Massage part identification method, device and equipment and readable storage medium

Abstract

The invention provides a massage part recognition method, device and equipment and a readable storage medium, and the scheme comprises the steps: obtaining a human body basic model massage data set and an actual massage data set, and each element in the two sets comprises a movement position and the expansion amount of a massage motor corresponding to the movement position; then an offset set is constructed based on the human body basic model massage data set and the actual massage data set, and finally a human body part is determined based on the change condition of the difference value of the deviation values of the expansion and contraction amounts corresponding to the positions of the two adjacent machine cores in the offset set. The massage part can be recognized in the massage process of a user, and then better massage experience is provided for the user.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly relates to a method, device, equipment and readable storage medium for identifying massage parts. Background Art

[0002] The massage chair is a kind of household appliance product that has developed rapidly in recent years. Basically, the existing massage chair products on the market form basic massage techniques through the cooperation of kneading motors, percussion motors, walking motors and 3D motors (massage motors), and different massage strategies are combined by separately controlling the working states of the four motors.

[0003] The force-bearing conditions of different parts of the human body are different during the massage process. The current pressure sensors of massage chairs cannot directly contact the human body, so it is impossible to timely sense and judge the massage parts of the human body on the massage chair, and thus it is impossible to accurately provide different massage intensities and massage strategies for different massage parts. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, device, equipment and readable storage medium for identifying massage parts to achieve the identification of massage parts.

[0005] To achieve the above object, the embodiments of the present invention provide the following technical solutions:

[0006] A method for identifying massage parts, comprising:

[0007] Obtain a set of massage data of a human body basic model, where the set of human body basic model data includes m elements, each element includes the position of the movement mechanism of the massage device and the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The positions of the movement mechanisms corresponding to different elements are different, and m is a positive integer not less than 1;

[0008] Obtain a set of actual massage data, where the set of actual massage data includes m elements, each element includes the position of the movement mechanism of the massage device during the actual massage process and the telescopic amount of the massage motor corresponding to the position of the movement mechanism;

[0009] Construct an offset set based on the set of massage data of the human body basic model and the set of actual massage data. The offset set includes m elements, each element includes the position of the movement mechanism of the massage device and the deviation amount of the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The deviation amount refers to the difference between the telescopic amounts of the massage motors corresponding to the same position of the movement mechanism in the set of massage data of the human body basic model and the set of actual massage data;

[0010] Determine the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent positions of the movement mechanism in the offset set.

[0011] Optionally, in the above massage position recognition method, before obtaining the massage data set of the human body basic model, it further includes:

[0012] Obtain the set pressure value F set ;

[0013] Traverse the positions of the movement of the massage device;

[0014] Control the movement of the movement of the massage device to the traversed position of the movement and massage the standard human body basic model;

[0015] Obtain the pressure value of the massage ball during the massage process;

[0016] Based on the formula Z pwm =K p *(F n -F set )+K i *((F1 - F set )+...+(F n -F set ))+K d *((F n -F set )-(F n-1 -F set )) calculate to obtain Z pwm ;

[0017] Adjust the telescopic amount of the massage motor until Z pwm =0;

[0018] Obtain the telescopic amount of the massage motor when Z pwm =0;

[0019] Continue to execute the action: traverse the positions of the movement of the massage device until all the positions of the movement of the massage device are traversed;

[0020] Based on each position of the movement and the telescopic amount of the massage motor when Z pwm =0 at each position of the movement, construct the massage data set of the human body basic model;

[0021] Among them, the K p is the proportionality coefficient, the K i is the integral coefficient, the K d is the differential coefficient, and the F n represents the pressure value of the massage ball obtained for the nth time.

[0022] Optionally, in the above massage position recognition method, after constructing the massage data set of the human body basic model, it further includes:

[0023] Determine whether the number of the constructed basic human body model massage data sets reaches a preset number;

[0024] When the preset number is reached, integrate each element in all the basic human body model massage data sets to obtain a final basic human body model massage data set.

[0025] Optionally, in the above massage part recognition method, obtaining the actual massage data set includes:

[0026] Obtain the set pressure value F set ;

[0027] Traverse the positions of the movement of the massage device;

[0028] Control the movement of the movement of the massage device to the traversed position of the movement and massage the massage object;

[0029] Obtain the pressure value of the massage ball during the massage;

[0030] Based on the formula Z pwm =K p *(F n -F set )+K i *((F1 - F set )+...+(F n -F set ))+K d *((F n -F set )-(F n-1 -F set )) calculate to obtain Z pwm ;

[0031] Adjust the telescopic amount of the massage motor until Z pwm =0;

[0032] Obtain the telescopic amount of the massage motor when Z pwm =0;

[0033] Continue to execute the action: traverse the positions of the movement of the massage device until all the positions of the movement of the massage device are traversed;

[0034] Based on each position of the movement and the telescopic amount of the massage motor when Z pwm =0 at each position of the movement, construct the actual massage data set;

[0035] Among them, the K p is the proportionality coefficient, the K i is the integral coefficient, the K d is the differential coefficient, and the F nIt represents the pressure value of the massage ball obtained for the nth time.

[0036] Optionally, in the above massage part recognition method, determining the human body part based on the difference in the stretching amounts of two adjacent elements in the offset amount set includes:

[0037] Obtaining the deviation amount corresponding to each movement mechanism position in the offset amount set;

[0038] Successively traversing the differences in the deviation amounts corresponding to any two adjacent movement mechanism positions;

[0039] Obtaining the movement mechanism position corresponding to the turning point when the difference in the deviation amounts presents a target situation, and recording it as the target position;

[0040] Recording the target position as the human body part marking point.

[0041] Optionally, in the above massage part recognition method, obtaining the movement mechanism position corresponding to the turning point when the difference in the deviation amounts presents a target situation, and recording it as the target position includes:

[0042] When detecting △Z Xm -△Z Xm-1 <0, it indicates that the difference in the deviation amounts presents a turning point of the target situation, where the △Z Xm and △Z Xm-1 are the deviation amounts corresponding to two adjacent movement mechanism positions in the offset amount set;

[0043] Recording the movement mechanism position corresponding to the △Z Xm-1 as the target position.

[0044] Optionally, in the above massage part recognition method, after recording the target position as the human body part marking point, it further includes:

[0045] When the moving direction of the movement mechanism of the massage device is from the human head direction to the human foot direction, the successively marked human body part marking points are successively marked as the shoulder position, the back position, and the waist position;

[0046] When the moving direction of the movement mechanism of the massage device is from the human foot direction to the human head direction, the successively marked human body part marking points are successively marked as the waist position, the back position, and the shoulder position.

[0047] A massage part recognition device includes:

[0048] The first acquisition unit is used to obtain a set of massage data of the human body basic model. The set of human body basic model data includes m elements, and each element includes the position of the movement of the massage device and the telescopic amount of the massage motor corresponding to the position of the movement. The positions of the movement corresponding to different elements are different, and m is a positive integer not less than 1;

[0049] The second acquisition unit is used to obtain a set of actual massage data. The set of actual massage data includes m elements, and each element includes the position of the movement of the massage device during the actual massage process and the telescopic amount of the massage motor corresponding to the position of the movement;

[0050] The deviation amount calculation unit is used to construct a set of offset amounts based on the set of massage data of the human body basic model and the set of actual massage data. The set of offset amounts includes m elements, and each element includes the position of the movement of the massage device and the deviation amount of the telescopic amount of the massage motor corresponding to the position of the movement. The deviation amount refers to the difference between the telescopic amounts of the massage motors corresponding to the same position of the movement in the set of massage data of the human body basic model and the set of actual massage data;

[0051] The body part marking unit is used to determine the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent positions of the movement in the set of offset amounts.

[0052] A computer-readable storage medium includes a stored program. When the program runs, it executes the massage part recognition method described in any one of the above.

[0053] A massage part recognition device includes a memory and a processor. A computer program is stored in the memory, and the processor is configured to execute the massage part recognition method described in any one of the above through the computer program.

[0054] Based on the above technical solution, the above solution provided by the embodiment of the present invention obtains a set of massage data of the human body basic model and a set of actual massage data. Each element in the two sets includes the position of the movement and the telescopic amount of the massage motor corresponding to the position of the movement. Then, a set of offset amounts is constructed based on the set of massage data of the human body basic model and the set of actual massage data. Finally, based on the change situation of the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent positions of the movement in the set of offset amounts, the human body part is determined, so that the part being massaged can be recognized during the user's massage process, and thus a better massage experience can be provided for the user. Description of the Drawings

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0056] Figure 1 It is a schematic flowchart of the massage position recognition method disclosed in the embodiments of the present application;

[0057] Figure 2 It is a schematic flowchart of the construction process of the massage data set of the human body basic model disclosed in the embodiments of the present application;

[0058] Figure 3 In the massage position recognition method disclosed in the embodiments of the present application, it is a schematic flowchart of determining the human body part based on the deviation amount;

[0059] Figure 4 It is the human body force curve constructed by using the massage position recognition method disclosed in the embodiments of the present application;

[0060] Figure 5 It is a schematic structural diagram of the massage position recognition device disclosed in the embodiments of the present application;

[0061] Figure 6 It is a schematic structural diagram of the massage position recognition device disclosed in the embodiments of the present application. Specific embodiments

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0063] The present application discloses a massage position recognition solution, which includes: obtaining the telescopic amount of the massage motor corresponding to each massage position in the standard parameters and the telescopic amount of the massage motor corresponding to each massage position in the actual massage process, calculating the deviation amount of the telescopic amount of the massage motor corresponding to the same massage position, and marking the human body part based on the change of the deviation amount corresponding to adjacent massage positions.

[0064] The method disclosed in this application can be applied to massage chairs or massage beds. For example, the massage chair can be a massage chair including a backrest rail assembly and a movement assembly (massage head with a pressure sensor). The structure of the massage chair can be any massage chair in the prior art that can apply this method. For example, it can be the massage device disclosed in the patent with the publication number CN217040708U.

[0065] Specifically, referring to Figure 1 , this application discloses a method for identifying massage parts, including:

[0066] Step S101: Obtain a set of massage data of the human body basic model.

[0067] The set of human body basic model data includes m elements. Each element includes the position of the movement of the massage device and the telescopic amount of the massage motor corresponding to the position of the movement. The positions of the movements corresponding to different elements are different. The n is a positive integer not less than 1.

[0068] For example, the set of massage data of the human body basic model can be A = { {X0, Z X0}, {X1, Z X1},... {X m , Z Xm}}. In this set, X0, X1,..., X m are the positions of the movements of the massage device. In this solution, X refers to the walking direction of the movement on the massage rail. The walking movement can carry a Hall counter. Each time it walks a preset step distance, the Hall counter count is incremented by 1, and the corresponding movement position is marked. For example, when the movement is at the initial position, the count value of the Hall counter is 0. At this time, the movement position is X0. When the movement moves once, it walks a preset step distance on the massage rail, and the count value of the Hall counter is incremented by 1. At this time, the recorded movement position is X1. When the movement has moved m times, it walks a preset step distance on the massage rail, and the count value of the Hall counter is incremented by m. At this time, the recorded movement position is X m , and the Z X0 , Z X1 , Z Xm are respectively used to represent the telescopic amounts of the massage motors corresponding to X0, X1,..., X m .

[0069] In this solution, the Z refers to the telescopic amount of the massage motor. The massage motor has front and rear limits. The maximum value of the telescopic amount is Z max , and the minimum value of the telescopic amount is Z0, and Z0 = 0.

[0070] In this solution, each element in the set of human body basic model data can be arranged based on the movement mechanism position order, that is, the movement mechanism positions corresponding to two adjacent elements are adjacent.

[0071] Step S102: Obtain the set of actual massage data;

[0072] The set of actual massage data includes m elements, and each element includes the movement mechanism position of the massage device movement mechanism during the actual massage process and the telescopic amount of the massage motor corresponding to the movement mechanism position.

[0073] In this embodiment, the constituent elements of the set of actual massage data are the same as those of the set of human body basic model massage data. The difference is that the set of human body basic model massage data records standard data during product development and testing, and the set of actual massage data is actual data collected when the user uses the massage device.

[0074] For example, the obtaining of the set of actual massage data can be B = { { X0, Z X0}, { X1, Z X1},... { X m , Z Xm}}, and the Z X0 , Z X1 , Z Xm in B are all measured values.

[0075] Step S103: Construct an offset set based on the set of human body basic model massage data and the set of actual massage data.

[0076] The offset set includes m elements, and each element includes the movement mechanism position of the massage device movement mechanism and the deviation amount of the telescopic amount of the massage motor corresponding to the movement mechanism position. The deviation amount refers to the difference in the telescopic amount of the massage motor corresponding to the same movement mechanism position in the set of human body basic model massage data and the set of actual massage data;

[0077] For example, the offset set is: B - A = { { X0, △Z X0}, { X1, △Z X1},... { X m , △Z Xm}}, △Z X0 , △Z X1 ... △Z Xm is the deviation amount of the telescopic amount of the massage motor corresponding to X0, X1,..., X m , and the △Z X0 is the difference between Z X0 in set B and Z X0 in set A, and △Z X1Z in set B X1 and Z in set A X1 The difference, △Z Xm is Z in set B Xm and Z in set A Xm The difference.

[0078] Step S103: Determine the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent movement mechanism positions in the offset amount set.

[0079] After determining the deviation amounts of the telescopic amounts corresponding to the movement mechanism of the massage device at each movement mechanism position, arrange these deviation amounts in sequence in the X direction, and then calculate the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent movement mechanism positions. By analyzing the change of these deviation amount differences, the human body part can be marked.

[0080] For example, during the massage process, when the movement mechanism moves from the head to the buttocks direction, when it moves to the shoulder, due to the particularity of the body structure, the pressure value received by the human body will increase. At this time, the expression form of the difference between the deviation amounts is: △Z Xm -△Z Xm-1 <0. At this time, it can be considered that the shoulder position of the human body is massaged. Similarly, when the movement mechanism reaches the back position, △Z will also be detected Xm -△Z Xm-1 <0. At this time, it can be considered that the back position of the human body is massaged. When the movement mechanism reaches the waist position, △Z will also be detected Xm -△Z Xm-1 <0. At this time, it can be considered that the waist position of the human body is massaged. Thus, by comparing the change of the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent movement mechanism positions in the offset amount set, the human body part corresponding to the movement mechanism position can be marked, so as to provide better massage service for users.

[0081] This embodiment also discloses a specific construction method for the massage data set of the human body basic model. Refer to Figure 2 , this method may include:

[0082] Step S201: Obtain the set pressure value F set .

[0083] In this embodiment, move the movement mechanism of the massage device to the initial position, set the force collection of the movement mechanism massage ball pressure sensor, and the set collection force is recorded as the set pressure value F set , and the value of the collection force can be set according to the design requirements or user requirements. For example, the collection force can be 20N.

[0084] Step S202: Traverse the movement mechanism positions of the massage device.

[0085] In this step, based on the X direction, traverse each movement mechanism position in the X direction in sequence. For example, traverse X0, X1, ……, X m .

[0086] Step S203: Control the movement mechanism of the massage device to move to the traversed movement mechanism position and massage the standard human basic model.

[0087] When a certain movement mechanism position is traversed, move the movement mechanism of the massage device to the traversed movement mechanism position, and control the massage device to massage the standard human basic model.

[0088] Step S204: Obtain the pressure value of the massage ball during the massage process.

[0089] In this step, obtain the intensity collected by the pressure sensor of the movement mechanism massage ball during the massage process, and record the collected intensity as the pressure value of the massage ball. In this solution, the collected pressure value can be recorded as F.

[0090] Step S205: Calculate Z based on the formula Z pwm = K p *(F n - F set ) + K i *((F1 - F set ) +... + (F n - F set )) + K d *((F n - F set ) - (F n-1 - F set )) pwm .

[0091] Among them, the K p is the proportionality coefficient, the K i is the integral coefficient, the K d is the differential coefficient, and the F n represents the pressure value of the massage ball obtained for the nth time.

[0092] In this step, record the first collected F as F1, the second collected F as F2, the F collected for the (n - 1)th time as F n-1 , and the F collected for the nth time as F n .

[0093] Initially, only F will be collected once. As the number of iterations of this step increases, the number of times F is collected will continuously increase.

[0094] Step S206: Adjust the telescopic amount of the massage motor until Zpwm = 0.

[0095] In this step, after calculating the above formula to obtain the Z pwm After that, determine the Z pwm Whether the value of is equal to 0. If it is not equal to 0, the telescopic amount of the massage motor needs to be adjusted, and then step S205 is executed to calculate F once, and iterate repeatedly until the calculated Z pwm = 0.

[0096] For example, if the calculated Z pwm Is greater than 0, the massage motor increases the protruding length, keeps the set pressure value F set Unchanged, and then return to step S205. If the calculated Z pwm Is less than 0, the massage motor retracts, keeps the set pressure value F set Unchanged, and then return to step S204. Iterate like this until the calculated Z pwm = 0.

[0097] Step S207: Obtain the telescopic amount of the massage motor when Z pwm = 0.

[0098] When Z pwm = 0, obtain the telescopic amount of the massage motor at this moment, and establish the corresponding relationship between the telescopic amount and the traversed movement mechanism position;

[0099] Continue to execute the action: traverse the movement mechanism positions of the massage device movement mechanism until all the movement mechanism positions of the massage device movement mechanism are traversed.

[0100] When determining the telescopic amount of the massage motor at a certain movement mechanism position when Z pwm = 0, continue to traverse other movement mechanism positions until all movement mechanism positions are traversed, and calculate the telescopic amount of the massage motor at all movement mechanism positions when Z pwm = 0.

[0101] Step S208: Based on each movement mechanism position and the telescopic amount of the massage motor when Z pwm = 0 for each movement mechanism position, construct a massage data set for the human body basic model.

[0102] After determining the telescopic amount of the massage motor at each movement mechanism position when Z pwm = 0, construct the massage data set of the human body basic model based on the movement mechanism position and the determined telescopic amount of the massage motor.

[0103] The construction process of the actual massage data set is similar to that of the human body basic model massage data set, except that the massage object is different in the data acquisition process. In this embodiment, obtaining the actual massage data set includes: obtaining the set pressure value F set , traversing the positions of the movement of the massage device, controlling the movement of the movement of the massage device to the traversed position of the movement, and massaging the massage object, obtaining the pressure value of the massage ball during the massage process, and based on the formula Z pwm = K p *(F n - F set ) + K i *((F1 - F set ) +... + (F n - F set )) + K d *((F n - F set ) - (F n-1 - F set )) to calculate Z pwm , adjust the telescopic amount of the massage motor until Z pwm = 0, obtain the telescopic amount of the massage motor when Z pwm = 0, and continue to execute the action: traverse the positions of the movement of the massage device until all the positions of the movement of the massage device are traversed; based on each position of the movement and the telescopic amount of the massage motor when Z pwm = 0, construct the actual massage data set;

[0104] In this embodiment, considering that the human body basic model massage data set constructed with a set of data may not be reliable enough, in this application, multiple sets of human body basic model massage data sets can be constructed. After constructing multiple sets of human body basic model massage data sets, these human body basic model massage data sets are integrated to obtain the final human body basic model massage data set. Specifically, this process may include determining whether the number of constructed human body basic model massage data sets reaches a preset number; when the preset number is reached, integrate the elements in all the human body basic model massage data sets to obtain the final human body basic model massage data set. During the integration process, filtering processing, normalization processing, averaging, etc. can be performed, and the final result is stored in the processor MCU of the system applying this method for subsequent calling.

[0105] In the technical solution disclosed in this embodiment, the massage device can set multiple set pressure values F set , and this solution can pre-set different set pressure values F set, configure different sets of massage data for the basic human body model. When obtaining the set of massage data for the basic human body model, it is possible to obtain the set of massage data for the basic human body model that matches the set pressure value F set by the user. set The set of massage data for the basic human body model that matches.

[0106] In this embodiment, the human body part can be marked based on the change in the difference between the deviation amounts corresponding to two adjacent movement mechanism positions. Refer to Figure 3 , when determining the human body part based on the difference between the deviation amounts of the telescopic amounts of two adjacent elements in the offset amount set, it may specifically include:

[0107] Step S301: Obtain the deviation amount corresponding to each movement mechanism position in the offset amount set.

[0108] Let the offset amount set be {{X0, △Z X0}}, {X1, △Z X1}},... {X m , △Z Xm}}, where the △Z X0 , △Z X1 ... △Z Xm are the deviation amounts corresponding to the movement mechanism positions X0, X1,..., X m .

[0109] Step S302: Traverse in sequence the differences between the deviation amounts corresponding to any two adjacent movement mechanism positions.

[0110] In this step, calculate in sequence along the X (the moving direction of the movement mechanism of the massage device) direction the differences between the deviation amounts corresponding to two adjacent pressure values. For example, calculate the difference between △Z X1 and △Z X0 (△Z X1 - △Z X0 ), calculate the difference between △Z Xm and △Z Xm-1 (△Z Xm - △Z Xm-1 ), and then the differences between the deviation amounts corresponding to any two adjacent movement mechanism positions can be obtained.

[0111] Step S303: Obtain the movement mechanism position corresponding to the turning point when the difference between the deviation amounts presents a target situation, and record it as the target position.

[0112] In this embodiment, when the calculation method for the difference between the deviation amounts corresponding to two adjacent movement mechanism positions is △Z Xm - △Z Xm-1 , the turning point of the target situation refers to the difference between the deviation amounts being less than 0. When the calculation method for the difference between the deviation amounts corresponding to two adjacent movement mechanism positions is △Z Xm-1 - △ZXm When it comes to the turning of the target situation, it means that the difference in the deviation amount is greater than 0. When it is detected that the difference in the deviation amount shows a turning of the target situation (detecting that the difference is greater than 0 or less than 0), it indicates that the human body part has changed. Then, step S304 is executed to mark this position as the human body part annotation point.

[0113] Taking the calculation method of the difference in the deviation amounts corresponding to two adjacent movement positions as △Z Xm -△Z Xm-1 as an example, when it is detected that △Z Xm -△Z Xm-1 < 0, it indicates that the difference in the deviation amount shows a turning of the target situation, and the movement position corresponding to the Z Xm-1 is recorded as the target position. Among them, the △Z Xm and △Z Xm-1 are the deviation amounts corresponding to two adjacent movement positions in the offset amount set.

[0114] In this embodiment, in order to ensure the reliability of the judgment result, in this embodiment, when it is detected that there is a turning of the target situation, the determined target position is recorded as the candidate position, and then the subsequent several (for example, 1, two, three) movement positions are continuously analyzed to determine whether the differences in the deviation amounts corresponding to these movement positions and their adjacent movement positions also meet the target situation, that is, whether the target situation appears continuously for multiple times. If the target situation appears continuously for multiple times, the candidate position is marked as the target position; otherwise, the candidate position is not recorded and the analysis continues. That is, for example, for some reasons, only one time of △Z Xm -△Z Xm-1 < 0 is detected during the analysis process, then this position is not the human body part annotation point. Only when △Z Xm -△Z Xm-1 < 0 appears continuously for multiple times, the movement position corresponding to the Z Xm-1 is recorded as the target position.

[0115] Step S304: Mark the target position as the human body part annotation point.

[0116] In this embodiment, multiple human body part annotation points can be marked in the above embodiment. For example, the human body part annotation points corresponding to the shoulders, the back, and the waist. In this embodiment, corresponding human body parts can also be further matched to these human body part annotation points. Specifically, after recording the target position as the human body part annotation point, it further includes: when the moving direction of the massage device movement mechanism is from the human head direction to the human foot direction, the sequentially marked human body part annotation points are sequentially marked as the shoulder position, the back position, and the waist position. That is, the first marked human body part annotation point is marked as the shoulder position, the second marked human body part annotation point is marked as the back position, and the third marked human body part annotation point is marked as the waist position. When the moving direction of the massage device movement mechanism is from the human foot direction to the human head direction, the sequentially marked human body part annotation points are sequentially marked as the waist position, the back position, and the shoulder position. That is, the first marked human body part annotation point is marked as the waist position, the second marked human body part annotation point is marked as the back position, and the third marked human body part annotation point is marked as the shoulder position.

[0117] In this embodiment, in order to provide a better massage service for massage users, in this embodiment, based on the actual massage data set, the telescopic amounts of the massage motors corresponding to the positions of each movement mechanism can also be used to construct a Figure 4 force curve model of the user being massaged on the massage device as shown.

[0118] This embodiment discloses a massage part recognition device. For the specific working content of each unit in the device, please refer to the content of the above method embodiment.

[0119] The massage part recognition device provided by the embodiment of the present invention will be described below. The massage part recognition device described below can be correspondingly referred to the massage part recognition method described above.

[0120] See Figure 5 , the massage part recognition device may include:

[0121] The first acquisition unit 10, which corresponds to step S101 in the above method, is used to acquire a human body basic model massage data set. The human body basic model data set includes n elements, each element includes the movement mechanism position of the massage device movement mechanism and the telescopic amount of the massage motor corresponding to the movement mechanism position. The movement mechanism positions corresponding to different elements are different, and n is a positive integer not less than 1;

[0122] The second acquisition unit 20, which corresponds to step S102 in the above method, is used to acquire a set of actual massage data. The set of actual massage data includes n elements, and each element includes the position of the movement mechanism of the massage device during the actual massage process and the telescopic amount of the massage motor corresponding to the position of the movement mechanism;

[0123] The deviation amount calculation unit 30, which corresponds to step S103 in the above method, is used to construct a set of offset amounts based on the set of human basic model massage data and the set of actual massage data. The set of offset amounts includes n elements, and each element includes the position of the movement mechanism of the massage device and the deviation amount of the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The deviation amount refers to the difference between the telescopic amounts of the massage motors corresponding to the same movement mechanism position in the set of human basic model massage data and the set of actual massage data;

[0124] The body part marking unit 40, which corresponds to step S104 in the above method, is used to determine the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent movement mechanism positions in the set of offset amounts.

[0125] Corresponding to the above method, the present application also discloses a computer-readable storage medium. The computer-readable storage medium includes a stored program. When the program runs, it executes the massage part recognition method described in any one of the above.

[0126] Figure 6 Shown is a hardware structure diagram of the massage part recognition device provided by the embodiment of the present invention. The massage part recognition device can be a massage chair, a massage bed, or other massage devices that can apply this method. Refer to Figure 6 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300, and at least one communication bus 400;

[0127] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 complete communication with each other through the communication bus 400; Obviously, Figure 6 The communication connection schematic diagram shown by the processor 100, the communication interface 200, the memory 300, and the communication bus 400 shown is only optional;

[0128] Optionally, the communication interface 200 can be an interface of a communication module, such as an interface of a GSM module;

[0129] The processor 100 may be a central processing unit (CPU), or a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0130] The memory 300 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0131] Specifically, the processor 100 is configured to execute the steps of the massage part recognition method described in any of the above embodiments of the present application.

[0132] For example, the processor is specifically configured to:

[0133] Obtain a set of massage data of a human body basic model, where the set of human body basic model data includes m elements, each element includes the position of the movement mechanism of the massage device and the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The positions of the movement mechanisms corresponding to different elements are different, and m is a positive integer not less than 1;

[0134] Obtain a set of actual massage data, where the set of actual massage data includes m elements, each element includes the position of the movement mechanism of the massage device during the actual massage process and the telescopic amount of the massage motor corresponding to the position of the movement mechanism;

[0135] Construct an offset set based on the set of massage data of the human body basic model and the set of actual massage data. The offset set includes m elements, each element includes the position of the movement mechanism of the massage device and the deviation amount of the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The deviation amount refers to the difference between the telescopic amounts of the massage motors corresponding to the same position of the movement mechanism in the set of massage data of the human body basic model and the set of actual massage data;

[0136] Determine the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent positions of the movement mechanism in the offset set.

[0137] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0138] For the convenience of description, when describing the above system, it is divided into various modules according to functions and described separately. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0139] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the system or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The systems and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0140] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0141] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field.

[0142] It should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0143] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for identifying a massage part, characterized in that, Including: Obtain a set of massage data of a basic human body model, where the set of basic human body model data includes m elements, each element includes the position of the movement mechanism of the massage device and the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The positions of the movement mechanisms corresponding to different elements are different, and m is a positive integer not less than 1; Obtain a set of actual massage data, where the set of actual massage data includes m elements, each element includes the position of the movement mechanism of the massage device during the actual massage process and the telescopic amount of the massage motor corresponding to the position of the movement mechanism; Construct an offset set based on the set of massage data of the basic human body model and the set of actual massage data. The offset set includes m elements, each element includes the position of the movement mechanism of the massage device and the deviation amount of the telescopic amount of the massage motor corresponding to the position of the movement mechanism. The deviation amount refers to the difference in the telescopic amount of the massage motor corresponding to the same position of the movement mechanism in the set of massage data of the basic human body model and the set of actual massage data; Determine the human body part based on the difference in the deviation amounts of the telescopic amounts corresponding to two adjacent positions of the movement mechanism in the offset set.

2. The massage part recognition method according to claim 1, characterized in that Before obtaining the set of massage data of the basic human body model, it further includes: Obtain the set pressure value F set ; Traverse the positions of the movement mechanism of the massage device; Control the movement mechanism of the massage device to move to the traversed position of the movement mechanism and massage the standard basic human body model; Obtain the pressure value of the massage ball during the massage process; Based on formula Z pwm = K p *(F n - F set ) + K i *((F1 - F set ) +... + (F n - F set )) + K d *((F n - F set ) - (F n-1 - F set )) Calculate to obtain Z pwm ; Adjust the telescopic amount of the massage motor until Z pwm = 0; Obtain Z pwm The telescopic amount of the massage motor when = 0; Continue to perform the action: traverse the positions of the movement mechanism of the massage device until all positions of the movement mechanism of the massage device have been traversed; Based on each movement position and the telescopic amount of the massage motor when Z pwm pwm = 0, construct a human body basic model massage data set; Among them, the K p is a proportionality coefficient, the K i is an integral coefficient, the K d is a differential coefficient, and the F n represents the pressure value of the massage ball obtained for the nth time.

3. The massage position recognition method according to claim 2, wherein, After constructing the set of massage data of the basic human body model, it further includes: Judge whether the number of the constructed set of massage data of the basic human body model reaches the preset number; When reaching the preset number, integrate each element in all sets of massage data of the basic human body model to obtain the final set of massage data of the basic human body model.

4. The massage part recognition method according to claim 1, wherein Obtain the set of actual massage data, including: Obtain the set pressure value F set ; Traverse the positions of the movement mechanism of the massage device; Control the movement mechanism of the massage device to move to the traversed position of the movement mechanism and massage the massage object; Obtain the pressure value of the massage ball during the massage process; Based on formula Z pwm = K p *(F n - F set ) + K i *((F1 - F set ) +... + (F n - F set )) + K d *((F n - F set ) - (F n-1 - F set )) Calculate to obtain Z pwm ; Adjust the telescopic amount of the massage motor until Z pwm = 0; Obtain Z pwm = the telescopic amount of the massage motor when it is 0; Continue to perform the action: traverse the positions of the movement mechanism of the massage device until all positions of the movement mechanism of the massage device have been traversed; Based on each movement position and the telescopic amount of the massage motor when Z pwm pwm = 0, construct the actual massage data set; Among them, the K p is a proportionality coefficient, the K i is an integral coefficient, the K d is a differential coefficient, and the F n represents the pressure value of the massage ball obtained for the nth time.

5. The massage part recognition method according to claim 1, characterized in that Determine the human body part based on the difference in the deviation amounts of the telescopic amounts of two adjacent elements in the offset set, including: Obtain the deviation amount corresponding to each position of the movement mechanism in the offset set; Traverse the differences in the deviation amounts corresponding to any two adjacent positions of the movement mechanism in sequence; Obtain the position of the movement mechanism corresponding to the turning point when the difference in the deviation amount presents a target situation, and record it as the target position; Record the target position as the human body part marking point.

6. The massage position recognition method according to claim 5, characterized in that Obtain the position of the movement mechanism corresponding to the turning point when the difference in the deviation amount presents a target situation, and record it as the target position, including: When △Z is detected Xm -△Z Xm-1 <0, it indicates that there is a turning point in the target situation for the difference in the deviation amount, where the △Z Xm and △Z Xm-1 are the deviation amounts corresponding to two adjacent movement positions in the offset amount set; Record the corresponding movement position of the △Z as the target position. Xm-1 ​ 7. The massage part recognition method according to claim 5, characterized in that After recording the target position as the human body part marking point, it further includes: When the moving direction of the movement mechanism of the massage device is from the human head direction to the human foot direction, sequentially mark the human body part marking points obtained in sequence as the shoulder position, the back position, and the waist position; When the moving direction of the massage device movement mechanism is along the foot-to-head direction and moves towards the human head direction, the marked human body part marking points will be sequentially marked as the waist position, the back position, and the shoulder position.

8. An apparatus for identifying a massage area, characterized in that, Including: A first acquisition unit for obtaining a set of massage data of a human body basic model. The set of human body basic model data includes m elements, each element includes the movement mechanism position of the massage device movement mechanism and the telescopic amount of the massage motor corresponding to the movement mechanism position. The movement mechanism positions corresponding to different elements are different, and m is a positive integer not less than 1; A second acquisition unit for obtaining a set of actual massage data. The set of actual massage data includes m elements, each element includes the movement mechanism position of the massage device movement mechanism during the actual massage process and the telescopic amount of the massage motor corresponding to the movement mechanism position; A deviation amount calculation unit for constructing a set of offset amounts based on the set of massage data of the human body basic model and the set of actual massage data. The set of offset amounts includes m elements, each element includes the movement mechanism position of the massage device movement mechanism and the deviation amount of the telescopic amount of the massage motor corresponding to the movement mechanism position. The deviation amount refers to the difference between the telescopic amounts of the massage motors corresponding to the same movement mechanism position in the set of massage data of the human body basic model and the set of actual massage data; A part marking unit for determining the human body part based on the difference between the deviation amounts of the telescopic amounts corresponding to two adjacent movement mechanism positions in the set of offset amounts.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when running, executes the massage part recognition method according to any one of claims 1 to 7.

10. A massage area recognition device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to execute the massage part recognition method according to any one of claims 1 to 7 through the computer program.

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