CN110074964A - Head massager and head massage method based on 3-freedom parallel mechanism - Google Patents
Head massager and head massage method based on 3-freedom parallel mechanism Download PDFInfo
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- CN110074964A CN110074964A CN201910466732.2A CN201910466732A CN110074964A CN 110074964 A CN110074964 A CN 110074964A CN 201910466732 A CN201910466732 A CN 201910466732A CN 110074964 A CN110074964 A CN 110074964A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1604—Head
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/02—Head
- A61H2205/021—Scalp
Abstract
The invention discloses a kind of head massager based on 3-freedom parallel mechanism, including silent flatform and moving platform, moving platform is equipped with the massage actuator for massaging head；It is equipped between silent flatform and moving platform mobile according to preset path and massage head and/or according at least three 3-freedom parallel mechanisms on specified massage point massage head for controlling moving platform；It further include massage control system, massage control system includes controller and the control circuit for controlling 3-freedom parallel mechanism movement, moving platform is equipped with the image collecting device for acquiring the image information on head, controller is electrically connected with control circuit, and controller receives the image information from the head that image acquisition device arrives and generates with the matched massage path in head and/or issue control instruction to 3-freedom parallel mechanism with control circuit is passed through after the matched massaging point point set in head.The head massage method based on 3-freedom parallel mechanism that the invention also discloses a kind of.
Description
Technical field
The present invention relates to a kind of massagers, specifically the head massager and head to be a kind of based on 3-freedom parallel mechanism
Portion's massage method.
Background technique
With the continuous development of China's economy, the demand of people is also higher and higher, and more and more people more focus on body
Maintenance and rehabilitation.And head massager can effectively help people to loosen body, reduce anxiety and pleasure mood.Existing rank
Section, which can be roughly divided into two types for head massager in the market:
The first is coal massager, i.e., can only carry out part massage to head, i.e., existing this kind of head massager is big
All using fixed Worn type, head massager itself can't move in massage processes, only be capable of the local location in enemy portion
It is massaged, a kind of VR helmet and its head massage as disclosed in the Chinese patent application of Publication No. CN107102741A
Head massager is being integrated on VR helmet by method, be substantially still it is a kind of only can enemy portion local location by
The massager to rub.
Although the massage to entire head may be implemented in second class massager, but it only has simple massage mode, not
There is the different head shape for different users to match, greatly reduces the effect of massage, expection is often not achieved
Massaging and physiotherapeutical and maintenance rehabilitation efficacy.A kind of head massage as disclosed in the Chinese patent of Publication No. CN105751930B
Device, using the case cover of shell structure hemispherical outside user head, although by setting level-one toroidal shell, second level spherical shell and
The size of head-massaging machine is adjusted to match the size on different users head in spacing between three-level top shell, but still adopts
Directly user head is massaged with simple mode.Similarly, the Chinese patent application of Publication No. CN103006423A is public
A kind of head massager with cervical vertebra physiotherapeutic function opened can not also change massage path and mode according to the difference of user.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of head massager and head based on 3-freedom parallel mechanism
Portion's massage method can match the head of different users, and plan massage path and massage mode according to mating structure, reach and mention
High massaging and physiotherapeutical effect.
In order to achieve the above objectives, the invention provides the following technical scheme:
Present invention firstly provides a kind of head massagers based on 3-freedom parallel mechanism, including silent flatform to put down with dynamic
Platform, the moving platform are equipped with the massage actuator for massaging head；It is equipped between the silent flatform and moving platform for controlling
The moving platform is made according to preset path movement and massages head and/or massages at least the three of head according to specified massage point
A 3-freedom parallel mechanism；
It further include massage control system, the massage control system includes controller and for controlling the Three Degree Of Freedom simultaneously
Join the control circuit of mechanism action, the moving platform is equipped with the image collecting device for acquiring the image information on head, institute
It states controller to be electrically connected to the control circuit, and the controller receives and comes from the collected head of described image acquisition device
Image information and generate with the matched massage path in head and/or with pass through the control after the matched massaging point point set in head
Circuit processed issues control instruction to the 3-freedom parallel mechanism.
Further, the 3-freedom parallel mechanism include with the silent flatform articulated connection first pair of hinge bar and with
Second pair of hinge bar of the moving platform articulated connection, is articulated and connected between first pair of hinge bar and second pair of hinge bar,
And the silent flatform is equipped with the motor for driving first pair of hinge bar to rotate relative to the silent flatform.
Further, the massage actuator is equipped with the force snesor for acquiring massage pressure in real time, the power sensing
Device connect with the controller and collected massage pressure data is transmitted to the controller.
The invention also provides a kind of heads using the head massager based on 3-freedom parallel mechanism as described above
Massage method, characterized by the following steps:
1) images match: using the image data on image acquisition device head, the controller is according to collected
Image data generate with the matched massage path on head and/or with the matched massaging point point set in head；
2) massage head: the controller is matched according to generation with the matched massage path on head and/or with head
Massaging point point set, Xiang Suoshu control circuit issue control instruction, control circuit control 3-freedom parallel mechanism is dynamic
Make, the massage actuator is made to massage head according to preset massage path and/or preset massaging point point set.
Further, in the step 2), the control circuit control 3-freedom parallel mechanism movement holds the massage
Row device massages head according to the following steps:
2a) head is massaged according to preset massage path；
2b) head is massaged according to preset massaging point point set；
Or,
In the step 2), control circuit control 3-freedom parallel mechanism movement, make the massage actuator by
Head is massaged according to following steps:
2a) preset massaging point point set massages head；
2b) head is massaged according to preset massage path.
Further, further include step 2c), recycle the step 2a) and step 2b), until reaching the massage circulation of setting
Number.
Further, in the step 2), the control circuit control 3-freedom parallel mechanism movement holds the massage
When row device massages head according to preset massaging point point set, after each described massage degree point persistently massages setting time
It is moved to next massage degree point again, until all massaging point points in the massaging point point set massage completion.
Further, in the step 2), the controller according to the collected massage pressure data of the force snesor, to
The control circuit issues control instruction, and the control circuit control 3-freedom parallel mechanism movement executes the massage
Massage pressure between device and head remains in the threshold range of setting.
Further, described using the color image and depth image on image acquisition device head in the step 1)
Controller generates the threedimensional model of head surface according to the depth image, and matched with head according to threedimensional model generation
Massage path；
Meanwhile comparing collected color image with the human body brain acupuncture point figure being stored in the controller,
The image coordinate of brain surface acupuncture point characteristic point is extracted, and arrives head for obtained brain surface acupuncture point projecting characteristic points are extracted
In threedimensional model, the three-dimensional coordinate of brain surface acupuncture point characteristic point is obtained, and all brain surface acupuncture point characteristic points is corresponding
The point set of three-dimensional coordinate point be denoted as massaging point point set.
The beneficial effects of the present invention are:
Head massager based on 3-freedom parallel mechanism of the invention, by setting silent flatform and moving platform, and
3-freedom parallel mechanism is set between silent flatform and moving platform, can control moving platform in three-dimensional space according to preset mode
It moves freely, so that massage actuator can be driven to realize the massage to head exterior surface curved surface；Control system is massaged by setting
It unites, after the image data using image acquisition device head, produces massage path and massaging point using controller
Point set acts in this way, can flexibly control moving platform using 3-freedom parallel mechanism, and controls massage actuator according to generation
Massage head, Neng Gouda with the matched massage path in head massage head and according to the matched massaging point point set in head
To better massage effect.
Similarly, the head massage method of the invention based on 3-freedom parallel mechanism, by using image collecting device
The image data on head is acquired, and using controller production massage path and massaging point point set, in this way, utilizing Three Degree Of Freedom
Parallel institution can flexibly control moving platform movement, and control massage actuator according to generation and head matched massage path
It massages head and massages head according to the matched massaging point point set in head, better massage effect can be reached.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is that the present invention is based on the principle assumption diagrams of the head massager embodiment of 3-freedom parallel mechanism；
Fig. 2 is the functional block diagram for massaging control system；
Fig. 3 is the head image plan view obtained using image acquisition device；
Fig. 4 is the human body brain acupuncture point figure being stored in controller；
Comparison diagram of the Fig. 5 between head image plan view and human body brain acupuncture point figure；
Fig. 6 is the schematic diagram for extracting obtained massaging point point set.
Description of symbols:
1- silent flatform；2- moving platform；3- massages actuator；4- controller；5- control circuit；First pair of hinge bar of 6-；7-
Second pair of hinge bar；8- motor；9- force snesor；10- image collecting device.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, for the present invention is based on the principle assumption diagrams of the head massager embodiment of 3-freedom parallel mechanism.
Head massager of the present embodiment based on 3-freedom parallel mechanism, including silent flatform 1 and moving platform 2, moving platform 2, which is equipped with, to be used
Massage actuator 3 in massage head；It is equipped between silent flatform 1 and moving platform 2 for controlling moving platform 2 according to preset path
Move and massage head and/or at least three 3-freedom parallel mechanisms according to specified massage point massage head.This implementation
The 3-freedom parallel mechanism of example is set as be not arranged on the same straight line three.
Head massager of the present embodiment based on 3-freedom parallel mechanism further includes massage control system, massage control system
System includes controller 4 and the control circuit 5 for controlling 3-freedom parallel mechanism movement, and moving platform 2 is equipped with for acquiring
The image collecting device 10 of the image information on head, controller 4 are electrically connected with control circuit 5, and controller 4 receives and comes from image
The image information on the collected head of acquisition device 10 and generate with the matched massage path in head and/or with head is matched presses
It rubs after the point set of acupuncture point, issue control instruction by control circuit 5 to 3-freedom parallel mechanism.
Further, the 3-freedom parallel mechanism of the present embodiment includes first pair of hinge bar 6 being articulated and connected with silent flatform 1
Second pair of hinge bar 7 with being articulated and connected with moving platform 2, is articulated and connected between first pair of hinge bar 6 and second pair of hinge bar 7,
And silent flatform 1 is equipped with the motor 8 for driving first pair of hinge bar 6 to rotate relative to silent flatform 1.It is controlled using control circuit 5
The rotational angle of the motor 8 of different freedom degree parallel connection structures is made, i.e., controllable moving platform 2 moves in three-dimensional space.
Further, the massage actuator 3 of the present embodiment is equipped with the force snesor 9 for acquiring massage pressure in real time, power
Sensor 9 connect with controller 4 and collected massage pressure data is transmitted to controller 4, in this way, controller 4 can root
According to the data of the collected massage pressure of force snesor 9, to control 3-freedom parallel mechanism movement, and then adjusting massage pressure
Power is maintained at massage pressure in suitable range, improves massage comfort level.
Head massager of the present embodiment based on 3-freedom parallel mechanism, by setting silent flatform and moving platform, and
3-freedom parallel mechanism is set between silent flatform and moving platform, can control moving platform in three-dimensional space according to preset mode
It moves freely, so that massage actuator can be driven to realize the massage to head exterior surface curved surface；Control system is massaged by setting
It unites, after the image data using image acquisition device head, produces massage path and massaging point using controller
Point set acts in this way, can flexibly control moving platform using 3-freedom parallel mechanism, and controls massage actuator according to generation
Massage head, Neng Gouda with the matched massage path in head massage head and according to the matched massaging point point set in head
To better massage effect.
The specific embodiment of the head massage method to the present embodiment based on 3-freedom parallel mechanism carries out detailed below
It describes in detail bright.
Head massage method of the present embodiment based on 3-freedom parallel mechanism, includes the following steps:
1) images match: the image data on head is acquired using image collecting device 10, controller 4 is according to collected figure
As data generate with the matched massage path on head and/or with the matched massaging point point set in head.
Specifically, the present embodiment acquires the color image and depth image on head, controller 4 using image collecting device 10
The threedimensional model of head surface is generated according to depth image, and is generated and the matched massage path in head according to the threedimensional model.
The method for solving for massaging path can use existing accomplished in many ways, and the present embodiment is asked using Inverse Kinematics Solution method for solving
Solve the massage path of head surface.
Meanwhile comparing collected color image with the human body brain acupuncture point figure being stored in controller 4, it extracts
The image coordinate of brain surface acupuncture point characteristic point, and the three-dimensional of obtained brain surface acupuncture point projecting characteristic points to head will be extracted
In model, the three-dimensional coordinate of brain surface acupuncture point characteristic point is obtained, and by all brain surface acupuncture point characteristic points corresponding three
The point set of dimension coordinate points is denoted as massaging point point set.
Specifically, Inverse Kinematics Solution method for solving is used in robot field mostly, because of Inverse Kinematics Solution method for solving
In the presence of more solutions, so robot needs to ask optimal solution, the solution of optimal solution after solving using Inverse Kinematics Solution method for solving
Journey is more complicated, need one by one joint seek optimal solution.But in the control of head massage, do not need to solve optimal solution, because
For from an acupuncture point point to the path of another acupuncture point point, it is only necessary to guarantee that massage actuator 3 is transported in head surface
It is dynamic, do not need the optimal solution of a shortest time.Opposite, in massager control, it would be desirable to more solutions, because in every two
It can preferably be moved, can be massaged outside massaging point point every time not with different massage paths between massaging point point
Massage as much as possible may be implemented to head surface in same head surface.
2) massage head: controller 4 according to the matched massage path on generation and head and/or with head is matched presses
Rub acupuncture point point set, to control circuit 5 issue control instruction, control circuit 5 control 3-freedom parallel mechanism movement, make massage hold
Row device 3 massages head according to preset massage path and/or preset massaging point point set.
Specifically, control circuit 5 controls 3-freedom parallel mechanism movement, make to massage the step of actuator 3 massages head
There are many modes, such as:
Control circuit 5 controls 3-freedom parallel mechanism movement, and massage actuator 3 is made to massage head according to the following steps:
2a) head is massaged according to preset massage path；
2b) head is massaged according to preset massaging point point set；
It is, of course, also possible to include step 2c): circulation step 2a and step 2b, until reaching the massage cycle-index of setting.
Or,
In step 2, control circuit 5 control 3-freedom parallel mechanism movement, make massage actuator 3 according to the following steps by
It rubs head:
2a) preset massaging point point set massages head；
2b) head is massaged according to preset massage path；
It is, of course, also possible to include step 2c): circulation step 2a and step 2b, until reaching the massage cycle-index of setting.
I.e. during massaging head, head surface first can be massaged comprehensively according to massage path, according to massage cave
Site collection massages the different acupuncture point in head；Can also first according to massaging point point set massage head Different Acupoint after, according to
Head surface is massaged comprehensively in massage path；It is, of course, also possible to recycle massage head acupuncture point and head surface, and only in accordance with pressing
Rub path massage comprehensively head surface or only according to massaging point point set massage head Different Acupoint, be not repeated.
Specifically, control circuit 5 controls 3-freedom parallel mechanism movement, make to massage actuator 3 according to preset massage
When acupuncture point point set massages head, it is moved to next massage degree again after each massage degree point persistently massages setting time
Point has reached better point massage effect until all massaging point points in massaging point point set massage completion.
Preferably, controller 4 issues control to control circuit 5 and refers to according to the collected massage pressure data of force snesor 9
It enables, control circuit 5 controls 3-freedom parallel mechanism movement, protects the massage pressure massaged between actuator 3 and head always
It holds in the threshold range of setting, improves massage comfort level.
Head massage method of the present embodiment based on 3-freedom parallel mechanism, by using image acquisition device head
The image data in portion, and using controller production massage path and massaging point point set, in this way, utilizing three-freedom parallel
Structure can flexibly control moving platform movement, and control massage actuator according to generation and head matched massage path massage head
Portion and head is massaged according to the matched massaging point point set in head, better massage effect can be reached.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (9)
1. a kind of head massager based on 3-freedom parallel mechanism, it is characterised in that: including silent flatform (1) and moving platform
(2), the moving platform (2) is equipped with the massage actuator (3) for massaging head；The silent flatform (1) and moving platform (2) it
Between be equipped with it is mobile according to preset path and massage head and/or according to specified massage point for controlling the moving platform (2)
Massage at least three 3-freedom parallel mechanisms on head；
It further include massage control system, the massage control system includes controller (4) and for controlling the Three Degree Of Freedom simultaneously
Join the control circuit (5) of mechanism action, the moving platform (2) is equipped with the image collector for acquiring the image information on head
It sets (10), the controller (4) is electrically connected with the control circuit (5), and the controller (4) reception is adopted from described image
The image information on acquisition means (10) collected head and generate with the matched massage path in head and/or with head is matched presses
It rubs and control instruction is issued by the control circuit (5) Xiang Suoshu 3-freedom parallel mechanism after the point set of acupuncture point.
2. the head massager according to claim 1 based on 3-freedom parallel mechanism, it is characterised in that: described three certainly
It include hinged with first pair of hinge bar (6) of the silent flatform (1) articulated connection and with the moving platform (2) by degree parallel institution
Second pair of hinge bar (7) of connection, is articulated and connected, and described between first pair of hinge bar (6) and second pair of hinge bar (7)
Silent flatform (1) is equipped with the motor (8) for driving first pair of hinge bar (6) to rotate relative to the silent flatform (1).
3. the head massager according to claim 1 based on 3-freedom parallel mechanism, it is characterised in that: the massage
Actuator (3) is equipped with the force snesor (9) for acquiring massage pressure in real time, the force snesor (9) and the controller
(4) it connects and collected massage pressure data is transmitted to the controller (4).
4. a kind of pressed using the head of the head massager based on 3-freedom parallel mechanism as described in claim any one of 1-3
It rubs method, characterized by the following steps:
1) images match: using the image data on image collecting device (10) acquisition head, controller (4) basis is collected
Image data generate with the matched massage path on head and/or with the matched massaging point point set in head；
2) massage head: the controller (4) is matched with the matched massage path on head and/or with head according to generation
Massaging point point set, Xiang Suoshu control circuit (5) issue control instruction, and the control circuit (5) controls three-freedom parallel
Structure movement, makes the massage actuator (3) massage head according to preset massage path and/or preset massaging point point set.
5. the head massage method based on 3-freedom parallel mechanism according to claim 4, it is characterised in that:
In the step 2), control circuit (5) the control 3-freedom parallel mechanism movement makes the massage actuator (3)
Head is massaged according to the following steps:
2a) head is massaged according to preset massage path；
2b) head is massaged according to preset massaging point point set；
Or,
In the step 2), control circuit (5) the control 3-freedom parallel mechanism movement makes the massage actuator (3)
Head is massaged according to the following steps:
2a) preset massaging point point set massages head；
2b) head is massaged according to preset massage path.
6. the head massage method based on 3-freedom parallel mechanism according to claim 5, it is characterised in that:
Further include step 2c), recycle the step 2a) and step 2b), until reaching the massage cycle-index of setting.
7. the head massage method based on 3-freedom parallel mechanism according to claim 4, it is characterised in that:
In the step 2), control circuit (5) the control 3-freedom parallel mechanism movement makes the massage actuator (3)
When massaging head according to preset massaging point point set, moved again after each described massage degree point persistently massages setting time
It moves to next massage degree point, until all massaging point points in the massaging point point set massage completion.
8. the head massage method based on 3-freedom parallel mechanism according to claim 4, it is characterised in that:
In the step 2), the controller (4) is according to the collected massage pressure data of the force snesor (9), Xiang Suoshu
Control circuit (5) issues control instruction, and control circuit (5) the control 3-freedom parallel mechanism movement holds the massage
Massage pressure between row device (3) and head remains in the threshold range of setting.
9. the head massage method according to claim any one of 4-8 based on 3-freedom parallel mechanism, it is characterised in that:
In the step 1), the color image and depth image on image collecting device (10) acquisition head, the controller are utilized
(4) it generates the threedimensional model of head surface according to the depth image, and is generated and head is matched presses according to the threedimensional model
It rubs path；
Meanwhile comparing collected color image with the human body brain acupuncture point figure being stored in the controller (4), it mentions
It takes the image coordinate of brain surface acupuncture point characteristic point, and obtained brain surface acupuncture point projecting characteristic points will be extracted to the three of head
In dimension module, the three-dimensional coordinate of brain surface acupuncture point characteristic point is obtained, and all brain surface acupuncture point characteristic points is corresponding
The point set of three-dimensional coordinate point is denoted as massaging point point set.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111514001A (en) * | 2020-05-06 | 2020-08-11 | 南京中医药大学 | Full-automatic intelligent scraping device and working method thereof |
| CN112750108A (en) * | 2021-01-13 | 2021-05-04 | 深圳瀚维智能医疗科技有限公司 | Massage apparatus control method, system and computer readable storage medium |
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Application publication date: 20190802 |