CN107714406A - The adaptive massage robot of tactile and its control method - Google Patents
The adaptive massage robot of tactile and its control method Download PDFInfo
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- CN107714406A CN107714406A CN201710986670.9A CN201710986670A CN107714406A CN 107714406 A CN107714406 A CN 107714406A CN 201710986670 A CN201710986670 A CN 201710986670A CN 107714406 A CN107714406 A CN 107714406A
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- tactile
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- adaptive
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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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/001—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Dermatology (AREA)
- Pain & Pain Management (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of adaptive massage robot of tactile and its control method, and the method comprising the steps of：The monitoring positional information and body part information of disability patient is received from input block；Timer is controlled to carry out timing；When timing time cycle arrival time, according to the track route of monitoring positional information planning robot, and start motion switch control machine people and walked according to the track route of planning；When robot ambulation is to when guarding position, closedown campaign switch control machine people stops at the monitoring position of disability patient, starts massage mode control machinery arm and the body massage position for the patient that disables is massaged；Haptic signal by force-sensing sensor collection machinery arm to body massage position, it is strong and weak to the tactile at the body massage position for the patient that disables according to haptic signal automatic adjusument mechanical arm.Implement the present invention, when massage using robot patient can automatic adjusument to the tactile at body massage position power, add massage effect.
Description
Technical field
The present invention relates to the technical field of intelligent robot, more particularly to a kind of adaptive massage robot of tactile and its control
Method processed.
Background technology
The patient that can not take care of oneself for long-term bed, completely or disability the elderly, in the prevalence of nursing the problem of difficult.Lose
When energy patient is in hospital undergoing treatment or carries out rehabilitation at home, it usually needs the body lesions position for the patient that disables is carried out
Health-care massage, so as to increase therapeutic effect so as to accelerate Rehabilitation.However, the body lesions position of patient is entered at present
The operation of row massage, it usually needs professional nurse or masseur be patient's manual massage, the side that this manual massage nurses
Formula needs substantial amounts of professional nurse or masseur, it is necessary to expend substantial amounts of human cost, can not increasingly meet Chinese old
The increasing demand of ageization.
At present, massage robot can complete the simple nursery work such as body massaging, can replace both possessing it is abundant by
Experience of rubbing is again by the operation of strict and qualified professional technique training masseur.Although the massaging action of massage robot be
Predetermined massage work could be completed under predetermined massage operation program, but being touched to massage part for massage processes can not be provided
Feel and the sensing to drawing, pressing, touching, it is strong to the tactile needed for body massage position so as to which robot can not be adaptively adjusted
It is weak.In view of the above-mentioned problems, not yet propose effective solution at present.
The content of the invention
It is an object of the invention to provide a kind of adaptive massage robot of tactile and its control method, it is intended to solves existing
Massage robot can not be adaptively adjusted the mechanical arm technical problem strong and weak to the tactile needed for body massage position.
To achieve the above object, the present invention provides a kind of adaptive massage robot of tactile, including robot body, control
Panel and mechanical arm, the control panel include input block, timer, motion switch and microcontroller, the machine
The end of tool arm is provided with massage section, and the massage section of the mechanical arm is provided with force-sensing sensor, wherein：
The input block is used for the body for the monitoring positional information and required timing massage that disability patient is inputted for user
Body region information, and the monitoring positional information and body part information are sent to microcontroller；
The timer is used for the time cycle that timing massage needed for disability patient is set for user, and to disability patient's
Time cycle carries out timing；
The microcontroller is used to, when the timing time of timer reaches the time cycle of disability patient, according to disability be suffered from
The track route of the monitoring positional information planning adaptive massage robot of tactile of person, and start motion switch control tactile certainly
Massage robot is adapted to walk according to the track route of planning；
The microcontroller is additionally operable to, when the adaptive massage robot of tactile runs to the monitoring position of disability patient, close
The monitoring position that motion switch controls the adaptive massage robot of tactile to stop at disability patient is closed, according to the body
The massage section of position information control machinery arm is automatically moved to the body massage position of massage needed for disability patient, and starts
The massage section of the massage mode control machinery arm pre-set is massaged the body massage position for the patient that disables；
The microcontroller is additionally operable to gather massage section to the body massage position by the force-sensing sensor
Draw, press, touching the haptic signal of its dynamics size, and the massage section pair according to haptic signal automatic adjusument mechanical arm
The tactile at the body massage position of disability patient is strong and weak.
Preferably, the control panel also acoustical generator, the acoustical generator are used to play the massage auxiliary letter for promoting massage effect
Breath, the massage auxiliary information pre-set and stored in the memory unit.
Preferably, the control panel also includes infrared sensor, and the infrared sensor exposes to the outer of robot body
Surface is simultaneously electrically connected on the microcontroller, wherein：The infrared sensor is used to launch tactile described in infrared sensing certainly
The barrier on massage robot periphery is adapted to, and obstacle signal will be sensed and sent to the microcontroller；The microcontroller
Device is additionally operable to avoid when controlling the adaptive massage robot of tactile to walk according to track route according to the obstacle signal
Barrier.
Preferably, the control panel also includes positioning unit, and the positioning unit is electrically connected on the microcontroller, its
In：The positioning unit is used for the current location for obtaining the adaptive massage robot of the tactile in real time；The microcontroller is also
For the current location of the adaptive massage robot of the tactile compared with the monitoring position for the patient that disables, to be touched when described
When feeling that the current location of adaptive massage robot is identical with the monitoring position for the patient that disables, produce walking halt instruction and close fortune
The adaptive massage robot of the dynamic switch control tactile stops running to the monitoring position of disability patient.
Preferably, the control panel also includes supply unit, and the supply unit includes rechargeable lithium battary and filled
Electric seat, the lithium battery are connected on the microcontroller, for providing work electricity for the adaptive massage robot of the tactile
Source；The cradle is connected on the lithium battery, is charged for patching external power source for the lithium battery.
The present invention also provides a kind of control method of the adaptive massage robot of tactile, the adaptive massage robot of the tactile
Including robot body, control panel and mechanical arm, the control panel includes input block, timer, motion switch
And microcontroller, the end of the mechanical arm are provided with massage section, the massage section of the mechanical arm sets strong quick biography
Sensor, wherein, the control method of the adaptive massage robot of tactile comprises the following steps：Receiving user from input block is
Disable the monitoring positional information that patient is set；Time cycle of the user for disability patient's setting is received from timer, and controls meter
When device carry out timing；Whether the timing time of monitoring timer reaches the time cycle of disability patient；When the timing of timer
Between reach disability patient time cycle when, according to disability patient monitoring positional information plan the adaptive massage robot of tactile
Track route, and start motion switch control the adaptive massage robot of tactile according to planning track route walk；When tactile
When feeling that adaptive massage robot runs to the monitoring position of disability patient, the closedown campaign switch control adaptive massager of tactile
Device people stops at the monitoring position of disability patient；Moved automatically according to the massage section of the body part information control machinery arm
Move the body massage position massaged needed for disability patient；Start the Massage Department of the massage mode control machinery arm pre-set
Divide and the body massage position for the patient that disables is massaged；Massage section is gathered by the force-sensing sensor to press the body
Rub the drawing at position, the haptic signal pressing, touch its dynamics size；According to the Massage Department of haptic signal automatic adjusument mechanical arm
Divide the tactile at the body massage position to the patient that disables strong and weak.
Preferably, the control method of the adaptive massage robot of described tactile also includes step：Control the chain of command
Acoustical generator on plate plays the massage auxiliary information for promoting massage effect, and the massage auxiliary information pre-sets and is stored in
In storage unit.
Preferably, the control panel also includes infrared sensor, and the infrared sensor exposes to the outer of robot body
Surface, the control method of the adaptive massage robot of described tactile also include step：Control infrared sensor transmitting infrared ray
The barrier on the adaptive massage robot periphery of the tactile is sensed, and the barrier letter sensed is received from infrared sensor
Number；Obstacle is avoided when controlling the adaptive massage robot of tactile to be walked according to track route according to the obstacle signal
Thing.
Preferably, the closedown campaign switch control adaptive massage robot of tactile stops at the monitoring position of disability patient
The step of putting comprises the following steps：The adaptive massager of the tactile is obtained by the positioning unit on the control panel in real time
The current location of device people；The current location of the adaptive massage robot of the tactile and the monitoring position for the patient that disables are compared
Compared with；When the current location of the adaptive massage robot of the tactile is identical with the monitoring position for the patient that disables, produces walking and stop
The monitoring position for only instructing closedown campaign switch to control the adaptive massage robot of the tactile to stop running to disability patient.
Preferably, the monitoring position is ward position or the patient that disables when disability patient is in hospital undergoing treatment
Receive room location during rehabilitation at home, the massage mode pre-sets and stored in the memory unit.
Compared to prior art, the adaptive massage robot of tactile of the present invention and its control method use above-mentioned technology
Scheme, following technique effect is reached：Specialized nursing can be replaced to carry out health to disability patient in timing automatically using robot
Massage, and the massage section of mechanical arm increases and match somebody with somebody force-sensing sensor, by the drawing at force-sensing sensor perception body massage position,
Pressure, tactile stressing conditions, and the dynamics size that mechanical arm massaged body massage position is automatically adjusted according to stressing conditions, from
And reach robot automatic adjusument in massage processes and, to the tactile power needed for body massage position, add robot pair
The effect of body area massage.
Brief description of the drawings
Fig. 1 is the structural representation of the adaptive massage robot preferred embodiment of tactile of the present invention；
Fig. 2 is the internal circuit connection diagram of the adaptive massage robot preferred embodiment of tactile of the present invention；
Fig. 3 is the flow chart of the control method preferred embodiment of the adaptive massage robot of tactile of the present invention.
The object of the invention is realized, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
With reference to shown in figure 1, Fig. 1 is the structural representation of the adaptive massage robot preferred embodiment of tactile of the present invention.
In the present embodiment, the adaptive massage robot 10 of tactile is include but not limited to, robot body 1, control panel 2 with
And mechanical arm 3.The control panel 2 is arranged in robot body 1, and the control panel 2 is include but not limited to, defeated
Enter unit 21, timer 22, infrared sensor 23, motion switch 24, acoustical generator 25, microcontroller 26, memory cell 27, positioning
Unit 28 and supply unit 29.The robot body 1 is the existing general-purpose machinery human body for being capable of independent ambulation of industry,
The present embodiment does not make specific restriction to robot body 1.
In the present embodiment, the quantity of the mechanical arm 3 is two, can be divided into left mechanical arm 3 and right manipulator
Arm 3.The end of each mechanical arm 3 is provided with massage section 4, and the massage section 4 of the mechanical arm 3 is provided with force-sensing sensor
5.When the massage section 4 of mechanical arm 3 is massaged for the body massage position of disability patient, force-sensing sensor 5 can be adopted
The drawing at collection body massage position, the haptic signal pressed, touch its dynamics size.The massage section 4 is using the general machine of industry
Tool massage material is made, and the present embodiment massage section 4 does not limit specifically.The force-sensing sensor 5 is general using industry
The highly sensitive pressure sensor device of pressure signal can be sensed.
In the lump with reference to shown in figure 2, Fig. 2 is that the internal circuit of the adaptive massage robot preferred embodiment of tactile of the present invention connects
Connect schematic diagram.In the present embodiment, the input block 21, timer 22, infrared sensor 23, motion switch 24, acoustical generator
25th, memory cell 27, positioning unit 28 and supply unit 29 are respectively electrically connected to microcontroller 26, and the display screen 3 electrically connects
To the microcontroller 26.Electrical connection refers to that each electric components pass through conductor wire, signal wire, control line described in the present embodiment
One or more be connected to microcontroller 26 so that microcontroller 26 can control above-mentioned each electric components can
Complete corresponding function.
The input block 21 is used to set disability patient institute for user (such as guardian or doctor of disability patient)
Monitoring positional information and required timing massage body part information, and by disable patient monitoring positional information and body
Body region information is sent to microcontroller 26.In the present embodiment, the monitoring position can be that disability patient receives in hospital
Room location that ward position or disability patient during treatment are stayed at home when receiving rehabilitation etc., prison described in the present embodiment
Shield position can be set according to coordinate position.The body massage position of the disability patient can be the head of massage needed for patient
The specific human body such as portion, waist, back, hand, leg.The input block 21 can be embedded in outside robot body 1
The miniature keyboard on surface, button or the dummy keyboard of display screen 3 (such as touch display screen) display are set and virtually pressed
Key etc., the monitoring position of the disability patient can also be set by Digiplex.
The timer 22 is used for the time cycle that timing massage needed for disability patient is set for user, and to the time cycle
Carry out timing.In the present embodiment, the timer 22 is the general time set with set key of industry, and user can lead to
Spend the time cycle that the set key of timer 22 sets the required timing of disability patient to massage.For example, it is described disability patient when
Between the cycle could be arranged to carry out a health-care massage to disability patient every 2 hours or 4 hours.
The quantity of the infrared sensor 23 can be one or more, be respectively exposed to the outer surface of robot body 1
And it is electrically connected on the microcontroller 26.The infrared sensor 23 is adaptively pressed for launching tactile described in infrared sensing
Rub the barrier on the periphery of robot 10, and will sense obstacle signal and send to the microcontroller 26.The microcontroller
26 control the adaptive avoiding obstacles of massage robot 10 of tactile according to the obstacle signal.In the present embodiment, institute
The sensor device for the infrared obstacle avoidance function that infrared sensor 23 passes through for industry is stated, the adaptive massager of the tactile can be made
Avoiding obstacles when device people 10 walks.
The motion switch 24 is the general current lead-through switch of industry, and microcontroller 26 produces walking sign on and opened
Motion switch 24 makes the adaptive massage robot 10 of the tactile start to walk, when the adaptive row of massage robot 10 of the tactile
When walking to the monitoring position of disability patient, microcontroller 26, which produces walking halt instruction closedown campaign switch 24, makes the tactile certainly
Adapt to the monitoring position that massage robot 10 stops running to disability patient.Specifically, the timing acquisition tactile of positioning unit 28 from
The current location of massage robot 10 is adapted to, microcontroller 26 is by the current location of the adaptive massage robot 10 of tactile and disability
The monitoring position of patient is compared, when the current location and the monitoring position of disability patient of the adaptive massage robot 10 of tactile
When identical, it is determined that the adaptive massage robot 10 of tactile has run to the monitoring position of disability patient, now microcontroller 26
Producing walking halt instruction closedown campaign switch 24 makes the adaptive massage robot 10 of the tactile stop running to disability patient
Monitoring position.
The acoustical generator 25 is the general sound-producing device of industry, such as loudspeaker, bass horn etc..Adaptively pressed in tactile
Rub robot 10 for disability patient massaged when, the acoustical generator 25 be used for play promote massage effect massage auxiliary information
(being stored in advance in memory cell 27), such as instruct disability to suffer from deep breathing and act or move massage part to coordinate machine
Device people 10 is massaged for disability patient, so as to strengthen massage effect.
The microcontroller 26 is used to plan the adaptive massage robot of tactile according to the monitoring positional information of disability patient
10 track route, when the timing time of timer 22 reaches the time cycle regularly massaged needed for disability patient, microcontroller
Device 26 starts motion switch 24 and controls the adaptive massage robot 10 of tactile to be walked according to the track route of planning.It is adaptive in tactile
Massage robot 10 is answered to be run to according to track route during the monitoring position of disability patient, the microcontroller 26 is additionally operable to
Open infrared sensor 23 and obstacle signal is sensed by infrared sensor 23 and control the adaptive row of massage robot 10 of tactile
Avoiding obstacles when walking.
When the adaptive massage robot 10 of tactile runs to the monitoring position of disability patient, the closedown campaign of microcontroller 26
The control adaptive massage robot 10 of tactile of switch 24 stops at the monitoring position of disability patient, according to the body part information
The massage section 4 of control machinery arm 3 is automatically moved to the body massage position of massage needed for disability patient, and starts and set in advance
The massage mode control machinery arm 3 put is massaged the body massage position for the patient that disables.In the present embodiment, different bodies
Body massage part is corresponding with different massage modes, and the massage mode at the different body massage positions is according to medical massage principle
Pre-set and be stored in memory cell 27.Massage processes are carried out to the body massage position for the patient that disables in mechanical arm 3
In, microcontroller 26 gathers drawing to body massage position by being arranged on the force-sensing sensor 5 of massage section 4, presses, touches it
The haptic signal of dynamics size, and the body according to the massage section 4 of haptic signal automatic adjusument mechanical arm 3 to the patient that disables
The tactile that body massage part is massaged is strong and weak.The present invention increases to the massage section 4 of mechanical arm 3 matches somebody with somebody force-sensing sensor 5, passes through
The drawing at the perception body massage of force-sensing sensor 5 position, pressure, tactile stressing conditions, and automatically adjust mechanical hand according to stressing conditions
The dynamics size that arm 3 is massaged body massage position, so as to reach robot in massage processes automatic adjusument to body by
The tactile rubbed needed for position is strong and weak and draws, pressure, tactile dynamics size.
In the present embodiment, the microcontroller 26 can be a kind of central processing unit (CPU), microprocessor, microcontroller
Unit chip (MCU), data processing chip or the control unit with data processing function.The memory cell 27 can be with
For a kind of read-only memory unit ROM, the memory such as electrically-erasable memory cell EEPROM or flash memory cell FLASH.It is described
Memory cell 27 is used to store massage mode corresponding to the different body massage positions that pre-set, pre-set be used to promote
The massage auxiliary information of massage effect and storage computer program instructions prepared in advance, the computer program instructions can
Loaded and performed by microcontroller 26 so as to massage robot 10 complete to disable patient body massage part tactile it is adaptive
Massage.The positioning unit 28 is the GPS positioning unit that industry is commonly used, being capable of the adaptive massage robot 10 of timing acquisition tactile
Current location, and the current location information of massage robot 10 is sent to microcontroller 26.
The supply unit 29 includes rechargeable lithium battary 30 and cradle 31, and the lithium battery 30 is connected to described
On microcontroller 26, for providing working power for the adaptive massage robot 10 of the tactile.The cradle 31 is connected to
On the lithium battery 30, charged for patching external power source for the lithium battery 30.
As shown in figure 3, Fig. 3 is the flow of the control method preferred embodiment of the adaptive massage robot of tactile of the present invention
Figure.In the present embodiment, the control method step of the adaptive massage robot 10 of the tactile by computer software programs come
Realize, the computer software programs are in the form of computer program instructions and are stored in computer-readable recording medium and (such as deposit
Storage unit 27) in, storage medium can include：Read-only storage, random access memory, disk or CD etc., the computer journey
Sequence instruction can be loaded by processor and perform following steps S30 to step S40.
Step S30, receive user from input block 21 and pressed for the monitoring positional information of disability patient's setting and required timing
The body part information rubbed.Specifically, before the adaptive massage robot 10 of tactile is timed massage for disability patient, use
The family guardian or doctor of patient (disability) can be set by input block 21 monitoring positional information where disability patient with
And the body part information of required timing massage, microcontroller 26 receive the monitoring positional information of disability patient from input block 21
With the body part information of required timing massage.In the present embodiment, the monitoring position can be that disability patient hospital receives
Room location that ward position or disability patient during treatment are stayed at home when receiving rehabilitation etc., prison described in the present embodiment
Shield position can be set according to coordinate position.The body massage position of the disability patient can be the head of massage needed for patient
The specific human body such as portion, waist, back, hand, leg.
Step S31, the time cycle for receiving user from timer 22 regularly to massage needed for disability patient.In the present embodiment
In, the time cycle of the disability patient could be arranged to carry out disability patient once health every 2 hours or 4 hours
Massage.
Step S32, control timer 22 carry out timing, and specifically, microcontroller 26 controls timer 22 to carry out time meter
When.
Whether step S33, the timing time of monitoring timer 22 reach the time cycle of disability patient；Specifically, meter is worked as
When device 22 start timing after, microcontroller 26 monitor timer 22 timing time whether reach disability patient time cycle.
When the timing time of timer 22 reaches the time cycle of disability patient, step S34 is performed；When the timing time of timer 22
When not reaching the time cycle of disability patient, step S32 is continued executing with.
Step S34, the walking road of the adaptive massage robot 10 of tactile is planned according to the monitoring positional information of disability patient
Line；Specifically, microcontroller 26 is according to the monitoring positional information of disability patient and the position of the adaptive massage robot 10 of tactile
Confidence breath produces the track route that the adaptive massage robot 10 of tactile runs to monitoring position.
Step S35, start motion switch 23 and infrared sensor 24, and control the adaptive massage robot 10 of tactile according to
The monitoring position of track route automatically walk extremely disability patient.Specifically, microcontroller 26 produces travel commands opening movement and opened
Closing 24 makes the adaptive massage robot 10 of the tactile start to walk, and controls the adaptive massage robot 10 of tactile according to walking
The monitoring position of route automatically walk extremely disability patient.In the adaptive massage robot 10 of tactile mistake is run to according to track route
During the monitoring position of energy patient, microcontroller 26 senses obstacle signal by infrared sensor 23 and controls tactile adaptive
Avoiding obstacles when massage robot 10 is walked according to track route.
Step S36, closedown campaign switch the 23 monitoring positions for making the adaptive massage robot 10 of tactile stop at disability patient
Put.Specifically, the current location of the adaptive massage robot 10 of the timing acquisition tactile of positioning unit 28, microcontroller 26 is by tactile
The current location of adaptive massage robot 10 is compared with the monitoring position for the patient that disables, when tactile adaptively massages machine
When the current location of people 10 is identical with the monitoring position for the patient that disables, then microcontroller 26 judges the adaptive massage robot of tactile
10 have run to the monitoring position of disability patient.When the adaptive massage robot 10 of the tactile runs to the monitoring of disability patient
During position, microcontroller 26, which produces walking halt instruction closedown campaign switch 24, stops the adaptive massage robot 10 of the tactile
Only walk and stop at disability patient monitoring position.
Step S37, disability patient institute is automatically moved to according to the massage section 4 of body part information control machinery arm 3
The body massage position that need to be massaged.Specifically, the body part information control that microcontroller 26 is massaged according to needed for disability patient
The massage section 4 of mechanical arm 3 is automatically moved to the body massage position of massage needed for disability patient.
Step S38, start body of the massage section 4 to the patient that disables of the massage mode control machinery arm 3 pre-set
Body massage part is massaged.In the present embodiment, different body massage positions are corresponding with different massage modes, the difference
The massage mode at body massage position pre-sets and is stored in memory cell 27 according to medical massage principle.The massage mould
Formula is to imitate the standard massage program of the gimmick setting of masseur, for example, the massage section 4 of control machinery arm 3 is entered to waist
The massaging way such as row drawing, pressure, tactile.
Step S39, by drawing of the massage section 4 of the collection machinery arm 4 of force-sensing sensor 5 to body massage position, pressure,
Touch the haptic signal of its dynamics size.Specifically, the body massage position for the patient that disables massaged in mechanical arm 3
Cheng Zhong, the force-sensing sensor 5 for being arranged on massage section 4 gather drawing to body massage position, press, touch touching for its dynamics size
Feel signal, and the haptic signal of collection is sent to microcontroller 26.
Step S40, the body for the patient that disables is pressed according to the massage section 4 of haptic signal automatic adjusument mechanical arm 3
The tactile that position is massaged of rubbing is strong and weak.Specifically, the pressing according to haptic signal automatic adjusument mechanical arm 3 of microcontroller 26
The tactile that part 4 is massaged the body massage position for the patient that disables of rubbing is strong and weak.Massage section of the present invention to mechanical arm 3
4 increase and match somebody with somebody force-sensing sensor 5, and the drawing at body massage position, pressure, the stressing conditions touched are perceived by force-sensing sensor 5, and according to by
Power situation automatically adjusts the dynamics size that mechanical arm 3 is massaged body massage position, so as to reach robot in massage processes
Middle automatic adjusument is strong and weak to the tactile needed for body massage position and draws, pressure, tactile dynamics size, adds robot to suffering from
The effect of person's body part massage.
In the present embodiment, the control method of the adaptive massage robot of the tactile also includes step：Microcontroller 26
Infrared sensor 24 is controlled to launch the barrier on the adaptive periphery of massage robot 10 of tactile described in infrared sensing, and from infrared
Sensor 24 receives the obstacle signal sensed；Microcontroller 26 controls the tactile adaptive according to the obstacle signal
Avoiding obstacles when massage robot 10 is walked according to track route.
In the present embodiment, the control method of the adaptive massage robot of the tactile also includes step：It is adaptive in tactile
When answering the massage robot 10 to be massaged for disability patient, microcontroller 26 controls acoustical generator 25 to play to promote massage effect to press
Rub auxiliary information, such as instruct that deep breathing action is suffered from disability or massage part of moving coordinates robot 10 to suffer from for disability
Person is massaged, so as to strengthen massage effect.
It will be understood by those skilled in the art that all or part of step of various methods can pass through in above-mentioned embodiment
Relative program instruction is completed, and the program can be stored in computer-readable recording medium, and storage medium can include：It is read-only to deposit
Reservoir, random access memory, disk or CD etc..
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, similarly it is included in the patent protection model of the present invention
In enclosing.
Claims (10)
1. a kind of adaptive massage robot of tactile, including robot body, control panel and mechanical arm, its feature exist
In the control panel includes input block, timer, motion switch and microcontroller, and the end of the mechanical arm is set
There is massage section, the massage section of the mechanical arm is provided with force-sensing sensor, wherein：
The input block is used for the body for the monitoring positional information and required timing massage that disability patient is inputted for user
Position information, and the monitoring positional information and body part information are sent to microcontroller；
The timer is used for the time cycle that timing massage needed for disability patient is set for user, and to the time for the patient that disables
Cycle carries out timing；
The microcontroller is used for when the timing time of timer reaches the time cycle of disability patient, according to disability patient's
The track route of the positional information planning adaptive massage robot of tactile is guarded, and starts motion switch and controls tactile adaptive
Massage robot is walked according to the track route of planning；
The microcontroller is additionally operable to, when the adaptive massage robot of tactile runs to the monitoring position of disability patient, close fortune
Dynamic switch controls the adaptive massage robot of tactile to stop at the monitoring position of disability patient, is believed according to the body part
The massage section of breath control machinery arm is automatically moved to the body massage position of massage needed for disability patient, and starts advance
The massage section of the massage mode control machinery arm of setting is massaged the body massage position for the patient that disables；
The microcontroller be additionally operable to by the force-sensing sensor gather drawing of the massage section to the body massage position,
Press, touch the haptic signal of its dynamics size, and according to the massage section of haptic signal automatic adjusument mechanical arm to losing
The tactile at the body massage position of energy patient is strong and weak.
2. the adaptive massage robot of tactile as claimed in claim 1, it is characterised in that the control panel also acoustical generator,
The acoustical generator is used to play the massage auxiliary information for promoting massage effect, and the massage auxiliary information pre-sets and is stored in
In storage unit.
3. the adaptive massage robot of tactile as claimed in claim 1, it is characterised in that the control panel also includes infrared
Sensor, the infrared sensor expose to the outer surface of robot body and are electrically connected on the microcontroller, wherein：
The infrared sensor is used for the barrier for launching the adaptive massage robot periphery of tactile described in infrared sensing, and will
Obstacle signal is sensed to send to the microcontroller；
The microcontroller is additionally operable to control the adaptive massage robot of tactile according to walking according to the obstacle signal
Avoiding obstacles when route is walked.
4. the adaptive massage robot of tactile as claimed in claim 1, it is characterised in that the control panel also includes positioning
Unit, the positioning unit are electrically connected on the microcontroller, wherein：
The positioning unit is used for the current location for obtaining the adaptive massage robot of the tactile in real time；
The microcontroller is additionally operable to the monitoring position by the current location of the adaptive massage robot of the tactile and disability patient
Put and be compared, when the current location of the adaptive massage robot of the tactile is identical with the monitoring position for the patient that disables, production
The adaptive massage robot of the raw walking halt instruction closedown campaign switch control tactile stops running to the prison of disability patient
Protect position.
5. the adaptive massage robot of tactile as described in any one of Claims 1-4, it is characterised in that the control panel
Also include supply unit, the supply unit includes rechargeable lithium battary and cradle, and the lithium battery is connected to described micro-
On controller, for providing working power for the adaptive massage robot of the tactile；The cradle is connected to the lithium electricity
Chi Shang, charged for patching external power source for the lithium battery.
6. a kind of control method of the adaptive massage robot of tactile, the adaptive massage robot of the tactile include robot sheet
Body, control panel and mechanical arm, it is characterised in that the control panel include input block, timer, motion switch with
And microcontroller, the end of the mechanical arm are provided with massage section, the massage section of the mechanical arm sets strong quick sensing
Device, wherein, the control method of the adaptive massage robot of tactile comprises the following steps：
User is received as the monitoring positional information of disability patient's setting and the body part of required timing massage from input block
Information；
Time cycle of the user for disability patient's setting is received from timer, and controls timer to carry out timing；
Whether the timing time of monitoring timer reaches the time cycle of disability patient；
When the timing time of timer reaches the time cycle of disability patient, planned according to the monitoring positional information of disability patient
The track route of the adaptive massage robot of tactile, and start motion switch and control the adaptive massage robot of tactile according to planning
Track route walking；
When the adaptive massage robot of tactile runs to the monitoring position of disability patient, closedown campaign switch control tactile is adaptive
Massage robot is answered to stop at the monitoring position of disability patient；
The body massaged according to needed for the massage section of the body part information control machinery arm is automatically moved to disability patient
Body massage part；
The massage section for starting the massage mode control machinery arm pre-set is carried out to the body massage position for the patient that disables
Massage；
Drawing of the massage section to the body massage position is gathered by the force-sensing sensor, presses, touch its dynamics size
Haptic signal；
It is strong to the tactile at the body massage position for the patient that disables according to the massage section of haptic signal automatic adjusument mechanical arm
It is weak.
7. the control method of the adaptive massage robot of tactile as claimed in claim 6, it is characterised in that this method also includes
Step：The acoustical generator on the control panel is controlled to play the massage auxiliary information for promoting massage effect, the massage auxiliary letter
Breath pre-sets and stored in the memory unit.
8. the control method of the adaptive massage robot of tactile as claimed in claim 6, it is characterised in that the control panel
Also include infrared sensor, the infrared sensor exposes to the outer surface of robot body, the adaptive massager of described tactile
The control method of device people also includes step：
The barrier on the adaptive massage robot periphery of tactile described in infrared sensor transmitting infrared sensing is controlled, and from infrared
Sensor receives the obstacle signal sensed；
Obstacle is avoided when controlling the adaptive massage robot of tactile to be walked according to track route according to the obstacle signal
Thing.
9. the control method of the adaptive massage robot of tactile as claimed in claim 6, it is characterised in that the closedown campaign
The step of switch control adaptive massage robot of tactile stops at the monitoring position of disability patient comprises the following steps：
Obtain the current location of the adaptive massage robot of the tactile in real time by the positioning unit on the control panel；
By the current location of the adaptive massage robot of the tactile compared with the monitoring position for the patient that disables；
When the current location of the adaptive massage robot of the tactile is identical with the monitoring position for the patient that disables, produces walking and stop
The monitoring position for only instructing closedown campaign switch to control the adaptive massage robot of the tactile to stop running to disability patient.
10. the control method of the adaptive massage robot of tactile as described in any one of claim 6 to 9, it is characterised in that institute
It is to disable ward position or disable patient of the patient when being in hospital undergoing treatment when receiving rehabilitation at home to state monitoring position
Room location, the massage mode pre-sets and stores in the memory unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710986670.9A CN107714406A (en) | 2017-10-20 | 2017-10-20 | The adaptive massage robot of tactile and its control method |
| PCT/CN2017/120160 WO2019075926A1 (en) | 2017-10-20 | 2017-12-29 | Tactile sensation self-adaptive massage robot and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710986670.9A CN107714406A (en) | 2017-10-20 | 2017-10-20 | The adaptive massage robot of tactile and its control method |
Publications (1)
| Publication Number | Publication Date |
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| CN107714406A true CN107714406A (en) | 2018-02-23 |
Family
ID=61212951
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710986670.9A Pending CN107714406A (en) | 2017-10-20 | 2017-10-20 | The adaptive massage robot of tactile and its control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107714406A (en) |
| WO (1) | WO2019075926A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112076059A (en) * | 2020-07-27 | 2020-12-15 | 深圳瀚维智能医疗科技有限公司 | Spiral massage track planning method, device, equipment and computer storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101884584B (en) * | 2010-07-30 | 2012-07-18 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged lumbocrural pain |
| CN204819530U (en) * | 2015-05-22 | 2015-12-02 | 欧阳锡伟 | Bionical housekeeping service robot |
| CN204748629U (en) * | 2015-07-03 | 2015-11-11 | 陆春生 | Domestic and medical service robot |
| CN105835069A (en) * | 2016-06-06 | 2016-08-10 | 李志华 | Intelligent household health robot |
| CN206455673U (en) * | 2016-12-30 | 2017-09-01 | 西安智道科技有限责任公司 | Old man nurses robot |
-
2017
- 2017-10-20 CN CN201710986670.9A patent/CN107714406A/en active Pending
- 2017-12-29 WO PCT/CN2017/120160 patent/WO2019075926A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112076059A (en) * | 2020-07-27 | 2020-12-15 | 深圳瀚维智能医疗科技有限公司 | Spiral massage track planning method, device, equipment and computer storage medium |
| CN112076059B (en) * | 2020-07-27 | 2022-12-30 | 深圳瀚维智能医疗科技有限公司 | Spiral massage track planning method, device, equipment and computer storage medium |
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| WO2019075926A1 (en) | 2019-04-25 |
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