Automatic moxibustion therapy control method and control system
By adopting automated moxibustion therapy control methods and control systems in moxibustion therapy equipment, and using technologies such as positioning patches and metal scanning, the accuracy of moxibustion therapy operations and temperature control accuracy are achieved, the problem of poor treatment effects in the existing technology is solved, and the effect of moxibustion therapy and the safety of equipment are improved.
Patent Information
- Application Number
- CN202510115394.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-04-11
AI Technical Summary
Existing moxibustion and therapy equipment cannot accurately locate acupoints and grasp the differences in individual temperature tolerance values, resulting in a significant reduction in the treatment effect.
The automatic moxibustion therapy control method and control system are adopted to set positioning patches at the acupoints, and positioning information is obtained using metal scanning, positioning signals or visual recognition technology. The moxibustion module is controlled to move to the corresponding acupoints, and precise temperature control and automatic dusting are achieved through the temperature feedback and distance monitoring of the positioning patches.
The accuracy and temperature control accuracy of moxibustion therapy operations are achieved, the effectiveness of moxibustion therapy and the safety of equipment are improved, and the labor intensity of workers and the cost of moxibustion therapy operations are reduced.
Smart Images
Figure CN119792073A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of moxibustion equipment, and in particular to an automated moxibustion control method and control system. Background Art
[0002] Moxibustion plays an important role in traditional medicine and is a natural therapy. It is made of moxa sticks or moxa cones made of moxa leaves. The heat generated by burning moxa stimulates the acupuncture points or specific parts of the human body, thereby stimulating the activity of meridian qi to adjust the body's skills, so as to achieve the purpose of preventing and curing diseases. Moxibustion therapy is to make moxa cones or moxa sticks with moxa leaves (or moxa wool), ignite them and fumigate the acupuncture points or affected areas. Moxibustion therapy is generally performed by professional moxibustion therapists according to the cold, heat, deficiency and excess of the patient's body, select different acupuncture points, accurately locate and determine the moxibustion time and firepower according to different body systems, so as to achieve twice the result with half the effort.
[0003] When using handheld moxibustion for treatment, the practitioner needs to maintain a stable posture for a long time, accurately locate the acupuncture points for a long time, and pay attention to the distance between the moxa stick and the skin to prevent burns or insufficient heat accumulation that affects the treatment effect. This operation method is relatively cumbersome and requires certain technical support. It is also a challenge to the practitioner's physical strength. Because it requires manual operation, the practitioner must participate in the whole process and can only serve one patient at a time, which increases labor costs and reduces time efficiency.
[0004] Existing moxibustion therapy devices can often only provide the function of clamping moxa sticks, but usually can only make patients feel heat. They cannot achieve the effect of stimulating moxibustion sensation by accurately locating acupuncture points and understanding individual differences in temperature tolerance, which greatly reduces the treatment effect. Summary of the invention
[0005] In order to solve the problem that the existing moxibustion therapy devices in the prior art can only provide the function of clamping moxa sticks, but usually can only make patients feel heat, and cannot achieve the effect of stimulating moxibustion sensation by accurately locating acupoints and understanding the differences in individual temperature tolerance values, resulting in a significant reduction in the treatment effect, the present application provides an automated moxibustion therapy control method and control system.
[0006] The present application provides an automated moxibustion control method and control system that adopts the following technical solutions: an automated moxibustion control method, the steps comprising: Set positioning stickers at corresponding acupuncture points; Acquire the positioning information of the positioning sticker and control the moxibustion module to move to the corresponding acupuncture point; Setting the preset temperature of the positioning sticker and the single operation duration of the moxibustion module; Acquire the temperature information of the positioning sticker at the corresponding acupuncture point and control the movement of the moxibustion module; Acquiring distance information between the positioning sticker and the moxibustion module; When the single operation time is reached, the distance information is recorded to control the moxibustion module to perform dusting; When dusting is completed, the moxibustion module is controlled to reset according to the recorded distance information; When the distance between the positioning sticker and the moxibustion module reaches a set value, the moxibustion module is controlled to stop working and reset.
[0007] Optionally, the acquiring of the positioning information of the positioning sticker specifically includes: determining a specific position of the positioning sticker on the human body by means of metal scanning or position signal or visual recognition.
[0008] By adopting the above technical solution, when the metal scanning method is adopted, the positioning sticker is made of metal material, and a metal scanner is arranged on the moxibustion module. The position of the positioning sticker is scanned, detected and recorded by metal scanning. When the position signal method is adopted, a signal transmitter is arranged inside the positioning sticker, and a matching signal receiver is arranged on the moxibustion module. The signal receiver receives and records the position signal of the positioning sticker. When the visual recognition method is adopted, a visual camera is arranged on the moxibustion module. The visual camera captures the image of the human body, and determines and records the position of the positioning sticker on the human body based on the visual information.
[0009] Optionally, the setting of the preset temperature of the positioning sticker and the single operation duration of the moxibustion module specifically includes: setting the moxibustion temperature of the corresponding acupoints and the single moxibustion duration according to different acupoints.
[0010] By adopting the above technical solution, different moxibustion treatments can be performed on different acupoints according to treatment needs.
[0011] Optionally, the acquiring of the temperature information of the positioning sticker at the corresponding acupuncture point and the controlling of the movement of the moxibustion module specifically include measuring the temperature at the corresponding moxibustion acupuncture point, comparing the measured temperature with a preset temperature, if the measured temperature is lower than the preset temperature, controlling the moxibustion device to move closer to the acupuncture point to increase the moxibustion temperature, if the measured temperature is higher than the preset temperature, controlling the moxibustion device to move away from the acupuncture point to lower the moxibustion temperature, and if several measured temperatures are within the preset temperature range, controlling the moxibustion device to continue the moxibustion operation.
[0012] By adopting the above technical solution, it is ensured that the acupoints are always at the optimal moxibustion temperature during the moxibustion treatment process to achieve the best treatment effect.
[0013] Optionally, when the single operation time is reached, the distance information is recorded to control the moxibustion module to perform dusting, specifically including: setting the maximum burning time of the moxa stick in a single operation, when the moxibustion time reaches the maximum time, controlling the moxibustion module to perform dusting on the principle acupuncture points to remove the ash produced by the burning of the moxa stick.
[0014] By adopting the above technical solution, moxa sticks of different lengths and thicknesses have different burning rates and ash production speeds. The single operation time is set to prevent the ash produced by the burning moxa stick from falling on the patient's body and causing accidents, thereby improving safety performance.
[0015] Optionally, when the distance between the positioning sticker and the moxibustion module reaches a set value, the moxibustion module is controlled to stop operating and reset, specifically including: when the detected distance between the positioning sticker and the moxibustion module reaches a set value, it is determined that the moxa stick is burned out, and the moxibustion module is controlled to avoid acupuncture points and stop running to wait for replacement of the moxa stick.
[0016] By adopting the above technical solution, the moxibustion operation can be stopped after the moxa stick is burned out, so that the moxa stick can be replaced in time, thereby improving the efficiency of the moxibustion operation and the moxibustion treatment effect.
[0017] An automated moxibustion control system, comprising: Positioning stickers are used to attach to corresponding acupoints and cooperate with moxibustion equipment to locate the acupoints and measure the temperature at the acupoints; Moxibustion equipment, used to hold moxa sticks and control the movement of moxa sticks to perform moxibustion treatment; Interactive device, used for human-computer interaction and setting control values.
[0018] Optionally, the positioning sticker includes: A positioning module, used to send location information; Temperature measurement module, used to detect the temperature at the acupoints; A signal transmission module, used to transmit position information and temperature information to the main control panel; A power supply module is used to supply power to the positioning module, the temperature measurement module and the signal transmission module.
[0019] Optionally, the moxibustion device includes: A signal transmission module, used to receive the position information and temperature information of the positioning sticker and receive the control instructions of the interactive device; A main control panel, used to receive information and instructions from the positioning sticker and the interactive device and control the operation of the moxibustion device; Temperature measurement module, used to monitor the temperature of the burning end of the moxa stick; A distance measuring module, used for monitoring the distance between the positioning sticker and the moxa stick; A clamping module, used for clamping moxa sticks; A feeding module, used for driving the clamping module to move; The smoke treatment module is used to discharge or collect smoke generated by the burning of moxa sticks.
[0020] Optionally, the interaction device includes: A display module, used to display the operating status of the moxibustion device; Interaction module, used to input control instructions and set control parameters; A signal transmission module is used to transmit control instructions and control parameters to the main control panel; A power supply module is used to supply power to the display module, the interaction module and the signal transmission module.
[0021] In summary, the present application includes at least one of the following beneficial technical effects: 1. In this application, the positioning sticker is used to accurately locate the moxibustion points, so as to avoid the misalignment of the moxibustion points caused by the patient's change of body posture, and the positioning is accurate, which improves the accuracy of the moxibustion operation; 2. In this application, the temperature feedback of the positioning sticker is used to ensure that the temperature of the moxibustion point can reach the temperature required for the moxibustion feeling, and the temperature control is accurate. At the same time, it prevents the skin damage caused by excessive temperature, thereby improving the moxibustion effect and the safety of the moxibustion equipment; 3. In this application, the interactive device is used to realize human-computer interaction and memory mode, and personalized settings are realized for different patients, so that the temperature range and duration can be customized for different patients, which expands the application scope of the moxibustion device and improves the effect of moxibustion therapy; 4. This application realizes automated moxibustion operation, reduces the labor intensity of operators, and reduces the cost of moxibustion operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a flow chart of an automated moxibustion control method in an embodiment of the present application.
[0023] Figure 2 It is a schematic diagram of the system composition of an automated moxibustion control system in an embodiment of the present application. DETAILED DESCRIPTION
[0024] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.
[0025] See also Figure 1-2. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions for the implementation of this application, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this application. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this application without substantially changing the technical content.
[0026] The following is combined with Figure 1-2 This application is described in further detail.
[0027] This embodiment discloses an automated moxibustion control method and control system.
[0028] Reference Figure 1 , an automated moxibustion control method, the steps comprising: S1. Place positioning stickers at corresponding acupuncture points Specifically, the physician places a positioning sticker on the corresponding acupoint according to the acupoints that the patient needs to treat with moxibustion. If there are multiple acupoints that need moxibustion treatment, multiple positioning stickers are placed. The positioning sticker is arranged in a circular shape. When placing the positioning sticker, the acupoint corresponds to the middle circular ring of the positioning sticker. S2. Obtain the positioning information of the positioning sticker and control the moxibustion module to move to the corresponding acupuncture point Specifically, after the moxibustion device is started, the moxibustion module uses metal scanning or position signal or visual recognition to determine the position of the positioning sticker on the human body. When the metal scanning method is used, the positioning sticker is made of metal material, and a metal scanner is set on the moxibustion module. The position of the positioning sticker is scanned, detected and recorded by metal scanning. When the position signal method is used, a signal transmitter is set inside the positioning sticker, and a matching signal receiver is set on the moxibustion module. The signal receiver receives and records the position signal of the positioning sticker. When the visual recognition method is used, a visual camera is set on the moxibustion module. The visual camera captures the image of the human body, determines and records the position of the positioning sticker on the human body based on the visual information, and after identifying and recording the position of the positioning sticker, the moxibustion module moves to the position of the positioning sticker to perform moxibustion treatment. S3, setting the preset temperature of the positioning sticker and the single operation duration of the moxibustion module Specifically, the operator sets the preset temperature range of the positioning patch according to the specific acupoints through the interactive device. Several commonly used moxibustion modes are preset in the interactive device to set different temperature preset value ranges for different groups of people: Sensitive mode, the temperature range is 41-43℃, and the middle value is 42℃. Continuous moxibustion can stimulate the moxibustion sensation more; In normal mode, the temperature range is 42.5-44.5℃, and the middle value is 43.5℃. Continuous moxibustion can stimulate the moxibustion sensation more; In enhanced mode, the temperature range is 43.5-45.5℃, and the middle value is 44.5℃. Continuous moxibustion can stimulate the moxibustion sensation more; After selecting the set moxibustion mode or customizing the preset temperature range, the moxibustion module runs to perform the moxibustion operation. When the positioning sticker detects that the temperature at the acupoint exceeds the preset temperature range, the moxibustion module makes corresponding adjustments to ensure that the acupoint is always at the set temperature during moxibustion therapy, thereby improving the effect of moxibustion therapy. During the moxibustion therapy, if the patient feels that the preset temperature is unbearable, the preset temperature can be modified through the interactive device. At the same time, the duration of a single operation is set according to the size of the moxa stick. Moxa sticks of different lengths and thicknesses have different burning rates and ash production speeds. The duration of a single operation is set to avoid accidents caused by the ash produced by the burning moxa stick, thereby improving safety performance. S4, obtaining the temperature information of the positioning sticker at the corresponding acupuncture point and controlling the movement of the moxibustion module Specifically, during the moxibustion treatment, the positioning sticker continuously monitors the temperature at the acupoint, and compares the measured temperature with the preset temperature. If the measured temperature is lower than the preset temperature range, the moxibustion device is controlled to be close to the acupoint to increase the moxibustion temperature. If the measured temperature is higher than the preset temperature range, the moxibustion device is controlled to be away from the acupoint to lower the moxibustion temperature. If the measured temperature is between the preset temperature range, the moxibustion device is controlled to continue the moxibustion treatment, which ensures that the temperature of the acupoint is always in the most suitable state during the moxibustion treatment, ensures that the moxibustion treatment achieves the best effect, and improves the efficacy of the moxibustion treatment. S5. Obtaining distance information between the positioning sticker and the moxibustion module Specifically, during the moxibustion process, the distance measuring module on the moxibustion module continuously monitors the distance between the positioning sticker and the moxibustion module, thereby controlling the distance between the burning point of the moxa stick and the human body. When the human body moves, the moxibustion module is controlled to move in time through the change in distance to prevent accidents such as burns. S6, when the single operation time is reached, the distance information is recorded to control the moxibustion module to perform dusting. Specifically, according to the type of moxa stick used, the single operation time of moxibustion therapy is set. When the single operation time of moxibustion therapy reaches the preset value, the ash produced by the burning of the moxa stick needs to be removed. The distance measuring module measures and records the distance between the positioning sticker and the moxibustion module at this time. The moxibustion module moves to the dusting place to remove the ash produced by the burning of the moxa stick. S7: When dusting is completed, the moxibustion module is reset according to the recorded distance information. Specifically, the moxibustion module moves to the dusting place to remove the ash produced by the burning moxa stick, and then returns to the original position before the dusting according to the recorded distance information to continue the moxibustion operation. After the temperature at the positioning sticker rises, the positioning sticker continuously measures the temperature of the corresponding acupoint, and adjusts the position of the moxibustion module according to the acupoint temperature measured by the positioning sticker, thereby adjusting the distance between the moxa stick and the human body, so as to achieve the best moxibustion effect, so that the moxibustion temperature is maintained within the preset temperature range; S8, when the distance between the positioning sticker and the moxibustion module reaches a set value, the moxibustion module is controlled to stop working and reset Specifically, during the moxibustion treatment, the distance between the positioning sticker and the moxibustion module is continuously monitored. When the distance between the positioning sticker and the moxibustion module is close to the set minimum distance, the moxa stick is in a burned-out state, and the moxibustion module is controlled to move away from the human body and return to the initial position to stop running and wait for the moxa stick to be replaced. After replacing the moxa stick, the above operation is repeated to realize automated moxibustion treatment.
[0029] Reference Figure 2 , an automated moxibustion control system, comprising: A positioning sticker is used to be attached to the corresponding acupuncture point, and cooperates with the moxibustion equipment to locate the acupuncture point and measure the temperature at the acupuncture point. The positioning sticker is set in a circular ring shape. When the positioning sticker is attached, the acupuncture point is located at the center ring of the positioning sticker. A positioning module is set inside the positioning sticker, and the positioning module is used to send position information. A temperature measurement module is set inside the positioning sticker, and the temperature measurement module uses a temperature sensor to detect the temperature at the acupuncture point. A signal transmission module is set inside the positioning sticker, and the signal transmission module is used to transmit the position information and temperature information to the main control panel. It also includes a power module, and the power module is used to supply power to the positioning module, the temperature measurement module and the signal transmission module; The moxibustion device is used to hold the moxa stick and control the movement of the moxa stick to perform moxibustion. The moxibustion device includes a signal transmission module for receiving the position information and temperature information of the positioning sticker and receiving the control instructions of the interactive device. The signal transmission module can use wireless signal transmission or wired signal transmission; It includes a main control panel, which is used to receive information and instructions from the positioning sticker and the interactive device and control the operation of the moxibustion device; It includes a temperature measurement module, which uses a laser temperature sensor to monitor the temperature of the burning end of the moxa stick; It includes a distance measuring module, which uses a laser rangefinder to monitor the distance between the positioning sticker and the moxa stick; It includes a clamping module, which uses a clamping claw to clamp the moxa stick and drive the moxa stick to move for moxibustion treatment; It includes a feeding module, which uses a multi-axis robot, and the multi-axis robot drives the clamping module to move to perform moxibustion operations; It includes a smoke processing module, which is used to discharge or collect smoke generated by the burning of moxa sticks; An interactive device, used for human-computer interaction and setting control values, includes a display module, and the display module uses a display screen to display the operating status of the moxibustion device; It includes an interactive module, which may adopt one or more of a touch screen, voice interaction, and gesture interaction, and is used to input control instructions and set control parameters; It includes a signal transmission module, which is used to transmit control instructions and control parameters to the main control panel; It also includes a power module, which is used to supply power to the display module, the interaction module and the signal transmission module.
[0030] In summary, in this application, the positioning sticker is used to accurately locate the moxibustion points, so as to avoid the dislocation of the moxibustion points caused by the patient's change of body shape, and the positioning is accurate, which improves the accuracy of the moxibustion operation; in this application, the temperature feedback of the positioning sticker is used to ensure that the temperature of the moxibustion points can reach the temperature required for the moxibustion feeling, and the temperature control is accurate, while preventing the situation of skin damage caused by excessive temperature, thereby improving the moxibustion effect and the safety of the moxibustion equipment; in this application, the interactive device is used to realize human-computer interaction and memory mode, and personalized settings are realized for different individual patients, so that the temperature range and duration can be customized for different patients, and the scope of application of the moxibustion equipment is expanded, and the effect of moxibustion is improved; this application realizes automated moxibustion operation, reduces the labor intensity of the operators, and reduces the cost of moxibustion operation. Therefore, this application effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.
[0031] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the present application shall still be included in the protection scope of the present application.
Claims
1. An automated moxibustion control method, characterized in that the steps include: Set positioning stickers at corresponding acupuncture points; Acquire the positioning information of the positioning sticker and control the moxibustion module to move to the corresponding acupuncture point; Setting the preset temperature of the positioning sticker and the single operation duration of the moxibustion module; Acquire the temperature information of the positioning sticker at the corresponding acupuncture point and control the movement of the moxibustion module; Acquiring distance information between the positioning sticker and the moxibustion module; When the single operation time is reached, the distance information is recorded to control the moxibustion module to perform dusting; When dusting is completed, the moxibustion module is controlled to reset according to the recorded distance information; When the distance between the positioning sticker and the moxibustion module reaches a set value, the moxibustion module is controlled to stop working and reset.
2. An automated moxibustion control method according to claim 1, characterized in that: The obtaining of the positioning information of the positioning sticker specifically includes: determining the specific position of the positioning sticker on the human body by metal scanning or position signal or visual recognition.
3. An automated moxibustion control method according to claim 1, characterized in that: The setting of the preset temperature of the positioning sticker and the single operation duration of the moxibustion module specifically includes: setting the moxibustion temperature of the corresponding acupoints and the single moxibustion duration according to different acupoints.
4. The automated moxibustion control method according to claim 1, characterized in that: The method of obtaining the temperature information of the positioning sticker at the corresponding acupuncture point and controlling the movement of the moxibustion module specifically includes measuring the temperature at the corresponding moxibustion acupuncture point, comparing the measured temperature with the preset temperature, if the measured temperature is lower than the preset temperature, controlling the moxibustion device to move closer to the acupuncture point to increase the moxibustion temperature, if the measured temperature is higher than the preset temperature, controlling the moxibustion device to move away from the acupuncture point to lower the moxibustion temperature, and if the measured temperature is within the preset temperature range, controlling the moxibustion device to continue the moxibustion operation.
5. The automated moxibustion control method according to claim 1, characterized in that: When the single operation time is reached, the distance information is recorded to control the moxibustion module to dust off, specifically including: setting the maximum burning time of the moxa stick in a single operation, when the moxibustion time reaches the maximum time, controlling the moxibustion module to dust off the principle acupuncture points to remove the ash produced by the burning of the moxa stick.
6. The automated moxibustion control method according to claim 1, characterized in that: When the distance between the positioning sticker and the moxibustion module reaches a set value, the moxibustion module is controlled to stop working and reset, specifically including: when the detected distance between the positioning sticker and the moxibustion module reaches a set value, it is determined that the moxa stick is burned out, and the moxibustion module is controlled to avoid acupuncture points and stop running to wait for the moxa stick to be replaced.
7. A control system for implementing the automated moxibustion control method according to any one of claims 1 to 6, characterized in that: include: Positioning stickers are used to attach to corresponding acupoints and cooperate with moxibustion equipment to locate the acupoints and measure the temperature at the acupoints; Moxibustion equipment, used to hold moxa sticks and control the movement of moxa sticks to perform moxibustion treatment; Interactive device, used for human-computer interaction and setting control values.
8. The control system according to claim 7, characterized in that: The positioning sticker comprises: A positioning module, used to send location information; Temperature measurement module, used to detect the temperature at the acupoints; A signal transmission module, used to transmit position information and temperature information to the main control panel; A power supply module is used to supply power to the positioning module, the temperature measurement module and the signal transmission module.
9. The control system according to claim 7, characterized in that: The moxibustion device comprises: A signal transmission module, used to receive the position information and temperature information of the positioning sticker and receive the control instructions of the interactive device; A main control panel, used to receive information and instructions from the positioning sticker and the interactive device and control the operation of the moxibustion device; Temperature measurement module, used to monitor the temperature of the burning end of the moxa stick; A distance measuring module, used for monitoring the distance between the positioning sticker and the moxa stick; A clamping module, used for clamping moxa sticks; A feeding module, used for driving the clamping module to move; The smoke treatment module is used to discharge or collect smoke generated by the burning of moxa sticks.
10. The control system according to claim 7, characterized in that: The interactive device comprises: A display module, used to display the operating status of the moxibustion device; Interaction module, used to input control instructions and set control parameters; A signal transmission module is used to transmit control instructions and control parameters to the main control panel; A power supply module is used to supply power to the display module, the interaction module and the signal transmission module.