CN110308682A - A kind of back massage robot control system and method - Google Patents
A kind of back massage robot control system and method Download PDFInfo
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- CN110308682A CN110308682A CN201910546829.4A CN201910546829A CN110308682A CN 110308682 A CN110308682 A CN 110308682A CN 201910546829 A CN201910546829 A CN 201910546829A CN 110308682 A CN110308682 A CN 110308682A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
Abstract
The present invention relates to a kind of back massage robot control systems, comprising: main control module, sensing module, drive module, power supply module, upper computer module and human-computer interaction module.Wherein: main control module receives the analog signal from sensing module, converts and calculates by controller, exports corresponding digital signal, controls drive module, and carry out two-way communication with upper computer module；Attitude signal, motor message and the dynamics signal of sensing module acquisition robot body simultaneously feed back to the main control module；Drive module receives and executes the instruction of the main control module, control massage executing agency；Human-computer interaction module shows the motion information of robot to user, receives operational order and phonetic order that user assigns robot.
Description
Technical field
The invention belongs to robot control fields, and in particular to a kind of back massage robot control system and method.
Background technique
The quantity of China vertebra patient persistently rises, long-term muscular fatigue, is the major reason for leading to this phenomenon.
A kind of effective muscular fatigue of massage conduct alleviates method and is taken seriously, but experienced masseur is much unable to satisfy need at present
It asks.Existing massage appliance has massage armchair, massage machine arm, massage cloak etc., but the massage robot of small movable is still
Fewer, back massage robot is increasingly taken seriously as a kind of preferable massage appliance of effect.Patent of invention
201711373332.4 disclosing a kind of massage robot.The invention includes casing part and massage wheels, battery, motor, biography
Motivation structure and gravity sensing device, the device are incuded the current tilt angle of robot using gravity sensing device, work as inclination
When angle is greater than preset value, control motor drive direction is anti-, realizes the reciprocal massage of human body back.The device can obtain robot angle number
According to, but posture information acquisition is less, easily topples over when encountering back wide-angle mutation steep cliff, it is difficult to accurately be positioned, be stablized
Realize massage in ground；Meanwhile back softness is different, can not be effectively controlled to massage force.Patent of invention
201810143898.6 disclosing a kind of mobile back massage robot.The robot small volume, it is easy to carry.Robot
Using the gimmick of wheel massage, laser range sensor is used to carry out attitude data acquisition, has carried out edge detection, then carry out road
The adjustment of diameter.Meanwhile massage is driven to beat by motor, and carry out mobile massage.But laser ranging higher cost, and single sensing
Data position inaccurate；Back area is smaller, and the control mode for directly controlling motor is difficult to realize accurate movement；User needs straight
It connects and robot operate or function control is carried out by third party's client, interactive mode is not convenient for user's use.
Summary of the invention
Technical problems to be solved
In order to overcome back massage robot posture induction precision existing in the prior art low, dynamics is difficult to adjust, and moves
Dynamic and path planning ability is weak, the problem of interactive mode inconvenience, and the present invention proposes a kind of back massage robot control system
System.
Technical solution
A kind of back massage robot control system, it is characterised in that including main control module, sensing module, drive module,
Upper computer module, human-computer interaction module and power supply module；Main control module receives the analog signal from sensing module, by turning
Calculating is changed, exports corresponding Digital Signals drive module, and carry out two-way communication with upper computer module；Sensing module acquisition
Attitude signal, motor message and the dynamics signal of robot body simultaneously feed back to main control module；Drive module receives and executes master
Control the instruction of module, control massage executing agency；Human-computer interaction module shows the motion information of robot to user, receives user
The operational order and phonetic order that robot is assigned；Power supply module is to main control module, sensing module, drive module, upper
Machine module and human-computer interaction module provide required electric energy.
The sensing module include posture induction module, edge detection module, double closed loop speed regulation system parameter collection module and
Force feedback module, posture induction module include gyro sensor, acceleration transducer and Gaussian weighting marks device, and gyroscope passes
Sensor and acceleration transducer are mounted in the main structure of robot, and gyro sensor acquires the Eulerian angles of robot, are added
Velocity sensor acquires the acceleration signal of robot, and acceleration signal is passed to after Gaussian weighting marks device is handled again
Main control module is issued, edge detection module is mounted on the bottom margin of robot, and edge detection module includes multichannel infrared sensing
Device, the distance on detection robot chassis to human body back；Double closed loop speed regulation system parameter collection module includes being mounted on drive module
Hall sensor and current acquisition module on motor, Hall sensor acquire the speed of motor, current acquisition module acquisition electricity
The electric current of machine；Force feedback module includes the force snesor and low-pass filter circuit for being mounted on massage cephalic par, force sensor measuring
Cephalic par is massaged to the force low frequency signal of human body, low frequency signal obtains smooth signal waveform by low-pass filter circuit.
The main control module includes controller I, and controller I includes MCU processor and A/D conversion module, posture induction
Module to A/D conversion module input Eulerian angles, acceleration carry out A/D conversion, edge detection module to A/D conversion module input away from
From A/D conversion is carried out, double closed loop speed regulation system parameter collection module carries out A/D to the speed and electric current of A/D conversion module input motor
Conversion, the smooth signal A/D of power that force feedback module inputs massage cephalic par to A/D conversion module are converted；Main control module receives
When robot Eulerian angles, acceleration, distance signal data, compared with built-in expected operation interval, when Eulerian angles, acceleration, away from
Deviate this operation interval from signal data, main control module assigns control instruction to drive module and changes motor steering；Main control module
When receiving actual motor speed, current signal data, it is compared with goal pace, electric current, when deviation is more than maximum value,
Main control module assigns control instruction adjustment motor speed to drive module；It is and built-in when main control module receives actual forces signal
Best massage force section is compared, and when force signal data deviate this operation interval, main control module is assigned control to drive module and referred to
Enable adjustment motor speed.
The drive module includes that 4 DC speed-reducings, 1 twin shaft Worm reduction motor and 3 motors drive
Moving cell；The output end of the controller I of main control module is connect with the input terminal of 3 electric-motor drive units, and two of them motor drives
The output end of moving cell is connect with the input terminal of two DC speed-reducings, the output end of another electric-motor drive unit and double
The input terminal of axis Worm reduction motor connects, and the output end of DC speed-reducing is connect with massage wheels, twin shaft worm and gear
The output end of decelerating motor is connect with massage head.
The upper computer module includes controller II, and module carries out by wireless communication for upper computer module and main control module
It is bi-directionally connected, upper computer module receives the information from main control module and emits director data to main control module.
The human-computer interaction module includes human-computer interaction interface and speech recognition module, human-computer interaction interface and host computer
Module connection, human-computer interaction interface include a variety of different sub-interfaces, carry out identification output phase by the click on area to user
The control signal answered, the display area of human-computer interaction interface can show the motion information from main control module；Speech recognition
Module is connect with main control module, the instruction of speech recognition module identification and acquisition user, and instruction is transmitted to main control module, main
Control module is screened and is extracted to the director data received by generating serial ports interruption.
A kind of control method that back massage robot control system is realized, it is characterised in that subtracted by controlling 4 direct currents
The direction and speed of speed motor and 1 twin shaft Worm reduction motor switches 6 kinds of different massage manipulations: hammer into shape, pinch, rubbing with the hands,
Twist, push away, roll, 4 DC speed-reducings and 1 twin shaft Worm reduction motor are respectively indicated using A, B, C, D, E, using H,
L, S, C, A respectively indicate the state of motor: high speed, low speed, stopping, rotating forward, reversion；The representation wherein hammered into shape: A:S, -/B:
S, -/C:S, -/D:S, -/E:H, C, the representation pinched: A:H, C/B:H, A/C:H, A/D:H, C/E:H, C, the expression side of stranding
Formula: A:H, A/B:H, C/C:H, C/D:H, A/E:H, C, stubborn representation: A:H, C/B:H, C/C:H, C/D H, C/E:H, C,
The representation pushed away: A:H, C/B:H, C/C:L, A/D:L, A/E:H, C, the representation of rolling: A:H, C/B:H, C/C:H, A/D:
H,A/E:H,C。
Beneficial effect
1) the present invention provides a kind of novel back massage robot pose induction systems, in conjunction with Kalman's data fusion
Algorithm merges the multiple sensors data in posture induction module and edge detection module, has obtained sensing data abundant
Signal, and data return main control module is subjected to resolving processing, obtain the exact position in massage robot in human body back
Information, real-time property is strong, accurate positioning.
2) the present invention provides a kind of control modes that massage force adjusts in real time, are based on force feedback module, collect
The real-time dynamics of massage head massage, and real-time control is carried out to dual-axle motor by main control module, being directed to robot has not
With back landform, back feature crowd work when, massage force can be made to be maintained at best massage force region.
3) the present invention provides a kind of massage control mode of massage manipulation multiplicity, by pulsewidth modulation to multichannel motor into
Row turns to, the control of revolving speed and rotation time, and carries out experiment test, has obtained optimal six kinds of massage manipulations, can be to people
Body muscle of back plays different massage manipulations, enhances massage experience.
4) the present invention provides a kind of back-movings that coverage rate is high to massage control mode, small for dorsal area, rises and falls
The higher feature of rate has used double closed loop speed regulation system control mode to DC speed-reducing, realizes to the accurate of robot movement
Control is based on built-in algorithm and multiple sensors data, and the mobile massage ability for making robot have planning property strong improves
The massage stability of robot.
5) the present invention provides a kind of novel back massage robot man-machine interaction method, human-computer interaction interface has been merged
And speech recognition system, user can choose by assign phonetic order or operating interactive interface come to robotary into
Row control, using flexible enhance interactive interest.
Detailed description of the invention
Fig. 1: the structural schematic diagram of back massage robot control system in embodiment of the present invention；
Fig. 2: the structural schematic diagram of sensing module in embodiment of the present invention；
Fig. 3: the structural schematic diagram of drive module in embodiment of the present invention；
Fig. 4: the structural schematic diagram of human-computer interaction module in embodiment of the present invention；
Fig. 5: the control schematic diagram of massage manipulation in embodiment of the present invention；
Fig. 6: the flow chart that path is massaged in embodiment of the present invention.
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
It is as shown in Figure 1 the structural schematic diagram of back massage robot control system, back massage robot of the invention
Massage system includes that following part includes main control module 1, sensing module 2, drive module 3, upper computer module 4, human-computer interaction
Module 5 and power supply module 6.The output end of the sensing module 2 is connect with the input terminal of A/D conversion module in main control module 1；Institute
The input terminal for stating drive module 3 is connect with the output end of main control module 1；The upper computer module 4 passes through with the main control module 1
Wireless communication module 7 is bi-directionally connected；The human-computer interaction module 5 is connect with upper computer module 4 and main control module 1 respectively；It is described
Power supply module 6 is that the back massage robot control system is powered.
It is illustrated in figure 2 the structural schematic diagram of sensing module 2, the sensing module 2 includes posture induction module 21, edge
Detection module 22, double closed loop speed regulation system parameter collection module 23 and force feedback module 24；The posture induction module 21 acquires machine
Roll angle, pitch angle, the yaw angle, acceleration of people during the motion.The edge detection module 22 detects robot to back
Whether portion's Edge Distance, judgement state are hanging；The double closed loop speed regulation system parameter collection module 23 acquires the mobile massage of robot
When speed signal and motor current signal.The force feedback module 24 acquires the dynamics letter when massage of massage head knocking
Number.The analog signal of each sensing module output is connect with the A/D conversion module in main control module respectively, input digital signal to master
It controls in the controller in module 1.
The posture induction module 21 includes gyro sensor 211, acceleration transducer 212.Acceleration transducer 212
In the acceleration simulation amount data input Gaussian weighting marks device 213 of the mobile massage of the robot of acquisition, then enter data into institute
In the input terminal for stating main control module 1, main control module 1 is again by built-in Kalman's data anastomosing algorithm to gyroscope resolution error
It compensates, improves the accuracy that gyroscope 211 monitors angle.If the edge detection module 22 includes main line infrared sensor
221, infrared sensor 221 is installed on robot bottom margin, and bottom margin is placed with multiple infrared sensors 221, single red
Outer sensor 221 is made of an infrared transmitting tube and a PSD, and the light beam that infrared transmitting tube issues encounters anti-when reaching back
It is emitted back towards and, by distance value is calculated, be reconverted into analog signal output.Gyro data is melted with infrared sensor data
It closes and the elimination of error, location difficulty caused by solving the problems, such as because of back landform improves the accuracy of positioning.
The double closed loop speed regulation system parameter collection module 23 includes the hall sensing being mounted on the motor of the drive module
Device 231 and current acquisition module 232.In order to improve the accuracy of measuring speed, the Hall sensor 231, which is mounted on, posts magnetic
The non magnetic disk proximal end of block, the non magnetic disk and 31 shaft of direct current generator are connected, the output of the Hall sensor 231
End is connect with the input terminal of the main control module 1, obtains pulse signal, the pulse using frequency measurement velocimetry based on hall signal
Signal carries out shaping by Schmidt trigger, pulse signal count by the controller I of the main control module 1 and
Data processing；The current acquisition module 232 measures the actual current signal of motor, and current signal is fed back to main control module
1.Based on the double closed loop speed regulation system control that this acquisition module 23 carries out, it can greatly optimize the dynamic of robot mobile motor control
Performance.
The force feedback module 24 includes the force snesor 241 and low-pass filter circuit for being mounted on two massage cephalic pars
242, when massage head and back touching, the measurement of force snesor 241 obtains low frequency signal, by built-in low-pass filter circuit
242 obtain smooth signal waveform, then signal is exported into main control module 1.The output end of the low-pass filter circuit 242 and master
The input terminal connection of module 1 is controlled, the main control module 1 is acquired processing to signal.Be provided in main control module 1 it is preset most
Good massage force value region, when the massage force of massage head is between this region, not to the motor arteries and veins of control massage head
Width modulation；When the massage force of massage head is detached from best massage force region, main control module 1 issues control to drive module 3 and refers to
It enables, adjusts the duty ratio of driving signal to control massage force.
It is illustrated in figure 3 the structural schematic diagram of drive module 3, the drive module 3 includes DC speed-reducing 31, twin shaft
Worm reduction motor 32 and electric-motor drive unit 33.The output end and motor driven list of the controller I of the main control module 1
The input terminal connection of member 33；The output end of the driving unit 33 and the input terminal of motor connect.DC speed-reducing 31 with press
The wheel that rubs is attached, and twin shaft Worm reduction motor 32 is attached with massage head.
The main control module includes controller I, and the controller I is MCU processor, due to back massage zone of action phase
To smaller, therefore, motor is precisely controlled in order to realize, the controller I 11 uses double closed loop speed regulation system, passes through pulsewidth modulation
The electric-motor drive unit 33 in the drive module 3 is controlled with logical signal, changes motor status, realizes different press
It rubs gimmick.
The upper computer module 4 includes controller II 41；The upper computer module 4 passes through wireless with the main control module 1
Communication module 7 is bi-directionally connected, and the wireless communication module 7 is connect with the controller I 11 of the main control module 1.Channel radio
Believe that 7 workability of module can preferable bluetooth module or Wifi module.The upper computer module 4 can receive to come from main control module
1 information simultaneously emits director data to main control module 1.
It is illustrated in figure 4 the structural schematic diagram of human-computer interaction module 5, the human-computer interaction module 5 includes human-computer interaction circle
Face 51 and speech recognition module 52；The human-computer interaction interface 51 is connect with upper computer module 4, and human-computer interaction interface 51 includes more
The different sub-interface of kind, including the adjustment massaged the time, massage path, massage manipulation.Meanwhile it being also connected in main control module 1
SD card, built-in a variety of music, user can pass through control switching music.51 display area of human-computer interaction interface can also
Enough motion informations and robot remaining capacity shown from main control module 1, it is convenient for users to use.The voice is known
The output end of other module 52 is connect with the input terminal of the main control module, and speech recognition module carries out the voice input of user pre-
Processing, and the feature that voice will be extracted.The reference template library of user is established by carrying out voice training identification.Meanwhile in master control
Corresponding verbal instructions are set in module 1, when user inputs verbal instructions again, the similarity-rough set of voice will be carried out, and
Corresponding corresponding instruction, signal instruction is input in main control module 1.The controller I 11 of the main control module 1 is by generating string
Mouth interrupts and the director data received is screened and extracted, and issues corresponding control signal.In actual design, we
Different massage manipulations are prefixed, difference massages path, different music, and the verbal instructions of difference massage times can satisfy user
Most of demand.
It is illustrated in figure 5 the six kinds of massage manipulations 9 and its control mode 10 of massage robot.The mode of four-wheel sub-control,
Be conducive to develop a variety of massage manipulations 9.User issues control to the controller I11 in main control module 1 by human-computer interaction module 5
Instruction, controller I11 assign the control instruction of switching massage manipulation 9 to drive module 3, change the revolving speed of motor, turn to and
Rotation time changes massage manipulation 9, reaches different massage effects.By experimental test and small parameter perturbations, difference has been carried out
The combination of scheme there are out 6 kinds of massage manipulations 9 the most suitable: hammer into shape, pinches, rubs with the hands, twists, pushes away, roll.Hammer can hammer back flesh
Meat, pinch can compact muscle of back, stranding can unfold muscle of back, and muscle of back can be squeezed by twisting, and back flesh can be pushed by pushing away
Meat, rolling can press muscle of back, and various massaging ways can play different massage effects, enhancing massage experience.Pass through control
Five motors: A, B, C, D, E switch the massage manipulation 9 of robot.Simplify motor speed are as follows: high speed: H, low speed: L stops: S；
It turns to are as follows: rotate forward: C, reversion: A.
Be illustrated in figure 6 path massage flow chart, the back massage robot control system have precise positioning with
And path planning function；Precise locating function is the Euler's angular data acquired based on sensing module 2, determines the appearance of robot
State, then the range data measured based on edge detection module 22, determine position of the robot apart from back edge；Based on such fixed
Position, then calculated by main control module 1, compare whether this real-time status data exceeds preset perfect condition data area, obtains machine
Whether device people is in home；When robot deviates safe ideal position, drive module 3 is assigned based on built-in algorithm instruct into
The control of row double closed loop speed regulation system, realizing route planning.The path massage of the back massage robot control system includes following step
It is rapid:
Step 1: in S111 and S112, user is arranged back massage robot by the human-computer interaction module and enters road
Diameter massage mode；
Step 2: in S112 and S113, back massage robot receives instruction access path massage mode and carries on the back in human body
The mobile massage in portion；
Step 3: in S114, back massage robot obtains itself by the posture induction module in back massage
Location information at back；
Step 4: in S117, back massage robot combines built-in algorithm planning to press on the basis of posture induction module
It rubs path；
Step 5: in S114, back massage robot reads infrared sensor, gyro sensor in real time, and acceleration passes
The position data of sensor is built-in with several position data threshold values, and when robot position data is more than this threshold value, calibration is at this time
Robot motion's state is critical motion state, keeps will lead to robot disengaging dorsal area for a long time in this state；
Step 6: in S115, S116, S117, S118, when robot position data is more than threshold value, back massage machine
People controls robot by the drive module and adjusts displacement state, prevents from itself being detached from dorsal area；Work as position data
When being less than threshold value, keeps motion state and path planning is carried out based on built-in algorithm；
Step 7: back massage robot constantly adjusts the enabled entire dorsal area of covering in massage path by algorithm, realizes
The path massage functions of robot.
The power supply module 6 includes: Power Entry Module 61, the first lowering and stabilizing blood pressure module 62, the second lowering and stabilizing blood pressure module
63；The Power Entry Module 61 includes two connecting terminals in 12V lithium battery and circuit board, and 12V lithium battery passes through wiring
Terminal is connect with circuit board, provides electric energy for the back massage robot control system；The first lowering and stabilizing blood pressure module 62
It is 5V by the voltage step-down in the Power Entry Module, is that the twin shaft Worm reduction motor 32 in drive module 3 is powered；
Voltage step-down in the Power Entry Module is 3.3V by the second lowering and stabilizing blood pressure module 63, is straight in drive module 3
Decelerating motor 31 is flowed to power.Monitor battery has different voltage changes in different electricity residue situations, and main control module 1 can
Monitor the real time electrical quantity of battery, and by wireless communication module 7 battery capacity is shown it is man-machine in human-computer interaction module 5
On interactive interface 51.
Claims (7)
1. a kind of back massage robot control system, it is characterised in that including main control module (1), sensing module (2), driving mould
Block (3), upper computer module (4), human-computer interaction module (5) and power supply module (6)；Main control module (1) is received from sensing mould
The analog signal of block (2) calculates by conversion, exports corresponding Digital Signals drive module (3), and and upper computer module
(4) two-way communication is carried out；Attitude signal, motor message and the dynamics signal of sensing module (2) acquisition robot body are simultaneously fed back
Give main control module (1)；Drive module (3) receives and executes the instruction of main control module (1), control massage executing agency；Man-machine friendship
Mutual module (5) shows the motion information of robot to user, receives operational order that user assigns robot and voice refers to
It enables；Power supply module (6) is to main control module (1), sensing module (2), drive module (3), upper computer module (4) and human-computer interaction mould
Block (5) provides required electric energy.
2. a kind of back massage robot control system according to claim 1, it is characterised in that the sensing module
It (2) include posture induction module (21), edge detection module (22), double closed loop speed regulation system parameter collection module (23) and force feedback mould
Block (24), posture induction module (21) include gyro sensor (211), acceleration transducer (212) and Gaussian weighting marks
Device (213), gyro sensor (211) and acceleration transducer (212) are mounted in the main structure of robot, and gyroscope passes
Sensor (211) acquires the Eulerian angles of robot, and acceleration transducer (212) acquires the acceleration signal of robot, by acceleration
Signal is passed to after Gaussian weighting marks device (213) is handled and is issued again main control module (1), edge detection module (22) installation
In the bottom margin of robot, edge detection module (22) includes multichannel infrared sensor, and detection robot chassis to human body is carried on the back
The distance in portion；Double closed loop speed regulation system parameter collection module (23) includes the Hall sensor being mounted on the motor of drive module (3)
(231) and current acquisition module (232), Hall sensor (231) acquire the speed of motor, current acquisition module (232) acquisition
The electric current of motor；Force feedback module (24) includes the force snesor (241) and low-pass filter circuit for being mounted on massage cephalic par
(242), force snesor (241) measurement massage cephalic par is to the force low frequency signal of human body, and low frequency signal is by low-pass filtering electricity
Road (242) obtains smooth signal waveform.
3. a kind of back massage robot control system according to claim 1, it is characterised in that the main control module
It (1) include controller I, controller I includes MCU processor and A/D conversion module, and posture induction module (21) gives A/D modulus of conversion
Block inputs Eulerian angles, acceleration carries out A/D conversion, and edge detection module (22) carries out A/D to A/D conversion module transmission range and turns
It changes, double closed loop speed regulation system parameter collection module (23) carries out A/D conversion, power to the speed and electric current of A/D conversion module input motor
Power smooth signal A/D conversion of the feedback module (24) to A/D conversion module input massage cephalic par；Main control module (1) receives
When robot Eulerian angles, acceleration, distance signal data, compared with built-in expected operation interval, when Eulerian angles, acceleration, away from
Deviate this operation interval from signal data, main control module (1) assigns control instruction to drive module (3) and changes motor steering；It is main
When control module (1) receives actual motor speed, current signal data, it is compared with goal pace, electric current, deviation is more than
When maximum value, main control module (1) assigns control instruction adjustment motor speed to drive module (3)；Main control module (1) receives reality
When the force signal of border, compared with built-in best massage force section, when force signal data deviate this operation interval, main control module (1)
Control instruction adjustment motor speed is assigned to drive module (3).
4. a kind of back massage robot control system according to claim 1, it is characterised in that the drive module
It (3) include 4 DC speed-reducings (31), 1 twin shaft Worm reduction motor (32) and 3 electric-motor drive units (33)；
The output end of the controller I of main control module (1) is connect with the input terminal of 3 electric-motor drive units (33), and two of them motor drives
The output end of moving cell (33) is connect with the input terminal of two DC speed-reducings (31), another electric-motor drive unit (33)
Output end connect with the input terminal of twin shaft Worm reduction motor (32), the output end of DC speed-reducing (31) and massage
Wheel connection, the output end of twin shaft Worm reduction motor (32) are connect with massage head.
5. a kind of back massage robot control system according to claim 1, it is characterised in that the host computer mould
Block (4) includes controller II, and module is bi-directionally connected upper computer module (4) by wireless communication with main control module (1), upper
Machine module (4) receives the information from main control module (1) and emits director data to main control module (1).
6. a kind of back massage robot control system according to claim 1, it is characterised in that the human-computer interaction
Module (5) includes human-computer interaction interface (51) and speech recognition module (52), human-computer interaction interface (51) and upper computer module (4)
Connection, human-computer interaction interface (51) include a variety of different sub-interfaces, carry out identification output phase by the click on area to user
The control signal answered, the display area of human-computer interaction interface (51) can show the motion information from main control module (1)；Language
Sound identification module (52) is connect with main control module (1), the instruction of speech recognition module (52) identification and acquisition user, and will instruction
It is transmitted to main control module (1), main control module (1) is screened and mentioned to the director data received by generating serial ports interruption
It takes.
7. a kind of control method that back massage robot control system described in claim 1 is realized, it is characterised in that pass through
The direction and speed of 4 DC speed-reducings and 1 twin shaft Worm reduction motor are controlled to switch 6 kinds of different massaging hands
Method: hammering into shape, pinch, rub with the hands, twist, push away, roll, and respectively indicates 4 DC speed-reducings using A, B, C, D, E and 1 twin shaft worm and gear subtracts
Speed motor respectively indicates the state of motor using H, L, S, C, A: high speed, low speed, stopping, rotating forward, reversion；The expression wherein hammered into shape
Mode: A:S, -/B:S, -/C:S, -/D:S, -/E:H, C, the representation pinched: A:H, C/B:H, A/C:H, A/D:H, C/E:H,
C, the representation of stranding: A:H, A/B:H, C/C:H, C/D:H, A/E:H, C, stubborn representation: A:H, C/B:H, C/C:H, C/D
H, C/E:H, C, the representation pushed away: A:H, C/B:H, C/C:L, A/D:L, A/E:H, C, the representation of rolling: A:H, C/B:H,
C/C:H,A/D:H,A/E:H,C。
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| CN201910546829.4A CN110308682B (en) | 2019-06-24 | 2019-06-24 | Back massage robot control system and method |
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| CN110308682B CN110308682B (en) | 2022-04-29 |
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| CN201910546829.4A Active CN110308682B (en) | 2019-06-24 | 2019-06-24 | Back massage robot control system and method |
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| CN111345998A (en) * | 2020-03-13 | 2020-06-30 | 华民康(成都)科技有限公司 | Method, device and equipment for monitoring beating times and force and health preserving hammer |
| CN112807189A (en) * | 2019-11-18 | 2021-05-18 | 上海荣泰健康科技股份有限公司 | Massage chair and massage chair control method |
| CN113440369A (en) * | 2021-06-19 | 2021-09-28 | 周华林 | Interactive control method, system, device and storage medium |
| CN114474074A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Internet of things palletizing robot control system |
| CN114589707A (en) * | 2022-02-21 | 2022-06-07 | 国家康复辅具研究中心 | Intelligent scrubbing and massaging robot |
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| CN112807189A (en) * | 2019-11-18 | 2021-05-18 | 上海荣泰健康科技股份有限公司 | Massage chair and massage chair control method |
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| CN113440369A (en) * | 2021-06-19 | 2021-09-28 | 周华林 | Interactive control method, system, device and storage medium |
| CN114589707A (en) * | 2022-02-21 | 2022-06-07 | 国家康复辅具研究中心 | Intelligent scrubbing and massaging robot |
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| CN114474074A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Internet of things palletizing robot control system |
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