A home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology

Abstract

The present invention discloses a home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology, mainly related to the field of robots. It includes a robot body, a motion control system, an acupoint automatic recognition system, an intelligent voice interaction system, a health monitoring and management system, and a digital map reconstruction system. The robot body includes a driving system, an acupuncture and cupping system, and a robotic arm system. The motion control system, the acupoint automatic recognition system, the intelligent voice interaction system, the health monitoring and management system, and the digital map reconstruction system are all built into the robot body and control the driving system, the acupuncture and cupping system, and the robotic arm system. The beneficial effects of the present invention are as follows: It integrates multiple traditional Chinese medicine physiotherapy functions, can achieve intelligent voice interaction, real-time health detection, and is convenient for the elderly to use.

Description

Technical Field

[0001] The present invention relates to the field of robots, and specifically to a home Chinese medicine physiotherapy robot based on artificial intelligence technology. Background Art

[0002] According to a health survey of 5,600 elderly people, most elderly people have health problems such as shoulder, neck, waist and leg pain, and foot diseases.

[0003] The elderly often suffer from comprehensive chronic diseases, such as scapulohumeral periarthritis, arthritis, etc. The treatment cycle of comprehensive chronic diseases is long, the elderly have inconvenient travel, and with the shortage of medical and health care resources caused by the intensification of aging, the treatment of comprehensive chronic diseases of the elderly has become a major problem that needs to be solved urgently in society. Although there are already massage, acupuncture, and pulse-taking robots for sale on the market, they generally have problems such as being inconvenient for home use, having a single function, being expensive, and being inconvenient for the elderly to use. Summary of the Invention

[0004] The purpose of the present invention is to provide a home Chinese medicine physiotherapy robot based on artificial intelligence technology, which integrates a variety of Chinese medicine physiotherapy functions, can realize intelligent voice interaction, real-time health detection, and is convenient for the elderly to use.

[0005] To achieve the above object, the present invention is realized through the following technical solutions:

[0006] The main structure includes a robot body, a motion control system, an acupoint automatic recognition system, an intelligent voice interaction system, a health monitoring and management system, and a digital map reconstruction system. The robot body includes a driving system, an acupuncture and cupping system, and a robotic arm system. The motion control system, the acupoint automatic recognition system, the intelligent voice interaction system, the health monitoring and management system, and the digital map reconstruction system are all built into the robot body and control the driving system, the acupuncture and cupping system, and the robotic arm system.

[0007] Preferably, the motion control system includes an intelligent integrated control device and is provided with a function control panel, and the control panel is installed on the outer surface of the robot body.

[0008] Preferably, the acupoint automatic recognition system is to collect visual 3D depth data through a 3D vision system and use the Canny edge detection algorithm to obtain the upper and lower edge curves of the human back to construct a human body model.

[0009] Preferably, the intelligent voice interaction system is a device that realizes AI control based on Tmall Genie. The device receives the user's voice requirements, converts the voice requirements into digital signals, and then sends them to a wireless router. The wireless router then transmits the signals to a cloud server, receives the processed digital signals from the cloud server, and transmits the digital signals to the Tmall Genie-based control system in the device.

[0010] Preferably, the health monitoring and management system will compare with the existing database through image recognition, extract case-related feature words, preprocess the feature words, and then use a neural network and set a threshold to generate a diagnosis result, and then automatically give a conditioning plan.

[0011] Preferably, the digital map reconstruction system includes a rotatable laser emitter and a supporting receiver. After the laser encounters an obstacle and is reflected and detected by the receiver, the distance between the position of the robot and the obstacle point is automatically calculated, and simultaneous localization is performed through the SLAM algorithm to establish a digital map.

[0012] Preferably, the driving system includes a bottom rectangular support plate. Steering assist devices are respectively arranged at the front end and the rear end of the support plate. The end of the steering assist device is fixedly connected with a first stabilizing block. The first stabilizing block is rotatably bolted to a first connecting rod through a bolt. The end of the first connecting rod is rotatably bolted to a second stabilizing block through a bolt. A rotating wheel and a motor are fixedly connected to the second stabilizing block. A shock absorption device is arranged between the first stabilizing block and the second stabilizing block.

[0013] Preferably, the acupuncture and cupping system includes a disc-shaped first fixing plate. A worm is rotatably connected to the center position of the bottom surface of the first fixing plate. Four worm wheels are symmetrically matched around the worm. Bent arms are respectively fixedly connected to the worm wheels. The bottom ends of the bent arms form an included angle and are provided with round holes. A second fixing plate is fixedly connected to the bottom end of the worm. A round rod is fixedly connected to the bottom surface of the second fixing plate. A tray is fixedly installed at the bottom end of the round rod. Needle storage tubes are evenly arranged on the upper surface of the tray along the circumferential direction. A screw rod is arranged on the bottom surface of the second fixing plate. The bottom end of the screw rod is rotatably connected to the needle storage tube.

[0014] Preferably, the robotic arm system includes two multi-joint robotic arms. One end of one of the multi-joint robotic arms is rotatably connected to the acupuncture and cupping system. The end of the other multi-joint robotic arm is provided with a third fixing plate. A screw rod is fixedly installed on the bottom surface of the third fixing plate. The bottom of the screw rod is rotatably bolted with a slider. Grooves are respectively provided on two opposite side surfaces of the slider. Second connecting rods are respectively hinged in the grooves. A third connecting rod is hinged to the bottom surface of the third fixing plate. The middle part of the third connecting rod is hinged to the second connecting rod. A mechanical finger is hinged to the end of the third connecting rod. A rolling shaft with protrusions is rotatably connected between the mechanical fingers. A pneumatic rod is arranged on the top surface of the third fixing plate. The pneumatic rod is connected to the mechanical finger.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] The robot has a delicate and cute appearance design. The arc design is adopted to reduce the visual aggression, making it suitable for household use. The material of the robotic arm for massage is soft, approaching the real skin touch of the human body, improving the usage experience. The right robotic arm of the robot integrates functions such as scraping, acupuncture, and cupping, while the left robotic arm realizes functions such as massage. Moreover, the robot can also perform image recognition after preprocessing the image through a camera, conduct in-depth learning based on the Internet of Things and big data, and automatically give diagnostic results and conditioning suggestions.

[0017] Based on the health detection and management system, the data of the health detection and management system is updated in real time after each physiotherapy to achieve the dynamic management of user data. Based on the digital map reconstruction system, users can control the robot to reach the designated location through voice and adjust it to an appropriate height for physiotherapy services. After the traditional Chinese medicine physiotherapy service is completed, the robot automatically plans the shortest return path through the digital map reconstruction system, which is energy-saving and environmentally friendly. Based on the intelligent voice interaction system, users can realize functions such as controlling the playback of music and having a voice call with family members through the intelligent voice interaction system while receiving physiotherapy services, making the physiotherapy process more relaxing and pleasant, and filling the emotional needs of users. Description of the Drawings

[0018] Figure 1 is the front view of the robot.

[0019] Figure 2 is the structural schematic diagram of the driving system.

[0020] Figure 3 is the front view of the acupuncture and cupping system.

[0021] Figure 4 is the front view of the massage hand.

[0022] Figure 5 is the side view of the massage hand.

[0023] Figure 6 It is the system logic diagram of the robot.

[0024] The labels shown in the figure:

[0025] 1. Robot body; 2. Multi-joint robotic arm; 3. Acupuncture and cupping system; 4. Massage hand; 5. Traveling system; 6. Support plate; 7. Shock absorber; 8. First stabilizing block; 9. First connecting rod; 10. Second stabilizing block; 11. Rotating wheel; 12. Motor; 13. Steering assist device; 14. First fixing plate; 15. Second fixing plate; 16. Support plate; 17. Worm; 18. Worm gear; 19. Bent arm; 20. Needle storage tube; 21. First screw; 22. Round hole; 23. Third fixing plate; 24. Second screw; 25. Pneumatic rod; 26. Slide block; 27. Mechanical finger; 28. Third connecting rod; 29. Second connecting rod; 30. Rolling shaft. Specific embodiments

[0026] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0027] Embodiment: A household traditional Chinese medicine physiotherapy robot based on artificial intelligence technology

[0028] It includes a robot body, a motion control system, an acupoint automatic recognition system, an intelligent voice interaction system, a health monitoring and management system, and a digital map reconstruction system. The robot body includes a traveling system, an acupuncture and cupping system, and a robotic arm system. The motion control system, the acupoint automatic recognition system, the intelligent voice interaction system, the health monitoring and management system, and the digital map reconstruction system are all built into the robot body and control the traveling system, the acupuncture and cupping system, and the robotic arm system. All the operating systems are connected and coordinated through electrical connections and network cables, so that the robot body can be controlled by the user and perform learning, thus achieving the level of home intelligence.

[0029] In order to be able to control the robot body to work, the motion control system includes an intelligent integrated control device and is provided with a function control panel. The control panel is installed on the outer surface of the robot body, and the user can interact with it to select treatment functions and set treatment data and parameters. For example, set the acupoints that the user needs to treat, the treatment temperature, the treatment current, etc. After receiving the instruction, the robot mobilizes the corresponding robotic arm to operate through the mechanical structure to provide physiotherapy services.

[0030] In order to enable the robot to perform precise massage, acupuncture or cupping on the affected area of the patient, the acupoint automatic recognition system collects visual 3D depth data through a 3D vision system and uses the Canny edge detection algorithm to obtain the upper and lower edge curves of the human back to construct a human body model. After preprocessing the human body model image, it scans the acupoint map of the standard human body model to obtain a preset acupoint reference image, matches the user's human body model with the standard human body model, and identifies the acupoint names and corresponding positions in the feature of the user's human body model image, so as to achieve precise acupoint recognition and improve safety and the effect of traditional Chinese medicine physiotherapy.

[0031] In order to achieve better interaction between the patient and the robot, the intelligent voice interaction system is a device based on Tmall Genie to realize AI control. The device receives the voice requirements of the user, converts the voice requirements into digital signals and sends them to the wireless router. The wireless router then transmits the signals to the cloud server, receives the digital signals processed by the cloud server, and then transmits the digital signals to the control system based on Tmall Genie in the device to control the robot to make corresponding instructions, enabling the user to independently select physiotherapy services. At the same time, while receiving physiotherapy services, the user can use the voice interaction system to control functions such as playing music and making voice calls with family members, filling the user's emotional needs.

[0032] In order to enable the patient to clearly understand their own condition and related treatment plans, the health monitoring and management system will compare through image recognition with the existing database to extract case-related feature words, preprocess the feature words, and then use a neural network and set a threshold to generate a diagnosis result, and then automatically give a conditioning plan. This system records the user's physiotherapy results, frequencies, and intensities through "Internet of Things", establishes a dynamic health management database, and customizes a conditioning plan based on data analysis, enabling the user to more comprehensively understand their own physical condition, so as to achieve the purpose of health monitoring and maintaining health.

[0033] In order to enable the robot to better serve the patient in the home environment, the digital map reconstruction system includes a rotatable laser emitter and a supporting receiver. After the laser is reflected by an obstacle and detected by the receiver, it automatically calculates the distance between the position of the robot and the obstacle point, and performs simultaneous localization through the SLAM algorithm and establishes a digital map, and can also update the map according to the change of the position of the objects in the home. When the user issues a voice command, the robot automatically identifies the current position and the specified location, and finally plans the movement path through the shortest path algorithm to achieve intelligent obstacle avoidance. And after reaching the specified position, it can automatically lift up and down according to the height of the seat and adjust to a suitable position for service. At the same time, after the physiotherapy is completed, the robot automatically plans the shortest return path to achieve automatic return charging.

[0034] In order to enable the robot to move smoothly in the home environment, the driving system includes a rectangular bottom support plate. Steering assist devices are respectively arranged at the front end and the rear end of the support plate. A first stabilizing block is fixedly connected to the end of the steering assist device. The first stabilizing block is rotatably bolted to a first connecting rod through a bolt. The end of the first connecting rod is rotatably bolted to a second stabilizing block through a bolt. A rotating wheel and a motor are fixedly connected to the second stabilizing block. A shock-absorbing device is arranged between the first stabilizing block and the second stabilizing block. Four motors drive the rotating wheels simultaneously to achieve synchronous rotation speed and direction. The auxiliary steering device drives the first stabilizing block at the same time to make the turning of the robot body smoother.

[0035] In order to endow the robot body with the functions of acupuncture and cupping, the acupuncture and cupping system includes a disc-shaped first fixing plate. A worm is rotatably connected to the center position of the bottom surface of the first fixing plate. Four worm wheels are symmetrically matched around the worm. Bent arms are respectively fixedly connected to the worm wheels. The bottom ends of the bent arms form an included angle and are provided with round holes. A second fixing plate is fixedly connected to the bottom end of the worm. A round rod is fixedly connected to the bottom surface of the second fixing plate. A tray is fixedly installed at the bottom end of the round rod. Needle storage tubes are uniformly arranged on the upper surface of the tray along the circumferential direction. The needle storage tubes are connected to one of the bent arms in a penetrating manner. A first screw rod is arranged on the bottom surface of the second fixing plate. The bottom end of the first screw rod is rotatably connected to the needle storage tube. When the worm rotates, the worm wheels matched with it rotate, thereby driving the bent arms to contract or expand. When expanded, the top end of the air pressure tank can be placed between the bent arms, and the bent arms are controlled to contract and clamp the air pressure tank, so as to realize cupping treatment for patients; the acupuncture needles are placed in the needle storage tubes, and by rotating the first screw rod, the acupuncture needles pass through the bent arms to acupuncture the affected area.

[0036] In order to enable the robot to control the acupuncture cupping and massage device, the robotic arm system includes two multi-joint robotic arms. One end of one of the multi-joint robotic arms is rotatably connected to the acupuncture cupping system. A third fixing plate is provided at the end of the other multi-joint robotic arm. A second screw rod is fixedly installed on the bottom surface of the third fixing plate. The bottom of the second screw rod is rotatably bolted with a slider. Grooves are respectively provided on two symmetrical side surfaces of the slider. Second connecting rods are respectively hinged in the grooves. A third connecting rod is hinged to the bottom surface of the third fixing plate. The middle part of the third connecting rod is hinged to the second connecting rod. A mechanical finger is hinged to the end of the third connecting rod. A rolling shaft with protrusions is rotatably connected between the mechanical fingers. A pneumatic rod is provided on the top surface of the third fixing plate. The pneumatic rod is connected to the mechanical finger. When the second screw rod rotates, it simultaneously controls the slider to slide up and down. The slider then drives the second connecting rod to move, thereby controlling the third connecting rod to move from the inside out or from the outside in, and local repeated massage can be achieved. The pneumatic rod can control the mechanical finger to realize the up and down movement of the finger.

Claims

1. A home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology, characterized in that, It includes a robot body, a motion control system, an acupoint automatic recognition system, an intelligent voice interaction system, a health monitoring and management system, and a digital map reconstruction system. The robot body includes a driving system, an acupuncture and cupping system, and a robotic arm system. The motion control system, the acupoint automatic recognition system, the intelligent voice interaction system, the health monitoring and management system, and the digital map reconstruction system are all built into the robot body and control the driving system, the acupuncture and cupping system, and the robotic arm system; The motion control system includes an intelligent integrated control device and is provided with a function control panel, and the control panel is installed on the outer surface of the robot body; The acupoint automatic recognition system is to collect visual 3D depth data through a 3D vision system and use the Canny edge detection algorithm to obtain the upper and lower edge curves of the human back to construct a human body model; The intelligent voice interaction system is a device that realizes AI control based on Tmall Genie. The device receives the voice requirements of users and converts the voice requirements into digital signals and then sends them to a wireless router; The health monitoring and management system will compare through image recognition with an existing database to extract case-related feature words, preprocess the feature words, and then use a neural network and set a threshold to generate a diagnosis result, and then automatically give a conditioning plan; The digital map reconstruction system includes a rotatable laser emitter and a supporting receiver. After the laser is reflected by an obstacle and detected by the receiver, the distance between the position of the robot and the obstacle point is automatically calculated, and synchronous positioning is performed through the SLAM algorithm and a digital map is established; The driving system includes a bottom rectangular support plate, and steering assist devices are respectively arranged at the front end and the rear end of the support plate; The acupuncture and cupping system includes a disc-shaped first fixing plate. A worm is rotatably connected to the center position of the bottom surface of the first fixing plate. Four worm wheels are symmetrically matched around the worm. Bent arms are respectively fixedly connected to the worm wheels. The bottom ends of the bent arms form an included angle and are provided with round holes. A second fixing plate is fixedly connected to the bottom end of the worm. A round rod is fixedly connected to the bottom surface of the second fixing plate. A tray is fixedly installed at the bottom end of the round rod. Needle storage tubes are uniformly arranged on the upper surface of the tray along the circumferential direction. A first screw rod is arranged on the bottom surface of the second fixing plate, and the bottom end of the first screw rod is rotatably connected to the needle storage tube; The robotic arm system includes two multi-joint robotic arms, and the end of one of the multi-joint robotic arms is rotatably connected to the acupuncture and cupping system.

2. The home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology according to claim 1, characterized in that, The wireless router then transmits the signal to the cloud server, receives the digital signal processed by the cloud server, and then transmits the digital signal to the Tmall Genie-based control system in the device.

3. The home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology according to claim 1, characterized in that, A first stabilizing block is fixedly connected to the end of the steering assist device. The first stabilizing block is rotatably bolted to a first connecting rod through a bolt. The end of the first connecting rod is rotatably bolted to a second stabilizing block through a bolt. A rotating wheel and a motor are fixedly connected to the second stabilizing block. A shock absorption device is arranged between the first stabilizing block and the second stabilizing block.

4. The home traditional Chinese medicine physiotherapy robot based on artificial intelligence technology according to claim 1, characterized in that, A third fixing plate is provided at the end of another part of the multi-joint robotic arm. A second screw rod is fixedly installed on the bottom surface of the third fixing plate. The bottom of the second screw rod is rotatably bolted to a slider. Grooves are respectively provided on two opposite side surfaces of the slider. Second connecting rods are respectively hinged in the grooves. A third connecting rod is hinged to the bottom surface of the third fixing plate. The middle part of the third connecting rod is hinged to the second connecting rod. A mechanical finger is hinged to the end of the third connecting rod. A rolling shaft with protrusions is rotatably connected between the mechanical fingers. A pneumatic rod is provided on the top surface of the third fixing plate, and the pneumatic rod is connected to the mechanical finger.

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