Control method and device of massage robot and massage robot

Abstract

The invention provides a control method and device of a massage robot and the massage robot. The control method of the massage robot comprises the following steps: firstly, determining a target working area of the massage robot; controlling the massage robot to move according to a preset track in the target working area; the preset track comprises a first track and a second track, the first track is used for representing a superposition track of a first circle rotating along a second circle, the center of the first circle is located on the second circle in the rotating process, and the radius of the first circle is smaller than that of the second circle; and the second track is a linear track. According to the control mode, the massage robot is controlled to move according to the preset track in the target working area, the effects of massaging the human body and eliminating fatigue of the user can be achieved, fat cell tissue in the target working area can be promoted to be active rapidly, the effect of beautifying the waist line of the user is achieved, and the massage experience degree of the user is improved.

Description

Technical Field

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

[0002] In practical applications, people's waist becomes obese due to sedentary lifestyle, irregular diet, overeating, lack of sleep, lying on the back immediately after meals, lack of exercise, etc. With the improvement of living quality, people's demand for body massage is increasing day by day, and massage robots are widely used. However, the existing massage robots mainly achieve massage by controlling the robotic arm to move along the skin surface of the human massage area. The massage trajectory of the robotic arm movement is single, and it cannot well adapt to the human massage area, resulting in a poor actual massage experience for users. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a control method, device and massage robot for a massage robot, so as to alleviate the above technical problems and improve the user's massage experience.

[0004] In a first aspect, an embodiment of the present invention provides a control method for a massage robot, the method including: determining a target working area of the massage robot; wherein, the target working area is a specified area of the user's waist; within the target working area, controlling the massage robot to move according to a preset trajectory; wherein, the preset trajectory includes a first trajectory and a second trajectory, the first trajectory is used to represent a superimposed trajectory of a first circle rotating along a second circle, and during the rotation process, the center of the first circle is always on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory.

[0005] Preferably, the step of controlling the massage robot to move according to the preset trajectory includes: controlling the massage robot to move according to the first trajectory, and after the movement along the first trajectory is completed, controlling the massage robot to move according to the second trajectory.

[0006] Preferably, before the step of controlling the massage robot to move according to the second trajectory, the method further includes: judging whether the end position of the first trajectory and the start position of the second trajectory are the same; if they are the same, then after the movement along the first trajectory is completed, controlling the massage robot to move according to the second trajectory.

[0007] Preferably, the method further includes: if the end position of the first trajectory and the start position of the second trajectory are different, then controlling the massage robot to move from the end position of the first trajectory to the start position of the second trajectory.

[0008] Preferably, the massage robot includes a robotic arm. The steps of controlling the massage robot to move along a preset trajectory include: determining the position information at each moment according to the preset trajectory; controlling the robotic arm to move according to the position information at each moment until the preset trajectory is completed.

[0009] Preferably, the step of determining the position information at each moment according to the preset trajectory includes: in the first trajectory, determining the position information at each moment according to the radius of the first circle, the radius of the second circle, the preset angular velocity, and the preset number of rotation circles of the first circle; wherein, the expression of the first trajectory is as follows:

[0010]

[0011] wherein, (x(t), y(t)) represents the position information at any moment in the first trajectory, R1 represents the radius of the first circle, R2 represents the radius of the second circle, w represents the preset angular velocity, t represents time, and N represents the preset number of rotation circles.

[0012] Preferably, the step of determining the position information at each moment according to the preset trajectory includes: obtaining the starting position information and the ending position information of the second trajectory, and calculating the length of the second trajectory according to the starting position information and the ending position information; determining the position information at each moment in the second trajectory according to the starting position information, the ending position information, the length of the second trajectory, and the movement speed corresponding to the second trajectory; wherein, the expression of the second trajectory is as follows:

[0013]

[0014] wherein, (X(t), Y(t)) represents the position information at any moment in the second trajectory, (x A , y A ) represents the starting position information, (x B , y B ) represents the ending position information, v line represents the movement speed corresponding to the second trajectory, s represents the length of the second trajectory, and t represents time.

[0015] In a second aspect, an embodiment of the present invention further provides a control device for a massage robot, and the device includes:

[0016] a determination module, configured to determine the target working area of the massage robot;

[0017] A control module, configured to control a massage robot to move along a preset trajectory within a target working area; wherein, the preset trajectory includes a first trajectory and a second trajectory, the first trajectory is used to represent a superimposed trajectory of a first circle rotating along a second circle, and during the rotation process, the center of the first circle is located on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory.

[0018] In a third aspect, an embodiment of the present invention further provides a massage robot, including a robotic arm and a controller, and the controller is configured to execute the control method of the massage robot in the first aspect above.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the control method of the massage robot in the first aspect above.

[0020] The embodiments of the present invention bring the following beneficial effects:

[0021] The embodiments of the present invention provide a control method, device and massage robot for a massage robot; wherein, first, a target working area of the massage robot is determined; wherein, the target working area is a designated area of the user's waist; then, within the target working area, the massage robot is controlled to move along a preset trajectory; the preset trajectory includes a first trajectory and a second trajectory, the first trajectory is used to represent a superimposed trajectory of a first circle rotating along a second circle, and during the rotation process, the center of the first circle is located on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory. The above control method, by controlling the massage robot to move along a preset trajectory within the target working area, can not only achieve the effect of massaging the human body and eliminating the user's fatigue, but also prompt the fat cell tissue in the target working area to become active quickly, achieve the effect of beautifying the user's waist line, and improve the user's massage experience.

[0022] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0023] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 Flowchart of a control method for a massage robot provided by an embodiment of the present invention;

[0026] Figure 2 Schematic diagram of the distribution of acupoints on the user's waist provided by an embodiment of the present invention;

[0027] Figure 3 Schematic diagram of a massage robot moving along a first trajectory provided by an embodiment of the present invention;

[0028] Figure 4 Another schematic diagram of a massage robot moving along a first trajectory provided by an embodiment of the present invention;

[0029] Figure 5 Schematic diagram of a control device for a massage robot provided by an embodiment of the present invention. Specific Embodiments

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0031] For ease of understanding of this embodiment, the following will provide a detailed introduction to the embodiments of the present invention.

[0032] Embodiment 1

[0033] An embodiment of the present invention provides a control method for a massage robot. As Figure 1 shown, the method includes the following steps:

[0034] Step S102, determine the target working area of the massage robot.

[0035] Among them, the target working area is a specified area of the user's waist. In practical applications, as Figure 2As shown, there are usually multiple acupoints such as Shenshu, Dachangshu, Xiaochangshu, Mingmen, and Yaoyangguan distributed on the user's waist, and there is also a Dai Mai line distributed. Therefore, the designated area of the user's waist, that is, the target working area, should at least include the above-mentioned multiple acupoints and the Dai Mai line.

[0036] In addition, the massage robot can collect the user's body data and determine the target working area according to the body data. For example, the massage robot collects the user's waist image through an image acquisition device (such as a depth camera, etc.) and analyzes the waist image to determine the target working area. The specific process of determining the target working area can refer to the prior art, and the embodiments of the present invention will not be elaborated in detail here.

[0037] Step S104, within the target working area, control the massage robot to move along a preset trajectory.

[0038] Among them, the preset trajectory includes a first trajectory and a second trajectory. The first trajectory is used to represent the superimposed trajectory of a first circle rotating along a second circle, that is, the first trajectory can be understood as the first circle rotating around the second circle, and the trajectory formed after the trajectories of the first circle and the second circle are superimposed, such as Figure 2 the large circle composed of a circle of small circles (i.e., the first circle) shown here, and the second circle is not shown here; and, during the rotation process, the center of the first circle is always on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory, such as Figure 2 the trajectory corresponding to the Dai Mai line shown.

[0039] Controlling the massage robot to move along the preset trajectory within the target working area can not only achieve the effect of massaging the human body and eliminating the user's fatigue, but also prompt the fat cell tissue in the target working area to become active quickly, achieve the effect of beautifying the user's waist line, and improve the user's massage experience.

[0040] In one embodiment, the step of controlling the massage robot to move along the preset trajectory includes: controlling the massage robot to move along the first trajectory, and after the first trajectory movement is completed, controlling the massage robot to move along the second trajectory.

[0041] Since the preset trajectory includes the first trajectory and the second trajectory, when controlling the massage robot to move along the preset trajectory, there is also a set movement order for the trajectories. In the embodiments of the present invention, first, control the massage robot to move along the first trajectory, and after the first trajectory movement is completed, then control the massage robot to move along the second trajectory. This movement method of first the first trajectory and then the second trajectory facilitates the first circle to rotate along the second circle in the first trajectory to prompt the fat cell tissue in the target working area to become active quickly, and then through the second trajectory movement to achieve the effect of beautifying the user's waist line, thereby improving the user's massage experience.

[0042] In one embodiment, before the step of controlling the massage robot to move along the second trajectory, the method further includes: determining whether the end position of the first trajectory is the same as the start position of the second trajectory; if the same, after the first trajectory movement is completed, controlling the massage robot to move along the second trajectory.

[0043] In practical applications, considering that the first trajectory is a superimposed trajectory of a first circle rotating along a second circle, when the start position of the massage robot moving along the first trajectory is different, the end position of the first trajectory is also not fixed; while the second trajectory is a straight-line trajectory, and its start position and end position are both fixed positions. Therefore, after the first trajectory movement is completed and before the massage robot moves along the second trajectory, it is also necessary to determine whether the end position of the first trajectory is the same as the start position of the second trajectory. If the same, at this time, directly control the massage robot to move along the second trajectory, which not only ensures the massage effect of the massage robot but also improves the massage efficiency of the massage robot.

[0044] In addition, if the end position of the first trajectory is different from the start position of the second trajectory, control the massage robot to move from the end position of the first trajectory to the start position of the second trajectory. Specifically, when the end position of the first trajectory is different from the start position of the second trajectory, perform path planning according to the end position of the first trajectory and the start position of the second trajectory, and control the massage robot to move along the planned path, so that the massage robot moves from the end position of the first trajectory to the start position of the second trajectory, so that the massage robot can move along the second trajectory, thereby ensuring the massage effect of the massage robot.

[0045] In one embodiment, the massage robot includes a robotic arm. The step of controlling the massage robot to move along a preset trajectory includes: determining the position information at each moment according to the preset trajectory; controlling the robotic arm to move according to the position information at each moment until the preset trajectory is completed.

[0046] Specifically, first, the position information at each moment can be determined according to the preset trajectory. Then, the inverse kinematics of the robotic arm can be used to solve the joint angles corresponding to each position information. Finally, control each joint of the robotic arm to move according to the corresponding joint angles, so that the robotic arm reaches the position information at each moment, thereby realizing the movement of the massage robot along the preset trajectory in the target working area to achieve the purpose of massaging the user. It should be noted that the specific process of solving the joint angles corresponding to each position information according to the inverse kinematics can refer to the prior art, and the embodiments of the present invention will not be elaborated in detail here.

[0047] In addition, an endogenous heat device is also installed at the end of the robotic arm. Among them, the endogenous heat device uses a specific high-frequency current to act on human tissues, causing molecules in the human tissues to generate movements such as vibration and friction, thereby generating a thermal effect. This non-invasive / non-physical heat conduction technology generates endogenous heat that penetrates to the cellular level, activates cells, promotes cell movement. This thermal effect can destroy fat cells, improve blood circulation, accelerate metabolism, activate fibroblasts, induce collagen production, expel toxins from the body, increase skin elasticity, and thus improve the user's tired physical state. In addition, it can also condition the functions of the stomach and internal organs, such as regulating the menstrual pain of women caused by cold syndromes and improving sub-healthy conditions such as male abdominal distension. Therefore, during the massage process, the endogenous heat device can promote the rapid activation of fat cell tissues in the target working area, thereby achieving the effect of beautifying the user's waistline.

[0048] In one implementation, the step of determining the position information at each moment according to the preset trajectory includes: in the first trajectory, determining the position information at each moment according to the radius of the first circle, the radius of the second circle, the preset angular velocity, and the preset number of rotation circles of the first circle.

[0049] Specifically, in the Cartesian coordinate system, the trajectory of a single circle is shown as the following formula:

[0050]

[0051] Among them, (x(t), y(t)) represents the coordinates at any moment in a single circle, R represents the radius of the single circle, w represents the angular velocity, and t represents the time.

[0052] For the first trajectory in the embodiments of the present invention, it is set that the number of the first circles on the second circle is N, that is, the preset number of rotation circles of the first circles rotating along the second circle is N. When the first circle moves one circle, at this time, the second circle only moves 1 / N circles. Therefore, the expression of the superimposed first trajectory is as follows:

[0053]

[0054] Among them, (x(t), y(t)) represents the position information at any moment in the first trajectory, that is, the positions on the x-axis and y-axis at any moment, R1 represents the radius of the first circle, R2 represents the radius of the second circle, w represents the preset angular velocity, t represents the time, and N represents the preset number of rotation circles of the first circle.

[0055] Therefore, when the massage robot moves along the first trajectory, the position information at each moment can be determined according to the preset radius of the first circle, the radius of the second circle, the preset angular velocity, the preset number of rotation circles of the first circle, and the time, and the robotic arm can be controlled to move to the position information at each moment, so as to enable the massage robot to perform massage movement along the first trajectory.

[0056] For example, in the first trajectory, when the massage robot rotates multiple circles along the first circle but does not reach the preset number of rotation circles, as Figure 3 shown, where O1 represents the center of the first circle, R1 is the radius of the first circle, O2 represents the center of the second circle, and R2 is the radius of the second circle; at this time, the massage robot continues to rotate counterclockwise along the second circle along the first circle, and when the rotation is completed, that is, when the first circle rotates the preset number of rotation circles, as Figure 4 shown. Therefore, in the first trajectory, by controlling the massage robot to rotate the preset number of rotation circles along the second circle along the first circle, the adipose tissue in the target working area can be promoted to become active quickly by the endogenous heat device, so as to achieve the effect of beautifying the waist line of the user.

[0057] It should be noted that during the movement of the massage robot along the first trajectory, it can rotate counterclockwise along the second circle along the first circle, or rotate clockwise along the second circle along the first circle, which can be specifically set according to the actual situation.

[0058] Similarly, for the second trajectory, the steps of determining the position information at each moment according to the preset trajectory include: obtaining the starting position information and the ending position information of the second trajectory, and calculating the length of the second trajectory according to the starting position information and the ending position information; determining the position information at each moment in the second trajectory according to the starting position information, the ending position information, the length of the second trajectory, and the movement speed corresponding to the second trajectory.

[0059] Since the starting position and the ending position of the second trajectory are fixed, the starting position information and the ending position information of the second trajectory can be directly obtained. Here, for the convenience of description, in the Cartesian coordinate system, the coordinates of the starting position information are set as (x A , y A ), and the coordinates of the ending position information are set as (x B , y B ), then the length s of the second trajectory can be calculated according to the starting position information and the ending position information; among them, the calculation formula of the length s is as follows:

[0060]

[0061] It is assumed that the massage robot moves at a uniform speed in the second trajectory, and the movement speed is v line, the movement duration of the massage robot on the second trajectory is t line , the movement duration is t line satisfies the following formula:

[0062]

[0063] Therefore, the expression of the second trajectory is as follows:

[0064]

[0065] where, (X(t), Y(t)) represents the position information at any moment on the second trajectory, that is, the positions on the x-axis and y-axis at any moment. Here, X(t) and Y(t) are only used to distinguish from the position information in the first trajectory. (x A , y A ) represents the starting point position information, (x B , y B ) represents the ending point position information, v line represents the movement speed corresponding to the second trajectory, s represents the length of the second trajectory, t represents time, and, t ≤ t line .

[0066] In summary, the control method of the massage robot provided by the embodiment of the present invention controls the massage robot to move along a preset trajectory within the target working area, which can not only achieve the effect of massaging the human body and eliminating user fatigue, but also prompt the fat cell tissue in the target working area to become active quickly, achieve the effect of beautifying the user's waist line, and improve the user's massage experience.

[0067] Embodiment 2

[0068] Corresponding to the above method embodiment, the embodiment of the present invention further provides a control device for a massage robot, as Figure 5 shown. The device includes: a determination module 51 and a control module 52; wherein, the functions of each module are as follows:

[0069] The determination module 51 is used to determine the target working area of the massage robot;

[0070] The control module 52 is used to control the massage robot to move along a preset trajectory within the target working area; wherein, the preset trajectory includes a first trajectory and a second trajectory. The first trajectory is used to represent the superimposed trajectory of the first circle rotating along the second circle, and during the rotation, the center of the first circle is always on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory.

[0071] The control device of the massage robot provided by the embodiment of the present invention controls the massage robot to move along a preset trajectory within the target working area, which can not only achieve the effect of massaging the human body and relieving the user's fatigue, but also prompt the rapid activation of the fat cell tissue within the target working area, achieving the effect of beautifying the user's waistline and improving the user's massage experience.

[0072] Preferably, the control module 52 is further configured to: control the massage robot to move along a first trajectory, and after the first trajectory movement is completed, control the massage robot to move along a second trajectory.

[0073] Preferably, before controlling the massage robot to move along the second trajectory, the device further includes: determining whether the end position of the first trajectory is the same as the start position of the second trajectory; if the same, then after the first trajectory movement is completed, controlling the massage robot to move along the second trajectory.

[0074] Preferably, the device further includes: if the end position of the first trajectory is different from the start position of the second trajectory, then controlling the massage robot to move from the end position of the first trajectory to the start position of the second trajectory.

[0075] Preferably, the massage robot includes a robotic arm, and the control module 52 is further configured to: determine the position information at each moment according to the preset trajectory; control the robotic arm to move according to the position information at each moment until the preset trajectory is completed.

[0076] Preferably, determining the position information at each moment according to the preset trajectory includes: in the first trajectory, determining the position information at each moment according to the radius of the first circle, the radius of the second circle, the preset angular velocity, and the preset number of rotation circles of the first circle; wherein, the expression of the first trajectory is as follows:

[0077]

[0078] wherein, (x(t), y(t)) represents the position information at any moment in the first trajectory, R1 represents the radius of the first circle, R2 represents the radius of the second circle, w represents the preset angular velocity, t represents time, and N represents the preset number of rotation circles.

[0079] Preferably, determining the position information at each moment according to the preset trajectory includes: obtaining the start position information and the end position information of the second trajectory, and calculating the length of the second trajectory according to the start position information and the end position information; determining the position information at each moment in the second trajectory according to the start position information, the end position information, the length of the second trajectory, and the movement speed corresponding to the second trajectory; wherein, the expression of the second trajectory is as follows:

[0080]

[0081] Among them, (X(t), Y(t)) represents the position information at any moment in the second trajectory, (x A , y A ) represents the starting point position information, (x B , y B ) represents the ending point position information, v line represents the motion speed corresponding to the second trajectory, s represents the length of the second trajectory, and t represents time.

[0082] The control device of the massage robot provided by the embodiment of the present invention has the same technical features as the control method of the massage robot provided by the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0083] Furthermore, the embodiment of the present invention also provides a massage robot, including a robotic arm and a controller, and the controller is used to execute the above method embodiment.

[0084] This embodiment also provides a machine-readable storage medium, and the machine-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the above control method of the massage robot.

[0085] The control method, device, and computer program product of the massage robot provided by the embodiment of the present invention include a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the method described in the foregoing method embodiment. For the specific implementation, reference can be made to the method embodiment, and details are not described herein again.

[0086] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

[0087] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0088] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0089] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0090] Finally, it should be noted that the above-mentioned embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the technical field of the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims

1. A control method for a massage robot, characterized in that, The method includes: Determine the target working area of the massage robot; wherein, the target working area is a designated area of the user's waist; Within the target working area, control the massage robot to move along a preset trajectory; wherein, the preset trajectory includes a first trajectory and a second trajectory, the first trajectory is used to represent the superimposed trajectory of a first circle rotating along a second circle, and during the rotation, the center of the first circle is always on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory.

2. The method according to claim 1, characterized in that, The step of controlling the massage robot to move along a preset trajectory includes: Control the massage robot to move along the first trajectory, and after the first trajectory movement is completed, control the massage robot to move along the second trajectory.

3. The method according to claim 2, wherein Before the step of controlling the massage robot to move along the second trajectory, the method further includes: Judge whether the end position of the first trajectory is the same as the start position of the second trajectory; If they are the same, then after the first trajectory movement is completed, control the massage robot to move along the second trajectory.

4. The method according to claim 3, characterized in that The method further includes: If the end position of the first trajectory is different from the start position of the second trajectory, then control the massage robot to move from the end position of the first trajectory to the start position of the second trajectory.

5. The method according to claim 1, wherein The massage robot includes a robotic arm, and the step of controlling the massage robot to move along a preset trajectory includes: Determine the position information at each moment according to the preset trajectory; Control the robotic arm to move according to the position information at each moment until the preset trajectory is completed.

6. The method according to claim 5, characterized in that The step of determining the position information at each moment according to the preset trajectory includes: In the first trajectory, determine the position information at each moment according to the radius of the first circle, the radius of the second circle, the preset angular velocity, and the preset number of rotations of the first circle; Wherein, the expression of the first trajectory is as follows: Wherein, (x(t), y(t)) represents the position information at any moment in the first trajectory, R1 represents the radius of the first circle, R2 represents the radius of the second circle, w represents the preset angular velocity, t represents time, and N represents the preset number of rotations.

7. The method according to claim 5, wherein The step of determining the position information at each moment according to the preset trajectory includes: Obtain the start position information and end position information of the second trajectory, and calculate the length of the second trajectory according to the start position information and the end position information; Determine the position information at each moment in the second trajectory according to the start position information, the end position information, the length of the second trajectory, and the movement speed corresponding to the second trajectory; Wherein, the expression of the second trajectory is as follows: Among them, (X(t), Y(t)) represents the position information at any moment in the second trajectory, (x A , y A ) represents the starting point position information, (x B , y B ) represents the ending point position information, v line represents the moving speed corresponding to the second trajectory, s represents the length of the second trajectory, and t represents time.

8. A control device for a massage robot, characterized in that, The device includes: A determination module, configured to determine the target working area of the massage robot; A control module, configured to control the massage robot to move along a preset trajectory within the target working area; wherein, the preset trajectory includes a first trajectory and a second trajectory, the first trajectory is used to represent a superimposed trajectory of a first circle rotating along a second circle, and during the rotation process, the center of the first circle is always on the second circle, and the radius of the first circle is smaller than the radius of the second circle; the second trajectory is a straight-line trajectory.

9. A massage robot, characterized in that, It includes a robotic arm and a controller, and the controller is configured to execute the control method of the massage robot according to any one of claims 1-7 above.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the control method of the massage robot according to any one of claims 1-7 above.

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