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CN109044808A - A kind of human body back curve detection device - Google Patents

A kind of human body back curve detection device Download PDF

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Publication number
CN109044808A
CN109044808A CN201810954281.2A CN201810954281A CN109044808A CN 109044808 A CN109044808 A CN 109044808A CN 201810954281 A CN201810954281 A CN 201810954281A CN 109044808 A CN109044808 A CN 109044808A
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CN
China
Prior art keywords
mounting plate
sensing device
device mounting
main body
massage bed
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Pending
Application number
CN201810954281.2A
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Chinese (zh)
Inventor
赵冲
郭寅
魏波
张创波
姚创艺
杨芳
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Xi'an Yi Mu Di Electronic Technology Co Ltd
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Xi'an Yi Mu Di Electronic Technology Co Ltd
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Priority to CN201810954281.2A priority Critical patent/CN109044808A/en
Publication of CN109044808A publication Critical patent/CN109044808A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/02—Devices for locating such points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Pathology (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Massaging Devices (AREA)

Abstract

A kind of human body back curve detection device, back curve detection device are mounted on massage bed main body two sides, and back curve detection device includes sensing device, sensing device mounting plate, host computer and sensing device mounting plate elevating mechanism；Two sensing device mounting plates are separately positioned on the two sides of massage bed main body, and the two sides of massage bed main body are additionally provided with sensing device mounting plate elevating mechanism, and several sensing device mounting plate elevating mechanisms are able to drive sensing device mounting plate and move up and down；Sensing device includes transmitting terminal and receiving end, and transmitting terminal and receiving end are separately mounted on two sensing device mounting plates；Host computer connects sensing device.The device of the invention, approximation obtain human body back contour curve, and host computer provides movable basis for the motion profile of massage head, guarantee that human body different parts massage force is identical according to the human body back contour curve of acquisition.And it massages whole process and does not need manual intervention, it is automatic to detect human body back contour curve, generate massage head motion profile.

Description

A kind of human body back curve detection device
Technical field
The invention belongs to massage appliance technical field, in particular to a kind of human body back curve detection device.
Background technique
The existing intelligent massaging robot for the massage of human body privileged site has no idea to realize that whole prosthetic is dry In advance, it needs artificial selection good, specifies massage position, massage operation could be started.And massage head and human contact are mostly a little Contact has no idea to simulate the manpower palm and pushes away, pinches, rubs etc. movement.
The massage robot similar with the present invention, without human body back contour detecting function, human body back acupuncture point needs people Work determines that position, then artificial guidance massage head start to massage to massage position.Massage processes be unable to do without human assistance, only drop Low labor intensity, does not reduce recruitment quantity.
Summary of the invention
The purpose of the present invention is to provide a kind of human body back curve detection devices, to solve the above problems.
To achieve the above object, the invention adopts the following technical scheme:
A kind of human body back curve detection device, back curve detection device are mounted on massage bed main body two sides, back bending Line detector includes sensing device, sensing device mounting plate, host computer and sensing device mounting plate elevating mechanism；Two inductions Device mounting plate is separately positioned on the two sides of massage bed main body, and the two sides of massage bed main body are additionally provided with sensing device mounting plate liter Descending mechanism, several sensing device mounting plate elevating mechanisms are able to drive sensing device mounting plate and move up and down；Sensing device includes Transmitting terminal and receiving end, transmitting terminal and receiving end are separately mounted on two sensing device mounting plates；Host computer connection induction dress It sets.
Further, sensing device mounting plate elevating mechanism includes linear guide, synchronous belt component, driving assembly and turns Axis；Two linear guides are fixed at the two sides of massage bed main body vertically respectively, and the setting of sensing device mounting plate is led in straight line On rail, and sensing device mounting plate can be moved along linear guide；It is provided with shaft below massage bed main body, is provided in shaft Driving assembly, driving assembly are able to drive shaft rotation；The both ends of shaft are provided with synchronous belt component, synchronous belt component along The side of linear guide is arranged；It is connected between synchronous belt component and sensing device mounting plate by synchronous strip connecting plate；Work as driving When Component driver shaft rotates, Synchronization Component drives sensing device mounting plate mobile.
Further, driving assembly includes driving motor, driving motor mounting plate and transmission belt；Driving motor mounting plate peace In massage bed main body, driving motor is arranged on driving motor mounting plate, passes through transmission belt between driving motor and shaft Connection.
Further, synchronous belt component includes synchronous belt and synchronous pulley, the synchronous pulley setting of synchronous belt component one end In roller end, the other end is passed through between massage bed body side, two synchronous pulleys by the setting of synchronous pulley mounting plate It is driven band connection；The both ends of shaft are provided with bearing block, and bearing block is used to support shaft；Microswitch is provided on synchronous belt.
Further, sensing device mounting plate is T-shaped, and the upper end of sensing device mounting plate is parallel to massage bed main body； A point is recorded when receiving end receives signal, after all receiving ends all record a little, by host computer by all records Point is smoothly connected in order, has obtained human body back contour curve；The data of record point are fitted to the algorithm of curve:
Known data point coordinate (xi, yi), i=1,2 ..., n, with the quadratic polynomial fit variations y of x, it may be assumed that
Wherein, a0,a1,a2For undetermined parameter, e is error；It reduces by a unknown number in solving equations, is obtained by formula (1)
Substitution formula (1)
Therefore, there is error sum of squares
To a1,a2Partial derivative is sought, and makes it equal to 0
Arrangement obtains normal equation group
Or
This equation group is solved, a is obtained1,a2, then substitute into formula (2) and obtain a0, thus acquire secondary under least square meaning Fitting function
In above-mentioned algorithm, n=record points are taken, approximating anatomy back contour curve is obtained.
Further, massage bed main body is cuboid framework structure, is provided with shell on the outside of massage bed main body；Cuboid frame Frame inside configuration is parallel to bottom surface and is provided with massage bed, and two sensing device mounting plates are separately positioned on the two sides of massage bed.
Compared with prior art, the present invention has following technical effect:
The device of the invention, approximate can obtain human body back contour curve, and host computer is according to the human body back wheel of acquisition Wide curve provides movable basis for the motion profile of massage head, guarantees that human body different parts massage force is identical.And it massages complete Journey does not need manual intervention, automatic to detect human body back contour curve, generates massage head motion profile.
A kind of human body back curve detection device of the present invention, mainly comprising driving assembly, synchronous belt component, linear guide, Inductive switch mounting plate, inductive switch etc..Several sensing devices are housed on inductive switch mounting plate, wait the multiple location points of acquisition Afterwards, it is fitted to a curve in host computer, is approximately the back contour curve of massage person.There is back contour curve, Host computer can control massaging manipulator and adjust position and massage force according to human body back profile, improve massage comfort. Since back detection is not necessarily to manual intervention, reduce recruitment quantity.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is scheme of installation of the present invention；
Wherein: 1, massage bed main body；2, sensing device；3, sensing device mounting plate；4, synchronous pulley mounting plate；5, synchronous Strip connecting plate；6, linear guide；7, synchronous belt component；8, microswitch；9, bearing block；10, driving assembly；11, massage bed； 12, shaft.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
Fig. 1 and Fig. 2, a kind of human body back curve detection device are please referred to, back curve detection device is mounted on massage bed 1 two sides of main body, back curve detection device include sensing device 2, sensing device mounting plate 3, host computer and sensing device installation Plate elevating mechanism；Two sensing device mounting plates 3 are separately positioned on the two sides of massage bed main body 1, and the two sides of massage bed main body 1 are also It is provided with sensing device mounting plate elevating mechanism, several sensing device mounting plate elevating mechanisms are able to drive sensing device mounting plate 3 move up and down；Sensing device 2 includes transmitting terminal and receiving end, and transmitting terminal and receiving end are separately mounted to two sensing device peaces In loading board 3；Host computer connects sensing device 2.Sensing device 2 is correlation type photoelectric sensor.
Sensing device mounting plate elevating mechanism includes linear guide 6, synchronous belt component 7, driving assembly 10 and shaft 12；Two A linear guide 6 is fixed at the two sides of massage bed main body 1 vertically respectively, and sensing device mounting plate 3 is arranged in linear guide 6 On, and sensing device mounting plate 3 can be moved along linear guide 6；Shaft 12 is provided with below massage bed main body 1, in shaft 12 It is provided with driving assembly 10, driving assembly 10 is able to drive the rotation of shaft 12；The both ends of shaft are provided with synchronous belt component 7, Synchronous belt component 7 is arranged along the side of linear guide；Connected between synchronous belt component 7 and sensing device mounting plate by synchronous belt Fishplate bar 5 connects；When the rotation of driving assembly drive shaft, Synchronization Component drives sensing device mounting plate mobile.
Driving assembly includes driving motor, driving motor mounting plate and transmission belt；Driving motor mounting plate is mounted on massage In bed main body, driving motor is arranged on driving motor mounting plate, passes through transmission band connection between driving motor and shaft.
Synchronous belt component 7 includes synchronous belt and synchronous pulley, and the synchronous pulley of synchronous belt component one end is arranged at shaft end Portion, the other end is arranged between massage bed body side, two synchronous pulleys by synchronous pulley mounting plate to be connected by transmission belt It connects；The both ends of shaft are provided with bearing block 9, and bearing block is used to support shaft；Microswitch 8 is provided on synchronous belt.Fine motion is opened It closes and determines null positions and limit protection for driving motor.
Sensing device mounting plate be it is T-shaped, the upper end of sensing device mounting plate is parallel to massage bed main body；It is terminated when receiving A point is recorded when receiving signal to put down the point of all records in order by host computer after all receiving ends all record a little Slip is got up, and human body back contour curve has been obtained；The data of record point are fitted to the algorithm of curve:
Known data point coordinate (xi, yi), i=1,2 ..., n, with the quadratic polynomial fit variations y of x, it may be assumed that
Wherein, a0,a1,a2For undetermined parameter, e is error；It reduces by a unknown number in solving equations, is obtained by formula (1)
Substitution formula (1)
Therefore, there is error sum of squares
To a1,a2Partial derivative is sought, and makes it equal to 0
Arrangement obtains normal equation group
Or
This equation group is solved, a is obtained1,a2, then substitute into formula (2) and obtain a0, thus acquire secondary under least square meaning Fitting function
In above-mentioned algorithm, n=record points are taken, approximating anatomy back contour curve is obtained.
Massage bed main body is cuboid framework structure, is provided with shell on the outside of massage bed main body；In cuboid framework structure Portion is parallel to bottom surface and is provided with massage bed 11, and two sensing device mounting plates are separately positioned on the two sides of massage bed.
Embodiment
Back curve detection device of the invention, mainly by driving assembly, synchronous belt component, linear guide, inductive switch The composition such as mounting plate, inductive switch.When work, the stepper motor in driving mechanism drives transmission shaft, while driving two synchronizations Pulley assemblies movement, driving inductive switch mounting plate move up, and 8 pairs of inductive switches are provided on inductive switch mounting plate, are felt Inductive switch side is transmitting terminal, and the other side is receiving end.During inductive switch moves up, since human body back profile rises and falls not It is flat, when switch receives signal, the position coordinates of each point are recorded, after 8 pairs of inductive switches have all recorded, host computer reads 8 Position coordinates corresponding to inductive switch, host computer are flat by the corresponding position coordinates sequence of 8 pairs of inductive switches by algorithm routine Sliding connects, and is fitted to a curve, this curve is exactly human body back approximate contours curve.Host computer foundation detects The motion profile of the human body back contour curve control massaging manipulator arrived, improves massage body-sensing comfort level.
N=8 is substituted into above formula, obtains matched curve.

Claims (6)

1.一种人体背部曲线检测装置，其特征在于，背部曲线检测装置安装在按摩床主体(1)两侧，背部曲线检测装置包括感应装置(2)、感应装置安装板(3)、上位机和感应装置安装板升降机构；两个感应装置安装板(3)分别设置在按摩床主体(1)的两侧，按摩床主体(1)的两侧还设置有感应装置安装板升降机构，若干感应装置安装板升降机构能够带动感应装置安装板(3)上下移动；感应装置(2)包括发射端和接收端，发射端和接收端分别安装在两个感应装置安装板(3)上；上位机连接感应装置(2)。1. A human body back curve detection device is characterized in that the back curve detection device is installed on both sides of the massage bed main body (1), and the back curve detection device comprises an induction device (2), an induction device mounting plate (3), an upper computer and the induction device mounting plate lifting mechanism; two induction device mounting plates (3) are respectively arranged on both sides of the massage bed main body (1), and the both sides of the massage bed main body (1) are also provided with an induction device mounting plate lifting mechanism, several The sensing device mounting plate lifting mechanism can drive the sensing device mounting plate (3) to move up and down; the sensing device (2) includes a transmitting end and a receiving end, and the transmitting end and the receiving end are respectively installed on two sensing device mounting plates (3); Connect the machine to the sensing device (2). 2.根据权利要求1所述的一种人体背部曲线检测装置，其特征在于，感应装置安装板升降机构包括直线导轨(6)、同步带组件(7)、驱动组件(10)和转轴(12)；两个直线导轨(6)分别竖直固定设置在按摩床主体(1)的两侧，感应装置安装板(3)设置在直线导轨(6)上，且感应装置安装板(3)能够沿直线导轨(6)移动；按摩床主体(1)下方设置有转轴(12)，转轴(12)上设置有驱动组件(10)，驱动组件(10)能够带动转轴(12)旋转；转轴的两端均设置有同步带组件(7)，同步带组件(7)沿着直线导轨的侧面设置；同步带组件(7)与感应装置安装板之间通过同步带连接板(5)连接；当驱动组件驱动转轴转动时，同步组件带动感应装置安装板移动。2. A human body back curve detection device according to claim 1, characterized in that the induction device mounting plate lifting mechanism comprises a linear guide rail (6), a synchronous belt assembly (7), a drive assembly (10) and a rotating shaft (12 ); two linear guide rails (6) are vertically fixedly arranged on both sides of the massage bed main body (1) respectively, and the induction device mounting plate (3) is arranged on the linear guide rail (6), and the induction device mounting plate (3) can Move along the linear guide rail (6); a rotating shaft (12) is arranged under the massage bed main body (1), and a driving assembly (10) is arranged on the rotating shaft (12), and the driving assembly (10) can drive the rotating shaft (12) to rotate; the rotating shaft Both ends are provided with a synchronous belt assembly (7), and the synchronous belt assembly (7) is arranged along the side of the linear guide rail; the synchronous belt assembly (7) is connected to the mounting plate of the induction device through a synchronous belt connecting plate (5); when When the driving component drives the rotating shaft to rotate, the synchronous component drives the mounting plate of the sensing device to move. 3.根据权利要求2所述的一种人体背部曲线检测装置，其特征在于，驱动组件包括驱动电机、驱动电机安装板和传动带；驱动电机安装板安装在按摩床主体上，驱动电机设置在驱动电机安装板上，驱动电机和转轴之间通过传动带连接。3. A human body back curve detection device according to claim 2, wherein the drive assembly includes a drive motor, a drive motor mounting plate and a drive belt; the drive motor mounting plate is installed on the massage bed main body, and the drive motor is arranged on the drive On the motor mounting plate, the driving motor and the rotating shaft are connected through a transmission belt. 4.根据权利要求2所述的一种人体背部曲线检测装置，其特征在于，同步带组件(7)包括同步带和同步带轮，同步带组件一端的同步带轮设置在转轴端部，另一端通过同步带轮安装板设置在按摩床主体侧面，两个同步带轮之间通过传动带连接；转轴的两端设置有轴承座(9)，轴承座用于支撑转轴；同步带上设置有微动开关(8)。4. a kind of human body back curve detection device according to claim 2, is characterized in that, synchronous belt assembly (7) comprises synchronous belt and synchronous pulley, the synchronous belt wheel of one end of synchronous belt assembly is arranged on the rotating shaft end, in addition One end is set on the side of the main body of the massage bed through the timing pulley mounting plate, and the two timing pulleys are connected by a transmission belt; bearing seats (9) are arranged at both ends of the rotating shaft, and the bearing seats are used to support the rotating shaft; Move the switch (8). 5.根据权利要求1所述的一种人体背部曲线检测装置，其特征在于，感应装置安装板为T字形，感应装置安装板的上端平行于按摩床主体；当接收端接收到信号时记录一个点，待所有接收端都记录点后，通过上位机将所有记录的点按顺序平滑连接起来，得到了人体背部轮廓曲线；记录点的数据拟合成曲线的算法：5. A human body back curve detection device according to claim 1, wherein the sensing device mounting plate is T-shaped, and the upper end of the sensing device mounting plate is parallel to the main body of the massage bed; when the receiving end receives a signal, record a Points, after all the receiving ends have recorded the points, all the recorded points are smoothly connected in sequence through the host computer, and the contour curve of the human back is obtained; the data of the recorded points is fitted into a curve algorithm: 已知数据点坐标(xi,yi),i＝1,2,…,n，用x的二次多项式拟合变量y，即:Given the data point coordinates (xi, yi), i=1, 2,..., n, use the quadratic polynomial of x to fit the variable y, namely: 其中，a0,a1,a2为待定参数，e为误差；在解方程组时减少一个未知数，由式(1)得到Among them, a 0 , a 1 , a 2 are undetermined parameters, and e is the error; when solving the equation system, reduce an unknown number, and get 代入式(1)Substitution (1) 因此，有误差平方和Therefore, the sum of squared errors 对a1,a2求偏导数，并使其等于0Take the partial derivative of a 1 , a 2 and make it equal to 0 整理得到正规方程组Arranging the normal equations 或 or 解此方程组，得到a1,a2，再代入式(2)得到a0,因而求得在最小二乘意义下的二次拟合函数 Solve this system of equations to get a 1 , a 2 , and then substitute into formula (2) to get a 0 , thus obtain the quadratic fitting function in the sense of least squares 上述算法中，取n＝记录点数，得到近似人体背部轮廓曲线。In the above algorithm, take n=the number of recording points to obtain an approximate human back contour curve. 6.根据权利要求1所述的一种人体背部曲线检测装置，其特征在于，按摩床主体为长方体框架结构，按摩床主体外侧设置有外壳；长方体框架结构内部平行于底面设置有按摩床(11)，两个感应装置安装板分别设置在按摩床的两侧。6. a kind of human body back curve detection device according to claim 1 is characterized in that, the massage bed main body is a cuboid frame structure, and the outside of the massage bed main body is provided with a shell; the inside of the cuboid frame structure is provided with a massage bed (11 ), and two induction device mounting plates are respectively arranged on both sides of the massage bed.
CN201810954281.2A 2018-08-21 2018-08-21 A kind of human body back curve detection device Pending CN109044808A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111982261A (en) * 2020-07-16 2020-11-24 朱全美 Multifunctional body inspection tester

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FR2815446A1 (en) * 2000-10-13 2002-04-19 Cabinet Leonard Device to virtually or physically reproduce a human form, uses curved vertical arm carrying ultrasonic transducers and rotated round subject to create model
JP2004073881A (en) * 1992-08-26 2004-03-11 Matsushita Electric Works Ltd Massage machine
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CN106985379A (en) * 2017-03-24 2017-07-28 大连理工大学 A kind of four-axle linked 3D printing device based on fusion sediment principle
CN209059946U (en) * 2018-08-21 2019-07-05 西安伊蔓蒂电子科技有限公司 A kind of human body back curve detection device

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Publication number Priority date Publication date Assignee Title
US4406544A (en) * 1980-02-19 1983-09-27 Unitika, Ltd. Method and apparatus for measuring human body or the like
JP2004073881A (en) * 1992-08-26 2004-03-11 Matsushita Electric Works Ltd Massage machine
EP0610610A1 (en) * 1993-02-12 1994-08-17 COMELZ S.p.A. A method and equipment for detecting the profile of an item of footwear during manufacture
JPH07213572A (en) * 1994-01-26 1995-08-15 Matsushita Electric Works Ltd Massaging apparatus
US6213949B1 (en) * 1999-05-10 2001-04-10 Srs Medical Systems, Inc. System for estimating bladder volume
JP2001269378A (en) * 2000-03-27 2001-10-02 Sanyo Electric Co Ltd Massaging machine
FR2815446A1 (en) * 2000-10-13 2002-04-19 Cabinet Leonard Device to virtually or physically reproduce a human form, uses curved vertical arm carrying ultrasonic transducers and rotated round subject to create model
CN102438509A (en) * 2009-03-20 2012-05-02 斯卡纳创新股份公司 Apparatus and method for estimating body fat mass
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111982261A (en) * 2020-07-16 2020-11-24 朱全美 Multifunctional body inspection tester
CN111982261B (en) * 2020-07-16 2022-02-08 朱全美 Multifunctional body inspection tester

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Application publication date: 20181221