阅读说明：本技术 一种原始点智能按摩设备运动控制系统及其控制方法 (Original point intelligent massage equipment motion control system and control method thereof ) 是由 初光勇 宰青青 谭晓波 朱广仁 于 2020-05-08 设计创作，主要内容包括：本发明公开了一种原始点智能按摩设备运动控制系统及其控制方法,该系统包括图像采集装置、PC端和按摩设备控制子系统,图像采集装置和按摩设备子系统均与所述PC端通信连接；按摩设备控制子系统包括主控制模块、运动控制模块、按摩机控制模块、按摩手控制模块和电源管理模块；运动控制模块、按摩机控制模块、按摩手控制模块和电源管理模块均与主控制模块连接。本发明根据原始点按摩手法的特点,设计了按摩设备的运动控制系统,能够实现按摩手的在按摩时三个方向上的调节,对比于传统的按摩设备,基于该运动控制系统设计的按摩设备能够适应不同身高、准确定位穴位原始点,可以调整按摩力度和按摩方式；丰富了按摩设备的功能,提高了用户的按摩体验。(The invention discloses a motion control system of original point intelligent massage equipment and a control method thereof, wherein the system comprises an image acquisition device, a PC (personal computer) end and a massage equipment control subsystem, wherein the image acquisition device and the massage equipment subsystem are in communication connection with the PC end; the massage equipment control subsystem comprises a main control module, a motion control module, a massager control module, a massage hand control module and a power management module; the motion control module, the massager control module, the massage hand control module and the power management module are all connected with the main control module. According to the characteristics of original point massage manipulations, the motion control system of the massage equipment is designed, the massage hand can be adjusted in three directions during massage, compared with the traditional massage equipment, the massage equipment designed based on the motion control system can adapt to different heights, accurately position original points of acupuncture points, and adjust massage force and massage modes; enriches the functions of the massage equipment and improves the massage experience of the user.)

1. An original point intelligent massage equipment motion control system is characterized by comprising an image acquisition device, a PC (personal computer) terminal and a massage equipment control subsystem, wherein the image acquisition device and the massage equipment subsystem are in communication connection with the PC terminal; the massage equipment control subsystem comprises a main control module, a motion control module, a massager control module, a massage hand control module and a power management module; the motion control module, the massager control module, the massage hand control module and the power management module are all connected with the main control module.

2. The origin point intelligent massage apparatus motion control system of claim 1, wherein the master control module is configured to coordinate the operation of each module in the massage apparatus control subsystem; the motion control module is used for controlling the movement of a massage hand in the massage equipment in three directions of an X axis, a Y axis and a Z axis and carrying out posture change control on the massage hand; the massager control module is used for controlling the massage hand to realize different massage methods; the massage hand control module is used for controlling a direct execution mechanism of the massage hand; the power supply management module is used for carrying out power supply management on the massage equipment control subsystem.

3. The origin point intelligent massage apparatus motion control system of claim 1, wherein the motion control module comprises 6 limit switches, a first encoder, an X-axis servo motor, a Y-axis servo motor, and a Z-axis servo motor; each limit switch is connected with the main control module, and the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor are connected with the main control module through a first encoder and a motor driver; the limit switches are equally divided into 3 groups and are sequentially arranged on the massage equipment X, Y and the guide rail in the Z direction.

4. The origin point intelligent massage apparatus motion control system of claim 1, wherein the massage apparatus control module comprises a first dc motor and a second dc motor, both connected to the main control module; the first direct current motor and the second direct current motor are both arranged on a mechanical arm of the massage equipment.

5. The origin point intelligent massage apparatus motion control system of claim 3, wherein the massage hand control module comprises a servo motor, a third dc motor, a fourth dc motor, a force sensor and a second encoder;

the servo motor is connected with the main control module through a second encoder and a motor driver, the third direct current motor and the fourth direct current motor are both connected with the main control module, and the force sensor is connected with the main control module through a signal processing circuit; the servo motor is arranged at the wrist of the massage hand, the third direct current motor and the fourth direct current motor are respectively provided with two massage finger positions of the massage hand, force sensors are arranged at the wrist, the thumb and the palm center of the massage hand, and the second encoder is arranged at the wrist of the massage hand.

6. The origin point intelligent massage apparatus motion control system of claim 1, wherein the power management module comprises an independent power unit and a safety magnetic lock connected to each other, the safety magnetic lock being provided at each bracket of the massage apparatus.

7. The origin point intelligent massage apparatus motion control system of claim 5, wherein the signal processing circuit comprises a bridge G;

the contact a of the bridge G is connected with the output end of an operational amplifier A1, the non-inverting input end of the operational amplifier A1 is respectively connected with one end of a resistor R1 and the negative electrode of a thyristor VR, the other end of the resistor R1 is connected with one end of a capacitor C1, the positive electrode of the thyristor VR is respectively connected with the other end of a capacitor C1 and one end of a resistor R2 and is grounded, the other end of a resistor R2 is respectively connected with the inverting input end of an operational amplifier A1 and the contact C of the bridge G, the contact b of the bridge G is connected with the non-inverting input end of an operational amplifier A2, the inverting input end of the operational amplifier A2 is respectively connected with one end of a resistor R3 and one end of a resistor R, the other end of the resistor R3 is connected with the output end of an operational amplifier A2, the other end of the resistor R is respectively connected with the inverting input end of an operational amplifier, the other end of the resistor R4 is connected to the output end of an operational amplifier A3, the non-inverting input end of the operational amplifier A3 is connected to the d contact of the bridge G, the ground end of the operational amplifier A3 is grounded, the output end of the operational amplifier a2 is connected to the inverting input end of the operational amplifier a4 through a resistor R5, the output end of the operational amplifier A3 is connected to the non-inverting input end of the operational amplifier a4 through a resistor R6, the inverting input end of the operational amplifier a4 is further connected to the output end thereof through a resistor R8, and the non-inverting input end of the operational amplifier a4 is further connected to a ground resistor R7;

the other end of the resistor R1 is used as the input end of a signal processing circuit and is connected with the output end of the force sensor, and the output end of the operational amplifier A4 is used as the output end of the signal processing circuit and is connected with the main control module.

8. A motion control method of a motion control system of an original point intelligent massage device is characterized by comprising the following steps:

s1, acquiring a state image of the user through an image acquisition device, and carrying out image analysis on the state image to determine massage acupuncture points;

s2, generating a massage track control instruction of the massage equipment in the PC terminal based on the determined massage acupuncture points and the massage requirements of the user, and sending the massage track control instruction to the massage equipment control subsystem;

and S3, performing original point massage on the user through the massage equipment control subsystem according to the received massage track control instruction, and realizing the motion control of the massage equipment.

9. The motion control method of the origin intelligent massage apparatus motion control system according to claim 8, wherein the step S3 specifically comprises:

s31, adjusting the positions of the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor relative to the user based on the massage track control command;

s32, acquiring a user state image in real time through an image acquisition device, and judging whether the relative position of the user and the massage equipment in the current user state image meets the position condition in the massage track instruction or not;

if yes, go to step S33;

if not, returning to the step S31;

and S33, according to the massage track control instruction corresponding to the massage mode selected by the user at the PC terminal, performing original point massage on the user through the cooperation of the massage machine control module and the massage hand control module, and realizing the motion control of the massage equipment.

10. The motion control method of the motion control system of the origin intelligent massage device, according to claim 9, wherein in step S33, during the origin massage process performed on the user, the PC selects the massage mode and the massage force in real time, generates a corresponding massage control command, and sends the massage control command to the massage device control subsystem;

in step S33, when the massage device fails during the original point massage process, the safety magnetic lock is controlled to be automatically turned off, so that the independent power supply unit stops supplying power to the massage device to stop massage.

Technical Field

The invention belongs to the technical field of health care instruments, and particularly relates to a motion control system of original point intelligent massage equipment and a control method thereof.

Background

With the rapid development of economy and society, the living standard and medical standard of people are continuously improved. People pay more and more attention to physical health, particularly to sub-health diseases or occupational diseases caused by poor diet and living habits at present, which has influence on how much people work, study and live. With the progress of modern civilization, robots have been known and recognized, and robots have advanced from special fields such as narrow industry, national defense and the like to service fields closely related to human beings; in recent years, a service robot, which is a member of a large family of robots, has been rapidly developed, and various robots for medical use, rehabilitation, cleaning, construction, disaster relief, and the like have been advanced to our lives. The massage robot is one of the service robots, along with the trend and popularization of traditional Chinese medicine in the world in recent years, the traditional Chinese medicine massage theory is taken as the theoretical basis of the design of massage equipment, and the increasingly mature robot mechanization is combined, so that the existing massage equipment has the advantages of accurate and controllable massage force, high massage point positioning accuracy, accurate and repeatable massage action and the like, and the massage on a human body according to the traditional Chinese medicine massage theory can be realized, so that the massage robot is very helpful for the rehabilitation of disabled people, the health of middle-aged and old people and the improvement of the life quality of people; however, the main stream of massage devices in the market at present mainly include massage chairs, massage beds and the like, and the massage devices are mainly characterized in that passive massage actions can be provided for human bodies only, and massagers squeeze the massage devices to realize massage actions by adjusting the postures and lying postures of the massagers according to the weights of the massagers; in addition, most massage instruments on the market have single manipulation and cannot imitate the massage manipulation and the massage strength of professional massagers.

Disclosure of Invention

Aiming at the defects in the prior art, the origin intelligent massage equipment motion control system and the control method thereof provided by the invention solve the problems that the existing massage equipment has single massage manipulation and can not imitate the massage manipulation and massage strength of a professional masseur to massage.

In order to achieve the purpose of the invention, the invention adopts the technical scheme that: an original point intelligent massage equipment motion control system comprises an image acquisition device, a PC (personal computer) terminal and a massage equipment control subsystem, wherein the image acquisition device and the massage equipment subsystem are in communication connection with the PC terminal; the massage equipment control subsystem comprises a main control module, a motion control module, a massager control module, a massage hand control module and a power management module; the motion control module, the massager control module, the massage hand control module and the power management module are all connected with the main control module.

Furthermore, the main control module is used for performing coordination control on the work of each module in the massage equipment control subsystem; the motion control module is used for controlling the movement of a massage hand in the massage equipment in three directions of an X axis, a Y axis and a Z axis and carrying out posture change control on the massage hand; the massager control module is used for controlling the massage hand to realize different massage methods; the massage hand control module is used for controlling a direct execution mechanism of the massage hand; the power supply management module is used for carrying out power supply management on the massage equipment control subsystem.

Furthermore, the motion control module comprises 6 limit switches, a first encoder, an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor; each limit switch is connected with the main control module, and the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor are connected with the main control module through a first encoder and a motor driver; the limit switches are equally divided into 3 groups and are sequentially arranged on the massage equipment X, Y and the guide rail in the Z direction.

Furthermore, the massager control module comprises a first direct current motor and a second direct current motor, and the first direct current motor and the second direct current motor are both connected with the main control module; the first direct current motor and the second direct current motor are both arranged on a mechanical arm of the massage equipment.

Furthermore, the massage hand control module comprises a servo motor, a third direct current motor, a fourth direct current motor, a force sensor and a second encoder;

the servo motor is connected with the main control module through a second encoder and a motor driver, the third direct current motor and the fourth direct current motor are both connected with the main control module, and the force sensor is connected with the main control module through a signal processing circuit; the servo motor is arranged at the wrist of the massage hand, the third direct current motor and the fourth direct current motor are respectively provided with two massage finger positions of the massage hand, force sensors are arranged at the wrist, the thumb and the palm center of the massage hand, and the second encoder is arranged at the wrist of the massage hand.

Further, the power management module comprises an independent power unit and a safety magnetic lock which are connected with each other, and the safety magnetic lock is arranged at each support of the massage equipment.

Further, the signal processing circuit includes a bridge G;

the contact a of the bridge G is connected with the output end of an operational amplifier A1, the non-inverting input end of the operational amplifier A1 is respectively connected with one end of a resistor R1 and the negative electrode of a thyristor VR, the other end of the resistor R1 is connected with one end of a capacitor C1, the positive electrode of the thyristor VR is respectively connected with the other end of a capacitor C1 and one end of a resistor R2 and is grounded, the other end of a resistor R2 is respectively connected with the inverting input end of an operational amplifier A1 and the contact C of the bridge G, the contact b of the bridge G is connected with the non-inverting input end of an operational amplifier A2, the inverting input end of the operational amplifier A2 is respectively connected with one end of a resistor R3 and one end of a resistor R, the other end of the resistor R3 is connected with the output end of an operational amplifier A2, the other end of the resistor R is respectively connected with the inverting input end of an operational amplifier, the other end of the resistor R4 is connected to the output end of an operational amplifier A3, the non-inverting input end of the operational amplifier A3 is connected to the d contact of the bridge G, the ground end of the operational amplifier A3 is grounded, the output end of the operational amplifier a2 is connected to the inverting input end of the operational amplifier a4 through a resistor R5, the output end of the operational amplifier A3 is connected to the non-inverting input end of the operational amplifier a4 through a resistor R6, the inverting input end of the operational amplifier a4 is further connected to the output end thereof through a resistor R8, and the non-inverting input end of the operational amplifier a4 is further connected to a ground resistor R7;

the other end of the resistor R1 is used as the input end of a signal processing circuit and is connected with the output end of the force sensor, and the output end of the operational amplifier A4 is used as the output end of the signal processing circuit and is connected with the main control module.

A motion control method of an original point intelligent massage equipment motion control system comprises the following steps:

s1, acquiring a state image of the user through an image acquisition device, and carrying out image analysis on the state image to determine massage acupuncture points;

s2, generating a massage track control instruction of the massage equipment in the PC terminal based on the determined massage acupuncture points and the massage requirements of the user, and sending the massage track control instruction to the massage equipment control subsystem;

and S3, performing original point massage on the user through the massage equipment control subsystem according to the received massage track control instruction, and realizing the motion control of the massage equipment.

Further, the step S3 is specifically:

s31, adjusting the positions of the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor relative to the user based on the massage track control command;

s32, acquiring a user state image in real time through an image acquisition device, and judging whether the relative position of the user and the massage equipment in the current user state image meets the position condition in the massage track instruction or not;

if yes, go to step S33;

if not, returning to the step S31;

and S33, according to the massage track control instruction corresponding to the massage mode selected by the user at the PC terminal, performing original point massage on the user through the cooperation of the massage machine control module and the massage hand control module, and realizing the motion control of the massage equipment.

Further, in step S33, during the original point massage process performed on the user, the PC selects a massage mode and a massage strength in real time, generates a corresponding massage control command, and sends the massage control command to the massage device control subsystem;

in step S33, when the massage device fails during the original point massage process, the safety magnetic lock is controlled to be automatically turned off, so that the independent power supply unit stops supplying power to the massage device to stop massage.

The invention has the beneficial effects that:

according to the characteristics of original point massage manipulations, a motion control system of the massage equipment is designed, the massage hand can be adjusted in three directions during massage, compared with the traditional massage equipment, the massage equipment designed based on the motion control system can adapt to different heights, accurately position original points of acupuncture points, and adjust massage force and massage modes; enriches the functions of the massage equipment and improves the massage experience of the user.

Drawings

Fig. 1 is a structural diagram of a motion control system of an origin intelligent massage device provided by the invention.

Fig. 2 is a schematic layout diagram of the motion control system of the origin intelligent massage device provided by the invention on the massage device.

Fig. 3 is a schematic diagram of a signal processing circuit according to the present invention.

Fig. 4 is a flow chart of a motion control method of the motion control system of the origin intelligent massage device provided by the invention.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.