Massage path generation method and system

Abstract

A massage path generation method and system. The method comprises: according to a massage mode selected by a user, obtaining preliminary massage point two-dimensional data; obtaining point cloud data of an area to be massaged on a target person; according to the preliminary massage point two-dimensional data and the point cloud data of the area to be massaged on the target person, calculating according to a proportion to obtain target massage point two-dimensional data; according to the target massage point two-dimensional data and the point cloud data of the area to be massaged on the target person, obtaining target three-dimensional massage point data; and, according to the target three-dimensional massage point data and on the basis of a preset massage path planning algorithm, generating a final massage path. In the present invention, the massage mode can be selected, improving individual adaptability; the target massage point two-dimensional data is obtained according to individual differences, further improving individual adaptability and providing a basis for further massage path planning; and the preset massage path planning algorithm reduces the amount of calculations, the planned massage path is smooth, and popularization of the invention is facilitated.

Description

Massage trajectory generation method and system

[0001] Cross-references

[0002] This application is based on the Chinese patent application with application number 202311200597X and application date September 18, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present invention relates to the technical field of robot massage, and in particular to a massage trajectory generation method and system. Background Art

[0004] The massage trajectories of automatic massage devices such as massage chairs and massage beds are pre-set, and they can only provide massage to users according to fixed massage trajectories. The customer's body shape and the position where the target object lies will affect the massage effect, and the adaptability to different users is poor.

[0005] Physical interaction between robots and humans has become an emerging research area in recent years. Machine vision has advanced rapidly in recent years, and many universities and research institutions have integrated this technology with massage robots to further advance their development. Modern intelligent robotics, coupled with the rapid advancement of computer technology, has led to the development of new technologies such as sensing, the internet, and cloud storage, enabling massage robots to assist or even replace masseuses in performing conventional massage techniques.

[0006] Since the advent of massage robots, there has been a trend toward independently planning massage trajectories for different users. However, existing massage robots primarily plan straight trajectories, which are monotonous and poorly adaptable to the contours of the target object. Curved and spiral trajectories planned using Bezier curves are limited by the characteristics of Bezier curves. A change in a single massage point affects the shape of the entire massage trajectory. Furthermore, the number of massage points is directly related to the order of the Bezier curve. As the number of points increases, the Bezier curve calculation becomes more difficult, posing a significant challenge to the computing power of massage robots.

[0007] Summary of the Invention

[0008] (1) Purpose of the invention

[0009] The purpose of the present invention is to provide a massage trajectory generation method and system that reduces the amount of calculation, improves individual adaptability, and makes the massage trajectory smooth.

[0010] (2) Technical solution

[0011] To solve the above problems, the present invention provides a massage trajectory generation method, comprising:

[0012] According to the selected massage model, obtain preliminary two-dimensional data of massage points;

[0013] Obtain point cloud data of the target object's area to be massaged;

[0014] Determine a proportionality coefficient based on the preliminary massage point two-dimensional data and the point cloud data of the target object's area to be massaged, and determine the target massage point two-dimensional data based on the preliminary massage point two-dimensional data and the proportionality coefficient;

[0015] Obtain target three-dimensional massage point data based on the target massage point two-dimensional data and the point cloud data of the target object's area to be massaged;

[0016] According to the target three-dimensional massage point data, based on the preset massage trajectory planning algorithm, the final massage trajectory is generated;

[0017] The preset massage trajectory planning algorithm includes grouping the target three-dimensional massage points according to preset grouping rules to obtain a number of massage point groups;

[0018] generating a plurality of massage trajectories according to the plurality of massage point groups;

[0019] The plurality of massage trajectories are spliced ​​together to generate a final massage trajectory.

[0020] In another aspect of the present invention, preferably, generating the final massage trajectory according to the target three-dimensional massage point data based on a preset massage trajectory planning algorithm further comprises:

[0021] Select key points of massage points in several massage point groups respectively;

[0022] Calculating node vectors of a plurality of massage point groups according to the key points using a preset first calculation method;

[0023] Preset several boundary conditions of massage point groups;

[0024] According to the node vector and the preset boundary conditions, the control vertices of the plurality of massage point groups are calculated respectively according to a preset second calculation method;

[0025] generating a plurality of massage trajectories according to the control vertices of the plurality of massage point groups in accordance with a preset third calculation method;

[0026] The several massage trajectories are spliced ​​together to generate a preliminary massage trajectory.

[0027] In another aspect of the present invention, preferably, generating the final massage trajectory according to the target three-dimensional massage point data based on a preset massage trajectory planning algorithm further comprises:

[0028] According to the target three-dimensional massage point data in the preliminary massage trajectory, the posture of each target three-dimensional massage point is calculated according to a preset posture algorithm to generate a final massage trajectory.

[0029] In another aspect of the present invention, preferably, the preset grouping rules include:

[0030] Obtain the number of massage points based on the target three-dimensional massage point data;

[0031] Preset the minimum number of grouping units;

[0032] Determining whether the number of massage points is greater than a preset minimum number of grouping units;

[0033] If the number of massage points is greater than the preset minimum number of grouping units, the points are grouped in sequence according to the preset minimum number of grouping units until the number of massage points in the last group is less than or equal to the preset minimum number of grouping units;

[0034] If the number of massage points is less than or equal to the preset minimum number of grouping units, no grouping is required.

[0035] In another aspect of the present invention, preferably, the preset first calculation method includes:

[0036] The default repetition of the first and last nodes is 4; u0=u1=u2=u3=0 u n+2 =u n+3 =u n+4 =u n+5 =1

[0037] Among them, the node vector is represented as U = [u0, u1, ..., u n+5 ]; n represents the number of key points; i represents the current node number; p i : the i-th key point; t: the sum of all key points, p t : The tth key point.

[0038] In another aspect of the present invention, preferably, the preset second calculation method includes:

[0039] Calculate the inverse matrix of the following square matrix to obtain the control vertices;

[0040] Among them, d i For the control vertex, a i , b i , c i , e i These are parameters related to key points and node vectors.

[0041] In another aspect of the present invention, preferably, the preset third calculation method includes:

[0042] Among them, u represents the node parameter, independent variable ∈ [0,1]; d i represents the control vertex; k represents the degree of the curve; N i,k (u) represents the k-order B-spline basis function; ω i Represents the weight factor.

[0043] In another aspect of the present invention, preferably, the B-spline basis function formula includes:

[0044] Regulation:

[0045] where N i,k (u) represents the k-order B-spline basis function, and u represents the node parameter.

[0046] In another aspect of the present invention, preferably, the preset posture algorithm includes:

[0047] According to the target three-dimensional massage point data, wherein the three-dimensional massage point data includes the three-dimensional coordinate value and the Z-axis direction vector of the massage point, and the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data;

[0048] Obtaining the X-axis direction vector of each target three-dimensional massage point according to the data of each target three-dimensional massage point in the preliminary massage trajectory;

[0049] Obtain the Y-axis direction vector based on the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point;

[0050] According to the direction vectors of the X-axis and Y-axis, the direction vector of the Z-axis is corrected by making the three axes perpendicular to each other;

[0051] The three-dimensional massage point position of each target is obtained to generate the final massage trajectory.

[0052] In another aspect of the present invention, preferably, a massage trajectory generating system includes:

[0053] Selection module: obtain preliminary two-dimensional data of massage points according to the selected massage mode;

[0054] Acquisition module: acquires point cloud data of the target object's area to be massaged;

[0055] A first calculation module is configured to determine a proportionality coefficient based on the preliminary massage point two-dimensional data and the point cloud data of the target object's area to be massaged, and to determine the target massage point two-dimensional data based on the preliminary massage point two-dimensional data and the proportionality coefficient;

[0056] The second calculation module is used to obtain the target three-dimensional massage point data based on the target massage point two-dimensional data and the point cloud data of the target object area to be massaged;

[0057] The third calculation module generates the final massage trajectory based on the target three-dimensional massage point data and the preset massage trajectory planning algorithm;

[0058] The preset massage trajectory planning algorithm includes grouping the target three-dimensional massage points according to preset grouping rules to obtain a number of massage point groups;

[0059] generating a plurality of massage trajectories according to the plurality of massage point groups;

[0060] The plurality of massage trajectories are spliced ​​together to generate a final massage trajectory. (3) Beneficial effects

[0061] The above technical solution of the present invention has the following beneficial technical effects:

[0062] The present invention can select massage modes, and has different preliminary massage point two-dimensional data according to different massage modes, thereby improving individual adaptability; according to individual differences, target massage point two-dimensional data is obtained, thereby further improving individual adaptability, and also providing a basis for further massage trajectory planning. The preset massage trajectory planning algorithm reduces the amount of calculation, and the planned massage trajectory is smooth, which is conducive to promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] FIG1 is an overall flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0065] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0066] In the description of the present invention, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and should not be understood as indicating or implying relative importance.

[0067] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0068] Many specific details of the present invention are described below, such as device structures, materials, dimensions, processing techniques, and technologies, to provide a clearer understanding of the present invention. However, as will be appreciated by those skilled in the art, the present invention may be practiced without these specific details.

[0069] Example 1

[0070] A massage trajectory generation method, FIG1 shows an overall flow chart of an embodiment of the present invention, as shown in FIG1 , includes:

[0071] Taking human body massage as an example, preliminary two-dimensional data of massage points are obtained according to the selected massage mode; the selection method here can be user selection or selection by recommendation of big data; the specific content of the massage mode is not limited here, and it can be full body, half body, abdomen, or back. Optional, in this embodiment, the massage mode covers full back massage points, waist massage points, shoulder massage points, and abdomen massage points, etc., which can quickly form a standard massage plan; in addition, it also supports user-defined massage points, such as the "Ashi points" mentioned in traditional Chinese medicine, etc., which has higher flexibility and adaptability; after selecting the massage mode, the preliminary two-dimensional data of the massage points in the corresponding massage mode are obtained accordingly;

[0072] Obtaining point cloud data of the target object's area to be massaged; the specific method for obtaining the point cloud data of the target object's area to be massaged is not limited here. Optionally, it can be photographed by a camera. The specific content of the camera and the specific method of photographing are not limited here. Optionally, in this embodiment, the camera can be a depth camera, and the massage robot is controlled to move to a photographing posture for photographing. Optionally, in this embodiment, a person can lie or lie on the massage bed, and the massage robot is controlled to move above the target object for photographing. In this embodiment, the depth camera is used for photographing, and the point cloud data of the target object's area to be massaged can be directly obtained.

[0073] A proportionality coefficient is determined based on the preliminary massage point two-dimensional data and the point cloud data of the target object's area to be massaged, and the target massage point two-dimensional data is determined based on the preliminary massage point two-dimensional data and the proportionality coefficient; the preliminary massage point two-dimensional data is used as a reference, and the target object's area to be massaged point cloud data is obtained according to the individual; a proportionality coefficient is determined based on the preliminary massage point two-dimensional data and the point cloud data of the target object's area to be massaged, and the calculation is performed using the two-dimensional data in the obtained point cloud data of the target object's area to be massaged. For example, if a person is fat, the preliminary massage point two-dimensional data can be enlarged to obtain the target massage point two-dimensional data; according to the changes in the point cloud data, the density of the massage points on the massage trajectory is determined;

[0074] Target three-dimensional massage point data is obtained based on the target massage point two-dimensional data and the point cloud data of the target object's area to be massaged. The specific content of the target three-dimensional massage point data is not limited here. Optionally, in this embodiment, the target three-dimensional massage point data includes a three-dimensional coordinate value and a Z-axis direction vector of the massage point, and the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data. The target three-dimensional massage point data here is massage point data adapted to the user himself and is the basis for further planning the massage trajectory.

[0075] According to the target three-dimensional massage point data, based on the preset massage trajectory planning algorithm, a final massage trajectory is generated. The specific content of the preset massage trajectory planning algorithm is not limited here, and those skilled in the art will understand that as long as massage trajectory planning can be performed; optionally, in this embodiment, according to the target three-dimensional massage point data, based on the preset massage trajectory planning algorithm, the final massage trajectory is generated, including:

[0076] The target three-dimensional massage points are grouped according to a preset grouping rule to obtain a plurality of massage point groups. The specific content of the preset grouping rule is not limited here. The grouping may be averaged according to the number of target three-dimensional massage points or allocated according to the minimum unit number. Those skilled in the art will understand that as long as the grouping can be completed, the preset grouping rule may include:

[0077] Obtain the number of massage points based on the target three-dimensional massage point data;

[0078] The minimum number of grouping units is preset; the specific number of the minimum number of grouping units is not limited here. Optionally, in this embodiment, the preset minimum number of grouping units is 7. The preset minimum number of grouping units is 7 because 7 is the minimum number of points to achieve smooth splicing. The minimum number of points ensures that the matrix inversion is simplest within the required range, simplifying the calculation;

[0079] Determine whether the number of massage points is greater than the preset minimum grouping unit number; here, first determine whether the number of massage points is greater than 7;

[0080] If the number of massage points is greater than the preset minimum number of grouping units, the points are grouped in sequence by sliding the box according to the preset minimum number of grouping units until the number of massage points in the last group is less than or equal to the preset minimum number of grouping units; the specific content of grouping by sliding the box in sequence is 1-7 for the first group, 2-8 for the second group, 3-9 for the third group, and so on; the number of points in each group is 7, and the number of points in the last group is determined according to the number of points, and it can be no more than 7 points;

[0081] If the number of massage points is less than or equal to the preset minimum number of grouping units, no grouping is required; grouping can generate multiple massage trajectories, and the multiple massage trajectories are spliced ​​together. The multiple massage trajectories formed by this grouping method can ensure a smooth transition at the splicing point;

[0082] Selecting key points of massage points in several massage point groups respectively; the specific content of the key points is not limited here, and optionally, in this embodiment, they can be massage points that must be passed during the massage process; the number of key points is not limited here, and optionally, in this embodiment, the number of key points in each massage point group is not greater than the number of massage points in the corresponding massage point group;

[0083] According to the key points, node vectors of several massage point groups are calculated respectively according to a preset first calculation method, wherein the first calculation method presets the first and last node repetition; the preset first and last node repetition is not limited here, optionally, in this embodiment, the preset first and last node repetition is 4; the repetition is 4 to ensure that the first and last node of each massage point group are at the key point, so the first and last node repetition is set to (3+1); optionally, in this embodiment, the preset first calculation method includes:

[0084] The default repetition of the first and last nodes is 4; u0=u1=u2=u3=0 u n+2 =u n+3 =u n+4 =u n+5 =1

[0085] Among them, the node vector is represented as U = [u0, u1, ..., u n+5 ]; n represents the number of key points; i represents the current node number; p i : the i-th key point; t: the sum of all key points, p t: The t-th key point; there are repeated nodes, which can only provide n linear equations for n+2 unknown control vertices. Therefore, it is necessary to add two boundary conditions at both ends of the curve to make the number of equations equal to the number of unknown control vertices in order to solve the control vertices;

[0086] Several boundary conditions for massage point groups are preset; the specific content of the boundary conditions is not limited here; optionally, the boundary conditions are tangent vector conditions, free endpoint conditions, closed curve conditions, etc. The tangent vector condition requires that the tangent direction is fixed, the free endpoint condition is suitable for the case where the curvature of the first and last points is zero, and the closed curve condition is suitable for the case where the first and last points coincide and are second-order continuous. Furthermore, in this embodiment, the free endpoint condition is used as the boundary condition to ensure the best continuity of the curve at the first and last points;

[0087] According to the node vector and the preset boundary conditions, the control vertices of the plurality of massage point groups are calculated respectively according to a preset second calculation method; optionally, in this embodiment, the preset second calculation method includes:

[0088] Calculate the inverse matrix of the following square matrix to obtain the control vertices;

[0089] Among them, d i For the control vertex, a i , b i , c i , e i All of them are parameters related to key points and node vectors; after matrix operations, the control vertices can be obtained; to obtain the control vertices, the inverse matrix of the previous matrix is ​​required. The calculation of the inverse matrix is ​​very tedious. The higher the order, the more computational effort the inverse matrix will have to be doubled. Therefore, for massage point trajectory planning with too many points, this embodiment requires grouping in advance, and massage trajectory planning is performed for each group of points separately. Finally, multiple massage trajectories are spliced ​​together to obtain a smooth massage trajectory.

[0090] A plurality of massage trajectories are generated according to the control vertices of the plurality of massage point groups according to a preset third calculation method. The specific content of the preset third calculation method is not limited herein. Optionally, in this embodiment, the preset third calculation method includes generating massage trajectories according to the node vectors, the control vertices, and the weight factors:

[0091] Among them, u represents the node parameter, independent variable ∈ [0,1]; d i represents the control vertex; k represents the degree of the curve; N i,k (u) represents the k-order B-spline basis function; ω i Represents the weight factor; wherein the B-spline basis function formula includes:

[0092] Regulation:

[0093] where N i,k (u) represents the k-order B-spline basis function, and u represents the node parameter;

[0094] The several massage trajectories are spliced ​​together to generate a preliminary massage trajectory.

[0095] In one embodiment of the present invention, further, generating the final massage trajectory based on the target three-dimensional massage point data and a preset massage trajectory planning algorithm further includes:

[0096] According to the target three-dimensional massage point data in the preliminary massage trajectory, the posture of each target three-dimensional massage point is calculated according to a preset posture algorithm to generate a final massage trajectory. Further, optionally, in this embodiment, the preset posture algorithm includes:

[0097] According to the target three-dimensional massage point data, wherein the three-dimensional massage point data includes the three-dimensional coordinate value and the Z-axis direction vector of the massage point, and the three-dimensional coordinate value includes X-axis, Y-axis and Z-axis data;

[0098] Obtaining the X-axis direction vector of each target three-dimensional massage point according to the data of each target three-dimensional massage point in the preliminary massage trajectory;

[0099] Obtain the Y-axis direction vector based on the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point;

[0100] According to the direction vectors of the X-axis and Y-axis, the direction vector of the Z-axis is corrected by making the three axes perpendicular to each other;

[0101] The three-dimensional massage point position of each target is obtained to generate the final massage trajectory.

[0102] This embodiment allows for selection of massage modes, including custom modes. Different preliminary two-dimensional massage point data is generated for each massage mode, improving individual adaptability. Target two-dimensional massage point data is obtained based on individual differences, further improving individual adaptability and providing a foundation for further massage trajectory planning. A preset massage trajectory planning algorithm groups massage points according to the minimum number of points required for smooth splicing. This minimizes the number of points and ensures that matrix inversion is simpler within the required range, simplifying calculations. Multi-segment massage trajectory planning is then spliced ​​together, achieving smooth transitions and minimizing computing power. This facilitates widespread adoption.

[0103] Example 2

[0104] A massage trajectory generation system, comprising:

[0105] Selection module: according to the selected massage mode, obtain preliminary two-dimensional data of massage points; the specific content of the massage mode is not limited here, and it can be full body, half body, abdomen, or back. Optional, in this embodiment, the massage mode covers full back massage points, waist massage points, shoulder massage points, and abdomen massage points, etc., which can quickly form a standard massage plan; in addition, it also supports user-defined massage points, such as the "Ashi points" mentioned in traditional Chinese medicine, etc., which has higher flexibility and adaptability; after selecting the massage mode, the preliminary two-dimensional data of the massage points in the corresponding massage mode are obtained accordingly;

[0106] Acquisition module: Acquisition of point cloud data of the target object's area to be massaged; the specific method for acquiring the point cloud data of the target object's area to be massaged is not limited here. Optionally, it can be photographed by a camera. The specific content of the camera and the specific method of photographing are not limited here. Optionally, in this embodiment, the camera can be a depth camera, and the massage robot is controlled to move to a photographing posture for photographing. Optionally, in this embodiment, a person can lie or lie on the massage bed, and the massage robot is controlled to move above the target object for photographing. In this embodiment, the depth camera is used for photographing, and the point cloud data of the target object's area to be massaged can be directly acquired;

[0107] The first calculation module determines a proportionality coefficient based on the preliminary massage point 2D data and the point cloud data of the target object's massage area, and then determines the target massage point 2D data based on the preliminary massage point 2D data and the proportionality coefficient. The preliminary massage point 2D data is used as a reference, while the point cloud data of the target object's massage area is obtained for each individual. The target massage point 2D data is obtained by proportional calculation. For example, if a person is overweight, the preliminary massage point 2D data can be enlarged to obtain the target massage point 2D data. The density of the massage points along the massage trajectory is determined based on the changes in the point cloud data.

[0108] The second calculation module is configured to obtain target three-dimensional massage point data based on the target massage point two-dimensional data and the point cloud data of the target object's area to be massaged. The specific content of the target three-dimensional massage point data is not limited here. Optionally, in this embodiment, the target three-dimensional massage point data includes three-dimensional coordinate values ​​and Z-axis direction vectors of the massage point, and the three-dimensional coordinate values ​​include X-axis, Y-axis, and Z-axis data. 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.

[0109] The third calculation module generates a final massage trajectory based on the target three-dimensional massage point data and a preset massage trajectory planning algorithm. The specific content of the preset massage trajectory planning algorithm is not limited here, and those skilled in the art will understand that as long as massage trajectory planning can be performed; optionally, in this embodiment, it includes:

[0110] The target three-dimensional massage points are grouped according to a preset grouping rule to obtain a number of massage point groups;

[0111] Select key points of massage points in several massage point groups respectively;

[0112] Calculating node vectors of a plurality of massage point groups according to the key points in accordance with a preset first calculation method, wherein the first calculation method presets a first and last node repetition degree;

[0113] Preset several boundary conditions of massage point groups;

[0114] According to the node vector and the preset boundary conditions, the control vertices of the plurality of massage point groups are calculated respectively according to a preset second calculation method;

[0115] generating a plurality of massage trajectories according to the control vertices of the plurality of massage point groups in accordance with a preset third calculation method;

[0116] The several massage trajectories are spliced ​​together to generate a preliminary massage trajectory.

[0117] Furthermore, in this embodiment, generating the final massage trajectory based on the target three-dimensional massage point data and a preset massage trajectory planning algorithm further includes:

[0118] According to the target three-dimensional massage point data in the preliminary massage trajectory, the posture of each target three-dimensional massage point is calculated according to a preset posture algorithm to generate a final massage trajectory.

[0119] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

[0120] The present invention has been described above with reference to the embodiments thereof. However, these embodiments are for illustrative purposes only 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. Those skilled in the art may make various substitutions and modifications without departing from the scope of the present invention, and such substitutions and modifications are intended to fall within the scope of the present invention.

[0121] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0122] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

[0123] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims

1. A massage trajectory generation method, characterized in that: include: According to the selected massage mode, obtain preliminary two-dimensional data of massage points; Obtain point cloud data of the area to be massaged of the target object; Determine a proportionality coefficient according to the preliminary massage point two-dimensional data and the point cloud data of the target object's area to be massaged, and determine the target massage point two-dimensional data based on the preliminary massage point two-dimensional data and the proportionality coefficient; Obtain target three-dimensional massage point data based on target massage point two-dimensional data and target object massage area point cloud data; According to the target three-dimensional massage point data, based on the preset massage trajectory planning algorithm, the final massage trajectory is generated; Wherein, the preset massage trajectory planning algorithm includes grouping the target three-dimensional massage points according to the preset grouping rules to obtain a plurality of massage point groups; Generating a plurality of massage trajectories according to the plurality of massage point groups; The several massage trajectory segments are spliced ​​together to generate a final massage trajectory.

2. The massage trajectory generation method according to claim 1, characterized in that: The step of generating the final massage trajectory according to the target three-dimensional massage point data and based on a preset massage trajectory planning algorithm also includes: Select key points of massage points in several massage point groups respectively; Calculate node vectors of a plurality of massage point groups respectively according to the key points and a preset first calculation method; Preset several boundary conditions of massage point groups; According to the node vector and the preset boundary conditions, the control vertices of the plurality of massage point groups are calculated respectively according to the preset second calculation method; Generating a plurality of massage trajectories according to the control vertices of the plurality of massage point groups according to a preset third calculation method; The several massage trajectory segments are spliced ​​together to generate a preliminary massage trajectory.

3. The massage trajectory generation method according to claim 2, characterized in that: The step of generating the final massage trajectory according to the target three-dimensional massage point data and based on a preset massage trajectory planning algorithm also includes: According to the target three-dimensional massage point data in the preliminary massage trajectory, the posture of each target three-dimensional massage point is calculated according to a preset posture algorithm to generate a final massage trajectory.

4. The massage trajectory generation method according to claim 2, characterized in that: The preset grouping rules include: According to the target three-dimensional massage point data, the number of massage points is obtained; Preset the minimum number of grouping units; Determine whether the number of massage points is greater than the preset minimum number of grouping units; If the number of massage points is greater than the preset minimum number of grouping units, the points are grouped by sliding the box in sequence according to the preset minimum number of grouping units until the number of massage points in the last group is less than or equal to the preset minimum number of grouping units; If the number of massage points is less than or equal to the preset minimum number of grouping units, no grouping is required.

5. The massage trajectory generation method according to claim 2, characterized in that: The preset first calculation method includes: The default repetition degree of the first and last nodes is 4; u0=u1=u2=u3=0 in n+2 =in n+3 =in n+4 =in n+5 =1 The node vector is represented as U = [u0, u1, ..., u n+5 ]; n represents the number of key points; i represents the current node number; p i : the i-th key point; t: the sum of all key points, p t : The tth key point.

6. The massage trajectory generation method according to claim 2, characterized in that: The preset second calculation method includes: Calculate the inverse matrix of the following square matrix to obtain the control vertices; Among them, d i For the control vertex, a i , b i , c i , e i These are parameters related to key points and node vectors.

7. The massage trajectory generation method according to claim 2, characterized in that: The preset third calculation method includes: Among them, u represents the node parameter, independent variable ∈ [0,1]; d i represents the control vertex; k represents the degree of the curve; N i,k (u) represents the k-order B-spline basis function; ω i Represents the weight factor.

8. The massage trajectory generation method according to claim 7, characterized in that: The B-spline basis function formula includes: Regulation: Where N i,k (u) represents the k-order B-spline basis function, and u represents the node parameter.

9. The massage trajectory generation method according to claim 3, characterized in that: The preset posture algorithm includes: According to the target three-dimensional massage point data, wherein the three-dimensional massage point data includes the three-dimensional coordinate value and the Z-axis direction vector of the massage point, and the three-dimensional coordinate value includes the X-axis, Y-axis and Z-axis data; According to the data of each target three-dimensional massage point in the preliminary massage trajectory, obtaining the X-axis direction vector of each target three-dimensional massage point; According to the cross product of the X-axis and Z-axis direction vectors of each target three-dimensional massage point, the Y-axis direction is obtained. vector; According to the direction vectors of the X-axis and the Y-axis, the direction vector of the Z-axis is corrected by using three axes that are perpendicular to each other; The position and posture of each target three-dimensional massage point are obtained to generate the final massage trajectory.

10. A massage trajectory generation system, characterized in that: include: Selection module: according to the selected massage mode, obtain preliminary two-dimensional data of massage points; Acquisition module: acquires point cloud data of the target object's massage area; The first calculation module is used to determine a proportionality coefficient according to the preliminary massage point two-dimensional data and the point cloud data of the target object to be massaged, and to determine the target massage point two-dimensional data based on the preliminary massage point two-dimensional data and the proportionality coefficient; The second calculation module: obtains the target three-dimensional massage point data according to the target massage point two-dimensional data and the point cloud data of the target object area to be massaged; The third calculation module: generates the final massage trajectory according to the target three-dimensional massage point data and based on the preset massage trajectory planning algorithm; Wherein, the preset massage trajectory planning algorithm includes grouping the target three-dimensional massage points according to the preset grouping rules to obtain a plurality of massage point groups; Generating a plurality of massage trajectories according to the plurality of massage point groups; The several massage trajectory segments are spliced ​​together to generate a final massage trajectory.

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