Traditional Chinese medicine intelligent moxibustion therapy equipment and human body acupuncture point searching and positioning method thereof

Abstract

The invention discloses traditional Chinese medicine intelligent moxibustion therapy equipment and a human body acupuncture point searching and positioning method. The traditional Chinese medicine intelligent moxibustion therapy equipment comprises a moxibustion head, a mechanical arm, an air pipe, a moxibustion stick storage bin, an ash storage box, a filter box, a movable base and a controller. The moxibustion head is an end effector of the mechanical arm, an ash containing device is arranged on the front end face of the moxibustion head, and a three-jaw chuck is arranged in the moxibustion head. The filter box is connected with the moxibustion head through an air pipe, a filter fan is arranged at the rear end of the filter box, and a three-way catalyst is arranged in the filter box; the movable base is located at the bottom of the moxibustion robot and used for walking. The controller is arranged at the top of the moxibustion robot and controls the moxibustion robot to achieve moxibustion operation. According to the human body acupoint searching and positioning method, acupoint searching and positioning are carried out mainly through mark points pasted on the body of a patient. The device has the advantages that the device is simple in structure and complete in function, modules can be detached, a physician can be replaced for moxibustion physiotherapy, and full automation and intelligence of the moxibustion process can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent devices, and in particular relates to a traditional Chinese medicine intelligent moxibustion device and a method for finding and locating acupuncture points on the human body. Background Art

[0002] Moxibustion is one of the external treatment methods in traditional Chinese medicine. It has been strongly supported by national policies in recent years. At the same time, the modern health care industry is also thriving. Coupled with the development trend of combining traditional Chinese medicine industry with high technology, the moxibustion industry chain has developed greatly.

[0003] However, there are still great deficiencies in the moxibustion industry. The traditional moxibustion technology is that the doctor holds the moxa stick to perform moxibustion, which has cumbersome steps, high labor costs and low efficiency; and most of the moxibustion machines available on the market have a single function, and some smoke removal devices are installed too high, which cannot guarantee the timely and effective removal of the moxa smoke generated during the moxibustion process, causing harm to the human body by inhalation; some temperature measuring devices are installed inside the moxibustion instrument, with a small temperature measurement range, and cannot accurately measure and control the temperature, affecting the moxibustion effect; some lack ash collection and processing devices, and manual ash removal is required; some robotic arms have small degrees of freedom, and are relatively rigid for movement and configuration conversion.

[0004] In addition, since people have different ages, heights, builds, shapes, weights, and skin colors, and the acupuncture points for moxibustion are inside the human body, it is extremely difficult to find and identify acupuncture points based on the external skin features of the human body with existing image recognition algorithms. The recognition efficiency is low, the accuracy is poor, and it is very easy to cause moxibustion accidents. The lack of methods for finding and locating human acupuncture points has also brought great difficulties to the intelligentization of traditional Chinese medicine moxibustion. Of course, the accuracy and efficiency of finding and locating human acupuncture points can be improved by simply increasing the number of sensors and GPU computing power, but this will undoubtedly increase the cost and subsequent maintenance costs, hindering the intelligent promotion and application of traditional Chinese medicine moxibustion. At present, there is also a lack of an economical and low-cost method for finding and locating human acupuncture points. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a traditional Chinese medicine intelligent moxibustion device, which can achieve efficient removal of smoke during the moxibustion process, accurately detect the temperature of human acupuncture points and moxa sticks, and timely control the temperature. It has a device for automatically collecting and processing the ashes after the burning of moxa sticks. At the same time, the multi-degree-of-freedom robotic arm can flexibly realize the transformation of multiple configurations, truly realizing intelligent and automated moxibustion.

[0006] A Chinese medicine intelligent moxibustion device provided by the present invention includes a moxibustion head, a robotic arm, an trachea, a moxibustion stick storage bin, an ash storage box, a filter box, a mobile base, and a controller; the moxibustion head is the end effector of a seven-degree-of-freedom robotic arm, including an ash holding device and a three-jaw chuck, the ash holding device is arranged on the front end surface of the moxibustion head, and is equipped with four sensor modules and a camera, the three-jaw chuck is arranged inside the moxibustion head, and can grab moxibustion sticks from the moxibustion stick storage bin; the filter box is connected to the moxibustion head through the trachea, and includes a flip cover body, a smoke filter fan and a three-way catalytic converter, the smoke filter fan is located at the rear end of the filter box body, and the three-way catalytic converter is arranged inside the filter box body, and is used to convert toxic substances generated during the moxibustion process into non-toxic substances; the mobile base is located at the bottom of the moxibustion robot and is used for the moxibustion robot to walk; the controller is placed on the top of the moxibustion robot, and controls the moxibustion robot to realize moxibustion operation by inputting user instructions.

[0007] Preferably, the robotic arm has seven degrees of freedom.

[0008] Preferably, the ash containing device carried by the moxibustion head is provided with an ash filter, an electronic igniter, a camera and is equipped with four sensor modules.

[0009] Preferably, the ash filter is located in the center of the ash containing device, for collecting the ash produced after the burning of the moxa sticks, the electronic igniter is located on the left side of the ash containing device, for safely igniting the moxa sticks, the camera is located on the right side of the ash containing device, for detecting the human body posture, taking images and feeding back to the controller, and the four sensor modules are located at the lower part of the ash containing device, for information detection and information feedback.

[0010] Preferably, the four sensor modules include a smoke sensor, a temperature sensor, an infrared sensor, and a force feedback sensor; the smoke sensor is used to detect the smoke concentration generated by the moxibustion stick during moxibustion and feed back to the controller to adjust the speed of tracheal air extraction to prevent the moxibustion stick from being extinguished due to excessive air extraction or environmental pollution due to insufficient air extraction; the temperature sensor is used to measure the temperature of the moxibustion head and feed back to the controller to adjust it to an appropriate temperature in time to avoid burns caused by excessive temperature or poor moxibustion effect caused by low temperature; the infrared sensor is used to measure the distance between the moxibustion head and the human skin and feed back to the controller to adjust the height according to the real-time temperature of the moxibustion head to avoid local overheating of the moxibustion area causing burns or insufficient temperature causing poor efficacy; the force feedback sensor is used to sense the size of the force and control the moxibustion head to fall off from the end of the robotic arm, so as to realize the free replacement of the end effector of the robotic arm.

[0011] Preferably, the end of the robotic arm has another rotational degree of freedom, and the overall robotic arm has seven degrees of freedom, which can ensure that the three-dimensional position of the end effector remains unchanged when the robotic arm is converted from one configuration to another.

[0012] Preferably, the three-jaw chuck on the moxibustion head is fixed on a three-jaw chuck base for fixing the moxibustion strip, and the three-jaw chuck base transmits movement through a trapezoidal lead screw inside the moxibustion head, and the trapezoidal lead screw is driven by a motor.

[0013] Preferably, the moxa stick storage bin is used to store moxa sticks, which is convenient for a robotic arm or manual replacement of the moxa sticks; the ash storage box is used to collect the ashes remaining on the ash holding device of the moxa head after the moxa sticks are burned; at the same time, a duct fan is provided at the front end of the ash storage box, and the duct fan is used to blow away the ashes remaining on the ash holding device of the moxa head.

[0014] Preferably, the filter box includes a flip-top box body, a smoke filter fan and a three-way catalytic converter; the flip-top box body is the outer shell of the filter box, and is opened by flipping the cover to facilitate daily replacement and maintenance of the internal filter layer; a ventilation duct interface is provided on the flip-top box body, which is connected to the outer shell of the moxibustion head through the air pipe to filter the moxa smoke; the smoke filter fan is located at the rear end of the filter box, and adopts an adjustable speed silent fan to adjust the filtering wind speed according to the real-time smoke volume of the moxibustion; the three-way catalytic converter is located inside the filter box to purify the moxa smoke.

[0015] Preferably, the mobile base has two states: locked and freely movable. The two states of the mobile base are controlled by the controller, thereby controlling the overall movement of the moxibustion robot.

[0016] Preferably, the controller has a compliant control motion system (sensing system), an embedded vision system and a pressure sensing system, which can quickly control the moxibustion robot to integrate into the existing working environment and can quickly adjust the work according to actual needs.

[0017] Preferably, the camera 114 is a camera with a depth of field function; further, it is a binocular camera with a depth of field function.

[0018] Preferably, the controller includes a GPU module.

[0019] A method for finding and locating acupuncture points on the human body, characterized by comprising the following steps:

[0020] S1: According to the acupuncture points to be treated with moxibustion, the physician affixes marking points on the corresponding acupuncture points on the patient's body; preferably, a highly reflective three-dimensional scanner is used to mark the points;

[0021] S2: The camera identifies the marker point and records the coordinate position of the marker point in space;

[0022] S3: The controller generates an acupoint moxibustion path according to the coordinate position and the doctor's instructions, and drives the control robot arm to complete the moxibustion work in sequence.

[0023] Preferably, the marking points used in S1 carry coding information; the coding information corresponds to the acupoint information.

[0024] In S2, the camera can not only identify the marking points and record the coordinate positions of the marking points in space, but also automatically read the acupoint information; in S3, the controller automatically generates the acupoint moxibustion path based on the coordinate positions and built-in experience knowledge.

[0025] Compared with the existing technology, the beneficial effects of the present invention are as follows: the intelligent moxibustion device of traditional Chinese medicine provided by the present invention can receive the information fed back by each sensor through the system in the controller, adjust the parameters of the moxibustion robot in real time according to the actual situation, realize the accurate temperature measurement and temperature control of the human acupuncture points, and accurately control the distance between the moxa stick and the human acupuncture points; after the moxibustion is completed, the flue gas generated is purified by a three-way catalytic converter, which is close to the moxibustion human body, which can ensure stable performance, better purification effect, and reduce environmental flue gas pollution; the robotic arm with seven degrees of freedom can flexibly realize the transformation of different configurations, while ensuring that the three-dimensional position of the end effector remains unchanged, making moxibustion more convenient and intelligent. The human acupuncture point search and positioning method proposed by the present invention can realize the automatic and accurate positioning of acupuncture points at a low cost, without the need to purchase additional high-end hardware to achieve the above purpose. In addition, the automatic and accurate positioning of acupuncture points can also be realized quickly through clothes, and moxibustion without gender differentiation can be realized, which is convenient for the promotion of moxibustion therapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of the traditional Chinese medicine intelligent moxibustion therapy device of the present invention.

[0027] Figure 2 This is a diagram of the moxibustion head of the traditional Chinese medicine intelligent moxibustion therapy device of the present invention without the outer shell.

[0028] Figure 3 It is a structural schematic diagram of the ash containing device of the traditional Chinese medicine intelligent moxibustion therapy device of the present invention.

[0029] Figure 4 It is an exploded view of the ash collecting bin structure of the intelligent traditional Chinese medicine moxibustion therapy device of the present invention.

[0030] Figure 5 It is an exploded view of the air filtering structure of the intelligent traditional Chinese medicine moxibustion therapy device of the present invention.

[0031] Figure 6 It is a schematic diagram of a sticker with 3D scanner marking points.

[0032] Figure 7 This is a schematic diagram of the generated moxibustion path.

[0033] Figure 8 It is a schematic diagram of a sticker containing marking points with coded information.

[0034] Description of Figure Numbers:

[0035] 1-moxibustion head, 2-mechanical arm, 3-trachea, 4-moxibustion stick storage bin, 5-ash storage box, 6-filter box, 7-mobile base;

[0036] 11-ash holding structure, 12-three-jaw chuck, 13-three-jaw chuck base, 14-trapezoidal lead screw, 15-brushless motor, 16-motor support;

[0037] 111- four sensor-carrying modules, 112- electronic igniter, 113- ash filter, 114- camera;

[0038] 51-duct fan;

[0039] 61-ventilation duct interface, 62-flip cover box, 63-three-way catalytic converter, 64-smoke filter fan;

[0040] 631-Double-layer stainless steel plate tube, 632-Double-layer thin plate interlayer, 633-Mesh partition. DETAILED DESCRIPTION

[0041] In order to explain the technical content, structural features and achieved effects of the present invention in detail, the following is a detailed description in conjunction with the implementation methods and drawings.

[0042] Specific embodiment one.

[0043] like Figure 1-5As shown, a Chinese medicine intelligent moxibustion device provided by the present invention includes a moxibustion head 1, a mechanical arm 2, an air pipe 3, a moxibustion stick storage bin 4, an ash storage box 5, a filter box 6, a mobile base 7, and a controller 8; the moxibustion head 1 is the end effector of the mechanical arm 2, and includes an ash holding device 11 and a three-jaw chuck 12. The ash holding device 11 is arranged on the front end surface of the moxibustion head 1, and is equipped with four sensor modules 111 and a camera 114. The three-jaw chuck 12 is arranged inside the moxibustion head 1, and can grab the moxibustion sticks from the moxibustion stick storage bin 4. Moxibustion strip; the filter box 6 is connected to the moxibustion head 1 through the trachea 3, and includes a flip cover box 62, a smoke filter fan 64 and a three-way catalytic converter 63. The smoke filter fan 64 is located at the rear end of the filter box 6, and the three-way catalytic converter 63 is arranged inside the filter box 6, and is used to convert toxic substances generated during the moxibustion process into non-toxic substances; the mobile base 7 is located at the bottom of the moxibustion robot, which is used for the walking of the moxibustion robot; the controller 8 is placed on the top of the moxibustion robot, and the moxibustion robot is controlled by inputting user commands to realize the moxibustion operation.

[0044] Preferably, the robot arm 2 has seven degrees of freedom, which can ensure that the three-dimensional position of the end effector remains unchanged when the robot arm is converted from one configuration to another; more specifically, in this example, Figure 1 As shown, the robot arm 2 is a Baxter dual-arm robot robot;

[0045] like Figure 2 and 4 As shown, the three-jaw chuck 12 on the moxibustion head 1 is fixed on the three-jaw chuck base 13, which is used to fix the moxibustion stick. The three-jaw chuck base 13 transmits motion through the trapezoidal screw 14 inside the moxibustion head 1. The trapezoidal screw 14 is driven by a brushless motor 15, and the brushless motor 15 is fixed on the motor support 16; the moxibustion stick storage bin 4 is used to store the moxibustion sticks, which is convenient for the robot arm or manual replacement of the moxibustion sticks. In the actual moxibustion operation, the brushless motor 15 drives the trapezoidal screw 14 to transmit motion, so that the three-jaw chuck 12 can move, and a moxibustion stick is clamped from the moxibustion stick storage bin 4.

[0046] like Figure 3 As shown, the electronic igniter 112 is used to safely ignite the moxa stick; the ash filter 113 is used to collect the ash produced after the moxa stick is burned; the camera 114 is used to detect the posture of the human body and take images and feed them back to the controller 8 for information analysis.

[0047] like Figure 3As shown, the four sensor modules 111 include a smoke sensor, a temperature sensor, an infrared sensor, and a force feedback sensor; the smoke sensor is used to detect the smoke concentration generated by the moxibustion stick during moxibustion and feed it back to the controller 8 to adjust the speed of air extraction in the trachea 3 to prevent the moxibustion stick from being extinguished due to excessive air extraction or environmental pollution caused by insufficient air extraction; the temperature sensor is used to measure the temperature of the moxibustion head and feed it back to the controller 8 to adjust it to a suitable temperature in time to avoid burns caused by excessive temperature or poor moxibustion effect caused by low temperature; the infrared sensor is used to measure the distance between the moxibustion head and the human skin and feed it back to the controller 8 to adjust the height according to the real-time temperature of the moxibustion head to avoid local overheating of the moxibustion part to cause burns or insufficient temperature to cause poor efficacy; the force feedback sensor is used to sense the size of the force and control the moxibustion head to fall off from the end of the robotic arm, so as to realize the free replacement of the actuator at the end of the robotic arm.

[0048] In actual moxibustion operation, the electronic igniter 112 ignites the moxibustion stick, and the four sensor modules 111 and the camera 114 monitor in real time the distance between the moxibustion stick and the human skin, the temperature of the moxibustion stick, and the concentration of the smoke generated when the moxibustion stick burns, and simultaneously feed back the detected information to the main controller 8. Through the cooperation of the internal systems of the controller 8, various parameters of the moxibustion operation of the moxibustion robot are adjusted in real time to ensure the efficacy of moxibustion while ensuring that there are no safety hazards to human health.

[0049] like Figure 4 As shown, the ash collection box 5 is used to collect the ashes remaining on the ash holding device 11 of the moxibustion head after the moxibustion stick is burned; at the same time, the ash collection box 5 is provided with a duct fan 51, which is used to blow away the ashes remaining on the ash holding device 11 of the moxibustion head.

[0050] like Figure 5 As shown, the filter box 6 includes a ventilation duct interface 61, a flip cover box 62, a smoke filter fan 64 and a three-way catalytic converter 63. The flip cover box 62 is opened by flipping the cover, which is convenient for daily replacement and maintenance of the internal filter layer; a ventilation duct interface 61 is provided on the flip cover box 62, which is connected to the outer shell of the moxibustion head through the trachea 3 to filter the moxa smoke; the smoke filter fan 64 adopts an adjustable speed silent fan, and the filtering wind speed is adjusted according to the real-time smoke volume of the moxibustion; the three-way catalytic converter 63 is used to purify the moxibustion smoke.

[0051] In actual moxibustion operation, the filter box 6 and the outer shell of the moxibustion head 1 are connected through the air pipe 3, and the flue gas is purified while the moxibustion operation is in progress. The purifier in the three-way catalytic converter 63 can oxidize the CO produced by moxibustion combustion into colorless, non-toxic carbon dioxide gas at high temperature; HC compounds are oxidized into water (H20) and carbon dioxide at high temperature; NOx is reduced to nitrogen and oxygen. Finally, it is discharged to minimize the pollution to the environment. After the moxibustion is completed, the ash filter 113 on the moxibustion head 1 is removed, placed in the ash storage box 5, and the ash is blown away by the duct fan 51.

[0052] like Figure 1 As shown, the mobile base 7 has two states: locked and free to move. The two states of the mobile base 7 are controlled by the controller 8, thereby controlling the overall movement of the moxibustion robot in the actual moxibustion operation.

[0053] In actual moxibustion operation, first, under the guidance of a doctor, the human body is made to lie on its back in a relaxed state, the moxibustion robot is initialized, and relevant control instructions are input; the robotic arm is controlled to change its configuration so that the moxibustion head at the end can correctly grab the moxa stick from the moxibustion storage box, and the electronic igniter safely ignites the moxa stick. The temperature of the moxibustion head is measured by a temperature sensor and fed back to the controller so as to adjust it to an appropriate temperature in time to avoid burns caused by excessive temperature or poor moxibustion effect caused by low temperature. The distance between the moxibustion head and the human skin is measured by an infrared sensor and fed back to the controller so as to adjust the height according to the real-time temperature of the moxibustion head to avoid local overheating of the moxibustion area causing burns or insufficient temperature causing poor efficacy. At the same time, during the moxibustion process, the smoke sensor and the filter box are always in operation. The smoke sensor is used to detect the smoke concentration generated by the moxibustion stick during moxibustion and feed back to the controller to adjust the air extraction speed of the trachea to prevent the moxibustion stick from extinguishing due to excessive air extraction or environmental pollution due to insufficient air extraction; the smoke filter fan draws the smoke generated during the moxibustion process into the filter box through the trachea, and the three-way catalytic converter in the filter box promptly purifies the toxic and harmful smoke into non-toxic and harmless substances. After a moxa stick is burned, the robotic arm will change its configuration in time so that the moxibustion head can replace the moxa stick in time. After the moxibustion therapy is over, the ash holding device on the moxibustion head is removed and placed in the ash storage box. The duct fan at the front end of the ash storage box will blow away the ashes remaining on the ash holding device. Finally, the moxibustion therapy is over and the moxibustion robot returns to its initial state.

[0054] Specific embodiment two.

[0055] Preferably, the camera 114 is a camera with a depth of field function; further, it is a binocular camera with a depth of field function.

[0056] Preferably, the controller includes a GPU module; more specifically, in this example, the controller includes a Jetson ORIN NX development board running YOLO V5 target detection algorithm software.

[0057] A method for finding and locating acupuncture points on the human body used in conjunction with the invention, characterized in that it comprises the following steps:

[0058] S1: According to the acupuncture points to be treated with moxibustion, the physician affixes marking points on the corresponding acupuncture points on the patient's body; preferably, a highly reflective three-dimensional scanner is used to mark the points; specifically, the following may be used: Figure 6 The self-adhesive sticker with 3D scanner marking points shown can quickly arrange the marking points;

[0059] S2: The camera identifies the marker point and records the coordinate position of the marker point in space;

[0060] S3: The controller generates an acupoint moxibustion path according to the coordinate position and the doctor's instruction (for example, Figure 7 The moxibustion path of the three acupoints shown in the figure) is determined, and the robot arm 2 is driven to complete the moxibustion work in sequence.

[0061] Preferably, the marking points used in S1 carry coded information, such as Figure 8 As shown in FIG. 1 , the coding information corresponds to the acupoint information. In this way, in S2, the camera can not only identify the marking point and record the coordinate position of the marking point in the space, but also automatically read the acupoint information; on this basis, in S3, the controller automatically generates the acupoint moxibustion path according to the coordinate position and the built-in experience knowledge (such as the expert system).

[0062] The method for finding and locating acupoints on the human body proposed in the present invention can realize automatic and accurate positioning of acupoints at a low cost, without the need to purchase additional high-end hardware to achieve the above purpose. In addition, the automatic and accurate positioning of acupoints can be quickly realized through clothes, and moxibustion without gender differentiation can be realized, which is convenient for the promotion of moxibustion therapy.

[0063] Although the intelligent moxibustion device for traditional Chinese medicine and the method for finding and locating acupuncture points of the human body of the present invention have been described with reference to the preferred embodiments, various improvements may be made thereto and components thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A Chinese medicine intelligent moxibustion device, characterized in that: include: Moxibustion head, robotic arm, trachea, moxibustion stick storage bin, ash storage box, filter box, mobile base, controller; the moxibustion head is the end effector of the seven-degree-of-freedom robotic arm, including an ash holding device and a three-jaw chuck, the ash holding device is arranged on the front end surface of the moxibustion head, and is equipped with four sensor modules and a camera, the three-jaw chuck is arranged inside the moxibustion head, and can grab moxibustion sticks from the moxibustion stick storage bin; the filter box is connected to the moxibustion head through the trachea, and includes a flip cover box body, a smoke filter fan and a three-way catalytic converter, the smoke filter fan is located at the rear end of the filter box body, and the three-way catalytic converter is arranged at the filter box Inside the box, it is used to convert toxic substances generated during the moxibustion process into non-toxic substances; the mobile base is located at the bottom of the moxibustion robot and is used for the moxibustion robot to walk; the controller is placed on the top of the moxibustion robot, and the moxibustion robot is controlled by inputting user commands to realize moxibustion operations; the robotic arm has seven degrees of freedom; the ash holding device carried by the moxibustion head is provided with an ash filter, an electronic igniter, a camera and four sensor modules; the ash filter is located in the center of the ash holding device, and is used to collect the ashes generated after the moxibustion sticks are burned. The electronic igniter is located on the left side of the ash holding device, and is used to safely ignite the moxibustion sticks. The camera is located at the ash holding device. The right side of the device is used to detect the posture of the human body, take images and feed back to the controller. The four sensor modules are located at the lower part of the ash containing device and are used for information detection and information feedback; the four sensor modules include a smoke sensor, a temperature sensor, an infrared sensor, and a force feedback sensor; the smoke sensor is used to detect the smoke concentration generated by the moxibustion stick during moxibustion and feed back to the controller to adjust the speed of tracheal air extraction to prevent the moxibustion stick from being extinguished due to excessive air extraction or environmental pollution caused by insufficient air extraction; the temperature sensor is used to measure the temperature of the moxibustion head and feed back to the controller to adjust it to a suitable temperature in time to avoid excessive temperature causing The infrared sensor is used to measure the distance between the moxibustion head and the human skin and feed back to the controller to adjust the height according to the real-time temperature of the moxibustion head, so as to avoid local overheating of the moxibustion area causing burns or insufficient temperature causing poor efficacy; the force feedback sensor is used to sense the size of the force and control the moxibustion head to fall off from the end of the robotic arm, so as to realize the free replacement of the end effector of the robotic arm; the end of the robotic arm also has a rotational degree of freedom, and the overall structure has a robotic arm with seven degrees of freedom, which can ensure that the three-dimensional position of the end effector remains unchanged when the robotic arm is converted from one configuration to another.

2. The intelligent moxibustion therapy device of traditional Chinese medicine according to claim 1, characterized in that: The three-jaw chuck on the moxibustion head is fixed on a three-jaw chuck base for fixing the moxibustion strip. The three-jaw chuck base transmits motion through a trapezoidal lead screw inside the moxibustion head, and the trapezoidal lead screw is driven by a motor.

3. The intelligent moxibustion therapy device of traditional Chinese medicine as claimed in claim 2, characterized in that: The moxa stick storage bin is used to store moxa sticks, which is convenient for a robotic arm or manual replacement of moxa sticks; the ash storage box is used to collect the ashes remaining on the ash holding device of the moxa head after the moxa sticks are burned; at the same time, a duct fan is provided at the front end of the ash storage box, and the duct fan is used to blow away the ashes remaining on the ash holding device of the moxa head.

4. The intelligent moxibustion therapy device of traditional Chinese medicine as claimed in claim 3, characterized in that: The filter box includes a flip-top box body, a smoke filter fan and a three-way catalytic converter. The flip-top box body is the outer shell of the filter box, and is opened by flipping the cover to facilitate daily replacement and maintenance of the internal filter layer. A ventilation duct interface is provided on the flip-top box body, which is connected to the outer shell of the moxibustion head through the air pipe to filter the moxa smoke. The smoke filter fan is located at the rear end of the filter box and adopts a silent fan with adjustable speed to adjust the filtering wind speed according to the real-time smoke volume of moxibustion. The three-way catalytic converter is located inside the filter box to purify the moxibustion smoke.

5. The intelligent moxibustion therapy device of traditional Chinese medicine as claimed in claim 4, characterized in that: The end of the robotic arm also has a rotational degree of freedom to form a seven-degree-of-freedom robotic arm, which can ensure that the three-dimensional position of the end effector remains unchanged when the robotic arm is converted from one configuration to another.

6. The intelligent moxibustion therapy device of traditional Chinese medicine as claimed in claim 5, characterized in that: The mobile base has two states: locked and free movement. The two states of the mobile base are controlled by the controller, thereby controlling the overall movement of the moxibustion robot; the controller has a compliant control motion system (sensing system), an embedded vision system and a pressure sensing system, which can quickly control the moxibustion robot to integrate into the existing working environment, and can quickly adjust the work according to actual needs; the camera is a camera with depth of field function; further, it is a binocular camera with depth of field function; the controller includes a GPU module.

7. A method for finding and locating acupuncture points on the human body, characterized in that The steps include: S1: According to the acupuncture points to be treated with moxibustion, the physician sticks marking points on the corresponding acupuncture points on the patient's body; a highly reflective 3D scanner is used to mark the points; S2: The camera identifies the marker point and records the coordinate position of the marker point in space; S3: The controller generates an acupoint moxibustion path according to the coordinate position and the doctor's instructions, and drives the control robot arm to complete the moxibustion work in sequence.

8. The method for finding and locating acupuncture points on the human body as claimed in claim 7, characterized in that: The marking points used in S1 carry coding information; the coding information corresponds to the acupoint information.

9. The method for finding and locating acupuncture points on the human body as claimed in claim 8, characterized in that: In S2, the camera can not only identify the marking points and record the coordinate position of the marking points in space, but also automatically read the acupoint information.

10. The method for finding and locating acupuncture points on the human body as claimed in claim 9, characterized in that: In S3, the controller automatically generates acupoint moxibustion paths based on coordinate positions and built-in empirical knowledge.

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