Moxibustion robot and control method of moxibustion robot

Abstract

The present invention discloses a moxibustion robot and a control method of the moxibustion robot, wherein the control method of the moxibustion robot comprises: obtaining a target therapy project; determining a first acupoint set that has no correlation with the target therapy project according to the target therapy project; determining moxibustion operation data according to the target therapy project and the first acupoint set; and controlling the moxibustion robot to perform the moxibustion therapy project on the user when it is determined that the user is performing the target therapy project according to the moxibustion operation data. The technical solution of the present invention can allow the user to perform other therapy projects and the moxibustion therapy project at the same time, under the premise that the moxibustion therapy project does not affect other therapy projects, thereby reducing the overall duration of the user performing the therapy project.

Description

Technical Field

[0001] The present invention relates to the technical field of moxibustion robots, and in particular to a moxibustion robot and a control method of the moxibustion robot. Background Art

[0002] At present, with the improvement of the intelligence level of robots, moxibustion clinics, service centers, traditional Chinese medicine hospitals, health centers, beauty salons and other service places have begun to use corresponding intelligent robots to provide corresponding physical therapy services. For example, moxibustion robots are used to provide moxibustion physical therapy projects, and other physical therapy robots are used to provide acupuncture, cupping, photon physical therapy and other physical therapy projects.

[0003] However, since moxibustion robots and other physiotherapy robots in current service venues provide moxibustion services and other physiotherapy services respectively, if users choose moxibustion physiotherapy projects and other physiotherapy projects at the same time, the overall physiotherapy service time for users will be too long. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method for a moxibustion robot, aiming to solve the problem that the moxibustion robot and other physiotherapy robots perform moxibustion physiotherapy projects and other physiotherapy projects respectively, resulting in an overall long physiotherapy time.

[0005] In order to achieve the above-mentioned purpose, the present invention proposes a control method for a moxibustion robot, and the control method for the moxibustion robot comprises:

[0006] Get targeted physical therapy programs;

[0007] According to the target physical therapy item, determining a first acupoint set that has no correlation with the target physical therapy item;

[0008] Determine the moxibustion operation data according to the target physiotherapy items and the first acupoint set;

[0009] According to the moxibustion operation data, when it is determined that the user is performing the target therapy program, the moxibustion robot is controlled to perform the moxibustion therapy program on the user.

[0010] Optionally, before the step of determining, according to the target physical therapy item, a first acupoint set that has no correlation with the target physical therapy item, the control method further includes:

[0011] Determine whether the target physical therapy program matches the preset physical therapy program set;

[0012] If the target therapy item matches the preset therapy item set, then determining a first acupoint set that has no correlation with the target therapy item according to the target therapy item;

[0013] If the target therapy item does not match the preset therapy item set, the moxibustion robot is controlled to stop working.

[0014] Optionally, according to the target physical therapy item, the step of determining the first acupoint set that has no correlation with the target physical therapy item includes:

[0015] According to the target physical therapy project, determining a second acupoint set that is relevant to the target physical therapy project;

[0016] According to the second acupoint set, determine the first acupoint set that has no correlation with the target physiotherapy item

[0017] Optionally, according to the target physical therapy item, the step of determining a second acupoint set that is correlated with the target physical therapy item includes:

[0018] According to the target physical therapy project, determine the target operation data corresponding to the target physical therapy project;

[0019] Based on the target operation data, determine the target body parts and areas related to the implementation of the target physical therapy program;

[0020] Determine a first acupoint subset located in the target body part region according to the target body part region and the preset acupoint data;

[0021] The first acupoint subset is used as the second acupoint set that is relevant to the target physical therapy item.

[0022] Optionally, the step of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set includes:

[0023] Determining a second acupoint subset that is not located in the target body part region according to the second acupoint set and the preset acupoint data;

[0024] The second acupoint subset is used as the first acupoint set that has no correlation with the target physical therapy item.

[0025] Optionally, according to the target physical therapy item, the step of determining a second acupoint set that is correlated with the target physical therapy item includes:

[0026] According to the target physical therapy project, determine the target operation data corresponding to the target physical therapy project;

[0027] Based on the target operation data, determine the target body parts and areas related to the implementation of the target physical therapy program;

[0028] Determine, according to the target body part region and the preset acupoint data, a first acupoint subset located in the target body part region and a third acupoint subset affecting the target body part region;

[0029] The first acupoint subset and the third acupoint subset are used as the second acupoint set that is relevant to the target physical therapy item.

[0030] Optionally, the step of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set includes:

[0031] Determine, based on the second acupoint set and the preset acupoint data, a fourth acupoint subset that is not located in the target body part area and will not affect the target body part area;

[0032] The fourth acupoint subset is used as the first acupoint set that has no correlation with the target physical therapy item.

[0033] Optionally, the step of determining the moxibustion operation data according to the target physical therapy item and the first acupoint set includes:

[0034] According to the target physical therapy project and the first acupoint set, determining the acupoints in the first acupoint set that have a positive effect on the target physical therapy project as the acupoints to be moxibustioned;

[0035] Determine the moxibustion order of each acupoint to be moxibustioned according to each acupoint to be moxibustioned, preset acupoint data and preset moxibustion order setting rules;

[0036] According to the moxibustion order of each acupoint to be moxibustioned, the target moxibustion time, target moxibustion temperature and target moxa smoke flow rate of each acupoint to be moxibustioned are determined.

[0037] Optionally, the preset moxibustion order setting rules are specifically as follows: the moxibustion order of the acupoints to be moxibustion near the top of the head is higher than the moxibustion order of the acupoints to be moxibustion near the soles of the feet; the moxibustion order of the acupoints to be moxibustion on the back is higher than the moxibustion order of the acupoints to be moxibustion on the abdomen; the moxibustion order of the acupoints to be moxibustion on the head and torso is higher than the moxibustion order of the acupoints to be moxibustion on the limbs; the moxibustion order of the acupoints to be moxibustion on the left side of the human body is higher than the moxibustion order of the acupoints to be moxibustion on the right side of the human body.

[0038] The present invention also provides a moxibustion robot, comprising:

[0039] A control device, comprising a memory, a processor, and a control program of a moxibustion robot stored in the memory and executed by the processor, wherein the control program of the moxibustion robot, when executed by the processor, implements the control method of the moxibustion robot as described above.

[0040] The technical solution of the present invention enables the moxibustion robot to perform moxibustion therapy projects on the user simultaneously when the user is performing the target therapy project without affecting the target therapy project, thereby shortening the overall service time of the moxibustion robot and other therapy robots for the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the steps of an embodiment of a control method for a moxibustion robot according to the present invention;

[0043] Figure 2 A schematic diagram of the steps of another embodiment of the control method of the moxibustion robot of the present invention;

[0044] Figure 3 Schematic diagram of the hardware operating environment of the control device in the moxibustion robot of the present invention.

[0045] Description of Figure Numbers:

[0046] Label name Label name Memory 11 Communication Bus 13 processor 12

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] The invention provides a control method for a moxibustion robot.

[0051] Since the working mechanisms of moxibustion robots and other physiotherapy robots are different, and there are often communication barriers between them due to different manufacturers, moxibustion robots cannot provide physiotherapy services to users at the same time as other physiotherapy robots. Instead, they provide corresponding physiotherapy services to users independently. Therefore, once users need to undergo multiple physiotherapy projects including moxibustion physiotherapy projects, they can only use the method of using various physiotherapy robots in turn, which undoubtedly leads to a longer overall physiotherapy time for users.

[0052] For the above problems, refer to Figure 1 , the control method of the moxibustion robot includes:

[0053] Step S100, obtaining a target physical therapy item;

[0054] In this embodiment, the execution body of the control method of the moxibustion robot can be the control device in the moxibustion robot. The target therapy project is the therapy project selected by the user and is about to be carried out, and other therapy projects other than the moxibustion therapy project. The target therapy project may include but is not limited to special light irradiation projects (ultraviolet light irradiation projects, infrared light irradiation projects), body part massage, body part maintenance projects (such as facial mask moisturizing projects, cupping projects, waist massage projects), etc., which are not limited in this embodiment. The control device can be wirelessly connected to the control terminal in the service venue to obtain the user's upcoming therapy project from the control terminal and use it as the target therapy project; alternatively, the control device can also be connected to the interactive module in the moxibustion robot to obtain the operator's input or selected therapy project from the interactive module as the target therapy project.

[0055] Step S200, determining a first acupoint set that has no correlation with the target physical therapy item according to the target physical therapy item;

[0056] The control device can determine the target body part area involved in the target physical therapy project during the process, and determine each first acupoint located in the target body part area and each second acupoint that will affect the target body part area, and use the determined each first acupoint and each second acupoint as the second acupoint set. It can be understood that the other acupoints of all the acupoints of the human body except the second acupoint set are the acupoints that have no correlation with the target physical therapy project, so the control device can also determine the other acupoints of all the acupoints of the human body except the second acupoint set as the first acupoint set. For example: if the target physical therapy project is to massage the head area of ​​the user's head, and the neck area will have an impact on the head area, then the acupoints in the head area and the neck area can be determined as the second acupoint set, and the other acupoints of the human body can be determined as the first acupoint set.

[0057] Step S300, determining moxibustion operation data according to the target physical therapy item and the first acupoint set;

[0058] The control device can select the acupoints to be moxibustioned that have a positive auxiliary effect on the target therapy project from the first acupoint set according to the target therapy project, or determine the acupoints to be moxibustioned that correspond to the moxibustion needs of the user obtained by the interaction module.

[0059] The control device can also determine the moxibustion order of each acupoint to be moxibustion, the target moxibustion time of each acupoint to be moxibustion, the target moxibustion temperature of each acupoint to be moxibustion, the target moxibustion smoke flow rate of each acupoint and other relevant data, and can use the above-mentioned determined acupoints to be moxibustion and the moxibustion order of each acupoint to be moxibustion, the target moxibustion time, the target moxibustion temperature, the target moxibustion smoke flow rate and other multiple relevant data as the moxibustion operation data of the moxibustion robot.

[0060] Step S400: Based on the moxibustion operation data, when it is determined that the user is performing a target therapy program, the moxibustion robot is controlled to perform the moxibustion therapy program on the user.

[0061] In this embodiment, the moxibustion robot may also include a robot body, a moxibustion head and a drive assembly, and the control device may be located in the robot body. A combustion chamber may be provided in the robot body, and the combustion chamber may be connected to the moxibustion head through a smoke outlet channel. A burner is provided in the combustion chamber, and the burner is used to ignite related materials made of wormwood to produce wormwood smoke. The wormwood smoke can be transmitted to the moxibustion head through the smoke outlet channel to diffuse outward through the moxibustion head, so as to perform moxibustion on the acupuncture points of the human body toward which the moxibustion head is directed. The combustion chamber may also be connected to the outside world through an air inlet channel to allow the air required for combustion to enter. A proportional valve for controlling the air flow rate is provided in the air inlet channel, and the control device may control the temperature of the wormwood smoke by controlling the valve body opening of the proportional valve. A fan may also be provided in the smoke outlet channel, and the control device may control the flow rate of the wormwood smoke by controlling the speed of the fan. One end of the drive assembly may be connected to the robot body, and the other end may be transmission-connected to the moxibustion head, and the drive assembly may also be electrically connected to the control device to drive the moxibustion head to move under the control of the control device.

[0062] The control device can determine that the user has started the target therapy project when receiving the corresponding signal output by the control terminal or the interactive module indicating that the target therapy project is turned on, and can control the corresponding functional components in the moxibustion robot to work according to the moxibustion operation data, so that the moxibustion robot can provide moxibustion services to the user at the same time. Specifically, the control device can first control the burner to ignite the material to produce moxa smoke, and after a preset time, control the drive component to move the moxibustion head toward the acupoint to be moxibustion with the highest moxibustion order among all the acupoints to be moxibustion, so as to perform moxibustion on the acupoint to be moxibustion with the highest moxibustion order, and the control device can also simultaneously control the opening of the proportional valve so that the real-time temperature of the moxibustion smoke reaches the target moxibustion temperature corresponding to the acupoint to be moxibustion; and the control device can also control the fan speed so that the real-time flow rate of the moxibustion smoke reaches the target moxibustion smoke flow rate corresponding to the acupoint to be moxibustion. The control device can also start timing after determining that the moxibustion head has moved to the acupoint to be moxibustion with the highest moxibustion order, and when the timing result reaches the target moxibustion time corresponding to the acupoint to be moxibustion, control the driving component to move the moxibustion head to the acupoint to be moxibustion with the second highest order, and repeat this cycle until the control device determines that the moxibustion time of the last acupoint to be moxibustion in the moxibustion order has reached its corresponding target moxibustion time, and the control device can control the moxibustion robot to stop working to terminate the moxibustion therapy program for the user.

[0063] It is understandable that when the control device does not receive the corresponding signal indicating that the target therapy item is turned on output by the control terminal or the interactive module, it determines that the user has not started the target therapy item, and at this time, the corresponding functional components in the moxibustion robot are not controlled to work.

[0064] Such a setting can enable the moxibustion robot to perform moxibustion therapy projects on the user simultaneously when the user is performing the target therapy project without affecting the target therapy project, thereby shortening the overall service time of the moxibustion robot and other therapy robots for the user.

[0065] Reference Figure 1 to Figure 2 Before step S200 of determining a first acupoint set that has no correlation with the target therapy item according to the target therapy item, the control method further includes:

[0066] S500, determining whether the target physical therapy item matches a preset physical therapy item set;

[0067] If the target therapy item matches the preset therapy item set, before executing step S200 of determining the first acupoint set that has no correlation with the target therapy item, the control method further includes:

[0068] If the target therapy item does not match the preset therapy item set, the moxibustion robot is controlled to stop working.

[0069] In actual applications, not all physiotherapy projects other than moxibustion therapy projects are suitable for simultaneous implementation with moxibustion therapy projects. For example, if acupuncture therapy projects, small needle knife therapy projects and other physiotherapy projects that require broken skin are performed simultaneously with moxibustion therapy projects, there may be a risk of moxa smoke contaminating the damaged skin. In view of this, the technical solution of the present application is to pre-integrate a preset physiotherapy project set in the control device, and the preset physiotherapy project set includes multiple preset physiotherapy projects suitable for simultaneous implementation with moxibustion therapy projects, so that after executing step S100, the target physiotherapy project is compared with each preset physiotherapy project in the preset physiotherapy project set to determine whether the two match. Specifically: if the target physiotherapy project is the same as any one of the preset physiotherapy projects in the preset physiotherapy project set, it is determined that the target physiotherapy project matches the preset physiotherapy project set; if the target physiotherapy project is different from all the preset physiotherapy projects in the preset physiotherapy project set, it is determined that the target physiotherapy project does not match the preset physiotherapy project set. It should be noted that the multiple preset physiotherapy items included in the preset physiotherapy item set can be determined according to actual needs, and this embodiment does not limit this.

[0070] The technical solution of the present invention performs a moxibustion therapy program on the user only after determining that the target therapy program performed by the user is suitable for simultaneous performance with the moxibustion therapy program, thereby avoiding the influence of the moxibustion therapy program on other therapy programs, which is beneficial to improving the safety of the use of the technical solution of the present invention.

[0071] Reference Figure 1 to Figure 2 The step S200 of determining the first acupoint set that has no correlation with the target physiotherapy item includes:

[0072] S210, determining a second acupoint set that is relevant to the target physical therapy item according to the target physical therapy item;

[0073] The control device can determine the first acupoints directly affected by the target therapy project and the second acupoints that can affect the operation process of the target therapy project according to the target therapy project, and can set all the first acupoints, or all the first acupoints and second acupoints as the second acupoint set.

[0074] S220. Determine, based on the second acupoint set, a first acupoint set that has no correlation with the target physical therapy item.

[0075] Specifically, the control device may take each acupoint outside the second acupoint set as the first acupoint set.

[0076] Such an arrangement can avoid duplication of acupoints between the first acupoint set and the second acupoint set, thereby preventing the moxibustion therapy program from affecting the target therapy program.

[0077] Optionally, step S210, the step of determining, according to the target physical therapy item, a second acupoint set that is correlated with the target physical therapy item, comprises:

[0078] S211, determining target operation data corresponding to the target physical therapy item according to the target physical therapy item;

[0079] S212, determining the target body part area related to the execution of the target physical therapy program according to the target operation data;

[0080] S213, determining a first acupoint subset located in the target body part area according to the target body part area and the preset acupoint data;

[0081] S214. Use the first acupoint subset as a second acupoint set that is relevant to the target physical therapy item.

[0082] The technical solution of the present invention provides a first method for determining the second acupoint set. The control device can call the operation data corresponding to the target therapy project from the control terminal or its own memory according to the target therapy project as the target operation data; the target operation data is the relevant operation data of other therapy robots performing the target therapy project on the user, which may include the target body part area data of the user's body part area (i.e., the target body part area) for the operation required when the needle target therapy project is performed.

[0083] The control device can determine the target body area to be operated when the target physical therapy project is executed according to the target body area data in the target operation data, and then determine the acupoints located in the target body area to form a first acupoint subset according to the target body area, the acupoint set data and the acupoint location data, and use the first acupoint subset as a second acupoint set that is correlated with the target physical therapy project, thereby determining the second acupoint set. The preset acupoint data includes acupoint set data and acupoint location data, wherein the acupoint set data represents all acupoints of the human body, and the acupoint location data represents the location of each acupoint of the human body.

[0084] Optionally, the step S220 of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set includes:

[0085] S221, determining a second acupoint subset that is not located in the target body part area according to the second acupoint set and the preset acupoint data;

[0086] S222. Use the second acupoint subset as the first acupoint set that has no correlation with the target physical therapy item.

[0087] In this embodiment, the control device can compare the second acupoint set with the acupoint set data in the preset acupoint data to determine the acupoints in the human body except the second acupoint set and form a second acupoint subset; it can be understood that the acupoints determined at this time are the acupoints that are not located in the target body part area. In other words, in this embodiment, the intersection of the first acupoint subset and the second acupoint subset is all the acupoints in the human body. The control device can use the second acupoint subset as the first acupoint set that is not correlated with the target physiotherapy item, so as to achieve the determination of the first acupoint set in the first determination method.

[0088] Optionally, according to the target physical therapy item, step S210 of determining a second acupoint set that is correlated with the target physical therapy item includes:

[0089] S215, determining target operation data corresponding to the target physical therapy item according to the target physical therapy item;

[0090] S216, determining the target body part area related to the execution of the target physical therapy program according to the target operation data;

[0091] S217, determining a first acupoint subset located in the target body part area and a third acupoint subset affecting the target body part area according to the target body part area and the preset acupoint data;

[0092] S218. Use the first acupoint subset and the third acupoint subset as the second acupoint set that is relevant to the target physical therapy item.

[0093] The technical solution of the present invention provides a second method for determining the second acupoint set. The specific implementation of S215 and S216 in the second determination method can refer to S211 and S212 in the first determination method, and the determination method of the first acupoint subset can also refer to the first determination method. This implementation is not repeated here. In actual use, it is found that among all the acupoints of the human body, except for the acupoints directly located in the target body part area, some acupoints located outside the target body part area, if moxibustion is performed, will cause discomfort, physiological reactions and other abnormal sensations in the target body part area, thereby affecting the physical therapy process and physical therapy effect of the target physical therapy project. In addition to the examples of the head and neck mentioned above, this embodiment also cites an example to explain the first acupoint subset and the third acupoint subset. For example, if the target therapy project is a foot massage therapy project, the acupoints on the sole of the foot can form a first acupoint subset, and the acupoints on the waist will cause discomfort in the sole of the foot if moxibustion is performed, so the acupoints on the waist can form a third acupoint subset.

[0094] In view of this, a preset body part set can be pre-integrated in the control device, and the preset body part set includes multiple preset body parts, and each target body part area is stored in association with at least one preset body part, so that after the control device determines the target body part area, each preset body part stored in association with the target body part area is called from the preset body part set. It should be noted that each preset body part is a body part area that will affect the associated stored target body part area when moxibustion is performed, and the target body area stored in association with the preset body part can be determined through a large number of pre-experiments, which is not limited in this embodiment. The control device can determine all acupoints located in each preset body part to form a third acupoint subset based on the called preset body parts and preset acupoint data, and use the intersection of the first acupoint subset and the third acupoint subset as the second acupoint set that is correlated with the target physiotherapy project, thereby realizing the determination of the second acupoint set. In this way, the influence of the moxibustion physiotherapy project on the target physiotherapy project can be further reduced, which is conducive to improving the stability of the target physiotherapy project.

[0095] Optionally, the step S220 of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set includes:

[0096] S223, determining, based on the second acupoint set and the preset acupoint data, a fourth acupoint subset that is not located in the target body part area and will not affect the target body part area;

[0097] S224. Use the fourth acupoint subset as the first acupoint set that has no correlation with the target physical therapy item.

[0098] In this embodiment, the control device can compare the first sub-acupoint set, the second sub-acupoint set and the acupoint set data in the preset acupoint data to determine each acupoint in the human body except the second acupoint set and form a fourth acupoint subset; it can be understood that the acupoints determined at this time are the acupoints that are not located in the target body part area and will not affect the target body part area. In other words, in this embodiment, the intersection of the first acupoint subset, the second sub-acupoint set, and the fourth sub-acupoint set is all the acupoints of the human body. The control device can use the fourth acupoint subset as the first acupoint set that is not correlated with the target physiotherapy project, so as to achieve the determination of the first acupoint set in the second determination method.

[0099] Reference Figure 1 to Figure 2 According to the target therapy item and the first acupoint set, step S300 of determining the moxibustion operation data includes:

[0100] S310, according to the target physical therapy project, the first acupoint set and the preset acupoint data, determining the acupoints in the first acupoint set that have a positive effect on the target physical therapy project as the acupoints to be moxibustioned;

[0101] In this embodiment, the control device may be provided with an offline neural network model, which is pre-trained using data of various other physical therapy items and data of acupoints that have positive auxiliary effects on various other physical therapy items. The control device may use the offline neural network model to determine each acupoint in the first acupoint set that has a positive auxiliary effect on the target physical therapy item as each acupoint to be moxibustioned.

[0102] S320, determining the moxibustion order of each acupoint to be moxibustioned according to each acupoint to be moxibustioned, preset acupoint data and preset moxibustion order setting rules;

[0103] In this embodiment, the control device can determine the position of each acupoint to be moxibustioned on the human body according to the determined acupoints to be moxibustioned and the acupoint position data in the preset acupoint data; and then sort the acupoints to be moxibustioned according to the preset moxibustion order setting rules to obtain the moxibustion order of each acupoint to be moxibustioned. The preset moxibustion order setting rules are as follows: the moxibustion order of the acupoints to be moxibustioned near the top of the head is higher than the moxibustion order of the acupoints to be moxibustioned near the bottom of the feet; the moxibustion order of the acupoints to be moxibustioned on the back is higher than the moxibustion order of the acupoints to be moxibustioned on the abdomen; the moxibustion order of the acupoints to be moxibustioned on the head and trunk is higher than the moxibustion order of the acupoints to be moxibustioned on the limbs; the moxibustion order of the acupoints to be moxibustioned on the left side of the human body (the side where the left hand is located) is higher than the moxibustion order of the acupoints to be moxibustioned on the right side of the human body (the side where the right hand is located).

[0104] S330. According to the moxibustion sequence of each acupoint to be moxibustioned, the target moxibustion time, target moxibustion temperature and target moxa smoke flow rate of each acupoint to be moxibustioned are determined.

[0105] The control device may be pre-integrated with a first preset moxibustion time, a second preset moxibustion time, and a third preset moxibustion time, which correspond to decreasing times in sequence. The control device may configure the second preset moxibustion time as the target moxibustion time for the acupoint to be moxibustion with the highest moxibustion order, and configure the third preset moxibustion time as the target moxibustion time for the acupoint to be moxibustion with the lowest moxibustion order, so as to configure the first preset moxibustion time as the target moxibustion time for each acupoint to be moxibustion with a moxibustion order between the lowest and the highest.

[0106] The control device may also be pre-integrated with a first preset moxibustion temperature and a second preset moxibustion temperature whose corresponding temperatures decrease in sequence. The control device may configure the second preset moxibustion temperature as the target moxibustion temperature of the acupoints to be moxibustioned with the highest and lowest moxibustion order, and configure the first preset moxibustion temperature as the target moxibustion temperature of each acupoint to be moxibustioned with a moxibustion order between the lowest and the highest.

[0107] The control device may also be pre-integrated with a first preset moxibustion flow rate, a second preset moxibustion flow rate, and a third preset moxibustion flow rate, the corresponding flow rates of which decrease in sequence. The control device may configure the second preset moxibustion flow rate as the target moxibustion flow rate for the acupoint to be moxibustion with the highest moxibustion order, and configure the third preset moxibustion flow rate as the target moxibustion flow rate for the acupoint to be moxibustion with the lowest moxibustion order, so as to configure the first preset moxibustion flow rate as the target moxibustion flow rate for each acupoint to be moxibustion with a moxibustion order between the lowest and the highest.

[0108] Such a setting can make the moxibustion therapy project play a certain auxiliary role in the target therapy project, thereby helping to improve the efficacy of the target therapy project.

[0109] The present invention also proposes a moxibustion robot, which includes a control device for a control method of the moxibustion robot. The specific steps of the control method of the moxibustion robot can refer to the above-mentioned embodiments. Since the moxibustion robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0110] Among them, refer to Figure 3 The control device includes a memory 11, a processor 12, and a control program of the moxibustion robot stored in the memory 11 and executed by the processor 12. When the control program of the moxibustion robot is executed by the processor 12, the control method of the moxibustion robot is realized. The memory 11 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 11 can also be a storage device independent of the aforementioned control device; the processor 12 can be a CPU. The memory 11 and the processor 12 are connected by a communication bus 13, and the communication bus 13 can be a UART bus or an I2C bus.

[0111] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A control method for a moxibustion robot, characterized in that: The control method of the moxibustion robot includes: Get targeted physical therapy programs; According to the target physical therapy item, determining a first acupoint set that has no correlation with the target physical therapy item; Determine the moxibustion operation data according to the target physiotherapy items and the first acupoint set; According to the moxibustion operation data, when it is determined that the user is undergoing a target therapy program, the moxibustion robot is controlled to perform the moxibustion therapy program on the user; According to the target physical therapy item, the step of determining the first acupoint set that has no correlation with the target physical therapy item includes: According to the target physical therapy project, determining a second acupoint set that is relevant to the target physical therapy project; According to the second acupoint set, determining a first acupoint set that has no correlation with the target physical therapy item; The step of determining a second acupoint set related to the target physical therapy item according to the target physical therapy item comprises: According to the target physical therapy project, determine the target operation data corresponding to the target physical therapy project; Based on the target operation data, determine the target body parts and areas related to the implementation of the target physical therapy program; Determine, according to the target body part region and the preset acupoint data, a first acupoint subset located in the target body part region and a third acupoint subset affecting the target body part region; The first acupoint subset and the third acupoint subset are used as the second acupoint set that is relevant to the target physical therapy item; The step of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set comprises: Determine, based on the second acupoint set and the preset acupoint data, a fourth acupoint subset that is not located in the target body part area and will not affect the target body part area; The fourth acupoint subset is used as the first acupoint set that has no correlation with the target physical therapy item.

2. The control method of the moxibustion robot according to claim 1, characterized in that: Before the step of determining, according to the target physical therapy project, a first acupoint set that has no correlation with the target physical therapy project, the control method further includes: Determine whether the target physical therapy program matches the preset physical therapy program set; If the target therapy item matches the preset therapy item set, then determining a first acupoint set that has no correlation with the target therapy item according to the target therapy item; If the target therapy item does not match the preset therapy item set, the moxibustion robot is controlled to stop working.

3. The control method of the moxibustion robot according to claim 1, characterized in that: The step of determining a second acupoint set related to the target physical therapy item according to the target physical therapy item comprises: According to the target physical therapy project, determine the target operation data corresponding to the target physical therapy project; Based on the target operation data, determine the target body parts and areas related to the implementation of the target physical therapy program; Determine a first acupoint subset located in the target body part region according to the target body part region and the preset acupoint data; The first acupoint subset is used as the second acupoint set that is relevant to the target physical therapy item.

4. The control method of the moxibustion robot according to claim 3, characterized in that: The step of determining the first acupoint set that has no correlation with the target physical therapy item according to the second acupoint set comprises: Determining a second acupoint subset that is not located in the target body part region according to the second acupoint set and the preset acupoint data; The second acupoint subset is used as the first acupoint set that has no correlation with the target physical therapy item.

5. The control method of the moxibustion robot according to claim 4 or 1, characterized in that: According to the target therapy item and the first acupoint set, the steps of determining the moxibustion operation data include: According to the target physical therapy project and the first acupoint set, determining the acupoints in the first acupoint set that have a positive effect on the target physical therapy project as the acupoints to be moxibustioned; Determine the moxibustion order of each acupoint to be moxibustioned according to each acupoint to be moxibustioned, preset acupoint data and preset moxibustion order setting rules; According to the moxibustion order of each acupoint to be moxibustioned, the target moxibustion time, target moxibustion temperature and target moxa smoke flow rate of each acupoint to be moxibustioned are determined.

6. The control method of the moxibustion robot according to claim 5, characterized in that: The preset moxibustion sequence setting rules are as follows: the moxibustion sequence of the acupoints to be moxibustioned near the top of the head is higher than that of the acupoints to be moxibustioned near the soles of the feet; the moxibustion sequence of the acupoints to be moxibustioned on the back is higher than that of the acupoints to be moxibustioned on the abdomen; The moxibustion order of the acupoints on the head and trunk is higher than that of the acupoints on the limbs. The moxibustion order of the acupoints to be moxibustion located on the left side of the human body is higher than the moxibustion order of the acupoints to be moxibustion located on the right side of the human body.

7. A moxibustion robot, characterized in that: include: A control device, comprising a memory, a processor, and a control program for a moxibustion robot stored in the memory and executed by the processor, wherein the control program for the moxibustion robot, when executed by the processor, implements the control method for the moxibustion robot as described in any one of claims 1 to 6.

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