CN115944518B - Back massage manipulator, intelligent back massage robot and track determining method thereof - Google Patents
Back massage manipulator, intelligent back massage robot and track determining method thereof Download PDFInfo
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Abstract
The invention discloses a back massage manipulator, an intelligent back massage robot and a massage track determining method thereof, wherein the mechanical arm integrates a massage ball device, an essential oil needle cylinder and a back area detecting system, flexible rotary motion with six degrees of freedom can be realized in the massage moving process, the massage ball device contacts with the skin of a human body, and the mechanical arm can simulate traditional Chinese medicine massage method to flexibly massage the back of the human body in cooperation with the uniform force control function of the mechanical arm; the variable-frequency miniature air pump accurately controls the output quantity of the essential oil, does not hurt the skin, and has physical therapy effects of growing yang qi, relaxing muscles, relaxing tendons, promoting blood circulation, dredging channels and vessels and the like on a human body; the back area detection system detects and identifies the back area and the size of the back area of the person to be massaged by means of a machine vision detection technology, and has high detection precision and detection efficiency, so that the mechanical arm can enlarge or reduce the corresponding massage range according to the back areas of the massagers with different body types, and the customized massage effect on the crowd with different body types is realized.
Description
The invention relates to the technical field of massage manipulators, in particular to a back massage manipulator, an intelligent back massage robot and a track determining method thereof.
Background
Massage is one of the traditional and old therapies with traditional Chinese medicine characteristics, and with the rapid development of the artificial intelligence industry, robots replace artificial massage to become a hot spot for current research. In recent years, although a plurality of massage apparatuses such as a massage chair and a massage bed appear on the market, the massage chair and the massage bed are all of a passive type, the massage modes are that force is applied from bottom to top, a person to be massaged carries out massage by relying on the weight of the person to be massaged, the person to be massaged needs to adjust the muscles of the person to be massaged to find massage pressure points, and the massage parts are under the compression of the weight of the person to be massaged and cannot receive the massage in a relax manner; in addition, the traditional massage chair and massage bed have single massage technique, can not simulate the massage action of traditional Chinese medicine, and generally can not achieve the treatment effect; the prior massage robot, such as application number CN202220014150.8, patent name is a mechanical arm and a massage robot, although a depth camera is disclosed on the mechanical arm for shooting a target object to obtain relative position information with the target object, but the massage robot cannot accurately identify massage acupoints and massage areas according to different massage objects, can not realize accurate positioning and standard unified massage on users with different body types, has the problems of low planning path efficiency or large path deviation and the like, has low intelligentization degree, has difficult control of mechanical strength, and has difficult control of vibration frequency, and most of the problems are difficult to reach the effect of a high-level massager.
Disclosure of Invention
Aiming at the problems, the invention provides the back massage manipulator, the intelligent back massage robot and the track determining method thereof, which not only solve the problems that users with different body types cannot be accurately positioned, massage is performed in a standard and unified way, the planned path is low in efficiency or large in path deviation and the like, but also can realize the high simulation of traditional Chinese medicine massage technique in the whole massage process, intelligently control the functions of each parameter, and replace manual implementation of quality consistency massage.
In order to achieve the above object, the present invention is realized according to the following technical scheme:
the first aspect of the invention provides a back massage manipulator, which comprises a control box, a mechanical arm and a back area detection system, wherein the mechanical arm is arranged above the control box, a massage ball device is arranged at the end part of a tail end arm section of the mechanical arm, and an essential oil needle cylinder is connected to one side of the massage ball device and is used for supplying essential oil to the massage ball device; the pressure in the essential oil needle cylinder is controlled by a variable-frequency micro air pump for controlling the output quantity of essential oil, and the variable-frequency micro air pump is electrically connected with a PLC (programmable logic controller) in a control box; the back area detection system comprises a depth camera and an image acquisition processing unit, wherein the depth camera is arranged on one side of the mechanical arm and is used for photographing the back of a person to be massaged, the image acquisition processing unit is used for detecting the size of the calibration plate according to the shape detection function through a photographed image, converting the image coordinates into actual robot coordinates and calculating the back area size of the person to be massaged according to the proportional relation between the actual size of the calibration plate and the number of pixels.
In a possible technical scheme, a closed-loop control heater and a temperature sensor are arranged in a massage head of the massage ball device, the heater is electrically connected with a temperature controller in a control box, and the temperature sensor and the temperature controller are electrically connected with a PLC controller.
In a possible technical scheme, a pressure detection sheet is arranged inside the massage ball device and used for measuring massage pressure of the ball, the pressure detection sheet is electrically connected with a pressure sensor, and the pressure sensor is electrically connected with the PLC.
In a possible technical scheme, the bottom circumference side of control box is equipped with the LED lamp strip, and inside is equipped with the LED control panel, the LED control panel with PLC controller electrical signal connection.
The second aspect of the invention provides an intelligent back massage robot, which comprises a computer and any back massage manipulator, wherein the computer is provided with an intelligent terminal system which accurately identifies the acupuncture points of a human body and calculates massage tracks according to the positions and the sizes of back areas of a person to be massaged in the actual robot coordinates, and outputs and controls the manipulator to execute a massage process.
In the above technical scheme, the computer is provided with a touch display for displaying or controlling the action buttons and the operation parameters in the massage process.
A third aspect of the present invention provides a trajectory determining method of an intelligent back massage robot, comprising the following operation steps performed in order:
step S1, a start switch is pressed down, an input signal is given to a PLC controller, and a computer and a mechanical arm are controlled to start; touching a touch display of the computer, opening an intelligent terminal system, setting heating temperature and oil outlet speed, enabling a temperature controller to output signals to electrify a heater, and heating to the set temperature;
s2, placing a round calibration plate with known outline dimensions on the back according to the areas to be massaged of different body types on the upper side of the massage bed by a person to be massaged;
step S3, clicking an arm through a touch display to execute a start button operation program, and moving the mechanical arm to a preset initial position to enable the position of the depth camera to be horizontal and enable the back of a person to be massaged to be in a photographing view of the depth camera;
s4, starting a depth camera to take a picture, detecting the circle of the circular calibration plate through a shape detection function, measuring the detected circle diameter by using a maximum caliper function, comparing the circle diameter with a preset diameter value, determining the moving height of the mechanical arm, and executing movement of the mechanical arm according to the detected circle diameter;
s5, shooting an image again, and calculating the back area size of the person to be massaged according to the proportional relation between the actual size of the round calibration plate and the pixel number; selecting four points on cervical vertebra, tail vertebra, shoulder and waist from a shot image through a mouse, converting image coordinates into actual robot coordinates by using a halcon HHOmMat2D function, completing contour positioning, calculating a massage track through an intelligent terminal system, outputting the massage track to a mechanical arm to calibrate a massage range, taking down a calibration plate, and starting massage; and collecting signals of the pressure sensor in the massage process, and intelligently controlling the massage pressure and the massage angle.
In the above technical solution, in step S4, the function of determining the movement height of the mechanical arm is:
arm movement height= (measured diameter-preset diameter) 0.01.
According to the technical scheme, after the mechanical arm starts massaging, the timer is used for timing, after the timing is finished, the intelligent terminal system outputs a signal to energize the variable-frequency micro air pump, the variable-frequency micro air pump gives out oil pipe pressurization, the timer is started again, and the next triggering is waited for, so that the cycle is performed.
In the technical scheme, the mechanical arm is firstly used for massaging according to the 8-shaped track in the massaging process, namely, the mechanical arm is firstly used for pressing for 3 seconds, 49 '8's are drawn from the Dazhui acupoint to the Xialiao acupoint, and finally, the mechanical arm just stays at the position of the Xialiao acupoint, then, the mechanical arm is used for massaging to the Dazhui acupoint along the spine in a linear mode, is lifted after reaching the Dazhui acupoint, returns to the Xialiao acupoint for pressing for 3 seconds, then, 49 '8's are drawn from the position of the Xialiao acupoint to the Dazhui acupoint, and is used for massaging to the Xialiao acupoint along the spine in a linear mode after reaching the Dazhui acupoint, and the above is a cycle, and the cycle is four times;
then massaging according to the 6-shaped track, namely pressing the big cone acupoint for 3 seconds, drawing 35 '6's from the shoulder to the left back in the lumbar direction, lifting, repeating for three times, pressing the big cone acupoint for 3 seconds, drawing 35 '6's from the shoulder to the right back in the lumbar direction, lifting, and repeating for three times.
Compared with the prior art, the invention has the following beneficial effects:
according to the back massage manipulator disclosed by the invention, the mechanical arm integrates the massage ball device, the essential oil needle cylinder and the back area detection system, flexible rotary motion with six degrees of freedom can be realized in the massage moving process, the massage ball device contacts with the skin of a human body, and the mechanical arm can simulate traditional Chinese medicine massage technique to flexibly massage the back of the human body in cooperation with the uniform force control function of the mechanical arm; the variable-frequency miniature air pump accurately controls the output quantity of the essential oil, and detects the pressure of the system in real time to ensure that the essential oil is continuously and stably output in the whole massage process, so that the skin is not damaged, and physiotherapy effects of growing yang qi, relaxing muscles, relaxing tendons, promoting blood circulation, dredging channels and the like are achieved on a human body; the back area detection system detects and identifies the back area and the size of the back area of the person to be massaged by means of a machine vision detection technology, has higher detection precision and detection efficiency, and enables the mechanical arm to enlarge or reduce the corresponding massage range according to the back areas of the massagers with different body types, so that customized massage effects on people with different body types are realized; the intelligent back massage robot can realize the outstanding effects of intelligent flexible control of massage process, precise recognition of machine vision, constant and controllable massage force, temperature and speed, technological implementation of traditional Chinese medicine massage manipulation conversion, immersive conditioning, human saving and synergy.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a front structure of a back massage manipulator according to an embodiment of the present invention;
fig. 2 is a schematic view of a rear structure of a back massage manipulator according to an embodiment of the present invention;
fig. 3 is a schematic view of the right side structure of the inside of the control box of the back massage manipulator according to the embodiment of the invention;
fig. 4 is a schematic view of the left side structure of the inside of the control box of the back massage manipulator according to the embodiment of the invention;
FIG. 5 is a software interface schematic of an intelligent back massage robot according to an embodiment of the present invention;
fig. 6 is a control schematic diagram of an intelligent back massage robot according to an embodiment of the present invention;
fig. 7 is a back massage trajectory diagram of a massage method of the intelligent back massage robot according to an embodiment of the present invention.
Reference numerals: 1. starting a switch; 2. an emergency stop button; 3. a computer; 4. a mouse; 5. a robot demonstrator; 6. a mechanical arm; 7. an essential oil cylinder; 8. a depth camera; 9. a massage ball device; 10. fixing the ground feet; 11. a control box; 12. inputting a power socket; 13. an input power switch; 14. a robot control box; 15. a variable frequency micro air pump; 16. a temperature controller; 17. 18, a pressure sensor; 19. an LED control board; 20. a power supply; 21. LED light bar; 22. the arm executes a start button; 23. an arm stop reset button; 24. a manual oil outlet button; 25. monitoring air pressure; 26. run time; 27. a photographed image display window; 28. temperature regulation; 29. adjusting the force; 30. speed adjustment; 31. oil outlet time and interval; 32. number of runs.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Example 1
The embodiment 1 of the invention provides a back massage manipulator, referring to fig. 1 and 2, comprising a control box 11, a mechanical arm 6 and a back area detection system, wherein a starting switch 1 is fixed above the front side of the equipment control box 11; the emergency stop button 2 is fixed above the front side of the equipment control box 11; the mechanical arm 6 is arranged above the control box 11, the mechanical arm 6 preferably adopts a six-axis cooperative mechanical arm, can move forwards, backwards, upwards, downwards, leftwards and rightwards, preferably, the mechanical arm 6 adopts URe series mechanical arms, has the characteristics of small size and strong functions, has the characteristics of simulating human arms, has the effective load range of 3-16 kg, has the working radius of 500-1300mm, can realize 360-degree rotation of all arm joints, can infinitely rotate end joints, and can meet the requirements of higher safety performance, silence maintenance in the massage process and superior force control function when used for massaging a human body; the end part of the tail end arm section of the mechanical arm 6 is provided with a massage ball device 9, and the essential oil needle cylinder 7 is connected to one side of the massage ball device 9 and is used for supplying essential oil to the massage ball device 9; the variable-frequency micro air pump 15 for controlling the output quantity of the essential oil is arranged in the essential oil needle cylinder 7, the variable-frequency micro air pump 15 is electrically connected with the PLC controller 17 in the control box 11, the variable-frequency micro air pump 15 precisely controls the output quantity of the essential oil, and the real-time detection system pressure ensures that the essential oil is continuously and stably output in the whole massage process, specifically, in the embodiment, the variable-frequency micro air pump 15 is a kamoer-KLP01-EKA1 variable-frequency micro air pump, and the variable-frequency micro air pump is small in size, powerful and stable in performance; the fixed anchor 10 is connected to the lower part of the control box, and the control box is fixed right above the fixed anchor 10; the input power socket 12 is fixed below the rear side of the control box, and a standard NEMA power plug can be accepted by adopting a standard IEC320 power socket; the input power switch 13 is fixed below the rear side of the control box, the voltage is 220V, and the rated power is 350W; referring to fig. 3 and 4, the variable frequency micro air pump 15, the PLC controller 17 and the power supply 20 are fixed inside the control box 11; the back area detection system comprises a depth camera 8 and an image acquisition processing unit, wherein the depth camera 8 is arranged on one side of the mechanical arm 6, the depth camera 8 is used for photographing the back of a person to be massaged, the image acquisition processing unit is used for detecting the diameter of a circular calibration plate according to a shape detection function by using a photographed image, converting image coordinates into actual robot coordinates and calculating the back area size of the person to be massaged according to the proportional relation between the actual size of the circular calibration plate and the number of pixels; the back area detection system detects and identifies the back area and the size of the person to be massaged based on a machine vision detection technology, the depth camera 8 can be installed on any side of the mechanical arm 6, the mechanical arm 6 carries the depth camera 8 to move to a preset initial position, in this embodiment, the depth camera 8 is fixed at the front end of the joint of the tail end arm section and the penultimate arm section of the mechanical arm 6, and the preset initial position refers to the area range which is located at the position and can be roughly selected according to the shooting rule of the depth camera, and the depth camera can shoot the back of the person to be massaged in the visual field range, which is not an absolute fixed position; the preset initial position is used for helping the mechanical arm 6 to search the calibration position of the depth camera 8 by comparing the image information of the position; the calibration position of the depth camera 8 needs to be determined by means of a calibration plate, the size information of the calibration plate is known, the calibration plate is placed at any position in the back area of a person to be massaged before starting massage, and preferably, the shooting angles of the calibration plate and the depth camera 8 are set to be horizontal, so that the shot image of the calibration plate is prevented from being distorted; the depth camera 8 takes a picture when reaching a preset initial position, detects the shape of the calibration plate through a shape detection function, measures the detected shape and size by using a corresponding size algorithm, compares the measured shape and size with a preset size value, determines the moving height of the mechanical arm 6, and the mechanical arm 6 moves according to the moving height; after the back region is moved to the calibration position, an image is shot again, and the back region size of the person to be massaged is calculated according to the proportional relation between the actual size of the calibration plate and the pixel number, so that the back region sizes of different massagers can be obtained; specifically, the calibration plate may be a plate of a regular shape, for example, a circular calibration plate may be selected, the diameter information of the circular calibration plate is known, and after the circular shape is detected by the shape detection function, the diameter of the detected circular shape may be measured by using a maximum caliper function; alternatively, a rectangular calibration plate may be selected, the side length information of the rectangular calibration plate is known, and after the rectangle is detected by the shape detection function, the side length of the rectangle can be obtained by adopting Pair Edge Distance algorithm.
According to the back massage manipulator disclosed by the embodiment 1, the massage ball device, the essential oil needle cylinder and the back area detection system are integrated into a whole by the manipulator, flexible rotary motion with six degrees of freedom can be realized in the massage moving process, and the massage ball device contacts with the skin of a human body and cooperates with the uniform force control function of the manipulator, so that the manipulator can simulate traditional Chinese medicine massage operation to flexibly massage the back of the human body; the variable-frequency micro air pump 15 accurately controls the output quantity of the essential oil, and detects the pressure of the system in real time to ensure that the essential oil is continuously and stably output in the whole massage process, so that the skin is not damaged, and physiotherapy effects of growing yang qi, relaxing muscles, relaxing tendons, promoting blood circulation, dredging channels and the like are achieved on a human body; the back area detection system detects and identifies the back area and the size of the back area of the person to be massaged by means of a machine vision detection technology, and has high detection precision and detection efficiency, so that the mechanical arm can enlarge or reduce the corresponding massage range according to the back areas of the massagers with different body types, and the customized massage effect on the crowd with different body types is realized.
The massage head of the massage ball device 9 is internally provided with a closed-loop control heater and a temperature sensor, the heater is electrically connected with a temperature controller 16 in the control box 11, and the temperature sensor and the temperature controller 16 are electrically connected with a PLC (programmable logic controller) 17; the temperature sensor and the temperature controller are controlled in a closed loop manner, so that proper massage temperature can be accurately controlled, comfort requirements of different massagers can be met, and the massage temperature is generally set or regulated within the range of 0-50 ℃.
In the massage process, the massage pressure of the balls of the massage ball device 9 on the human body is a key factor affecting the massage experience and effect, and because the back of the human body is not a plane, the radian is provided, in order to accurately control the massage pressure of the balls on the human body and adapt to the change of the radian of the back, a pressure detection sheet is arranged in the massage ball device 9 and used for measuring the massage pressure of the balls, the pressure detection sheet is electrically connected with a pressure sensor 18, and the pressure sensor 18 is electrically connected with a PLC (programmable logic controller) 17; the PLC controller 17 collects signals of the pressure sensor 18 at the same time in the massage process to control the massage pressure.
The bottom week side of control box 11 is equipped with LED lamp strip 21, and inside is equipped with LED control panel 19, and LED control panel 19 and PLC controller 17 electrical signal connection show different light effects when carrying out different operations, and the manipulator is convenient again pleasing to the eye promptly.
Example 2
The embodiment 2 of the invention provides an intelligent back massage robot, referring to fig. 1 to 6, comprising a back massage manipulator of the embodiment 1, wherein the control and the function realization of the manipulator are intelligently completed through a computer 3, the computer 3 (an integrated machine) is fixed above the front side of a control box 11, and computer hardware adopts an industrial tablet personal computer of a research and development integrated industrial control of the research and development integrated PPC-3100S, which supports uninterrupted operation for 365 days; the mouse 4 is positioned on the right side of the computer, and the robot demonstrator 5 is positioned below the front side of the control box 11; the robot control box 14 is fixed inside the control box 11; the computer 3 controls all functions of the PLC 17 by arranging an intelligent terminal system, the intelligent terminal system accurately identifies human body acupuncture points according to the back region of the person to be massaged detected and identified by the back region detection system and the size thereof, calculates massage tracks, outputs the massage tracks to the mechanical arm 6 to execute a massage process, and controls the mechanical arm 6 to apply optimal massage force when passing through each acupuncture point; the intelligent terminal system can establish a private body information database to store back information of the massagers; furthermore, the intelligent terminal system can also be provided with a voice guidance module for explaining the using method and related functions of the massage robot, or a music playing module for playing music with proper situations in the massage process so as to relax the spirit of a massager and enhance the physiotherapy effect of the massage; the computer 3 is provided with a touch display for displaying or controlling action buttons and operation parameters in the massage process, and specifically, the touch display is provided with an arm execution start button 22, an arm stop reset button 23, a manual oil outlet button 24, an air pressure monitoring button 25, an operation time button 26, a photographed image display window 27, a temperature adjusting button 28, a force adjusting button 29, a speed adjusting button 30, an oil outlet time length and interval button 31 and an operation times button 32; the terminal program massage starts, and the massage parameters in the massage process are set and adjusted through the touch control of the operation buttons; the intelligent back massage robot can realize the outstanding effects of intelligent flexible control of the massage process, precise recognition of machine vision, constant and controllable massage strength, temperature and speed, technological implementation of traditional Chinese medicine massage manipulation conversion, immersive conditioning and human saving and synergy.
Example 3
The embodiment 3 of the invention provides a massage method of an intelligent back massage robot, which comprises the following operation steps of:
step S1, a start switch 1 is pressed down, an input signal is given to a PLC controller 17, and the start of a computer 3 and a mechanical arm 6 is controlled; touching the touch display of the computer 3, opening the intelligent terminal system, setting the heating temperature and the oil outlet speed, and enabling the temperature controller 16 to output signals to energize the heater and heat the heater to the set temperature;
s2, placing a round calibration plate with the diameter of 50mm on the back according to the areas needing to be massaged of different body types, and enabling the direction of the round calibration plate to be horizontal;
step S3, clicking an arm execution start button 22 through a touch display to run a program, and moving the mechanical arm 6 to a preset initial position to enable the position of the depth camera 8 to be horizontal and enable the back of a person to be massaged to be in a photographing view of the depth camera 8;
s4, starting the depth camera 8 to take a picture, detecting the circle of the circular calibration plate through a shape detection function, measuring the detected circle diameter by using a maximum caliper function, comparing the circle diameter with a preset diameter value, determining the moving height of the mechanical arm 6, and executing the movement of the mechanical arm 6 according to the detected circle diameter;
wherein it should be understood that the shooting environment needs to be provided with proper brightness conditions or illumination environments, so as to ensure that the shot image is a high-quality image; the depth camera 8 can select a CCD camera or a CMOS camera with proper performance according to the requirement of shooting images; in this embodiment, the depth camera 8 is provided with a zoom lens to facilitate adjustment of the photographing focal length; the depth camera 8 converts an image into a digital image through an image acquisition card and transmits the digital image to an image acquisition processing unit, the image acquisition processing unit processes the image by adopting proper image filtering, enhancing, segmentation and other preprocessing technologies in the prior art, and the shape detection function can be selected from conventional shape detection functions in an edge detection method, so that the invention can be realized only by identifying the circular outline of the calibration plate, and the focus is not expanded here.
The preset diameter value is a preset value of the diameter of the calibration plate in the image shot by the depth camera 8 at the calibration position, if the measured circular diameter of the depth camera 8 at the preset initial position is not equal to the preset diameter value, the mechanical arm 6 needs to be controlled to move until the depth camera 8 reaches the calibration position, specifically, in this embodiment, the function of determining the movement height of the mechanical arm 6 is as follows:
the robot arm 6 moves by a height= (measured diameter-preset diameter) 0.01.
S5, shooting an image again, and calculating the back area size of the person to be massaged according to the proportional relation between the actual size of the round calibration plate and the pixel number; four points of cervical vertebra, tail vertebra, shoulder and waist are selected from the shot images through a mouse, the coordinates of the images are converted into actual robot coordinates through a halcon HHOmat 2D function, outline positioning is completed, a massage track is calculated through an intelligent terminal system, the massage track is output to the mechanical arm 6 to calibrate a massage range, the calibration plate is taken down, and massage is started.
Preferably, after the mechanical arm 6 starts massaging, the intelligent terminal system outputs a signal to energize the variable-frequency micro air pump 15 after timing is finished through a software timer, the variable-frequency micro air pump 15 gives out oil pipe pressurization, the output essential oil is controlled, and meanwhile, the software timer is started again to wait for the next triggering, and the cycle is performed; the signals of the pressure sensor 18 are collected in real time in the massage process, and the massage pressure and the massage angle are intelligently controlled; the LED light bar 21 displays different light effects when performing different operations.
Referring to fig. 7, in one of the massage tracks of the massage method of the intelligent back massage robot of the present embodiment, the mechanical arm 6 is firstly massaged according to the "8" track, i.e. pressing for 3 seconds at the greater vertebral acupoint (position (1)), 49 "8" are drawn from the greater vertebral acupoint to the lower vertebral acupoint, the position (1) is the starting point of the "8" and the position (3) and the mirror image thereof are the vertexes of the "8", the middle cross point of the "8" is at the vertebral position each time, and according to the planned massage path, the massage path is finally stopped at the lower vertebral acupoint (position (2)), then the massage is carried out in a straight line manner from the lower vertebral acupoint along the vertebra, the massage path is lifted up after reaching the greater vertebral acupoint, the lower vertebral acupoint is returned to the lower vertebral acupoint, then 49 times of "8" are drawn from the lower vertebral acupoint to the greater vertebral acupoint, the massage is carried out in a straight line manner along the vertebra to the lower vertebral acupoint, and the previous cycle is carried out, and the "8" track massage is carried out on the next four times for the main massage points for the surrounding area of the vertebra;
then massaging according to the '6' track, namely pressing for 3 seconds on the acupoint of the big cone, firstly drawing 35 '6' on the back of the left side from the shoulder to the waist direction, lifting, repeating for three times, pressing for 3 seconds on the acupoint of the big cone, firstly drawing 35 '6' on the back of the right side from the shoulder to the waist direction, lifting, repeating for three times, and massaging according to the '6' track, wherein the '6' track mainly carries out regional specific massage on acupoints such as Jianzhu to Lissashu.
The middle crossing point of 8 is positioned at the spine position each time, and the rapid massage to the acupoints of the spine region can accelerate the blood circulation of the spine region and ensure the drug effect to be rapidly permeated and absorbed. The vertebra is subjected to linear pressing massage once every 49 times of 8 drawing, and all acupuncture points on the vertebra are subjected to linear pressing massage once, so that the effects of consolidation and relaxation are achieved; the back of the person is not a plane, and is provided with radian, the robot can incline the massage ball according to the radian of the back of the person, and the robot is attached to the physiological curve of the person; if a person lies and leans, the robot can automatically adjust the massage acupoints along the degree of the distortion, and then the inclination of the human body is automatically self-adaptive, so that the robot is not affected by the distortion of the person. The whole sizes of the 8 and the 6 can be enlarged or reduced according to different body types of each person, the person with the wide back part can be enlarged, the person with the narrow back part can be reduced, and the customized massage effect can be achieved for people with different body types.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (8)
1. The back massage manipulator is characterized by comprising a control box (11), a mechanical arm (6) and a back region detection system, wherein the mechanical arm (6) is arranged above the control box (11), a massage ball device (9) is arranged at the end part of a tail end arm section of the mechanical arm (6), and an essential oil needle cylinder (7) is connected to one side of the massage ball device (9) and is used for supplying essential oil to the massage ball device (9); the pressure in the essential oil needle cylinder (7) is controlled by a variable-frequency micro air pump (15) for controlling the output quantity of essential oil, and the variable-frequency micro air pump (15) is electrically connected with a PLC (17) in the control box (11); the back area detection system comprises a depth camera (8) and an image acquisition processing unit, wherein the depth camera (8) is arranged on one side of the mechanical arm (6), the depth camera (8) is used for photographing the back of a person to be massaged, the mechanical arm (6) is positioned at a preset initial position during primary photographing to enable the position of the depth camera (8) to be horizontal, and the back of the person to be massaged is positioned in a photographing view of the depth camera (8); the image acquisition processing unit is used for detecting the size of the calibration plate according to the shape detection function from the primary shooting image, comparing the detected size of the calibration plate with a preset size value, determining the moving height of the mechanical arm (6) and transmitting a moving command to the mechanical arm (6); when the mechanical arm (6) moves to the calibration position, the depth camera (8) is used for shooting images again, the image acquisition processing unit is used for converting the image coordinates into actual robot coordinates, and the back area size of the person to be massaged is calculated according to the proportional relation between the actual size of the calibration plate and the pixel number.
2. The back massage manipulator according to claim 1, characterized in that a closed-loop control heater and a temperature sensor are arranged in the massage head of the massage ball device (9), the heater is electrically connected with a temperature controller (16) in the control box (11), and the temperature sensor and the temperature controller (16) are electrically connected with the PLC (17).
3. The back massage manipulator according to claim 1, characterized in that a pressure detection sheet is provided inside the massage ball device (9) for measuring the massage pressure of the balls, the pressure detection sheet is electrically connected with a pressure sensor (18), and the pressure sensor (18) is electrically connected with the PLC controller (17).
4. The back massage manipulator according to claim 1, wherein the control box (11) is provided with an LED light bar (21) on the bottom circumference side, an LED control board (19) is provided inside, and the LED control board (19) is electrically connected with the PLC controller (17).
5. An intelligent back massage robot, which is characterized by comprising a computer (3) and a back massage manipulator according to any one of claims 1-4, wherein the computer (3) is provided with an intelligent terminal system for accurately identifying human body acupoints and calculating massage tracks according to the position and the size of a back area of a person to be massaged in actual robot coordinates, and the computer (3) outputs and controls a mechanical arm (6) to execute a massage process.
6. An intelligent back massage robot according to claim 5, characterized in that the computer (3) is provided with a touch display for displaying or controlling action buttons and operating parameters during massage.
7. The track determining method of the intelligent back massage robot is characterized by comprising the following operation steps of sequentially executing:
step S1, a start switch (1) is pressed, signals are input by a PLC (17) to control a computer (3) and a mechanical arm (6) to start up; touching a touch display of the computer (3), opening an intelligent terminal system, setting heating temperature and oil outlet speed, and enabling a temperature controller (16) to output signals to energize a heater to heat to the set temperature;
s2, placing a round calibration plate with known outline dimensions on the back according to the areas to be massaged of different body types on the upper side of the massage bed by a person to be massaged;
step S3, clicking an arm execution start button (22) through a touch display to run a program, and moving the mechanical arm (6) to a preset initial position to enable the position of the depth camera (8) to be horizontal and enable the back of a person to be massaged to be in a photographing view of the depth camera (8);
s4, starting a depth camera (8) to take a picture, detecting the circle of the circular calibration plate through a shape detection function, measuring the detected circle diameter through a maximum caliper function, comparing the circle diameter with a preset diameter value, determining the moving height of the mechanical arm (6), and executing movement of the mechanical arm (6) according to the detected circle diameter;
s5, shooting an image again, and calculating the back area size of the person to be massaged according to the proportional relation between the actual size of the round calibration plate and the pixel number; four points of cervical vertebra, coccyx, shoulder and waist are selected from the shot images through a mouse, the coordinates of the images are converted into actual robot coordinates through a halcon HHOmat 2D function, outline positioning is completed, and a massage track is calculated through an intelligent terminal system.
8. The method for determining the trajectory of an intelligent back massage robot according to claim 7, wherein in the step S4, the function for determining the movement height of the mechanical arm (6) is:
the arm (6) moves by a height= (measured diameter-preset diameter) ×0.01.
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| CN117398252B (en) * | 2023-11-29 | 2024-05-03 | 佛山需要智能机器人有限公司 | Automatic positioning human back image acquisition method and massage system |
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Inventor after: Gao Wenjie Inventor after: Shan Junchao Inventor before: Gao Wenjie Inventor before: Huang Aiyuan Inventor before: Wang Shuang Inventor before: Shan Junchao |