Intelligent control system and method for moxibustion physiotherapy

Abstract

This invention relates to the technical field of automated physiotherapy system control, and discloses an intelligent control system and method for moxibustion physiotherapy. The intelligent control method, applied to control equipment, specifically includes the following steps: S101: Receiving a moxibustion physiotherapy request uploaded by a user terminal, the request carrying diagnostic symptom information, characteristic information, and the validity period of the diagnostic symptom information of the person receiving treatment; S102: Obtaining the text content of the diagnostic symptom information and the validity period of the diagnostic symptom information. Users of this invention can easily select acupoints and adjust the height of the robotic arm using a joystick and remote control. They can also autonomously identify the depth of massage required for the given symptom, providing scientific relief and treatment, reducing the need for professional operational knowledge. User satisfaction surveys show that 85% of users found the operation simpler and more convenient, significantly reducing the learning curve.

Description

Technical Field

[0001] This invention relates to the technical field of automated physiotherapy system control, and more specifically, to an intelligent control system and method for moxibustion physiotherapy. Background Technology

[0002] Moxibustion therapy, as part of traditional Chinese medicine, is widely used as an adjunct treatment for various chronic diseases. Traditional moxibustion operations usually rely on manual operation, and the therapeutic effect and safety depend to a large extent on the operator's experience and skill level.

[0003] In recent years, with the development of technology, some intelligent moxibustion therapy devices have gradually emerged. Through temperature control technology and automated control systems, they have achieved relatively stable therapeutic effects. However, existing intelligent moxibustion devices and systems still have the following shortcomings:

[0004] (1) Lack of personalized treatment: Most systems are designed in a general way, making it difficult to make personalized adjustments based on the patient's specific condition, such as symptoms or physical condition;

[0005] (2) Limited automation: Although some devices can achieve basic temperature control and timing functions, manual intervention is still required in the operation process, which makes it difficult to meet the needs of complex treatment plans;

[0006] (3) Lack of integration with other health data: Most existing moxibustion devices cannot be integrated and analyzed with other health data of patients, making it difficult to provide comprehensive health management services. Summary of the Invention

[0007] The purpose of this invention is to provide an intelligent control system and method for moxibustion therapy, which can autonomously identify the depth of acupoints to be massaged for the symptoms, and scientifically alleviate and cure the symptoms. It reduces the need for professional operation knowledge. User operation satisfaction surveys show that 85% of users said that the operation is simpler and more convenient. It aims to solve the problem that although some devices in the existing technology can achieve basic temperature control and timing functions, they still require manual intervention in the operation process and cannot meet the needs of complex treatment plans.

[0008] This invention is implemented as follows: an intelligent control method for moxibustion therapy, applied to control equipment, specifically includes the following steps:

[0009] S101: Receive a moxibustion therapy request uploaded by a user terminal, wherein the moxibustion therapy request carries diagnostic symptom information, characteristic information, and the validity period of the diagnostic symptom information of the person to be treated.

[0010] S102: Obtain the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information; input the diagnostic symptom information that meets the threshold effective time into the preset content text recognition model; and obtain the diagnostic acupoint information corresponding to the diagnostic symptom information from the content text recognition result.

[0011] S103: Obtain the characteristic information of the person to be treated, establish the external contour of the person to be treated through the characteristic information, operate the robotic arm with a joystick to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour, and record the acupoint information of the massage area according to the position of the robotic arm.

[0012] S104: Determine the motion trajectory parameters of the robotic arm based on acupoint information and moxibustion techniques;

[0013] S105: Obtain motion trajectory parameters, perform planning and calculation to obtain the motion trajectory, and monitor the distance between the robotic arm and the human body based on the motion trajectory and the monitoring unit to realize the physiotherapy movement of moxibustion.

[0014] Furthermore, in S101, the user terminal uploads a moxibustion therapy request, including:

[0015] The system receives connection requests sent by user terminals through a preset network, the connection requests being used to request the establishment of a connection with the control device.

[0016] Check the integrity of the current account information on the user terminal;

[0017] If the data content of the current account information of the user terminal is complete, a connection is established with the user terminal according to the connection request. After the connection is completed, the moxibustion therapy request uploaded by the user terminal is received.

[0018] Furthermore, the preset network includes one or a combination of 3G network, 4G network, 5G network, and WIFI network.

[0019] Further, in S102, the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information are obtained, and the diagnostic symptom information that meets the threshold effective time is input into a preset content text recognition model, including:

[0020] Obtain the content text of the diagnostic symptom information, and identify the effective time value of the diagnostic symptom in the content text;

[0021] Obtain a preset effective time threshold for diagnostic symptom information, place the effective time value of the identified diagnostic symptom into the preset effective time threshold for diagnostic symptom information, and obtain diagnostic symptom information that meets the threshold for effective time.

[0022] Diagnostic symptom information that is not within the effective time threshold is not marked or identified.

[0023] Furthermore, in the content text recognition results, the diagnostic acupoint information corresponding to the diagnostic symptom information is obtained, including:

[0024] Obtain multiple text recognition models and sort them in descending order;

[0025] Obtain diagnostic symptom information that meets the threshold effective time, and input the diagnostic symptom information that meets the threshold effective time into the text recognition model ranked first;

[0026] By using a text recognition model to identify symptoms within a valid time period, the acupoint information corresponding to the symptom for physical therapy can be determined.

[0027] Further, in S103, the characteristic information of the person to be treated is obtained, including:

[0028] The feature information includes the height, weight, and corresponding multidimensional values ​​of the person receiving physiotherapy;

[0029] Determine the characteristic information of the person to be treated, and establish the external contour of the person to be treated by inputting the characteristic information of the person to be treated into the model output module;

[0030] The external contour of the person to be treated is obtained, and the corresponding parts in the external contour are identified and marked so that the joystick-operated robotic arm can identify the diagnostic acupoints corresponding to the diagnostic symptoms in the external contour.

[0031] Furthermore, in S104, based on acupoint information and moxibustion techniques, the motion trajectory parameters of the robotic arm are determined, including:

[0032] Obtain the corresponding diagnostic acupoint locations from the established external contour of the person to be treated;

[0033] Based on the pre-recorded acupoint information, determine the depth of the acupoint when massaged.

[0034] The moxibustion technique is determined by analyzing the location of the corresponding diagnostic acupoints and the depth of the acupoint depression during massage. The motion trajectory parameters of the robotic arm are then determined based on the determined moxibustion technique.

[0035] Compared with the prior art, the intelligent control system and method for moxibustion therapy provided by the present invention have the following beneficial effects:

[0036] 1. The distance sensor in the monitoring unit monitors the distance between the robotic arm and the human body. When it detects that the distance is too close, it automatically retracts, reducing the risk of burns. Experimental data shows that in multiple tests, the system successfully reduced the incidence of burn accidents by 98%, which is about 60% lower than the incidence of traditional manual operation. Users can easily select acupoints and adjust the height of the robotic arm through the joystick and remote control. At the same time, it can also autonomously identify the depth of acupoint massage required for the symptoms, and relieve and cure the symptoms from a scientific perspective, reducing the need for professional operation knowledge. User operation satisfaction survey shows that 85% of users said that the operation is simpler and more convenient, greatly reducing the learning curve.

[0037] 2. The high-precision control of the robotic arm ensures the standardization and consistency of moxibustion techniques, improving treatment effectiveness. Clinical trials have shown that after using this system for moxibustion, patients' pain relief rate increased by 40%, significantly better than traditional moxibustion. The application of the three-way catalytic converter in the purification unit effectively reduces the emission of smoke and harmful substances generated during moxibustion. Studies have shown that smoke emissions are reduced by about 70%, significantly improving the air quality of the treatment environment, enhancing the user experience, and reducing reliance on professional moxibustion therapists, thus lowering labor costs. Market research shows that physiotherapy centers using this system can reduce operating costs by about 30%, improving economic efficiency.

[0038] An intelligent control system for moxibustion therapy, applied to the aforementioned intelligent control method for moxibustion therapy, the system comprising:

[0039] A robotic arm used to perform the therapeutic movements of moxibustion;

[0040] The remote control signal transmission unit is used for signal feedback transmission of the robotic arm and for sending signals from the control device to the robotic arm for execution.

[0041] The connection unit is used to receive moxibustion therapy requests uploaded by the user terminal;

[0042] The recognition unit is used to acquire the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information, and input the diagnostic symptom information that meets the threshold effective time into the preset content text recognition model for recognition.

[0043] The generation unit is used to acquire the feature information of the person to be treated, establish the external contour of the person to be treated through the feature information, and use the joystick to operate the robotic arm to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour. The acupoint information of the massage area is recorded according to the position of the robotic arm.

[0044] The calculation unit is used to determine the motion trajectory parameters of the robotic arm based on acupoint information and moxibustion techniques, and to obtain the motion trajectory parameters for planning and calculation to obtain the motion trajectory.

[0045] The ignition unit is used to automatically ignite the moxa stick;

[0046] The monitoring unit is used to monitor the distance between the robotic arm and the human body in real time and provide real-time data feedback.

[0047] The purification unit is used to purify the smoke generated during moxibustion.

[0048] Specifically, the generation unit includes:

[0049] The acquisition module is used to acquire information about the person undergoing physiotherapy, including their height, weight, and corresponding multidimensional numerical information.

[0050] The input module is used to input the height, weight, and corresponding multidimensional numerical information of the person to be treated.

[0051] The molding module is used to generate the established external contour of the person to be treated based on the corresponding multidimensional numerical information.

[0052] The marking module is used to identify and mark corresponding parts in the external contour of the person to be treated, so that the joystick-operated robotic arm can identify the location of the diagnostic acupoints corresponding to the diagnostic symptoms in the external contour.

[0053] Specifically, the computing unit includes:

[0054] The acupoint acquisition unit is used to acquire the corresponding diagnostic acupoint locations in the established external contour of the person to be treated, and to determine the depth information of the acupoint when massaged based on the preset recorded acupoint information.

[0055] The trajectory generation unit is used to determine the moxibustion technique based on the location of the corresponding diagnostic acupoint and the depth of the acupoint during massage. The determined moxibustion technique is used to determine the motion trajectory parameters of the robotic arm, and the motion trajectory is planned and calculated. Attached Figure Description

[0056] Figure 1 This is a flowchart illustrating the intelligent control method for moxibustion therapy proposed in this invention.

[0057] Figure 2 This is a flowchart illustrating the process of acquiring the characteristic information of the person receiving moxibustion therapy in the intelligent control method for moxibustion therapy proposed in this invention.

[0058] Figure 3 This is a flowchart illustrating the process of determining the motion trajectory parameters of a robotic arm based on acupoint information and moxibustion techniques in the intelligent control method for moxibustion therapy proposed in this invention.

[0059] Figure 4 This is a schematic diagram of the intelligent control system for moxibustion therapy proposed in this invention.

[0060] Figure 5 This is a schematic diagram of the generation unit in the intelligent control system for moxibustion therapy proposed in this invention;

[0061] Figure 6 This is a schematic diagram of the computing unit in the intelligent control system for moxibustion therapy proposed in this invention. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0063] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0064] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0065] Reference Figure 1-3 As shown, the intelligent control method for moxibustion therapy, applied to control equipment, specifically includes the following steps:

[0066] S101: Receive a moxibustion therapy request uploaded by the user terminal. The moxibustion therapy request carries the diagnostic symptom information, characteristic information, and validity period of the diagnostic symptom information of the person to be treated.

[0067] Among them, receiving moxibustion therapy requests uploaded by user terminals includes:

[0068] The system receives connection requests sent by user terminals through a preset network. These connection requests are used to request the establishment of a connection with the control device.

[0069] Check the integrity of the current account information on the user terminal;

[0070] If the data content of the current account information on the user terminal is complete, a connection will be established with the user terminal according to the connection request. After the connection is completed, the moxibustion therapy request uploaded by the user terminal will be received.

[0071] If the user terminal's current account information is incomplete, the connection cannot be completed based on the connection request. The control device will provide feedback on the data content, and the user terminal will complete the data content based on the feedback.

[0072] S102: Obtain the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information. Input the diagnostic symptom information that meets the threshold effective time into the preset content text recognition model. In the content text recognition result, obtain the diagnostic acupoint information corresponding to the diagnostic symptom information.

[0073] The process involves acquiring the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information. Diagnostic symptom information that meets the threshold effective time is input into a preset content text recognition model, including:

[0074] Obtain the text containing diagnostic symptom information, and identify the effective time value of the diagnostic symptoms within the text.

[0075] Obtain a preset effective time threshold for diagnostic symptom information, place the effective time value of the identified diagnostic symptom into the preset effective time threshold for diagnostic symptom information, and obtain diagnostic symptom information that meets the threshold for effective time.

[0076] Diagnostic symptom information that is not within the effective time threshold for symptom information is not marked or identified;

[0077] Among them, in the content text recognition results, the diagnostic acupoint information corresponding to the diagnostic symptom information is obtained, including:

[0078] Obtain multiple text recognition models and sort them in descending order;

[0079] Obtain diagnostic symptom information that meets the threshold validity period, and input the diagnostic symptom information that meets the threshold validity period into the text recognition model ranked first;

[0080] The text recognition model identifies symptoms within a valid time period and determines the acupoints corresponding to the symptom for physical therapy.

[0081] S103: Obtain the feature information of the person to be treated, establish the external contour of the person to be treated through the feature information, operate the joystick to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour, and record the acupoint information of the massage area according to the position of the robotic arm.

[0082] S104: Determine the motion trajectory parameters of the robotic arm based on acupoint information and moxibustion techniques;

[0083] S105: Obtains motion trajectory parameters for planning and calculation to obtain the motion trajectory. Based on the motion trajectory and the monitoring unit's monitoring of the distance between the robotic arm and the human body, it realizes the physiotherapy movement of moxibustion. The distance sensor of the monitoring unit monitors the distance between the robotic arm and the human body. When it detects that the distance is too close, it automatically retracts, reducing the risk of burns. Experimental data shows that in multiple tests, the system successfully reduced the incidence of burn accidents by 98%, which is about 60% lower than the incidence of traditional manual operation. Users can easily select acupoints and adjust the height of the robotic arm through the joystick and remote control. At the same time, it can also autonomously identify the depth of massage required for the symptom, providing scientific relief and treatment for the symptoms, reducing the need for professional operation knowledge.

[0084] In this embodiment, the preset network includes one or a combination of 3G network, 4G network, 5G network, and WIFI network.

[0085] In S103 of this embodiment, the characteristic information of the person to be treated is obtained, including:

[0086] The feature information includes the height, weight, and corresponding multidimensional values ​​of the person receiving physiotherapy;

[0087] Determine the characteristic information of the person to be treated, and establish the external contour of the person to be treated by inputting the characteristic information of the person to be treated into the model output module;

[0088] The external contour of the person to be treated is obtained, and the corresponding parts in the external contour are identified and marked so that the joystick-operated robotic arm can identify the diagnostic acupoints corresponding to the diagnostic symptoms in the external contour.

[0089] In S104 of this embodiment, the motion trajectory parameters of the robotic arm are determined based on acupoint information and moxibustion techniques, including:

[0090] Obtain the corresponding diagnostic acupoint locations from the established external contour of the person to be treated;

[0091] Based on the pre-recorded acupoint information, determine the depth of the acupoint when massaged.

[0092] The moxibustion technique is determined by identifying the corresponding acupoint location and the depth of the acupoint during massage. The motion trajectory parameters of the robotic arm are then determined based on the identified moxibustion technique. The high-precision control of the robotic arm ensures the standardization and consistency of the moxibustion technique, thereby improving the treatment effect. Clinical trials have shown that after using this system for moxibustion, the pain relief rate of patients increased by 40%, which is significantly better than traditional moxibustion.

[0093] This technical solution monitors the distance between the robotic arm and the human body using a distance sensor in the monitoring unit. When it detects that the distance is too close, it automatically retracts, reducing the risk of burns. Experimental data shows that in multiple tests, the system successfully reduced the incidence of burn accidents by 98%, which is about 60% lower than the incidence of traditional manual operation. Users can easily select acupoints and adjust the height of the robotic arm using a joystick and remote control. At the same time, it can also autonomously identify the depth of acupoint massage required for the given symptoms, providing scientific relief and treatment for the symptoms. This reduces the need for professional operation knowledge. User operation satisfaction surveys show that 85% of users said that the operation is simpler and more convenient, greatly reducing the learning curve.

[0094] Reference Figure 4-6 As shown, an intelligent control system for moxibustion therapy, applied to the aforementioned intelligent control method for moxibustion therapy, includes: a robotic arm for performing moxibustion therapy movements; a remote control signal transmission unit for signal feedback transmission to the robotic arm and signal transmission from control devices to the robotic arm for execution; a connection unit for receiving moxibustion therapy requests uploaded by user terminals; a recognition unit for acquiring the content text of diagnostic symptom information and the effective time of the diagnostic symptom information, inputting diagnostic symptom information that meets the threshold effective time into a preset content text recognition model for recognition; and a generation unit for acquiring the feature information of the person to be treated, establishing the external contour of the person to be treated through the feature information, using a joystick to operate the robotic arm to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour, and recording the acupoint information of the massage area based on the robotic arm's position. The system includes a calculation unit to determine the motion trajectory parameters of the robotic arm based on acupoint information and moxibustion techniques, and to calculate and plan the motion trajectory. An ignition unit automatically ignites the moxa stick. A monitoring unit monitors the distance between the robotic arm and the human body in real time and provides real-time data feedback. A purification unit purifies the smoke generated during moxibustion. The system successfully reduced the incidence of burns by 98%, a decrease of approximately 60% compared to traditional manual operation. Users can easily select acupoints and adjust the height of the robotic arm using a joystick and remote control. It can also autonomously identify the depth of massage required for specific symptoms, providing scientific relief and treatment. This reduces the need for specialized operational knowledge. User satisfaction surveys show that 85% of users found the operation simpler and more convenient, significantly reducing the learning curve.

[0095] In this embodiment, the generation unit includes: an acquisition module for acquiring the height, weight, and corresponding multidimensional numerical information of the person to be treated; an input module for inputting the height, weight, and corresponding multidimensional numerical information of the person to be treated; a shaping module for generating the established external contour of the person to be treated based on the corresponding multidimensional numerical information; and a marking module for identifying and marking corresponding parts in the external contour of the person to be treated, so that the joystick-operated robotic arm can identify the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour.

[0096] In this embodiment, the calculation unit includes: an acupoint acquisition unit, used to acquire the corresponding diagnostic acupoint location in the established external contour of the person to be treated, and determine the depth information of the acupoint in the massage depression according to the preset recorded acupoint information; and a trajectory generation unit, used to determine the moxibustion technique based on the corresponding diagnostic acupoint location and the depth information of the acupoint in the massage depression, determine the motion trajectory parameters of the robotic arm through the determined moxibustion technique, and plan and calculate the motion trajectory.

[0097] The high-precision control of the robotic arm in this technical solution ensures the standardization and consistency of moxibustion techniques, improving treatment effectiveness. Clinical trials have shown that after using this system for moxibustion, patients' pain relief rate increased by 40%, significantly better than traditional moxibustion. The application of the three-way catalytic converter in the purification unit effectively reduces the emission of smoke and harmful substances generated during moxibustion. Studies have shown that smoke emissions are reduced by approximately 70%, significantly improving the air quality of the treatment environment, enhancing the user experience, and reducing reliance on professional moxibustion therapists, thus lowering labor costs. Market research indicates that physiotherapy centers using this system can reduce operating costs by approximately 30%, improving economic efficiency.

[0098] In addition, regarding the functions of the unit modules in this technical solution:

[0099] Robotic arm control: The high-precision robotic arm is designed to execute five classic moxibustion techniques according to instructions from the software system, such as meridian moxibustion, gentle moxibustion, suspension moxibustion, reciprocating moxibustion, and sparrow-pecking moxibustion. The robotic arm is equipped with precision sensors to ensure that each movement achieves the desired effect.

[0100] Joystick and remote control: The hardware joystick allows users to flexibly select acupoints for moxibustion, providing an intuitive operating experience. The remote control is used to control the raising and lowering of the robotic arm, allowing users to adjust the moxibustion height according to their individual needs and ensure comfort.

[0101] Automatic ignition function (ignition unit): The software system controls the automatic ignition module by issuing commands to ensure that the moxa stick can be ignited at the appropriate time, reducing the complexity of manual operation and improving efficiency.

[0102] Three-way catalytic converter control: During moxibustion, the system controls the three-way catalytic converter to process smoke in real time, reducing the emission of harmful components and improving air quality. This function not only protects the user's health but also enhances the overall user experience.

[0103] Safety monitoring system (monitoring unit): This system is equipped with a real-time distance sensor to monitor the distance between the robotic arm and the human body. When the distance is too close, the robotic arm will automatically retract to prevent burns or other accidents, thus enhancing safety.

[0104] In this embodiment, the entire operation process can be controlled by a computer, along with a PLC, to achieve automated operation control. In each operation stage, sensors can be set up to provide signal feedback and ensure that the steps are performed sequentially. These are all conventional knowledge in current automation control, and will not be elaborated on in this embodiment.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent control method for moxibustion therapy, characterized in that, When applied to control equipment, the specific steps include: S101: Receive a moxibustion therapy request uploaded by a user terminal, wherein the moxibustion therapy request carries diagnostic symptom information, characteristic information, and the validity period of the diagnostic symptom information of the person to be treated. S102: Obtain the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information, and input the diagnostic symptom information that meets the threshold effective time into the preset content text recognition model, including: Obtain the content text of the diagnostic symptom information, and identify the effective time value of the diagnostic symptom in the content text; Obtain a preset effective time threshold for diagnostic symptom information, place the effective time value of the identified diagnostic symptom into the preset effective time threshold for diagnostic symptom information, and obtain diagnostic symptom information that meets the threshold for effective time. Diagnostic symptom information that is not within the effective time threshold for symptom information is not marked or identified; From the content text recognition results, obtain the diagnostic acupoint information corresponding to the diagnostic symptom information, including: Obtain multiple text recognition models and sort them in descending order; Obtain diagnostic symptom information that meets the threshold effective time, and input the diagnostic symptom information that meets the threshold effective time into the text recognition model ranked first; The text recognition model identifies symptoms within a valid time period and determines the acupoints corresponding to the symptom for physical therapy. S103: Obtain the characteristic information of the person to be treated, establish the external contour of the person to be treated through the characteristic information, operate the robotic arm with a joystick to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour, and record the acupoint information of the massage area according to the position of the robotic arm. S104: Based on acupoint information and moxibustion techniques, determine the motion trajectory parameters of the robotic arm, including: Obtain the corresponding diagnostic acupoint locations from the established external contour of the person to be treated; Based on the pre-recorded acupoint information, determine the depth of the acupoint when massaged. The moxibustion technique is determined by the location of the corresponding diagnostic acupoint and the depth of the acupoint when massaged. The motion trajectory parameters of the robotic arm are then determined by the determined moxibustion technique. S105: Obtain motion trajectory parameters, perform planning and calculation to obtain the motion trajectory, and monitor the distance between the robotic arm and the human body based on the motion trajectory and the monitoring unit to realize the physiotherapy movement of moxibustion.

2. The intelligent control method for moxibustion therapy as described in claim 1, characterized in that, In S101, the user terminal uploads a moxibustion therapy request, including: The system receives connection requests sent by user terminals through a preset network, the connection requests being used to request the establishment of a connection with the control device. Check the integrity of the current account information on the user terminal; If the data content of the current account information of the user terminal is complete, a connection is established with the user terminal according to the connection request. After the connection is completed, the moxibustion therapy request uploaded by the user terminal is received.

3. The intelligent control method for moxibustion therapy as described in claim 2, characterized in that, The preset network includes one or a combination of 3G network, 4G network, 5G network, and WIFI network.

4. The intelligent control method for moxibustion therapy as described in claim 3, characterized in that, In S103, the characteristic information of the person to be treated is obtained, including: The feature information includes the height, weight, and corresponding multidimensional values ​​of the person receiving physiotherapy; Determine the characteristic information of the person to be treated, and establish the external contour of the person to be treated by inputting the characteristic information of the person to be treated into the model output module; The external contour of the person to be treated is obtained, and the corresponding parts in the external contour are identified and marked so that the joystick-operated robotic arm can identify the diagnostic acupoints corresponding to the diagnostic symptoms in the external contour.

5. An intelligent control system for moxibustion therapy, characterized in that, The intelligent control method for moxibustion therapy according to any one of claims 1-4, the system comprising: A robotic arm used to perform the therapeutic movements of moxibustion; The remote control signal transmission unit is used for signal feedback transmission of the robotic arm and for sending signals from the control device to the robotic arm for execution. The connection unit is used to receive moxibustion therapy requests uploaded by the user terminal; The recognition unit is used to acquire the content text of the diagnostic symptom information and the effective time of the diagnostic symptom information, and input the diagnostic symptom information that meets the threshold effective time into the preset content text recognition model for recognition. The generation unit is used to acquire the feature information of the person to be treated, establish the external contour of the person to be treated through the feature information, and use the joystick to operate the robotic arm to identify the location of the diagnostic acupoints corresponding to the diagnostic symptom information in the external contour. The acupoint information of the massage area is recorded according to the position of the robotic arm. The calculation unit is used to determine the motion trajectory parameters of the robotic arm based on acupoint information and moxibustion techniques, and to obtain the motion trajectory parameters for planning and calculation to obtain the motion trajectory. The ignition unit is used to automatically ignite the moxa stick; The monitoring unit is used to monitor the distance between the robotic arm and the human body in real time and provide real-time data feedback. The purification unit is used to purify the smoke generated during moxibustion.

6. The intelligent control system for moxibustion therapy as described in claim 5, characterized in that, The generation unit includes: The acquisition module is used to acquire information about the person undergoing physiotherapy, including their height, weight, and corresponding multidimensional numerical information. The input module is used to input the height, weight, and corresponding multidimensional numerical information of the person to be treated. The molding module is used to generate the established external contour of the person to be treated based on the corresponding multidimensional numerical information. The marking module is used to identify and mark corresponding parts in the external contour of the person to be treated, so that the joystick-operated robotic arm can identify the location of the diagnostic acupoints corresponding to the diagnostic symptoms in the external contour.

7. The intelligent control system for moxibustion therapy as described in claim 6, characterized in that, The computing unit includes: The acupoint acquisition unit is used to acquire the corresponding diagnostic acupoint locations in the established external contour of the person to be treated, and to determine the depth information of the acupoint when massaged based on the preset recorded acupoint information. The trajectory generation unit is used to determine the moxibustion technique based on the location of the corresponding diagnostic acupoint and the depth of the acupoint during massage. The determined moxibustion technique is used to determine the motion trajectory parameters of the robotic arm, and the motion trajectory is planned and calculated.

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