CN109498384A - A kind of identification of massage part, positioning, massage method and device, equipment - Google Patents
A kind of identification of massage part, positioning, massage method and device, equipment Download PDFInfo
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- CN109498384A CN109498384A CN201811079870.7A CN201811079870A CN109498384A CN 109498384 A CN109498384 A CN 109498384A CN 201811079870 A CN201811079870 A CN 201811079870A CN 109498384 A CN109498384 A CN 109498384A
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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
- 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
- A61H2201/5007—Control means thereof computer controlled
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Abstract
The present invention provides a kind of identification of massage part, positioning, massage method and device, equipment.Wherein, massage part recognition methods includes the image for obtaining object to be massaged；Type and/or the position of the massage part in described image are identified based on preparatory trained first model according to described image.Using technical solution of the present invention, massage part identification is carried out by the method for machine learning, improves the accuracy rate and adaptability of massage part identification.
Description
Technical field
The present invention relates to automation massage technique fields, and in particular to a kind of identification of massage part, positioning, massage method and
Device, equipment.
Background technique
Modern humans, due to requirements of one's work, it is often necessary to keep a kind of posture to work for a long time, therefore often send out
The damage of raw various joints or muscle.
Summary of the invention
In view of this, the present invention provides a kind of identification of massage part, positioning, massage method and device, equipment.
First aspect present invention provides a kind of massage part recognition methods, and the massage part recognition methods includes:
Obtain the image of object to be massaged；
The phase of the massage part in described image is obtained based on preparatory trained first model according to described image
Close information.
Further, the relevant information includes type and/or the position of massage part.
Further, the massage part recognition methods further include:
Based on the relevant information, control instructions device is given the massage part and is indicated.
Second aspect of the present invention provides a kind of massage part localization method, and the massage part localization method includes:
Control massage actuator is moved near massage part；
It controls the massage actuator and applies a certain active force for being directed toward the massage part；
Obtain the image and/or massage part identification parameter information of massage object；
According to described image and/or the massage part identification parameter information, it is based on preparatory trained second model,
The first instruction is generated, by the pose of the first instruction adjustment massage actuator, so that the massage actuator positions
At the massage part.
Further, the massage part identification parameter information includes: force parameter and/or the reaction for massaging object.
Third aspect present invention provides a kind of massage method, and the massage method includes:
Obtain the relevant information of massage part；
According to the relevant information, the relevant massage parameter of combination with massaging generates the second instruction, instructs by described second
Control actuator is moved to the massage part；The massage part is massaged using corresponding massaging way；Wherein,
The relevant information is based on trained first model in advance and generates；And/or
Second instruction is generated based on trained third model in advance.
Further, the relevant information of the massage part includes type and/or the position of massage part.
Further, the massage parameter includes force parameter, time parameter and/or the reaction for massaging object.
Further, the massage method further include:
Based on the relevant information, control instructions device is given the massage part and is indicated.
Fourth aspect present invention provides a kind of massage method, and the massage method includes:
Control massage actuator is moved near massage part；
It controls the massage actuator and applies a certain active force for being directed toward the massage part；
Obtain the image and/or massage part identification parameter information of massage object；
According to described image and/or the massage part identification parameter information, the first instruction is generated, is referred to by described first
The pose for enabling the adjustment massage actuator, so that the massage actuator is located at the massage part.
According to relevant massage parameter is massaged, third instruction is generated, actuator is controlled to the massage by described instruction
It is massaged using corresponding massaging way at position；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
Further, the massage parameter includes force parameter, time parameter and/or the reaction for massaging object.
Further, the massage part identification parameter information includes: force parameter and/or the reaction for massaging object.
Fifth aspect present invention provides a kind of massage part identification device, and the massage part identification device is obtained including first
Modulus block, identification module；
Described first obtains module, for obtaining the image of object to be massaged；
The identification module, for obtaining described image based on preparatory trained first model according to described image
In massage part relevant information.
Sixth aspect present invention provides a kind of massage part positioning device, and the massage part positioning device includes: first
Control module, the second control module, first obtain module, the first directive generation module；
First control module is moved near massage part for controlling massage actuator；
Second control module applies a certain effect of the direction massage part for controlling the massage actuator
Power；
Described first obtains module, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module, for according to described image and/or the massage part identification parameter information, base
In preparatory trained second model, the first instruction is generated, passes through the position of the first instruction adjustment massage actuator
Appearance, so that the massage actuator is located at the massage part.
Seventh aspect present invention provides a kind of massage machine, the massage machine include first obtain module, identification module,
Second directive generation module；
Described first obtains module, for obtaining the image of object to be massaged；
The identification module, for identifying the relevant information of the massage part in described image according to described image；
Second directive generation module, for according to the relevant information, the relevant parameter of combination with massaging to generate second
Instruction is massaged the massage part using corresponding massaging way by the second instruction control actuator；Wherein,
The relevant information is based on trained first model in advance and generates；And/or second instruction first passes through training based on pre-
Third model generate；Or
The massage machine includes the first control module, the second control module, the first acquisition module, the first instruction generation mould
Block, third directive generation module；
First control module is moved near massage part for controlling massage actuator；
Second control module applies a certain effect of the direction massage part for controlling the massage actuator
Power；
Described first obtains module, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module, for according to described image and/or the massage part identification parameter information, base
In preparatory trained second model, the first instruction is generated, passes through the position of the first instruction adjustment massage actuator
Appearance, so that the massage actuator is located at the massage part.
The third directive generation module is used for the relevant massage parameter of combination with massaging, third instruction is generated, by described
Third instruction control actuator massages the massage part using corresponding massaging way；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
Eighth aspect present invention provides a kind of massage apparatus, and the massage apparatus includes imaging sensor and/or power sensing
Device, massage actuator and control device；
Lotus root connects described image sensor and/or force snesor and the massage actuator to the control device respectively；
The control device, for realizing massage part recognition methods described in any of the above one；And/or
Massage part localization method described in any of the above one；And/or
Massage method described in any of the above one.
Further, the massage apparatus further includes timer and/or indicator；The force snesor, timer and/or refer to
Show that lotus root connects the control device to device respectively.
Ninth aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
Massage part recognition methods described in realizing any of the above one when sequence is executed by processor；An and/or any of the above Xiang Suoshu
Massage part localization method；And/or massage method described in any of the above one.
Tenth aspect present invention provides a kind of computer equipment, the computer equipment include memory, processor and
The computer program that can be run in the memory and on the processor is stored, the processor executes the computer
Massage part recognition methods described in realizing any of the above one when program；And/or massage part described in any of the above one
Localization method；And/or massage method described in any of the above one.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Take other attached drawings.
Fig. 1 is the first structure block diagram of the embodiment of massage machine provided in an embodiment of the present invention.
Fig. 2 is the second structural block diagram of the embodiment of massage machine provided in an embodiment of the present invention.
Fig. 3 is the first pass figure of massage part recognition methods embodiment provided by the invention.
Fig. 4 is the second flow chart of massage part recognition methods embodiment provided by the invention.
Fig. 5 is the flow chart of massage part localization method embodiment provided by the invention.
Fig. 6 is the first pass figure of massage method embodiment provided by the invention.
Fig. 7 is the second flow chart of massage method embodiment provided by the invention.
Fig. 8 is the third flow chart of massage method embodiment provided by the invention.
Fig. 9 is the structural block diagram for applying example of massage part identification device provided by the invention.
Figure 10 is the structural block diagram of the embodiment of massage part positioning device provided by the invention.
Figure 11 is the first structure block diagram of the embodiment of massage machine provided by the invention.
Figure 12 is the second structural block diagram of the embodiment of massage machine provided by the invention.
Figure 13 is the example structure schematic diagram of one of model provided by the invention.
Figure 14 is the example structure schematic diagram of computer equipment provided by the invention.
Specific embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
The embodiment of a part is invented, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Acquired all other embodiment without making creative work, should fall within the scope of the present invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is the first structure block diagram of the embodiment of massage machine provided in an embodiment of the present invention.
As shown in Figure 1, the massage apparatus 10 includes: imaging sensor 11, massage actuator 12 and control device 13.
It massages object and enters preset massaged region, can stand, but usually sit or lie on a massage seat 14.
Imaging sensor 11 for obtaining the image of massage object, and sends an image to control device.
Imaging sensor may include: camera, video camera, scanner or other with correlation function equipment (mobile phone,
Computer etc.) etc..
Actuator 12 is massaged, is massaged for the massage part under control of the control means to massage object.Massage
Actuator 12 can be one, be also possible to it is multiple, for example, being pressed for different massage parts using different massage manipulation
Rub actuator.
Control device 13 by it is wired or wirelessly respectively lotus root connect imaging sensor 11 and massage actuator 12.
Restriction in relation to control device 13 is referring to massage part recognition methods, massage part localization method in following example
And/or the relevant restriction of massage method.Modules in above-mentioned control device can fully or partially through software, hardware and
A combination thereof is realized.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also
Be stored in the memory in computer equipment in a software form, in order to which processor calls the above modules of execution corresponding
Operation.
In this specific embodiment, control device can be from imaging sensor period or real-time image acquisition, which can be with
It can be from video image when for video image including still image or video image (continuous still image) data
Intercept any one frame or a few frame still images.The image of acquisition can be two dimensional image, be also possible to 3-D image.
Wireless mode can include but is not limited to: 3G/4G, WIFI, bluetooth, WiMAX, Zigbee, UWB (ultra
), wideband and it is other currently known or in the future exploitation radio connection.
In some embodiments, force snesor 14 is also set up on the massage actuator 12,14 lotus root of force snesor connects
Control device 13, the power/torque feedback information period or be sent to control device 13 in real time that force snesor will acquire.
By the way that the force snesor (not shown to anticipate out) is arranged, to obtain in massage part identification or massage processes to people
The detection of body different parts, such as: when massage actuator applies onesize power to a certain position, according to power interaction original
Reason, different parts are of different sizes to the feedback effect power for massaging actuator application, and what it is when massage is muscle sites, then feeds back
The value of power is smaller；And when massage be skeletal sites when, then the value of feedback of power is bigger, to help to judge bone or flesh
Meat.
Or the size of the force value by feedback selects corresponding according to different massage subject's bodies or personalized preference
The corresponding mode of massage force.
In addition, effect can be preset to the threshold value of the maximum force of people to prevent by the way that torque sensor is arranged
When massaging actuator massage, the appearance of wounding event.
In some embodiments, timer (not shown to anticipate out) can also be set, for obtaining the time of massage.
Fig. 3 is the first pass figure of massage part recognition methods embodiment provided by the invention.
As shown in figure 3, the embodiment of the present invention provides a kind of massage part recognition methods, the massage part recognition methods packet
It includes:
S11 obtains the image of massage object；
Control device obtains the image sent from imaging sensor, which may include the entirety for massaging object, or
The part of object is massaged, for example is only included above the waist.In some embodiments, it is also possible to further image is handled, than
Such as, the massage object in image is extracted, so that the image of the massage object is to only include massage object.
S12 identifies the massage part in described image based on preparatory trained first model according to described image
Relevant information.
The relevant information includes but is not limited to type and/or the position of massage part.
The position can include but is not limited to: coordinate (2D), pose (6D), area-of-interest (ROI).
Type in image has been pre-established according to the difference of massage part.Such as: 1 class is vertebra, 2 classes are shoulder
Portion, 3 classes are cervical vertebra etc..Therefore the type of output can be the description of specific type, be also possible to the code of type, than
Such as: when output result represents backbone for 1.
Above-mentioned classification pre-establishes, and classification problem is often combined with the identification of above-mentioned position, i.e. identification in advance
The position of massage part out classifies to the position of the massage part identified.
Fig. 4 is the second flow chart of massage part recognition methods embodiment provided by the invention.
As shown in figure 4, in some embodiments, the massage part recognition methods can also include:
S13 is based on the relevant information, and control instructions device is given the massage part and indicated.
As shown in Fig. 2, Fig. 2 is the second structural block diagram of the embodiment of massage machine provided in an embodiment of the present invention.One
In a little embodiments, the massage machine 10 can also include indicator 16, and the control device 14 passes through wired or wireless side
Formula lotus root connects indicator 16.
The indicator can be optical transmitting set, display screen and/or sound indicator etc..
The massage part can be actual massage part, be also possible to the massage part shown in display screen.
Such as: indicator light is beaten to massage part by indicator, the lamp can be luminous point, be also possible to corresponding Massage Department
One region of position.
For another example: being indicated in the massage part of reality screen display by label.
For another example: sound indicator can be set and reminded, when massaged region is left in massage, by make a sound into
Row is reminded.
Fig. 5 is the flow chart of massage part localization method embodiment provided by the invention.
As shown in figure 5, in some embodiments, the massage part localization method includes following method and step:
S21 control massage actuator is moved near massage part；
Specifically, control massage actuator is moved near massage part, it can be according to above example S11 and S12
Step determine relevant information, according in the first relevant information location information or information (in conjunction with it is pre-stored not
The different location of corresponding massage object with position type), so that the instruction for being directed toward manipulator is issued, it is mechanical by instruction control
Hand is moved near massage part；It can also be moved near a certain predetermined position in advance by instruction control manipulator；Or
Person formulates certain programs, and control massage actuator is moved near massage part, such as: preset the big of the positions such as shoulder, knee
Position approximate is set.
S22 controls the massage actuator and applies a certain active force for being directed toward the massage part；
The a certain active force can according to need any preparatory or setting in real time.
S23 obtains the image and the/relevant parameter information of massage of massage object；
Specifically, massaging relevant parameter information can include but is not limited to: power/torque parameter and/or object reaction letter
Breath.
Further, in some embodiments, force snesor can be set in massage actuator and massage object contact end, from
And obtain power/torque parameter；
When for power/torque parameter, such as: according to power interaction principle, phase between different parts and massage actuator
The power fed back after interaction it is of different sizes, an equal amount of power is applied for massage actuator, what it is when massage is muscle sites,
The value for the power then fed back is smaller；And when massage be skeletal sites when, then the value of feedback of power is bigger, so that helping to judge is bone
Bone or muscle.
Further, in some embodiments, the reaction information can include but is not limited to: massage object expression and/
Or sound.Specifically, the imaging sensor or other imaging sensor described in above example, the packet of acquisition can be passed through
Include the face-image of massage object, the expression of identification massage object, specifically, in some embodiments, engineering can be used
The expression of the method judgement massage object of habit, such as: when pain occurs in expression, the position for representing identification may be incorrect；Separately
Outside, sound transducer or sound pick-up outfit also can be set, according to the feedback of the sound size of patient, or the specific sound of identification
Sound content, to help to judge whether massage part is correct, such as: when need to massage is a certain position of left shoulder, but when massage
Position may not comply fully with massage object requirement when, can according to massage object sound guidance, such as: continue to
Description to the right etc., the position of adjustment massage actuator, to obtain more accurate massage part are continued in a left side
S24 is according to described image and/or the massage part identification parameter information, based on preparatory trained second mould
Type generates the first instruction, by the pose of the first instruction adjustment massage actuator, so that the massage actuator is fixed
Position is at the massage part.
By in image information and/or massage part identification parameter information input in advance trained second model, thus
The first instruction for being directed toward massage actuator is generated, by the pose of the first instruction adjustment massage actuator, so that massage executes
Device is located at the massage part；
It should be noted that the second model can directly export the first instruction, what can also be exported is that massage actuator needs
The data for the object pose to be reached, it is subsequent to be instructed according to the object pose reconvert at first.
Fig. 6 is the first pass figure of massage method embodiment provided by the invention.Fig. 7 is massage method provided by the invention
The second flow chart of embodiment.
As shown in fig. 6, in some embodiments, the present invention also provides a kind of massage method, the massage method includes such as
Lower method and step:
S31 is according to the image of the object to be massaged of acquisition；
S32 identifies the relevant information of the massage part in described image；
S33 generates the second instruction, passes through described second according to the relevant information, the relevant massage parameter of combination with massaging
Instruction control actuator is moved to the massage part；The massage part is massaged using corresponding massaging way；Its
In
The relevant information is based on trained first model in advance and obtains；And/or
Second instruction is obtained based on trained second model in advance.
It should be noted that massage parameter includes but is not limited to: power/torque parameter, patient's reaction and/or time parameter.Tool
Body, time parameter is obtained by timer and is sent to control device.
As shown in fig. 7, in some embodiments, the method also includes: S34 is based on the relevant information, control instructions
Device is given the massage part and is indicated.
Fig. 8 is the third flow chart of massage method embodiment provided by the invention.
As shown in figure 8, the present invention also provides a kind of massage method, the massage method includes in the remittance of some embodiments
Following steps:
S41 control massage actuator is moved near massage part；
S42 controls the massage actuator and applies a certain active force for being directed toward the massage part；
S43 obtains the image and/or massage part identification parameter information of massage object；
S44 generates the first instruction according to described image and/or the massage part identification parameter information, passes through described the
The pose of the one instruction adjustment massage actuator, so that the massage actuator is located at the massage part.
S45 generates third instruction according to relevant massage parameter is massaged, and controls actuator by described instruction and presses to described
Position of rubbing is massaged using corresponding massaging way；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
It should be noted that for the model knot of first model, the second model, third model and/or the 4th model
Structure, when input each model includes each image, then the structure of each model can be convolutional neural networks
(Convolutional Neural Network, CNN) model, and what is developed in exploitation now or future carry out machine based on image
The model of device study.
CNN is a kind of convolutional layer neural network, common (Convolutional Neural Network, CNN) model
It may include various network structures, such as: LeNet, AlexNet, ZFNet, VGG, GoogLeNet, Residual Net,
DenseNet, R-CNN, SPP-NET, Fast-RCNN, Faster-RCNN, FCN, Mask-RCNN, YOLO, SSD, YOLO2, with
And other currently known or exploitation in the future network architecture.
CNN belongs to one of neural network (Neural Network NN), when input the first model does not include first
Image (for example be: the first pose), then the structure of the first model is not limited to CNN, can be the type arbitrarily needed in NN
Structure.
In some embodiments, the structure of first model is also possible to the combination of CNN model and other models, than
Such as: Recognition with Recurrent Neural Network (Recurrent Neural Network RNN).
As shown in figure 13, Figure 13 is the example structure schematic diagram of one of model provided by the invention.In some realities
Apply in example, the problem of simple image input, can directly use CNN model, when the existing image of input, but have other parameters to
(one group of vector is embodied as) when amount, usual model can be modified, and the first part L1 of network is similar with common CNN,
It is still the superposition of convolutional layer, pond layer, the output (image of a multichannel) of first part L1 can be by " stretching " at one
Then vector is linked together with other parameters vector, enter back into second part L2 (such as the common full articulamentum net of network
Network), output is finally reached, for example, indicating 6 dimensional vector (x, y, z, u, v, w) of massage actuator next instruction.
It should be noted that first model, the second model, third model and/or the 4th model can be using supervision
Study, intensified learning, learning by imitation and other currently known or exploitation in the future training method are trained.
Method typically for the target identification in simple image based on supervised learning is more convenient, and dynamic for one
Make the study of strategy, then it is more preferable using intensified learning or the method for learning by imitation.
Wherein, supervised learning (Supervised Learning) is to train network using the example of known correct option.
Wherein, intensified learning, one strategy of (can in simulated environment/true environment in) initialization (given current figure
The posture of picture and massage actuator exports an action command, concrete form CNN, because we have image as input；
Note that envisioning target position when the different place of second step with stepped approach is intensified learning is not intended as the defeated of strategy
Enter), allow massage actuator to be moved according to the strategy, while every acquisition for carrying out track (or each movement)
This score of track (movement) one can be given.(such as whether the track moves to the target position of anticipation, the terminal of the track
With the space length of the target position of anticipation etc.).When data collect certain phase, then according to these tracks and corresponding score
Strategy is optimized.Above-mentioned sampling and optimization process is repeated, until final strategy can walk out the high track of score.
Wherein, learning by imitation, (in simulated environment/true environment in) provide some expert tracks, and initialization one is pressed
It rubs actuator strategy (the same intensified learning of input and output, concrete form remain as CNN), carries out track sampling, pay attention to learning by imitation
In do not need to provide score for track (where actually this is also advantage of the learning by imitation compared with intensified learning, because of track
The design of bonus points is very exquisite skill, and intensified learning all will not learn in most cases if design is bad
Good strategy).The algorithm to learn by imitation goes optimisation strategy, repeats above-mentioned sampling and optimization process, so that final massage is held
The track that row device strategy is come out of is similar to expert track.
It is whether similar to expert track in order to judge to massage the track that actuator strategy is walked out, classifier can be introduced,
The track and expert track gone out by classifier to model learning is classified, the loss function of combining classification device optimization
Above-mentioned each model.
Further, in further embodiments, for CNN model, in order to save the training time, we can also use others
The parameter of trained model initializes oneself model, is then finely adjusted (finetune) on this basis.
Fig. 9 is the structural block diagram for applying example of massage part identification device provided by the invention.
The embodiment of corresponding above method, the embodiment of the present invention also provide a kind of massage part identification device, are described below
Massage part identification device and above-described massage part recognition methods can correspond to each other reference.
As shown in figure 9, the massage part identification device 200 includes following procedure module: first obtains module 210, knows
Other module 220.
First obtains module 210, for obtaining the image of object to be massaged；
Identification module 220, for identifying described image based on preparatory trained first model according to described image
In massage part relevant information.
In some embodiments, the massage part identification device further includes instruction control module (not shown to anticipate out), is used
It sends and indicates in control instructions device.
Figure 10 is the structural block diagram of the embodiment of massage part positioning device provided by the invention.
The embodiment of corresponding above method, the embodiment of the present invention also provide a kind of massage part positioning device, are described below
Massage part positioning device and above-described massage part localization method can correspond to each other reference.
The massage part positioning device 300 includes: the first control module 310, the acquisition of the second control module 320, first
Module 330, the first directive generation module 340；
First control module 310 is moved near massage part for controlling massage actuator；
Second control module 320 applies a certain of the direction massage part for controlling the massage actuator
Active force；
Described first obtains module 330, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module 340, for being believed according to described image and/or the massage part identification parameter
Breath generates the first instruction based on preparatory trained second model, adjusts the massage actuator by first instruction
Pose so that the massage actuator is located at the massage part.
Figure 11 is the first structure block diagram of the embodiment of massage machine provided by the invention.
The embodiment of corresponding above method, the embodiment of the present invention also provide a kind of massage machine, massage dress described below
Reference can be corresponded to each other with above-described massage method by setting.
As shown in figure 11, the massage part identification device 400 includes following procedure module: first obtains module 410, knows
Other module 420, the second directive generation module 430；
Described first obtains module 410, for obtaining the image of object to be massaged；
The identification module 420, for identifying the relevant information of the massage part in described image according to described image；
Second directive generation module 430, for according to the relevant information, the relevant parameter of combination with massaging to be generated
Second instruction is massaged the massage part using corresponding massaging way by the second instruction control actuator；
Wherein, the relevant information is based on trained first model generation in advance；And/or second instruction is based on first passing through in advance
Trained third model generates；Or
In some embodiments, the massage part identification device further includes instruction control module (not shown to anticipate out), is used
It sends and indicates in control instructions device.
Figure 12 is the second structural block diagram of the embodiment of massage machine provided by the invention.
The embodiment of corresponding above method, the embodiment of the present invention also provide a kind of massage machine, massage dress described below
Reference can be corresponded to each other with above-described massage method by setting.
As shown in figure 12, the massage machine 500 includes following procedure module: the first control module 510, second controls mould
Block 520, first obtains module 530, the first directive generation module 540, third directive generation module 550；
First control module 510 is moved near massage part for controlling massage actuator；
Second control module 520 applies a certain of the direction massage part for controlling the massage actuator
Active force；
Described first obtains module 530, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module 540, for being believed according to described image and/or the massage part identification parameter
Breath generates the first instruction based on preparatory trained second model, adjusts the massage actuator by first instruction
Pose so that the massage actuator is located at the massage part.
The third directive generation module 550 is used for the relevant massage parameter of combination with massaging, generates third instruction, passes through
The third instruction control actuator massages the massage part using corresponding massaging way；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
In some embodiments, the embodiment of the present invention provides a kind of computer readable storage medium, computer-readable storage
Media storage has computer program, and the feature of the part of above-mentioned electronic component is realized when computer program is executed by processor
Recognition methods.
Figure 14 is the example structure schematic diagram of computer equipment provided by the invention.
As shown in figure 14, the computer equipment 6 of the embodiment includes: processor 60, memory 61 and is stored in described
In memory 61 and the computer program 62 that can be run on the processor 60.The processor 60 executes the computer journey
The step in above-mentioned each massage part recognition methods, massage part localization method and/or massage method embodiment is realized when sequence 62
Suddenly.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory (not shown to anticipate out), and is executed by the processor 60, to complete this hair
It is bright.One or more of module/units can be the series of computation machine program instruction section that can complete specific function, this refers to
Enable section for describing the process of track of the computer program in the slotting machine equipment.For example, the computer program can
To be divided into the first acquisition module, identification module；Wherein, first module is obtained, for obtaining the image of object to be massaged；Know
Other module, for identifying the massage part in described image based on preparatory trained first model according to described image
Relevant information.
The computer equipment can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The control device may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that described show
It is merely intended to the example of control device, does not constitute the restriction to control device, may include more more or fewer than illustrating
Component, perhaps combines certain components or different components, for example, the control device can also include input-output equipment,
Network access equipment, bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory can be the storage equipment built in the control device, such as hard disk or memory.The memory
It is also possible to the plug-in type hard disk being equipped on the External memory equipment of the slotting machine equipment, such as the slotting machine equipment, intelligently deposits
Card storage (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card)
Deng.Further, the memory can also both include the internal storage unit of the control device 3, also include external storage
Equipment.The memory is for other programs and data needed for storing the computer program and the slotting machine equipment.Institute
Stating memory can be also used for temporarily storing the data that has exported or will export.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand technical solution of the present invention and its core concept.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (19)
1. a kind of massage part recognition methods, which is characterized in that the massage part recognition methods includes:
Obtain the image of object to be massaged；
The related letter of the massage part in described image is obtained based on preparatory trained first model according to described image
Breath.
2. massage part recognition methods according to claim 1, which is characterized in that the relevant information includes massage part
Type and/or position.
3. massage part recognition methods according to claim 1 or 2, which is characterized in that the massage part recognition methods
Further include:
Based on the relevant information, control instructions device is given the massage part and is indicated.
4. a kind of massage part localization method, which is characterized in that the massage part localization method includes:
Control massage actuator is moved near massage part；
It controls the massage actuator and applies a certain active force for being directed toward the massage part；
Obtain the image and/or massage part identification parameter information of massage object；
It is generated according to described image and/or the massage part identification parameter information based on preparatory trained second model
First instruction, by the pose of the first instruction adjustment massage actuator, so that the massage actuator is located in institute
It states at massage part.
5. according to right want 4 described in massage method, which is characterized in that the massage part identification parameter information include: power ginseng
The reaction of number and/or massage object.
6. a kind of massage method, which is characterized in that the massage method includes:
Obtain the relevant information of massage part；
According to the relevant information, the relevant massage parameter of combination with massaging generates the second instruction, is controlled by second instruction
Actuator is moved to the massage part；The massage part is massaged using corresponding massaging way；Wherein,
The relevant information is based on trained first model in advance and generates；And/or
Second instruction is generated based on trained third model in advance.
7. massage method according to claim 6, which is characterized in that the relevant information of the massage part includes Massage Department
The type of position and/or position.
8. massage method according to claim 6 or 7, which is characterized in that the massage parameter includes force parameter, time ginseng
The reaction of number and/or massage object.
9. massage method according to claim 6 or 7, which is characterized in that the massage method further include:
Based on the relevant information, control instructions device is given the massage part and is indicated.
10. a kind of massage method, which is characterized in that the massage method includes:
Control massage actuator is moved near massage part；
It controls the massage actuator and applies a certain active force for being directed toward the massage part；
Obtain the image and/or massage part identification parameter information of massage object；
According to described image and/or the massage part identification parameter information, the first instruction is generated, is adjusted by first instruction
The pose of the whole massage actuator, so that the massage actuator is located at the massage part.
According to relevant massage parameter is massaged, third instruction is generated, actuator is controlled to the massage part by described instruction
It is massaged using corresponding massaging way；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
11. massage method according to claim 10, which is characterized in that the massage parameter includes force parameter, time ginseng
The reaction of number and/or massage object.
12. according to right want 10 or 11 described in massage method, which is characterized in that the massage part identification parameter packet
It includes: force parameter and/or the reaction for massaging object.
13. a kind of massage part identification device, which is characterized in that the massage part identification device include first obtain module,
Identification module；
Described first obtains module, for obtaining the image of object to be massaged；
The identification module, for being obtained in described image according to described image based on preparatory trained first model
The relevant information of massage part.
14. a kind of massage part positioning device, which is characterized in that the massage part positioning device include: the first control module,
Second control module, first obtain module, the first directive generation module；
First control module is moved near massage part for controlling massage actuator；
Second control module applies a certain active force of the direction massage part for controlling the massage actuator；
Described first obtains module, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module, for being based on pre- according to described image and/or the massage part identification parameter information
The second trained model is first passed through, the first instruction is generated, by the pose of the first instruction adjustment massage actuator, is made
The massage actuator is obtained to be located at the massage part.
15. a kind of massage machine, which is characterized in that the massage machine includes the first acquisition module, identification module, the second instruction
Generation module；
Described first obtains module, for obtaining the image of object to be massaged；
The identification module, for identifying the relevant information of the massage part in described image according to described image；
Second directive generation module, for according to the relevant information, the relevant parameter of combination with massaging to generate second and refers to
It enables, the massage part is massaged using corresponding massaging way by the second instruction control actuator；Wherein, institute
It states relevant information and is based on trained first model generation in advance；And/or second instruction is based on trained in advance
Third model generates；Or
The massage machine include the first control module, the second control module, first obtain module, the first directive generation module,
Third directive generation module；
First control module is moved near massage part for controlling massage actuator；
Second control module applies a certain active force of the direction massage part for controlling the massage actuator；
Described first obtains module, for obtaining the image and/or massage part identification parameter information of massage object；
First directive generation module, for being based on pre- according to described image and/or the massage part identification parameter information
The second trained model is first passed through, the first instruction is generated, by the pose of the first instruction adjustment massage actuator, is made
The massage actuator is obtained to be located at the massage part.
The third directive generation module is used for the relevant massage parameter of combination with massaging, generates third instruction, passes through the third
Instruction control actuator massages the massage part using corresponding massaging way；
First instruction is generated based on trained second model in advance；And/or
The third instruction is generated based on trained 4th model in advance.
16. a kind of massage apparatus, which is characterized in that the massage apparatus includes that imaging sensor and/or force snesor, massage are held
Row device and control device；
Lotus root connects described image sensor and/or force snesor and the massage actuator to the control device respectively；
The control device, for realizing massage part recognition methods described in claim 1-3 any one；And/or
Massage part localization method described in claim 4 or 5；And/or
Massage method described in claim 6-12 any one.
17. massage apparatus according to claim 16, which is characterized in that the massage apparatus further include timer and/or
Indicator；Lotus root connects the control device respectively for the force snesor, timer and/or indicator.
18. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is processed
Massage part recognition methods described in claim 1-3 any one is realized when device executes；And/or it is described in claim 4 or 5
Massage part localization method；And/or massage method described in claim 6-12 any one.
19. a kind of computer equipment, which is characterized in that the computer equipment includes memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Massage part recognition methods described in existing claim 1-3 any one；And/or massage part described in claim 4 or 5 is fixed
Position method；And/or massage method described in claim 6-12 any one.
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| CN201811079870.7A CN109498384B (en) | 2018-09-17 | 2018-09-17 | Massage part identification, positioning and massage method, device and equipment |
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|---|---|---|---|
| CN201811079870.7A CN109498384B (en) | 2018-09-17 | 2018-09-17 | Massage part identification, positioning and massage method, device and equipment |
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