Massage trajectory generation method and system
The method and system for generating massage trajectories improve adaptability and reduce computational complexity by using data acquisition and grouping algorithms to create smooth, personalized massage paths for massage robots.
Patent Information
- Application Number
- JP2024543585
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-12-20
- Publication Date
- 2026-02-10
AI Technical Summary
Existing massage robots generate massage trajectories that are either straight or limited by Bézier curves, which do not adapt well to individual body shapes, requiring excessive computational power for complex calculations.
A method and system for generating massage trajectories using two-dimensional and three-dimensional data acquisition, grouping, and preset algorithms to simplify calculations and ensure smooth transitions, allowing for personalized adaptability.
Reduces computational complexity and enhances personal adaptability by generating smooth, personalized massage trajectories using a simplified calculation process.
Smart Images
Figure 2026504755000001_ABST
Abstract
Description
[Technical Field]
[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims priority from a Chinese patent application with application number 202311200597X, filed on September 18, 2023, the entire contents of which are incorporated herein by reference.
[0002] The present invention relates to the field of robotic massage technology, and more particularly to a method and system for generating a massage trajectory. [Background technology]
[0003] Massage equipment such as automatic massage devices, including massage chairs and massage beds, has a preset massage trajectory and can only provide a massage to a user along a fixed massage trajectory. Therefore, the massage effect is affected by the customer's body shape and the lying position of the target object, making it difficult to adapt to different users.
[0004] Physical interaction between robots and humans is a new research field in recent years. In recent years, the development of machine vision has been remarkable, and many universities and research institutes have combined machine vision technology with massage robots to promote the further development of massage robots. Today's modern intelligent robot technology is rapidly advancing along with the development of computer technology. With new technologies such as sensing, internet, and cloud storage, it is proposed that massage robots can assist or even replace masseuses in performing conventional massage techniques.
[0005] With the advent of massage robots, there has been a trend to plan massage trajectories independently for different users. However, the trajectories planned by existing massage robots are mainly straight trajectories, which are single in form and do not fit well to the contours of the target object. Curved trajectories and spiral trajectories planned based on Bézier curves are limited by the characteristics of Bézier curves, so the change in one massage point affects the shape of the entire massage trajectory. Moreover, the number of massage points is directly correlated with the degree of the Bézier curve. As the number of points increases, the difficulty of calculating the Bézier curve inevitably increases, which poses a great challenge to the computational power of massage robots. Summary of the Invention [Problem to be solved by the invention]
[0006] (1) Purpose of the invention SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and system for generating a massage trajectory that reduces the amount of calculation, improves personal adaptability, and produces smooth massage trajectories. [Means for solving the problem]
[0007] (2) Technical solutions In order to solve the above problems, the present invention provides a massage trajectory generation method, acquiring two-dimensional data of preliminary massage points according to a selected massage mode; acquiring point cloud data of a massage target area of a target object; determining a proportionality coefficient according to the two-dimensional data of the preliminary massage points and the point cloud data of the massage area of the target object, and determining the two-dimensional data of the target massage points based on the two-dimensional data of the preliminary massage points and the proportionality coefficient; obtaining target three-dimensional massage point data according to the two-dimensional data of the target massage points and the point cloud data of the massage target area of the target object; generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data; wherein the preset massage trajectory planning algorithm groups the target three-dimensional massage points according to a preset grouping rule to obtain a plurality of massage point groups; generating a plurality of massage loci according to the plurality of massage point groups; The method includes joining the multiple massage trajectories to generate a final massage trajectory.
[0008] According to another aspect of the present invention, preferably, the step of generating a final massage trajectory based on a preset massage trajectory planning algorithm in response to the target three-dimensional massage point data further comprises: selecting key massage points in each of the plurality of massage point groups; Calculating node vectors of a plurality of massage point groups according to a first calculation method preset according to the key points; Presetting a plurality of massage point group boundary conditions; calculating control vertices of a plurality of massage point groups according to the node vectors and preset boundary conditions according to a preset second calculation method; generating a multi-stage massage trajectory according to a third preset calculation method according to the control vertices of the plurality of massage point groups; and connecting the plurality of massage trajectories to generate a preliminary massage trajectory.
[0009] According to another aspect of the present invention, preferably, the step of generating a final massage trajectory based on a preset massage trajectory planning algorithm in response to the target three-dimensional massage point data further comprises: The method includes a step of calculating the posture of each target three-dimensional massage point according to the target three-dimensional massage point data in the preliminary massage trajectory and according to a preset posture algorithm, to generate a final massage trajectory.
[0010] According to another aspect of the present invention, preferably, the preset grouping rule is: Acquiring the number of massage points according to the target three-dimensional massage point data; Setting the minimum number of grouping units in advance; determining whether the number of massage points is greater than a predetermined minimum number of grouping units; If the number of massage points is greater than the predetermined minimum number of grouping units, grouping the points by sliding the frames sequentially according to the predetermined minimum number of grouping units until the number of massage points in the last group becomes equal to or less than the predetermined minimum number of grouping units; When the number of massage points is equal to or less than a predetermined minimum number of grouping units, grouping is not necessary.
[0011] According to another aspect of the present invention, preferably, the first preset calculation method is Presetting the multiplicity of the initial node and the final node to 4; JPEG2026504755000002.jpg19170JPEG2026504755000003.jpg18170
[0012] According to another aspect of the present invention, preferably, the second preset calculation method is obtaining control vertices by calculating the inverse of the following square matrix: JPEG2026504755000004.jpg33170JPEG2026504755000005.jpg12170
[0013] According to another aspect of the present invention, preferably, the third preset calculation method includes: JPEG2026504755000006.jpg23170JPEG2026504755000007.jpg17170
[0014] According to another aspect of the present invention, preferably the formula for the B-spline basis functions comprises: JPEG2026504755000008.jpg44170 where N i,k (u) represents the k-th order B-spline basis function, and u is represented by the node parameter.
[0015] According to another aspect of the present invention, preferably the preset pose algorithm comprises: According to the target three-dimensional massage point data, the three-dimensional massage point data includes a three-dimensional coordinate value and a Z-axis vector of the massage point, and the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data; Acquiring an X-axis direction vector of each target three-dimensional massage point according to each target three-dimensional massage point data on the preliminary massage trajectory; Obtaining a Y-axis direction vector according to the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point; Correcting the Z-axis direction vector by utilizing the fact that any two of the three axes are perpendicular in accordance with the X-axis and Y-axis direction vectors; This involves obtaining each target 3D massage point pose and generating the final massage trajectory.
[0016] According to another aspect of the present invention, there is preferably provided a massage trajectory generation system, comprising: a selection module for acquiring two-dimensional data of preliminary massage points according to a selected massage mode; an acquisition module for acquiring point cloud data of a massage target area of a target object; a first calculation module for determining a proportional coefficient according to the two-dimensional data of preliminary massage points and the point cloud data of the massage target area of the target object, and determining the two-dimensional data of the target massage points based on the two-dimensional data of the preliminary massage points and the proportional coefficient; a second calculation module for obtaining target three-dimensional massage point data according to the two-dimensional data of the target massage points and the point cloud data of the massage target area of the target object; a third calculation module for generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data; wherein the preset massage trajectory planning algorithm groups the target three-dimensional massage points according to a preset grouping rule to obtain a plurality of massage point groups; generating a plurality of massage loci according to the plurality of massage point groups; The method includes joining the multiple massage trajectories to generate a final massage trajectory. [Effects of the Invention]
[0017] (3) Beneficial Effects The above technical solution of the present invention has the following beneficial technical effects: The present invention can select a massage mode, and according to different massage modes, it has different two-dimensional data of preliminary massage points, which improves personal adaptability; according to individual differences, it can obtain two-dimensional data of target massage points, which further improves personal adaptability and also provides a basis for planning further massage trajectories; and by using a preset massage trajectory planning algorithm, it reduces the amount of calculation, and the planned massage trajectory is smooth, which is favorable for popularization. [Brief explanation of the drawings]
[0018] [Figure 1] 1 is an overall flowchart of an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION
[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in more detail below in connection with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and do not limit the scope of the present invention. Furthermore, in the following description, descriptions of known structures and techniques will be omitted to avoid unnecessary confusion of the concept of the present invention.
[0020] It is clear that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without performing creative work fall within the scope of protection of the present invention.
[0021] In describing the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be understood as indicating or suggesting relative importance.
[0022] Furthermore, the technical features according to different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
[0023] In order to provide a clearer understanding of the present invention, numerous specific details of the present invention are set forth below, such as device structures, materials, sizes, processing, and techniques, etc. However, as will be understood by those skilled in the art, the present invention may not be practiced according to these specific details.
[0024] Example 1 A massage trajectory generation method, FIG. 1 shows an overall flowchart of an embodiment of the present invention, as shown in FIG. 1, includes: Take human body massage as an example, according to the selected massage mode, two-dimensional data of the preliminary massage points will be obtained, here the selection method can be selected by the user or selected by big data recommendation method, here the specific content of the massage mode is not limited, it can be any of the whole body, half body, abdomen, back, etc. Optionally, in this embodiment, the massage mode covers the whole back massage points, lumbar massage points, shoulder massage points, abdomen massage points, etc., which can quickly form a standard massage plan, and also supports users to customize massage points, such as the "Achi point" in Chinese medicine, which is more flexible and adaptable, after selecting the massage mode, the two-dimensional data of the preliminary massage points in the corresponding massage mode will be obtained accordingly, Obtain point cloud data of the massage area of the target object, here the specific method of obtaining the point cloud data of the massage area of the target object is not limited, optionally it can be photography by a camera, here the specific content of the camera is not limited, the specific method of photography is not limited, optionally in this embodiment the camera can be a depth camera that controls the massage robot to move into a photography position to take a photo, optionally in this embodiment a person can lie or face down on the massage bed and the massage robot can be controlled to move above the target object to take a photo, in this embodiment the point cloud data of the massage area of the target object can be directly obtained by taking a photo with the depth camera, A proportional coefficient is determined according to the two-dimensional data of the preliminary massage points and the point cloud data of the target massage area, and two-dimensional data of the target massage points is determined based on the two-dimensional data of the preliminary massage points and the proportional coefficient. Point cloud data of the target massage area is obtained for each individual based on the two-dimensional data of the preliminary massage points, and a proportional coefficient is determined according to the two-dimensional data of the preliminary massage points and the point cloud data of the target massage area, and calculations are performed using the two-dimensional data in the obtained point cloud data of the target massage area. For example, if the person is obese, the two-dimensional data of the preliminary massage points is enlarged to obtain two-dimensional data of the target massage points, and the density of the massage points on the massage trajectory is determined according to changes in the point cloud data. According to the two-dimensional data of the target massage point and the point cloud data of the massage area of the target object, obtain the target three-dimensional massage point data, where the specific content of the target three-dimensional massage point data is not limited, optionally, in this embodiment, the target three-dimensional massage point data includes the three-dimensional coordinate value and Z-axis direction vector of the massage point, where the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data, where the target three-dimensional massage point data is massage point data that is tailored to the user himself, and is the basis for further planning the massage trajectory; According to the target three-dimensional massage point data, a final massage trajectory is generated based on a preset massage trajectory planning algorithm. Here, the specific content of the preset massage trajectory planning algorithm is not limited, and as can be understood by those skilled in the art, it is sufficient to plan a massage trajectory. Optionally, in this embodiment, the step of generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data includes: The target three-dimensional massage points are grouped according to a preset grouping rule to obtain a plurality of massage point groups. Here, the specific content of the preset grouping rule is not limited, and the target three-dimensional massage points may be grouped evenly according to the number of target three-dimensional massage points, or may be allocated according to the minimum unit number. As can be understood by those skilled in the art, as long as the grouping can be completed, optionally, in this embodiment, the preset grouping rule includes: According to the target three-dimensional massage point data, the number of massage points is obtained; The number of minimum grouping units is preset, and the specific number of the minimum grouping units is not limited here. It can be arbitrarily set in this embodiment. In this embodiment, the number of minimum grouping units is preset to 7. The reason for the preset number of minimum grouping units being 7 is that 7 is the minimum number of points that can realize smooth joining, and the number of points is the smallest, and it is ensured that the inverse of the matrix is the simplest within the range that meets the requirements, and the calculation is simplified. Determine whether the number of massage points is greater than a predetermined minimum grouping unit number, and here, first determine whether the number of massage points is greater than 7; If the number of massage points is greater than the preset minimum number of grouping units, the points are grouped by sequentially sliding the frames according to the preset minimum number of grouping units until the number of massage points in the last group is equal to or less than the preset minimum number of grouping units. Here, the specific content of grouping the points by sequentially sliding the frames is as follows: first group 1 to 7, second group 2 to 8, third group 3 to 9. By analogy, the number of points in each group is 7, and the last group is determined by the number of points, which may be 7 or less. If the number of massage points is equal to or less than the predetermined minimum number of grouping units, grouping is not required, and the grouping generates a multi-stage massage track and connects the multi-stage massage track, and the multi-stage massage track formed by this grouping method can ensure a smooth transition of the connection; Select key points of massage points in the plurality of massage point groups, respectively. Here, the specific content of the key points is not limited, and in this embodiment, it can be any massage points that must be passed through during the massage process. Here, the number of key points is not limited, and in this embodiment, the number of key points in each massage point group can be any number that is equal to or less than the number of massage points in the corresponding massage point group; Calculate the node vectors of a plurality of massage point groups according to the key points based on a first preset calculation method, wherein the overlapping degree of the initial node and the final node is preset in the first calculation method, wherein the overlapping degree of the preset initial node and the final node is not limited, optionally in this embodiment, the overlapping degree of the preset initial node and the final node is 4, the overlapping degree is 4 to ensure that the start point and the end point of each massage point group are at the key points, therefore the overlapping degree of the initial node and the final node is set to (3+1), optionally in this embodiment, the preset first calculation method is: Presetting the multiplicity of the initial node and the final node to 4; JPEG2026504755000009.jpg20170JPEG2026504755000010.jpg7170, where i represents the current node number, and p i : ith keypoint, t: total number of all keypoints, p t : the t-th keypoint, where there is a repeating node, and only n linear simultaneous equations can be provided for n+2 unknown control vertices. Therefore, to solve the control vertices, two boundary conditions must be added for both ends of the curve so that the number of simultaneous equations is equal to the number of unknown control vertices. Boundary conditions for multiple massage point groups are set in advance. The specific content of the boundary conditions is not limited here. Optionally, the boundary conditions include a setter condition that requires the tangential direction to be constant, a free end point condition that is suitable when the curvature of the starting point and the end point is zero, and a closed curve condition that is suitable when the starting point and the end point overlap and are quadratically continuous. In addition, in this embodiment, the free end point condition is adopted as the boundary condition to ensure that the continuity of the curve at the starting point and the end point is optimal. According to the node vector and the preset boundary conditions, respectively calculate the control vertices of the plurality of massage point groups according to a preset second calculation method, and optionally, in this embodiment, the preset second calculation method is: obtaining control vertices by calculating the inverse of the following square matrix: JPEG2026504755000011.jpg33170JPEG2026504755000012.jpg7170These parameters are related to torque, and the control vertex can be determined by matrix calculation. To determine the control vertex, the inverse matrix of the previous square matrix is necessarily required. Calculating the inverse matrix is very complicated, and the higher the order, the more computationally intensive the inverse matrix becomes. Therefore, in this embodiment, when planning a massage point trajectory with too many points, a grouping process is performed in advance, a massage trajectory is planned for each group of points, and finally, multiple massage trajectories are joined together to obtain a smooth massage trajectory. A multi-stage massage trajectory is generated according to a third preset calculation method according to the control vertices of the plurality of massage point groups, where the specific content of the third preset calculation method is not limited, and optionally, in this embodiment, the third preset calculation method includes generating a massage trajectory according to a node vector, a control vertex, and a weighting coefficient; JPEG2026504755000013.jpg24170JPEG2026504755000014.jpg18170JPEG2026504755000015.jpg44170Here N i,k(u) represents the k-th order B-spline basis function, u is expressed in terms of node parameters, The plurality of massage trajectories are joined together to generate a preliminary massage trajectory.
[0025] In one embodiment of the present invention, the step of generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data further comprises: and calculating each target three-dimensional massage point posture according to the target three-dimensional massage point data in the preliminary massage trajectory according to a preset posture algorithm, and generating a final massage trajectory; and optionally, in this embodiment, the preset posture algorithm: According to the target three-dimensional massage point data, the three-dimensional massage point data includes a three-dimensional coordinate value and a Z-axis vector of the massage point, and the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data; Acquiring an X-axis direction vector of each target three-dimensional massage point according to each target three-dimensional massage point data on the preliminary massage trajectory; Obtaining a Y-axis direction vector according to the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point; Correcting the Z-axis direction vector by utilizing the fact that any two of the three axes are perpendicular in accordance with the X-axis and Y-axis direction vectors; This involves obtaining each target 3D massage point pose and generating the final massage trajectory.
[0026] This embodiment allows for selection of massage modes, including a customized mode. Different massage modes provide different preliminary massage point two-dimensional data, improving personal adaptability. Two-dimensional data of target massage points can be obtained according to individual differences, further improving personal adaptability and providing a basis for further massage trajectory planning. A preset massage trajectory planning algorithm groups the massage points according to the minimum number of points required for smooth joining, ensuring that the number of points is minimal and that the matrix inversion is as simple as possible within the required range. This simplifies calculations, and the multi-stage massage trajectory planning and subsequent joining achieves smooth transitions of massage trajectories while maximizing the savings in computational power, which is favorable for widespread use.
[0027] Example 2 1. A massage trajectory generation system, comprising: Selection module: According to the selected massage mode, obtain the two-dimensional data of the preliminary massage points. Here, the specific content of the massage mode is not limited, and it can be any of the whole body, half body, abdomen, and back. Optionally, in this embodiment, the massage mode covers the whole back massage points, the lumbar massage points, the shoulder massage points, and the abdomen massage points, etc., so as to quickly form a standard massage plan. It also supports users to customize the massage points, such as the "Achi point" in Chinese medicine, which is more flexible and adaptable. After selecting the massage mode, obtain the two-dimensional data of the preliminary massage points in the corresponding massage mode accordingly. Acquisition module: acquires point cloud data of the massage area of the target object, here the specific method of acquiring the point cloud data of the massage area of the target object is not limited, optionally can be photography by a camera, here the specific content of the camera is not limited, the specific mode of photography is also not limited, optionally in this embodiment the camera can be a depth camera that controls the massage robot to move into a photography position to take a photo, optionally in this embodiment a person can lie or face down on the massage bed and the massage robot can be controlled to move above the target object to take a photo, in this embodiment the point cloud data of the massage area of the target object can be directly acquired by photography by using the depth camera, First calculation module: determine a proportionality coefficient according to the two-dimensional data of the preliminary massage points and the point cloud data of the massage area of the target object, determine the two-dimensional data of the target massage points based on the two-dimensional data of the preliminary massage points and the proportionality coefficient, obtain the point cloud data of the massage area of the target object for each individual based on the two-dimensional data of the preliminary massage points, and obtain the two-dimensional data of the target massage points by proportional calculation; for example, if the person is obese, enlarge the two-dimensional data of the preliminary massage points to obtain the two-dimensional data of the target massage points, and determine the density of the massage points on the massage trajectory according to the change in the point cloud data; Second calculation module: according to the two-dimensional data of the target massage point and the point cloud data of the massage area of the target object, obtain the target three-dimensional massage point data, where the specific content of the target three-dimensional massage point data is not limited, optionally in this embodiment, the target three-dimensional massage point data includes the three-dimensional coordinate value and Z axis direction vector of the massage point, the three-dimensional coordinate value includes X axis, Y axis and Z axis data, where the target three-dimensional massage point data is massage point data adapted to the user himself, and is the basis for further planning the massage trajectory; The third calculation module: generates a final massage trajectory according to the target three-dimensional massage point data based on a preset massage trajectory planning algorithm. Here, the specific content of the preset massage trajectory planning algorithm is not limited, and as can be understood by those skilled in the art, it is sufficient to be able to plan a massage trajectory. In this embodiment, grouping the target three-dimensional massage points according to a preset grouping rule to obtain a plurality of massage point groups; selecting key massage points in the plurality of massage point groups respectively; Calculating node vectors of a plurality of massage point groups according to a first calculation method preset according to the key points, respectively, wherein the overlapping degrees of the initial node and the final node are preset in the first calculation method; Presetting boundary conditions for a plurality of massage point groups; Calculating control vertices of a plurality of massage point groups according to a second preset calculation method according to the node vectors and preset boundary conditions; generating a multi-stage massage locus according to a third calculation method preset according to the control vertices of the plurality of massage point groups; The method includes connecting the multiple massage trajectories to generate a preliminary massage trajectory.
[0028] Furthermore, in this embodiment, the step of generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data further includes: The method includes a step of calculating each target three-dimensional massage point posture according to the target three-dimensional massage point data in the preliminary massage trajectory and according to a preset posture algorithm to generate a final massage trajectory.
[0029] It should be understood that the above-described specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and are not intended to limit the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall fall within the scope of protection of the present invention. Furthermore, the appended claims of the present invention are intended to cover all changes and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.
[0030] The present invention has been described above with reference to the embodiments thereof. However, these embodiments are merely for illustrative purposes and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications that should be included in the scope of the present invention.
[0031] Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made to the embodiments of the present invention without departing from the spirit and scope of the present invention.
[0032] Obviously, the above examples are merely examples for the purpose of clarity and are not intended to limit the embodiments. Those skilled in the art may make other variations or modifications in addition to the above description. This specification does not need to cover all the embodiments, and cannot cover all the embodiments. However, the obvious variations or modifications brought about thereby still fall within the scope of protection of the invention.
[0033] Those skilled in the art will appreciate that embodiments of the present invention may be provided as a method, a system, or a computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.
Claims
1. A massage trajectory generation method, comprising: acquiring two-dimensional data of preliminary massage points according to a selected massage mode; acquiring point cloud data of a massage target area of a target object; determining a proportionality coefficient according to the two-dimensional data of the preliminary massage points and the point cloud data of the massage area of the target object, and determining the two-dimensional data of the target massage points based on the two-dimensional data of the preliminary massage points and the proportionality coefficient; obtaining target three-dimensional massage point data according to the two-dimensional data of the target massage points and the point cloud data of the massage target area of the target object; generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data; wherein the preset massage trajectory planning algorithm groups the target three-dimensional massage points according to a preset grouping rule to obtain a plurality of massage point groups; generating a plurality of massage loci according to the plurality of massage point groups; A massage trajectory generating method comprising: connecting the plurality of massage trajectories to generate a final massage trajectory.
2. The step of generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data further includes: selecting key massage points in each of the plurality of massage point groups; Calculating node vectors of a plurality of massage point groups according to a first calculation method preset according to the key points; Presetting a plurality of massage point group boundary conditions; calculating control vertices of a plurality of massage point groups according to the node vectors and predetermined boundary conditions according to a second predetermined calculation method; generating a plurality of massage loci according to a third calculation method preset according to the control vertices of the plurality of massage point groups; The massage trajectory generating method according to claim 1, further comprising the step of connecting the plurality of massage trajectories to generate a preliminary massage trajectory.
3. The step of generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data further includes: The massage trajectory generating method according to claim 2, further comprising a step of calculating the posture of each target three-dimensional massage point according to a preset posture algorithm in accordance with the target three-dimensional massage point data in the preliminary massage trajectory, and generating a final massage trajectory.
4. The preset grouping rule is: Acquiring the number of massage points according to the target three-dimensional massage point data; Setting the minimum number of grouping units in advance; determining whether the number of massage points is greater than a predetermined minimum number of grouping units; If the number of massage points is greater than the predetermined minimum number of grouping units, grouping the points by sliding the frames sequentially according to the predetermined minimum number of grouping units until the number of massage points in the last group becomes equal to or less than the predetermined minimum number of grouping units; The method for generating a massage locus according to claim 2, further comprising the step of not requiring grouping when the number of massage points is equal to or less than a predetermined minimum number of grouping units.
5. The first preset calculation method is preset the overlap degree of the initial node and the final node to 4;
6. The second predetermined calculation method is obtaining control vertices by calculating the inverse of the following square matrix:
7. The third preset calculation method includes:
8. The formula for the B-spline basis functions includes: Here, N ｉ，ｋ The method for generating a massage trajectory according to claim 7, wherein (u) represents a k-th order B-spline basis function, and u is represented by a node parameter.
9. The preset pose algorithm comprises: According to the target three-dimensional massage point data, the three-dimensional massage point data includes three-dimensional coordinate values and Z-axis vectors of massage points, and the three-dimensional coordinate values include X-axis, Y-axis and Z-axis data; obtaining an X-axis direction vector of each target three-dimensional massage point according to the target three-dimensional massage point data on the preliminary massage trajectory; Obtaining a Y-axis direction vector according to the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point; Correcting the Z-axis direction vector by utilizing the fact that any two of the three axes are perpendicular in accordance with the X-axis and Y-axis direction vectors; The method for generating a massage trajectory according to claim 3, further comprising obtaining each target three-dimensional massage point posture and generating a final massage trajectory.
10. A massage trajectory generation system, a selection module for acquiring two-dimensional data of preliminary massage points according to a selected massage mode; an acquisition module for acquiring point cloud data of a massage target area of a target object; a first calculation module for determining a proportional coefficient according to the two-dimensional data of preliminary massage points and the point cloud data of the massage target area of the target object, and determining the two-dimensional data of the target massage points based on the two-dimensional data of the preliminary massage points and the proportional coefficient; a second calculation module for obtaining target three-dimensional massage point data according to the two-dimensional data of the target massage points and the point cloud data of the massage target area of the target object; a third calculation module for generating a final massage trajectory based on a preset massage trajectory planning algorithm according to the target three-dimensional massage point data; wherein the preset massage trajectory planning algorithm groups the target three-dimensional massage points according to a preset grouping rule to obtain a plurality of massage point groups; generating a plurality of massage loci according to the plurality of massage point groups; and connecting the plurality of massage trajectories to generate a final massage trajectory.