CN113908004B

CN113908004B - Novel control method of sleep disorder rehabilitation physiotherapy robot and robot

Info

Publication number: CN113908004B
Application number: CN202111076245.9A
Authority: CN
Inventors: 杨炽夫
Original assignee: Teinyo Rehabilitation Robot Co ltd
Current assignee: Teinyo Rehabilitation Robot Co ltd
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2024-05-14
Anticipated expiration: 2041-09-14
Also published as: WO2023040738A1; CN113908004A

Abstract

The application relates to the technical field of physiotherapy equipment, and discloses a novel control method of a sleep disorder rehabilitation physiotherapy robot and the robot. The method is applied to a robot, and the method includes: and entering a massage mode, detecting human body state data of a user lying on the robot in the massage mode, and controlling the robot to perform massage operation on the user by combining the human body state data. After the massage mode is entered, when the working time length of the robot meets the preset time length condition, the robot is switched to the swing mode. In the swing mode, the robot is controlled to perform a swing operation. Therefore, the body relaxation conditioning and the sleep promoting actions complement each other, the monitored human body state is combined to carry out closed-loop feedback regulation of massage operation, the sleeping time of a user is prolonged, and the sleeping-aiding effect is better.

Description

Novel control method of sleep disorder rehabilitation physiotherapy robot and robot

Technical Field

The application relates to the technical field of physiotherapy equipment, in particular to a novel control method of a sleep disorder rehabilitation physiotherapy robot and the robot.

Background

The existing sleep disorder rehabilitation physiotherapy product has single function, such as only providing shoulder and neck massage function, so that the product can only relax the body of the user, but can not effectively prolong the sleep time of the user, and has poor sleep aiding effect.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a novel control method of a sleep disorder rehabilitation physiotherapy robot and the robot, which can improve the sleep-aiding effect.

A method for controlling a new sleep disorder rehabilitation physiotherapy robot according to an embodiment of the first aspect of the present application includes:

entering a massage mode;

in the massage mode, detecting human body state data of a user lying on the robot, and controlling the robot to massage the user by combining the human body state data;

after entering the massage mode, switching to a swing mode when the working time length of the robot meets a preset time length condition;

And in the swing mode, controlling the robot to perform swing operation.

The novel control method of the sleep disorder rehabilitation physiotherapy robot has at least the following beneficial effects:

In the embodiment of the application, after the massage mode is entered, the user can perform the adaptive adjustment of the massage operation on the user by combining the human body state data detected by the user lying on the robot in the massage mode, thereby playing a role in massaging the body part of the user, effectively relieving the physical fatigue of the user, promoting the blood circulation, dredging the channels and collaterals and relaxing the whole body of the user. Based on the above, after the robot enters the massage mode, when the working time length of the robot meets the preset time length condition, the robot is switched to the swing mode, so that the robot is controlled to swing in the swing mode, the rocking chair function can be simulated, and the sleeping state of a user can be further promoted. Therefore, the body relaxation conditioning and the sleep promoting actions complement each other, the monitored human body state is combined to carry out closed-loop feedback regulation of massage operation, the sleeping time of a user is prolonged, and the sleeping-aiding effect is better.

According to an embodiment of the second aspect of the present application, a robot includes:

the massage module is used for entering a massage mode;

The detection module is used for detecting human body state data of a user lying on the robot in the massage mode;

The massage module is also used for controlling the robot to massage the user by combining the human body state data;

and the swinging module is used for switching to a swinging mode when the working time length of the robot meets the preset time length condition after entering the massage mode, and controlling the robot to swing in the swinging mode.

A robot according to an embodiment of the third aspect of the present application comprises a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling a connected communication between the processor and the memory, which program, when executed by the processor, implements the steps of the aforementioned method.

A storage medium according to an embodiment of the fourth aspect of the present application is used for computer-readable storage, where the storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the steps of the foregoing method.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a block diagram of a robot to which embodiments of the present application are applied;

Fig. 2 is a schematic structural diagram of a robot to which the embodiment of the present application is applied;

FIG. 3 is a side view of the robot shown in FIG. 2;

FIG. 4 is a top view of the robot shown in FIG. 2;

FIG. 5 is a front view of the robot of FIG. 2;

FIG. 6 is a flow chart of a control method of a new sleep disorder rehabilitation physiotherapy robot according to the embodiment of the application;

FIG. 7 is a schematic flow chart of controlling a robot to perform a swing operation in a swing mode according to an embodiment of the present application;

FIG. 8 is a flow chart of a control method of another new sleep disorder rehabilitation physiotherapy robot according to the embodiment of the present application;

Fig. 9 is a block diagram of another robot to which the embodiment of the present application is applied.

Reference numerals:

The massage device comprises a base 200, a swinging module 210, a headrest seat 221, a chair back 222, a chair seat 223, a first massage unit 231, a second massage unit 232, a rhythm board 240, a music playing module 250 and a light emitting module 260.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present application, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

The application provides a novel control method of a sleep disorder rehabilitation physiotherapy robot, which can be applied to a sleep disorder rehabilitation physiotherapy robot (hereinafter, simply referred to as a robot). Referring to fig. 1, fig. 1 is a block diagram of a robot according to an embodiment of the present application. As shown in fig. 1, the robot may include: memory 11, processor 12, network interface 13, and data bus 14.

The memory 11 includes at least one type of readable storage medium, which may be a non-volatile storage medium such as a flash memory, a hard disk, a multimedia card, a card memory, or the like. In some embodiments, the readable storage medium may be an internal storage unit of the robot, such as a hard disk of the robot. In other embodiments, the readable storage medium may also be an external memory of the robot, such as a plug-in hard disk equipped on the robot, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. The readable storage medium of the memory 11 is generally used to store a control program or the like installed on the robot. The memory 11 may also be used to temporarily store data that has been output or is to be output.

The processor 12 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 11, such as executing control programs or the like.

The network interface 13 may optionally comprise standard wired and wireless interfaces, typically used to establish communication connections between the robot and other terminal devices.

The data bus 14 is used to enable connection communications between these components and the various devices, modules shown in fig. 1.

Fig. 1 shows only a robot with components 11-14, but it is understood that not all shown components are required to be implemented, and that more or fewer components may be implemented instead.

Referring to fig. 2-5, fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present application, fig. 3 is a side view of the robot shown in fig. 2, fig. 4 is a top view of the robot shown in fig. 2, and fig. 5 is a front view of the robot shown in fig. 2. As shown in fig. 2, the robot may further include a base 200, a swing module 210, a seat body, a massage module, and a detection module. The swing module 210 is disposed on the base 200, and the seat body is disposed on the swing module 210, so the swing module 210 can drive the seat body to swing laterally. The massage module is arranged on the seat body and is used for vibration massage. The detection module is arranged on the seat body and is used for detecting human body state data of a user. The processor is connected to the detection module, the massage module and the swing module 210, respectively.

In some alternative embodiments, the massage module may include at least one massage unit, and each massage unit may be disposed at a different position on the seat body, where the number and specific disposition positions of the massage units are not limited. In some embodiments, the seat body may include a headrest seat 221 and a seatback 222, the headrest seat 221 is connected with the seatback 222, and the massage module may specifically include at least one first massage unit 231 and at least one second massage unit 232, the first massage unit 231 is disposed on the headrest seat 221, the second massage unit 232 is disposed on the seatback 222, and the processor is connected with the first massage unit 231 and the second massage unit 232, respectively. When the user lies on the seat body, the user's head can be rested on the headrest seat 221, and the user's waist and back rest on the seatback 222. When the processor controls the first massage unit 231 and the second massage unit 232 to work respectively, the first massage unit 231 can massage the waist and the back of the user, and the second massage unit 232 can massage the neck of the user, so that the acupuncture point massage of the neck and the waist and the back is realized.

In one embodiment, the first massage unit 231 may employ a traction cervical pillow and the second massage unit 232 may employ a back tractor, thereby traction the neck and back of the user.

In another embodiment, the first massage unit 231 may include at least one electromagnetic valve and at least one massage air bag, and each electromagnetic valve is further provided with a pneumatic unit (such as an air pump) which is in communication with the massage air bag through the electromagnetic valve. The processor is connected with the electromagnetic valve to control the opening and closing of the electromagnetic valve, when the electromagnetic valve is opened, the pneumatic unit can charge the corresponding massage air bag, and when the electromagnetic valve is closed, the massage air bag can be deflated. Similarly, the above description also applies to the second massaging unit 232, and will not be repeated.

In other embodiments, the first massage unit 231 and the second massage unit 232 may also use an electromagnetic massager, a pulse massager, an infrared massager, or the like, respectively.

In an embodiment of the present application, the swing module 210 may include a first servo motor, a transmission assembly, and at least two laterally symmetrical lateral swing structures, where the seat body is connected to the at least two lateral swing structures, the first servo motor is connected to the transmission assembly, and the transmission assembly is connected to the lateral swing mechanism. The processor is connected with the first servo motor to control the work of the first servo motor, and the first servo motor can drive the transmission assembly to drive the transverse swinging structure to swing along the transverse direction of the seat body.

In some alternative embodiments, the robot may further include a rhythm module including a second servo motor, a rhythm plate 240, and an eccentric mass. The seat body further comprises a seat 223, the seat 223 is connected with the chair back 222, the rhythm board 240 is arranged on the seat 223, the second servo motor is connected with the eccentric block, the eccentric block is connected with the rhythm board 240, the processor is connected with the second servo motor to control the second servo motor to work, and the second servo motor can drive the eccentric block to rotate so as to drive the rhythm board 240 to generate horizontal rhythm.

In the embodiment of the present application, the number of detection modules may be at least one. Specifically, the robot may be provided with a neck pressure detection module, a waist pressure detection module, and a seat pressure detection module, where the neck pressure detection module is disposed on the headrest seat 221 and is used for detecting a pressure condition of the headrest seat 221 when a head of a user is placed on the headrest seat 221. The lumbar pressure detection module is disposed on the backrest 222 and is used for detecting the compression condition of the backrest 222 when the lumbar or the back of the user leans against the backrest 222. The seat pressure detection module is disposed on the seat 223 and is used for detecting stress condition of the seat 223 when a user sits on the seat 223. The neck pressure detection module, the waist pressure detection module and the seat pressure detection module are all connected with the processor, so that the processor can respectively obtain a neck pressure value, a waist pressure value and a seat pressure value. The neck pressure detection module, the waist pressure detection module and the seat pressure detection module can adopt pressure sensors specifically, and are not limited specifically.

In some alternative embodiments, the detection module may further include an acceleration detection module, where the acceleration detection module is disposed on the seat body, and the processor is connected to the acceleration detection module. The acceleration detection module can specifically adopt an acceleration sensor and the like, and is used for detecting human body movement data so as to analyze human body movement states (such as whether a user turns over, gets up, gets out of bed and the like) and further evaluate sleeping states of the user, wherein the sleeping states include but are not limited to a sleep state, a shallow sleep state and a deep sleep state.

In some alternative embodiments, the robot may further comprise a communication module, so that the robot may also establish a communication connection with an external terminal device via the communication module. The communication module may include a Bluetooth communication module, a WiFi communication module, or a GHz wireless communication module, etc. The terminal device may include a mobile terminal (such as a mobile phone), a wearable device, a tablet computer, a notebook computer, a desktop computer or other devices with data processing capability, and may also be a wearable device (such as a smart watch, a bracelet, a headband, glasses, etc.) worn by a user and having a physiological data acquisition function. The physiological data may also be used to analyze the sleep state of the user, and the physiological data may include at least one of: respiration rate, eye movement data, blood pressure, heart rate, body movement data, and the like. The communication module and the terminal device are not particularly limited.

In some alternative embodiments, the robot may further include at least one music playing module 250. Specifically, two music playing modules 250 may be disposed on the headrest seat 221, and the two music playing modules 250 are respectively located at two sides of the first massage unit 231 to be aligned with the ears of the user, respectively. The music playing module 250 may specifically employ a speaker. In other alternative embodiments, the number of music playing modules 250 may be more than two, so as to achieve a surround sound effect and provide a sense of hearing immersion.

In some alternative embodiments, the robot may further include a light emitting module 260, the light emitting module 260 being disposed at a side of the headrest 221, and the processor being connected to the light emitting module 260 to control the light emitting module 260 to emit light. The number of the light emitting modules 260 may be at least two, such as a lamp-band type light emitting module 260 provided at the left and right sides of the headrest seat 221, respectively, and the light emitting module 260 may include, but is not limited to, an atmosphere lamp, a quantum lamp unit, other sleep-aiding lamps, and the like. The quantum lamp unit is used for emitting pure light (such as 658+/-10 nm high-purity red light) with specific wavelength, and plays a role in promoting the generation of melatonin in human body.

In some alternative embodiments, the robot may further include a temperature sensing module and a heating module, each of which is disposed on the seat body. The temperature sensing module is used for temperature detection, and a temperature sensor can be specifically adopted. The heating module can adopt a far infrared heating device or a thermal therapy pad and the like, and the heating module is promoted to heat and keep warm by emitting infrared rays with a certain wavelength, so that fatigue is relieved for a user. The heating module can be arranged at least one position in the chair back 222 or the chair seat 223 to realize the heat treatment of different body parts of the user. The processor is respectively connected with the temperature sensing module and the heating module to control the working temperature of the heating module according to the temperature detection condition.

The control method of the novel sleep disorder rehabilitation physiotherapy robot disclosed by the embodiment of the application is specifically described below.

Fig. 6 is a schematic flow chart of a control method of a new sleep disorder rehabilitation physiotherapy robot according to an embodiment of the application. Based on the robot shown in fig. 1-5, the processor 12 performs the following steps when executing the control program stored in the memory 11:

610. and entering a massage mode.

In the embodiment of the application, the robot can enter the massage mode under the condition that the preset sleep aiding condition is met. The preset sleep aiding conditions may include, but are not limited to, at least one of the following: the user lies on the robot; detecting that the user is in a sleep state; the sleep-aiding trigger instruction is detected, and the sleep-aiding trigger instruction can be generated when the robot detects that a user clicks a start key on the robot or receives a start instruction sent by the terminal equipment.

In some implementations, the robot may detect whether the user is lying on the robot through the detection module. If the neck pressure detection module, the waist pressure detection module and the seat pressure detection module are adopted, when the neck pressure detection module, the waist pressure detection module and the seat pressure detection module all generate pressure sensing signals, the user is judged to lie on the robot.

In some implementations, the robot may also collect body movement data of the user through the acceleration detection module (or obtain physiological data collected for the user through a wearable device with a physiological data collection function), and determine that the user is in a sleep state when the body movement data (or physiological data) conforms to a data range of the sleep state.

In some alternative embodiments, the robot may acquire preset information stored in the memory in advance, and determine an operation mode of the robot and operations performed in different operation modes according to the preset information. The preset information includes working data of each working mode, wherein the working modes can include, but are not limited to, a massage mode and a swing mode, and the working data at least includes time sequence data. It will be appreciated that the robot may operate in one mode of operation during the same period of time.

Specifically, the timing data may include four byte information, the upper 5 bits of the first byte information being used to store a device index, the lower 3 bits of the first byte information and the second byte information being used to store time, the upper 4 bits of the third byte information being used to store a device type and action of an external terminal device, the lower 4 bits of the third byte information and the upper 2 bits of the fourth byte information being used to determine time control information of a corresponding operation mode.

Optionally, the robot may acquire preset information from an external terminal device, and store the preset information to the storage module, so that the preset information may be manually set and adjusted by a user of the terminal device according to his own needs and preferences. Alternatively, the terminal device may compress the preset information through a time sequence compression algorithm (such as a revolving door compression algorithm, etc.), so as to obtain compressed preset information, and send the compressed preset information to the robot for storage, thereby improving data compression efficiency, and being beneficial to improving program operation efficiency of the robot, and reducing storage capacity.

620. In the massage mode, human body state data of a user lying on the robot are detected, and the robot is controlled to perform massage operation on the user by combining the human body state data.

As an optional implementation manner, the robot is provided with at least one massage module and at least one detection module, and step 620 may specifically be:

in the massage mode, the massage module is controlled to periodically perform massage operation, specifically, the period duration T and the interval R of the massage module may be determined according to time sequence data of the massage mode, that is, the massage operation is performed every time duration R, and the duration of each massage operation is T.

Wherein each massage operation comprises:

(1) And acquiring first state data acquired by at least one detection module for a user when the massage module is not in operation. For example, the neck pressure detection module, the waist pressure detection module and the seat pressure detection module are used for respectively acquiring a neck pressure value, a waist pressure value and a seat pressure value, or the acceleration detection module is used for acquiring human body movement data.

(2) And determining the target massage intensity, and controlling the massage module to work according to the target massage intensity. Specifically, for the first massage operation, the initial massage intensity can be determined according to the working data of the massage mode to serve as the target massage intensity corresponding to the first massage operation, so as to play a certain role in initializing the massage intensity. In other cases, the target massage intensity corresponding to the previous massage operation may be used by default.

(3) The method comprises the steps of acquiring second state data acquired by a user when at least one detection module works on a massage module, updating target massage intensity by combining the first state data and the second state data to obtain updated target massage intensity, controlling the massage module to work according to the updated target massage intensity, and updating the massage intensity in real time by combining human body state feedback, so that the massage effect meets human body expectations.

For example, the robot may start the pneumatic unit of the first massage unit in advance of time t0 (e.g., 10 seconds), control the solenoid valve of the first massage unit to be opened during one massage operation within time t1 (e.g., 7 seconds) so that the massage air bag of the first massage unit forms pressure, close the solenoid valve of the first massage unit during time t2 (e.g., 2 seconds), release the air pressure of the massage air bag, and then control the second massage unit to operate as the first massage unit during the next massage operation, so as to repeat until the condition of switching to other operation modes is reached. The time t1 and the time t2 have a corresponding relation with the target massage intensity, so the adjustment of the massage intensity is realized by controlling the switch state of the electromagnetic valve.

Further, as an optional implementation manner, the acquiring the first state data acquired by the at least one detection module for the user when the massage module is not working may specifically be: acquiring state data acquired by each detection module for a user when the massage module does not work, and then carrying out data fusion processing on the state data acquired by the user according to each detection module when the massage module does not work to acquire first state data. Optionally, the state data of each detection module may be summed and averaged to obtain first state data, for example, first state data d1= (neck pressure value p1+waist pressure value p2+seat pressure value p3)/(3), so that the error generated by the problem of shifting or squeezing the body muscle due to the movement or squeezing of the body local to the body can be reduced by performing data fusion based on the pressure average.

Similar to the first state data, the second state data acquired by the at least one detection module for the user when the massage module works may be specifically:

Acquiring state data acquired by each detection module for a user when the massage module works, and then carrying out data fusion processing on the state data acquired by the user according to the state data acquired by each detection module when the massage module works to acquire second state data D2.

Correspondingly, the target massage intensity is updated by combining the first state data and the second state data, so as to obtain updated target massage intensity, which can be specifically: and obtaining a corresponding first weighting coefficient under the massage mode, and carrying out weighted calculation on the first state data D1 and the second state data D2 by using the first weighting coefficient to obtain a weighted result. That is, the first weighting coefficient is a2: a1, the weighting results are a1·d1 and a2·d2. And then updating the target massage intensity S1 by using the weighted result to obtain updated target massage intensity S2.

The first weighting coefficient is a parameter which needs to be preset, and can be correspondingly adjusted according to the requirement of a user so as to achieve the optimal massage effect. For example, the first weighting factor may be 1.5:1. In one embodiment, the updated target massage intensity may have a predetermined correspondence with (a2·d2—a1·d1), which is obtained experimentally.

It can be seen that the feedback adjustment is performed by combining real-time human body state data, and personalized intelligent massage physiotherapy schemes can be customized for different people from multiple angles.

630. After the massage mode is entered, when the working time length of the robot meets the preset time length condition, the robot is switched to the swing mode.

Specifically, the preset duration condition may be determined according to time sequence data of the swing mode, for example, the duration condition may be: after the massage mode is entered, the working time of the robot reaches the appointed time capable of being switched to the swing mode.

640. In the swing mode, the robot is controlled to perform a swing operation.

In an alternative embodiment, referring to fig. 7, fig. 7 is a schematic flow chart of controlling the robot to perform the swing operation in the swing mode according to an embodiment of the present application. As shown in fig. 7, step 640 may specifically include:

641. In the wobble mode, a first wobble speed is determined.

The first swing speed is obtained according to a set swing frequency and swing stroke, for example, the swing speed is the product of the swing frequency and the swing stroke, and the swing frequency and the swing stroke can be obtained from working data of a swing mode and are correspondingly adjusted according to user requirements. Specifically, the swing frequency with the best sleep aiding effect, such as 0.25Hz, can be measured through experiments.

642. And controlling the swinging module to work according to the first swinging speed, so that the swinging module drives the robot to swing.

643. And detecting a second swing speed when the robot actually swings.

Specifically, the detection module may also be a speed detection module provided on the robot, such as a speed sensor and an encoder, so that the second swing speed when the robot actually swings can be obtained by using the speed detection module.

644. And obtaining the error amount by making a difference between the second swing speed and the first swing speed.

645. Whether the error amount is greater than or equal to the preset error threshold is determined, if yes, step 646 is executed, and if not, step 642 is executed.

646. The error amount is input into the closed-loop controller to adjust the closed-loop control parameter of the closed-loop controller, so as to obtain the control amount output by the closed-loop controller as the updated first swing speed, then the swing module is controlled to work according to the updated first swing speed, and the step 643 is continuously executed.

In the embodiment of the application, the preset error threshold is a parameter which needs to be preset, and can be correspondingly adjusted according to the requirement of a user. Specifically, the closed-loop controller can adopt a proportional integral (proportion integral, PI) controller, the motor response rapidity can be improved by properly increasing the proportional gain, the steady-state error can be eliminated through integral operation, the tracking precision is ensured, and meanwhile, the instability of the system is reduced. The transfer function G ₂(s) of the closed-loop controller satisfies:

wherein: g ₁(s) is a current loop transfer function of the first servo motor of the swing module, and G ₁(s)＝k_m,k_m is a driving motor torque coefficient; k _d is a speed amplification factor, k _u is a pulse width modulation (pulse width modulation, PWM) power amplification factor, J is a rotational inertia equivalent measurement value (kg-mm ²) of a rotating shaft, b is an equivalent viscous damping coefficient, C _e is a back electromotive force coefficient of a driving motor, and k _v is a feedback coefficient.

Therefore, the swinging speed of the swinging module is controlled by combining the closed-loop feedback algorithm, so that the swinging of the robot is more gentle, the influence of the weight of a user on the swinging of the robot can be reduced, and the experience of swinging and sleeping-aiding is improved.

Further, optionally, a friction torque compensation module may be further added, and the error amount is input to the friction torque compensation module first to compensate the error amount (for example, the friction torque compensation term τ _f is added to the error amount) according to the friction torque compensation term τ _f, and then the compensated error amount is input to the closed-loop controller to adjust the closed-loop control parameter of the closed-loop controller, so as to implement friction compensation, and facilitate improvement of control accuracy. The friction torque compensation term tau _f of the friction torque compensation module is satisfied;

τ _c is coulomb friction torque, τ ₀ is maximum static friction torque, τ _e is driving motor torque, α ₁ is constant, and θ (t) is rotational angular velocity of the driving motor.

In other alternative embodiments, the swing module may be controlled to operate according to the first swing speed, and then the swing speed of the swing module is controlled to gradually decrease to zero over time, so that the above steps are repeated.

Alternatively, the steps 610 to 640 may be circularly performed, and when the working time of the swing module reaches the designated swing time, the robot switches from the swing mode to the massage mode.

In some alternative embodiments, the robot is controlled to stop working when the sleep aiding end condition is met. Wherein, the sleep aiding ending condition can include, but is not limited to: receiving an ending instruction sent by a terminal device or input by a robot; or the working time of the robot reaches the appointed ending time; or the time length of the user entering the deep sleep stage is judged to reach the preset time length by analyzing the human body movement data detected by the detection module or the physiological data acquired by the terminal equipment. Therefore, the whole sleep aiding process is synchronous with the sleep state of the user to realize intelligent sleep aiding triggering and stopping, and the sleep aiding process is more convenient to use without relying on manual setting or manual control.

Therefore, by implementing the embodiment of the method, the body relaxation conditioning and the sleep promoting actions supplement each other, and the closed-loop feedback regulation of the massage operation is performed by combining the monitored human body state, so that the sleep time of a user is prolonged, and the sleep-aiding effect is better.

Fig. 8 is a flow chart of a control method of another new sleep disorder rehabilitation physiotherapy robot according to the embodiment of the application. Based on the robot shown in fig. 1-5, the processor 12 performs the following steps when executing the control program stored in the memory 11:

810. and entering a massage mode.

820. In the massage mode, human body state data of a user lying on the robot are detected, and the robot is controlled to perform massage operation on the user by combining the human body state data.

830. After the massage mode is entered, when the working time of the robot in the massage mode reaches a preset first time, switching to the rhythm mode.

Specifically, the first duration may be determined according to timing data of the rhythm pattern.

840. In the rhythm mode, the control rhythm module generates a horizontal rhythm.

As an alternative embodiment, step 840 may specifically be:

In the rhythm mode, the control rhythm module periodically performs a rhythm operation, wherein each rhythm operation includes:

And acquiring third state data acquired by at least one detection module for the user when the rhythm module does not work. The target beat intensity is determined and the beat module is controlled to operate to produce a horizontal beat based on the target beat intensity. Specifically, for the first time of the rhythm operation, the initial rhythm intensity can be determined according to the time sequence data of the rhythm mode in the preset information to serve as the target rhythm intensity corresponding to the first time of the rhythm operation, so that a certain rhythm intensity initializing function is achieved. In other cases, the target rhythm intensity corresponding to the last rhythm operation may be used by default. And then, acquiring fourth state data acquired by the user when the at least one detection module works on the rhythm module, so that the target rhythm intensity is updated by combining the third state data and the fourth state data to obtain updated target rhythm intensity, and controlling the operation of the rhythm module according to the updated target rhythm intensity, so that the rhythm intensity can be updated in real time by combining human body state feedback, and the rhythm effect can meet the human body expectation.

The processing of the third state data and the fourth state data may refer to the description of the first state data and the second state data, which is not described herein.

Further, as an optional implementation manner, the obtaining the third state data collected by the at least one detection module for the user when the rhythm module is not working may specifically be: acquiring state data acquired by each detection module for the user when the rhythm module does not work, and then carrying out data fusion processing on the state data acquired by the user according to each detection module when the rhythm module does not work to acquire third state data D3. Optionally, the state data of each detection module may be summed and averaged to obtain third state data, for example, third state data d3= (neck pressure value p4+waist pressure value p5+seat pressure value p6)/(3).

Similarly, the obtaining the fourth state data collected by the at least one detection module for the user when the rhythm module works may specifically be:

Acquiring state data acquired by each detection module for a user when the rhythm module works, and then carrying out data fusion processing on the state data acquired by the user according to the state data acquired by each detection module when the rhythm module works to acquire fourth state data D4.

Correspondingly, the target rhythm intensity is updated by combining the third state data and the fourth state data, so as to obtain updated target rhythm intensity, which can be specifically: and acquiring a second weighting coefficient corresponding to the rhythm mode, and carrying out weighted calculation on the third state data D3 and the fourth state data D4 by using the second weighting coefficient to obtain a weighted result. That is, the second weighting coefficient is a4: a3, the weighted result is a3.D3 and a4.D4. Then, the target rhythm intensity S3 is updated by using the weighting result, and the updated target rhythm intensity S4 is obtained.

The second weighting coefficient is a parameter which needs to be preset, and can be correspondingly adjusted according to the requirement of a user so as to realize the optimal rhythm effect. For example, the second weighting factor may be 1.8:1. In one embodiment, the updated target rhythm intensity may have a predetermined correspondence with (a4.d4-a3.d3), which is obtained experimentally.

Therefore, the horizontal rhythm is generated through the rhythm module, and the effects of dredging channels and collaterals, regulating qi and blood, calming and relieving pain, promoting blood circulation, relieving fatigue and regulating body functions are achieved, and the effect of promoting the whole body relaxation of a user is achieved.

850. And when the working time of the robot in the rhythm mode reaches a preset second time, switching to the swing mode.

In the embodiment of the application, the second duration can be determined according to the time sequence data of the swing mode, so that the application forms a complete physiotherapy flow of switching from the massage mode to the rhythm mode and then switching from the rhythm mode to the swing mode according to the appointed time sequence.

860. In the swing mode, the robot is controlled to perform a swing operation.

It will be appreciated that the specific implementation manner of steps 810-820 and 860 in this embodiment may also refer to the descriptions of steps 610-640 in the method embodiment shown in fig. 6 and are not repeated. Thus, implementing steps 810 through 860 described above, the overall therapeutic procedure of the robot achieves the effects of massage from body parts, to general relaxation, and then to swing to aid sleep. Alternatively, steps 810 to 860 may be performed in a loop until the sleep aiding end condition is satisfied.

In some alternative embodiments, after entering the massage mode, at least one of the following sleep-aiding operations may be performed, namely:

(4) And acquiring sleep-aiding audio and controlling at least one music playing module to play the sleep-aiding audio. Specifically, sleep-aiding audio may be obtained from a memory or a terminal device, where the sleep-aiding audio may include brain wave music, light music, white noise, and the like, so as to assist in soothing the emotion of the user and playing a hypnotic effect.

Optionally, the detection module may further include a sound detection module, where the sound detection module may use a microphone or a decibel meter. In the process of playing the sleep-aiding audio by the music playing module, the robot analyzes the current sleep state of the user to determine a corresponding target decibel value, and then collects sound in the environment through the sound detection module and analyzes the actual decibel value, so that the volume of the audio played by the music playing module is subjected to closed-loop control, such as proportional, integral and derivative (proportional, integral and derivative) (INTEGRAL DIFFERENTIAL, PID) control, according to the difference between the actual decibel value and the target decibel value, and an acoustic environment beneficial to sleeping is created. Optionally, the volume of the audio played by the music playing module may be directly controlled according to the actual db value, so that the volume V1 of the music playing module and the actual db value V0 have a preset first conversion relationship, for example:

V1=p1·arctan (V0), or v1=p2/(1+exp (-V0)), P1 and P2 are experimentally measured sound conversion coefficients. Therefore, as the decibel value is increased, the volume is increased and then becomes stable, so that a reasonable volume range is ensured.

(5) And acquiring the set lighting parameters, and controlling the lighting module to emit light according to the lighting parameters. Specifically, the lighting parameters may be adjusted according to the needs of the user, and the lighting parameters may include the brightness, color, or effect of the light (such as alternating with a specific period of light and dark), so as to create a lighting environment that helps sleeping. Optionally, the light emitting module may specifically include an atmosphere lamp and a quantum lamp unit, so that the sleeping-aiding effect of the quantum light wave and the sleeping-aiding light environment for the user are provided by combining the atmosphere lamp, and the sleeping-aiding effect can be further improved.

Optionally, the detection module may further include a light detection module, such as a light sensor. In the process that the light emitting module emits light, the robot determines a corresponding target light intensity value according to the current sleeping state of a user, then detects an actual light intensity value of the environment through the light detection module, and performs closed-loop control (such as PID control) on the light brightness of the light emitting module according to the difference between the actual light intensity value and the target light intensity value to create a sleeping-facilitated light environment. Alternatively, the light brightness of the light emitting module may be directly controlled according to the actual light intensity value, so that the light brightness L1 of the light emitting module and the actual light intensity value L0 have a preset second conversion relationship, for example:

L1=p3·arctan (L0), or l1=p4/(1+exp (-L0)), P3 and P4 are experimentally measured light intensity conversion coefficients.

Therefore, when the intensity of the ambient light is smaller, the light brightness of the light emitting module is also smaller, and the influence of excessive light on the sleeping of a user is avoided. As the intensity of ambient light increases, the brightness of the light from the light emitting module increases accordingly. Further, when the intensity of the ambient light reaches a preset light intensity threshold, the robot can control the light emitting module to stop working, so that unnecessary electric energy loss is reduced.

(6) Detecting the current temperature of the robot, and controlling the working temperature of the heating module according to the current temperature. Illustratively, when the detected temperature is too high, the operating temperature or heating time of the heating module is reduced, and when the detected temperature is low, the operating temperature or heating time of the heating module is increased.

Optionally, the robot determines a corresponding target temperature according to the current sleeping state of the user, and then performs closed-loop control (such as PID control) on the working temperature of the heating module according to the difference between the target temperature and the current temperature, so as to adaptively adjust the physiotherapy temperature. Alternatively, the working temperature of the heating module may be directly controlled according to the current temperature, so that a preset third conversion relationship exists between the working temperature W1 of the heating module and the current temperature W0, for example:

W1=p5·arctan (W0), or w1=p6/(1+exp (-W0)), P5 and P6 are experimentally measured temperature conversion coefficients.

Therefore, by implementing the embodiment of the method, the whole treatment process realizes the effects of massaging from the body part, relaxing the whole body and then swinging to assist sleep, and also combines the monitored human body state to perform the closed-loop feedback adjustment of the massage operation and the rhythm operation, thereby being beneficial to prolonging the sleeping time of the user and further improving the sleep-aiding effect.

The embodiment of the application also provides a robot. Referring to fig. 9, fig. 9 is a block diagram illustrating another robot according to an embodiment of the present application. As shown in fig. 9, the robot includes:

A massage module 910 for entering a massage mode;

the detection module 920 is configured to detect human body state data of a user lying on the robot in the massage mode;

the massage module 910 is further configured to control the robot to perform massage operation on the user in combination with the human body state data;

And the swing module 930 is configured to switch to a swing mode when the working duration of the robot satisfies a preset duration condition after entering the massage mode, and control the robot to perform a swing operation in the swing mode.

It should be noted that, the specific implementation process of the present embodiment may refer to the specific implementation process of the above method embodiment, and will not be described again.

Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.

In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both 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, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

The preferred embodiments of the present application have been described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the present application shall fall within the scope of the appended claims.

Claims

1. The utility model provides a sleep disorder rehabilitation physiotherapy robot which characterized in that, sleep disorder rehabilitation physiotherapy robot's control method includes:

entering a massage mode;

In the swing mode, controlling the robot to perform swing operation;

The robot is provided with at least one massage module and at least one detection module; in the massage mode, detecting human body state data of a user lying on the robot, and controlling the robot to perform massage operation on the user by combining the human body state data, including:

In the massage mode, acquiring first state data acquired by at least one detection module for a user lying on the robot when the massage module is not in operation;

acquiring target massage intensity, and controlling the massage module to work according to the target massage intensity;

acquiring second state data acquired by at least one detection module for the user when the massage module works;

updating the target massage intensity by combining the first state data and the second state data to obtain updated target massage intensity;

Controlling the massage module to work according to the updated target massage intensity;

the acquiring the first state data acquired by at least one detection module for a user lying on the robot when the massage module is not working comprises:

acquiring state data acquired by each detection module for a user lying on the robot when the massage module does not work, and then carrying out data fusion processing on the state data acquired by the user according to each detection module when the massage module does not work to acquire first state data;

The obtaining the second state data collected by the at least one detection module for the user when the massage module works comprises the following steps:

Acquiring state data acquired by each detection module for the user when the massage module works, and then carrying out data fusion processing on the state data acquired by the user according to each detection module when the massage module works to acquire second state data;

the updating of the target massage intensity by combining the first state data and the second state data to obtain updated target massage intensity comprises the following steps:

Acquiring a first weighting coefficient corresponding to the massage mode;

Performing weighted calculation on the first state data and the second state data by using the first weighting coefficient to obtain a weighted result;

And updating the target massage intensity by using the weighted result to obtain updated target massage intensity.

2. The sleep disorder rehabilitation physiotherapy robot according to claim 1, wherein a rhythm module is provided on the robot, and the control method of the sleep disorder rehabilitation physiotherapy robot further comprises:

After entering the massage mode, switching to a rhythm mode when the working time of the robot in the massage mode reaches a preset first time;

in the rhythm mode, controlling the rhythm module to generate horizontal rhythm;

after the massage mode is entered, when the working time length of the robot meets the preset time length condition, switching to the swing mode comprises the following steps:

and when the working time of the robot in the rhythm mode reaches a preset second time, switching to a swing mode.

3. The sleep disorder rehabilitation therapy robot according to claim 2, wherein in the rhythm mode, the rhythm module is controlled to generate a horizontal rhythm, the control method of the sleep disorder rehabilitation therapy robot comprises:

In the rhythm mode, acquiring third state data acquired by at least one detection module for the user when the rhythm module does not work;

Acquiring target rhythm intensity, and controlling the rhythm module to work according to the target rhythm intensity so as to generate horizontal rhythm;

Acquiring fourth state data acquired by at least one detection module for the user when the rhythm module works;

updating the target rhythm intensity by combining the third state data and the fourth state data to obtain updated target rhythm intensity;

and controlling the action of the rhythm module according to the updated target rhythm intensity.

4. The sleep disorder rehabilitation physiotherapy robot according to claim 1, wherein a swing module is provided on the robot, and the robot is controlled to perform a swing operation in the swing mode, and the control method of the sleep disorder rehabilitation physiotherapy robot comprises:

In the swing mode, determining a first swing speed according to the set swing frequency and the swing stroke;

controlling the swing module to work according to the first swing speed so that the swing module drives the robot to swing;

detecting a second swing speed of the robot when the robot actually swings;

Performing difference on the second swing speed and the first swing speed to obtain error quantity;

judging whether the error amount is larger than or equal to a preset error threshold value;

if the error amount is greater than or equal to the preset error threshold, inputting the error amount into a closed-loop controller to adjust closed-loop control parameters of the closed-loop controller, obtaining a control amount output by the closed-loop controller as an updated first swing speed, controlling the swing module to work according to the updated first swing speed, and continuously executing the step of detecting the second swing speed when the robot swings actually;

And if the error amount is smaller than the preset error threshold value, continuing to execute the step of controlling the swing module to work according to the first swing speed.

5. The sleep disorder rehabilitation therapy robot according to claim 1, wherein the control method of the sleep disorder rehabilitation therapy robot further comprises:

under the condition that the preset sleep-aiding condition is met, acquiring sleep-aiding audio, and controlling at least one music playing module to play the sleep-aiding audio;

and/or under the condition that the preset sleep-aiding condition is met, acquiring the set luminous parameters, and controlling the luminous module to emit light according to the luminous parameters:

And/or under the condition that the preset sleep aiding condition is met, detecting the current temperature of the robot, and controlling the working temperature of the heating module according to the current temperature.

6. The sleep disorder rehabilitation physiotherapy robot according to any one of claims 1 to 5, comprising:

the massage module is used for entering a massage mode;

7. The sleep disorder rehabilitation physiotherapy robot according to any one of claims 1 to 5, comprising a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling connection communication between the processor and the memory, the program when executed by the processor implementing the steps of the control method of the sleep disorder rehabilitation robot according to any one of claims 1 to 5.

8. A storage medium for computer-readable storage, characterized in that the storage medium stores one or more programs executable by one or more processors to implement the steps of the method of controlling a sleep disorder rehabilitation physiotherapy robot according to any one of claims 1 to 5.