculating the surface normal direction at the current position of the massage head according to the spatial surface equation;

[0008] Obtaining the angle between the normal direction of the curved surface and the axis direction of the massage head, and determining the axial force components to be applied to each axis of the massage head according to the angle;

[0009] The three axial motors are driven to apply corresponding axial force components to the three axial springs of the massage head respectively, so that the resultant force direction of the axial force components is consistent with the normal direction of the curved surface.

[0010] Preferably, the acquiring of the three-dimensional shape information of the curved surface area to be massaged and determining the spatial surface equation of the curved surface area to be massaged according to the three-dimensional shape information comprises:

[0011] Collecting images of the massage head and massage parts through a visual sensor;

[0012] According to the image, three-dimensional shape information of the curved surface area to be massaged is acquired, and according to the three-dimensional shape information, a spatial curved surface equation of the curved surface area to be massaged is determined.

[0013] Preferably, the step of obtaining the angle between the normal direction of the curved surface and the axis direction of the massage head, and determining the magnitudes of the various axial force components to be applied according to the magnitude of the angle, comprises:

[0014] Decomposing the surface normal angle to each coordinate axis of the massage head coordinate system to obtain the angle between each coordinate axis and the surface normal;

[0015] According to the included angle between each coordinate axis and the normal direction of the curved surface, the magnitude of the axial force of the massage head in the direction of the corresponding coordinate axis is determined according to a preset proportional relationship.

[0016] Preferably, the three axial motors are driven to apply corresponding axial forces to the three axial springs of the massage head respectively, including:

[0017] Get the actual pressure value of the massage head in each coordinate axis direction;

[0018] Calculate the deviation between the actual pressure value and the target force component value in each coordinate axis direction;

[0019] According to the deviation, the movement of the massage head in the direction of the corresponding coordinate axis is adjusted until the actual pressure value reaches the corresponding axial force component.

[0020] Preferably, a pressure sensor is arranged in each coordinate axis direction of the massage head, and the detection value of each pressure sensor is obtained as the actual pressure value of the massage head in the corresponding coordinate axis direction.

[0021] Preferably, the massage head is spherical and is provided with a plurality of positioning grooves corresponding to the directions of the coordinate axes;

[0022] An elastic member is arranged in the positioning groove, which is used to generate deformation when the massage head is subjected to force, so as to be detected by the pressure sensing unit.

[0023] Preferably, the massage head is a three-axis massage head.

[0024] The embodiment of the present invention further provides a massage head pressing direction control device, which includes:

[0025] A space surface equation acquisition unit, used for acquiring an image of the area to be massaged, and determining the space surface equation of the area to be massaged according to the image;

[0026] A surface normal calculation unit, used to obtain the spatial position coordinates of the massage head located on the surface of the area to be massaged, and calculate the surface normal direction at the current position of the massage head according to the spatial surface equation;

[0027] An axial force calculation unit, used to obtain the angle between the normal direction of the curved surface and the axis direction of the massage head, and determine the axial force components to be applied to each axis of the massage head according to the angle;

[0028] The axial force applying unit is used to drive three axial motors to apply corresponding axial forces to the three axial springs of the massage head respectively, so that the resultant direction of the axial forces is consistent with the normal direction of the curved surface.

[0029] An embodiment of the present invention further provides a massage head pressing direction control device, which includes a memory and a processor. The memory stores a computer program, and the computer program can be executed by the processor to implement the massage head pressing direction control method as described above.

[0030] The present invention obtains the three-dimensional shape information of the area to be massaged, determines its spatial surface equation, and calculates the surface normal direction of the current position of the massage head in real time. According to the angle between the normal direction and the axis of the massage head, the axial component force to be applied is determined, and the three axial motors are driven to apply corresponding forces on the spring of the massage head, so that the massage head generates a synthetic force consistent with the direction of the surface normal. During the continuous movement of the massage head along the surface, the present invention controls the size and direction of the synthetic force to always be consistent with the surface normal, thereby achieving precise vertical force application of the massage head to complex surfaces. This adaptive adjustment mechanism significantly improves the accuracy and comfort of massage, provides a personalized intelligent massage experience for users of different body shapes, and compared with vertical force application through five axes, the implementation cost of the present invention is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a massage head pressing direction control method provided in the first embodiment of the present invention.

[0032] Figure 2 This is a schematic structural diagram of a massage head provided in the first embodiment of the present invention.

[0033] Figure 3 This is a force analysis diagram of the pressing direction control of the massage head provided by the first embodiment of the present invention.

[0034] Figure 4 This is a schematic structural diagram of a massage head pressing direction control device provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0036] like Figure 1 As shown, the first embodiment of the present invention provides a massage head pressing direction control method, which specifically includes:

[0037] S101, acquiring an image of an area to be massaged, and determining a spatial surface equation of the area to be massaged according to the image.

[0038] Specifically, in this embodiment, the user can lie on a special massage device, and the massage device can use a visual sensor such as a camera to collect an image of the area to be massaged, and then generate surface point cloud data of the area based on the image. Based on the surface point cloud data, a discrete three-dimensional model of the area to be massaged is constructed. The discrete three-dimensional model is converted into a continuous triangular mesh surface through a triangulation algorithm. According to the triangular mesh surface, the normal vector of each triangular face is calculated. A surface fitting algorithm is used to fit the spatial surface equation of the area to be massaged based on the triangular mesh surface and the normal vector.

[0039] Exemplarily, a camera is used to capture an image of the area to be massaged, and then about 50,000 surface point cloud data points are obtained through image analysis. Based on the surface point cloud data, a discrete three-dimensional model of the area to be massaged is constructed, and the point cloud data is spatially indexed using the KD tree algorithm to optimize data processing efficiency. The discrete three-dimensional model is converted into a continuous triangular mesh surface through a triangulation algorithm, and about 10,000 triangular facets are generated using the Delaunay triangulation method. According to the triangular mesh surface, the normal vector of each triangular facet is calculated, and the normal vector of each triangular facet is calculated using the vector cross product method, and normalized. A surface fitting algorithm is used to fit the spatial surface equation of the area to be massaged based on the triangular mesh surface and the normal vector, and the NURBS surface fitting method is used, and the fitting error is controlled within 0.01 mm.

[0040] S102, obtaining the spatial position coordinates of the massage head located on the surface of the area to be massaged, and calculating the surface normal direction at the current position of the massage head according to the spatial surface equation.

[0041] In this embodiment, the massage head is a three-coordinate massage head, which can achieve translation in three directions: X, Y, and Z. Figure 2As shown, the massage head includes a massage head connecting device 1, a spherical massage head 2 with a spring positioning groove connected to the massage head connecting device 1, three axial pressure sensors and an axial spring 4, the axial spring 4 is located in the spring positioning groove, and the axial pressure sensor is arranged on the axial spring 4.

[0042] In this embodiment, similarly, a camera can be used to obtain the spatial position coordinates of the massage head located on the surface of the area to be massaged. After obtaining the current position of the massage head, the pre-stored spatial surface equation is matched according to the current position of the massage head to calculate the surface normal direction at the current position of the massage head, that is, to obtain the normal angle information.

[0043] Exemplarily, a camera is used to obtain the spatial position coordinates of the massage head. According to the current position data of the massage head, a pre-stored spatial surface equation is matched, and the surface normal direction at the current position of the massage head is calculated by the spatial surface equation. For example, the normal vector is calculated using partial derivatives as (0.707, 0.707, 0) to obtain the normal angle information.

[0044] Step S103, obtaining the angle between the normal direction of the curved surface and the axis direction of the massage head, and determining the axial force components to be applied to each axis of the massage head according to the size of the angle.

[0045] Step S104, driving the three axial motors to apply corresponding axial force components to the three axial springs of the massage head respectively, so that the resultant direction of the axial force components is consistent with the normal direction of the curved surface.

[0046] Specifically, Figure 3 As shown, in this embodiment, after obtaining the normal direction of the curve and the axis direction of the massage head, the angle between the normal direction of the curve and the axis direction of the massage head can be calculated. The calculation formula of the component force Fx applied in the X direction is determined according to the size of the angle. A pressure sensor is used to read the size of the pressing force transmitted to the axial spring by the massage head. The axial component force Fz to be applied in the Z direction is calculated according to the size of the pressing force and the angle.

[0047] Assume that the normal direction n of the curved surface is the same as the axis direction of the massage head (i.e. Figure 3 The angle θ between the two directions of Fz in the X direction is determined by using the vector dot product formula cosθ=(n·Fz) / (|n|·|Fz|). According to the size of the angle θ, the component force Fx applied in the X direction is determined by using the formula Fx=Fn·sinθ, where Fn is the preset total pressing force.

[0048] Furthermore, a PID control algorithm can be used to adjust the magnitude and direction of the force of the massage head in real time so that it is applied along the normal direction of the surface. The PID parameters are set to Kp=2, Ki=0.1, Kd=0.5 to ensure the accuracy of control.

[0049] In summary, this embodiment obtains the three-dimensional shape information of the area to be massaged, determines its spatial surface equation, and calculates the surface normal direction of the current position of the massage head in real time. According to the angle between the normal direction and the axis of the massage head, the axial component force to be applied is determined, and the three axial motors are driven to apply corresponding forces on the spring of the massage head, so that the massage head generates a synthetic force consistent with the direction of the surface normal. During the continuous movement of the massage head along the surface, the present invention controls the size and direction of the synthetic force to always be consistent with the surface normal, thereby realizing the precise vertical force application of the massage head to the complex surface. This adaptive adjustment mechanism significantly improves the accuracy and comfort of the massage, provides a personalized intelligent massage experience for users of different body shapes, and compared with the vertical force application through five axes, the implementation cost of the present invention is lower.

[0050] See also Figure 4 The second embodiment of the present invention further provides a massage head pressing direction control device, which includes:

[0051] A space surface equation acquisition unit 210 is used to acquire an image of the area to be massaged, and determine the space surface equation of the area to be massaged according to the image;

[0052] The surface normal calculation unit 220 is used to obtain the spatial position coordinates of the massage head located on the surface of the massage area to be massaged, and calculate the surface normal direction at the current position of the massage head according to the spatial surface equation;

[0053] An axial force calculation unit 230 is used to obtain the angle between the normal direction of the curved surface and the axis direction of the massage head, and determine the axial force components to be applied to each axis of the massage head according to the angle;

[0054] The axial force applying unit 240 is used to drive three axial motors to apply corresponding axial forces to the three axial springs of the massage head respectively, so that the resultant direction of the axial forces is consistent with the normal direction of the curved surface.

[0055] The third embodiment of the present invention further provides a massage head pressing direction control device, which includes a memory and a processor. The memory stores a computer program, and the computer program can be executed by the processor to implement the massage head pressing direction control method as described above.

[0056] The fourth embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement the massage head pressing direction control method as described above.

[0057] Exemplarily, the above-mentioned devices and process steps can be implemented by a computer program. The computer program can be divided into one or more units. The one or more units are stored in the memory and executed by the processor to complete the present invention.

[0058] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0059] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the present invention by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory 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 (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0060] Wherein, if the electronic device or printer integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0061] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0062] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A massage head pressing direction control method, characterized in that: include: Acquire an image of the area to be massaged, and determine a spatial surface equation of the area to be massaged according to the image; Obtaining the spatial position coordinates of the massage head located on the surface of the area to be massaged, and calculating the surface normal direction at the current position of the massage head according to the spatial surface equation; Obtaining the angle between the normal direction of the curved surface and the axis direction of the massage head, and determining the axial force components to be applied to each axis of the massage head according to the angle; The three axial motors are driven to apply corresponding axial force components to the three axial springs of the massage head respectively, so that the resultant force direction of the axial force components is consistent with the normal direction of the curved surface.

2. The massage head pressing direction control method according to claim 1, characterized in that: The step of acquiring an image of the area to be massaged and determining a spatial surface equation of the area to be massaged according to the image comprises: Collecting images of the massage head and the area to be massaged by a visual sensor; According to the image, three-dimensional shape information of the area to be massaged is acquired, and according to the three-dimensional shape information, a spatial surface equation of the area to be massaged is determined.

3. The massage head pressing direction control method according to claim 1, characterized in that: The step of obtaining the angle between the normal direction of the curved surface and the axis direction of the massage head, and determining the axial force components to be applied to each axis of the massage head according to the angle, includes: Decomposing the surface normal angle to each coordinate axis of the massage head coordinate system to obtain the angle between each coordinate axis and the surface normal; According to the included angle between each coordinate axis and the normal direction of the curved surface, the magnitude of the axial force of the massage head in the direction of the corresponding coordinate axis is determined according to a preset proportional relationship.

4. The massage head pressing direction control method according to claim 1, characterized in that: The three axial motors driven exert corresponding axial forces on the three axial springs of the massage head, including: Get the actual pressure value of the massage head in each coordinate axis direction; Calculate the deviation between the actual pressure value and the target force component value in each coordinate axis direction; According to the deviation, the movement of the massage head in the direction of the corresponding coordinate axis is adjusted until the actual pressure value reaches the corresponding axial force component.

5. The massage head pressing direction control method according to claim 4, characterized in that: A pressure sensor is arranged in each coordinate axis direction of the massage head, and a detection value of each pressure sensor is obtained as an actual pressure value of the massage head in the corresponding coordinate axis direction.

6. The massage head pressing direction control method according to claim 5, characterized in that: The massage head is spherical and is provided with a plurality of positioning grooves corresponding to the directions of the coordinate axes; An elastic member is arranged in the positioning groove, which is used to generate deformation when the massage head is subjected to force, so as to be detected by the pressure sensing unit.

7. The massage head pressing direction control method according to any one of claims 1 to 6, characterized in that: The massage head is a three-coordinate massage head.

8. A massage head pressing direction control device, characterized in that: include: A space surface equation acquisition unit, used for acquiring an image of the area to be massaged, and determining the space surface equation of the area to be massaged according to the image; A surface normal calculation unit, used to obtain the spatial position coordinates of the massage head located on the surface of the area to be massaged, and calculate the surface normal direction at the current position of the massage head according to the spatial surface equation; An axial force calculation unit, used to obtain the angle between the normal direction of the curved surface and the axis direction of the massage head, and determine the axial force components to be applied to each axis of the massage head according to the angle; The axial force applying unit is used to drive three axial motors to apply corresponding axial forces to the three axial springs of the massage head respectively, so that the resultant direction of the axial forces is consistent with the normal direction of the curved surface.

9. A massage head pressing direction control device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement the massage head pressing direction control method as claimed in any one of claims 1 to 7.

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