Smart moxibustion robot moxibustion method track acquisition system and method

Abstract

The application provides a moxa-moxibustion robot moxa-moxibustion method, and the moxa-moxibustion robot comprises a moxa-moxibustion device fixing device, and the method comprises the following steps: acquiring the device type of a moxa-moxibustion device arranged in the moxa-moxibustion device fixing device and acquiring the physiological information of a user; determining the position information of at least one acupoint to be moxa-moxibusted of the user according to the physiological information; generating a corresponding moxa-moxibustion method track according to the position information of the at least one acupoint and the device type, and performing a moxa-moxibustion action according to the moxa-moxibustion method track. The application aims to improve the compatibility of the intelligent moxa-moxibustion robot for different moxa-moxibustion methods, thereby improving the experience of the user.

Description

Technical Field

[0001] This invention relates to the field of moxibustion robot technology, and in particular to an intelligent moxibustion robot moxibustion technique trajectory acquisition system and method. Background Technology

[0002] Currently, with the development of intelligent moxibustion robot technology, more and more moxibustion clinics are introducing moxibustion robots to assist physicians in moxibustion treatment. However, current moxibustion robots often use moxa sticks for operation and are not compatible with conventional moxibustion devices such as moxa boxes and moxa packs. Consequently, the actual moxibustion treatment experience cannot meet users' needs for using different moxibustion devices to perform moxibustion treatments. Summary of the Invention

[0003] The main objective of this invention is to provide a method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot, thereby improving the compatibility of the intelligent moxibustion robot with different moxibustion methods and enhancing the user experience.

[0004] To achieve the above objectives, this invention proposes a method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot. The intelligent moxibustion robot includes a moxibustion device fixing device for connecting to a moxibustion device. The method includes:

[0005] Step S100: The intelligent moxibustion robot obtains the device type of the moxibustion device currently set in the moxibustion device fixing device;

[0006] Step S200: Obtain the user's human physiological information, and determine the location information of at least one acupoint to be treated with moxibustion based on the human physiological information.

[0007] Step S300: Generate a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type, and perform moxibustion actions according to the moxibustion technique trajectory.

[0008] Optionally, the moxibustion device is equipped with an electronic tag, and the moxibustion device fixing device is equipped with an electronic tag recognition device. When the moxibustion device is fully inserted into the moxibustion device fixing device, the electronic tag on the moxibustion device is aligned with the recognition area of ​​the electronic tag recognition device. The specific steps for the intelligent moxibustion robot to obtain the device type of the moxibustion device currently set in the moxibustion device fixing device are as follows:

[0009] Step S110: After receiving the trigger signal, control the electronic tag identification device to start working in order to obtain the electronic tag image on the moxibustion device inside the moxibustion device fixing device;

[0010] Step S120: When the electronic tag image is obtained, confirm that the current moxibustion device has been fully connected, generate corresponding electronic tag information according to the electronic tag image, and determine the device type of the moxibustion device according to the electronic tag information;

[0011] Step S130: If the electronic tag image is not obtained, a prompt will be issued.

[0012] Optionally, the moxibustion device fixing device is further provided with an insertion detection device, and the step of prompting when the electronic tag image is not acquired specifically includes:

[0013] Step S131: When the electronic tag image is not obtained, control the insertion detection device to start in order to obtain the access status information inside the moxibustion device fixing device;

[0014] Step S132: When it is confirmed that the moxibustion device has been connected according to the access status information, a prompt is made that the moxibustion device is not completely fixed at present;

[0015] Step S133: When it is confirmed, based on the access status information, that the moxibustion device fixing device is not connected inside, a prompt is made indicating that the moxibustion device is not currently connected.

[0016] Optionally, the step of determining the device type of the moxibustion device based on the electronic tag information specifically includes:

[0017] Step S121: Call the preset electronic tag information-device type mapping table stored in the cloud, and match the electronic tag information with the electronic tag information-device type mapping table;

[0018] Step S122: If the match is successful, the device type of the moxibustion device is confirmed according to the electronic tag information and the electronic tag information-device type mapping table, and the electronic tag information corresponding to the current moxibustion device in the preset electronic tag information-device type mapping table stored in the cloud is deleted;

[0019] Step S123: If the matching fails, a message will be displayed indicating that the currently connected moxibustion device is an incorrect moxibustion device.

[0020] Optionally, the intelligent moxibustion robot includes a camera device, and the step of acquiring the user's human physiological information and determining the location information of at least one acupoint to be treated with moxibustion based on the human physiological information specifically includes:

[0021] Step S210: Control the camera device to start working in order to acquire the user's image information;

[0022] Step S220: Recognize the image information to obtain the location information of at least one acupoint to be treated by the current user.

[0023] Optionally, the step of generating a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type includes:

[0024] Step S310: When the device type is a moxibustion stick, according to the location information of at least one acupoint, a corresponding moxibustion technique trajectory is generated according to the moxibustion strategy of moxibustion one acupoint at a time and the preset moxibustion sequence.

[0025] Step S320: When the device type is a moxibustion box or moxibustion pack, generate a corresponding moxibustion technique trajectory according to the location information of at least one acupoint and in accordance with the second preset strategy.

[0026] The step of generating the corresponding moxibustion technique trajectory according to the second preset strategy is as follows: based on the location information of at least one of the acupoints, determine the acupoints that are less than the width of the preset moxibustion device and form a group of acupoints for moxibustion, and generate the corresponding moxibustion technique trajectory according to the preset moxibustion sequence of moxibustion on one group of acupoints or acupoints each time.

[0027] Optionally, the step of generating the corresponding moxibustion technique trajectory based on the location information of at least one of the acupoints and the device type further includes:

[0028] Step S330: Generate the corresponding moxibustion treatment technique according to the device type;

[0029] The specific steps for performing the moxibustion action according to the described moxibustion technique trajectory are as follows:

[0030] Step S340: When the intelligent robot controls the moxibustion device to perform moxibustion on each acupoint or group of acupoints to be treated according to the moxibustion technique trajectory, it executes the moxibustion treatment technique.

[0031] Optionally, the step of generating the corresponding moxibustion treatment technique according to the device type specifically includes:

[0032] Step S331: When the device type is a moxibustion stick, generate a moxibustion technique; wherein, the moxibustion technique is as follows: the intelligent robot controls the moxibustion stick to move back and forth between a preset first distance and a preset second distance from each acupoint to be moxibusted; or, the intelligent robot controls the moxibustion stick to hover at a preset third distance from each acupoint to be moxibusted for a preset first duration; or, the intelligent robot controls the moxibustion stick to rotate at a preset fourth distance from each acupoint to be moxibusted, with the acupoint to be moxibusted as the center and a preset fifth distance as the radius;

[0033] Step S332: When the device type is a moxibustion box, generate a moxibustion box moxibustion technique; wherein, the moxibustion box moxibustion technique is: the intelligent robot first controls the moxibustion box to remain stationary at a preset sixth distance from each acupoint to be moxibusted for a second preset duration.

[0034] The present invention also proposes an intelligent moxibustion robot moxibustion technique trajectory acquisition system, including an intelligent robot and at least two moxibustion devices;

[0035] The intelligent robot includes a moxibustion device fixing device, a memory, and a processor;

[0036] A program for acquiring the trajectory of moxibustion techniques of an intelligent moxibustion robot, stored in the memory and executed by the processor, wherein when executed by the processor, the program implements the method for acquiring the trajectory of moxibustion techniques of an intelligent moxibustion robot as described above.

[0037] Optionally, at least two of the moxibustion devices include at least two of the following: moxa sticks, moxa cones, moxa packs, and moxa boxes.

[0038] This invention proposes a method for acquiring moxibustion technique trajectories using an intelligent moxibustion robot. The method includes: the intelligent moxibustion robot first acquiring the device type of the moxibustion device currently installed within the moxibustion device's fixing device, and acquiring the user's physiological information. Then, based on the physiological information, it determines the location information of at least one acupoint to be treated by the user. Finally, based on the location information of the at least one acupoint and the device type, it generates a corresponding moxibustion technique trajectory and executes the moxibustion action according to the trajectory. Thus, in practical applications, the intelligent moxibustion robot can be compatible with using different moxibustion devices to treat users, improving its compatibility and meeting users' needs for moxibustion with different devices. Furthermore, this invention enables the intelligent moxibustion robot to set corresponding moxibustion technique trajectories based on the current moxibustion device, ensuring therapeutic effects when using different devices, thereby meeting user needs while improving the user experience of using the intelligent moxibustion robot for moxibustion. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the control flow of an embodiment of the method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot according to the present invention;

[0041] Figure 2 This is a schematic diagram of the control flow of another embodiment of the method for acquiring the moxibustion technique trajectory of the intelligent moxibustion robot of the present invention;

[0042] Figure 3 This is a schematic diagram of the control flow of another embodiment of the method for acquiring the moxibustion technique trajectory of the intelligent moxibustion robot of the present invention;

[0043] Figure 4 This is a schematic diagram of the control flow of another embodiment of the method for obtaining the trajectory of moxibustion techniques using an intelligent moxibustion robot according to the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0047] Currently, with the development of intelligent moxibustion robot technology, more and more moxibustion clinics are introducing moxibustion robots to assist physicians in moxibustion treatment. However, current moxibustion robots often use moxa sticks for operation and are not compatible with conventional moxibustion devices such as moxa boxes and moxa packs. Consequently, the actual moxibustion treatment experience cannot meet users' needs for using different moxibustion devices to perform moxibustion treatments.

[0048] Therefore, the present invention proposes a method for obtaining the trajectory of moxibustion techniques using an intelligent moxibustion robot, wherein the intelligent moxibustion robot includes a moxibustion equipment fixing device.

[0049] It is understood that the intelligent moxibustion machine is equipped with a control device, which integrates a memory for storing the methods described below, and a processor for executing the methods described below. The control device can be implemented using a main controller, such as an MCU, DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), PLC, or SOC (System on Chip).

[0050] Moxibustion devices may include at least two of the following: moxa sticks, moxa cones, moxa packs, and moxa boxes.

[0051] refer to Figure 1 In one embodiment of the present invention, the method includes:

[0052] Step S100: The intelligent moxibustion robot obtains the device type of the moxibustion device currently set in the moxibustion device fixing device;

[0053] In this embodiment, the moxibustion device fixing device can be implemented using structures such as threads or slots to secure the connected moxibustion device. For example, the current moxibustion device includes a moxa stick and a moxibustion box. A fixing component is provided at the base of the moxa stick, with one side of the fixing component fixedly connected to the moxa stick and the other side having a screw. The moxibustion device fixing device can be a cylindrical structure with a cavity inside. A threaded hole is provided at the bottom of the cavity. When the user needs to use the moxa stick, the screw on one side of the fixing component can be screwed into the threaded hole to secure the moxa stick into the moxibustion device fixing device, i.e., the moxa stick is placed into the cavity of the cylindrical structure. Similarly, a fixing component can also be provided on one side of the moxibustion box, with one side fixedly connected to the moxibustion box and the other side having threads for screwing into the threaded hole to secure the moxibustion box into the moxibustion device fixing device.

[0054] In this embodiment, after the user places the moxibustion device into the moxibustion device fixing device, they can trigger the corresponding function button on the intelligent moxibustion robot or touch the corresponding touch area on the touch screen. When triggered by the user, the function button or touch screen outputs a corresponding trigger signal to the control device. Upon receiving the trigger signal, the control device, electrically connected to the function button or touch screen, can determine the device type of the currently connected moxibustion device. It is understood that the intelligent moxibustion robot can also be equipped with a communication module electrically connected to the control device, such as a WIFI module, Bluetooth module, or 4G / 5G module, to receive trigger signals from the user's external terminal, such as a trigger signal from the user's mobile phone, and determine the device type of the currently connected moxibustion device based on the trigger signal.

[0055] Step S200: Obtain the user's human physiological information, and determine the location information of at least one acupoint to be treated with moxibustion based on the human physiological information.

[0056] Specifically, refer to Figure 4 The intelligent moxibustion robot includes a camera device. The intelligent moxibustion robot includes a step of determining the location information of at least one acupoint to be treated based on human physiological information. Specifically, this includes:

[0057] Step S210: Control the camera device to start working in order to acquire the user's image information;

[0058] Step S220: Recognize the image information and obtain the location information of at least one acupoint to be treated by the current user.

[0059] In this embodiment, the intelligent moxibustion robot can be equipped with a support rod for placing a camera device. The support rod can position the camera device at a certain height above the moxibustion bed, so that when the user lies on the moxibustion treatment bed, the camera device can capture image information of the user on the moxibustion treatment bed, such as image information of the user's back. When the control device inside the intelligent moxibustion robot receives a trigger signal indicating the start of moxibustion from an external terminal via the communication module, or receives a trigger signal indicating the start of moxibustion from its own trigger module, it will control the camera device to capture images to obtain the user's image information, which is the user's human physiological information. At the same time, the intelligent moxibustion robot can also be equipped with an image recognition module. The image recognition module will recognize the user's image information. For example, it will first form a corresponding coordinate axis based on the user's image to make each position on the user's image coordinateable, and then determine the position information of at least one acupoint on the image through preset acupoint features, that is, determine the coordinate information of each acupoint on the user's image.

[0060] Understandably, in practical applications, after the intelligent moxibustion robot obtains the location information of all acupoints to be moxibusted by the user through the process described in the above embodiments, it will mark them on the user's image and then display them on its own screen for the physician to adjust and correct. Furthermore, in another embodiment, after the intelligent moxibustion robot obtains the user's image information and forms the corresponding coordinate axes, it can directly display it on its own screen, allowing the physician to set the corresponding acupoints on the image by manipulating trigger modules, such as a mouse, keyboard, or touchscreen. The intelligent moxibustion robot can generate the corresponding acupoint location information based on the acupoints set by the physician on the user's image.

[0061] Step S300: Generate a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type, and perform moxibustion actions according to the moxibustion technique trajectory.

[0062] In this embodiment, the physician or user can pre-set a preset moxibustion trajectory generation strategy inside the intelligent moxibustion robot, such as the moxibustion order of top to bottom, then left to right, and finally front to back. This allows the intelligent moxibustion robot to sort the currently acquired acupoints according to the above generation strategy, generate a moxibustion sequence, and generate the corresponding moxibustion technique trajectory according to the moxibustion sequence.

[0063] Meanwhile, it's understandable that different moxibustion devices may be better suited for different acupoints. For example, for the Hegu and Neiguan acupoints on a user's palm, because the palm area is relatively small, using moxa sticks is more effective than using moxa boxes. Using moxa boxes might cause a burning sensation because the large size of the box and the need for close proximity could affect other parts of the user's palm. Furthermore, users may have personal preferences regarding which moxibustion device to use for different acupoints. Therefore, in this application, users or physicians can set the matching relationship between the current moxibustion device type and acupoints to generate a device type-acupoint data table. Physicians can also set and store separate data tables for each user. Thus, during the actual moxibustion process, the physician can access the pre-set data table. At this time, the control device within the intelligent moxibustion robot will select acupoints matching the current device type from the acquired acupoint data table, based on the current device type, the acquired acupoints and their location information, and the device type-acupoint data table, to serve as the acupoints for subsequent moxibustion. It will then generate the corresponding moxibustion technique trajectory according to the process described above. Once the intelligent moxibustion robot has generated the moxibustion technique trajectory, its control device can control the drive device on the intelligent moxibustion robot, such as a robotic arm composed of multiple drive motors, to carry the moxibustion device fixing device containing the ignited moxibustion device and perform moxibustion treatment on at least one acupoint of the user according to the aforementioned moxibustion technique trajectory.

[0064] Specifically, taking a moxibustion device including moxa sticks and a moxibustion box as a specific embodiment, the step of generating a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type includes:

[0065] Step S310: When the device type is a moxibustion stick, according to the location information of at least one acupoint, a corresponding moxibustion technique trajectory is generated according to the moxibustion strategy of moxibustion one acupoint at a time and the preset moxibustion sequence.

[0066] Step S320: When the device type is a moxibustion box or moxibustion pack, generate a corresponding moxibustion technique trajectory according to the location information of at least one acupoint and in accordance with the second preset strategy.

[0067] The step of generating the corresponding moxibustion technique trajectory according to the second preset strategy is as follows: based on the location information of at least one of the acupoints, determine the acupoints that are less than the width of the preset moxibustion device and form a group of acupoints for moxibustion, and generate the corresponding moxibustion technique trajectory according to the preset moxibustion sequence of moxibustion on one group of acupoints or acupoints each time.

[0068] In this embodiment, since the heating area of ​​the moxibustion stick is small, when the current moxibustion device is a moxibustion stick, the acupoints to be moxibusted can be sorted according to the preset moxibustion order, such as first top to bottom, then first left to right, and finally first back, in combination with the content of the above embodiment. The acupoints are then sorted to obtain the acupoint order. Then, the corresponding moxibustion technique trajectory is generated by combining the moxibustion strategy of moxibusting one acupoint at a time. That is, the control device in the intelligent moxibustion robot controls the drive device on the intelligent moxibustion robot, such as a mechanical arm composed of multiple drive motors, which carries the moxibustion device fixing device containing the moxibustion stick in the lit state, and performs moxibustion treatment on each acupoint to be moxibusted in sequence according to the acupoint order.

[0069] Furthermore, it is understandable that because the moxibustion box has a large heating area, it can be used to perform moxibustion on multiple close acupoints at the same time during actual moxibustion treatment. For example, the Dazhui and Fengmen acupoints on the user's back are close to each other, so the moxibustion box can be used to perform moxibustion on these two acupoints at the same time.

[0070] Therefore, in this embodiment, the control device, based on the current location information of the acupoints to be treated, finds two or more acupoints whose distance from each other is less than the preset width of the moxibustion device (measured and preset in advance by the R&D personnel during the R&D period), and generates a group of acupoints for moxibustion. Then, the control device also sorts at least one group of acupoints and at least one individual acupoint according to the preset moxibustion order to generate a moxibustion treatment sequence, and controls the drive device on the intelligent moxibustion robot, such as a robotic arm composed of multiple drive motors, carrying a moxibustion device fixing device containing a moxibustion box, to perform moxibustion treatment on each group of acupoints or acupoints to be treated in sequence according to the moxibustion treatment sequence. In this way, through the above settings, the intelligent moxibustion robot can generate a moxibustion technique trajectory matching the device type based on the currently acquired location information of at least one acupoint and the device type, so that different moxibustion devices can be adapted to the user's usage habits, improving the user experience.

[0071] This invention proposes a method for acquiring moxibustion technique trajectories using an intelligent moxibustion robot. The method includes: the intelligent moxibustion robot first acquiring the device type of the moxibustion device currently installed within the moxibustion device's fixing device, and acquiring the user's physiological information. Then, based on the physiological information, it determines the location information of at least one acupoint to be treated by the user. Finally, based on the location information of the at least one acupoint and the device type, it generates a corresponding moxibustion technique trajectory and executes the moxibustion action according to the trajectory. Thus, in practical applications, the intelligent moxibustion robot can be compatible with using different moxibustion devices to treat users, improving its compatibility and meeting users' needs for moxibustion with different devices. Furthermore, this invention enables the intelligent moxibustion robot to set corresponding moxibustion technique trajectories based on the current moxibustion device, ensuring therapeutic effects when using different devices, thereby meeting user needs while improving the user experience of using the intelligent moxibustion robot for moxibustion.

[0072] It's important to understand that regardless of the type of moxibustion device, it needs to be lit (one end of the moxa stick needs to be lit, and the moxa stick or cone inside the moxibustion box needs to be lit) and brought close to the user's acupoints for treatment. This necessitates precise control of the distance between the moxibustion device and the user's acupoints by the intelligent moxibustion robot to prevent burns or scalds. However, in practice, intelligent moxibustion robots can often only confirm and judge the distance between the device's fixing mechanism and the user's skin, but cannot accurately judge the distance between the moxa stick itself and the user's skin. If the moxibustion device is a moxa stick, and the user accidentally does not fully insert it into the fixing mechanism, the moxa stick may be too close to the user's skin during treatment, potentially causing burns or scalds and resulting in a poor user experience.

[0073] Therefore, refer to Figure 2 In one embodiment of the present invention, an electronic tag is provided on the moxibustion device, and an electronic tag identification device is provided inside the moxibustion device fixing device. When the moxibustion device is fully inserted into the moxibustion device fixing device, the electronic tag on the moxibustion device is aligned with the identification area of ​​the electronic tag identification device. The specific steps for the intelligent moxibustion robot to obtain the device type of the moxibustion device currently installed in the moxibustion device fixing device are as follows:

[0074] Step S110: After receiving the trigger signal, control the electronic tag identification device to start working in order to obtain the electronic tag image on the moxibustion device inside the moxibustion device fixing device;

[0075] Step S120: When the electronic tag image is obtained, confirm that the current moxibustion device has been fully connected, generate corresponding electronic tag information according to the electronic tag image, and determine the device type of the moxibustion device according to the electronic tag information.

[0076] Step S130: If the electronic tag image is not obtained, a prompt will be issued.

[0077] In this embodiment, the electronic tag of the moxibustion device can be implemented using QR codes, barcodes, etc. The electronic tag recognition device can be set according to the type of electronic tag, specifically including an electronic tag scanning head and an identification module electrically connected to it. An opening can be provided on the inner wall of the moxibustion device fixing device for placing the electronic tag scanning head. Referring to the screw-on fixing method mentioned in the above embodiment, the electronic tag can be set on the fixing part of the moxibustion device. When the manufacturer develops the moxibustion device, the position of the electronic tag on the moxibustion device can be set so that when the user fully screws the thread on the fixing part of the moxibustion device into the screw hole of the moxibustion device fixing device, the electronic tag is directly facing the electronic tag scanning head, that is, directly facing the identification area of ​​the electronic tag recognition device.

[0078] After the user places the moxibustion device into the moxibustion device fixing device, they can control an external terminal or the intelligent moxibustion robot's own trigger module to send a trigger signal indicating the start of moxibustion to its internal control device. At this time, the control device will activate the electrically connected electronic tag recognition device to acquire an image of the electronic tag on the moxibustion device within the fixing device. If the control device confirms through the electronic tag recognition device that it can acquire the electronic tag image, then the moxibustion device is fully connected. The control device will then continue to control the electronic tag recognition device to recognize the electronic tag image and generate corresponding electronic tag information, such as recognizing a QR code to generate corresponding QR code information, and confirming the device type based on the QR code information. If the control device confirms through the electronic tag recognition device that it has not acquired an electronic tag image, then the control device can determine that the moxibustion device is not connected and will issue a prompt, such as displaying "Moxibustion device not connected" on the control display screen. With the above settings, the intelligent moxibustion robot can not only determine the type of the current moxibustion device, but also confirm whether the current moxibustion device is properly connected, ensuring the safety and reliability of moxibustion treatment for users.

[0079] At the same time, it's important to understand that in practical applications, manufacturers of intelligent moxibustion robots typically produce and sell at least two matching moxibustion devices. However, since moxibustion devices are consumables and need to be replenished frequently, if a user purchases a counterfeit or substandard product and places it within the moxibustion device's mounting bracket on the intelligent moxibustion robot for treatment, it could potentially harm the user's health.

[0080] Therefore, in conjunction with the above embodiments, specifically, the step of determining the device type of the moxibustion device based on the electronic tag information specifically includes:

[0081] Step S121: Call the preset electronic tag information-device type mapping table stored in the cloud, and match the electronic tag information with the electronic tag information-device type mapping table;

[0082] Step S122: If the match is successful, the device type of the moxibustion device is confirmed according to the electronic tag information and the electronic tag information-device type mapping table, and the electronic tag information corresponding to the current moxibustion device in the preset electronic tag information-device type mapping table stored in the cloud is deleted;

[0083] Step S123: If the matching fails, a message will be displayed indicating that the currently connected moxibustion device is an incorrect moxibustion device.

[0084] In this embodiment, the intelligent moxibustion robot is constantly connected to the network during use, meaning the control device maintains a communication connection with the cloud server via its internal communication module. When the control device acquires electronic tag information, it calls a preset electronic tag information-device type mapping table stored in the cloud and searches for electronic tag information that matches the currently acquired electronic tag information. If a match is found, meaning the electronic tag information matches the electronic tag information-device type mapping table, the control device confirms that the current moxibustion device is a qualified moxibustion device and determines the device type corresponding to the electronic tag information based on the corresponding information in the mapping table. Then, it deletes the data in the mapping table that matches the current electronic tag information (the electronic tag information of the actually inserted moxibustion device). Simultaneously, if a match fails, the control device will control the prompting module to start prompting, for example, displaying on the screen that the current moxibustion device is an incorrect moxibustion device. Thus, in practical applications, as long as the electronic tag information of each moxibustion device produced by a manufacturer is different, even if counterfeiters copy and forge the electronic tag information, their counterfeit products can only use one tag. For counterfeiters who need to mass-produce counterfeits, there is no practical meaning in counterfeiting, thereby indirectly reducing the possibility of moxibustion devices being counterfeited, and thus ensuring the safety and reliability of moxibustion treatment for users. Through the above settings, the intelligent moxibustion robot can not only confirm whether the current moxibustion device is fully connected to the moxibustion device fixing device, but also confirm whether the current moxibustion device is its own product, ensuring the safety of users.

[0085] Furthermore, it is understandable that if the control device confirms that it can no longer acquire the electronic tag image of the moxibustion device, or detects a change in the acquired electronic tag image (i.e., a change in the electronic tag information), then the control device will restart the aforementioned process of judging and recognizing the electronic tag information to further ensure security.

[0086] It should be understood that, as described in the above embodiments, when no electronic tag image is acquired, the control device will control the prompting module to indicate that the device is not currently connected. In practical applications, this may mislead users. For example, even if the user has not properly connected the moxibustion device, the display indicating no connection may make the user think that the machine is malfunctioning.

[0087] Therefore, in one embodiment of the present invention, reference is made to Figure 3 The moxibustion device fixing device is also equipped with an insertion detection device. The step of providing a prompt when the electronic tag image is not obtained specifically includes:

[0088] Step S131: When the electronic tag image is not obtained, control the insertion detection device to start in order to obtain the access status information inside the moxibustion device fixing device;

[0089] Step S132: When it is confirmed that the moxibustion device has been connected according to the access status information, a prompt is made that the moxibustion device is not completely fixed at present;

[0090] Step S133: When it is confirmed, based on the access status information, that the moxibustion device fixing device is not connected inside, a prompt is made indicating that the moxibustion device is not currently connected.

[0091] In this embodiment, the insertion detection device can be implemented using a grating. The grating transmitter and receiver can be positioned at appropriate locations on the inner wall of the moxibustion device fixing device to ensure that it can identify the presence of a moxibustion device. When the control device confirms through the electronic tag recognition device that no electronic tag image has been acquired, it will control the insertion detection device to start. Based on the feedback detection result, i.e., the access status information, it will determine whether a moxibustion device has been installed in the moxibustion device fixing device. If the access status information confirms that the moxibustion device has been connected, it will determine that the moxibustion device is not fully connected, and will then control the prompting module to provide a corresponding prompt, such as controlling the display screen to display "Moxibustion device not fully connected". If it is determined that the moxibustion device is not connected, the prompting module will provide a corresponding prompt, such as controlling the display screen to display "Moxibustion device not connected". This prevents users from making misjudgments and improves the convenience of using the intelligent moxibustion robot.

[0092] It should be understood that, as described in the above embodiments, the intelligent moxibustion robot will set corresponding moxibustion technique trajectories according to the device type, that is, the moxibustion sequence and the acupoints or acupoint groups to be moxibusted each time. However, when performing moxibustion treatment on each acupoint or acupoint group to be moxibusted, the actual moxibustion treatment techniques of different moxibustion devices are also different. That is, the control device controls the fixing device of the moxibustion treatment device differently when performing moxibustion treatment on each acupoint or acupoint group to be moxibusted.

[0093] Therefore, in one embodiment of the present invention, the step of generating a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type further includes:

[0094] Step S330: Generate the corresponding moxibustion treatment technique according to the device type;

[0095] The specific steps for performing the moxibustion action according to the described moxibustion technique trajectory are as follows:

[0096] Step S340: When the intelligent robot controls the moxibustion device to perform moxibustion on each acupoint or group of acupoints to be treated according to the moxibustion technique trajectory, it executes the moxibustion treatment technique.

[0097] Specifically, the step of generating the corresponding moxibustion treatment technique according to the device type includes:

[0098] Step S331: When the device type is a moxibustion stick, generate a moxibustion technique; wherein, the moxibustion technique is as follows: the intelligent robot controls the moxibustion stick to move back and forth between a preset first distance and a preset second distance from each acupoint to be moxibusted; or, the intelligent robot controls the moxibustion stick to hover at a preset third distance from each acupoint to be moxibusted for a preset first duration; or, the intelligent robot controls the moxibustion stick to rotate at a preset fourth distance from each acupoint to be moxibusted, with the acupoint to be moxibusted as the center and a preset fifth distance as the radius;

[0099] Step S332: When the device type is a moxibustion box, generate a moxibustion box moxibustion technique; wherein, the moxibustion box moxibustion technique is: the intelligent robot first controls the moxibustion box to remain stationary at a preset sixth distance from each acupoint to be moxibusted for a second preset duration.

[0100] In this embodiment, a distance sensor, such as an acoustic distance sensor, is installed on the side of the moxibustion device fixing device facing the user, and is electrically connected to the control device. Using an acoustic distance sensor prevents interference from the infrared signals emitted by the burning moxibustion device during distance measurement. The control device confirms the current height of the moxibustion device fixing device from the user's acupoint. Since the moxibustion device is fixed in its position within the device, the height of the moxibustion device from the user's acupoint can be accurately determined.

[0101] When using moxibustion sticks, one end of the stick is directly lit, resulting in a higher temperature at that end. Therefore, when the moxibustion device uses moxibustion sticks, the control device maintains a distance greater than a preset safe distance between the device's fixing mechanism and the user's acupoint. The aforementioned preset first, second, third, and fourth distances are all greater than or equal to the preset safe distance to ensure the moxibustion stick does not burn the user due to excessive proximity. It is understood that the preset first, second, third, and fourth distances, the preset first duration, and the preset fifth distance can be set by the user or physician as needed. Users can also select only one moxibustion treatment method or multiple methods in a specific order.

[0102] When using a moxibustion box, since the heat is conducted through the box itself, it's necessary to keep the box close to the acupoint or group of acupoints to be treated and maintain this position for a certain period. Similarly, the preset sixth distance should be greater than or equal to the preset safe distance. The preset sixth distance and the second preset duration can also be set by the user or physician.

[0103] Furthermore, it is understandable that, unlike moxa sticks, the temperature of the heat-conducting side of a moxibustion box rises slowly during actual use, especially for wooden moxibustion boxes, where the surface temperature varies significantly with different usage times. Therefore, if a moxibustion box is currently in use, the control device will start timing upon receiving the trigger signal in the above embodiment. Based on the time setting or the number of acupoints / groups of acupoints that have been treated, the preset sixth distance and / or the second preset duration will be adjusted accordingly. For example, the preset sixth distance will be increased by 1 cm every 10 minutes. This prevents burns to the user due to the increased temperature after prolonged moxibustion treatment.

[0104] Thus, through the above settings, the intelligent moxibustion robot can also perform corresponding moxibustion treatment techniques on each acupoint or group of acupoints to be treated, depending on the type of device, further improving the user experience.

[0105] Furthermore, it is understandable that in practical applications, the same acupoint or group of acupoints cannot be treated with moxibustion for too long, as this can cause burns to the user's skin. However, in practical applications, different users have different sensory sensitivities. For example, when a moxibustion device continuously applies moxibustion to an acupoint for a period of time, causing the skin temperature to rise, people with high sensory sensitivity can quickly feel the heat and control the intelligent moxibustion robot to perform corresponding actions by communicating with a nearby physician or through voice recognition. However, some users with low sensory sensitivity may only realize this after burns have already occurred. Therefore, in one embodiment of the present invention, another image sensor electrically connected to the control device can be provided on the moxibustion device fixing device next to the distance sensor. The control device can acquire an image of the skin at the acupoint being treated with moxibustion via an image sensor, and perform image recognition on the skin image to obtain the area and color temperature value of the reddened part on the user's skin. If the area of ​​the reddened part on the user's skin exceeds a preset area or the color temperature value indicates that the reddened part has reached a certain preset color temperature value, it will determine that the user's skin is at risk of burns and will control the moxibustion device to move away from the user's skin to prevent burns.

[0106] The present invention also proposes an intelligent moxibustion robot moxibustion technique trajectory acquisition system, including an intelligent robot and at least two moxibustion devices;

[0107] The intelligent robot includes a moxibustion device fixing device, a memory, and a processor;

[0108] A program for acquiring the trajectory of moxibustion techniques of an intelligent moxibustion robot, stored in the memory and executed by the processor, wherein when executed by the processor, the program implements the method for acquiring the trajectory of moxibustion techniques of an intelligent moxibustion robot as described above.

[0109] In this embodiment, at least two of the moxibustion devices include at least two of the following: moxibustion sticks, moxibustion columns, moxibustion packs, and moxibustion boxes.

[0110] It is worth noting that, since the intelligent moxibustion robot moxibustion technique trajectory acquisition system of the present invention is based on the above-mentioned intelligent moxibustion robot moxibustion technique trajectory acquisition method, the embodiments of the intelligent moxibustion robot moxibustion technique trajectory acquisition system of the present invention include all the technical solutions of all embodiments of the above-mentioned intelligent moxibustion robot moxibustion technique trajectory acquisition method, and the technical effects achieved are also completely the same, so they will not be repeated here.

[0111] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot, characterized in that, The intelligent moxibustion robot includes a moxibustion device fixing device for connecting to the moxibustion device, and the method includes: Step S100: The intelligent moxibustion robot obtains the device type of the moxibustion device currently set in the moxibustion device fixing device; Step S200: Obtain the user's human physiological information, and determine the location information of at least one acupoint to be treated with moxibustion based on the human physiological information. Step S300: Based on the location information of at least one acupoint and the device type, generate a corresponding moxibustion technique trajectory, and perform moxibustion actions according to the moxibustion technique trajectory; The step of generating a corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type includes: Step S310: When the device type is a moxibustion stick, according to the location information of at least one acupoint, a corresponding moxibustion technique trajectory is generated according to the moxibustion strategy of moxibustion one acupoint at a time and the preset moxibustion sequence. Step S320: When the device type is a moxibustion box or moxibustion pack, generate a corresponding moxibustion technique trajectory according to the location information of at least one acupoint and in accordance with the second preset strategy. The step of generating the corresponding moxibustion technique trajectory according to the second preset strategy is as follows: based on the location information of at least one of the acupoints, determine the acupoints that are less than the width of the preset moxibustion device and form a group of acupoints for moxibustion, and generate the corresponding moxibustion technique trajectory according to the preset moxibustion sequence of moxibustion on one group of acupoints or acupoints each time. The step of generating the corresponding moxibustion technique trajectory based on the location information of at least one acupoint and the device type further includes: Step S330: Generate the corresponding moxibustion treatment technique according to the device type; The specific steps for performing the moxibustion action according to the described moxibustion technique trajectory are as follows: Step S340: When the intelligent robot controls the moxibustion device to perform moxibustion on each acupoint or group of acupoints according to the moxibustion technique trajectory, it executes the moxibustion treatment technique. The step of generating the corresponding moxibustion treatment technique according to the device type specifically includes: Step S331: When the device type is a moxibustion stick, generate a moxibustion technique; wherein, the moxibustion technique is as follows: the intelligent robot controls the moxibustion stick to move back and forth between a preset first distance and a preset second distance from each acupoint to be moxibusted; or, the intelligent robot controls the moxibustion stick to hover at a preset third distance from each acupoint to be moxibusted for a preset first duration; or, the intelligent robot controls the moxibustion stick to rotate at a preset fourth distance from each acupoint to be moxibusted, with the acupoint to be moxibusted as the center and a preset fifth distance as the radius; Step S332: When the device type is a moxibustion box, generate a moxibustion box moxibustion technique; wherein, the moxibustion box moxibustion technique is: the intelligent robot first controls the moxibustion box to remain stationary at a preset sixth distance from each acupoint to be moxibusted for a second preset duration.

2. The method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot as described in claim 1, characterized in that, The moxibustion device is equipped with an electronic tag, and the moxibustion device fixing device is equipped with an electronic tag recognition device. When the moxibustion device is fully inserted into the moxibustion device fixing device, the electronic tag on the moxibustion device is aligned with the recognition area of ​​the electronic tag recognition device. The specific steps for the intelligent moxibustion robot to obtain the device type of the moxibustion device currently installed in the moxibustion device fixing device are as follows: Step S110: After receiving the trigger signal, control the electronic tag identification device to start working in order to obtain the electronic tag image on the moxibustion device inside the moxibustion device fixing device; Step S120: When the electronic tag image is obtained, confirm that the current moxibustion device has been fully connected, generate corresponding electronic tag information according to the electronic tag image, and determine the device type of the moxibustion device according to the electronic tag information; Step S130: If the electronic tag image is not obtained, a prompt will be issued.

3. The method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot as described in claim 2, characterized in that, The moxibustion device fixing device is also equipped with an insertion detection device. The step of providing a prompt when the electronic tag image is not obtained specifically includes: Step S131: When the electronic tag image is not obtained, control the insertion detection device to start in order to obtain the access status information inside the moxibustion device fixing device; Step S132: When it is confirmed that the moxibustion device has been connected according to the access status information, a prompt is made that the moxibustion device is not completely fixed at present; Step S133: When it is confirmed, based on the access status information, that the moxibustion device fixing device is not connected inside, a prompt is made indicating that the moxibustion device is not currently connected.

4. The method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot as described in claim 2, characterized in that, The step of determining the device type of the moxibustion device based on the electronic tag information specifically includes: Step S121: Call the preset electronic tag information-device type mapping table stored in the cloud, and match the electronic tag information with the electronic tag information-device type mapping table; Step S122: If the match is successful, the device type of the moxibustion device is confirmed according to the electronic tag information and the electronic tag information-device type mapping table, and the electronic tag information corresponding to the current moxibustion device in the preset electronic tag information-device type mapping table stored in the cloud is deleted; Step S123: If the matching fails, a message will be displayed indicating that the currently connected moxibustion device is an incorrect moxibustion device.

5. The method for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot as described in claim 1, characterized in that, The intelligent moxibustion robot includes a camera device. The step of acquiring the user's human physiological information and determining the location information of at least one acupoint to be treated with moxibustion based on the human physiological information specifically includes: Step S210: Control the camera device to start working in order to acquire the user's image information; Step S220: Recognize the image information to obtain the location information of at least one acupoint to be treated by the current user.

6. A system for acquiring the trajectory of moxibustion techniques using an intelligent moxibustion robot, characterized in that, Includes an intelligent robot and at least two moxibustion devices; The intelligent robot includes a moxibustion device fixing device, a memory, and a processor; The intelligent moxibustion robot moxibustion technique trajectory acquisition program, stored in the memory and executed by the processor, implements the intelligent moxibustion robot moxibustion technique trajectory acquisition method as described in any one of claims 1-5 when executed by the processor.

7. The intelligent moxibustion robot moxibustion technique trajectory acquisition system as described in claim 6, characterized in that, At least two of the aforementioned moxibustion devices include at least two of the following: moxa sticks, moxa cones, moxa packs, and moxa boxes.

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