CN117454777A - Sensor detection method, device and equipment of massage robot - Google Patents
Sensor detection method, device and equipment of massage robot Download PDFInfo
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Abstract
The invention provides a sensor detection method, a device and equipment of a massage robot, comprising the following steps: initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor; based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode; inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; acquiring a correction coefficient corresponding to the second type sensor, correcting the correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter for correcting the fixed massage parameter, and obtaining a corrected massage parameter in the massage mode; and controlling the second type sensor based on the corrected massage parameters, and massaging. According to the invention, the massage parameters are intelligently adjusted according to the physiological state of the user, so that a more careful and comfortable massage experience is provided.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a sensor detection method, a sensor detection device and sensor detection equipment of a massage robot.
Background
The traditional massage mode mainly depends on the experience and the manipulation of a massager, but the mode has the problems of frequent manual intervention, different massage effects and the like. In order to solve the above problems, modern massage devices introduce various sensors and intelligent control techniques that can intelligently adjust the massage modes and parameters according to the physiological parameters and needs of the user to achieve a more personalized and comfortable massage experience.
The massage robot is aimed at massaging human body by means of motion sensor equipped on the massage robot. However, the current massage robot can only massage according to a fixed mode, and cannot perform differential adjustment for different users.
Disclosure of Invention
The invention mainly aims to provide a sensor detection method, device and equipment of a massage robot, and aims to overcome the defect that different users cannot be differentially regulated at present.
In order to achieve the above object, the present invention provides a sensor detection method of a massage robot, comprising the steps of:
Initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode;
inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
acquiring a correction coefficient corresponding to the second type sensor, and correcting correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter;
acquiring fixed massage parameters in the massage mode, and correcting the fixed massage parameters based on the second correction parameters to obtain corrected massage parameters in the massage mode;
and controlling the second type sensor based on the corrected massage parameters, and massaging.
Further, the step of controlling the second type sensor based on the corrected massage parameters and massaging includes:
The massage robot operates in the massage mode, and controls the motion sensor in the second type sensor to execute massage action with corresponding corrected massage parameters.
Further, the fixed massage parameters in the massage mode are obtained, and the fixed massage parameters are corrected based on the second correction parameters, so that corrected massage parameters in the massage mode are obtained;
obtaining fixed massage parameters corresponding to the massage modes based on the mapping relation between the fixed massage parameters and the massage modes stored in the database;
and determining a target massage parameter to be corrected from the fixed massage parameters based on the second correction parameters, and superposing the numerical value of the target massage parameter to be corrected and correction data in the second correction parameters to obtain the corrected massage parameters in the massage mode.
Further, the step of initializing each sensor on the massage robot includes:
acquiring a preset sensor parameter matrix; wherein the sensor parameter matrix is a matrix of multiple rows and three columns; each location having a corresponding element thereon;
analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to the sensors based on the analysis matrix;
And initializing the sensors based on initial values corresponding to the sensors.
Further, the step of analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to each sensor based on the analysis matrix includes:
reading elements at each position in the sensor parameter matrix; wherein the elements in the third column of the matrix are letters; the elements in the first column are numbers, and the elements in the second column are markers; the markers are A and B, wherein A is the mark of a first type sensor, and B is the mark of a second type sensor;
detecting whether the markers a in the second column are all above the markers B;
if the markers A in the second column are not all above the markers B, translating all the rows with the markers A below the markers B upwards, and translating all the rows with the markers B downwards to obtain a translation matrix serving as the analysis matrix;
arranging letters in a third column of the analytic matrix in sequence from top to bottom to obtain letter ordering;
changing a preset digital conversion table based on the letter sorting to obtain a change conversion table;
Converting each number in a first column in the analysis matrix based on the change conversion table to obtain a corresponding conversion number;
determining a sensor corresponding to the letter in a third column in the analysis matrix based on a preset mapping relation between the letter and the sensor; the converted number of the row where each letter of the third column is located in the analysis matrix is the initial value of the corresponding sensor.
Further, the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table includes:
the number of the markers A in the second column of the analysis matrix is obtained, and the number of the markers A is multiplied by a preset value to obtain a first numerical value; wherein the first value is less than 10;
acquiring a binary conversion table from a database as the digital conversion table; wherein the number of the binary conversion table is equal to the first value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
acquiring Chinese characters corresponding to each letter in the letter sorting; wherein, the mapping relation between letters and Chinese characters is stored in the database;
respectively calculating the stroke numbers of the Chinese characters corresponding to the letters, and calculating the average value of the stroke numbers of the Chinese characters corresponding to the letters;
And sequentially adding the average value to the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
Further, the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table includes:
generating a row-by-row alphabetical matrix based on the alphabetical ordering; wherein each letter in the letter sorting is an element from top to bottom in the letter matrix;
obtaining a preset number matrix, and multiplying the number matrix with the letter matrix to obtain a result matrix;
carrying out mean value calculation on numbers appearing at each position in the result matrix to obtain a digital mean value;
obtaining the number of the markers B in the second column of the analysis matrix, and multiplying the number of the markers B by a preset value to obtain a second numerical value; wherein the second value is greater than 16 and less than 32;
acquiring a binary conversion table from a database as the digital conversion table; wherein the binary number of the binary conversion table is equal to the second numerical value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
and sequentially subtracting the digital average value from the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
The invention also provides a sensor detection device of the massage robot, which comprises:
an initializing unit for initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
the acquisition unit is used for acquiring physiological parameter attributes of a user based on the first type sensor, inputting the physiological parameter attributes into the massage mode detection model and detecting to obtain a corresponding massage mode;
the first correction unit is used for inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
the second correction unit is used for obtaining a correction coefficient corresponding to the second type sensor, correcting the correction data in the first correction parameter based on the correction coefficient, and obtaining a second correction parameter;
the third correction unit is used for obtaining the fixed massage parameters in the massage mode, correcting the fixed massage parameters based on the second correction parameters, and obtaining corrected massage parameters in the massage mode;
And the control unit is used for controlling the second type sensor based on the corrected massage parameters and massaging.
The invention also provides a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of any of the methods described above when the computer program is executed.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the preceding claims.
The invention provides a sensor detection method, a device and equipment of a massage robot, comprising the following steps: initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor; based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode; inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data; acquiring a correction coefficient corresponding to the second type sensor, and correcting correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter; acquiring fixed massage parameters in the massage mode, and correcting the fixed massage parameters based on the second correction parameters to obtain corrected massage parameters in the massage mode; and controlling the second type sensor based on the corrected massage parameters, and massaging. According to the invention, physiological parameter attributes are analyzed through the massage mode detection model and the correction parameter detection model, so that corresponding massage modes and massage parameters to be corrected are obtained. And then, acquiring a correction coefficient according to the data collected by the second type sensor, and obtaining a second correction parameter through a correction parameter detection model. By the sensor detection method, the massage robot can intelligently adjust massage parameters according to the physiological state of the user, and a more careful and comfortable massage experience is provided.
Drawings
FIG. 1 is a schematic diagram showing steps of a sensor detection method of a massage robot according to an embodiment of the present invention;
FIG. 2 is a block diagram showing a sensor detecting apparatus of a massage robot according to an embodiment of the present invention;
fig. 3 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. 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 invention.
Referring to fig. 1, in one embodiment of the present invention, a sensor detection method of a massage robot is provided, including the steps of:
step S1, initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
step S2, based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode;
S3, inputting the physiological parameter attribute into a corrected parameter detection model to obtain a first corrected parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
step S4, obtaining a correction coefficient corresponding to the second type sensor, and correcting the correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter;
s5, obtaining fixed massage parameters in the massage mode, and correcting the fixed massage parameters based on the second correction parameters to obtain corrected massage parameters in the massage mode;
and S6, controlling the second type sensor based on the corrected massage parameters, and massaging.
In this embodiment, as described in step S1, the method may specifically include:
the physiological parameter sensor is initialized, and the physiological parameter sensor comprises a heart rate sensor, a body temperature sensor, a skin electric sensor and the like. The sensor is used for acquiring physiological parameter attributes of a user, such as heart rate, body temperature, skin electricity and the like, and is used for evaluating the physical state and the requirement of the user.
And initializing environmental parameter sensors including temperature sensors, humidity sensors, illumination sensors and the like. The sensor is used for detecting parameters such as temperature, humidity, illumination and the like of the massage environment and is used for adjusting the massage parameters to adapt to different environment conditions.
The massage force sensor is initialized, and the massage force sensor comprises a massage head pressure sensor, a massage arm force sensor and the like. The sensor is used for detecting the massage force applied by the massage robot on the user so as to ensure that the massage force is proper and avoid discomfort.
The posture sensor is initialized, and the posture sensor comprises a posture sensor, a posture sensor and the like. The sensor is used for monitoring the posture and the position of the user so as to adjust the massage action and the force and ensure the massage effect and the comfort level of the user.
A massage pattern sensor is initialized for identifying a massage pattern currently in place, such as a soothing massage, a comfort massage, a deep massage, etc., in order to provide a personalized massage experience for the user.
As described in the above step S2, the method specifically includes:
and (3) physiological parameter acquisition: the heart rate sensor, the body temperature sensor and other sensors are utilized to collect physiological parameter attributes of the user, such as heart rate, body temperature and the like.
Physiological parameter input: and inputting the acquired physiological parameter attribute into the massage mode detection model. The massage mode detection model is a model constructed based on a machine learning algorithm and a biological feature recognition technology and is used for analyzing physiological parameters of a user and matching according to a preset massage mode library so as to determine the most suitable massage mode.
Massage mode detection: analyzing and comparing the input physiological parameter attribute through a massage mode detection model, and detecting a corresponding massage mode which is most suitable for the current state of the user from a preset massage mode library. For example, based on heart rate and body temperature information of the user, the model may determine that the user is in tension, thereby recommending a soothing massage mode.
In the massage mode detection model, a user preference learning function can be introduced, and the matching accuracy of the model is continuously optimized by analyzing the feedback and evaluation of the user on different massage modes, so that the individuation and objectivity of massage experience are improved. Meanwhile, a function of updating the model in real time can be added, and the matching strategy of the massage mode is adjusted by continuously receiving and analyzing the physiological parameters of the user, so that more accurate massage mode detection is realized.
As described in step S3, the physiological parameter attribute is input into a corrected parameter detection model to obtain a first corrected parameter. The correction parameter detection model is a model established based on machine learning and data analysis technology and is used for calculating massage parameters to be corrected and corresponding correction data according to the physiological parameter attribute of a user and the output of the massage mode detection model so as to improve the individuation and the accuracy of massage.
And (4) acquiring the correction coefficient corresponding to the second type sensor, and correcting the correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter. The correction coefficient of the second type sensor is a coefficient for correcting the data acquired by the sensors such as the environmental parameter sensor, the massage force sensor and the like by the pointer, and the correction data in the first correction parameter is dynamically adjusted according to different environments and massage forces so as to adapt to different use environments and user requirements.
As described in the above step S5, the fixed massage parameters in the massage mode are obtained, and the fixed massage parameters are corrected based on the second correction parameters, so as to obtain corrected massage parameters in the massage mode. In this step, the massage parameters which are finally adapted to the current physiological state and environmental condition of the user are obtained by correcting the fixed massage parameters and the second correction parameters in the massage mode, so as to ensure the optimization of the massage effect.
As described in the above step S6, the second type sensor is controlled based on the corrected massage parameters, and the massage is performed. The second type of sensor on the massage robot, including the massage force sensor, the gesture sensor and the like, is controlled by using the corrected massage parameters so as to realize the real-time monitoring and adjustment of the physical state and the massage effect of the user, thereby performing targeted massage. According to the invention, physiological parameter attributes are analyzed through the massage mode detection model and the correction parameter detection model, so that corresponding massage modes and massage parameters to be corrected are obtained. And then, acquiring a correction coefficient according to the data collected by the second type sensor, and obtaining a second correction parameter through a correction parameter detection model. By the sensor detection method, the massage robot can intelligently adjust massage parameters according to the physiological state of the user, provides more careful and comfortable massage experience, and overcomes the defect that different users cannot be differentially adjusted at present.
In an embodiment, the step of controlling the second type sensor based on the corrected massage parameters and massaging includes:
the massage robot operates in the massage mode, and controls the motion sensor in the second type sensor to execute massage action with corresponding corrected massage parameters.
In the present embodiment, the massage mode is performed: the massage robot can perform corresponding massage actions according to the massage modes selected by the user, including specific massage positions and massage methods for massaging the head, the neck, the back and the like.
And (3) sensor data acquisition: while massaging, the motion sensor in the second type of sensor will collect relevant data in real time, such as the position, moving speed, force, etc. of the massaging head.
Controlling and correcting massage parameters: the massage robot can adjust the massage actions in real time according to preset correction massage parameters through the data acquired by the motion sensor. For example, the massage force and speed are adjusted, and the massage action is maintained within a range that meets the user's needs and the massage manner.
Performing a massage action: according to the corrected massage parameters, the massage robot correspondingly executes the adjusted massage actions so as to ensure the accuracy and individuality of the massage process.
The technical scheme aims to realize dynamic control of massage actions by monitoring and adjusting sensor data and correction parameters in real time in the massage process, so that personalized massage experience which is more suitable for the requirements of users and the current physical state is provided.
In an embodiment, the obtaining the fixed massage parameter in the massage mode corrects the fixed massage parameter based on the second correction parameter to obtain a corrected massage parameter in the massage mode;
obtaining fixed massage parameters corresponding to the massage modes based on the mapping relation between the fixed massage parameters and the massage modes stored in the database;
and determining a target massage parameter to be corrected from the fixed massage parameters based on the second correction parameters, and superposing the numerical value of the target massage parameter to be corrected and correction data in the second correction parameters to obtain the corrected massage parameters in the massage mode.
In this embodiment, the method specifically includes:
obtaining fixed massage parameters in a massage mode: the massage robot system firstly acquires preset fixed massage parameters under a specific massage mode from a database. The parameters include massage manipulation, force, speed, frequency, etc., which are preset basic parameters for a specific massage mode.
Correcting the fixed massage parameters based on the second correction parameters: the system utilizes the second correction parameters to dynamically correct the fixed massage parameters in combination with data provided by the environment sensor, the user requirements and the like. For example, the massage force is adjusted according to the ambient temperature, or the massage technique is adjusted according to the muscle tension of the user.
According to the fixed parameter mapping of the massage mode, corresponding fixed massage parameters are obtained: the system obtains the fixed massage parameters corresponding to the specific massage modes through the mapping relation between the fixed massage parameters and the massage modes stored in the database. This ensures that the system is able to accurately acquire the basic massage parameters corresponding to the selected massage mode.
Correcting the fixed massage parameters by using the second correction parameters: the system determines the target massage parameters to be corrected according to the second correction parameters, and superimposes the correction data with the target massage parameters to obtain the corrected massage parameters in the final massage mode. This ensures that the massage parameters can be dynamically adjusted based on real-time data and user requirements.
The technical scheme aims to dynamically acquire the corrected massage parameters which are most suitable for the current massage mode by combining the preset parameters and the corrected parameters stored in the database with the user requirements and the environmental data so as to realize personalized massage experience which is more suitable for the user expectations.
In one embodiment, the step of initializing each sensor on the massage robot comprises:
acquiring a preset sensor parameter matrix; wherein the sensor parameter matrix is a matrix of multiple rows and three columns; each location having a corresponding element thereon;
analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to the sensors based on the analysis matrix;
and initializing the sensors based on initial values corresponding to the sensors.
In this embodiment, the method specifically includes:
acquiring a preset sensor parameter matrix: firstly, a preset sensor parameter matrix is obtained, wherein the matrix is a matrix with multiple rows and three columns, and each row comprises a sensor and a corresponding initial value and a marker thereof.
Analyzing a sensor parameter matrix: and analyzing the sensor parameter matrix, and converting the sensor parameter matrix into an analysis matrix. This analytical matrix will contain the initial values for each sensor, which will be the basis for sensor initialization.
Based on the analysis matrix, obtaining initial values corresponding to the sensors: by parsing the matrix, the system obtains initial values for each sensor that will be used to set the operating range and reference for the sensor.
Initializing the sensors based on initial values corresponding to the sensors: finally, initializing each sensor according to the initial value corresponding to each sensor. This may include setting the sensitivity of the sensor, operating range, zero calibration, etc. to ensure that the sensor is able to accurately collect and feed back relevant data during massage operations.
The aim of the technical scheme is to utilize the preset sensor parameter matrix and the preset analysis matrix in the massage robot system to perform initialization operation according to the initial value of each sensor so as to ensure that the massage robot can accurately and reliably sense and respond to the environment and the demands of users in the use process.
In an embodiment, the step of analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to each sensor based on the analysis matrix includes:
reading elements at each position in the sensor parameter matrix; wherein the elements in the third column of the matrix are letters; the elements in the first column are numbers, and the elements in the second column are markers; the markers are A and B, wherein A is the mark of a first type sensor, and B is the mark of a second type sensor;
Detecting whether the markers a in the second column are all above the markers B;
if the markers A in the second column are not all above the markers B, translating all the rows with the markers A below the markers B upwards, and translating all the rows with the markers B downwards to obtain a translation matrix serving as the analysis matrix;
arranging letters in a third column of the analytic matrix in sequence from top to bottom to obtain letter ordering;
changing a preset digital conversion table based on the letter sorting to obtain a change conversion table;
converting each number in a first column in the analysis matrix based on the change conversion table to obtain a corresponding conversion number;
determining a sensor corresponding to the letter in a third column in the analysis matrix based on a preset mapping relation between the letter and the sensor; the converted number of the row where each letter of the third column is located in the analysis matrix is the initial value of the corresponding sensor.
In this embodiment, the method specifically includes:
and reading the elements in the sensor parameter matrix, and reading the elements at each position in the sensor parameter matrix. This matrix is a three-column matrix in which the elements in the first column are numbers, the elements in the second column are labels (a or B), and the elements in the third column are letters. The above elements represent different parameter values for the respective sensors. The purpose of this step is to prepare for subsequent processing and analysis.
It is detected whether the markers a are all above the marker B and whether the markers a are all above the marker B in the second column. If the markers a are not all above the markers B, adjustments are needed by subsequent translation operations to ensure that all markers a are above the markers B.
And performing translation operation to obtain an analysis matrix, and if the marker A is not all above the marker B, performing translation operation by the system, and performing upward translation on all rows with the marker A below the marker B, and simultaneously performing downward translation on all rows with the marker B to obtain a translation matrix. This translation matrix will be used as a resolution matrix for subsequent operations.
And sequencing letters in the analysis matrix, and arranging the letters in the third column in the analysis matrix according to the sequence from top to bottom to obtain an ordered letter sequence. This ordered sequence will be used for subsequent data processing.
And changing the digital conversion table based on letter sorting, and changing the preset digital conversion table by using letter sorting as a basis to obtain a new change conversion table. This conversion table will be used for subsequent digital conversion operations.
And converting the numbers in the analysis matrix, and converting each number in the first column of the analysis matrix based on the obtained change conversion table to obtain a corresponding conversion number. This step will perform the corresponding conversion process for each number according to the rules of the conversion table.
And determining initial values of the sensors corresponding to the letters in the analysis matrix, and determining the sensors corresponding to the letters in the third column of the analysis matrix based on a preset mapping relation between the letters and the sensors. The converted number of the row where each letter of the third column is located in the analysis matrix is the initial value of the corresponding sensor. Thus, the initial value of each sensor is obtained, and the initialization operation of the sensor is completed.
In an embodiment, the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table includes:
the number of the markers A in the second column of the analysis matrix is obtained, and the number of the markers A is multiplied by a preset value to obtain a first numerical value; wherein the first value is less than 10;
acquiring a binary conversion table from a database as the digital conversion table; wherein the number of the binary conversion table is equal to the first value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
Acquiring Chinese characters corresponding to each letter in the letter sorting; wherein, the mapping relation between letters and Chinese characters is stored in the database;
respectively calculating the stroke numbers of the Chinese characters corresponding to the letters, and calculating the average value of the stroke numbers of the Chinese characters corresponding to the letters;
and sequentially adding the average value to the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
In this embodiment, the method specifically includes:
step one: the number of markers a is obtained and a first value is calculated.
In this step, the number of labels a in the second column of the parsing matrix is first obtained, and then multiplied by a preset fixed value (e.g. 2, 3) to obtain a first value. This first value is obtained by multiplying the number of markers a by a preset value while satisfying the condition that the first value is smaller than 10.
Step two: acquiring a binary conversion table as a digital conversion table
In this step, a binary conversion table is obtained from the database and used as the digital conversion table. The binary conversion table typically includes a number column containing numbers and a corresponding conversion column containing corresponding conversion values of the numbers. The binary number of the binary conversion table should be equal to the first value.
Step three: acquiring Chinese characters corresponding to letters, calculating stroke numbers and obtaining average value
In this step, the mapping relation of the letters corresponding to the Chinese characters is obtained from the database. And then counting the stroke numbers of the Chinese characters corresponding to each letter, and calculating the average value of the stroke numbers of the Chinese characters.
Step four: calculating a change conversion table
In this step, the numbers in the conversion columns of the binary conversion table are sequentially added to the calculated average value to obtain the change conversion table. This change-over table will be used for subsequent digital conversion operations.
The above steps constitute a series of operations for changing the preset digital conversion table to obtain a final change conversion table.
In an embodiment, the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table includes:
generating a row-by-row alphabetical matrix based on the alphabetical ordering; wherein each letter in the letter sorting is an element from top to bottom in the letter matrix;
obtaining a preset number matrix, and multiplying the number matrix with the letter matrix to obtain a result matrix;
carrying out mean value calculation on numbers appearing at each position in the result matrix to obtain a digital mean value;
Obtaining the number of the markers B in the second column of the analysis matrix, and multiplying the number of the markers B by a preset value to obtain a second numerical value; wherein the second value is greater than 16 and less than 32;
acquiring a binary conversion table from a database as the digital conversion table; wherein the binary number of the binary conversion table is equal to the second numerical value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
and sequentially subtracting the digital average value from the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
In this embodiment, the method specifically includes:
step one: generating a letter matrix
In this step, a row-by-row alphabetical matrix is generated according to the alphabetical order. Each letter in the alphabetical order becomes an element from top to bottom in the alphabetical matrix, respectively.
Step two: multiplying alphabetic matrix by numeric matrix and calculating average
A preset number matrix is obtained, and the letter matrix and the number matrix are multiplied to obtain a result matrix. And then carrying out average value calculation on the numbers appearing at each position in the result matrix to obtain a digital average value.
Step three: calculating a second value
In this step, the number of labels B in the second column of the parsing matrix is obtained and multiplied by a preset value to obtain a second value. The second value needs to satisfy the condition of greater than 16 and less than 32.
Step four: acquiring a binary conversion table as a digital conversion table
The system will take the binary translation table from the database and take it as the digital translation table. The number of digits in the binary translation table should be equal to the second value and include a column of digits containing the digits and a corresponding translation column containing the corresponding translation value of the digits.
Step five: calculating a change conversion table
And sequentially subtracting the digital average value from the numbers in the conversion columns of the binary conversion table to obtain the change conversion table. This change-over table will be used for subsequent digital conversion operations.
The above steps constitute a series of operations for changing the preset digital conversion table to obtain a final change conversion table.
Referring to fig. 2, there is also provided a sensor detecting apparatus of a massage robot according to an embodiment of the present invention, including:
an initializing unit for initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
The acquisition unit is used for acquiring physiological parameter attributes of a user based on the first type sensor, inputting the physiological parameter attributes into the massage mode detection model and detecting to obtain a corresponding massage mode;
the first correction unit is used for inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
the second correction unit is used for obtaining a correction coefficient corresponding to the second type sensor, correcting the correction data in the first correction parameter based on the correction coefficient, and obtaining a second correction parameter;
the third correction unit is used for obtaining the fixed massage parameters in the massage mode, correcting the fixed massage parameters based on the second correction parameters, and obtaining corrected massage parameters in the massage mode;
and the control unit is used for controlling the second type sensor based on the corrected massage parameters and massaging.
In this embodiment, for specific implementation of each unit in the above embodiment of the apparatus, please refer to the description in the above embodiment of the method, and no further description is given here.
Referring to fig. 3, in an embodiment of the present invention, there is further provided a computer device, which may be a server, and an internal structure thereof may be as shown in fig. 3. The computer device includes a processor, a memory, a display screen, an input device, a network interface, and a database connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store the corresponding data in this embodiment. The network interface of the computer device is used for communicating with an external terminal through a network connection. Which computer program, when being executed by a processor, carries out the above-mentioned method.
It will be appreciated by those skilled in the art that the architecture shown in fig. 3 is merely a block diagram of a portion of the architecture in connection with the present inventive arrangements and is not intended to limit the computer devices to which the present inventive arrangements are applicable.
An embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above method. It is understood that the computer readable storage medium in this embodiment may be a volatile readable storage medium or a nonvolatile readable storage medium.
In summary, the method, the device and the equipment for detecting the sensor of the massage robot provided by the embodiment of the invention comprise the following steps: initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor; based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode; inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data; acquiring a correction coefficient corresponding to the second type sensor, and correcting correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter; acquiring fixed massage parameters in the massage mode, and correcting the fixed massage parameters based on the second correction parameters to obtain corrected massage parameters in the massage mode; and controlling the second type sensor based on the corrected massage parameters, and massaging. According to the invention, physiological parameter attributes are analyzed through the massage mode detection model and the correction parameter detection model, so that corresponding massage modes and massage parameters to be corrected are obtained. And then, acquiring a correction coefficient according to the data collected by the second type sensor, and obtaining a second correction parameter through a correction parameter detection model. By the sensor detection method, the massage robot can intelligently adjust massage parameters according to the physiological state of the user, and a more careful and comfortable massage experience is provided.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided by the present invention and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM, among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. The sensor detection method of the massage robot is characterized by comprising the following steps of:
initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
Based on the first type sensor, acquiring physiological parameter attributes of a user, inputting the physiological parameter attributes into a massage mode detection model, and detecting to obtain a corresponding massage mode;
inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
acquiring a correction coefficient corresponding to the second type sensor, and correcting correction data in the first correction parameter based on the correction coefficient to obtain a second correction parameter;
acquiring fixed massage parameters in the massage mode, and correcting the fixed massage parameters based on the second correction parameters to obtain corrected massage parameters in the massage mode;
and controlling the second type sensor based on the corrected massage parameters, and massaging.
2. The sensor detection method of a massage robot according to claim 1, wherein the step of controlling the second type sensor based on the corrected massage parameters and performing the massage includes:
the massage robot operates in the massage mode, and controls the motion sensor in the second type sensor to execute massage action with corresponding corrected massage parameters.
3. The method for detecting a sensor of a massage robot according to claim 1, wherein the fixed massage parameters in the massage mode are acquired, and the fixed massage parameters are corrected based on the second correction parameters, so as to obtain corrected massage parameters in the massage mode;
obtaining fixed massage parameters corresponding to the massage modes based on the mapping relation between the fixed massage parameters and the massage modes stored in the database;
and determining a target massage parameter to be corrected from the fixed massage parameters based on the second correction parameters, and superposing the numerical value of the target massage parameter to be corrected and correction data in the second correction parameters to obtain the corrected massage parameters in the massage mode.
4. The method of claim 1, wherein the step of initializing each sensor on the massage robot comprises:
acquiring a preset sensor parameter matrix; wherein the sensor parameter matrix is a matrix of multiple rows and three columns; each location having a corresponding element thereon;
analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to the sensors based on the analysis matrix;
And initializing the sensors based on initial values corresponding to the sensors.
5. The method for detecting a sensor of a massage robot according to claim 4, wherein the step of analyzing the sensor parameter matrix to obtain an analysis matrix, and obtaining initial values corresponding to the respective sensors based on the analysis matrix comprises:
reading elements at each position in the sensor parameter matrix; wherein the elements in the third column of the matrix are letters; the elements in the first column are numbers, and the elements in the second column are markers; the markers are A and B, wherein A is the mark of a first type sensor, and B is the mark of a second type sensor;
detecting whether the markers a in the second column are all above the markers B;
if the markers A in the second column are not all above the markers B, translating all the rows with the markers A below the markers B upwards, and translating all the rows with the markers B downwards to obtain a translation matrix serving as the analysis matrix;
arranging letters in a third column of the analytic matrix in sequence from top to bottom to obtain letter ordering;
Changing a preset digital conversion table based on the letter sorting to obtain a change conversion table;
converting each number in a first column in the analysis matrix based on the change conversion table to obtain a corresponding conversion number;
determining a sensor corresponding to the letter in a third column in the analysis matrix based on a preset mapping relation between the letter and the sensor; the converted number of the row where each letter of the third column is located in the analysis matrix is the initial value of the corresponding sensor.
6. The method according to claim 5, wherein the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table comprises:
the number of the markers A in the second column of the analysis matrix is obtained, and the number of the markers A is multiplied by a preset value to obtain a first numerical value; wherein the first value is less than 10;
acquiring a binary conversion table from a database as the digital conversion table; wherein the number of the binary conversion table is equal to the first value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
Acquiring Chinese characters corresponding to each letter in the letter sorting; wherein, the mapping relation between letters and Chinese characters is stored in the database;
respectively calculating the stroke numbers of the Chinese characters corresponding to the letters, and calculating the average value of the stroke numbers of the Chinese characters corresponding to the letters;
and sequentially adding the average value to the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
7. The method according to claim 5, wherein the step of changing the preset digital conversion table based on the alphabetical order to obtain a changed conversion table comprises:
generating a row-by-row alphabetical matrix based on the alphabetical ordering; wherein each letter in the letter sorting is an element from top to bottom in the letter matrix;
obtaining a preset number matrix, and multiplying the number matrix with the letter matrix to obtain a result matrix;
carrying out mean value calculation on numbers appearing at each position in the result matrix to obtain a digital mean value;
obtaining the number of the markers B in the second column of the analysis matrix, and multiplying the number of the markers B by a preset value to obtain a second numerical value; wherein the second value is greater than 16 and less than 32;
Acquiring a binary conversion table from a database as the digital conversion table; wherein the binary number of the binary conversion table is equal to the second numerical value; the system conversion table comprises a digital column and a conversion column; the digital columns and the conversion columns are all numbers;
and sequentially subtracting the digital average value from the numbers in the conversion columns of the binary conversion table to obtain the change conversion table.
8. A sensor detection device of a massage robot, comprising:
an initializing unit for initializing each sensor on the massage robot; wherein the sensors are functionally categorized into a first type of sensor and a second type of sensor;
the acquisition unit is used for acquiring physiological parameter attributes of a user based on the first type sensor, inputting the physiological parameter attributes into the massage mode detection model and detecting to obtain a corresponding massage mode;
the first correction unit is used for inputting the physiological parameter attribute into a correction parameter detection model to obtain a first correction parameter; the first correction parameters comprise massage parameters to be corrected and corresponding correction data;
the second correction unit is used for obtaining a correction coefficient corresponding to the second type sensor, correcting the correction data in the first correction parameter based on the correction coefficient, and obtaining a second correction parameter;
The third correction unit is used for obtaining the fixed massage parameters in the massage mode, correcting the fixed massage parameters based on the second correction parameters, and obtaining corrected massage parameters in the massage mode;
and the control unit is used for controlling the second type sensor based on the corrected massage parameters and massaging.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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