CN109172296A - Information numerical control intelligent robot massager and massage method - Google Patents
Information numerical control intelligent robot massager and massage method Download PDFInfo
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- CN109172296A CN109172296A CN201810937539.8A CN201810937539A CN109172296A CN 109172296 A CN109172296 A CN 109172296A CN 201810937539 A CN201810937539 A CN 201810937539A CN 109172296 A CN109172296 A CN 109172296A
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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
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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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5048—Audio interfaces, e.g. voice or music controlled
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Abstract
The invention discloses a kind of information numerical control intelligent robot massager and massage methods.It include: memory module, photographing module, modeling module, matching module and massage module, memory module, for storing massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system；Photographing module, the real-time panoramic video for space where shooting user；Modeling module carries out real-time three-dimensional to user and models to obtain user's threedimensional model for the real-time panoramic video according to shooting；Matching module exports to the data in standard three-dimensional model in user's threedimensional model for matching standard three-dimensional model with user's threedimensional model；Massage module plays corresponding music for prestoring brain massage music, and after receiving control for massaging using the massage scheme that user selects user, audio supplementary module based on derived data are matched.For the present invention under user's any attitude, massage robot can carry out the functions such as automatic massage or massage to user.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of information numerical control intelligent robot massager and massage method.
Background technique
Nowadays the working strength of the mankind is bigger, if can targetedly be massaged after coming off duty, body
After comfortably loosening, have greatly improved certainly for later working efficiency and effect.People just start using medicinal massage,
But people gradually have found either natural drug treatment or chemicals and bio-pharmaceutical etc., all inevitably generate secondary
Effect.With the continuous development of science, people gradually recognize drug side-effect bring harmfulness.Therefore, people are to object
Physical therapy method -- it massages and payes attention to again.But nowadays similar massage scheme, which requires user, carries out massage using fixed pose,
It has some limitations and blindness, greatly reduces health care massage effect.
In summary, the existing technology has inconveniences and defects in actual use, so it is necessary to be improved.
Summary of the invention
For above-mentioned defect, the purpose of the present invention is to provide a kind of information numerical control intelligent robot massager and massages
Method can carry out the functions such as automatic massage or massage to user whenever and wherever possible.The present invention makes full use of and plays Chinese traditional massage and pushes away
By the essence of equal physical therapies, melting the physical therapies technology such as all kinds of massages is integrated, high human simulation massaging action gimmick, each to human body
Position, acupuncture point carry out accurate massage, provides more scientific, more accurate, more human nature, more healthiness for human body
Massage service.It cures the disease in hospital's artificial physical therapy that can do, in the civil achievable strong body of self health care.Audio massage is to loosening
Brain neuroblastoma opens healthy route.
According to an aspect of the invention, there is provided a kind of massage robot, the massage robot includes: storage mould
Block, photographing module, modeling module, matching module and massage module,
The memory module, for storing massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system, institute
State the coordinate points that human acupoint, muscle and bone are labeled in standard three-dimensional model；
The photographing module, the real-time panoramic video for space where shooting user；
The modeling module, the real-time panoramic video for being shot according to the photographing module, certainly based on massage robot
Body center of gravity is user's three-dimensional system of coordinate in space where origin establishes user, carries out real-time three-dimensional to the user under current pose and builds
Mould obtains user's threedimensional model；
The matching module, for standard three-dimensional model to be carried out same height relative to user's threedimensional model, is drawn with shoulder breadth
It stretches or diminution is handled, and its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until
The coordinate points matching of the human acupoint marked in standard three-dimensional model, muscle and bone is exported in user's three-dimensional system of coordinate；
The massage module, for exporting to human acupoint, muscle and bone in user's three-dimensional system of coordinate based on matching
Coordinate points, using user select massage scheme user is massaged；
The audio supplementary module plays corresponding music for prestoring brain massage music, and after receiving control.
Optionally, the massage robot further include: scheme search module,
The scheme search module, for the massage demand that being sent according to user speech or operation touch-screen is sent,
Corresponding massage scheme first is searched in local memory module, if search by network from server less than searching for simultaneously
Corresponding massage scheme is downloaded to local memory module.
Optionally, the massage robot further include: voice reminder module,
The voice reminder module, it is corresponding with the massage demand of user for not searched in the scheme search module
When massage scheme, voice reminder user selects other massage schemes；And the human body of user can not be touched in massage processes
When acupuncture point, muscle or bone, voice reminder user rotates body.
Optionally, the massage robot further include: audio monitoring module,
The audio monitoring module is instructed for the massage force that monitoring users voice is sent in massage processes, according to
Massage force instruction increaseds or decreases massage force；And pass through the health status of audio monitoring user in massage processes, and
Recommend treatment massage scheme to user by voice.
Optionally, the massage robot is configured with multiple types and the shrinkable massage palm in arm, and every kind is pressed
The palm that rubs is adapted to corresponding massage manipulation and massage force.
The present invention also provides a kind of massage methods, which comprises
Massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system are stored in advance in local storage mould
In block, the coordinate points of human acupoint, muscle and bone are labeled in the standard three-dimensional model；
The real-time panoramic video in space where shooting user；
It is space where origin establishes user based on massage robot itself center of gravity according to the real-time panoramic video of shooting
User's three-dimensional system of coordinate carries out real-time three-dimensional to the user under current pose and models to obtain user's threedimensional model；
By the standard three-dimensional model of storage relative to user's threedimensional model carry out same height, with shoulder breadth stretch or diminution at
Reason, and its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until by standard three-dimensional
The coordinate points matching of the human acupoint, muscle and the bone that mark in model exports in user's three-dimensional system of coordinate；
Based on the coordinate points for matching the human acupoint, muscle and bone that export in user's three-dimensional system of coordinate, using user
The massage scheme of selection massages user；
Brain massage music is prestored, and plays corresponding music after receiving control.
Optionally, the method also includes:
The massage demand of user is received by speech recognition or touch screen；
According to the massage demand of user, first search for corresponding massage scheme in local memory module, if search less than,
It is then searched for from server by network and downloads corresponding massage scheme to local memory module.
Optionally, the method also includes:
When not searching massage scheme corresponding with the massage demand of user, voice reminder user selects other massage sides
Case；And
When can not touch the human acupoint, muscle or bone of user in massage processes, voice reminder user rotates body
Body.
Optionally, the method also includes:
The massage force instruction that monitoring users voice is sent in massage processes, increaseds or decreases according to massage force instruction
Massage force；And pass through the health status of audio monitoring user in massage processes, and recommend to treat to user by voice
Massage scheme.
Optionally, the method also includes:
Multiple types and contractile massage palm are configured, to be adapted to corresponding massage manipulation and massage force.
The beneficial effects of the present invention are:
In the inventive solutions, massage robot is according to the real-time panoramic video to space shooting where user,
It is user's three-dimensional system of coordinate in space where origin establishes user based on massage robot itself center of gravity, to the use under current pose
Family carries out real-time three-dimensional and models to obtain user's threedimensional model；By memory module acceptance of the bid quasi-three-dimensional model relative to user's threedimensional model
Carry out same height, with shoulder breadth stretching or diminution processing, and by its corresponding standard three dimensional coordinate system relative to user's three-dimensional coordinate
System carries out position movement, until the coordinate points of the human acupoint, muscle and the bone that mark in standard three-dimensional model are matched export
Into user's three-dimensional system of coordinate；Based on the coordinate for matching the human acupoint, muscle and bone that export in user's three-dimensional system of coordinate
Point massages user using the massage scheme that user selects.Compared to it is existing need user using fixed pose and carry out by
The massage robot to rub, the present invention may be implemented under user's any attitude, and massage robot can whenever and wherever possible carry out user
The functions such as automatic massage or massage.In addition, the present invention can carry out audio massage
Detailed description of the invention
Fig. 1 is a kind of information numerical control intelligent robot massager function module signal that one embodiment of the present of invention provides
Figure；
Fig. 2 is that another information numerical control intelligent robot massager function module that one embodiment of the present of invention provides is shown
It is intended to；
Fig. 3 is learning circuit structural schematic diagram of the invention；
Fig. 4 is robot architecture's schematic diagram of the invention；
Fig. 5 is manipulator and rotational structure schematic diagram of the invention；
Fig. 6 is rotator structure schematic diagram of the invention；
Fig. 7 is schematic diagram of base structure of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is a kind of information numerical control intelligent robot massager function module signal that one embodiment of the present of invention provides
Figure.The massage robot includes: memory module 101, photographing module 102, modeling module 103, matching module 104 and massage module
105。
Memory module 101 is marked for storing massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system
The coordinate points of human acupoint, muscle and bone are labeled in quasi-three-dimensional model.
It should be noted that the three-dimensional stereo model in robot memory module has: male/female/child/old man, in addition,
Each acupuncture point is also stored in memory module cures mainly function.
Photographing module 102, the real-time panoramic video for space where shooting user.
For example, robot listens to the massage demand of user.For example hear that user says: " massaging shoulder to me " is walked
At one's side to user, position is distinguished to the crucial gender such as Adam's apple by camera and gender differentiation (such as man's Adam's apple is carried out to user
It is relatively high grand etc.), then the shoulder of user is positioned, the real-time panoramic video in space where shooting shoulder.
Modeling module 103, the real-time panoramic video for being shot according to photographing module 102 are based on massage robot itself
Center of gravity is user's three-dimensional system of coordinate in space where origin establishes user, carries out real-time three-dimensional modeling to the user under current pose
Obtain user's threedimensional model.
Matching module 104, for standard three-dimensional model to be carried out same height relative to user's threedimensional model, is stretched with shoulder breadth
Or diminution processing, and its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until will
The coordinate points matching of the human acupoint, muscle and the bone that mark in standard three-dimensional model exports in user's three-dimensional system of coordinate.
Massage module 105, for exporting to the human acupoint in user's three-dimensional system of coordinate, muscle and bone based on matching
Coordinate points massage user using the massage scheme that user selects.
The audio supplementary module plays corresponding music for prestoring brain massage music, and after receiving control.This is
A kind of audio mixing music of similar " my Lou Lan ", this audio mixing being especially tailored can arrive at each position of brain, to brain mind
Through carrying out audio massage, while audio massages brain corresponding region, the rhythm of audio massage is closely followed by robot, in outside
Massage corresponding acupuncture point and position.
It follows that the present invention is based on massage robot certainly according to the real-time panoramic video shot to space where user
Body center of gravity is user's three-dimensional system of coordinate in space where origin establishes user, carries out real-time three-dimensional to the user under current pose and builds
Mould obtains user's threedimensional model；Memory module acceptance of the bid quasi-three-dimensional model is subjected to same height, same shoulder relative to user's threedimensional model
Width stretches or diminution processing, and its corresponding standard three dimensional coordinate system is carried out position movement relative to user's three-dimensional system of coordinate,
Until the coordinate points matching of the human acupoint marked in standard three-dimensional model, muscle and bone is exported to user's three-dimensional system of coordinate
In；Based on the coordinate points for matching the human acupoint, muscle and bone that export in user's three-dimensional system of coordinate, using user's selection
Massage scheme massages user.
In addition, robot of the present invention copies the hand, arm and flexibility of human body to carry out using humanoid, two arm is emulated
Design；Left hand is pincer, and the right hand is man-shaped hand, and forceps hand is used to take various specific massage small tools according to program instruction pincers；
Man-shaped hand is used to that manual massage's gimmick is copied precisely to massage partes corporis humani position, each acupuncture point according to program instruction.Robot
Pedestal according to program instruction autonomous convert optimum position.
Fig. 2 is that another information numerical control intelligent robot massager function module that one embodiment of the present of invention provides is shown
It is intended to.In one embodiment of the invention, massage robot further include: scheme search module 206,
Scheme search module 206, for the massage demand that sent according to user speech or operation touch-screen is sent, first
Corresponding massage scheme is searched in local memory module 201, if search by network from server less than searching for simultaneously
Corresponding massage scheme is downloaded to local memory module 201.
It is illustrated by taking man's shoulder as an example below, massage robot listens to the finger of user's " massaging shoulder to me "
After order, " man shoulder massage scheme " is first searched in being locally stored.
If presence " man's shoulder massage scheme " is locally stored, according to " man's shoulder massages scheme " is locally stored
Massage each acupuncture point and the muscle etc. of user's shoulder.
If be locally stored, there is no " man's shoulder massage scheme ", automatic to connect " massage scheme " server, from
It is dynamic to inquire and download " shoulder massage scheme ", each acupuncture point and muscle of user's shoulder etc. are then massaged according to scheme.
In one embodiment of the invention, massage robot further include: voice reminder module 207,
Voice reminder module 207, for scheme search module 206 do not search it is corresponding with the massage demand of user by
When scheme of rubbing, voice reminder user selects other massage schemes；And the human body cave of user can not be touched in massage processes
When position, muscle or bone, voice reminder user rotates body.
If local not stored " man's shoulder massages scheme ", " massage scheme " server does not also search related side
Case, then voice reminder user, such as: " relevant programme temporarily is massaged without man's shoulder, server can update as early as possible！", and
And massage robot can show the relevant programme of current high matching degree on server on a display screen, and voice is supplied to use
Family, so as to user's selection.
If user touches screen or voice selecting, a kind of scheme, massage robot download the program automatically,
Then each acupuncture point and the muscle etc. of user are massaged according to the program.
If do not made a choice in user 5 minutes, robot enters standby mode.
In addition, if massage robot can not touch some acupuncture point or certain block flesh of user's shoulder in massage processes
Meat, will voice prompting user, such as: " your Jianjing point can not be touched, would you please body of walking around ".
In one embodiment of the invention, massage robot further include: audio monitoring module 208,
Audio monitoring module 208, for the massage force instruction that monitoring users voice is sent in massage processes, according to pressing
Dynamics of rubbing instruction increaseds or decreases massage force；And pass through the health status of audio monitoring user in massage processes, and lead to
It crosses voice and recommends treatment massage scheme to user.
For example, massage robot is using lesser dynamics to default in user's massage processes, user can send at any time
Voice tells massage robot to increased or decrease dynamics.
In addition, massage robot is in user's massage processes, for example hears that user constantly coughs, it can also be with voice reminder
Whether user is massaged.If user agrees to, massage robot can connect " massage scheme " service automatically
Device, inquiry are directed to the massage cough-relieving scheme of user, and implement.
In one embodiment of the invention, massage robot is configured with multiple types and the shrinkable massage in arm
Palm, every kind of massage palm are adapted to corresponding massage manipulation and massage force.Massage manipulation include by, rub, rub, bullet, kowtow, strike
Deng again every kind of massage manipulation can have the massage force of varying strength.Massage scheme and the massage force instruction sent according to user,
Robot is automatically selected using corresponding massage palm, and not used massage palm is contracted in robot arm.In addition, massage
Palm is configured with rubber material, and massage in this way is got up more comfortable.
A kind of massage method provided by the invention includes:
Massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system are stored in advance in local storage mould
In block, the coordinate points of human acupoint, muscle and bone are labeled in standard three-dimensional model；
The real-time panoramic video in space where shooting user；
It is space where origin establishes user based on massage robot itself center of gravity according to the real-time panoramic video of shooting
User's three-dimensional system of coordinate carries out real-time three-dimensional to the user under current pose and models to obtain user's threedimensional model；
By the standard three-dimensional model of storage relative to user's threedimensional model carry out same height, with shoulder breadth stretch or diminution at
Reason, and its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until by standard three-dimensional
The coordinate points matching of the human acupoint, muscle and the bone that mark in model exports in user's three-dimensional system of coordinate；
Based on the coordinate points for matching the human acupoint, muscle and bone that export in user's three-dimensional system of coordinate, using user
The massage scheme of selection massages user.
For example, shooting real-time panoramic video by massage robot full-view camera, and be based on machine after finding user
People itself center of gravity is origin (0,0,0), establishes the three-dimensional system of coordinate in the space where user, and carry out three to user at this time
Dimension modeling, the coordinate position of each bone is recorded based on the current posture of user.Then massage robot can be single from itself storage
The three-dimensional stereo model and three-dimensional system of coordinate of the male/female of standard are found in member, then are based on using by the three-dimensional stereo model of standard
The body and shoulder breadth of family threedimensional model, are stretched or are reduced, until the same height of threedimensional model with user, same to shoulder breadth, mark
Outpour the seat of standard three-dimensional model all acupuncture points of the three-dimensional system of coordinate of space foundation, muscle, bone etc. where based on user
Punctuate.It is then based on the coordinate position of bone of the user in a coordinate system in real-time three-dimensional model, it is three-dimensional to coordinate system Plays
The bone of model is moved, until all bone sites are identical.Finally by the acupuncture point in coordinate system acceptance of the bid quasi-three-dimensional model, flesh
The coordinate points such as meat export in the coordinate system of user's real-time three-dimensional modeling.
In another embodiment of the present invention, method shown in the present invention further include:
The massage demand of user is received by speech recognition or touch screen；
According to the massage demand of user, first search for corresponding massage scheme in local memory module, if search less than,
It is then searched for from server by network and downloads corresponding massage scheme to local memory module.
In another embodiment of the present invention, method shown in the present invention further include:
When not searching massage scheme corresponding with the massage demand of user, voice reminder user selects other massage sides
Case；And
When can not touch the human acupoint, muscle or bone of user in massage processes, voice reminder user rotates body
Body.
In another embodiment of the present invention, method shown in the present invention further include:
The massage force instruction that monitoring users voice is sent in massage processes, increaseds or decreases according to massage force instruction
Massage force；And pass through the health status of audio monitoring user in massage processes, and recommend to treat to user by voice
Massage scheme.
In another embodiment of the present invention, method shown in the present invention further include:
Multiple types and contractile massage palm are configured, to be adapted to corresponding massage manipulation and massage force
Referring back to Fig. 3, massage manipulation Learning Principle structure of the invention, including manikin sense circuitry modules
(1000), the first hand circuit module (2000), the second hand circuit module (3000) and smart machine (4000)；Wherein:
The manikin sense circuitry modules (1000) include several touches that the corresponding acupuncture point of manikin is arranged in
Inductor (1100A, 1100B ... 1100K) and the first singlechip (1400) being connect with the signal output end of touch inductor；
The first hand circuit module (2000) includes several posture induction components that massage therapist's hand is arranged in
(2100A, 2100B ... 2100N) and pressure sensitive component (2200A, 2200B ... 2200M), and with posture induction part
The second singlechip (2400) of the signal output end connection of part, pressure sensitive component；Posture induction component (2100A,
2100B ... 2100N) include the components of three axis Together, digital gyroscopes, three axis digital accelerometers and three number of axle word magnetometers；It should
Pressure sensitive component (2200A, 2200B ... 2200M) includes pressure sensor (2201) and amplifier (2202)；
The structure of the second hand circuit module (3000) is identical as first hand circuit module (2000)；
The first singlechip (1400) and the first hand electricity that the manikin sense circuitry modules (1000) have
The output end for the second singlechip (2400) that road module (2000), the second hand circuit module (3000) are respectively provided with is connected to intelligence
It can equipment (4000).
By the massage manipulation of the massage manipulation learning system study massage therapist of massage therapist, sensed by its manikin
Circuit module (1000) and the first hand circuit module (2000), the second hand circuit module (3000) complete expert's massage manipulation
Electric signal conversion, and be transferred in smart machine (4000) and calculate, identifying processing, obtain standard include massage position,
Massage manipulation information including relative displacement, massage manipulation, massage force or pressure or intensity；
Then, being transferred to for massage therapist's massage manipulation information in smart machine (4000) is requested into massage therapist's service
In massage robot, massage robot further according to user body sizes, in conjunction with Fig. 4~Fig. 7, the massage therapist that will be received
Massage manipulation massage robot be mapped to user, so that user is obtained the scene as massage therapist's gimmick
Massage service.In addition, the massage palm being contracted in arm, every kind of massage palm is adapted to corresponding massage manipulation and massage force
Degree.
In conclusion the technical scheme is that, massage robot is real-time complete according to shooting to space where user
Scape video is user's three-dimensional system of coordinate in space where origin establishes user based on massage robot itself center of gravity, to current appearance
User under state carries out real-time three-dimensional and models to obtain user's threedimensional model；By memory module acceptance of the bid quasi-three-dimensional model relative to user
Threedimensional model carries out same height, with shoulder breadth stretching or diminution processing, and by its corresponding standard three dimensional coordinate system relative to user
It is mobile that three-dimensional system of coordinate carries out position, until by the coordinate points of the human acupoint, muscle and the bone that mark in standard three-dimensional model
Matching exports in user's three-dimensional system of coordinate；Human acupoint, muscle and the bone in user's three-dimensional system of coordinate are exported to based on matching
The coordinate points of bone massage user using the massage scheme that user selects.Need user using fixed pose compared to existing
The massage robot of massage is carried out, the present invention may be implemented under user's any attitude, massage robot can be right whenever and wherever possible
User carries out the functions such as automatic massage or massage.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of information numerical control intelligent robot massager, which is characterized in that the massage robot includes: memory module, takes the photograph
Picture module, modeling module, matching module, massage module and audio supplementary module,
The memory module, for storing massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system, the mark
The coordinate points of human acupoint, muscle and bone are labeled in quasi-three-dimensional model；
The photographing module, the real-time panoramic video for space where shooting user；
The modeling module, the real-time panoramic video for being shot according to the photographing module, based on massage robot itself weight
The heart is user's three-dimensional system of coordinate in space where origin establishes user, carries out real-time three-dimensional to the user under current pose and models
To user's threedimensional model；
The matching module, for standard three-dimensional model is subjected to same height relative to user's threedimensional model, stretched with shoulder breadth or
Diminution processing, and its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until will mark
The coordinate points matching of the human acupoint, muscle and the bone that mark in quasi-three-dimensional model exports in user's three-dimensional system of coordinate；
The massage module, for exporting to the seat of the human acupoint in user's three-dimensional system of coordinate, muscle and bone based on matching
Punctuate massages user using the massage scheme that user selects；
The audio supplementary module plays corresponding music for prestoring brain massage music, and after receiving control.
2. information numerical control intelligent robot massager as described in claim 1, which is characterized in that the massage robot also wraps
It includes: scheme search module,
The scheme search module first exists for the massage demand that sent according to user speech or operation touch-screen is sent
Corresponding massage scheme is searched in local memory module, if search is less than being searched for and downloaded from server by network
Memory module of the corresponding massage scheme to local.
3. information numerical control intelligent robot massager as claimed in claim 2, which is characterized in that the massage robot also wraps
It includes: voice reminder module,
The voice reminder module, for not searching massage corresponding with the massage demand of user in the scheme search module
When scheme, voice reminder user selects other massage schemes；And can not be touched in massage processes user human acupoint,
When muscle or bone, voice reminder user rotates body.
4. information numerical control intelligent robot massager as claimed in claim 3, which is characterized in that the massage robot also wraps
It includes: audio monitoring module,
The audio monitoring module, for the massage force instruction that monitoring users voice is sent in massage processes, according to massage
Dynamics instruction increaseds or decreases massage force；And pass through the health status of audio monitoring user in massage processes, and pass through
Voice recommends treatment massage scheme to user.
5. information numerical control intelligent robot massager as described in claim 1, which is characterized in that the massage robot configuration
There are many type and the shrinkable massage palm in arm, every kind of massage palm is adapted to corresponding massage manipulation and massage force
Degree.
6. a kind of massage method, which is characterized in that the described method includes:
Massage scheme, standard three-dimensional model and its corresponding standard three dimensional coordinate system are stored in advance in local memory module
In, the coordinate points of human acupoint, muscle and bone are labeled in the standard three-dimensional model；
The real-time panoramic video in space where shooting user；
It is the user in space where origin establishes user based on massage robot itself center of gravity according to the real-time panoramic video of shooting
Three-dimensional system of coordinate carries out real-time three-dimensional to the user under current pose and models to obtain user's threedimensional model；
The standard three-dimensional model of storage is subjected to same height relative to user's threedimensional model, with shoulder breadth stretching or diminution processing, and
Its corresponding standard three dimensional coordinate system is subjected to position movement relative to user's three-dimensional system of coordinate, until will be in standard three-dimensional model
The coordinate points matching of the human acupoint, muscle and bone of mark exports in user's three-dimensional system of coordinate；
Based on the coordinate points for matching the human acupoint, muscle and bone that export in user's three-dimensional system of coordinate, selected using user
Massage scheme user is massaged；
Brain massage music is prestored, and plays corresponding music after receiving control.
7. massage method as claimed in claim 6, which is characterized in that the method also includes:
The massage demand of user is received by speech recognition or touch screen；
According to the massage demand of user, corresponding massage scheme first is searched in local memory module, if search is less than leading to
Network is crossed to search for from server and download corresponding massage scheme to local memory module.
8. massage method as claimed in claim 7, which is characterized in that the method also includes:
When not searching massage scheme corresponding with the massage demand of user, voice reminder user selects other massage schemes；
And
When can not touch the human acupoint, muscle or bone of user in massage processes, voice reminder user rotates body.
9. massage method as claimed in claim 8, which is characterized in that the method also includes:
The massage force instruction that monitoring users voice is sent in massage processes increaseds or decreases massage according to massage force instruction
Dynamics；And pass through the health status of audio monitoring user in massage processes, and treatment massage is recommended to user by voice
Scheme.
10. massage method as claimed in claim 6, which is characterized in that the method also includes:
Multiple types and contractile massage palm are configured, to be adapted to corresponding massage manipulation and massage force.
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| CN201810937539.8A CN109172296A (en) | 2018-08-17 | 2018-08-17 | Information numerical control intelligent robot massager and massage method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111358678A (en) * | 2020-03-05 | 2020-07-03 | 上海荣泰健康科技股份有限公司 | Massage chair control method, system, terminal, medium and massage chair |
| CN113221958A (en) * | 2021-04-19 | 2021-08-06 | 深圳瀚维智能医疗科技有限公司 | Method, device and system for matching massage track with massage area and storage medium |
| CN114129296A (en) * | 2021-12-08 | 2022-03-04 | 武汉市武医世家康复科技有限公司 | Intelligent massage simulation experiment instrument and experiment method |
| CN117037992A (en) * | 2023-09-04 | 2023-11-10 | 深圳市元创时代科技有限公司 | Big data-based information storage system and method |
| CN114129296B (en) * | 2021-12-08 | 2024-10-15 | 武汉市武医世家康复科技有限公司 | Intelligent massage simulation experiment instrument and experiment method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111358678A (en) * | 2020-03-05 | 2020-07-03 | 上海荣泰健康科技股份有限公司 | Massage chair control method, system, terminal, medium and massage chair |
| CN113221958A (en) * | 2021-04-19 | 2021-08-06 | 深圳瀚维智能医疗科技有限公司 | Method, device and system for matching massage track with massage area and storage medium |
| CN114129296A (en) * | 2021-12-08 | 2022-03-04 | 武汉市武医世家康复科技有限公司 | Intelligent massage simulation experiment instrument and experiment method |
| CN114129296B (en) * | 2021-12-08 | 2024-10-15 | 武汉市武医世家康复科技有限公司 | Intelligent massage simulation experiment instrument and experiment method |
| CN117037992A (en) * | 2023-09-04 | 2023-11-10 | 深圳市元创时代科技有限公司 | Big data-based information storage system and method |
| CN117037992B (en) * | 2023-09-04 | 2024-07-23 | 深圳市元创时代科技有限公司 | Big data-based information storage system and method |
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