CN1759822A - Massage method of intelligent initiative type appliance and massage robot - Google Patents
Massage method of intelligent initiative type appliance and massage robot Download PDFInfo
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- CN1759822A CN1759822A CN 200410083661 CN200410083661A CN1759822A CN 1759822 A CN1759822 A CN 1759822A CN 200410083661 CN200410083661 CN 200410083661 CN 200410083661 A CN200410083661 A CN 200410083661A CN 1759822 A CN1759822 A CN 1759822A
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Abstract
An intelligent mechanical massage method is disclosed, which can simulate the manual massage on the human body. A massage robot for implementing said massage method has an intelligent induction unit for automatically determining the positions of acupoints to massage on acupoints, a massage expert system, and a speech prompting unit.
Description
Technical field
The present invention relates to a kind of apparatus massage method that meets the Chinese traditional massage theory.By loosen prostrate of massage person or lie on the back or sit, massage appliance imitation manual massage method is implemented massage from quilt massage person's top.The invention also discloses a kind of intelligent massaging robot that utilizes described method to implement massage.
Background technology
Present known apparatus massage is passive-type, massage appliance generally is installed in the surface of massage couch or massage armchair, and can't perception whether the someone massages, relied on the pressure of self to implement massage by massage person, usually be in the tense situation of muscle by massage person, the acceptance massage that can not loosen fully is so that massage effect is had a greatly reduced quality.
For overcoming this deficiency, Chinese patent 95212078.X has announced a kind of whole body massage bed, adopted a kind of massaging way that is similar to from the top down, concrete grammar is that massage head is fixed on can be passively up and down on the push rod of springing, this push rod can be done translation all around under the drive of motor, lain on the back on massage couch by massage person's level, and whole massage couch is moved up and down by HYDRAULIC CONTROL SYSTEM, be combined into a three-dimensional massage motion with the horizontal movement of massage head, reach the effect of massage.The massaging way of this massage couch is a kind of proximate basipetal massaging way, the massage pressure that massage head provided changes moving up and down from the massage bed surface, can not produce the massage effect of simulation staff, can not be to the acupoint massage of human body, though the shortcoming of the passive massage that has overcome traditional massage appliance of part, effect is unsatisfactory.
Summary of the invention
The purpose of this reality invention is to overcome above-mentioned the deficiencies in the prior art, and a kind of apparatus massage method of simulating the staff massage is provided, and this is a kind of truly massage method of " from top to bottom ".Concrete grammar of the present invention is: prostrate or lie on the back or sit by massage person, mechanical arm has been installed in its top, the massage head of masseur is installed on the mechanical arm, mechanical arm and massage head are as people's arm and hands, enter massage from quilt massage person's top, the mode of massage, the size of pressure, the length of time are controlled by the computer of control mechanical arm, are active massages fully.Having overcome traditional massage couch need be adjusted the shortcoming that self muscle goes " searching " massage pressure by massage person, is in relaxation state fully by massage person, and as accepting the manual massage, massage effect obviously improves.
For the massage appliance of realizing above-mentioned massaging way is the intelligent massaging robot.The work process of intelligent massaging robot: prostrate or lie on the back or sit by massage person, massage robot is installed in the top, and the intelligent-induction checkout gear of massage robot detects automatically, locatees by massage person's acupuncture point.Simultaneously the doctor or by massage person by human computer conversation's window or remote controller input by the purpose of massage person's basic condition, this massage, requirement, " Chinese traditional massage specialist system " in the computer at first made the personalized massage program of a cover by analyzing these data, and commander's massage head follow procedure is implemented massage to the acupuncture point accurately, massage head is carried out work according to selected function choosing-item automatically, massage head is displaced to the specified acupuncture point of next program automatically and implements massaging action when finishing an acupoint massage, finishes up to whole procedure.The intelligent massaging robot can carry out in the process of a whole set of massage flow implementation in gradation, can ask to interrupt midway, also can proceed uncompleted action, need not a program and start anew." Chinese traditional massage specialist system " is the opening system of a cover, can upgrade at any time, upgrade, to keep best duty.
Described intelligent massaging robot characteristics are: realized simulating from top to bottom the massage method of staff fully, the pressure of massage head is that apparatus self provides and by computer program control, is in the naturalness of loosening fully by massage person, can obtain best massage effect; Have computer chip and induction installation, can detect, locate acupuncture point, the meridians of human body automatically, thereby guarantee accurately putting in place of massage, and can constantly change sprawl and adjust in real time according to quilt massage person; Be provided with human computer conversation's window, can import easily by massage person's various situations and requirement to massaging; Have " Chinese traditional massage specialist system " in the computer, can work out various personalized massage scheme according to quilt massage person's situation with to the requirement of massage, this specialist system is opening can upgrading at any time, to obtain best duty.
The intelligent massaging robot has the voice suggestion ability, when massage program proceeds to certain phase, need be changed posture by massage person, and when perhaps needing to lift arm or lower limb, the intelligent massaging robot can send prompting with the language of standard.
Description of drawings
Below in conjunction with drawings and Examples the present invention is done detailed explanation.
Fig. 1 is an intelligent massaging robot construction sketch map of the present invention.
Fig. 2 is the operation principle block diagram of intelligent initiative type appliance massage method of the present invention and massage robot thereof.
Embodiment
Among Fig. 1: video camera 1, framework 2, by massage person 3, massage head 4, mechanical arm 5, mechanical arm lengthwise movement guide rail 6, mechanical arm transverse movement guide rail 7, mechanical arm shrinks nest 8, and host computer and human computer conversation shield 9, remote controller 11;
Among Fig. 2: the human computer conversation shields 9, image processing system 10, remote controller 11, acupuncture point data storehouse 12, massage program data base 13, central processing unit 14, kinetic control system 15, lengthwise movement signal 16, transverse movement signal 17, signal 18, massage head turn signal 19, position and pressure transducer 20 move up and down.
The massaging way of " from top to bottom " of the present invention embodies as follows: as shown in Figure 1, by massage person's 3 levels on prostrate or the bed below framework 2 of lying on the back or be sitting in the seat that is placed in below the robot, mechanical arm 5 has been installed in the top, massage head 4 is installed on the mechanical arm 5, mechanical arm 5 and massage head 4 are as people's arm and hands, enter massage from quilt massage person 3 top, the mode of massage, the size of pressure, the length of time are controlled by the computer of control mechanical arm.
Fig. 1 has also illustrated the external form signal of intelligent massaging of the present invention robot.A video camera 1 has been installed in the front upper place of framework 2, be used to gather the view data under framework 2 by massage person 3, it passes to a real time imaging system with data, this system utilizes visual light imaging and infrared imaging sensor to realize real-time target imaging tracking, there is high real-time in infrared tracking processor system, can accomplish that the real time imaging when massaging the people moves upgrades, also have the ability of handling big data quantity, to guarantee the real-time of system; The volume of this system, power consumption, stability etc. also reach desirable requirement.This system is a core with large-scale complex PLD (FPGA) and microprocessor (3048F) on hardware, adopts modularity pipeline processes structure, realizes the real-time tracking of target image.On systems soft ware, can use a kind of MAD of fast correlation algorithm efficiently, set up that correlation tracking confidence level assessment, template self adaptation are changed, track rejection is judged, anti-interference criterion and criterion such as catch again, improved the stability and the capacity of resisting disturbance of target (promptly to acupuncture point) tracking effectively.
As shown in Figure 2, the position, acupuncture point that treated image is sent in central processing unit 14 and the acupuncture point data storehouse 12 compares, and infers by massage people's position, acupuncture point.The principle of inferring the acupuncture point by acupuncture point data storehouse 12 is to become cut-and-dried human acupoint figure image to enter computer by the high accuracy scanner scanning, handle the back by image raster handling implement, digitized processing instrument again and form a kind of different spaces of a whole page relevant (sit, for sleeping in, front, the back side, fat, thin, child etc.) acupuncture point electronics space of a whole page with the acupuncture point location drawing, calculate the concrete coordinate figure at each acupuncture point, after setting up topological relation, be placed among the Visual Pro data base.Further the resulting image comparison of real time imaging system is calculated automatically the acupuncture point corresponding relation of real human body and traditional Chinese medical science acupuncture point figure again, thereby obtain the acupuncture point coordinate position.
Human computer conversation among Fig. 1 shield 9 and remote controller 11 are the important information sources of another one, the doctor or by massage person can by the human computer conversation shield 9 or remote controller 11 will be by all biological informations of massage person, comprise body weight, height, age, sex, disease situation or the like, and this time massage will achieve the goal and require to import in the computer, shown in the block diagram of Fig. 2.
The 4th important information source is: massage program data base 13, it is " a Chinese traditional massage specialist system ", theory and method according to the traditional Chinese massage massage, the driving interface that adopts programming software to provide in conjunction with control module, the massage process program of the various personalizations that generate by the design of logical theory thought." Chinese traditional massage specialist system " is the opening system of a cover, can upgrade at any time, upgrade, to keep best duty.
After central processing unit compares by the information analysis that human computer conversation's screen is obtained, from massage data base " Chinese traditional massage specialist system ", select the optimal massage program of a cover, again according to position, fixed acupuncture point, central processing unit 14 actuation movement control system 15, kinetic control system 15 is driving device arm 5 and massage head 4 successively, and massage is implemented at the acupuncture point accurately.In order to protect mechanical arm and massage head, mechanical arm 5 and massage head 4 are contracted in when not working shrinks in the nest 8.
Kinetic control system 15 is made up of Programmable Logic Controller PLC and GCC programming.Kinetic control system 15 changes the data signal of massage program into lengthwise movement signal 16 respectively, transverse movement signal 17, the signal 18 that moves up and down, and massage head turn signal 19.Lengthwise movement signal 16 control massage head are moved on longitudinal rail 6, transverse movement signal 17 control massage head are moved on cross slide way 7, the signal 18 control mechanical arms that move up and down are flexible, 16,17,18 3 control signals make massage head at three dimensions a definite position, the i.e. position at a concrete acupuncture point arranged.Massage head turn signal 19 is used to control the velocity of rotation and the intensity of massage head, and the conversion of combination massage head, with the vibrations that reach Chinese traditional massage, cut strike, effects such as finger pressure, the palm are pressed, knead, beat, stretching, extension.
Three motion control signals 16,17,18 also have an effect, control the size and the direction of massage pressure exactly.Pressure transducer and position sensor 20 are housed on massage head, the pressure of pressure transducer perception massage, position sensor provides the exact position at massage head place.The data that two pick offs constantly obtain massage head in the course of the work feed back to central processing unit, adjust 16,17,18 3 motor messages in fact during the signal of central processing unit utilization feedback, produce corresponding massage pressure, to obtain best massage effect.
The intelligent massaging robot has the voice suggestion ability, when massage program proceeds to certain phase, need be changed posture by massage person, and when perhaps needing to lift arm or lower limb, the intelligent massaging robot can send prompting with the language of standard.
Claims (3)
1. intelligent initiative type appliance massage method, it is characterized in that, realize the active massaging way of " from top to bottom ": prostrate or lie on the back or sit by massage person, mechanical arm has been installed in its top, the massage head of masseur is installed on the mechanical arm, and mechanical arm and massage head anthropomorphic dummy's arm and hands enter massage from quilt massage person's top, the pressure of massage head is provided by apparatus self, and the mode of massage, the size of pressure, the length of time are controlled by the computer program of control mechanical arm;
Massage appliance is equipped with computer chip and induction installation, can detect, locate acupuncture point, the meridians of human body automatically, thereby guarantees accurately putting in place of massage, and can constantly change posture and adjust in real time according to quilt massage person;
Doctor or quilt massage people import by the purpose of massage person's basic condition, this massage, requirement by human computer conversation's window or remote controller, " Chinese traditional massage specialist system " in the computer at first made the personalized massage program of a cover by analyzing these data, and commander's massage head follow procedure is implemented massage to the acupuncture point accurately, massage head is carried out work according to selected function choosing-item automatically, massage head is displaced to the specified acupuncture point of next program automatically and implements massaging action when finishing an acupoint massage, finishes up to whole procedure;
In the process of a whole set of massage flow implementation, can gradation carry out, can ask to interrupt midway, also can proceed uncompleted action, need not a program and start anew;
Sound prompt device is housed on the massage appliance, when massage program proceeds to certain phase, need be changed posture by massage person, when perhaps needing to lift arm or lower limb, the intelligent initiative type massage couch can send prompting with the language of standard.
2. intelligent massaging robot that uses the massage method of claim 1 described " from top to bottom ", it is characterized in that, be the intelligent massaging robot of computer control, the video camera (1) of its structure for above massage couch, installing, framework (2), massage head (4) is installed on the mechanical arm (5), mechanical arm lengthwise movement guide rail (6), mechanical arm transverse movement guide rail (7), mechanical arm shrinks nest (8), host computer and human computer conversation's screen (9), remote controller (11);
Described intelligent massaging ROBOT CONTROL system is formed by connecting by image processing system (10), remote controller (11), acupuncture point data storehouse (12), massage program data base (13), central processing unit (14), kinetic control system (15) and video camera (1), host computer and human computer conversation's screen (9), pressure transducer and position sensor (20).
3. intelligent massaging according to claim 2 robot is characterized in that described " Chinese traditional massage specialist system " is opening, can upgrade at any time, upgrade.
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| CN 200410083661 CN1759822A (en) | 2004-10-15 | 2004-10-15 | Massage method of intelligent initiative type appliance and massage robot |
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