CN112199846A - System for analyzing and customizing mattress based on three-dimensional human body reconstruction technology - Google Patents
System for analyzing and customizing mattress based on three-dimensional human body reconstruction technology Download PDFInfo
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Abstract
The invention discloses a system for analyzing and customizing a mattress based on a three-dimensional human body reconstruction technology, which comprises a human body posture monitoring module, a mattress supporting matrix, a signal acquisition module, a storage and control module, a control panel, a display module and a power supply module, wherein the human body posture monitoring module is used for monitoring the posture of a human body; modeling through human engineering mechanics, and increasing non-rigid deformation estimation on the basis of Kinect Fusion, realizing that a real-time scanning splicing algorithm carries out three-dimensional human body reconstruction on images continuously shot by a camera to obtain a model, and further obtaining the contact position of a human body and a mattress, wherein the contact position is used as the basis for judging the relative position relation between the user posture and the mattress support matrix; combining the pressure distribution data with the model to construct an exclusive sleep model of the user; when the posture of the user changes, the mattress control system can monitor the position and the sleeping posture of the user in real time, automatically adjust the supporting degree of each part of the mattress along with the posture of the user, and maintain the optimal comfortable degree. The advantages are that: the technical effect that the bed moves along with the human is realized.
Description
Technical Field
The invention relates to the field of intelligent home furnishing, in particular to a control system of an intelligent mattress.
Background
With the continuous improvement of living standard and health consciousness, the requirements of people on sleep quality are higher and higher. And the sleep quality has a direct relation with the body health, and modern medical research shows that the sleep support is closely related to the health of human skeleton, muscle, blood circulation and other aspects, the sleep quality is related to the mattress, and more than 90 percent of sleep problems are inappropriate sleep support related to the root mattress. The traditional mattress uses springs, sponge, latex or air bags and the like as main supporting materials, and has the defects that the fixed structure cannot adapt to the sleeping posture which is changed at any moment when people get, and the pressure distribution of the mattress is not humanized enough, so that the situations of ' waist pain when people get up, ' shoulder pain when people get up when getting up ' and ' neck pain after sleeping ' and the like can occur when people get up in the morning.
Disclosure of Invention
In order to solve the problems of pressure distribution of the existing mattress, the invention provides a system for analyzing and customizing the mattress based on a three-dimensional human body reconstruction technology, and scientific modeling of dynamic pressure distribution is realized.
In order to achieve the purpose, the invention adopts the technical scheme that:
a system for analyzing and customizing a mattress based on a three-dimensional human body reconstruction technology comprises a human body posture monitoring module, a mattress supporting matrix, a signal acquisition module, a storage and control module, a display module and a power supply module; the mattress supporting matrix is arranged at the bottom of the mattress, is controlled by the storage and control module, is used for adjusting the supporting degree of each part of the mattress to realize the adjustment of hardness, and consists of a plurality of supporting pieces which are distributed in a matrix form and can adjust the elongation;
the human body posture monitoring module is used for monitoring the contact position of a human body and the mattress and judging the relative position relation between the user posture and the mattress supporting matrix; the human body posture monitoring module comprises a camera capable of monitoring the whole mattress and a pressure sensor matrix for detecting the pressure of a human body on the mattress; the camera comprises an auxiliary fixing device which can drive the camera body to rotate around the mattress;
the input end of the signal acquisition module is connected with the output end of the human body posture monitoring module and is used for acquiring human body position posture data and pressure distribution data generated by a human body to the mattress from the human body posture monitoring module;
the input end of the storage and control module is connected with the output end of the signal acquisition module, and the output end of the storage and control module is connected with the input end of the mattress support matrix and is used for storing a sleep mode, outputting a control instruction to the mattress support matrix and outputting display data to the display module;
the power supply module is used for providing a low-voltage direct-current power supply for the operation of each module in the system;
on the basis of the modules, a non-rigid body deformation estimation is added on the basis of Kinect Fusion through human engineering mechanics modeling, a real-time scanning splicing algorithm is realized to carry out three-dimensional human body reconstruction on images continuously shot and obtained by a camera to obtain a model, and then the position of the contact of a human body and a mattress is obtained and is used as the basis for judging the relative position relation between the user posture and the mattress support matrix; combining the pressure distribution data with the model to construct an exclusive sleep model of the user; when the posture of the user changes, the mattress control system can monitor the position and the sleeping posture of the user in real time, automatically adjust the supporting degree of each part of the mattress along with the posture of the user, and maintain the optimal comfortable degree;
the method is characterized by comprising the following steps:
step 1: preprocessing depth data, namely mapping the camera internal parameters and depth frames to a camera space function to convert a depth map into 3D point cloud, and then calculating a normal vector of each point; wherein the camera internal parameters comprise fx, fy, cx, cy and 3 radial distortion parameters, and the camera space function is provided by the SDK of Kinect 2.0;
step 2: performing camera tracking, namely performing ICP (inductively coupled plasma) matching on the 3D point cloud converted by the current frame and the predicted 3D point cloud generated by the existing model so as to obtain the pose of the current camera;
and step 3: depth data fusion, namely fusing the 3D point cloud of the current frame into the existing model by using a TSDF point cloud fusion algorithm according to the calculated pose of the current camera, and realizing the reconstruction of the TSDF surface model;
and 4, step 4: scene rendering, namely predicting the environmental point cloud observed by the current camera by using a computer graphics method of ray tracing and combining the existing model and the pose of the current camera; the obtained environmental point cloud is used for displaying and is also provided for the step 2 for ICP matching. The ICP is an abbreviation of Iterative Closest Point, and refers to an Iterative Closest Point cloud matching algorithm.
Preferably, in step 1, when the system starts, the human body posture monitoring module starts to monitor the human body position posture of the user, a camera serving as a single depth sensor Kinect performs winding around the user lying on the mattress, the signal acquisition module acquires human body position posture data, and the system performs real-time reconstruction of the human body surface model by using a Dynamic Fusion three-dimensional human body model reconstruction technology in computer graphics.
Preferably, the system adjusts the human body model by combining the pressure distribution data acquired by the signal acquisition module, and the suspended part of the human body can be fully supported by the mattress, namely the pressure generated by the protruded part of the human body on the mattress is uniformly dispersed, so that the body of a user is in the most comfortable posture on the mattress; the storage and control module automatically stores height change data of the support piece in the current sleeping posture, and the height change data and the human body position posture data jointly form a sleeping mode in the posture.
Preferably, the supporting element is a hydraulic spring, the hydraulic spring can change the elongation under the drive of an electric signal, and the hardness of the corresponding position of the mattress is changed through the supporting force of the hydraulic spring; the hydraulic spring can tolerate the fluctuation of the reaction force of the mattress within the range of the set interval value, when the reaction force exceeds the range of the set interval value, the hydraulic spring can adjust the elongation amount according to the reaction force, the original elongation amount is recovered when the reaction force returns to the range of the set interval value, and a locking device for preventing the hydraulic spring from being damaged by too large external force is arranged in the hydraulic spring.
Preferably, the storage and control module may record a plurality of sleep modes, including a deep sleep mode, a light sleep mode, a night sound sleep mode, a rest in the middle of the afternoon, and a massage sleep mode.
Preferably, the storage and control module can store sleep mode data corresponding to a plurality of different sleeping postures; when the user changes the sleeping posture, the storage and control module automatically matches the corresponding comfortable sleeping posture, when the sleeping posture which the user is accustomed to is not matched, the storage and control module marks that the user is not in a normal state, and the storage and control module sends a reminding signal to the display module.
Preferably, the mattress is made of coconut palm, memory cotton or latex.
Preferably, the ICP matching comprises the steps of: (1) matching, for each point in the input source point cloud, a closest point in the reference point cloud; (2) estimating a combination of rotation and translation by minimizing a root mean square point-to-point distance metric to optimally align each source point with the matching points obtained in step (1); (3) transforming the source point using the obtained transform; (4) the associated points are reselected and the process is iterated.
Preferably, the TSDF surface model reconstruction includes the steps of: (1) converting coordinates of the point cloud model after ICP matching from a world coordinate system to a camera coordinate system through a rotation matrix and a translation matrix; (2) converting point cloud coordinates under a camera coordinate system into a screen image coordinate system through an internal reference matrix of the Kinect camera, and obtaining the depth H of each point; (3) the distance between the point cloud of different frames and the camera screen can be obtained by comparing the image depth H with the coordinate Z of the corresponding coordinate point; (4) defining the distance as D, giving a weight W, and calculating and updating D and W under different frames; (5) acquiring intersecting surface vertexes under multiple point clouds by using a preset distance truncation range; (6) and iterating the process to obtain final model surface point clouds to form a human surface model, and finishing the reconstruction of the TSDF human surface model.
The Kinect Fusion, which is a technology for performing real-time three-dimensional reconstruction by using the depth data of a low-cost single depth sensor (Kinect), provides a method for reconstructing a scene in real time by combining a GPU (graphics processing Unit) and a TSDF (time dependent dynamic distribution) model. The Kinect Fusion succeeds in realizing dense real-time three-dimensional reconstruction for the first time by utilizing the high parallelism of the GPU, and the reconstruction effect is very stable and excellent, and the relationship among the four modules is shown in fig. 1. Dynamic Fusion is further realized on the basis of Kinect Fusion. The Dynamic Fusion solves the problem of how to perform real-time surface reconstruction under the condition that the object to be measured moves simultaneously. Even if the surface of the object has deformation, the surface shape of the object can be accurately reduced in real time. The Dynamic Fusion transforms the dynamically changing scene (object to be reconstructed) acquired each frame into a canonical space (world space) through some transformation, i.e., creates or updates a static object surface model in the space. While each frame has a corresponding volumetric warp field, the model in canonical space can be restored to live frame (camera view space).
Through the reasonable arrangement of all modules of the system, under the pressure action of a user, the pressure change of the mattress is fed back in a closed loop mode, the acting force of the corresponding position of the mattress and a human body is adjusted in real time, and the intelligent automatic pressure adjustment of the mattress is formed. The posture and the pressure distribution of the user on the mattress can be quickly monitored in real time, and meanwhile, the pressure at each position on the mattress can be fed back and adjusted, so that the satisfied and comfortable pressure distribution state of the user is achieved.
From the above, compared with the prior art, the invention has the following advantages: the invention innovatively provides a model building method through human engineering mechanics according to real-time pressure distribution data in the sleeping process; on the basis of Kinect Fusion, non-rigid deformation estimation is added, three-dimensional human body reconstruction is carried out on images continuously shot and obtained by a camera through a real-time scanning splicing algorithm to obtain a model, and then the position of the contact of a human body and a mattress is obtained and is used as the basis for judging the relative position relation between the user posture and a mattress support matrix; combining the pressure distribution data with the model to construct an exclusive sleep model of the user; when the posture of the user changes, the mattress control system can monitor the position and the sleeping posture of the user in real time, automatically adjust the supporting degree of each part of the mattress along with the posture of the user, maintain the optimal comfortable degree and realize the technical effect of 'bed moving along with people'.
Drawings
FIG. 1 is a schematic diagram of a Kinect Fusion module structure.
Fig. 2 is a flow chart of the ICP algorithm of the present invention.
Fig. 3 is a block diagram of the system of the present invention.
Fig. 4 is a flow chart of the operation of the system of the present invention.
The reference numbers illustrate: the system comprises a human body posture monitoring module, a 2-pressure support matrix, a 3-signal acquisition module, a 4-storage and control module, a 5-display module and a 6-power supply module.
Detailed Description
The invention and its advantageous technical effects are explained in further detail below with reference to the drawings and preferred embodiments.
Referring to fig. 1 to 4, a system for analyzing and customizing a mattress based on a three-dimensional human body reconstruction technique, which is preferably implemented by the present invention, includes a human body posture monitoring module 1, a mattress support matrix 2, a signal acquisition module 3, a storage and control module 4, a display module 5 and a power supply module 6; the mattress supporting matrix 2 is arranged at the bottom of the mattress, is controlled by the storage and control module 4, is used for adjusting the supporting degree of each part of the mattress to realize the adjustment of hardness, and consists of a plurality of supporting pieces which are distributed in a matrix manner and can adjust the elongation;
the human body posture monitoring module 1 is used for monitoring the contact position of a human body and a mattress and is used for judging the relative position relation between the user posture and the mattress supporting matrix 2; the human body posture monitoring module 1 comprises a camera capable of monitoring the whole mattress and a pressure sensor matrix for detecting the pressure of a human body on the mattress; the camera comprises an auxiliary fixing device which can drive the camera body to rotate around the mattress;
the input end of the signal acquisition module 3 is connected with the output end of the human body posture monitoring module 1 and is used for acquiring human body position posture data and acquiring pressure distribution data generated by a human body on the mattress from the human body posture monitoring module 1;
the input end of the storage and control module 4 is connected with the output end of the signal acquisition module 3, and the output end of the storage and control module is connected with the input end of the mattress support matrix 2, so that the storage and control module is used for storing a sleep mode, outputting a control instruction to the mattress support matrix 2 and outputting display data to the display module 5;
the power supply module 6 is used for providing a low-voltage direct-current power supply for the operation of each module in the system;
on the basis of the modules, a non-rigid body deformation estimation is added on the basis of Kinect Fusion through human engineering mechanics modeling, a real-time scanning splicing algorithm is realized to carry out three-dimensional human body reconstruction on images continuously shot and obtained by a camera to obtain a model, and then the position of the contact of a human body and a mattress is obtained and is used as the basis for judging the relative position relation between the user posture and the mattress support matrix 2; combining the pressure distribution data with the model to construct an exclusive sleep model of the user; when the posture of the user changes, the mattress control system can monitor the position and the sleeping posture of the user in real time, automatically adjust the supporting degree of each part of the mattress along with the posture of the user, and maintain the optimal comfortable degree;
the method is characterized by comprising the following steps:
step 1: preprocessing depth data, namely mapping the camera internal parameters and depth frames to a camera space function to convert a depth map into 3D point cloud, and then calculating a normal vector of each point; wherein the camera internal parameters comprise fx, fy, cx, cy and 3 radial distortion parameters, and the camera space function is provided by the SDK of Kinect 2.0;
step 2: performing camera tracking, namely performing ICP (inductively coupled plasma) matching on the 3D point cloud converted by the current frame and the predicted 3D point cloud generated by the existing model so as to obtain the pose of the current camera; wherein, ICP is an abbreviation of Iterative Closest Point cloud matching algorithm, and the flow of ICP algorithm is shown in FIG. 2; preferably, the ICP matching comprises the steps of: (1) for each point in the input source point cloud (usually from a dense set of entire vertices or a selection of vertex pairs for each model) matching the closest point in the reference point cloud; (2) estimating a combination of rotation and translation by minimizing a root mean square point-to-point distance metric to optimally align each source point with the matching points obtained in step (1); (3) transforming the source point using the obtained transform; (4) the associated points are reselected and the process is iterated.
And step 3: depth data fusion, namely fusing the 3D point cloud of the current frame into the existing model by using a TSDF point cloud fusion algorithm according to the calculated pose of the current camera, and realizing the reconstruction of the TSDF surface model; the TSDF is an abbreviation of Truncated signaled Distance Functions, and refers to a Truncated symbol Distance function, which allows integration of multiple depth images acquired from different viewpoints; the TSDF is different from the Kinect Fusion in that the Dynamic Fusion introduces a productive TSDF, which is abbreviated as PSDF, and the TSDF value is actually calculated under the camera space; preferably, the TSDF surface model reconstruction includes the steps of: (1) converting coordinates of the point cloud model after ICP matching from a world coordinate system to a camera coordinate system through a rotation matrix and a translation matrix; (2) converting point cloud coordinates under a camera coordinate system into a screen image coordinate system through an internal reference matrix of the Kinect camera, and obtaining the depth H of each point; (3) the distance between the point cloud of different frames and the camera screen can be obtained by comparing the image depth H with the coordinate Z of the corresponding coordinate point; (4) defining the distance as D, giving a weight W, and calculating and updating D and W under different frames; (5) acquiring intersecting surface vertexes under multiple point clouds by using a preset distance truncation range; (6) and iterating the process to obtain final model surface point clouds to form a human surface model, and finishing the reconstruction of the TSDF human surface model.
And 4, step 4: scene rendering, namely predicting the environmental point cloud observed by the current camera by using a computer graphics method of ray tracing and combining the existing model and the pose of the current camera; the obtained environmental point cloud is used for displaying and is also provided for the step 2 for ICP matching.
Preferably, the supporting element is a hydraulic spring, the hydraulic spring can change the elongation under the drive of an electric signal, and the hardness of the corresponding position of the mattress is changed through the supporting force of the hydraulic spring; the hydraulic spring can tolerate the fluctuation of the reaction force of the mattress within the range of the set interval value, when the reaction force exceeds the range of the set interval value, the hydraulic spring can adjust the elongation amount according to the reaction force, the original elongation amount is recovered when the reaction force returns to the range of the set interval value, and a locking device for preventing the hydraulic spring from being damaged by too large external force is arranged in the hydraulic spring.
Preferably, the storage and control module 4 may record several sleep modes, including a deep sleep mode, a light sleep mode, a night sound sleep mode, a nap mode, and a massage sleep mode.
Preferably, the storage and control module 4 can store sleep mode data corresponding to a plurality of different sleeping postures; when the user changes the sleeping posture, the storage and control module 4 automatically matches the corresponding comfortable sleeping posture, when the sleeping posture which the user is accustomed to is not matched, the storage and control module 4 marks that the user is not in a normal state, and the storage and control module 4 sends a reminding signal to the display module 5.
Preferably, the mattress is made of coconut palm, memory cotton or latex.
Referring to fig. 4, the system workflow is as follows:
step 1: when the system starts, the human body posture monitoring module 1 starts to monitor the human body position posture of a user, a camera serving as a single depth sensor Kinect winds around the user lying on a mattress, the human body position posture data are collected through the signal collection module, and the system adopts a Dynamic Fusion three-dimensional human body model reconstruction technology in computer graphics to reconstruct a human body surface model in real time.
Step 2: the system adjusts the human body model by combining with the pressure distribution data acquired by the signal acquisition module 3, and the suspended part of the human body can be fully supported by the mattress, namely, the pressure generated by the protruded part of the human body on the mattress is uniformly dispersed, namely, the contact area of the human body and the mattress is increased, so that the reaction force of the mattress on the protruded part of the human body is reduced, and the body of a user is in the most comfortable posture on the mattress; the storage and control module 4 automatically stores the height change data of the support piece in the current sleeping posture, and the height change data and the human body position posture data jointly form a sleeping mode in the posture.
And step 3: and (3) repeating the steps 1 and 2 when the user changes the sleeping posture, so that the sleeping posture is corrected to maintain the optimal comfort level.
And 4, step 4: when the user leaves the bed for other activities (e.g., goes to a restroom), the system switches to standby mode; when the user lies on the bed again, the position and posture information of the human body is collected again, and relevant sleep mode data is called out and executed again. The system can quickly adapt to the same sleeping posture of the same user without repeated adjustment, and the execution efficiency is high.
When the device is used, the signal acquisition module 3, the storage and control module 4, the display module 5 and the power supply module 6 are integrated into a whole to form a controller, the controller is arranged on or near a mattress and is electrically connected with the human body posture monitoring module 1 and the relevant interfaces of the mattress support matrix 2 according to specific wiring requirements, and the various algorithms or control processes are stored in the storage and control module 4 in the form of control execution programs, such as a program memory at the periphery of an MCU or an MCU.
In the above description, the conventional algorithms, physical structures and processes used in the prior art are not described in detail for saving space. Processing the undisclosed processing technique and parts according to the conventional technology in the prior art.
The invention is not limited in any way by the above description and the specific examples, which are not limited to the specific embodiments disclosed and described above, but rather, several modifications and variations of the invention are possible within the scope of the invention as defined in the claims.
Claims (9)
1. A system for analyzing and customizing a mattress based on a three-dimensional human body reconstruction technology comprises a human body posture monitoring module (1), a mattress supporting matrix (2), a signal acquisition module (3), a storage and control module (4), a display module (5) and a power supply module (6); the mattress supporting matrix (2) is arranged at the bottom of the mattress, is controlled by the storage and control module (4), is used for adjusting the supporting degree of each part of the mattress to realize the adjustment of hardness, and consists of a plurality of supporting pieces which are distributed in a matrix manner and can adjust the elongation;
the human body posture monitoring module (1) is used for monitoring the contact position of a human body and a mattress and is used for judging the relative position relation between the user posture and the mattress supporting matrix (2); the human body posture monitoring module (1) comprises a camera capable of monitoring the whole mattress and a pressure sensor matrix for detecting the pressure of a human body on the mattress; the camera comprises an auxiliary fixing device which can drive the camera body to rotate around the mattress;
the input end of the signal acquisition module (3) is connected with the output end of the human body posture monitoring module (1) and is used for acquiring human body position posture data and acquiring pressure distribution data generated by a human body on the mattress from the human body posture monitoring module (1);
the input end of the storage and control module (4) is connected with the output end of the signal acquisition module (3), and the output end of the storage and control module is connected with the input end of the mattress supporting matrix (2) and is used for storing a sleep mode, outputting a control instruction to the mattress supporting matrix (2) and outputting display data to the display module (5);
the power supply module (6) is used for providing a low-voltage direct-current power supply for the operation of each module in the system;
on the basis of the modules, a non-rigid body deformation estimation is added on the basis of Kinect Fusion through human engineering mechanics modeling, a real-time scanning splicing algorithm is realized to carry out three-dimensional human body reconstruction on images continuously shot and obtained by a camera to obtain a model, and then the position of the contact of a human body and a mattress is obtained and is used as the basis for judging the relative position relation between the user posture and the mattress support matrix (2); combining the pressure distribution data with the model to construct an exclusive sleep model of the user; when the posture of the user changes, the mattress control system can monitor the position and the sleeping posture of the user in real time, automatically adjust the supporting degree of each part of the mattress along with the posture of the user, and maintain the optimal comfortable degree;
the method is characterized by comprising the following steps:
step 1: preprocessing depth data, namely mapping the camera internal parameters and depth frames to a camera space function to convert a depth map into 3D point cloud, and then calculating a normal vector of each point; wherein the camera internal parameters comprise fx, fy, cx, cy and 3 radial distortion parameters, and the camera space function is provided by the SDK of Kinect 2.0;
step 2: performing camera tracking, namely performing ICP (inductively coupled plasma) matching on the 3D point cloud converted by the current frame and the predicted 3D point cloud generated by the existing model so as to obtain the pose of the current camera;
and step 3: depth data fusion, namely fusing the 3D point cloud of the current frame into the existing model by using a TSDF point cloud fusion algorithm according to the calculated pose of the current camera, and realizing the reconstruction of the TSDF surface model;
and 4, step 4: scene rendering, namely predicting the environmental point cloud observed by the current camera by using a computer graphics method of ray tracing and combining the existing model and the pose of the current camera; the obtained environmental point cloud is used for displaying and is also provided for the step 2 for ICP matching.
2. The system for analyzing and customizing a mattress based on three-dimensional body reconstruction techniques of claim 1, wherein: in the step 1, when the system starts, the human body posture monitoring module (1) starts to monitor the human body position posture of a user, a camera serving as a single depth sensor Kinect winds around the user lying on a mattress, the human body position posture data are collected through the signal collecting module (3), and the system adopts a Dynamic Fusion three-dimensional human body model reconstruction technology in computer graphics to reconstruct a human body surface model in real time.
3. The system for analyzing and customizing a mattress based on three-dimensional human reconstruction technique according to claim 1 or 2, wherein: the system adjusts the human body model by combining with the pressure distribution data acquired by the signal acquisition module (3), and the suspended part of the human body can be fully supported by the mattress, namely the pressure generated by the protruded part of the human body to the mattress is uniformly dispersed, so that the body of a user is in the most comfortable posture on the mattress; the storage and control module (4) automatically stores height change data of the support piece in the current sleeping posture, and the height change data and the human body position posture data jointly form a sleeping mode in the posture.
4. The system for analyzing and customizing a mattress based on three-dimensional body reconstruction techniques of claim 3, wherein: the supporting piece is a hydraulic spring, the extension amount of the hydraulic spring can be changed under the driving of an electric signal, and the hardness of the corresponding position of the mattress is changed through the supporting force of the hydraulic spring; the hydraulic spring can tolerate the fluctuation of the reaction force of the mattress within the range of the set interval value, when the reaction force exceeds the range of the set interval value, the hydraulic spring can adjust the elongation amount according to the reaction force, the original elongation amount is recovered when the reaction force returns to the range of the set interval value, and a locking device for preventing the hydraulic spring from being damaged by too large external force is arranged in the hydraulic spring.
5. The system for analyzing and customizing a mattress based on three-dimensional body reconstruction techniques of claim 4, wherein: the storage and control module (4) can record a plurality of sleep modes, wherein the sleep modes comprise a deep sleep mode, a light sleep mode, a night sound sleep mode, a rest mode in the middle of the noon and a massage sleep mode.
6. The system for analyzing and customizing a mattress based on three-dimensional body reconstruction techniques of claim 5, wherein: the storage and control module (4) can store a plurality of sleep mode data corresponding to different sleeping postures; when the user changes the sleeping posture, the storage and control module (4) automatically matches the corresponding comfortable sleeping posture, when the sleeping posture which the user is accustomed to is not matched, the storage and control module (4) marks that the user is not in a normal state, and sends a reminding signal to the display module (5).
7. The system for analyzing and customizing a mattress based on three-dimensional body reconstruction techniques of claim 6, wherein: the mattress is made of coconut palm, memory cotton or latex.
8. The system for analyzing and customizing a mattress based on three-dimensional human reconstruction technique according to claim 1 or 2, wherein: the ICP matching comprises the following steps: (1) matching, for each point in the input source point cloud, a closest point in the reference point cloud; (2) estimating a combination of rotation and translation by minimizing a root mean square point-to-point distance metric to optimally align each source point with the matching points obtained in step (1); (3) transforming the source point using the obtained transform; (4) the associated points are reselected and the process is iterated.
9. The system for analyzing and customizing a mattress based on three-dimensional human reconstruction technique according to claim 1 or 2, wherein: the TSDF surface model reconstruction method comprises the following steps: (1) converting coordinates of the point cloud model after ICP matching from a world coordinate system to a camera coordinate system through a rotation matrix and a translation matrix; (2) converting point cloud coordinates under a camera coordinate system into a screen image coordinate system through an internal reference matrix of the Kinect camera, and obtaining the depth H of each point; (3) the distance between the point cloud of different frames and the camera screen can be obtained by comparing the image depth H with the coordinate Z of the corresponding coordinate point; (4) defining the distance as D, giving a weight W, and calculating and updating D and W under different frames; (5) acquiring intersecting surface vertexes under multiple point clouds by using a preset distance truncation range; (6) and iterating the process to obtain final model surface point clouds to form a human surface model, and finishing the reconstruction of the TSDF human surface model.
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