Based On The Vision Of The Chinese Massage Robot Acupoints Positioning And Tracking System

Massage is an important part of Chinese medicine, which is Chinese medical theory as a guide and based on the meridians and acupoints doctrine, and the massage as the main treats. Massage is an important means to be used against the disease and reduce fatigue. At present, with China’s aging population increase and the increasing pressure for life, and more people need to Chinese massage. The domestic hospital experienced massage doctor quantity already cannot satisfy the needs of the community. So it is the optimal solution that the Chinese medicine massage theory and robotics technology combined to develop a more intelligent massage robot to solve this problem. Because the Chinese medicine massage robot are faced with a large number of size characteristics of the patient and the elderly. In the physical characteristics of each massage the object of the same circumstances, if the Chinese massage robot’s control system adopt teach or off-line programming, the work efficiency of the robot poses a severe challenge. Therefore, to develop a more intelligent and flexible massage robot has become an urgent requirement.Robotic vision technique is an important research field on the machine vision, and it’s a new subject based on the development of the computer vision theories and the image processing techniques. It has broken the traditional mechanical arm with demonstration teaching and off-line programming control mode, and don’t need to be to the movement for programming, greatly improving the mechanical arm flexibility, can be widely used in service robot and industrial robots, etc. In this paper, based on the Chinese massage robot systems with4degree of freedom (DOF), the recognition and tracking on the single target object and multi-target objects are studied by using the method with position-based visual servo, and some findings and conclusions have been achieved. This research contents include the following respects.The first, the structure of Chinese massage robot is analyzed. With the D-H method, the transformation matrix is obtained and the model of the Chinese massage robot’s kinematics is set up. To solve the kinematics equation is. The positive solution of the kinematic equations and inverse solution are solved. Then we find the relationship between position and joint turn variables.The second, by the analysis of the principle of camera imaging and understanding, combining the current camera calibration method, a quick and convenient monocular vision measurement of the camera calibration method is proposed. This method simplifies the process of robot and camera calibration. Feasibility of this method is verified by experiments.The third, for identification and location of the acupuncture points of the body back, this paper make a detailed analysis and contrast their advantages and disadvantages to the traditional image matching algorithm. Based of these, this paper takes actual artificial symbol for the target, Based on fast related gray image matching normalized algorithm acupoints positioned new methods and based on the SIFT characteristics of the matching acupoints positioned new method are proposed. The experimental analysis used the actual image. The results showed that both of them have good stability.The four, in this paper, a new leg stance detection method based on the Hough algorithm is proposed on the basis of deep analysis of the characteristics and the legs Hough transform principle. The method take advantage of the algorithm of Hough line detection efficiency and realize the artificial leg flag line feature detection. The results showed that the method could effectively extract the characteristics of artificial signs and achieve the desired results.The five, Completion of the overall structural design of Chinese massage robot based on vision. Introduced from the system software architecture, program flow, and the recognition algorithm’s implement functions. Completed the layout of power cord and control signal lines in control cabinet and ensured the safe and stable operation of the entire motion control system.