CN106038252A - Control method of traditional Chinese medicine massage robot based on visual positioning - Google Patents
Control method of traditional Chinese medicine massage robot based on visual positioning Download PDFInfo
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- CN106038252A CN106038252A CN201610328489.4A CN201610328489A CN106038252A CN 106038252 A CN106038252 A CN 106038252A CN 201610328489 A CN201610328489 A CN 201610328489A CN 106038252 A CN106038252 A CN 106038252A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Finger-Pressure Massage (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a control method of a traditional Chinese medicine massage robot based on visual positioning. The control method comprises the following steps: (A) collecting human acupuncture point images of a human body needing massage; (B) processing the collected human acupuncture point images; (C) establishing all target acupuncture points of the human acupuncture points according to the processed human acupuncture point images, and enabling a massage head to move according to a preset massage head path; and (D) enabling the traditional Chinese medicine massage robot based on visual positioning to carry out track massage. According to the control method of the traditional Chinese medicine massage robot based on visual positioning, the massage head can be subjected to fine adjustment according to the preset target acupuncture points, so that the massage head is accurately positioned, therefore, the massage effect is improved, in addition, the method is simple, the realization is easy, and thus the control method has a good application prospect.
Description
Technical field
The present invention relates to the Traditional Chinese medicine massage robot control method of a kind of view-based access control model location, belong to medical machinery technology neck
Territory.
Background technology
Along with the growth of sub-health population, lumbago and skelalgia, the shoulder back of the body is stiff, bones and muscles pain these disease serious affect people
Quality of life.Traditional Chinese massage massage is one of alleviation and the effective means treating various chronic pain.At present, on market
Doctor's massage robot is a lot, but, acupuncture point is the guarantee of massage therapeutic effect accurately, but in massage processes, patient
Inevitably moving, this can cause the location of Traditional Chinese medicine massage robot inaccurate, and the acupuncture point of massage occurs deviation, with
As for reducing massage effect, use inconvenience.
Summary of the invention
The invention aims to overcome in massage processes, patient inevitably moves, and this can cause
The location of Traditional Chinese medicine massage robot is inaccurate, the acupuncture point generation deviation of massage, to such an extent as to the problem reducing massage effect.The present invention
View-based access control model location Traditional Chinese medicine massage robot control method, it is possible to according to preset target acupuncture point, massage head is carried out micro-
Adjusting, prepare the position of locating massage head, improve massage effect, method is simple, easily realizes, has a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is:
The Traditional Chinese medicine massage robot control method of view-based access control model location, it is characterised in that: comprise the following steps,
Step (A), carries out human acupoint image collection to the human body needing massage；
Step (B), processes the human acupoint image collected
(B1) human acupoint image is carried out pretreatment, reduce or remove composition useless or harmful in human acupoint image；
(B2) noise in human acupoint image is removed, and human acupoint image by size consolidation；
(B3) to the human acupoint image after consolidation, according to the etching operation of Mathematical Morphology method, edge is refined, by limit
Edge is refined as the line of a single pixel wide；
Step (C), according to the human acupoint image after processing, sets up all target acupuncture points of human acupoint, and pre-set
Massage head path is moved；
Step (D), the Traditional Chinese medicine massage robot of view-based access control model location is tracked massage
(D1) Chinese massage robot resets, and making massage head initial position is zero position, if it is the completeest to reset
Become, continue to reset, until completing to reset；
(D2) path that massage head starts according to pre-setting is moved, and judges that current location is the most identical with target acupuncture point, not
Arrive preset target acupuncture point, continue to move to；If arriving, being taken pictures by video camera, forming current acupuncture point photo, and hold
Row (D3)；
(D3) process current acupuncture point photo, record current acupoint information, it is judged that current acupoint information and corresponding target cave
Position information is the most consistent, if inconsistent, massage head is finely adjusted movement, is added up by traveling time simultaneously, and accumulation interval is not timed out
Between threshold value, massage head continues to move to, until consistent with corresponding target acupoint information with current acupoint information, execution (D4)；
If accumulation interval exceedes threshold value, current acupoint information is the most inconsistent with corresponding target acupoint information, then carry out human intervention,
Current acupoint information is ensured consistent with corresponding target acupoint information, performs (D4)；
(D4), massage head implements massage manipulation, carries out the massaging action at current acupuncture point, until having massaged, according to pre-setting
Massage head path move, repeat (D2)-(D3) carry out an acupoint massage.
The Traditional Chinese medicine massage robot control method of aforesaid view-based access control model location, it is characterised in that: described time threshold is
10s。
The Traditional Chinese medicine massage robot control method of aforesaid view-based access control model location, it is characterised in that: described zero position
It is set to massage the right Jianjing of object.
The invention has the beneficial effects as follows: the Traditional Chinese medicine massage robot control method of the view-based access control model location of the present invention, it is possible to
According to preset target acupuncture point, massage head is finely adjusted, prepares the position of locating massage head, improve massage effect, method letter
Single, easily realize, have a good application prospect.
Accompanying drawing explanation
Fig. 1 is the flow chart of the Traditional Chinese medicine massage robot control method of the view-based access control model location of the present invention.
Fig. 2 is the flow chart that the Traditional Chinese medicine massage robot of the present invention is tracked massage.
Detailed description of the invention
Below in conjunction with Figure of description, the present invention will be further described.Following example are only used for clearly
Technical scheme is described, and can not limit the scope of the invention with this.
As it is shown in figure 1, the Traditional Chinese medicine massage robot control method of the view-based access control model location of the present invention, comprise the following steps,
Step (A), carries out human acupoint image collection to the human body needing massage；
Step (B), processes the human acupoint image collected, comprises the following steps,
(B1) human acupoint image is carried out pretreatment, reduce or remove composition useless or harmful in human acupoint image；
(B2) noise in human acupoint image is removed, and human acupoint image by size consolidation；
(B3) to the human acupoint image after consolidation, according to the etching operation of Mathematical Morphology method, edge is refined, by limit
Edge is refined as the line of a single pixel wide；
Step (C), according to the human acupoint image after processing, sets up all target acupuncture points of human acupoint, and pre-set
Massage head path is moved；
Step (D), the Traditional Chinese medicine massage robot of view-based access control model location is tracked massage, as in figure 2 it is shown, comprise the following steps,
(D1) Chinese massage robot resets, and making massage head initial position is zero position, if it is the completeest to reset
Becoming, continue to reset, until completing to reset, described zero position is the right Jianjing of massage object；
(D2) path that massage head starts according to pre-setting is moved, and judges that current location is the most identical with target acupuncture point, not
Arrive preset target acupuncture point, continue to move to；If arriving, being taken pictures by video camera, forming current acupuncture point photo, and hold
Row (D3)；
(D3) process current acupuncture point photo, record current acupoint information, it is judged that current acupoint information and corresponding target cave
Position information is the most consistent, if inconsistent, massage head is finely adjusted movement, is added up by traveling time simultaneously, and accumulation interval is not timed out
Between threshold value, massage head continues to move to, until consistent with corresponding target acupoint information with current acupoint information, execution (D4)；
If accumulation interval exceedes threshold value, current acupoint information is the most inconsistent with corresponding target acupoint information, then carry out human intervention,
Ensureing consistent by current acupoint information with corresponding target acupoint information, perform (D4), time threshold here is 10s；
(D4), massage head implements massage manipulation, carries out the massaging action at current acupuncture point, until having massaged, according to pre-setting
Massage head path move, repeat (D2)-(D3) carry out an acupoint massage.
In sum, the Traditional Chinese medicine massage robot control method of the view-based access control model location of the present invention, it is possible to according to preset
Massage head is finely adjusted by target acupuncture point, prepares the position of locating massage head, improves massage effect, and method is simple, easily realizes,
Have a good application prospect.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, and the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (3)
1. the Traditional Chinese medicine massage robot control method of view-based access control model location, it is characterised in that: comprise the following steps,
Step (A), carries out human acupoint image collection to the human body needing massage；
Step (B), processes the human acupoint image collected
(B1) human acupoint image is carried out pretreatment, reduce or remove composition useless or harmful in human acupoint image；
(B2) noise in human acupoint image is removed, and human acupoint image by size consolidation；
(B3) to the human acupoint image after consolidation, according to the etching operation of Mathematical Morphology method, edge is refined, by limit
Edge is refined as the line of a single pixel wide；
Step (C), according to the human acupoint image after processing, sets up all target acupuncture points of human acupoint, and pre-set
Massage head path is moved；
Step (D), the Traditional Chinese medicine massage robot of view-based access control model location is tracked massage
(D1) Chinese massage robot resets, and making massage head initial position is zero position, if it is the completeest to reset
Become, continue to reset, until completing to reset；
(D2) path that massage head starts according to pre-setting is moved, and judges that current location is the most identical with target acupuncture point, not
Arrive preset target acupuncture point, continue to move to；If arriving, being taken pictures by video camera, forming current acupuncture point photo, and hold
Row (D3)；
(D3) process current acupuncture point photo, record current acupoint information, it is judged that current acupoint information and corresponding target cave
Position information is the most consistent, if inconsistent, massage head is finely adjusted movement, is added up by traveling time simultaneously, and accumulation interval is not timed out
Between threshold value, massage head continues to move to, until consistent with corresponding target acupoint information with current acupoint information, execution (D4)；
If accumulation interval exceedes threshold value, current acupoint information is the most inconsistent with corresponding target acupoint information, then carry out human intervention,
Current acupoint information is ensured consistent with corresponding target acupoint information, performs (D4)；
(D4), massage head implements massage manipulation, carries out the massaging action at current acupuncture point, until having massaged, according to pre-setting
Massage head path move, repeat (D2)-(D3) carry out an acupoint massage.
The Traditional Chinese medicine massage robot control method of view-based access control model the most according to claim 1 location, it is characterised in that: described
Time threshold is 10s.
The Traditional Chinese medicine massage robot control method of view-based access control model the most according to claim 1 location, it is characterised in that: described
Zero position is the right Jianjing of massage object.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514509A (en) * | 2018-03-30 | 2018-09-11 | 吴佳桐 | A kind of intelligence acupuncture point localization method |
| CN109758355A (en) * | 2019-03-07 | 2019-05-17 | 西安伊蔓蒂电子科技有限公司 | One kind is based on the processing of human acupoint two dimensional image and 3 D stereo localization method |
| CN112057326A (en) * | 2020-09-07 | 2020-12-11 | 中科尚易健康科技(北京)有限公司 | Probe mirror image device for meridian conditioning system and algorithm thereof |
| CN112843468A (en) * | 2020-12-30 | 2021-05-28 | 北京大学 | Prostatitis relieving device, and corresponding acupuncture point positioning method and system |
| CN113797088A (en) * | 2021-08-31 | 2021-12-17 | 中科尚易健康科技(北京)有限公司 | Linkage control method and system for mechanical arm and bed |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514509A (en) * | 2018-03-30 | 2018-09-11 | 吴佳桐 | A kind of intelligence acupuncture point localization method |
| CN109758355A (en) * | 2019-03-07 | 2019-05-17 | 西安伊蔓蒂电子科技有限公司 | One kind is based on the processing of human acupoint two dimensional image and 3 D stereo localization method |
| CN109758355B (en) * | 2019-03-07 | 2021-11-19 | 西安伊蔓蒂电子科技有限公司 | Two-dimensional image processing and three-dimensional positioning method based on human acupuncture points |
| CN112057326A (en) * | 2020-09-07 | 2020-12-11 | 中科尚易健康科技(北京)有限公司 | Probe mirror image device for meridian conditioning system and algorithm thereof |
| CN112057326B (en) * | 2020-09-07 | 2021-08-06 | 中科尚易健康科技(北京)有限公司 | Probe mirror image device for meridian conditioning system and algorithm thereof |
| CN112843468A (en) * | 2020-12-30 | 2021-05-28 | 北京大学 | Prostatitis relieving device, and corresponding acupuncture point positioning method and system |
| CN113797088A (en) * | 2021-08-31 | 2021-12-17 | 中科尚易健康科技(北京)有限公司 | Linkage control method and system for mechanical arm and bed |
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Application publication date: 20161026 |
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