CN112690766B

CN112690766B - Method and equipment for measuring pulse information of user by pulse feeling equipment

Info

Publication number: CN112690766B
Application number: CN202011604271.XA
Authority: CN
Inventors: 许�鹏; 尹春达; 徐强
Original assignee: Shanghai Zhangmen Science and Technology Co Ltd
Current assignee: Shanghai Zhangmen Science and Technology Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-10-11
Anticipated expiration: 2040-12-29
Also published as: CN112690766A

Abstract

The application aims to provide a method and equipment for measuring pulse information of a user by using a pulse diagnosis device, wherein the method comprises the following steps: acquiring first pulse information of a first user through the pressure sensor matrix; determining one or more target pressure sensors in a pressure sensor matrix adjacent to a first pulse point generating the first pulse information; determining driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm; when the second measuring unit leaves the wrist area of the first user, the first mechanical arm is driven according to the driving instruction information so that the single-point pressure sensor is aligned to the first pulse point, the second pulse information of the first user is measured by the single-point pressure sensor, the accurate positioning of the wrist pulse point of the user is achieved, and the pulse feeling equipment can acquire high-precision pulse information while accurately positioning the wrist pulse point of the user.

Description

Method and equipment for measuring pulse information of user by pulse feeling equipment

Technical Field

The application relates to the field of communication, in particular to a technology for measuring pulse information of a user by using pulse feeling equipment.

Background

The pulse is an artery pulse which can be touched on the surface of a human body. The blood is squeezed into the aorta by the contraction of the left ventricle of the heart and then delivered to the systemic arteries. The artery is a conduit formed by connective tissues and muscles with high elasticity. When a large amount of blood enters the artery, the pressure of the artery increases and the caliber expands, so that the artery feels the expansion at a shallow part of the body surface, i.e. the so-called pulse.

Pulse diagnosis is a palpation method by touching the pulse at different parts of the body to examine the changes of the pulse conditions. The traditional pulse feeling is realized by the sensitive touch of the fingers of the doctor. The existing pulse feeling equipment mainly collects pulse signal information of a human body through a sensor and analyzes and processes the pulse signal information so as to achieve the purpose of pulse feeling.

Disclosure of Invention

An object of the present application is to provide a method and apparatus for measuring pulse information of a user using a pulse feeling apparatus.

According to one aspect of the present application, there is provided a method of measuring pulse information of a user using a pulse taking apparatus, wherein the pulse taking apparatus comprises a cavity for receiving a forearm of the user, a first measurement unit mounted with a single-point pressure sensor, a first robot arm for moving the first measurement unit, and a second measurement unit mounted with a pressure sensor matrix comprising a plurality of pressure sensors and a second robot arm for moving the second measurement unit, the method comprising:

acquiring first pulse information of a first user through the pressure sensor matrix, wherein a forearm of the first user is placed in the cavity and the second measurement unit covers a wrist area of the first user;

determining one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information;

determining driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the driving instruction information is used for driving the first mechanical arm so as to enable the single-point pressure sensor to be aligned with the first pulse point;

when the second measuring unit leaves the wrist area of the first user, the first mechanical arm is driven according to the driving instruction information to enable the single-point pressure sensor to be aligned with the first pulse point, and second pulse information of the first user is measured by the single-point pressure sensor

According to one aspect of the present application, there is provided a method of measuring pulse information of a user with a pulse taking apparatus comprising a cavity for receiving a forearm of the user, a first measurement unit mounted with a single point pressure sensor, a second measurement unit mounted with a pressure sensor matrix, and a first robotic arm for moving the first measurement unit and the second measurement unit, the pressure sensor matrix comprising a plurality of pressure sensors, the method comprising:

driving the first mechanical arm to connect and move the second measuring unit so that the second measuring unit covers the wrist area of the first user, wherein the wrist area is arranged in the cavity;

acquiring first pulse information of a first user through the pressure sensor matrix, and determining one or more target pressure sensors adjacent to the first pulse point generating the first pulse information in the pressure sensor matrix;

determining driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second measurement unit and the first measurement unit, wherein the driving instruction information is used for driving the first mechanical arm so as to enable the single-point pressure sensor to be aligned with the first pulse point;

driving the first mechanical arm to move the second measuring unit so that the second measuring unit is separated from the wrist area of the first user, and releasing the second measuring unit;

and driving the first mechanical arm to connect and move the first measuring unit according to the driving instruction information so as to enable the single-point pressure sensor to be aligned with the first pulse point, and measuring second pulse information of the first user by using the single-point pressure sensor.

According to one aspect of the present application, there is provided a pulse feeling apparatus comprising a cavity for receiving a forearm of a user, a first measurement unit mounted with a single-point pressure sensor, a first robotic arm for moving the first measurement unit, and a second measurement unit mounted with a matrix of pressure sensors and a second robotic arm for moving the second measurement unit, the matrix of pressure sensors comprising a plurality of pressure sensors, the pulse feeling apparatus further comprising:

a processor; and

a memory arranged to store computer executable instructions that, when executed, cause the processor to:

when the second measuring unit leaves the wrist area of the first user, the first mechanical arm is driven according to the driving instruction information so that the single-point pressure sensor is aligned with the first pulse point, and second pulse information of the first user is measured by the single-point pressure sensor.

According to one aspect of the present application, there is provided a pulse feeling apparatus comprising a cavity for receiving a forearm of a user, a first measurement unit mounted with a single-point pressure sensor, a second measurement unit mounted with a pressure sensor matrix, and a first robotic arm for moving the first measurement unit and the second measurement unit, the pressure sensor matrix comprising a plurality of pressure sensors, the pulse feeling apparatus further comprising:

a processor; and

According to one aspect of the application, there is provided a computer-readable medium storing instructions that, when executed, cause a system to:

and driving the first mechanical arm to connect and move the first measuring unit according to the driving instruction information, so that the single-point pressure sensor is aligned with the first pulse point, and measuring second pulse information of the first user by using the single-point pressure sensor.

According to an aspect of the application, there is provided a computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of:

determining one or more target pressure sensors in the matrix of pressure sensors that are adjacent to the first pulse point that generated the first pulse information;

determining driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second measuring unit and the first measuring unit, wherein the driving instruction information is used for driving the first mechanical arm so as to enable the single-point pressure sensor to be aligned with the first pulse point;

According to an aspect of the present application, there is provided a pulse taking apparatus for measuring pulse information of a user, wherein the pulse taking apparatus comprises a cavity for receiving a forearm of the user, a first measuring unit mounted with a single-point pressure sensor, a first mechanical arm for moving the first measuring unit, and a second measuring unit mounted with a pressure sensor matrix and a second mechanical arm for moving the second measuring unit, the pressure sensor matrix comprising a plurality of pressure sensors, the pulse taking apparatus further comprising:

a module for acquiring first pulse information of a first user through the pressure sensor matrix, wherein the forearm of the first user is placed in the cavity and the second measuring unit covers the wrist area of the first user;

a second module for determining one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information;

a third module, configured to determine, according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second mechanical arm and the first mechanical arm, driving instruction information corresponding to the first mechanical arm, where the driving instruction information is used to drive the first mechanical arm so as to align the single-point pressure sensor with the first pulse point;

and the four modules are used for driving the first mechanical arm according to the driving instruction information when the second measuring unit leaves the wrist area of the first user, so that the single-point pressure sensor is aligned with the first pulse point, and measuring second pulse information of the first user by using the single-point pressure sensor.

According to an aspect of the present application, there is provided a pulse feeling apparatus for measuring pulse information of a user, wherein the pulse feeling apparatus comprises a cavity for receiving a forearm of the user, a first measurement unit mounted with a single-point pressure sensor, a second measurement unit mounted with a pressure sensor matrix, and a first mechanical arm for moving the first measurement unit and the second measurement unit, the pressure sensor matrix comprising a plurality of pressure sensors, the pulse feeling apparatus further comprising:

the first mechanical arm is used for driving the first measuring unit to move, so that the first measuring unit covers the wrist area of the first user, and the wrist area is arranged in the cavity;

the second module is used for acquiring first pulse information of a first user through the pressure sensor matrix and determining one or more target pressure sensors adjacent to the first pulse point generating the first pulse information in the pressure sensor matrix;

a second module and a third module, configured to determine, according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second measurement unit and the first measurement unit, driving instruction information corresponding to the first mechanical arm, where the driving instruction information is used to drive the first mechanical arm so that the single-point pressure sensor is aligned with the first pulse point;

a fourth module, configured to drive the first robot to move the second measurement unit so as to disengage the second measurement unit from the wrist area of the first user, and release the second measurement unit;

and the second-fifth module is used for driving the first mechanical arm to connect and move the first measuring unit according to the driving instruction information so as to enable the single-point pressure sensor to be aligned with the first pulse point, and measuring second pulse information of the first user by using the single-point pressure sensor.

Compared with the prior art, the method and the device have the advantages that two pressure sensors are used, the user pulse information is firstly acquired through the pressure sensor matrix, one or more target pressure sensors which are adjacent to the user pulse point generating the pulse information in the pressure sensor matrix are determined, and then the driving instruction information is determined according to the position information of the target pressure sensors in the pressure sensor matrix and the current relative position information between the pressure sensor matrix and the single-point pressure sensors, so that the single-point pressure sensors are driven to align to the wrist pulse point of the user to carry out pulse measurement. The pulse information is measured through the pressure sensor matrix to carry out pulse point positioning, so that the pulse point positioning is more accurate, and the pulse information acquired through the single-point pressure sensor is more accurate.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 shows a schematic structural diagram of a pulse feeling device according to an embodiment of the present application;

FIG. 2 illustrates a flow chart of a method for measuring pulse information of a user using a pulse taking device according to one embodiment of the present application;

FIG. 3 illustrates a flow chart of a method for measuring user pulse information using a pulse feeling device according to one embodiment of the present application;

FIG. 4 shows a block diagram of a pulse feeling device according to an embodiment of the present application;

FIG. 5 shows a block diagram of a pulse feeling device according to an embodiment of the present application;

FIG. 6 illustrates an exemplary system that can be used to implement the various embodiments described in this application.

The same or similar reference numbers in the drawings identify the same or similar elements.

Reference numerals

101. Cavity body

102. First measuring unit

103. Second measuring unit

104. First mechanical arm

105. Second mechanical arm

Detailed Description

The present application is described in further detail below with reference to the attached drawing figures.

In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (e.g., central Processing Units (CPUs)), input/output interfaces, network interfaces, and memory.

The Memory may include volatile Memory in a computer readable medium, random Access Memory (RAM), and/or nonvolatile Memory such as Read Only Memory (ROM) or Flash Memory. Memory is an example of a computer-readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase-Change Memory (PCM), programmable Random Access Memory (PRAM), static Random-Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash Memory or other Memory technology, compact Disc Read Only Memory (CD-ROM), digital Versatile Disc (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The device referred to in the present application includes, but is not limited to, a user equipment, a network device, or a device formed by integrating a user equipment and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product, such as a smart phone, a tablet computer, etc., capable of performing human-computer interaction with a user (e.g., human-computer interaction through a touch panel), and the mobile electronic product may employ any operating system, such as an Android operating system, an iOS operating system, etc. The network Device includes an electronic Device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded Device, and the like. The network device includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud of a plurality of servers; here, the Cloud is composed of a large number of computers or web servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual supercomputer consisting of a collection of loosely coupled computers. Including, but not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless Ad Hoc network (Ad Hoc network), etc. Preferably, the device may also be a program running on the user device, the network device, or a device formed by integrating the user device and the network device, the touch terminal, or the network device and the touch terminal through a network.

Of course, those skilled in the art will understand that the above-described apparatus is merely exemplary, and that other existing or future existing apparatus, as may be suitable for use in the present application, are intended to be encompassed within the scope of the present application and are hereby incorporated by reference.

In the description of the present application, "a plurality" means two or more unless specifically defined otherwise.

Fig. 1 shows a schematic structural diagram of a pulse diagnosis device according to an embodiment of the present application. The pulse taking apparatus comprises a cavity 101 for receiving a forearm of a user, a first measurement unit 102 mounted with a single point pressure sensor, a first robotic arm 104 for moving the first measurement unit 102, and a second measurement unit 103 mounted with a matrix of pressure sensors and a second robotic arm 105 for moving the second measurement unit 103. In some embodiments, the first measurement unit 102 and the second measurement unit 103 are two independent devices in the pulse feeling apparatus. The first and

second robot arms

104 and 105 may respectively drive the first and second measuring

units

102 and 103 to move in the horizontal direction and/or the vertical direction. The pressure sensor matrix installed in the second measurement unit 103 includes a plurality of pressure sensors. The measurement range of the pressure sensor matrix is larger than that of the single-point pressure sensor, and the measurement accuracy of the single-point pressure sensor is better than that of the pressure sensor matrix. The scheme collects the pulse signals of the wrist area of the user through the pressure sensor matrix, so that the wrist pulse points of the user can be accurately positioned, and the pulse information of the wrist pulse points of the user can be collected by the single-point pressure sensor, so that the pulse diagnosis equipment can collect the high-precision pulse information while accurately positioning the wrist pulse points of the user.

Here, it should be understood by those skilled in the art that the structure of the pulse feeling device is merely an example. Other existing or later-developed pulse taking device configurations may be suitable for use with the present embodiment, and are also intended to be encompassed within the scope of the present embodiment, and are hereby incorporated by reference.

Fig. 2 shows a flowchart of a method for measuring pulse information of a user by using a pulse feeling device according to an embodiment of the present application, the method includes steps S11, S12, S13 and S14. In step S11, the pulse taking device acquires first pulse information of a first user through the pressure sensor matrix, wherein the forearm of the first user is placed in the cavity and the second measurement unit covers the wrist area of the first user; in step S12, the pulse feeling apparatus determines one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information; in step S13, the pulse feeling device determines, according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm, driving instruction information corresponding to the first mechanical arm, wherein the driving instruction information is used for driving the first mechanical arm to align the single-point pressure sensor with the first pulse point; in step S14, when the second measurement unit leaves the wrist area of the first user, the pulse feeling device drives the first mechanical arm according to the driving instruction information so that the single-point pressure sensor is aligned with the first pulse point, and measures second pulse information of the first user using the single-point pressure sensor.

In step S11, the pulse taking device acquires first pulse information of a first user through the pressure sensor matrix, wherein the forearm of the first user is placed in the cavity and the second measurement unit covers the wrist area of the first user. For example, after the first user places his forearm in the cavity of the pulse taking device, the second mechanical arm may be operated by the operating user of the pulse taking device to align the second measuring unit with the wrist region of the first user based on the wrist position of the first user in the cavity, or the pulse taking device may automatically drive the second measuring unit to align with the wrist region of the first user according to the acquired wrist position information of the first user, so as to facilitate the pressure sensor matrix to acquire the first pulse information of the first user. In some embodiments, the plurality of pressure sensors included in the pressure sensor matrix can respectively collect pulse information of the positions of the pressure sensors. The first pulse information comprises one or more pulse information which is output by the pressure sensor matrix and is matched with the pulse waveform. The fact that the pulse information is acquired means that the distance between the pressure sensor for acquiring the pulse information and the wrist pulse point of the user is very close, and the position of the acquisition point corresponding to the pressure sensor for acquiring the pulse information can be regarded as the position of the wrist pulse point of the user.

In step S12, the pulse feeling device determines one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information. For example, a plurality of pressure sensors exist in an area where a wrist pulse point of a user is located, and the pressure sensors can acquire pulse signals generated by the wrist pulse point of the user. The pulse feeling device determines the pressure sensor which acquires the pulse information generated by the pulse point of the wrist of the user in the pressure sensor matrix as a target pressure sensor.

In step S13, the pulse feeling apparatus determines, according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm, driving instruction information corresponding to the first mechanical arm, where the driving instruction information is used to drive the first mechanical arm so as to align the single-point pressure sensor with the first pulse point. For example, the pulse feeling device may consider the position information of the target pressure sensor in the pressure sensor matrix as the position information of the first pulse point corresponding to the pressure sensor matrix. The pulse feeling equipment determines the target displacement of the first pulse point in the pulse feeling equipment according to the position information and the current relative displacement information, and the first mechanical arm can be driven to move according to the target displacement so that the single-point pressure sensor is aligned to the first pulse point.

In step S14, when the second measurement unit leaves the wrist area of the first user, the pulse feeling device drives the first mechanical arm according to the driving instruction information so that the single-point pressure sensor is aligned with the first pulse point, and measures second pulse information of the first user using the single-point pressure sensor. For example, before the first mechanical arm moves, the pulse taking device or the operating user of the pulse taking device needs to drive the second mechanical arm to enable the second measuring unit to leave the wrist area of the user, so as to avoid the first mechanical arm colliding with the second mechanical arm during the moving process. The pulse feeling equipment drives the first mechanical arm according to the driving instruction information to enable the single-point pressure sensor to be aligned to the first pulse point, and then second pulse information of the first user is acquired. The second pulse information can be used for subsequent pulse condition analysis and diagnosis.

In some embodiments, the method further comprises, before the step S14, a step S15 (not shown) of driving the second mechanical arm by the pulse taking device to disengage the second measurement unit from the wrist area of the first user if a trigger condition for driving the first mechanical arm is satisfied. For example, if the second measurement unit completes the pulse information acquisition of the wrist area of the first user, or determines the driving instruction information, the first mechanical arm can be driven at any time to enable the single-point pressure sensor to be aligned with the pulse point of the user; the trigger condition for driving the first mechanical arm can be considered to be satisfied, and the pulse taking device drives the second mechanical arm to leave the wrist area of the first user.

In some embodiments, the pulse feeling device may determine, from the homing position information of the second measurement unit, homing displacement information corresponding to driving the second mechanical arm away from the first user's wrist region. The position corresponding to the homing position information is the position where the second measuring unit should be located after the pulse feeling equipment drives the second mechanical arm to make the second measuring unit separate from the wrist area of the first user. The second measuring unit is positioned at the position, so that the movement safety of the subsequent pulse feeling equipment when the first mechanical arm is driven can be ensured. For example, if the position corresponding to the homing position information is set as the initial position of the second measuring unit, the homing displacement information may be determined according to the target displacement information of the second measuring unit moved to the wrist region of the user. If the position corresponding to the homing position information is not the initial position of the second measurement unit, the homing displacement information can be determined according to the relative position information between the position and the initial position and the target displacement information.

In some embodiments, the trigger condition comprises at least any one of: the pulse feeling apparatus has determined the drive instruction information; the pulse taking apparatus has determined one or more target pressure sensors adjacent to the first pulse point that generated the first pulse information; the pulse feeling device has acquired the first pulse information through the pressure sensor matrix. For example, when the second measurement unit leaves the wrist area of the first user without affecting the subsequent work of the pulse diagnosis device, or the second measurement unit completes pulse information acquisition or determines driving instruction information, and the first measurement unit needs to be driven to move, it is considered that the trigger condition is met, and the second mechanical arm needs to be driven to separate the second measurement unit from the wrist area of the user, so as to drive the first mechanical arm subsequently.

In some embodiments, the step S12 includes: acquiring output signals of each pressure sensor in the pressure sensor matrix, and detecting whether the output signals of the pressure sensors are matched with pulse waveforms; determining one or more target pressure sensors adjacent to the first pulse point generating the first pulse information from a plurality of pressure sensors in the pressure sensor matrix, wherein an output signal of each target pressure sensor matches a pulse waveform.

In some embodiments, the matching of the output signal of the pressure sensor to the pulse waveform includes, but is not limited to: the output signal of the pressure sensor includes pulse wave characteristic points (for example, an aortic valve opening point, a systolic highest pressure point, an aortic dilatation and decompression point, a left ventricular diastolic starting point, a tidal wave returning highest pressure point, and the like), the cycle time of the output signal of the pressure sensor is within a pulse wave cycle interval, or the wavelet entropy value corresponding to the output signal of the pressure sensor is within a wavelet entropy value interval corresponding to the pulse wave. In some embodiments, said determining one or more target pressure sensors adjacent to said first pulse point generating said first pulse information comprises determining one or more pressure sensors whose output signals most closely match a pulse waveform. The highest matching degree comprises the most matching items of the output signals and the pulse waveforms.

In some embodiments, the step S13 includes: step S131 (not shown), determining, by the pulse feeling equipment, a target displacement corresponding to the first measurement unit according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second mechanical arm and the first mechanical arm, where the single-point pressure sensor is aligned with the first pulse point after the first measurement unit passes through the target displacement; step S132 (not shown), the pulse feeling apparatus generates driving instruction information corresponding to the first mechanical arm according to the target position, where the driving instruction information includes the target displacement, and is used to drive the first mechanical arm so that the single-point pressure sensor is aligned with the first pulse point.

In some embodiments, the current relative displacement information between the second mechanical arm and the first mechanical arm can be determined according to the initial displacement information between the first mechanical arm and the second mechanical arm and the target displacement information generated by the pulse feeling device driving the second mechanical arm to enable the second measuring unit to cover the wrist area of the first user. Here, the current relative displacement information between the second robot arm and the first robot arm or the corrected displacement information obtained by correcting the current relative displacement information between the second robot arm and the first robot arm according to the displacement parameters of each robot arm and the corresponding measurement unit may be regarded as the current relative displacement information between the center of the pressure sensor matrix and the single-point pressure sensor. The position information of the target pressure sensor in the pressure sensor matrix can be determined according to the position information of the target pressure sensor relative to the center of the pressure sensor matrix. And determining the target displacement corresponding to the first measuring unit according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information of the center of the pressure sensor matrix and the single-point pressure sensor. The pulse feeling apparatus can drive the first mechanical arm according to the target displacement so that the single-point pressure sensor is aligned with the first pulse point.

In some embodiments, the step S131 includes: step S1311 (not shown), the pulse feeling apparatus determines the position information of the first pulse point according to the position information of the target pressure sensor in the pressure sensor matrix; step S1312 (not shown), determining, by the pulse feeling device, a target displacement corresponding to the first measurement unit according to the position information of the first pulse point and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the single-point pressure sensor is aligned with the first pulse point after the first measurement unit passes through the target displacement. In some embodiments, said determining location information for said first pulse point from location information for said target pressure sensor in said pressure sensor matrix comprises: determining regional position information of one or more target pressure sensors in the pressure sensor matrix according to one or more position information of the one or more target pressure sensors in the pressure sensor matrix, and determining the regional position information as the position information of the first pulse point; or determining central position information corresponding to the area position information as the position information of the first pulse point.

In some embodiments, the step S1312 includes: the pulse feeling device determines a corresponding target position of the first measuring unit in a second coordinate system according to coordinate information of the first pulse point in a first coordinate system and a mapping relation between the first coordinate system and the second coordinate system, wherein the single-point pressure sensor is aligned with the first pulse point when the first measuring unit is at the target position, and the first coordinate system and the second coordinate system respectively correspond to the pressure sensor matrix and the pulse feeling device; and determining the corresponding target displacement of the first measuring unit in the second coordinate system according to the corresponding target position of the first measuring unit in the second coordinate system and the current relative displacement information between the second mechanical arm and the first mechanical arm in the second coordinate system, wherein the single-point pressure sensor is aligned to the first pulse point after the first measuring unit passes through the target displacement.

In some embodiments, the first coordinate system is established with reference to a plane in which a pressure sensor matrix located in the first user wrist area is located, for example, the first coordinate system is established with an origin at the center of the pressure sensor matrix, a y-axis in an upward direction in the plane of the pressure sensor matrix, and an x-axis in a rightward direction in the plane of the pressure sensor matrix. The second coordinate system is a spatial coordinate system where the pulse taking device is located, for example, the second coordinate system is established by taking a known point in the pulse taking device as an origin and taking a horizontal upward direction as a z-axis. In some embodiments, the pulse feeling device determines the coordinate information of the first pulse point in the second coordinate system according to the mapping relation between the first coordinate system and the second coordinate system and the coordinate information of the first pulse point in the first coordinate system. And the coordinate information of the first pulse point in the second coordinate system is the corresponding target position of the first measuring unit in the second coordinate system. In some embodiments, the pulse feeling device may determine the target displacement corresponding to the first measuring unit in the second coordinate system according to the target position corresponding to the first measuring unit in the second coordinate system, and the information about the relative displacement between the target position in the second coordinate system and the second mechanical arm when the second measuring unit covers the wrist area of the first user, and then, in combination with the information about the current relative displacement between the second mechanical arm and the first mechanical arm in the second coordinate system, determine the target displacement corresponding to the first measuring unit in the second coordinate system.

In some embodiments, the mapping relationship of the first coordinate system and the second coordinate system is determined based on current coordinate information of the second measurement unit in the second coordinate system. For example, the pulse feeling device determines the current coordinate information of the second measuring unit in the second coordinate system when the second measuring unit is located in the wrist area of the first user according to the initial position information of the second measuring unit in the second coordinate system and the target displacement information of the second measuring unit moving to the wrist area of the first user. Because the first coordinate system is established based on the plane where the pressure sensor matrix in the wrist area of the first user is located, the pulse diagnosis device determines the conversion relation corresponding to the first coordinate system and the second coordinate system according to the current coordinate information of the second measurement unit in the second coordinate system, that is, determines the mapping relation between the first coordinate system and the second coordinate system.

In some embodiments, the pulse feeling device further comprises a depth camera unit for photographing the wrist of the user, the method further comprising, before step S11: step S16 (not shown), the pulse taking device captures depth image information of the forearm of the first user through the depth camera unit, identifies the wrist area of the first user from the depth image information, and determines wrist position information of the wrist area of the first user in a coordinate system corresponding to the pulse taking device, wherein the forearm of the first user is placed in the cavity; step S17 (not shown), the pulse taking device drives the second mechanical arm according to the wrist position information so that the second measurement unit covers the wrist area of the first user. In some embodiments, the pulse taking apparatus further comprises a depth camera unit, which can be fixed in the pulse taking apparatus (e.g. above the cavity) and also be movable in the pulse taking apparatus for taking images of the forearm of the user. The pulse feeling device carries out image recognition on the depth image information shot by the depth camera unit according to the wrist characteristics of the user so as to determine the wrist area of the first user in the depth image information. And the pulse feeling equipment determines the wrist position information of the wrist area of the first user in a coordinate system corresponding to the pulse feeling equipment according to the depth information of the wrist area of the first user in the depth image information and the position information of the depth camera.

In some embodiments, the step S17 includes: step S171 (not shown), the pulse feeling device determines target displacement information corresponding to the second measurement unit according to the wrist position information and the current relative position information of the depth camera unit with respect to the second measurement unit; step S172 (not shown), the pulse taking device drives the second mechanical arm according to the target displacement information so that the second measurement unit covers the wrist area of the first user. For example, the pulse taking device determines the current relative position information from the position at which the depth camera unit takes the depth image information of the forearm of the first user relative to the position of the second measurement unit. If the position of the depth camera unit is fixed or the depth camera unit does not move in the area for shooting the wrist of the first user, the current relative position information is the initial relative position information of the depth camera unit and the second measuring unit; otherwise, the current relative position information is determined based on the initial relative position information and camera displacement information generated by the depth camera unit when the wrist area of the user is shot.

In some embodiments, the step S171 includes: determining, by a pulse feeling device, current relative position information of the depth camera unit relative to the second measurement unit according to initial relative position information of the depth camera unit relative to the second measurement unit and camera displacement information of the depth camera unit in a process of photographing a wrist region of the first user, wherein the camera displacement information is displacement information of the depth camera unit from an initial position before photographing the depth image information to a current position at which the depth image information is photographed; and determining target displacement information corresponding to the second measuring unit according to the wrist position information and the current relative position information of the depth camera unit relative to the second measuring unit. In some embodiments, when the depth camera unit is in the initial position, if the pulse taking device detects that the wrist region of the first user cannot be identified according to the depth image information captured by the current depth camera unit, the pulse taking device may determine the camera displacement information according to preset camera displacement information or based on the depth image information captured by the current depth camera unit. The pulse feeling device drives the depth camera unit to move according to the camera displacement information so that the depth camera unit can shoot depth image information which contains the wrist area of the first user and can be used for recognition. The pulse feeling equipment can determine the current relative position information of the camera displacement information and the initial relative position information of the depth camera unit and the second measuring unit according to the camera displacement information and the initial relative position information of the depth camera unit and the second measuring unit, and further determine target displacement information required by the second measuring unit to move to a wrist area of a user by combining the wrist position information.

Fig. 3 shows a flowchart of a method for measuring pulse information of a user by using a pulse feeling device according to an embodiment of the present application, the method includes steps S21, S22, S23, S24 and S25. In step S21, the pulse taking device drives the first mechanical arm to connect and move the second measuring unit, so that the second measuring unit covers the wrist area of the first user, wherein the wrist area is disposed in the cavity; in step S22, the pulse taking device acquires first pulse information of a first user through the pressure sensor matrix, and determines one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information; in step S23, the pulse feeling apparatus determines, according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second measurement unit and the first measurement unit, driving instruction information corresponding to the first mechanical arm, where the driving instruction information is used to drive the first mechanical arm so as to align the single-point pressure sensor with the first pulse point; in step S24, the pulse taking device drives the first mechanical arm to move the second measurement unit so as to disengage the second measurement unit from the wrist area of the first user, and releases the second measurement unit; in step S25, the pulse feeling apparatus drives the first mechanical arm to connect to and move the first measurement unit according to the driving instruction information, so that the single-point pressure sensor is aligned with the first pulse point, and measures second pulse information of the first user using the single-point pressure sensor.

In some embodiments, the first and second measurement units are two independent devices in the pulse feeling apparatus, and the pressure sensor matrix installed in the second measurement unit includes a plurality of pressure sensors. The measuring range of the pressure sensor matrix is larger than that of the single-point pressure sensor, and the measuring accuracy of the single-point pressure sensor in the first measuring unit is better than that of the pressure sensor matrix. The first measuring unit and the second measuring unit are driven by a first mechanical arm to move. Here, the first measurement unit, the second measurement unit, and the first robot arm are provided separately. The first measuring unit and the second measuring unit can be placed at the same position in the pulse diagnosis equipment, and can also be respectively placed at two positions in the pulse diagnosis equipment. The first measuring unit and the second measuring unit are detachably connected with the first mechanical arm, for example, in a threaded connection mode, a buckling connection mode, a hinge connection mode or a magnetic attraction connection mode. The first mechanical arm can be connected with the first measuring unit or the second measuring unit through the connection mode, and can release the first measuring unit or the second measuring unit after connection. In this embodiment, a single mechanical arm is respectively connected with and drives the first measuring unit and the second measuring unit to move, so that the pulse feeling equipment structure can be further optimized, and the pulse feeling equipment cost can be reduced.

In step S21, the pulse taking device drives the first mechanical arm to connect and move the second measuring unit, so that the second measuring unit covers the wrist area of the first user, wherein the wrist area is disposed in the cavity. In some embodiments, the first mechanical arm may be operated by an operating user of the pulse taking device to connect the second measurement unit and move the second measurement unit to cover the wrist area of the first user. In some embodiments, the pulse taking apparatus further comprises a depth camera unit, which can be fixed in the pulse taking apparatus (e.g. above the cavity) and also be movable in the pulse taking apparatus for taking images of the forearm of the user. The pulse feeling device performs image recognition on the depth image information shot by the depth camera unit according to the wrist features of the user to determine the wrist area of the first user in the depth image information. And the pulse feeling equipment determines the wrist position information of the wrist area of the first user in a coordinate system corresponding to the pulse feeling equipment according to the depth information of the wrist area of the first user in the depth image information and the position information of the depth camera. The pulse feeling equipment drives the first mechanical arm to be connected with and move the second measuring unit according to the wrist position information. Here, the manner in which the pulse feeling apparatus drives the first mechanical arm to connect and move the second measurement unit is the same as or similar to the manner in steps S16 and S17, and therefore, the description is omitted, and the description is incorporated herein by reference.

In step S22, the pulse taking device acquires first pulse information of a first user through the pressure sensor matrix, and determines one or more target pressure sensors in the pressure sensor matrix adjacent to the first pulse point generating the first pulse information. The manner of acquiring the first pulse information of the first user and the manner of determining the one or more target pressure sensors are the same as or similar to the manner of the foregoing steps S11 and S12, and therefore, the description is omitted, and the description is incorporated herein by reference.

In step S23, the pulse feeling apparatus determines driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second measurement unit and the first measurement unit, where the driving instruction information is used to drive the first mechanical arm so as to align the single-point pressure sensor with the first pulse point. Here, the manner of determining the driving command information is the same as or similar to the manner of step S13, and is not repeated herein and is included herein by reference.

In step S24, the pulse taking device drives the first robot arm to move the second measuring unit so as to disengage the second measuring unit from the wrist area of the first user, and releases the second measuring unit. In some embodiments, if a trigger condition for driving the first robotic arm is met, the pulse taking device drives the first robotic arm to move the second measuring unit so that the second measuring unit is detached from the wrist area of the first user. The trigger condition includes at least any one of: the pulse feeling apparatus has determined the drive instruction information; the pulse feeling device has determined one or more target pressure sensors that are adjacent to the first pulse point that generated the first pulse information; the pulse feeling device acquires the first pulse information through the pressure sensor matrix. In some embodiments, the pulse feeling device may determine, from the homing position information of the second measurement unit, homing displacement information corresponding to driving the first mechanical arm away from the first user's wrist region. The position corresponding to the homing position information is the position where the second measuring unit should be located after the pulse feeling equipment drives the first mechanical arm to make the second measuring unit separate from the wrist area of the first user. For example, the homing position information may be an initial position of the second measurement unit, i.e., the second measurement unit is placed in the home position for the convenience of taking the next measurement. For another example, the homing position information may be an initial position of the first measurement unit, so that the first robot arm is connected to the first measurement unit after releasing the second measurement unit.

In step S25, the pulse feeling apparatus drives the first mechanical arm to connect to and move the first measurement unit according to the driving instruction information, so that the single-point pressure sensor is aligned with the first pulse point, and measures second pulse information of the first user using the single-point pressure sensor. In some embodiments, the drive instruction information further includes displacement information for moving the first robot arm to the first measurement unit position. And determining the displacement information according to the homing position information of the second measuring unit and the initial position information of the first measuring unit so as to enable the first mechanical arm to be aligned with the first measuring unit, and facilitating the connection of the first mechanical arm. Here, the manner of moving the first measurement unit and measuring the second pulse information by the pulse feeling device according to the driving instruction information is the same as or similar to the manner of the step S14, and therefore, the description is omitted, and the description is incorporated herein by reference.

Figure 4 shows a diagram of a pulse taking device comprising a cavity for receiving a forearm of a user, a first measurement unit mounted with a single point pressure sensor, a first robotic arm for moving the first measurement unit, and a second measurement unit mounted with a matrix of pressure sensors comprising a plurality of pressure sensors and a second robotic arm for moving the second measurement unit, according to one embodiment of the application. The pulse diagnosis device further comprises a one-to-one module 11, a two-to-one module 12, a three-to-one module 13 and a four-to-one module 14. A module 11 collects first pulse information of a first user through the pressure sensor matrix, wherein the forearm of the first user is placed in the cavity, and the second measuring unit covers the wrist area of the first user; a second module 12 determines one or more target pressure sensors of the pressure sensor matrix adjacent to the first pulse point generating the first pulse information; a third module 13, configured to determine, according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second mechanical arm and the first mechanical arm, driving instruction information corresponding to the first mechanical arm, where the driving instruction information is used to drive the first mechanical arm so as to align the single-point pressure sensor with the first pulse point; a fourth module 14, configured to drive the first mechanical arm according to the driving instruction information when the second measurement unit leaves the wrist area of the first user, so that the single-point pressure sensor is aligned with the first pulse point, and measure second pulse information of the first user by using the single-point pressure sensor. Here, the specific embodiments corresponding to the one-to-one module 11, the two-to-two module 12, the one-to-three module 13, and the one-to-four module 14 shown in fig. 4 are the same as or similar to the specific embodiments of the step S11, the step S12, the step S13, and the step S14, respectively, and therefore are not repeated herein, and are included herein by reference.

In some embodiments, the pulse feeling apparatus further comprises a five-module 15 (not shown). If the first-fifth module 15 meets the trigger condition for driving the first mechanical arm, the second mechanical arm is driven to separate the second measurement unit from the wrist area of the first user. Here, the specific implementation manner of the fifth module 15 is the same as or similar to that of the step S15, and therefore, the detailed description is omitted, and the detailed implementation manner is incorporated herein by reference.

In some embodiments, the one-three module 13 includes one-three-one unit 131 (not shown), one-three-two unit 132 (not shown). The one-third-one unit 131 determines a target displacement corresponding to the first measurement unit according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the single-point pressure sensor is aligned with the first pulse point after the first measurement unit passes through the target displacement; the one-third-second unit 132 generates driving instruction information corresponding to the first mechanical arm according to the target displacement, where the driving instruction information includes the target displacement and is used to drive the first mechanical arm so that the single-point pressure sensor is aligned with the first pulse point. The embodiments of the one-three-one unit 131 and the one-three-two unit 132 are the same as or similar to the steps S131 and S132, and therefore are not described herein again and are incorporated herein by reference.

In some embodiments, the one-three-one cell 131 includes one-three-one subunit 1311 (not shown), one-three-two subunit 1312 (not shown). The three-to-one subunit 1311 determines the position information of the first pulse point according to the position information of the target pressure sensor in the pressure sensor matrix; the three-two subunit 1312 determines a target displacement corresponding to the first measurement unit according to the position information of the first pulse point and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the single-point pressure sensor is aligned with the first pulse point after the first measurement unit passes through the target displacement. The embodiments of the one-by-three sub-unit 1311 and the one-by-two sub-unit 1312 are the same as or similar to those of the aforementioned steps 1311 and S1312, and therefore are not described herein again and are incorporated herein by reference.

In some embodiments, the pulse feeling apparatus further comprises a six-module 16 (not shown), a seven-module 17 (not shown). The sixth module 16 captures depth image information of the forearm of the first user through the depth camera unit, identifies a wrist area of the first user from the depth image information, and determines wrist position information of the wrist area of the first user in a coordinate system corresponding to the pulse taking device, wherein the forearm of the first user is placed in the cavity; the seventh module 17 drives the second mechanical arm according to the wrist position information so that the second measurement unit covers the wrist area of the first user. Here, the specific implementation of the six-module 16 and the seven-module 17 is the same as or similar to the foregoing step S16 and step S17, and therefore, the detailed description is omitted, and the detailed description is incorporated herein by reference.

In some embodiments, the seventy-one module 17 includes a seventy-one unit 171 (not shown), a seventy-two unit 172 (not shown). The seventy-one unit 171 determines target displacement information corresponding to the second measuring unit according to the wrist position information and the current relative position information of the depth camera unit relative to the second measuring unit; the seventy-two unit 172 drives the second mechanical arm according to the target displacement information so that the second measurement unit covers the wrist area of the first user. Here, the specific implementation of the one-seven-unit 171 and the one-seven-unit 172 is the same as or similar to that of the foregoing steps S171 and S172, and therefore, the detailed description is omitted, and the specific implementation is incorporated herein by reference.

Fig. 5 shows a block diagram of a pulse feeling device according to one embodiment of the present application, wherein the pulse feeling device comprises a cavity for receiving a forearm of a user, a first measurement unit mounted with a single-point pressure sensor, a second measurement unit mounted with a pressure sensor matrix, and a first robot for moving the first measurement unit and the second measurement unit, the pressure sensor matrix comprising a plurality of pressure sensors. The pulse diagnosis device further comprises a two-in-one module 21, a two-in-two module 22, a two-in-three module 23, a two-in-four module 24 and a two-in-five module 25. The two-to-one module 21 drives the first mechanical arm to connect and move the second measuring unit so that the second measuring unit covers the wrist area of the first user, wherein the wrist area is arranged in the cavity; the second module 22 acquires first pulse information of a first user through the pressure sensor matrix, and determines one or more target pressure sensors adjacent to the first pulse point generating the first pulse information in the pressure sensor matrix; a second-third module 23, configured to determine, according to position information of the target pressure sensor in the pressure sensor matrix and current relative displacement information between the second measurement unit and the first measurement unit, driving instruction information corresponding to the first robot arm, where the driving instruction information is used to drive the first robot arm so that the single-point pressure sensor aligns with the first pulse point; a fourth module 24 drives the first mechanical arm to move the second measuring unit so that the second measuring unit is separated from the wrist area of the first user, and the second measuring unit is released; the twenty-five module 25 drives the first mechanical arm to connect and move the first measurement unit according to the driving instruction information, so that the single-point pressure sensor is aligned with the first pulse point, and the single-point pressure sensor is used for measuring second pulse information of the first user. Here, the specific embodiments of the two-in-one module 21, the two-in-two module 22, the two-in-three module 23, the two-in-four module 24, and the two-in-five module 25 shown in fig. 5 are the same as or similar to the specific embodiments of the step S21, the step S22, the step S23, the step S24, and the step S25, respectively, and therefore are not repeated herein and are included herein by reference.

In some embodiments, as shown in FIG. 6, the system 300 can be implemented as any of the devices in the various embodiments described. In some embodiments, system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage 320) having instructions and one or more processors (e.g., processor(s) 305) coupled with the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.

For one embodiment, system control module 310 may include any suitable interface controllers to provide any suitable interface to at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310.

The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. Memory controller module 330 may be a hardware module, a software module, and/or a firmware module.

System memory 315 may be used, for example, to load and store data and/or instructions for system 300. For one embodiment, system memory 315 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 315 may comprise a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 320 and communication interface(s) 325.

For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive (s)).

NVM/storage 320 may include storage resources that are physically part of the device on which system 300 is installed or may be accessed by the device and not necessarily part of the device. For example, NVM/storage 320 may be accessible over a network via communication interface(s) 325.

Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device. System 300 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controller(s) (e.g., memory controller module 330) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be packaged together with logic for one or more controller(s) of the system control module 310 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic for one or more controller(s) of the system control module 310 to form a system on chip (SoC).

In various embodiments, system 300 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and speakers.

In addition to the methods and apparatus described in the embodiments above, the present application also provides a computer readable storage medium storing computer code that, when executed, performs the method as described in any of the preceding claims.

The present application also provides a computer program product, which when executed by a computer device performs the method of any of the preceding claims.

The present application further provides a computer device, comprising:

one or more processors;

a memory for storing one or more computer programs;

the one or more computer programs, when executed by the one or more processors, cause the one or more processors to implement the method as recited in any preceding claim.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. As such, the software programs (including associated data structures) of the present application can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Those skilled in the art will appreciate that the form in which the computer program instructions reside on a computer-readable medium includes, but is not limited to, source files, executable files, installation package files, and the like, and that the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Computer-readable media herein can be any available computer-readable storage media or communication media that can be accessed by a computer.

Communication media includes media whereby communication signals, including, for example, computer readable instructions, data structures, program modules, or other data, are transmitted from one system to another. Communication media may include conductive transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (non-conductive transmission) media capable of propagating energy waves, such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules or other data may be embodied in a modulated data signal, such as a carrier wave or similar mechanism that is embodied in a wireless medium, such as part of spread-spectrum techniques, for example. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital, or hybrid modulation techniques.

By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory such as random access memory (RAM, DRAM, SRAM); and non-volatile memory such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memories (MRAM, feRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed that are capable of storing computer-readable information/data for use by a computer system.

An embodiment according to the present application herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the present application as described above.

It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not to denote any particular order.

Claims

1. A method of measuring pulse information of a user with a pulse taking apparatus, wherein the pulse taking apparatus comprises a cavity for receiving a forearm of the user, a first measurement unit mounted with a single point pressure sensor, a first robotic arm for moving the first measurement unit, and a second measurement unit mounted with a matrix of pressure sensors comprising a plurality of pressure sensors and a second robotic arm for moving the second measurement unit, the method comprising:

when the second measuring unit leaves the wrist area of the first user, the first mechanical arm is driven according to the driving instruction information so that the single-point pressure sensor is aligned with the first pulse point, and second pulse information of the first user is measured by the single-point pressure sensor, wherein the measuring accuracy of the single-point pressure sensor is better than that of the pressure sensor matrix.

2. The method according to claim 1, wherein the method further comprises, before the driving the first mechanical arm according to the driving instruction information to align the single-point pressure sensor with the first pulse point and measuring second pulse information of the first user by using the single-point pressure sensor when the second measuring unit leaves the wrist area of the first user:

and if the triggering condition for driving the first mechanical arm is met, driving the second mechanical arm to enable the second measuring unit to be separated from the wrist area of the first user.

3. The method of claim 2, wherein the trigger condition comprises at least any one of:

the pulse feeling apparatus has determined the drive instruction information;

the pulse feeling device has determined one or more target pressure sensors that are adjacent to the first pulse point that generated the first pulse information;

the pulse feeling device has acquired the first pulse information through the pressure sensor matrix.

4. The method of any of claims 1-3, wherein said determining one or more target pressure sensors in said matrix of pressure sensors that are adjacent to said first pulse point that generated said first pulse information comprises:

acquiring output signals of each pressure sensor in the pressure sensor matrix, and detecting whether the output signals of the pressure sensors are matched with pulse waveforms;

determining one or more target pressure sensors adjacent to the first pulse point generating the first pulse information from a plurality of pressure sensors in the pressure sensor matrix, wherein an output signal of each target pressure sensor matches a pulse waveform.

5. The method of claim 1, wherein the determining driving instruction information corresponding to the first mechanical arm according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the driving instruction information is used for driving the first mechanical arm to align the single-point pressure sensor with the first pulse point comprises:

determining a target displacement corresponding to the first measuring unit according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the single-point pressure sensor is aligned to the first pulse point after the first measuring unit passes through the target displacement;

and generating driving instruction information corresponding to the first mechanical arm according to the target displacement, wherein the driving instruction information comprises the target displacement and is used for driving the first mechanical arm so that the single-point pressure sensor is aligned with the first pulse point.

6. The method of claim 5, wherein the determining the target displacement corresponding to the first measurement unit according to the position information of the target pressure sensor in the pressure sensor matrix and the current relative displacement information between the second robotic arm and the first robotic arm, wherein the aligning the single-point pressure sensor with the first pulse point after the first measurement unit passes through the target displacement comprises:

determining the position information of the first pulse point according to the position information of the target pressure sensor in the pressure sensor matrix;

and determining target displacement corresponding to the first measuring unit according to the position information of the first pulse point and the current relative displacement information between the second mechanical arm and the first mechanical arm, wherein the single-point pressure sensor is aligned with the first pulse point after the first measuring unit passes through the target displacement.

7. The method of claim 6, wherein the determining a target displacement corresponding to the first measurement unit according to the position information of the first pulse point and the current relative displacement information between the second robot arm and the first robot arm, wherein the aligning the single-point pressure sensor with the first pulse point after the first measurement unit passes through the target displacement comprises:

determining a corresponding target position of the first measurement unit in a second coordinate system according to coordinate information of the first pulse point in a first coordinate system and a mapping relation between the first coordinate system and the second coordinate system, wherein the single-point pressure sensor is aligned with the first pulse point when the first measurement unit is at the target position, and the first coordinate system and the second coordinate system respectively correspond to the pressure sensor matrix and the pulse diagnosis device;

and determining the corresponding target displacement of the first measuring unit in the second coordinate system according to the corresponding target position of the first measuring unit in the second coordinate system and the current relative displacement information between the second mechanical arm and the first mechanical arm in the second coordinate system, wherein the single-point pressure sensor is aligned to the first pulse point after the first measuring unit passes through the target displacement.

8. The method of claim 7, wherein the mapping relationship of the first coordinate system to the second coordinate system is determined based on current coordinate information of the second measurement unit in the second coordinate system.

9. The method of claim 1, wherein the pulse taking device further comprises a depth camera unit for capturing the wrist of the user, the method further comprising, prior to acquiring first pulse information of a first user by the matrix of pressure sensors, wherein the forearm of the first user is placed in the cavity and the second measurement unit covers a wrist area of the first user:

shooting depth image information of the forearm of the first user through the depth camera unit, identifying a wrist area of the first user from the depth image information, and determining wrist position information of the wrist area of the first user in a coordinate system corresponding to the pulse feeling device, wherein the forearm of the first user is placed in the cavity;

and driving the second mechanical arm according to the wrist position information so that the second measuring unit covers the wrist area of the first user.

10. The method of claim 9, wherein said driving the second mechanical arm such that the second measurement unit covers the wrist area of the first user according to the wrist position information comprises:

determining target displacement information corresponding to the second measuring unit according to the wrist position information and the current relative position information of the depth camera unit relative to the second measuring unit;

driving the second mechanical arm according to the target displacement information to enable the second measuring unit to cover the wrist area of the first user.

11. The method of claim 10, wherein the determining target displacement information corresponding to the second measurement unit from the wrist position information and current relative position information of the depth camera unit with respect to the second measurement unit comprises:

determining current relative position information of the depth camera unit relative to the second measuring unit according to initial relative position information of the depth camera unit relative to the second measuring unit and camera displacement information of the depth camera unit in the process of shooting the wrist area of the first user, wherein the camera displacement information is displacement information of the depth camera unit from an initial position before the depth image information is shot to a current position where the depth image information is shot;

and determining target displacement information corresponding to the second measuring unit according to the wrist position information and the current relative position information of the depth camera unit relative to the second measuring unit.

12. A method of measuring pulse information of a user with a pulse taking apparatus, wherein the pulse taking apparatus comprises a cavity for receiving a forearm of the user, a first measurement unit mounted with a single point pressure sensor, a second measurement unit mounted with a matrix of pressure sensors, and a first robotic arm for moving the first measurement unit and the second measurement unit, the matrix of pressure sensors comprising a plurality of pressure sensors, the method comprising:

and driving the first mechanical arm to connect and move the first measuring unit according to the driving instruction information so as to enable the single-point pressure sensor to be aligned with the first pulse point, and measuring second pulse information of the first user by using the single-point pressure sensor, wherein the measuring accuracy of the single-point pressure sensor is better than that of the pressure sensor matrix.

13. A pulse feeling apparatus comprising a cavity for receiving a user's forearm, a first measurement unit mounted with a single point pressure sensor, a first robotic arm for moving the first measurement unit, and a second measurement unit mounted with a matrix of pressure sensors and a second robotic arm for moving the second measurement unit, the matrix of pressure sensors comprising a plurality of pressure sensors, the pulse feeling apparatus further comprising:

a processor, and

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any of claims 1 to 11.

14. A pulse feeling apparatus comprising a cavity for receiving a user's forearm, a first measurement unit mounted with a single point pressure sensor, a second measurement unit mounted with a matrix of pressure sensors, and a first robotic arm for moving the first measurement unit with the second measurement unit, the matrix of pressure sensors comprising a plurality of pressure sensors, the pulse feeling apparatus further comprising:

a processor, and

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of claim 12.

15. A computer-readable medium storing instructions that, when executed by a computer, cause the computer to perform operations of any of the methods of claims 1-12.