CN112750108B - Massage apparatus control method, system and computer readable storage medium - Google Patents
Massage apparatus control method, system and computer readable storage medium Download PDFInfo
- Publication number
- CN112750108B CN112750108B CN202110045871.5A CN202110045871A CN112750108B CN 112750108 B CN112750108 B CN 112750108B CN 202110045871 A CN202110045871 A CN 202110045871A CN 112750108 B CN112750108 B CN 112750108B
- Authority
- CN
- China
- Prior art keywords
- human body
- body surface
- depth
- depth value
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000004927 fusion Effects 0.000 claims abstract description 53
- 230000008569 process Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 9
- 238000004891 communication Methods 0.000 description 5
- 230000036541 health Effects 0.000 description 3
- 238000000554 physical therapy Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000003340 mental effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Quality & Reliability (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Primary Health Care (AREA)
- Public Health (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses a massage instrument control method, a massage instrument control system and a computer readable storage medium. The method comprises the following steps: continuously acquiring a plurality of human body surface depth maps within a preset time length; in the multiple human body surface depth maps, according to human body surface information, obtaining an average depth value and a depth value fluctuation range of each human body surface coordinate; according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate; generating a fusion depth map of the human body surface depth map according to the human body surface coordinates and the fusion depth values; and converting the fusion depth map into point cloud data, and controlling the massage path of the massage instrument according to the point cloud data. The invention solves the problem of low fit degree between the massage instrument and the skin when the human body breathes, realizes planning the massage path of the massage instrument according to the fluctuation condition of the surface of the human body when the human body breathes, and improves the massage effect.
Description
Technical Field
The invention relates to the technical field of massage instruments, in particular to a massage instrument control method and system and a computer readable storage medium.
Background
Along with the improvement of the life quality of people, people pay more and more attention to physical health and relaxation, and many people select massage as a physical and mental relaxation and health physiotherapy mode. Most of the common massage instruments at present carry out massage work in a fixed mode, the surface of the body fluctuates due to the fact that a human body breathes in the process of using the massage instrument, the massage instrument is not adjusted according to the fluctuation conditions of the body of different users, the massage effect is greatly reduced, and the purposes of relaxing the body and mind and achieving health physiotherapy cannot be achieved.
When the surface relief condition of a human body is obtained, the human body needs to be modeled, and the existing method for establishing the human body model mainly comprises the steps of acquiring multi-view body data of the human body from different angles by using a plurality of cameras, reconstructing a human body point cloud model according to the multi-view, or obtaining the mapping relation between a human body outline and human body bones and body types by using machine learning, so as to establish the human body model. The former needs to set up the information acquisition system of multicamera, marks the camera one by one, and the environment is set up complicatedly, and the latter needs to gather a large amount of data and trains, all has certain inconvenience.
Disclosure of Invention
The invention mainly aims to provide a control method and a control system of a massage instrument and a computer readable storage medium, which aim to solve the problem that the fit degree of the massage instrument and the skin is not high when a human body breathes, realize the planning of a massage path of the massage instrument according to the fluctuation condition of the surface of the human body when the human body breathes and improve the massage effect.
In order to achieve the above object, the present invention provides a control method of a massage apparatus, the method is applied to a control system of the massage apparatus, and the method comprises the following steps:
continuously acquiring a plurality of human body surface depth maps within preset time, wherein the human body surface depth maps contain human body surface information, and the human body surface information comprises: human body surface coordinates and depth values of the human body surface coordinates;
in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate;
according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate;
generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values;
and converting the fusion depth map into point cloud data, and controlling a massage path of the massage instrument according to the point cloud data.
Optionally, the step of continuously obtaining a plurality of human body surface depth maps within a preset time includes:
a depth camera fixed on a mechanical arm is aligned with the upper half of a human body, and a plurality of human body surface depth maps are continuously acquired within a preset time length, wherein the preset time length is the time required by a normal adult to breathe on average.
Optionally, in the multiple human body surface depth maps, the step of obtaining the average depth value and the fluctuation range of the depth value of each human body surface coordinate according to the human body surface information includes:
adding all the depth values of the human body surface coordinates to obtain a total depth value of the human body surface coordinates;
obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate;
and obtaining the depth value fluctuation range of each human body surface coordinate according to all the depth values of each human body surface coordinate.
Optionally, the step of obtaining an average depth value of each human body surface coordinate according to all depth values of each human body surface coordinate and a total depth value of each human body surface coordinate includes:
counting the number of the depth values of the surface coordinates of the human body, which are not 0, in all the depth values of the surface coordinates of the human body;
and obtaining the average depth value of each human body surface coordinate by utilizing a calculation method of arithmetic mean according to the number of the human body surface coordinates with depth values different from 0 and the total depth value of each human body surface coordinate.
Optionally, the step of obtaining the fluctuation range of the depth values of the human body surface coordinates according to all the depth values of the human body surface coordinates includes:
selecting the maximum depth value and the minimum depth value of each human body surface coordinate from all the depth values of each human body surface coordinate;
and calculating the absolute value of the difference value between the maximum depth value and the minimum depth value of each human body surface coordinate, and obtaining the depth value fluctuation range of each human body surface coordinate.
Optionally, the step of obtaining the fused depth value of each human body surface coordinate according to the average depth value and the depth value fluctuation range of each human body surface coordinate and by combining a preset fluctuation threshold value includes:
comparing the fluctuation range of the depth value of each human body surface coordinate with the fluctuation threshold value to obtain a fusion depth value of each human body surface coordinate;
when the fluctuation range of the depth value of the human body surface coordinates exceeds the fluctuation threshold value, the fused depth value of the human body surface coordinates is an integer, and the fused depth value is a non-negative number;
and when the fluctuation range of the depth value of the human body surface coordinate does not exceed the preset fluctuation threshold value, the fused depth value of the human body surface coordinate is the average depth value of the human body surface coordinate.
Optionally, the step of generating a fused depth map of the multiple human body surface depth maps according to the respective human body surface coordinates and the fused depth value includes:
obtaining each human body surface coordinate of a fusion depth map of the multiple human body surface depth maps according to each human body surface coordinate of the multiple human body surface depth maps;
and according to the fused depth values of the human body surface coordinates of the multiple human body surface depth maps, obtaining the depth fused values of the human body surface coordinates of the fused depth map, and generating the fused depth map of the multiple human body surface depth maps.
Optionally, the step of converting the fusion depth map into point cloud data and controlling a massage path of the massager according to the point cloud data includes:
converting the fusion depth map into point cloud data with the human body surface information by using a coordinate conversion mode;
and controlling the massage path of a massage component in the massage instrument according to the point cloud data.
In addition, to achieve the above object, the present invention also provides a massage machine control system, including: a memory, a processor and a massager control program stored on the memory and executable on the processor, the massager control program when executed by the processor implementing the steps of the massager control method as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having a massager control program stored thereon, which when executed by a processor, implements the steps of the massager control method as described above.
The invention provides a control method and a control system of a massage instrument and a computer readable storage medium, wherein a plurality of human body surface depth maps are continuously acquired within a preset time length, the human body surface depth maps contain human body surface information, and the human body surface information comprises the following steps: human body surface coordinates and depth values of the human body surface coordinates; in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate; according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate; generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values; and converting the fusion depth map into point cloud data, and controlling a massage path of the massager according to the point cloud data. Through the mode, the problem that the fit degree of the massage instrument and the skin is not high when a human body breathes is solved, the massage path of the massage instrument is planned according to the fluctuation condition of the surface of the human body during breathing, and the massage effect is improved.
Drawings
FIG. 1 is a system diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a control method of a massage apparatus according to the present invention;
fig. 3 is a schematic flow chart of a massage apparatus control method according to a second embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The main solution of the embodiment of the invention is as follows: continuously acquiring a plurality of human body surface depth maps within preset time, wherein the human body surface depth maps contain human body surface information, and the human body surface information comprises: human body surface coordinates and depth values of the human body surface coordinates; in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate; according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate; generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values; and converting the fusion depth map into point cloud data, and controlling a massage path of the massage instrument according to the point cloud data.
In the common massage instruments on the market at present, the working modes are preset in advance, the massage instruments perform massage work in the preset modes, the motion path of the massage instruments cannot be adjusted according to the actual body fluctuation condition of the human body, the human body breathes in the massage process, the body surface fluctuates, the massage instruments are not adjusted according to the body fluctuation conditions of different users, the massage effect is greatly reduced, and the purposes of expected physical and mental relaxation and massage physical therapy cannot be achieved.
The invention provides a solution, which solves the problem of low fit degree of a massage instrument and skin when a human body breathes, realizes planning of a massage path of the massage instrument according to the fluctuation condition of the surface of the human body during breathing, and improves the massage effect.
As shown in fig. 1, fig. 1 is a system structural diagram of a hardware operating environment according to an embodiment of the present invention.
The system of the embodiment of the invention can be a PC, and can also be a mobile system device with a display function, such as a smart phone, a tablet computer and the like.
As shown in fig. 1, the system may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a DisPlay screen (displayability), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Preferably, the system may further include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors, among others. In particular, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that turns off the display screen and/or the backlight when the mobile system is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile system is stationary, and can be used for applications of recognizing the posture of the mobile system (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; of course, the mobile system may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the system architecture shown in FIG. 1 is not intended to be limiting of the system, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a massager control program.
In the system shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and communicating with the backend server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to invoke the massager control program stored in the memory 1005 and perform the following operations:
continuously acquiring a plurality of human body surface depth maps within preset time, wherein the human body surface depth maps contain human body surface information, and the human body surface information comprises: human body surface coordinates and depth values of the human body surface coordinates;
in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate;
according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate;
generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values;
and converting the fusion depth map into point cloud data, and controlling a massage path of the massager according to the point cloud data.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
a depth camera fixed on a mechanical arm is aligned with the upper half of a human body, and a plurality of human body surface depth maps are continuously acquired within a preset time length, wherein the preset time length is the time required by a normal adult to breathe on average.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
adding all the depth values of the human body surface coordinates to obtain a total depth value of the human body surface coordinates;
obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate;
and obtaining the depth value fluctuation range of each human body surface coordinate according to all the depth values of each human body surface coordinate.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
counting the number of the depth values of the surface coordinates of the human body, which are not 0, in all the depth values of the surface coordinates of the human body;
and obtaining the average depth value of each human body surface coordinate by utilizing a calculation method of arithmetic mean according to the number of the human body surface coordinates with depth values different from 0 and the total depth value of each human body surface coordinate.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
selecting the maximum depth value and the minimum depth value of each human body surface coordinate from all the depth values of each human body surface coordinate;
and calculating the absolute value of the difference value between the maximum depth value and the minimum depth value of each human body surface coordinate, and obtaining the depth value fluctuation range of each human body surface coordinate.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
comparing the fluctuation range of the depth value of each human body surface coordinate with the fluctuation threshold value to obtain a fusion depth value of each human body surface coordinate;
when the fluctuation range of the depth value of the human body surface coordinates exceeds the fluctuation threshold value, the fused depth value of the human body surface coordinates is an integer, and the fused depth value is a non-negative number;
and when the fluctuation range of the depth value of the human body surface coordinate does not exceed the preset fluctuation threshold value, the fused depth value of the human body surface coordinate is the average depth value of the human body surface coordinate.
Further, the processor 1001 may call the massager control program stored in the memory 1005 and also perform the following operations:
obtaining each human body surface coordinate of a fusion depth map of the multiple human body surface depth maps according to each human body surface coordinate of the multiple human body surface depth maps;
and obtaining depth fusion values of the human body surface coordinates of the fusion depth maps according to the fusion depth values of the human body surface coordinates of the multiple human body surface depth maps, and generating the fusion depth map of the multiple human body surface depth maps.
Further, the processor 1001 may call the massager control program stored in the memory 1005, and also perform the following operations:
converting the fusion depth map into point cloud data with the human body surface information by using a coordinate conversion mode;
and controlling the massage path of a massage component in the massage instrument according to the point cloud data.
The invention provides a control method and a control system of a massage instrument and a computer readable storage medium, wherein a plurality of human body surface depth maps are continuously acquired within a preset time length, the human body surface depth maps contain human body surface information, and the human body surface information comprises the following steps: human body surface coordinates and depth values of the human body surface coordinates; in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate; according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate; generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values; and converting the fusion depth map into point cloud data, and controlling a massage path of the massage instrument according to the point cloud data. Through the mode, the problem that the fit degree of the massage instrument and the skin is not high when a human body breathes is solved, the massage path of the massage instrument is planned according to the fluctuation condition of the surface of the human body during breathing, and the massage effect is improved.
Based on the above hardware structure, the embodiment of the method of the present invention is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a control method of a massage apparatus according to the present invention, and with reference to fig. 2, the method includes:
step S10, continuously acquiring a plurality of human body surface depth maps within a preset time, wherein the human body surface depth maps contain human body surface information, and the human body surface information comprises: the human body surface coordinates and the depth values of the human body surface coordinates.
In one embodiment, the depth camera fixed on the mechanical arm is aimed at the upper half of the human body, and multiple human body surface depth maps are continuously acquired within a preset duration, wherein the preset duration is the time required by a normal adult to take one breath on average.
Specifically, as an embodiment, in the present embodiment, the position and angle of the depth camera fixed to the robot arm of the massage machine are adjusted so as to better obtain the depth map of the surface of the human body of the user. In this embodiment, it is preferable to use the depth camera aligned with the center of the upper half of the body of the user as an example, so as to ensure that the depth camera can better obtain the depth map of the surface of the human body of the user. Further, in order to ensure that a relatively comprehensive human body surface depth map of the user in the breathing process is obtained, the depth camera continuously acquires the depth map of the user within the one-time breathing duration of a normal adult. According to about 12 to 20 breaths per minute of a normal adult, namely, about 3 to 5 seconds is needed for one breath, preferably, in the embodiment, the preset time duration is 5 seconds, and the depth camera continuously acquires the depth map of the human body surface within 5 seconds.
In the existing method for establishing the human body model, multiple cameras can be used for acquiring multi-view body data of a human body from different angles, and a human body point cloud model is reconstructed according to multiple views, but in the method, an information acquisition system with multiple cameras needs to be set up, the cameras are calibrated one by one, and the requirement on the setting-up environment is high; the mapping relation between the human body outline and the human body skeleton and the human body type can also be obtained by machine learning, so that a human body model is established, a large amount of data needs to be collected for training, and the difficulty is high in material acquisition.
The problem can be solved by using the depth camera to obtain the depth map of the user, the requirement on the environment is reduced, and meanwhile, the difficulty in obtaining materials is eliminated. When the depth image is acquired by the depth camera for the upper half of the user, the human body breathes to cause the body surface of the human body to rise and fall, displacement is generated, namely, the surface of the human body is deformed by a non-rigid body, and if only one frame of data is acquired, the generated depth image is insufficient to comprehensively reflect the surface condition of the human body, so that the user needs to acquire the depth image continuously and acquire a plurality of depth images in a continuous time.
Further, according to about 12 to 20 breaths per minute of a normal adult, that is, about 3 to 5 seconds is required for one breath, in this embodiment, a plurality of body surface depth maps of the body relief condition of the user in the duration of one breath are obtained by continuously acquiring for 5 seconds using the depth camera. Under normal conditions, the depth camera can acquire 30 depth maps within 1 second, and after a breath duration of the user, the depth camera acquires 150 human body surface depth maps to acquire human body surface information of the user.
Furthermore, the human body surface depth map acquired by the depth camera is a single-channel picture and comprises human body surface coordinates and depth values corresponding to the human body surface coordinates, the default depth values are integers, the depth values are greater than or equal to 0, and the situation that the depth values are negative does not exist. When a certain area cannot acquire the depth value, the depth value of the area is 0, for example, the area may be strongly illuminated, or the acquired object material may not acquire the depth value.
Further, since the depth camera is in a fixed state, in a plurality of human body surface depth maps continuously obtained by the depth camera, the human body surface coordinates corresponding to each pixel position are the same, that is, in the plurality of human body surface depth maps, the human body surface coordinates of the same pixel position are the same. The corresponding depth values are provided on the surface coordinates of the human body, and because the surface of the human body has certain fluctuation in the breathing process of a user, the corresponding depth values of the same surface coordinates of the human body may be different in a plurality of surface depth maps of the human body.
And S20, in the multiple human body surface depth maps, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate according to the human body surface information.
As an implementation manner, in this embodiment, all depth values of the respective human body surface coordinates are added to obtain a total depth value of the respective human body surface coordinates; obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate; and obtaining the depth value fluctuation range of each human body surface coordinate according to all the depth values of each human body surface coordinate.
Specifically, as an implementation manner, in the present embodiment, in a plurality of human body surface depth maps collected by the depth camera, all depth values on the same human body surface coordinates are added to obtain a total depth value of each human body surface coordinate. The depth value of the surface coordinate (x, y) of the human body in the ith human body surface depth map is set as z i (x, y), then the total depth value of the body surface coordinates (x, y) is z total (x, y) calculated as follows:
z total (x，y)＝z 1 (x，y)+z 2 (x，y)+…+z n (x，y)
in the present embodiment, there are 150 human body surface depth maps, and the human body surface coordinates are (x, y) total depth values z total (x, y) is:
z total (x，y)＝z 1 (x，y)+z 2 (x，y)+…+z 150 (x，y)
and calculating the surface coordinates of each human body as above to obtain the total depth value of the surface coordinates of each human body.
Further, an average depth value of each human body surface coordinate is calculated according to all depth values of each human body surface coordinate and a total depth value of each human body surface coordinate. Taking the human body surface coordinates (x, y) as an example, counting the number of all depth values of the human body surface coordinates (x, y) which are larger than 0, recording as m (x, y), calculating the average depth value of the human body surface coordinates (x, y) by using an arithmetic mean value calculation method, and recording as z the average depth value of the human body surface coordinates (x, y) mean (x, y) calculated as follows:
when the number of the depth values corresponding to the human body surface coordinates (x, y) is more than 0, namely when m (x, y) >0, the depth value corresponding to the human body surface coordinates (x, y) is the arithmetic mean of the total depth values of the human body surface coordinates; when there is no number greater than 0 of depth values corresponding to the human body surface coordinates (x, y), it means that the depth value of the item of coordinates (x, y) is 0 in all the human body surface depth maps, i.e., when m (x, y) =0, the average depth value corresponding to the human body surface coordinates (x, y) is 0.
And calculating the surface coordinates of each human body and the corresponding depth value to obtain the average depth value of the surface coordinates of each human body.
Further, in all the human body surface depth maps, the depth value fluctuation range of each human body surface coordinate is calculated according to all the depth values corresponding to each human body surface coordinate. Taking the human body surface coordinates (x, y) as an example, in all human body surface depth maps, the corresponding depth values of the human body surface coordinates (x, y) can be obtained by: z is a radical of formula 1 (x，y)，z 2 (x，y)，...，z 150 (x, y) at z 1 (x，y)，z 2 (x，y)，...，z 150 In the (x, y), excluding the depth value with the depth value of 0, selecting the maximum depth value and the minimum depth value, if all the depth values with the human body surface coordinates of (x, y) in the statistics are all 0, the maximum depth with the human body surface coordinates of (x, y) is 0, the minimum depth is 0, and respectively recording as z max (x, y) and z min (x, y) taking the depth value fluctuation range of the human body surface coordinates (x, y) as k (x, y), and calculating the method as follows:
k(x，y)＝|z max (x，y)-z min (x，y)|
and calculating the surface coordinates of each human body and the corresponding depth value to obtain the average depth value of the surface coordinates of each human body.
By the method, all the depth values of all the human body surface coordinates in the multiple human body surface depth maps acquired by the depth camera are calculated, and the average depth value and the depth value fluctuation range of each human body surface coordinate are obtained.
And S30, obtaining the fused depth value of each human body surface coordinate according to the average depth value and the depth value fluctuation range of each human body surface coordinate and by combining a preset fluctuation value threshold value.
As an implementation manner, in this embodiment, the preset fluctuation threshold is a constant value, and the fluctuation range of the depth value of each human body surface coordinate is compared with the fluctuation threshold, so as to obtain the fused depth value of each human body surface coordinate; when the fluctuation range of the depth value of the human body surface coordinates exceeds the fluctuation threshold value, the fused depth value of the human body surface coordinates is an integer, and the fused depth value is a non-negative number; and when the fluctuation range of the depth value of the human body surface coordinate does not exceed the preset fluctuation threshold value, the fused depth value of the human body surface coordinate is the average depth value of the human body surface coordinate.
Specifically, as an implementation manner, in this embodiment, the preset fluctuation threshold is a constant value, and may be adjusted according to actual situations, and preferably, in this embodiment, the preset fluctuation threshold is greater than 0 and is denoted as s, and s > 0. Comparing the depth value fluctuation range k (x, y) of each human body surface coordinate with a preset fluctuation threshold value s, wherein when the depth value fluctuation range k (x, y) of the human body surface coordinate exceeds the fluctuation threshold value s, the fused depth value of the human body surface coordinate is an integer, and the fused depth value is a non-negative number, preferably, in the embodiment, the fused depth value is defined as 0; when the fluctuation range k (x, y) of the depth value of the human body surface coordinate does not exceed the preset fluctuation threshold value s, the fusion depth value of the human body surface coordinate is the average depth value z of the human body surface coordinate mean (x，y)。
Further, according to the results of step S10 and step S20, taking the coordinates (x, y) of the human body surface as an example, the fused depth value is recorded as z (x, y), and the average depth value is z mean (x, y), z (x, y) is calculated as follows:
where s is the set fluctuation value threshold (s > 0).
The average depth value of the human body surface coordinates (x, y) is z mean (x, y), depthThe value fluctuation range is k (x, y), when the depth value fluctuation range of the human body surface coordinates (x, y) is k (x, y) within the preset fluctuation threshold value s, the average depth value of the human body surface coordinates (x, y) is taken as z mean (x, y) as a fused depth value of the human body surface coordinates (x, y); when the fluctuation range of the depth value of the human body surface coordinates (x, y) is k (x, y) exceeding a preset fluctuation threshold value s, the fused depth value of the human body surface coordinates (x, y) is 0.
And calculating the surface coordinates of each human body and the corresponding depth value fluctuation range to obtain the fused depth value of the surface coordinates of each human body.
And S40, generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values.
As an implementation manner, in this embodiment, the individual body surface coordinates of the fused depth map of the multiple body surface depth maps are obtained according to the individual body surface coordinates of the multiple body surface depth maps; and according to the fused depth values of the human body surface coordinates of the multiple human body surface depth maps, obtaining the depth fused values of the human body surface coordinates of the fused depth map, and generating the fused depth map of the multiple human body surface depth maps.
Specifically, as an implementation manner, in this embodiment, since the angle and the position of the depth camera are fixed and unchanged, the pixels of the depth camera correspond to the human body surface coordinates in the human body surface depth map one to one, and the human body surface coordinates of the fused depth map are obtained according to the human body surface coordinates in the human body surface depth map; and obtaining a fused depth map corresponding to each human body surface coordinate in the fused depth map according to the depth fused value corresponding to the human body surface coordinate, and preferably, generating the fused depth map of the multiple human body surface depth maps by the method.
Further, the total depth value, the average depth value and the fluctuation range of the depth values corresponding to the human body surface coordinates on the multiple human body surface depth maps are obtained in steps S10 to S30, the fused depth value corresponding to each human body surface coordinate is obtained by combining a preset fluctuation threshold value, and all the human body surface coordinates and the corresponding fused depth value are used as the human body surface coordinates and the corresponding fused depth value of the fused depth map to generate the fused depth map.
And S50, converting the fusion depth map into point cloud data, and controlling a massage path of the massager according to the point cloud data.
As an implementation manner, in this embodiment, the fusion depth map is converted into point cloud data with the human body surface information by using a coordinate transformation manner; and controlling the massage path of a massage component in the massage instrument according to the point cloud data.
Specifically, as an implementation manner, in the present embodiment, the fusion depth map may be converted into point cloud data by a coordinate transformation algorithm, and the image coordinate system basis is converted into the world coordinate system basis, so as to obtain the point cloud data. And according to the point cloud data, moving paths of the massage components arranged on the mechanical arm of the massage instrument are determined. In the process, the fusion depth map can be calculated into point cloud data through coordinate conversion, the human body surface depth map contains fluctuation information of the human body surface in the human body breathing process, therefore, the point cloud data obtained through conversion contains the human body surface information, and based on the point cloud data with the human body surface information, the massage path of the massage part in the massage instrument is controlled, for example, the movement path of the massage head is controlled, and the massage head adjusts the massage movement path according to the fluctuation condition of the human body surface in the breathing process, so that the massage head is in close contact with the skin of a user, and the massage effect is improved.
The invention provides a control method of a massage instrument. In this way, a plurality of human body surface depth maps are continuously acquired within a preset time, the human body surface depth maps contain human body surface information, and the human body surface information comprises: human body surface coordinates and depth values of the human body surface coordinates; in the multiple human body surface depth maps, according to the human body surface information, obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate; according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate; generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values; and converting the fusion depth map into point cloud data, and controlling a massage path of the massage instrument according to the point cloud data. Through the mode, the problem that the fit degree of the massage instrument and the skin is not high when a human body breathes is solved, the massage path of the massage instrument is planned according to the fluctuation condition of the surface of the human body during breathing, and the massage effect is improved.
Further, referring to fig. 3, fig. 3 is a schematic flow chart of a control method of a massage apparatus according to a second embodiment of the present invention. Based on the embodiment shown in fig. 2, in step S20: in the multiple human body surface depth maps, obtaining the average depth value and the fluctuation range of the depth value of each human body surface coordinate according to the human body surface information specifically includes:
step S201, adding all the depth values of the human body surface coordinates to obtain a total depth value of the human body surface coordinates.
As an implementation manner, in the present embodiment, all depth values on the same human body surface coordinate are added to obtain a total depth value of each human body surface coordinate. The surface coordinates of the human body in the depth map of the human body surface are n x m, and the surface coordinates of the human body in the depth map of the human body surface in the ith human body surface are (x) n ，y n ) Has a depth value of z i (x n ，y n ) The surface coordinates (x) of the human body n ，y n ) Total depth value of z total (x n ，y n ) The calculation method is as follows:
z total (x n ，y n )＝z 1 (x n ，y n )+z 2 (x n ，y n )+…+z n (x n ，y n )
in the present embodiment, there are 150 human body surface depth maps and human body surface coordinatesIs (x) n ，y n ) Total depth value z total (x n ，y n ) Comprises the following steps:
z total (x n ，y n )＝z 1 (x n ，y n )+z 2 (x n ，y n )+…+z 150 (x n ，y n )
specifically, as an example, in the present embodiment, in the above-described manner, the respective human body surface coordinates (x) are set 1 ，y 1 )，(x 1 ，y 2 )，...，(x n ，y m ) The total depth value of each human body surface coordinate is obtained by the calculation, and z is total (x 1 ，y 1 )，z total (x 1 ，y 2 )，...，z total (x n ，y m )。
Step S202, obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate.
As an implementation way, in the embodiment, the coordinates (x) of the surface of the human body are taken n ，y n ) For example, the coordinates (x) of the surface of a human body are counted n ，y n ) The number of all depth values of (2) greater than 0 is recorded as m (x) n ，y n ) Calculating the coordinates (x) of the surface of the human body by using the arithmetic mean calculation method n ，y n ) Average depth value of (2), recording the coordinates (x) of the surface of the human body n ，y n ) Has an average depth value of z mean (x n ，y n ) The calculation method is as follows:
when the surface coordinate (x) of the human body n ，y n ) When there is a number of corresponding depth values greater than 0, i.e. when m (x) n ，y n ) Greater than 0, the human body surface coordinate (x) n ，y n ) The corresponding depth value is the arithmetic average of the total depth value of the surface coordinates of the human bodyAveraging; when the surface coordinate (x) of the human body n ，y n ) When the corresponding depth value does not have the number larger than 0, the coordinate (x) of the number in all the human body surface depth maps is shown n ，y n ) Are all 0, i.e. when m (x) n ，y n ) =0, human body surface coordinates (x) n ，y n ) The corresponding average depth value is 0.
Specifically, as an example, in the present embodiment, in the above-described manner, the respective human body surface coordinates (x) are set 1 ，y 1 )，(x 1 ，y 2 )，...，(x n ，y m ) And corresponding depth value z total (x 1 ，y 1 )，z total (x 1 ，y 2 )，...，z total (x n ，y m ) Corresponding to m (x) 1 ，y 1 )，m(x 1 ，y 2 )，...，m(x n ，y m ) The average depth value z of each human body surface coordinate is obtained by the calculation mean (x 1 ，y 1 )，z mean (x 1 ，y 2 )，...，z mean (x n ，y m )。
Step S203, obtaining the fluctuation range of the depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate.
As an implementation way, in the embodiment, the coordinates (x) of the surface of the human body are taken n ，y n ) For example, in all depth maps of the surface of the human body, the coordinates (x) of the surface of the human body can be obtained n ，y n ) The corresponding depth values of (a) are in turn: z is a radical of 1 (x n ，y n )，z 2 (x n ，y n )，...，z 150 (x n ，y n ) At z is 1 (x n ，y n )，z 2 (x n ，y n )，...，z 150 (x n ，y n ) Excluding the depth value with 0, selecting the maximum depth value and the minimum depth value, if all the human body surface coordinates in the statistics are (x) n ，y n ) Are all 0, thenThe maximum depth is 0 and the minimum depth is 0, respectively denoted as z max (x n ，y n ) And z min (x n ，y n ) The surface coordinates (x) of the human body n ，y n ) Has a depth value fluctuation range of k (x) n ，y n ) The calculation method is as follows:
k(x n ，y n )＝|z max (x n ，y n )-z min (x n ，y n )|
specifically, as an example, in the present embodiment, in the above-described manner, the respective human body surface coordinates (x) are set 1 ，y 1 )，(x 1 ，y 2 )，...，(x n ，y m ) And corresponding depth value z 1 (x 1 ，y 1 )，z 2 (x 1 ，y 1 )，...，z 150 (x 1 ，y 1 )；z 1 (x 1 ，y 2 )，z 2 (x 1 ，y 2 )，...，z 150 (x 1 ，y 2 )；z 1 (x n ，y m )，z 2 (x n ，y m )，...，z 150 (x n ，y m ) The coordinates (x) of the surface of each human body are obtained by the calculation as described above 1 ，y 1 )，(x 1 ，y 2 )，...，(x n ，y m ) Corresponding mean depth value k (x) 1 ，y 1 )，k(x 1 ，y 2 )，...，k(x n ，y m )。
The invention provides a control method of a massage instrument. Adding all the depth values of the human body surface coordinates in the above mode to obtain a total depth value of the human body surface coordinates; obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate; and obtaining the depth value fluctuation range of each human body surface coordinate according to all the depth values of each human body surface coordinate. Through the above manner, the present embodiment calculates according to all the human body surface coordinates in the multiple human body surface depth maps acquired by the depth camera, and obtains the average depth value and the depth value fluctuation range of each human body surface coordinate.
The invention also provides a control system of the massage instrument.
The massage apparatus control system of the present invention comprises: a memory, a processor and a massager control program stored on the memory and executable on the processor, the massager control program when executed by the processor implementing the steps of the massager control method as described above.
The method implemented when the massage apparatus control program running on the processor is executed may refer to each embodiment of the massage apparatus control method of the present invention, and will not be described herein again.
The invention also provides a computer readable storage medium.
The computer-readable storage medium of the present invention stores thereon a massage apparatus control program that realizes the steps of the massage apparatus control method as described above when executed by a processor.
The method implemented when the massage apparatus control program running on the processor is executed may refer to each embodiment of the massage apparatus control method of the present invention, and will not be described herein again.
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, method, article, or system 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, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a system device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of a massage apparatus is characterized by comprising the following steps:
continuously acquiring a plurality of human body surface depth maps within preset time, wherein the human body surface depth maps contain human body surface information, and the human body surface information comprises: human body surface coordinates and depth values of the human body surface coordinates;
obtaining the average depth value and the depth value fluctuation range of each human body surface coordinate in the multiple human body surface depth maps according to the human body surface information;
according to the average depth value and the depth value fluctuation range of each human body surface coordinate, combining a preset fluctuation value threshold value to obtain a fusion depth value of each human body surface coordinate;
generating a fusion depth map of the multiple human body surface depth maps according to the human body surface coordinates and the fusion depth values;
converting the fusion depth map into point cloud data, and controlling a massage path of a massage instrument according to the point cloud data;
the step of controlling the massage path of the massage instrument according to the point cloud data comprises the following steps: and controlling the motion path of the massage head according to the point cloud data, and adjusting the massage motion path by the massage head according to the fluctuation condition of the human body surface in the breathing process so that the massage head is in close contact with the skin of the user.
2. The control method of a massage apparatus according to claim 1, wherein the step of continuously acquiring a plurality of depth maps of the surface of the human body for a preset time period comprises:
the depth camera fixed on the mechanical arm is aligned to the upper half of the human body, and a plurality of human body surface depth maps are continuously acquired within a preset time length, wherein the preset time length is the average time required for a normal adult to breathe.
3. The control method of massage apparatus according to claim 2, wherein the step of obtaining the average depth value and the fluctuation range of the depth value of each human body surface coordinate from the human body surface information in the plurality of human body surface depth maps comprises:
adding all the depth values of the human body surface coordinates to obtain a total depth value of the human body surface coordinates;
obtaining the average depth value of each human body surface coordinate according to all the depth values of each human body surface coordinate and the total depth value of each human body surface coordinate;
and obtaining the depth value fluctuation range of each human body surface coordinate according to all the depth values of each human body surface coordinate.
4. The massager control method as set forth in claim 3, wherein the step of obtaining an average depth value of the respective human body surface coordinates based on all depth values of the respective human body surface coordinates and a total depth value of the respective human body surface coordinates comprises:
counting the number of the depth values of the human body surface coordinates which are not 0 in all the depth values of the human body surface coordinates;
and obtaining the average depth value of each human body surface coordinate by utilizing a calculation method of arithmetic mean according to the number of the human body surface coordinates with depth values different from 0 and the total depth value of each human body surface coordinate.
5. The massager control method as set forth in claim 4, wherein the step of obtaining the fluctuation range of the depth values of the respective human body surface coordinates based on all the depth values of the respective human body surface coordinates comprises:
selecting the maximum depth value and the minimum depth value of each human body surface coordinate from all the depth values of each human body surface coordinate;
and calculating the absolute value of the difference value between the maximum depth value and the minimum depth value of each human body surface coordinate, and obtaining the depth value fluctuation range of each human body surface coordinate.
6. The control method of massage apparatus according to claim 5, wherein the preset fluctuation threshold is a fixed value, and the step of obtaining the fused depth value of each human body surface coordinate based on the average depth value and the fluctuation range of the depth value of each human body surface coordinate in combination with the preset fluctuation threshold comprises:
comparing the fluctuation range of the depth value of each human body surface coordinate with the fluctuation threshold value to obtain a fusion depth value of each human body surface coordinate;
when the fluctuation range of the depth value of the human body surface coordinates exceeds the fluctuation threshold value, the fused depth value of the human body surface coordinates is an integer, and the fused depth value is a non-negative number;
and when the fluctuation range of the depth value of the human body surface coordinate does not exceed the preset fluctuation threshold value, the fused depth value of the human body surface coordinate is the average depth value of the human body surface coordinate.
7. The massager control method of claim 6, wherein the step of generating a fused depth map of said plurality of human body surface depth maps based on said respective human body surface coordinates and said fused depth values comprises:
obtaining each human body surface coordinate of a fusion depth map of the multiple human body surface depth maps according to each human body surface coordinate of the multiple human body surface depth maps;
and according to the fused depth values of the human body surface coordinates of the multiple human body surface depth maps, obtaining the depth fused values of the human body surface coordinates of the fused depth map, and generating the fused depth map of the multiple human body surface depth maps.
8. The massager control method of claim 7, wherein said step of converting said fused depth map into point cloud data comprises:
and converting the fusion depth map into point cloud data with the human body surface information by using a coordinate conversion mode.
9. A massager control system, the system comprising: a memory, a processor and a massager control program stored on the memory and executable on the processor, the massager control program when executed by the processor implementing the steps of the massager control method of any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a massage apparatus control program is stored thereon, which when executed by a processor, implements the steps of the massage apparatus control method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110045871.5A CN112750108B (en) | 2021-01-13 | 2021-01-13 | Massage apparatus control method, system and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110045871.5A CN112750108B (en) | 2021-01-13 | 2021-01-13 | Massage apparatus control method, system and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112750108A CN112750108A (en) | 2021-05-04 |
| CN112750108B true CN112750108B (en) | 2023-03-28 |
Family
ID=75651727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110045871.5A Active CN112750108B (en) | 2021-01-13 | 2021-01-13 | Massage apparatus control method, system and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112750108B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002143250A (en) * | 2000-11-14 | 2002-05-21 | Omron Corp | Method for controlling massager |
| JP2002315804A (en) * | 2001-04-23 | 2002-10-29 | Family Kk | Palpation massaging machine |
| JP2003205006A (en) * | 2002-01-15 | 2003-07-22 | Marutaka Co Ltd | Chair type massager |
| JP2004041416A (en) * | 2002-07-11 | 2004-02-12 | Marutaka Co Ltd | Chair-shaped massage machine |
| WO2008130903A1 (en) * | 2007-04-17 | 2008-10-30 | Mikos, Ltd. | System and method for using three dimensional infrared imaging for libraries of standardized medical imagery |
| CN110074964A (en) * | 2019-05-31 | 2019-08-02 | 重庆大学 | Head massager and head massage method based on 3-freedom parallel mechanism |
| WO2019240457A1 (en) * | 2018-06-14 | 2019-12-19 | 주식회사 바디프랜드 | Method and apparatus for providing blood pressure control massage |
| WO2020013136A1 (en) * | 2018-07-13 | 2020-01-16 | マクセルホールディングス株式会社 | Massaging machine |
| WO2020078292A1 (en) * | 2018-10-17 | 2020-04-23 | Midea Group Co., Ltd. | System and method for generating acupuncture points and pressure point maps |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6752772B2 (en) * | 2002-04-03 | 2004-06-22 | Rocky Kahn | Manipulation device with dynamic intensity control |
| KR102534876B1 (en) * | 2018-11-01 | 2023-05-22 | 한국전자통신연구원 | Method and apparatus for determining the breathing status of a person using a depth camera |
-
2021
- 2021-01-13 CN CN202110045871.5A patent/CN112750108B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002143250A (en) * | 2000-11-14 | 2002-05-21 | Omron Corp | Method for controlling massager |
| JP2002315804A (en) * | 2001-04-23 | 2002-10-29 | Family Kk | Palpation massaging machine |
| JP2003205006A (en) * | 2002-01-15 | 2003-07-22 | Marutaka Co Ltd | Chair type massager |
| JP2004041416A (en) * | 2002-07-11 | 2004-02-12 | Marutaka Co Ltd | Chair-shaped massage machine |
| WO2008130903A1 (en) * | 2007-04-17 | 2008-10-30 | Mikos, Ltd. | System and method for using three dimensional infrared imaging for libraries of standardized medical imagery |
| WO2019240457A1 (en) * | 2018-06-14 | 2019-12-19 | 주식회사 바디프랜드 | Method and apparatus for providing blood pressure control massage |
| WO2020013136A1 (en) * | 2018-07-13 | 2020-01-16 | マクセルホールディングス株式会社 | Massaging machine |
| WO2020078292A1 (en) * | 2018-10-17 | 2020-04-23 | Midea Group Co., Ltd. | System and method for generating acupuncture points and pressure point maps |
| CN110074964A (en) * | 2019-05-31 | 2019-08-02 | 重庆大学 | Head massager and head massage method based on 3-freedom parallel mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 按摩机器人关键技术研究;胡磊;《中国博士学位论文全文数据库信息科技辑》;20180615;摘要 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112750108A (en) | 2021-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210177130A1 (en) | Methods and systems for extracting brushing motion characteristics of a user using an oral hygiene device including at least one accelerometer to provide feedback to a user | |
| JP6742405B2 (en) | Head-mounted display with facial expression detection function | |
| JP2022505423A (en) | Ambient electromagnetic distortion correction for electromagnetic tracking | |
| US20150255005A1 (en) | Movement evaluation device and program therefor | |
| CN108475119B (en) | Information processing apparatus, information processing method, and computer-readable recording medium containing program | |
| US9412190B2 (en) | Image display system, image display apparatus, image display method, and non-transitory storage medium encoded with computer readable program | |
| US20180272189A1 (en) | Apparatus and method for breathing and core muscle training | |
| KR20180005528A (en) | Display apparatus and method for image processing | |
| CN110263617B (en) | Three-dimensional face model obtaining method and device | |
| US11340714B2 (en) | Information processing device, information processing method and program | |
| JPWO2019049298A1 (en) | 3D data system and 3D data processing method | |
| JP6243732B2 (en) | Mobile motion state display device, method and system, and program | |
| CN113257387B (en) | Wearable device for rehabilitation training, rehabilitation training method and system | |
| CN112750108B (en) | Massage apparatus control method, system and computer readable storage medium | |
| JP2020135428A (en) | Position data processing equipment and programs | |
| JP7343237B2 (en) | Tracking method | |
| CN116310230A (en) | Method, device, equipment and storage medium for identifying the installation position of EEG electrodes | |
| CN108369477B (en) | Information processing apparatus, information processing method, and program | |
| US12093470B2 (en) | Virtual image display system and calibration method for pointing direction of controller thereof | |
| US20250191181A1 (en) | Posture evaluation apparatus, posture evaluation system, posture evaluation method, and non-transitory computer-readable medium | |
| WO2022196059A1 (en) | Information processing device, information processing method, and program | |
| JP7323234B2 (en) | Guide method | |
| WO2021192907A1 (en) | Output method | |
| KR20250029124A (en) | Virtual remote physical examination system | |
| JP2021043730A (en) | Stationary determining system, and computer program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |