CN115944518A - Back massage manipulator, intelligent back massage robot and massage method thereof - Google Patents
Back massage manipulator, intelligent back massage robot and massage method thereof Download PDFInfo
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Abstract
The invention discloses a back massage manipulator, an intelligent back massage robot and a massage method thereof.A mechanical arm integrates a massage ball device, an essential oil needle cylinder and a back region detection system into a whole, the flexible rotary motion with six degrees of freedom can be realized in the massage moving process, the massage ball device is contacted with the skin of a human body, and the mechanical arm can simulate a traditional Chinese medicine massage manipulation to carry out flexible massage on the back of the human body in cooperation with the uniform force control function of the mechanical arm; the variable-frequency miniature air pump accurately controls the output quantity of the essential oil, does not damage the skin, and has the physical therapy effects of growing the yang qi, relaxing the muscles and tendons, promoting the blood circulation, smoothing the channels and the like on the human body; the back region detection system detects and identifies the back region and the size of a person to be massaged by means of a machine vision detection technology, the detection precision and the detection efficiency are high, the mechanical arm can enlarge or reduce the corresponding massage range according to the back regions of the massagers with different body types, and customized massage effects can be achieved for the crowds with different body types.
Description
Technical Field
The invention relates to the technical field of massage manipulators, in particular to a back massage manipulator, an intelligent back massage robot and a massage method thereof.
Background
Massage is one of the traditional and old therapies with the characteristics of traditional Chinese medicine, and with the rapid development of the artificial intelligence industry, the robot replaces artificial massage to become a hot point of current research. In recent years, although a plurality of massage apparatuses such as a massage chair and a massage bed appear in the market, the massage chair and the massage bed are both passive, the massage mode is that the force is applied from bottom to top, a massaged person carries out massage by depending on the weight of the massaged person, the massaged person needs to adjust the muscle of the massaged person to search for a massage pressure point, and the massaged part is under the oppression of the weight of the massaged person and can not receive massage in a relaxing way; in addition, the traditional massage chair and massage bed have single massage manipulation, can not finish the massage action of imitating the traditional Chinese medicine, and generally can not achieve the treatment effect; the existing massage robot, as in application No. CN202220014150.8, the patent name is a mechanical arm and a massage robot, and discloses a depth camera arranged on a mechanical arm for shooting a target object to obtain relative position information with the target object, but the depth camera cannot accurately identify massage acupuncture points and massage areas according to different massage objects, cannot achieve accurate positioning and standard unified massage for users of different body types, and has the problems of low efficiency of path planning or large deviation of path.
Disclosure of Invention
Aiming at the existing problems, the invention provides a back massage manipulator, an intelligent back massage robot and a massage method thereof, which not only solve the problems that accurate positioning and standard unified massage cannot be realized for users with different body types, the problems of low planning path efficiency or large path deviation and the like exist, but also can realize high simulation of Chinese medicine massage manipulation in the whole massage process, intelligently control the functions of various parameters and replace manual quality-consistent massage.
In order to realize the purpose, the invention is realized according to the following technical scheme:
the invention provides a back massage manipulator, which comprises a control box, a mechanical arm and a back region detection system, wherein the mechanical arm is arranged above the control box, a massage ball device is arranged at the end part of a tail end arm section of the mechanical arm, and an essential oil needle cylinder is connected to one side of the massage ball device and used for supplying essential oil to the massage ball device; the pressure in the essential oil needle cylinder is controlled by a variable-frequency micro air pump for controlling the output quantity of the essential oil, and the variable-frequency micro air pump is electrically connected with a PLC (programmable logic controller) in the control box; the back region detection system comprises a depth camera and an image acquisition and processing unit, wherein the depth camera is installed on one side of the mechanical arm and used for photographing the back of a person to be massaged, the image acquisition and processing unit is used for detecting the size of a calibration plate of a photographed image according to a shape detection function, converting image coordinates into actual robot coordinates, and calculating the back region size of the person to be massaged according to the proportional relation between the actual size of the calibration plate and the number of pixels.
In one possible technical scheme, a heater and a temperature sensor which are controlled in a closed loop mode are arranged in a massage head of the massage ball device, the heater is electrically connected with a temperature controller inside a control box, and the temperature sensor and the temperature controller are electrically connected with a PLC controller.
In a possible technical scheme, a pressure detection sheet is arranged inside the massage ball device and used for measuring the massage pressure of the balls, the pressure detection sheet is in electrical signal connection with a pressure sensor, and the pressure sensor is in electrical signal connection with the PLC.
In a possible technical scheme, the bottom of control box week side is equipped with LED lamp strip, and inside is equipped with the LED control panel, the LED control panel with PLC controller signal connection.
The invention provides an intelligent back massage robot, which comprises a computer and any one back massage mechanical arm, wherein the computer is provided with an intelligent terminal system which accurately identifies human acupuncture points and calculates massage tracks according to the position and the size of the back area of a person to be massaged in actual robot coordinates, and outputs and controls the mechanical arm to execute a massage process.
In the technical scheme, the computer is provided with a touch display used for displaying or controlling action buttons and operation parameters in the massage process.
The invention provides a massage method of an intelligent back massage robot, which comprises the following operation steps executed in sequence:
s1, pressing a starting switch, giving an input signal to a PLC (programmable logic controller) and controlling a computer and a mechanical arm to start up; touching a touch display of a computer, turning on an intelligent terminal system, setting a heating temperature and an oil outlet speed, and outputting a signal to a heater by a temperature controller to electrify and heat to the set temperature;
s2, a person to be massaged lies over the massage bed, and a circular calibration plate with known outline size is placed on the back of the massage bed according to areas needing to be massaged in different body types;
s3, clicking an arm through the touch display to execute a starting button operation program, and moving the mechanical arm to a preset initial position to enable the position of the depth camera to be horizontal and the back of a person to be massaged to be in a photographing view of the depth camera;
s4, starting a depth camera to take a picture, detecting the circular shape of the circular calibration plate through a shape detection function, measuring the detected circular diameter by using a maximum caliper function, comparing the circular diameter with a preset diameter value, determining the moving height of the mechanical arm, and moving the mechanical arm according to the moving height;
s5, shooting the image again, and calculating the size of the back area of the person to be massaged according to the proportional relation between the actual size of the circular calibration plate and the number of pixels; selecting four points of cervical vertebra, caudal vertebra, shoulder and waist from the shot image through a mouse, converting the image coordinate into an actual robot coordinate by using a halcon HHomMat2D function, completing contour positioning, calculating a massage track through an intelligent terminal system, outputting the massage track to a mechanical arm to calibrate a massage range, taking down a calibration plate, and starting massage; the pressure sensor signals are collected in the massage process, and the massage pressure and the massage angle are intelligently controlled.
In the above technical solution, in the step S4, the function for determining the moving height of the mechanical arm is as follows:
mechanical arm movement height = (measured diameter-preset diameter) × 0.01.
Among the above-mentioned technical scheme, after the arm began to massage, time through the software timer, after the timing, intelligent terminal system output a signal and give the miniature air pump of frequency conversion circular telegram, the miniature air pump of frequency conversion gives oil pipe pressurization, control output essential oil, starts the timer once more simultaneously, waits for next triggering, so the circulation.
In the technical scheme, the mechanical arm massage process firstly carries out massage according to 8-shaped tracks, namely the Dazhui acupoint is pressed for 3 seconds, 49 characters with 8 shapes are drawn from the Dazhui acupoint to the Xiliao acupoint, finally, the mechanical arm massage process just stays at the Xiliao acupoint, then the Dazhui acupoint is massaged to the Dazhui acupoint in a linear mode along the spine from the Xiliao acupoint, the mechanical arm massage process is lifted up after reaching the Dazhui acupoint, the mechanical arm massage process returns to the Xiliao acupoint for 3 seconds, then the mechanical arm massage process is carried out 49 times of 8 times from the Xiliao acupoint to the Dazhui acupoint, the mechanical arm massage process is carried out to the Xiliao acupoint in a linear mode along the spine after reaching the Dazhui acupoint, and the cycle is one time and four times of cycles are carried out;
then, the patient is massaged according to a 6-character track, namely, the patient presses the Dazhui acupoint for 3 seconds, 35 '6's are drawn from the shoulder to the left back in the waist direction, then the patient is lifted up and repeated for three times, and the patient presses the Dazhui acupoint for 3 seconds, 35 '6's are drawn from the shoulder to the right back in the waist direction, then the patient is lifted up and repeated for three times.
Compared with the prior art, the invention has the following beneficial effects:
according to the back massage manipulator disclosed by the invention, the massage ball device, the essential oil needle cylinder and the back region detection system are integrated into a whole by the mechanical arm, flexible rotary motion with six degrees of freedom can be realized in the massage moving process, the massage ball device is in contact with the skin of a human body, and the mechanical arm can simulate traditional Chinese medicine massage manipulation to carry out flexible massage on the back of the human body in cooperation with the uniform force control function of the mechanical arm; the variable-frequency micro air pump accurately controls the output quantity of the essential oil, and detects the pressure of the system in real time to ensure that the essential oil is continuously and stably output in the whole massage process, so that the skin is not injured, and the physiotherapy effects of growing yang qi, relaxing muscles, relaxing tendons, activating blood, dredging meridians and the like are achieved for a human body; the back area detection system detects and identifies the back area and the size of the person to be massaged by means of a machine vision detection technology, the detection precision and the detection efficiency are high, so that the mechanical arm can enlarge or reduce the corresponding massage range according to the back areas of the massagers with different body types, and the customized massage effect on the crowds with different body types is realized; the intelligent back massage robot can achieve the prominent effects of intelligent flexible control of the massage process, precise machine vision identification, constant and controllable massage strength, temperature and speed, implementation of traditional Chinese medicine massage manipulation conversion technology, immersive conditioning, saving people and improving efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a front view illustrating a back massage robot according to an embodiment of the present invention;
fig. 2 is a schematic rear view of a back massage manipulator according to an embodiment of the present invention;
fig. 3 is a schematic view of the right side structure inside the control box of the back massage manipulator according to the embodiment of the present invention;
fig. 4 is a schematic view of the left side structure inside the control box of the back massage manipulator according to the embodiment of the present invention;
fig. 5 is a schematic software interface diagram of an intelligent back massage robot according to an embodiment of the present invention;
fig. 6 is a control schematic diagram of the intelligent back massage robot according to the embodiment of the present invention;
fig. 7 is a back massage track diagram of the massage method of the intelligent back massage robot according to the embodiment of the present invention.
Reference numerals: 1. starting a switch; 2. an emergency stop button; 3. a computer; 4. a mouse; 5. a robot demonstrator; 6. a mechanical arm; 7. an essential oil syringe; 8. a depth camera; 9. a massage ball device; 10. fixing the ground feet; 11. a control box; 12. inputting a power socket; 13. an input power switch; 14. a robot control box; 15. a frequency conversion micro air pump; 16. a temperature controller; 17. 18, a pressure sensor; 19. an LED control panel; 20. a power source; 21. an LED light bar; 22. an arm execution start button; 23. an arm stop reset button; 24. a manual oil outlet button; 25. monitoring the air pressure; 26. running time; 27. a photographed image display window; 28. temperature adjustment; 29. adjusting the force; 30. speed regulation; 31. the oil outlet time and interval; 32. the number of runs.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Example 1
Embodiment 1 of the present invention provides a back massage manipulator, which is shown in fig. 1 and 2, and includes a control box 11, a mechanical arm 6, and a back region detection system, wherein a start switch 1 is fixed above the front side of the equipment control box 11; the emergency stop button 2 is fixed above the front side of the equipment control box 11; the mechanical arm 6 is arranged above the control box 11, six-axis cooperative mechanical arms are preferably adopted for the mechanical arm 6, the mechanical arm 6 can move forwards, backwards, upwards, downwards, leftwards and rightwards, preferably, the mechanical arm 6 is a URE series mechanical arm, the mechanical arm has the characteristics of smallness and strong function, and has an artificial human arm, the effective load range is 3-16 kg, the working radius is 500-1300mm, all arm joints can rotate for 360 degrees, and the tail end joint can rotate infinitely, so that the mechanical arm can meet the requirements of high safety performance, silence in the massage process and excellent force control function when being used for massaging a human body; the end part of the tail end arm section of the mechanical arm 6 is provided with a massage ball device 9, and the essential oil needle cylinder 7 is connected to one side of the massage ball device 9 and is used for supplying essential oil to the massage ball device 9; a variable-frequency micro air pump 15 for controlling the output quantity of the essential oil is installed in the essential oil needle cylinder 7, the variable-frequency micro air pump 15 is electrically connected with a PLC (programmable logic controller) 17 in the control box 11, the variable-frequency micro air pump 15 accurately controls the output quantity of the essential oil, and the pressure of the system is detected in real time to ensure that the essential oil is continuously and stably output in the whole massage process, specifically, in the embodiment, the variable-frequency micro air pump 15 is a kamoer-KLP01-EKA1 variable-frequency micro air pump, and is small in size, powerful and stable in performance; the fixed anchor 10 is connected below the control box, and the control box is fixed right above the fixed anchor 10; the input power socket 12 is fixed below the rear side of the control box, adopts a standard IEC320 power socket and can accept a standard NEMA power plug; the input power switch 13 is fixed below the rear side of the control box, the voltage is 220V, and the rated power is 350W; referring to fig. 3 and 4, the variable frequency micro air pump 15, the PLC controller 17 and the power supply 20 are fixed inside the control box 11; the back area detection system comprises a depth camera 8 and an image acquisition and processing unit, the depth camera 8 is installed on one side of the mechanical arm 6 and used for photographing the back of a person to be massaged, the image acquisition and processing unit is used for detecting the diameter of the circular calibration plate from a photographed image according to a shape detection function, converting image coordinates into actual robot coordinates, and calculating the size of the back area of the person to be massaged according to the proportional relation between the actual size of the circular calibration plate and the number of pixels; the back area detection system detects and identifies the back area and the size of a person to be massaged based on a machine vision detection technology, the depth camera 8 can be installed on any side of the mechanical arm 6, the mechanical arm 6 carries the depth camera 8 to move to a preset initial position, in the embodiment, the depth camera 8 is fixed at the front end of the joint of the tail end arm section and the next tail end arm section of the mechanical arm 6, the preset initial position refers to the fact that the depth camera at the position can shoot the back of the person to be massaged in a visual field range, the preset initial position is not an absolute fixed position, but an area range roughly selected according to the shooting rule of the depth camera; the preset initial position is used for helping the mechanical arm 6 to find the calibration position of the depth camera 8 by comparing the image information of the position; the process of determining the calibration position of the depth camera 8 needs to use a calibration plate, the size information of the calibration plate is known, before the massage is started, the calibration plate is placed at any position in the back area of the person to be massaged, preferably, the shooting angles of the calibration plate and the depth camera 8 are both set to be the horizontal direction, and the distortion of the shot calibration plate image is prevented; the depth camera 8 shoots a picture when reaching a preset initial position, the shape of the calibration plate is detected through a shape detection function, the detected shape size is measured by using a corresponding size algorithm, the measured shape size is compared with a preset size numerical value, the moving height of the mechanical arm 6 is determined, and the mechanical arm 6 moves according to the moving height; after the massage table is moved to the calibration position, the image is shot again, the size of the back area of the person to be massaged is calculated according to the proportional relation between the actual size of the calibration plate and the number of pixels, and the sizes of the back areas of different massagers can be obtained; specifically, the calibration plate may be a plate having a regular shape, for example, a circular calibration plate may be selected, diameter information of the circular calibration plate is known, and after a circle is detected by a shape detection function, the detected diameter of the circle may be measured by using a maximum caliper function; alternatively, a rectangular calibration board may be selected, the side length information of the rectangular calibration board is known, and after the rectangle is detected by the shape detection function, the detected side length of the rectangle may be obtained by using the Pair Edge Distance algorithm.
According to the back massage manipulator disclosed by the embodiment 1 of the invention, the massage ball device, the essential oil needle cylinder and the back region detection system are integrated into a whole by the mechanical arm, flexible rotary motion with six degrees of freedom can be realized in the massage moving process, the massage ball device is in contact with the skin of a human body, and the mechanical arm can simulate a traditional Chinese medicine massage manipulation to carry out flexible massage on the back of the human body in cooperation with the uniform force control function of the mechanical arm; the variable-frequency micro air pump 15 accurately controls the output quantity of the essential oil, and detects the system pressure in real time to ensure that the essential oil is continuously and stably output in the whole massage process, does not damage the skin, and has the physical therapy effects of growing yang qi, relaxing muscles, relaxing tendons, promoting blood circulation, dredging channels and collaterals and the like on a human body; the back region detection system detects and identifies the back region and the size of a person to be massaged by means of a machine vision detection technology, the detection precision and the detection efficiency are high, the mechanical arm can enlarge or reduce the corresponding massage range according to the back regions of the massagers with different body types, and customized massage effects are achieved for the crowds with different body types.
A heater and a temperature sensor which are controlled in a closed loop mode are arranged in a massage head of the massage ball device 9, the heater is electrically connected with a temperature controller 16 in the control box 11, and the temperature sensor and the temperature controller 16 are in electric signal connection with a PLC (programmable logic controller) 17; the temperature sensor and the temperature controller are controlled in a closed loop mode, the proper massage temperature can be accurately controlled, the requirement of comfort levels of different massagers can be met, and the massage temperature is generally set or adjusted within the range of 0-50 ℃.
In the massage process, the massage pressure of the balls of the massage ball device 9 on the human body is a key factor influencing the massage experience and effect, the back of a person is not a plane and has radian, in order to accurately control the massage pressure of the balls on the human body and adapt to the radian change of the back, a pressure detection sheet is arranged inside the massage ball device 9 and used for measuring the massage pressure of the balls, the pressure detection sheet is in electrical signal connection with a pressure sensor 18, and the pressure sensor 18 is in electrical signal connection with a PLC (programmable logic controller) 17; the PLC 17 collects the signals of the pressure sensor 18 at the same time in the massage process to control the massage pressure.
The LED lamp strips 21 are arranged on the periphery of the bottom of the control box 11, the LED control panel 19 is arranged in the control box, the LED control panel 19 is in electrical signal connection with the PLC 17, and the manipulator displays different light effects when performing different operations, so that the manipulator is convenient and attractive.
Example 2
The embodiment 2 of the invention provides an intelligent back massage robot, which is shown in fig. 1 to 6 and comprises a back massage manipulator of the embodiment 1, wherein the operation and control and function realization of the manipulator are intelligently completed through a computer 3, the computer 3 (integrated machine) is fixed above the front side of a control box 11, and computer hardware adopts a porphyrizing PPC-3100S porphyrizing industrial control integrated machine industrial tablet computer and supports 365 days by 24 hours of uninterrupted operation; the mouse 4 is positioned on the right side of the computer, and the robot demonstrator 5 is positioned below the front side of the control box 11; the robot control box 14 is fixed inside the control box 11; the computer 3 controls various functions of the PLC 17 by setting an intelligent terminal system, the intelligent terminal system accurately identifies human acupuncture points according to the back area and the size of a person to be massaged, which are detected and identified by the back area detection system, calculates massage tracks and outputs the massage tracks to the mechanical arm 6 to execute a massage process, and the mechanical arm 6 is controlled to apply optimal massage force when passing through each acupuncture point; the intelligent terminal system can establish a private body information database to store the back information of the masseur; furthermore, the intelligent terminal system can also be provided with a voice guidance module for explaining the use method and related functions of the massage robot, or a music playing module for playing music suitable for the situation in the massage process so as to relax the spirit of a masseur and enhance the massage physiotherapy effect; the computer 3 is provided with a touch display for displaying or controlling action buttons and operation parameters in the massage process, and specifically, the touch display is provided with an arm execution starting button 22, an arm stop resetting button 23, a manual oil outlet button 24, an air pressure monitoring button 25, an operation time button 26, a photographed image display window 27, a temperature adjusting button 28, a force adjusting button 29, a speed adjusting button 30, an oil outlet duration and interval button 31 and an operation time button 32; the terminal program massage is started, and the massage parameters in the massage process are set and adjusted by touch control of the operation buttons; the intelligent back massage robot can achieve the prominent effects of intelligent flexible control of the massage process, precise machine vision identification, constant and controllable massage strength, temperature and speed, implementation of traditional Chinese medicine massage manipulation conversion technology, immersive conditioning and human-saving and efficiency-improving effects.
Example 3
The embodiment 3 of the invention provides a massage method of an intelligent back massage robot, which comprises the following operation steps executed in sequence:
step S1, pressing a starting switch 1, providing an input signal to a PLC (programmable logic controller) 17, and controlling a computer 3 and a mechanical arm 6 to start; touching a touch display of the computer 3, turning on an intelligent terminal system, setting a heating temperature and an oil outlet speed, and outputting a signal to a heater by a temperature controller 16 to electrify the heater and heat the heater to the set temperature;
s2, a person to be massaged lies over the massage bed, a circular calibration plate with the diameter of 50mm is placed on the back of the massage bed according to areas needing to be massaged in different body types, and the direction of the circular calibration plate is made to be horizontal;
s3, clicking an arm execution start button 22 through the touch display to run a program, and moving the mechanical arm 6 to a preset initial position to enable the position of the depth camera 8 to be horizontal and the back of a person to be massaged to be in the photographing view of the depth camera 8;
s4, starting a depth camera 8 to take a picture, detecting the circular shape of the circular calibration plate through a shape detection function, measuring the detected circular diameter by using a maximum caliper function, comparing the circular diameter with a preset diameter value, determining the moving height of the mechanical arm 6, and moving the mechanical arm 6 according to the moving height;
wherein, it should be understood that the shooting environment needs to be equipped with proper brightness condition or lighting environment to ensure that the shot image is a high-quality image; the depth camera 8 can select a CCD camera or a CMOS camera with suitable performance according to the requirement of the shot image; in this embodiment, the depth camera 8 is provided with a zoom lens to facilitate adjustment of the photographing focal length; the depth camera 8 converts the image into a digital image through an image acquisition card and transmits the digital image to the image acquisition processing unit, the image acquisition processing unit processes the image by adopting the appropriate image filtering, enhancing, segmenting and other preprocessing technologies in the prior art, the shape detection function can be a conventional shape detection function in an edge detection method, and the method can be realized as long as the circular outline of the calibration plate can be identified, and the key expansion is not required here.
The preset diameter value is a diameter preset value of the calibration plate in an image shot by the depth camera 8 at the calibration position, and if the circular diameter measured by the depth camera 8 at the preset initial position is not equal to the preset diameter value, the mechanical arm 6 needs to be controlled to move until the depth camera 8 reaches the calibration position, specifically, in this embodiment, it is determined that the function of the moving height of the mechanical arm 6 is:
the robot arm 6 moves by a height = (measured diameter-preset diameter) × 0.01.
S5, shooting the image again, and calculating the size of the back area of the person to be massaged according to the proportional relation between the actual size of the circular calibration plate and the number of pixels; selecting cervical vertebra, caudal vertebra, shoulder and waist points in the shot image through a mouse, converting the image coordinate into an actual robot coordinate by using a halcon HHomMat2D function, completing contour positioning, calculating a massage track through an intelligent terminal system, outputting the massage track to a mechanical arm 6 to mark a massage range, taking down a marking plate, and beginning to massage.
Preferably, after the mechanical arm 6 starts to massage, the time is counted by the software timer, after the time counting is finished, the intelligent terminal system outputs a signal to electrify the variable-frequency micro air pump 15, the variable-frequency micro air pump 15 pressurizes an oil pipe to control the output of essential oil, and meanwhile, the software timer is started again to wait for the next triggering, and the process is circulated; the signals of the pressure sensor 18 are collected in real time in the massage process, and the massage pressure and the massage angle are intelligently controlled; the LED light bar 21 displays different light effects when performing different operations.
Referring to fig. 7, in the massage process of the intelligent back massage robot of the present embodiment, a mechanical arm 6 first performs massage according to a "8" character track, that is, presses 3 seconds at the Dazhui acupoint (position (1)), starts to draw 49 characters "8" from the Dazhui acupoint to the Xiaji acupoint, the position (1) is the starting point of the character "8", the position (3) and the mirror image position thereof are the vertexes of the character "8", the middle cross point of the "8" is located at the vertebral position each time, a massage path is planned according to the above, and finally stays at the Xizhui acupoint (position (2), then performs massage to the Dazhui acupoint in a linear manner along the vertebral from the Xizhui acupoint, lifts up after reaching the Dazhui acupoint, returns to the Xiiao acupoint and presses for 3 seconds, then draws 49 times "8" from the Xiiao acupoint to the Dazhui acupoint along the vertebral line after reaching the Dazhui acupoint, performs massage to the Xizhui acupoint, and above is a cycle, and the massage area around the 8 "massage track is mainly used for four times;
then, the patient is massaged according to the track of "6", that is, the patient presses the Dazhui acupoint for 3 seconds, starts to draw 35 "6" points from the shoulder to the left back in the direction of the waist, then lifts up and repeats the three times, presses the Dazhui acupoint for 3 seconds, starts to draw 35 "6" points from the shoulder to the right back in the direction of the waist, then lifts up and repeats the three times, and the track of "6" is massaged by regional points from Jianzhou to bladder, etc.
The middle cross point of the 8 is positioned at the position of the vertebra every time, and the blood circulation of the vertebra region can be accelerated by quickly massaging the acupuncture points of the vertebra region, so that the medicine effect can be quickly absorbed by penetration. When the 8-shaped picture is drawn for 49 times, the spine is linearly pressed and massaged once, all acupuncture points on the spine are massaged once, and the effects of consolidation and relaxation are achieved; the back of the person is not a plane and has a radian, and the robot can tilt the massage balls at an angle according to the radian of the back of the person and is attached to a physiological curve of the person; if the person lies askew, the robot can automatically adjust the massage acupuncture points along the askew degree, automatically adapt to the inclination of the human body and is not influenced by the person askew. The whole sizes of the 8 and the 6 can be enlarged or reduced according to different body types of people, people with wide backs can be enlarged, people with narrow backs can be reduced, and customized massage effects can be achieved for people with different body types.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The back massage manipulator is characterized by comprising a control box (11), a mechanical arm (6) and a back region detection system, wherein the mechanical arm (6) is arranged above the control box (11), a massage ball device (9) is mounted at the end part of a tail end arm section of the mechanical arm (6), and an essential oil needle cylinder (7) is connected to one side of the massage ball device (9) and used for supplying essential oil to the massage ball device (9); the pressure in the essential oil needle cylinder (7) is controlled by a frequency conversion micro air pump (15) for controlling the output quantity of the essential oil, and the frequency conversion micro air pump (15) is electrically connected with a PLC (programmable logic controller) controller (17) in the control box (11); the back region detection system comprises a depth camera (8) and an image acquisition and processing unit, wherein the depth camera (8) is installed on one side of a mechanical arm (6), the depth camera (8) is used for photographing the back of a person to be massaged, the image acquisition and processing unit is used for detecting the size of a calibration plate from a photographed image according to a shape detection function, converting an image coordinate into an actual robot coordinate, and calculating the back region size of the person to be massaged according to the proportional relation between the actual size of the calibration plate and the number of pixels.
2. The back massage manipulator according to claim 1, wherein a closed-loop controlled heater and a temperature sensor are arranged in the massage head of the massage ball device (9), the heater is electrically connected with a temperature controller (16) in the control box (11), and the temperature sensor and the temperature controller (16) are electrically connected with the PLC (17).
3. The back massage manipulator according to claim 1, wherein the massage ball device (9) is internally provided with a pressure detecting piece for measuring the massage pressure of the ball, the pressure detecting piece is electrically connected with a pressure sensor (18), and the pressure sensor (18) is electrically connected with the PLC (17).
4. The back massage manipulator according to claim 1, wherein an LED light bar (21) is arranged on the periphery of the bottom of the control box (11), an LED control board (19) is arranged inside the control box, and the LED control board (19) is in electrical signal connection with the PLC (17).
5. An intelligent back massage robot, characterized by comprising a computer (3) and the back massage manipulator of any one of claims 1-4, wherein the computer (3) is provided with an intelligent terminal system for accurately identifying human acupuncture points and calculating massage tracks according to the position and size of the back area of a person to be massaged in actual robot coordinates, and outputting and controlling the mechanical arm (6) to execute a massage process.
6. An intelligent back massage robot as claimed in claim 1, wherein the computer (3) is provided with a touch display for displaying or controlling action buttons and operation parameters during massage.
7. A massage method of an intelligent back massage robot is characterized by comprising the following operation steps executed in sequence:
s1, pressing a starting switch (1), inputting a signal by a PLC (programmable logic controller) controller (17), and controlling a computer (3) and a mechanical arm (6) to start up; the method comprises the steps that a touch display of a computer (3) is touched, an intelligent terminal system is turned on, the heating temperature and the oil outlet speed are set, and a temperature controller (16) outputs signals to electrify a heater and heats the heater to the set temperature;
s2, a person to be massaged lies over the massage bed, and a circular calibration plate with known outline size is placed on the back of the massage bed according to areas needing to be massaged in different body types;
s3, clicking an arm through a touch display to execute a starting button (22) to run a program, moving a mechanical arm (6) to a preset initial position to enable the position of a depth camera (8) to be horizontal, and enabling the back of a person to be massaged to be in a photographing view of the depth camera (8);
s4, starting a depth camera (8) to take a picture, detecting the circular shape of the circular calibration plate through a shape detection function, measuring the detected circular diameter by using a maximum caliper function, comparing the circular diameter with a preset diameter value, determining the moving height of the mechanical arm (6), and moving the mechanical arm (6) according to the moving height;
s5, shooting the image again, and calculating the size of the back area of the person to be massaged according to the proportional relation between the actual size of the circular calibration plate and the number of pixels; selecting four points of cervical vertebra, caudal vertebra, shoulder and waist from the shot image through a mouse, converting the image coordinate into an actual robot coordinate by using a halcon HHomMat2D function, completing contour positioning, calculating a massage track through an intelligent terminal system, outputting the massage track to a mechanical arm (6) for calibrating a massage range, taking down a calibration plate, and starting massage; the massage device collects signals of the pressure sensor (18) in the massage process, and intelligently controls the massage pressure and the massage angle.
8. The massage method of the intelligent back massage robot, according to claim 7, wherein in the step S4, the function of the moving height of the mechanical arm (6) is determined as follows:
the mechanical arm (6) moving height = (measuring diameter-preset diameter) = 0.01.
9. The massage method of the intelligent back massage robot as claimed in claim 7, wherein after the mechanical arm (6) starts to massage, the time is counted by a software timer, after the time is counted, the intelligent terminal system outputs a signal to energize the variable frequency micro air pump (15), the variable frequency micro air pump (15) pressurizes the oil outlet pipe to control the output of essential oil, and simultaneously the timer is started again to wait for the next trigger, and the process is repeated.
10. The massage method of the intelligent back massage robot as claimed in claim 7, wherein the mechanical arm (6) massage process firstly massages according to 8-shaped tracks, namely, presses 3 seconds at the Dazhui acupoint, starts to draw 49 characters from the Dazhui acupoint to the Xiliao acupoint, finally stays at the Xiliao acupoint, then massages from the Xiliao acupoint to the Dazhui acupoint in a linear manner along the spine, lifts up after reaching the Dazhui acupoint, returns to the Xiliao acupoint to press for 3 seconds, then draws 49 times of '8' from the Xiliao acupoint to the Dazhui acupoint, massages to the Xiliao acupoint in a linear manner along the spine after reaching the Dazhui acupoint, and the above is a cycle of four times;
then, the patient is massaged according to a 6-character track, namely, the patient presses the Dazhui acupoint for 3 seconds, 35 '6's are drawn from the shoulder to the left back in the waist direction, then the patient is lifted up and repeated for three times, and the patient presses the Dazhui acupoint for 3 seconds, 35 '6's are drawn from the shoulder to the right back in the waist direction, then the patient is lifted up and repeated for three times.
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