CN109259996B - Massage robot, control method thereof, and computer-readable storage medium - Google Patents
Massage robot, control method thereof, and computer-readable storage medium Download PDFInfo
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- CN109259996B CN109259996B CN201811021774.7A CN201811021774A CN109259996B CN 109259996 B CN109259996 B CN 109259996B CN 201811021774 A CN201811021774 A CN 201811021774A CN 109259996 B CN109259996 B CN 109259996B
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
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Abstract
The invention discloses a control method of a massage robot, which comprises the following steps: acquiring brain wave data obtained by monitoring the brain waves of a user in real time by an intelligent brain ring according to a preset sampling frequency; judging whether the brain wave frequency is smaller than a first preset value in a specified sampling period; if not, inputting the brain wave frequency into a brain wave analysis model, determining a brain wave control instruction of the user, and sending the brain wave control instruction to the massage manipulator for implementation; if yes, sending a monitoring instruction to the intelligent bracelet; the method comprises the steps that physiological data and brain wave data of a user monitored by an intelligent bracelet in real time are used as input data, and sleep state information of the user is obtained through a user state recognition model; and determining a corresponding massage mode control instruction according to the sleep state information, and sending the massage mode control instruction to a massage manipulator for implementation. The technology that the massage robot can accurately and effectively complete effective massage under the condition of relaxing the whole body and mind is realized. The present invention also provides a massage robot and a computer-readable storage medium.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a massage robot, a control method thereof and a computer readable storage medium.
Background
With the progress of modern civilization, robots have been known and recognized, and robots have advanced from special fields such as narrow industry, national defense and the like to service fields closely related to human beings; in recent years, a service robot, which is a member of a large family of robots, has been rapidly developed, and various service robots for medical use, rehabilitation, cleaning, construction, disaster relief, and the like have come into our lives; china is a large population country, the population base is large, the number of old people is increasing year by year, and the requirements of the old people and the disabled on medical services are higher and higher; the medical care for the old and the disabled is an effective means by means of scientific and technological strength. With the rapid development of modern high and new technologies, the robot technology also generates qualitative leap, and the robot is not only limited to the application in the industrial field, but also rapidly developed in the fields of medical treatment, military affairs, service and the like; the robot technology relates to a plurality of subject fields such as computers, machinery, sensors, electronics, control, communication and network, and is an integration body of a plurality of high-tech achievements, so the development of the robot is closely related to the various subjects; as a member of the field of robots, brand new, booming service robots have emerged and developed rapidly for many years; the service robot relates to a wide range of fields, and various robots are used for transportation, maintenance, rescue, medical treatment, security, disaster relief and the like in the service field to serve people; the service robot technology has the characteristics of comprehensiveness and permeability, and aims to provide better service for human beings by utilizing the increasingly mature robot technology; the service robot has very wide application prospect in the service fields of medical care of the old and the disabled and the like closely related to the life of people.
The massage robot is one of service robots, combines with increasingly mature robot technology, has the advantages of accurate and controllable massage force, high massage point positioning precision, accurate and repeatable massage action and the like, can basically massage a human body according to the traditional Chinese medicine massage theory, and is very helpful for rehabilitation of disabled people, health of middle-aged and elderly people and improvement of life quality of people; however, the main stream of massage devices in the market at present mainly include massage chairs, massage beds and the like, and the massage devices are mainly characterized in that passive massage actions can be provided for human bodies, and massagers squeeze the massage devices to realize massage actions by adjusting the postures and lying postures of the massagers according to the weights of the massagers; because the massage part of the human body is passively extruded, the human body is in a tight state, and people cannot complete effective massage action under the condition of relaxing the body and mind; in addition, most massage apparatuses on the market have single manipulation and cannot imitate the massage manipulation and the massage strength of professional massagers, so the therapy of the massage apparatuses is not ideal.
Disclosure of Invention
The invention mainly aims to provide a control method of a massage robot, and aims to solve the problem that the massage robot in the prior art cannot accurately and effectively complete effective massage action under the condition of relaxing the whole body and mind.
In order to achieve the above object, the present invention provides a control method of a massage robot, the massage robot including a massage robot main body, an intelligent brain ring and an intelligent hand ring, the intelligent brain ring and the intelligent hand ring being in communication connection with the massage robot main body, the massage robot main body including a massage manipulator, the control method including the steps of:
acquiring brain wave data obtained by monitoring the brain waves of the user in real time by the intelligent brain ring according to a preset sampling frequency;
judging whether the human brain wave frequency is smaller than a first preset value in a specified sampling period according to the brain wave data;
when the brainwave frequency of the user is not smaller than the first preset value in the specified sampling period, determining that the state information of the user is a command state, taking the brainwave frequency of the user as input data, determining a brainwave control command of the user according to a preset brainwave analysis model, and sending the brainwave control command to the massage manipulator so as to control the massage manipulator to execute an operation corresponding to the brainwave control command;
when the brain wave frequency of the user is smaller than the first preset value in the specified sampling period, determining that the state information of the user is a suspected sleep state, controlling the operation state of the massage manipulator to be unchanged, and sending a monitoring instruction to the smart bracelet;
acquiring physiological data obtained by monitoring the user in real time by the intelligent bracelet;
obtaining sleep state information of the user by using the brain wave data and the physiological data of the user as input data through a user state identification model constructed by a neural network model;
and determining a corresponding massage mode control instruction according to the sleep state information, and sending the massage mode control instruction to the massage manipulator so as to control the massage manipulator to execute the operation corresponding to the massage mode control instruction.
Preferably, the status information of the user includes a command status and a suspected sleep status, and the suspected sleep status includes a relaxed status, a latent meaning status and an unconscious status;
the brain wave data corresponding to the relaxed state is that the brain wave frequency of the user is between a second preset value and a first preset value in a specified sampling period, wherein the second preset value is smaller than the first preset value;
the brain wave frequency of the latent state is between a third preset value and a second preset value, wherein the third preset value is smaller than the second preset value;
the brain wave frequency in the unconscious state is below a third preset value.
More preferably, the first preset value is between 11 hz and 13 hz;
the second preset value is between 7 Hz and 9 Hz;
the third preset value is between 3 hz and 5 hz.
More preferably, the physiological data comprises heart rate data and hand motion trend data of the user;
the step of obtaining the sleep state information of the user through a user state recognition model constructed by a neural network model using the brain wave data and the physiological data of the user as input data includes:
determining the human specific suspected sleep state from the value of the human brain wave frequency over the specified sampling period;
and taking the heartbeat frequency data, the hand motion trend data and the specific suspected sleep state of the user as input data, and obtaining the sleep state information of the user through a user state identification model constructed by a neural network model, wherein the sleep state information comprises a waking mode, a sleep mode and a deep sleep mode.
Preferably, the step of determining a corresponding massage mode control command according to the sleep state information includes:
when the sleep state information of the user is detected to be a waking mode, determining that the massage mode control instruction is empty so as to control the massage manipulator to keep the current working state to continue to operate;
when the sleep state information of the user is detected to be a sleep mode, determining that the massage mode control instruction is a fade-out instruction so as to control the massage manipulator to reduce the massage force according to a certain proportion until the massage force is reduced to the minimum massage force corresponding to the fade-out instruction;
and when the sleep state information of the user is detected to be the deep sleep mode, determining the massage mode control instruction as a stop instruction so as to control the massage manipulator to stop working.
Preferably, the neural network model is composed of a multi-layer feedforward neural network trained according to an error back propagation algorithm; the input data are state information of the user, the heartbeat frequency data and the hand movement trend data; and outputting the sleep state information including an awake mode, a sleep mode and a deep sleep mode.
Preferably, in the step of the multilayer feedforward neural network, the calculation process of the error back propagation algorithm consists of a forward calculation process and a backward calculation process;
the forward computing process comprises: processing the sample input data layer by layer through a hidden unit layer, and turning to an output result, and turning to reverse calculation when the output obtained by the output result does not accord with a preset expected value;
the reverse calculation process comprises: and returning an output result generated when the output is not in accordance with a preset expected value as an error signal along the original path of the algorithm, modifying the weight of each neuron in the neural network model to adjust the error signal to be within a preset range, and returning to the forward calculation process.
Preferably, the specific calculation method of the forward calculation process includes:
wherein x i is target feature information, b j is a threshold, w ij is a weight, and S j is an output result;
the result of the calculation of the inverse calculation process is a threshold b j +1 and a weight w i (j +1) at the time of the j +1 th sample input data calculation, and the result is reflected in the neural network model.
The invention also provides a massage robot, which comprises a massage robot main body, an intelligent brain ring and an intelligent bracelet, wherein the intelligent brain ring and the intelligent bracelet are in communication connection with the massage robot main body, the massage robot main body comprises a massage manipulator, a control circuit board unit and a power supply unit, the control circuit board unit comprises a communication module, a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the steps of the control method of the massage robot are realized when the processor executes the computer program.
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the control method of the intelligent massage robot system described above.
According to the technical scheme, brain wave data obtained by monitoring the brain waves of a user in real time by an intelligent brain loop is obtained according to a preset sampling frequency; judging whether the brain wave frequency is smaller than a first preset value in a specified sampling period; if not, inputting the brain wave frequency into a brain wave analysis model, determining a brain wave control instruction of the user, and sending the brain wave control instruction to the massage manipulator for implementation; if yes, sending a monitoring instruction to the intelligent bracelet; the method comprises the steps that physiological data and brain wave data of a user monitored by an intelligent bracelet in real time are used as input data, and sleep state information of the user is obtained through a user state recognition model; and determining a corresponding massage mode control instruction according to the sleep state information, and sending the massage mode control instruction to a massage manipulator for implementation. The technology that the massage robot can accurately and effectively complete effective massage under the condition of relaxing the whole body and mind is realized.
Drawings
Fig. 1 is a schematic structural view of a massage robot according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a massage robot according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of the massage robot according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
All the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Referring to fig. 1 and 2, in an embodiment of the present invention, a massage robot 100 is provided, including a robot main body 1, an intelligent brain ring 2 and an intelligent hand ring 3, which are in communication connection with the massage robot 100 main body; the massage robot main body 1 includes a massage robot hand 11, a control circuit board unit 13, and a power supply unit 12, and the control circuit board unit 13 includes a communication module 131, a memory 132, a processor 133, and a computer program stored in the memory 132 and executable on the processor 133.
Wherein, the massage robot 100 can perform massage work on the user by the massage robot hand 11; the smart band 2 and the smart band 3 are respectively communicated with the massage robot body 1, specifically, wired or wireless connection can be established with the massage robot body 1 through the communication module 131, so as to perform data transmission, message transmission, and the like.
The user wears intelligent brain ring 2 and intelligent bracelet 3, and massage robot 100 obtains user's brainwave through intelligent brain ring 2 in real time, judges user's state information:
when the user is in a human command state, the user latent-meaning sends a control command to control the action of the massage manipulator 11, wherein the control command comprises a position command, a force command and the like, the position command can comprise up, down, left, right and the like, and the force command can comprise weighting, fading, stopping and the like;
when the artificial suspected sleep state is used, the action of the massage manipulator 11 is kept unchanged, an instruction is sent to the smart bracelet 3, the sleep state information of the user is judged by combining the physiological data and the brain wave data through the physiological data detected by the smart bracelet 3, and the massage robot 100 sends a massage instruction corresponding to the sleep state information to the massage manipulator 11.
Specifically, when the sleep state information of the user is detected to be the waking mode, the massage mode control instruction is determined to be null, so as to control the massage manipulator 11 to keep the current working state to continue to operate;
when the sleep state information of the user is detected to be the sleep mode, determining that the massage mode control instruction is a fade-out instruction so as to control the massage manipulator 11 to reduce the massage strength according to a certain proportion until the massage strength is reduced to the minimum massage strength corresponding to the fade-out instruction;
when the sleep state information of the user is detected to be the deep sleep mode, the massage mode control instruction is determined to be a stop instruction so as to control the massage mechanical arm 11 to stop working.
Thus, the massage robot 100 realizes an accurate and effective function of performing an effective massage operation while relaxing the whole body and mind.
In this embodiment, as shown in fig. 2, an embodiment of the present invention provides a control method of a massage robot 100, which includes the following specific processes:
step S1, obtaining brain wave data obtained by the intelligent brain ring 2 monitoring the brain waves of the user in real time according to a preset sampling frequency.
In step S1, the intelligent brain loop 2 monitors the brain waves of the user in real time, and the processor 133 of the massage robot 100 acquires the brain wave data according to a certain sampling frequency, which is a frequency set manually and is preferably 2 hz or higher, and stores the brain wave data in the memory 132.
Step S2, determining whether the human brain wave frequency is less than a first preset value within a specified sampling period according to the brain wave data.
Specifically, in step S2, the processor 133 of the massage robot 100 first calculates the real-time frequency of the brain wave itself, calculates the average frequency of the brain wave within the preset sampling period, and then determines whether the average frequency is smaller than the first preset value.
Further, the first preset value may be between 11 hz and 13 hz.
Step S21, when the user 'S brainwave frequency is not less than the first preset value in the specified sampling period, determining that the user' S state information is a command state, using the user 'S brainwave frequency as input data, determining a user' S brainwave control command according to a preset brainwave analysis model, and sending the brainwave control command to the massage manipulator 11 to control the massage manipulator 11 to execute an operation corresponding to the brainwave control command.
In step S21, if it is determined in step S2 that the average frequency is not less than the first preset value, it is determined that the state information of the user is a command state, and the processor 133 determines the control instruction of the brain wave of the user according to a preset brain wave analysis model, where the control instruction includes position instructions of up, down, left, right, and the like and force instructions of emphasis, fade, stop, and the like. And sending the brain wave control command to the massage manipulator 11 so as to control the massage manipulator 11 to execute the operation corresponding to the brain wave control command.
Step S22, when the user 'S brain wave frequency is less than the first preset value in the specified sampling period, determining that the user' S state information is a suspected sleep state, controlling the operation state of the mechanical massage hand to remain unchanged, and sending a monitoring instruction to the smart bracelet 3.
In the step S22, if it is determined in the step S2 that the average frequency is smaller than the first preset value, it is determined that the state information of the user is a suspected sleep state, the operation state of the mechanical massage hand is controlled to remain unchanged, and the processor 133 sends a monitoring instruction to the smart bracelet 3.
Further, the state information of the user comprises a command state and a suspected sleep state, and the suspected sleep state of the user comprises a relaxed state, a latent meaning state and an unconscious state;
the brain wave data corresponding to the relaxed state is that the brain wave frequency of the user is between a second preset value and a first preset value in a specified sampling period, wherein the second preset value is smaller than the first preset value;
the brain wave frequency of the latent state is between a third preset value and a second preset value, wherein the third preset value is smaller than the second preset value;
the brain wave frequency in the unconscious state is below a third preset value.
Further, the first preset value is between 11 Hz and 13 Hz, the second preset value is between 7 Hz and 9 Hz, and the third preset value is between 3 Hz and 5 Hz.
Step S3, acquiring the physiological data obtained by the smart bracelet 3 monitoring the user in real time.
In step S3, the processor 133 of the massage robot 100 acquires the physiological data of the user obtained by monitoring the smart bracelet 3 in real time, and stores the physiological data in the memory 132.
Further, the physiological data includes heartbeat frequency data and hand motion trend data of the user;
step S4, using the brain wave data and the physiological data of the user as input data, and obtaining sleep state information of the user through a user state identification model constructed by a neural network model.
In step S4, the processor 133 of the massage robot 100 reads the brain wave data and the physiological data in the memory 132, and uses them as input data, and invokes a user state recognition model constructed by a neural network model to perform model evaluation on the input data, so as to obtain the sleep state information of the user.
Further, the step S4 may specifically include:
the method comprises the following steps: determining the human specific suspected sleep state from the value of the human brain wave frequency over the specified sampling period;
the method specifically comprises the steps that when the frequency of the brain waves of the user in corresponding brain wave data is between a second preset value and a first preset value in a specified sampling period, the brain waves are determined to be in the relaxed state, wherein the second preset value is smaller than the first preset value;
confirming the latent meaning state when the brain wave frequency of the user in the corresponding brain wave data is between a third preset value and a second preset value, wherein the third preset value is smaller than the second preset value;
and confirming the unconsciousness state when the frequency of the brain waves of the user in the corresponding brain wave data is below a third preset value.
Further, the first preset value is between 11 Hz and 13 Hz, the second preset value is between 7 Hz and 9 Hz, and the third preset value is between 3 Hz and 5 Hz.
Step two: and taking the heartbeat frequency data, the hand motion trend data and the specific suspected sleep state of the user as input data, and obtaining the sleep state information of the user through a user state identification model constructed by a neural network model, wherein the sleep state information comprises a waking mode, a sleep mode and a deep sleep mode.
For example, when the suspected sleep state is a relaxed state or an unconscious state, the heartbeat frequency data is stable, the hand movement trend data regularly and slightly swings, the sleep state information of the user can be considered as an awake mode, and it may be that the user is empty of spirit at the moment and taps fingers; for another example, when the suspected sleep state is a latent state, the heartbeat frequency data is heartbeat frequency data of the user when the user sleeps, and the hand has sudden movement, the sleep state information of the user can be considered as a sleep mode; for example, if the suspected sleep state is an unconscious state, the heartbeat frequency data is heartbeat frequency data of the user during sleep, and the hand suddenly moves and stops quickly, the sleep state information of the user can be considered as a deep sleep mode.
Therefore, the physiological data and the brain wave data detected by the intelligent bracelet are combined to judge the sleep state information of the user, and misjudgment can be reduced.
Further, the neural network model is composed of a multi-layer feedforward neural network trained according to an error back propagation algorithm; the input data is the specific suspected sleep state information of the user, the heartbeat frequency data and the hand movement trend data; and outputting the sleep state information including an awake mode, a sleep mode and a deep sleep mode.
In a preferred embodiment, the user state recognition model constructed by the neural network model may be obtained by training in advance, for example, a user wears an intelligent brain ring and an intelligent bracelet under a waking state and a suspected sleeping state respectively in advance, acquires corresponding brain wave data, heartbeat frequency and hand trend, and artificially divides the acquired data into the waking state and the suspected sleeping state as raw data to train the neural network model.
Further, in the step of the multilayer feedforward neural network, the calculation process of the error back propagation algorithm consists of a forward calculation process and a backward calculation process;
the forward computing process comprises: processing the sample input data layer by layer through a hidden unit layer, and turning to an output result, and turning to reverse calculation when the output obtained by the output result does not accord with a preset expected value;
the reverse calculation process comprises: and returning an output result generated when the output is not in accordance with a preset expected value as an error signal along the original path of the algorithm, modifying the weight of each neuron in the neural network model to adjust the error signal to be within a preset range, and returning to the forward calculation process.
Further, a specific calculation method of the forward calculation process includes:
wherein x i is target feature information, b j is a threshold, w ij is a weight, and S j is an output result;
the result of the calculation of the inverse calculation process is a threshold b j +1 and a weight w i (j +1) at the time of the j +1 th sample input data calculation, and the result is reflected in the neural network model.
Step S5, determining a corresponding massage mode control command according to the sleep state information, and sending the massage mode control command to the massage manipulator 11 to control the massage manipulator 11 to perform an operation corresponding to the massage mode control command.
In step S5, the processor 133 of the massage robot 100 sends a massage mode control command corresponding to the sleep state information to the massage robot hand 11 according to the sleep state information in step S, so as to control the massage robot hand 11 to perform an operation corresponding to the massage mode control command.
Further, the step of determining a corresponding massage mode control command according to the sleep state information includes:
when the sleep state information of the user is detected to be the waking mode, determining that the massage mode control instruction is empty so as to control the massage manipulator 11 to keep the current working state to continue to operate;
when the sleep state information of the user is detected to be a sleep mode, determining that the massage mode control instruction is a fade-out instruction so as to control the massage manipulator 11 to reduce the massage strength according to a certain proportion until the massage strength is reduced to the minimum massage strength corresponding to the fade-out instruction;
when the sleep state information of the user is detected to be the deep sleep mode, the massage mode control instruction is determined to be a stop instruction so as to control the massage manipulator 11 to stop working.
Referring to fig. 1 to 3 again, in the massage robot 100 provided by the present invention, when the processor 133 executes the computer program, the steps of the control method of the massage robot 100 according to any one of the embodiments are implemented.
In the present invention, there is a computer-readable storage medium storing a computer program which, when executed by the processor 133, implements the steps of the control method of the massage robot 100 according to any one of the above embodiments.
Illustratively, the computer program of the computer-readable storage medium comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that, since the computer program of the computer-readable storage medium implements the steps of the isolated access method for the multi-tenant database when being executed by the processor 53, all the embodiments of the method are applicable to the computer-readable storage medium, and can achieve the same or similar beneficial effects.
In the description herein, references to the description of the term "one embodiment," "another embodiment," or "first through xth embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, method steps, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (1)
1. A massage robot is characterized by comprising a massage robot body, an intelligent brain ring and an intelligent bracelet, wherein the intelligent brain ring and the intelligent bracelet are in communication connection with the massage robot body;
the control method comprises the following steps:
acquiring brain wave data obtained by monitoring the brain waves of the user in real time by the intelligent brain ring according to a preset sampling frequency;
judging whether the human brain wave frequency is smaller than a first preset value in a specified sampling period according to the brain wave data;
when the brainwave frequency of the user is not smaller than the first preset value in the specified sampling period, determining that the state information of the user is a command state, taking the brainwave frequency of the user as input data, determining a brainwave control command of the user according to a preset brainwave analysis model, and sending the brainwave control command to the massage manipulator so as to control the massage manipulator to execute an operation corresponding to the brainwave control command;
when the brain wave frequency of the user is smaller than the first preset value in the specified sampling period, determining that the state information of the user is a suspected sleep state, controlling the operation state of the massage manipulator to be unchanged, and sending a monitoring instruction to the smart bracelet;
acquiring physiological data obtained by monitoring the user in real time by the intelligent bracelet;
obtaining sleep state information of the user by using the brain wave data and the physiological data of the user as input data through a user state identification model constructed by a neural network model;
and determining a corresponding massage mode control instruction according to the sleep state information, and sending the massage mode control instruction to the massage manipulator so as to control the massage manipulator to execute the operation corresponding to the massage mode control instruction.
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| CN110946745A (en) * | 2019-10-31 | 2020-04-03 | 珠海格力电器股份有限公司 | Intelligent massage equipment control method and device, server and storage medium |
| CN113438259A (en) * | 2020-03-23 | 2021-09-24 | 未来穿戴技术有限公司 | Data processing method and device for massage instrument, electronic equipment and computer readable storage medium |
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