Multifunctional health-care moxibustion robot

Abstract

According to the multifunctional health care moxibustion robot and the system thereof, human body acupuncture points are predicted in images recorded by the visual moxibustion head through an artificial intelligence algorithm, communication with the wrist strap type physical sign detector is carried out to obtain human body physical sign information, and therefore a moxibustion scheme is formulated to control the multi-axis mechanical arm to control the visual moxibustion head; human body moxibustion with controllable manipulation is realized. According to the moxibustion robot, a system is formed through an indoor positioning technology, a visual moxibustion head capable of generating rotational flow and a wrist strap type physical sign detector are detachably connected to the free end of a multi-axis mechanical arm, and RES-NET human body shape recognition and FCN acupoint semantic segmentation algorithms are adopted for cooperation; the effects of accurately locating the acupuncture points, adjusting the heat radiation intensity and the action area, and formulating a multi-manipulation and multi-parameter set moxibustion scheme are achieved.

Description

Technical Field

[0001] The present invention relates to a moxibustion robot, in particular to a multifunctional health-care moxibustion robot, and belongs to the field of intelligent moxibustion therapy devices. Background Art

[0002] Moxibustion is to make moxa from moxa leaves, and then prepare it into strips or sticks, ignite it at the head, and heat stimulate the acupuncture points of the human body, thereby activating the meridians and unblocking the collaterals, and has the effect of preventing and assisting the treatment of human diseases. Therefore, there are mainly two ways of traditional moxibustion. The first is to ignite the moxa stick at the end of the acupuncture needle, so as to strengthen and improve the effect of moxibustion through the dual effects of mechanical acupuncture and heat assistance, which is used for difficult or moderately severe patients. The second is to use moxa sticks or moxa sticks to stimulate the acupuncture points with heat radiation above the acupuncture points, and perform health care operations through five moxibustion techniques: circling, hovering, reciprocating, pecking, and following the meridians.

[0003] Therefore, imitating the traditional second method, the moxa stick used by the existing robot is approximately a thick cylinder, which should be called a moxa stick. This type of moxibustion cannot be accurately aligned with the millimeter-level acupoint range due to its large heat radiation surface, resulting in the actual moxibustion effect of stimulating multiple acupoints near the head position at the same time. This effect may be mixed with some acupoints that are not expected to be stimulated, thereby reducing or having a negative health-care effect.

[0004] In addition, the existing moxibustion robot uses an additional finger ring to predict physiological signs, so as to carry out physical therapy. This is also contrary to the traditional wrist pulse measurement method, resulting in the problem of pulse prediction deviation.

[0005] Third, the existing moxibustion robots use visual neural network algorithms to identify acupoints, but no specific identification scheme is given for people of different body types, so there is still the problem of accurate acupoint identification.

[0006] Therefore, under the current standardization of moxa stick products, how to solve the problem of controlling the heat radiation area, ensuring the accuracy of physical sign prediction, returning to or close to the traditional method, and ensuring the accuracy of acupuncture points for people of different body shapes are all urgent problems to be solved. This can ensure accurate health care. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a multifunctional health-care moxibustion robot, which, through a specially designed moxibustion head, a reconstructed visual algorithm, and a physical sign testing wristband, forms a moxibustion robot system with controllable heat radiation area, more universal algorithm, and more precise acupoint finding.

[0008] To this end, on the one hand, the multifunctional health care moxibustion robot provided by the present invention includes a mobile main body, a multi-axis robotic arm connected to the mobile main body, a visual moxibustion head capable of generating a swirl flow detachably connected to the free end of the multi-axis robotic arm, a purification pump connected to the visual moxibustion head, and a wristband type physical sign detector. Among them, A socket is provided on the mobile main body for pressing and trimming the burning head of the moxibustion product in the visual moxibustion head and inserting it for lighting the moxibustion product when lighting the moxibustion. A touch panel is provided on one side of the mobile main body, a hidden controllable mechanical rotating caster is provided at the bottom of the mobile main body, and a first positioning label for indoor positioning is provided on the front side of the mobile main body. A main board is provided in the cavity of the mobile main body for controlling the multi-axis robotic arm, the visual moxibustion head, pressing, trimming and lighting, communicating with the touch panel for human-computer interaction, and also for predicting human acupoints in the images recorded by the visual moxibustion head through an artificial intelligence algorithm, and communicating with the wristband type physical sign detector to obtain human physical sign information, so as to formulate a moxibustion plan to control the multi-axis robotic arm to manipulate the visual moxibustion head and realize controllable manual human moxibustion.

[0009] Optionally, the multi-axis robotic arm is a six-axis robotic arm.

[0010] Optionally, the visual moxibustion head capable of generating a swirl flow includes an outer cylinder having a cavity for accommodating the moxibustion product, an end cap detachably sealed to the top of the outer cylinder, a wire management ring provided on the outer peripheral wall of the outer cylinder and communicating with the space inside the cylinder, and a cavity for accommodating a single-chip microcomputer integrating a rechargeable power source provided on the outer peripheral wall of the outer cylinder. A high-definition pinhole camera and a rangefinder are provided on the outer peripheral wall of one end of the outer cylinder opposite to the end cap, and the sensing ends of the high-definition pinhole camera and the rangefinder (i.e., the front ends of the camera lens and the signal transceiver of the rangefinder respectively) are flush with the end face of one end of the outer cylinder. Among them, At least three air holes are provided on the end cap, and at least two of the air holes are provided with micro fans for guiding air to the air holes they face, leading out an air duct from the air holes faced by the micro fans, and the end of the air duct communicates with the cavity. The central axis of the air duct has a horizontal section that forms an acute angle or is parallel to the tangent line of the air inlet point, and a heating device is provided on the air duct of the non-horizontal section for heating the air introduced into the air duct. The outer wall of the cavity is also provided with a lead screw mechanism including a slider. A sliding ring detachably connected to the slider is slidably arranged on the inner wall of the cavity. A moving groove is formed in the outer wall of the cavity. A pair of silica gel sealing curtains are arranged in the moving groove along the moving direction of the slider. The detachable connection part with the slider passes through the middle of the pair of silica gel sealing curtains. Thus, when the slider moves to drive the sliding ring to slide, only the detachable connection part and its surrounding areas have an uncovered area, and the other areas are still in the contact and mating state of the silica gel sealing curtains. The sliding ring and the moxibustion product can be in interference fit or detachably connected to the moxibustion product.

[0011] Preferably, a protective structure detachably connected to the cavity is further arranged in front of the burning head to prevent ash from falling on the burning head. The area of the protective structure is not larger than the cross-sectional area of the burning head. In this way, a movement gap for swirling flow is reserved between the protective structure and the cavity.

[0012] The wires (including power lines, signal lines, control lines, etc.) led out by the motors in the micro fan, the heating device, the high-definition pinhole camera, the rangefinder, and the lead screw mechanism are centrally introduced into the wire management ring and then connected and led into the storage bin to be electrically connected to the single-chip microcomputer, so that the single-chip microcomputer controls the micro fan, the heating device, the high-definition pinhole camera, the rangefinder, and the lead screw mechanism according to the instructions wirelessly transmitted by the main board.

[0013] It can be understood that the air inlet point defines the geometric center of the communication interface between the horizontal section and the inner wall. When the slider is longer along the moving direction, the length of the covered area of the uncovered area is longer, and the sealing effect is better. Due to the continuous suction of the purification pump, the actually measured flue gas flowing out of the uncovered area can be ignored. The micro fan introduces air into the air duct from the at least two air holes and enters the tangential flow in the horizontal section. In this way, the multiple introduced air forms a swirling flow for the unburned moxibustion product, and blows out at the burning head to form a swirling flow, and a swirling flow tip is formed at the front end. The total intensity of thermal radiation can be adjusted according to different wind speeds, and the thermal radiation area can be continuously adjusted according to the distance from the human body.

[0014] Optionally, the diameter of the socket is 3-5 times the diameter of the moxibustion product. A turntable is arranged directly below. A trimming knife and a lighter are arranged on the turntable. The main board controls the rotation of the turntable, as well as the work control of the trimming knife and the lighter by controlling the multi-axis robotic arm and the motor of the lead screw mechanism, so as to respectively achieve pressing and trimming short, and lighting the moxibustion product. When pressing, control the moxibustion product to descend through the socket and press and lift at least one cycle on the trimming knife in the closed state, and then control the blade to turn down to pour the ash into the ash bag directly below the turntable, and then restore the blade to the horizontal closed state. When trimming short, control the trimming knife to be in the open state. At this time, control the moxibustion product to descend through the socket and the opening of the trimming knife, and then control the trimming knife to close, and finally lift the moxibustion product out of the socket. When using the protective structure, the protective structure must be removed during the operations of pressing and trimming short.

[0015] Optionally, the wristband - type physical sign detector includes a wristband, a pressure sensor disposed on the wristband, and a wireless transmitter. The wireless transmitter is used to send the pulse signal (belonging to human body sign information) of the pressure sensor based on the wrist pulse to the main board, so as to formulate an moxibustion plan.

[0016] Optionally, the method for predicting human body acupoints in the image recorded by the visual moxibustion head through an artificial intelligence algorithm includes: S1 Recruit multiple volunteers of different body types (male and female), and let multiple medical experts mark the moxibustion - applicable acupoints on the bodies of all volunteers; S2 The main board controls the single - chip microcomputer, so that the visual moxibustion head uses the high - definition pinhole camera to collect multiple marked images of all volunteers with a unified size, and divides them into a training set, a validation set, and a test set; S3 Construct a convolutional neural network with a residual mechanism (RES - NET), use the training set and the validation set to train and validate for each body type, predict the body type category to which the marked image belongs, and construct a fully convolutional neural network (FCN). Use the training set and the validation set for training and validation to achieve semantic segmentation of the marked acupoints. Construct a unified rectangular coordinate system in all marked images, calculate the average coordinates of each moxibustion - applicable acupoint under each body type predicted by the test set in the trained RES - NET, and take it as the standard coordinate; S4 Use the test image of the patient to be measured recorded by the visual moxibustion head, input it into the trained RES - NET to predict the body type of the patient to be measured, and mark the required moxibustion acupoints in the test image according to the standard coordinates, as the predicted human body acupoints.

[0017] It should be understood that due to different body types, the positions of acupoints are different in the visual image of the moxibustion head. Since the action range of acupoints is usually 1 - 3 mm, these differences caused by body types are extremely important. The present invention quickly identifies body type classification according to RES - NET, and based on the average coordinates of acupoints of this type of body type population calculated by FCN semantic segmentation, realizes the semantic embedding of acupoints in the test image of the patient. At this time, the visual moxibustion head can identify the accurate acupoint positions under this type of body type, and thus through the control of the multi - axis robotic arm to move, achieve accurate acupoint searching for the swirling flow.

[0018] Optionally, communicating with the wristband - type physical sign detector to obtain human body sign information, so as to formulate an moxibustion plan specifically includes: Q1 Multiple medical experts take the pulses of different volunteers, classify multiple types of pulse conditions, all volunteers wear wristbands, and the main board receives the pulse signals; Based on the pulse signal, the Q2 main board constructs multiple time-varying pulse spectra for each type of pulse condition, defines a time microelement, and obtains the pulse signal intensity value within each time microelement, that is, the microelement intensity; Q3 grayscales or pseudo-colors the pulse signal intensity value, and within a preset time period, takes the grayscale or color values corresponding to all time microelements as a pixel value to construct a characterization map. Thus, the characterization maps converted from all time-varying pulse spectra are segmented into a training set and a validation set, and a convolutional neural network (CNN) is used for training and validation to predict the corresponding pulse condition classification; Q4 obtains the characterization map of the patient to be measured according to Q2 and Q3, inputs it into the CNN to obtain the predicted pulse condition, and accordingly formulates an moxibustion plan, including the name of the moxibustion acupoints, the moxibustion technique, the moxibustion duration range for each acupoint, and the total moxibustion duration.

[0019] Optionally, the moxibustion techniques include swirling, hovering, reciprocating, pecking like a sparrow, and following the meridian.

[0020] The second aspect of the present invention is to provide a multifunctional health care moxibustion robot system, including the aforementioned multifunctional health care moxibustion robot, a moxibustion bed provided with a second positioning tag, and an indoor positioning base station. The indoor positioning base station calculates the positions of the moxibustion robot and the moxibustion bed respectively by communicating with the first positioning tag and the second positioning tag, and communicates with the main board to display the coordinate positions on the touch screen.

[0021] The third aspect of the present invention is to provide a moxibustion product for the aforementioned multifunctional health care moxibustion robot. The moxibustion product is a stick made of mugwort or moxa floss, has a diameter of 1 - 5 cm, and an external connection structure detachably connectable to the sliding ring is provided. Beneficial effects

[0022] 1. The visual moxibustion head is equipped with a micro fan and a heating air duct with a horizontal section, realizing swirling heat radiation independent of the size of the moxibustion product, and the heat radiation intensity and action area are adjustable; 2. By using the RES-NET human body shape recognition and the FCN acupoint semantic segmentation algorithm in cooperation, the acupoints of people with different body shapes can be accurately located; 3. Adopting a wristband-type physical sign representation method, based on the time-varying pulse spectrum, using the CNN algorithm to identify the pulse condition, so as to formulate a moxibustion plan with multiple techniques and multiple parameter settings; 4. Utilizing indoor positioning technology, configured into a moxibustion robot system, and cooperating with the accurate acupoint positioning algorithm, realizing accurate positioning of the swirling flow based on any work station that can be arbitrarily selected indoors.

[0023] 5. A turntable for lighting a cigarette and pressing to trim the burning head is integrated in the socket, and cooperating with a purification pump, it avoids environmental pollution in the ash-falling room, and keeps the heat radiation in the best state all the time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the main body configuration of the multifunctional health-care moxibustion robot according to Embodiment 1 of the present invention, Figure 2 Schematic diagram of the visual moxibustion head structure in the multifunctional health care moxibustion robot of Example 1 of the present invention, wherein the upper left is a top view of the cavity after the end cover is removed, the upper right is a schematic diagram of the way the horizontal section connects the cavity, the lower left is an oblique view, and the lower right is a partial view of the outer wall of the cavity, illustrating a pair of silicone sealing curtains and a movable slider, Figure 3 Schematic diagram of a moxibustion product formed by a moxa stick with a diameter of 1.5 cm and a connecting structure provided. Figure 4 This is a schematic diagram of the configuration of the turntable and cigarette lighter, trimmer, and ash bag directly below the socket. The left picture is a top view. Figure 5 Schematic diagram of the protective structure detachably connected to the cavity, Figure 6 A schematic diagram of the configuration of the multifunctional health-care moxibustion robot system according to Embodiment 1 of the present invention, Figure 7 2 is a schematic diagram of the acupoint marking results of an overweight male, a standard male, a standard female, and a child in Example 2 of the present invention. Figure 8 The schematic diagram of the acupoint prediction process of step S3 for predicting the acupoints of the human body is shown below: Figure 9 Schematic diagram of the time-varying pulse spectrum of different patients' pulse conditions, and a flowchart of building a convolutional neural network based on this spectrum to predict pulse conditions and formulate moxibustion plans. DETAILED DESCRIPTION Example 1

[0025] This embodiment describes a multifunctional health-care moxibustion robot and its system.

[0026] like Figure 1 As shown, the multifunctional health-care moxibustion robot includes a mobile body 10, a six-axis robotic arm 41 connected to the mobile body 10, a visual moxibustion head 30 detachably connected to the free end of the six-axis robotic arm 41, and a touch panel 60 connected to one side of the mobile body 10 through a multi-directional adjustment rod 42. The hollow body, bottom and upper surface of the mobile body 10 are respectively provided with a main board 11, hidden mechanical rotating casters controllable by the main board 11, and a socket 12.

[0027] Among them, a first positioning label 13 is provided at the front end of the moving body 10. The main board 11 is vertically installed on the side of the moving body 10 where the multi-directional adjusting rod 42 is installed (or relative to it), and a maintenance door 14 is provided on this side to facilitate the maintenance of the main board 11, and the turntable 63 and the cigarette lighter 64 and trimming knife 65 provided thereon (see Figure 4 ) for maintenance or replacement.

[0028] The touch panel 60 can communicate with the main board 11 in a wired or wireless manner to manually control the movement of the visual moxibustion head 30 and the movement programming of the visual moxibustion head 30, and can also manually control the micro fan 26, the heating device 45 (PTC), the lead screw mechanism 46, the high-definition pinhole camera 56, the rangefinder 55, the cigarette lighter 64, the trimming knife 65, or program the working logic of these components. As Figure 2 (lower left), the visual moxibustion head 30 further includes a high-definition pinhole camera 56 and a rangefinder 55, and the sensing ends of both are flush with the end face of one end of the outer cylinder 31 opposite to the end cover 32. Thus, during the movement of the moxibustion head, the accurate shooting position and the sensing distance are calculated through the positioning of the first positioning label 13 and the position of the sensing end.

[0029] Figure 2 The specific structure of the visual moxibustion head 30 is shown. The main body includes an outer cylinder 31 and an end cover 32 that are detachably connected to each other. The outer cylinder 31 has a cavity 33 for accommodating the moxa stick 20 inside. A wire management ring 34 is provided around the outer wall of one end of the outer cylinder 31 close to the end cover 32 (partially shown in the perspective view in the figure). Four evenly distributed air holes 35 are provided on the end cover 32, and a micro fan 26 (only one is shown in the figure) is installed above three of the air holes 35, and the remaining one air hole 35 is connected to the purification pump 44 through the Figure 6 shown air extraction pipe 43. Thus, the flue gas is controlled from being blown out with the swirling flow 22 by controlling the suction speed.

[0030] After the end cover 32 is connected to the outer cylinder 31, the four air outlets are exactly docked with the air ducts 37 extending from the cavity 33 inside the outer cylinder 31. In this embodiment, a sealing structure (such as a rubber ring) is provided on the grid of the docked air ducts 37 and air holes 35 to ensure the sealing of the docking. The air duct 37 communicates with the cavity 33 through the horizontal section 38 shown in the figure. A PTC heating device 45 is provided on the non-horizontal section 38 of the air duct 37 to heat the air flow introduced into the air duct 37 to prevent the burning head 21 of the moxa stick 20 from cooling down, so that the heat radiation intensity can also be assisted in control by controlling the temperature.

[0031] Figure 2(Upper right) also shows the connection between two symmetrically opposite horizontal sections 38 and the outer wall of the cavity 33. The central axis 52 of one horizontal section 38 (on the right) is parallel to the tangent 51a of the cross section of the outer wall of the cavity 33 passing through the wind introduction point 54, and the central axis of the other (on the left) forms an acute angle 53 with another tangent 51b of the cross section of the outer wall of the cavity 33 passing through another wind introduction point 54. Thus, the clockwise vortex in the cavity 33 is shown in the figure, and after being blown out from the burning head 21 of the moxa stick 20 in the figure, a vortex 22 with adjustable wind speed and a front vortex tip 23 is formed. The vortex tip 23 is much smaller than the heat radiation surface of the existing moxa stick, and the distance between the visual moxibustion head 30 and the human skin is controlled by the distance measurement of the rangefinder 55, and different horizontal cross sections of the vortex 22 can be controlled as the heat radiation surface, thereby achieving adjustable heat radiation surface.

[0032] Or Figure 2 As shown, the lowering and lifting movement of the moxa stick 20 is completed by the screw mechanism 46 set on one side of the cavity 33. The screw mechanism 46 has a slider 47 and a micromotor. The slider 47 is detachably connected to the sliding ring 39 that is slidably connected to the inner wall of the cavity 33. Specifically, the operating space of the cavity 33 is utilized by the hexagon socket bolt, and the elbow hexagon socket wrench is used to tighten and loosen to achieve connection and disassembly respectively. In addition, a movable groove is provided on the outer wall of the cavity 33, and a pair of silicone sealing curtains 49 (lower right, the movable groove is not shown) are provided in the movable groove along the movement direction of the slider 47, and the detachable connection with the slider 47 passes through the middle of the pair of silicone sealing curtains 49.

[0033] Therefore, when the slider 47 moves to drive the sliding ring 39 to slide, only the detachable connection and its surrounding areas are opened, and other areas are still in contact with the silicone sealing curtain 49. The sliding ring 39 and the moxa stick 20 are detachably connected.

[0034] like Figure 3 As shown, one end of the moxa stick 20 with a diameter of 2 cm is fixedly connected to the connecting structure 24, specifically a magnetic structure or a buckle structure, which is detachably connected to the corresponding structure on the sliding ring 39. In order to provide a detachable operation space, a notch (not shown in the figure) is provided at the top of the cavity 33, so that when the slider 47 drives the sliding ring 39 to rise to the notch and exposes a part of the arc section of the sliding ring 39, the fingers can easily open the connection between the magnetic structure or the buckle structure and the sliding ring 39.

[0035] Figure 2As shown in the figure, the outer cylinder 31 is also provided with a storage compartment 61 connected to the wire management ring 34, in which a single chip microcomputer 62 is provided. The single chip microcomputer 62 integrates a rechargeable power supply (not shown in the figure) to power the micro fan 26, the PTC heating device 45, the micro motor of the screw mechanism 46, the high-definition pinhole camera 56, and the rangefinder 55 provided on the visual moxibustion head 30. The storage compartment 61 is provided with a charging port (not shown in the figure). The power lines, signal lines and control lines of these components are uniformly introduced into the storage compartment 61 through the wire management ring 34, and are respectively connected to the power supply and the single chip microcomputer 62.

[0036] like Figure 4 As shown, a turntable 63 is provided directly below the socket 12, specifically a large gear, which is driven by a driving motor ( Figure 4 The rotating disk 63 is driven by the driving gear at the output end (not shown) to rotate, and a cigarette lighter 64 and a trimmer 65 controlled by the main board 11 are integrated on the rotating disk 63. An ash bag 66 is arranged just below the rotating disk 63.

[0037] The caliber of the socket 12 is 4 times the diameter of the moxa stick 20. The mainboard 11 specifically controls the six-axis robotic arm 41 and the micromotor of the screw mechanism 46 to coordinate the rotation of the turntable 63, as well as the operation control of the trimming knife 65 and the cigarette lighter 64, to achieve pressing and shortening, and igniting the moxa stick 20 respectively.

[0038] When pressed, the moxa stick 20 is controlled to descend through the socket 12, and is pressed and lifted on the pruning knife 65 in the closed state for at least one cycle, after which the blade is controlled to turn down and pour the cigarette ash into the ash bag 66 just below the turntable 63, and then the blade is restored to the horizontal closed state.

[0039] When trimming, the trimming knife 65 is controlled to be in an open state, at which time the moxa stick 20 is controlled to descend through the socket 12 and the opening of the trimming knife 65 , and then the trimming knife 65 is controlled to be closed, and finally the moxa stick 20 is lifted out of the socket 12 .

[0040] exist Figure 2 Preferably, one end of the swirl flow outlet 22 of the cavity 33 also has an outer wall thread for connecting Figure 5 The protective structure 57 shown. The protective structure 57 includes two connecting ribs 58 extending radially from the inner wall, which are used to connect an open mesh box 59 with a fence in the center. The bottom of the mesh box 59 is a mesh round bottom for receiving falling ash. The protective structure 57 is hollow inside, leaving space for the vortex 22 (here taking the counterclockwise vortex 22 as an example) as shown by the arrow in the figure to blow out, which is the extension of the movement space of the vortex 22 between the cavity 33 and the moxa stick 20.

[0041] like Figure 6As shown, the multifunctional health-care moxibustion robot also has a wristband 71 type physical sign detector, including a wristband 71, a pressure sensing sheet 72 provided on the wristband 71, and a wireless transmitter 73, which is used to send the pulse signal of the pressure sensor based on the wrist pulse to the main board 11, so as to formulate a moxibustion plan. An indoor reference rectangular coordinate system X-O-Y is constructed based on one bed leg in the figure. The coordinate origin is obtained by correcting the position of the second positioning label 81 and the size of the installation part on the bed leg. Thus, the main board 11 controls the moxibustion robot to move to the designated working station for moxibustion operation according to the current position of the moxibustion robot and the collected position of the moxibustion bed 80.

[0042] As Figure 6 , this embodiment also provides a multifunctional health-care moxibustion robot system, including the aforementioned multifunctional health-care moxibustion robot, a moxibustion bed 80 provided with a second positioning label 81, and an indoor positioning base station 90. The indoor positioning base station 90 calculates the positions of the robot and the moxibustion bed 80 respectively by communicating with the first positioning label 13 and the second positioning label 81, and communicates with the main board 11 to display the coordinate positions on the touch screen. The base station 90 is any one of a Bluetooth AoA, a Bluetooth RSSI, and a UWB base station.

[0043] Embodiment 2 This embodiment describes the prediction of human acupoints and the formulation of a moxibustion plan.

[0044] As Figures 7 - 9 shown, the method for predicting human acupoints in the image recorded by the visual moxibustion head through an artificial intelligence algorithm includes: S1 Recruit multiple volunteers of different body types, male and female, and let multiple medical experts mark the moxibustion-acupoints on all volunteers' bodies. Figure 7 Among them are the schematic diagrams of acupoint markings for overweight males, standard males, standard females, and children. Different colors and / or shapes can be used to distinguish each acupoint. S2 The main board controls the single-chip microcomputer, so that the visual moxibustion head uses the high-definition pinhole camera to collect multiple marked images of all volunteers with the same size, and divides them into a training set, a verification set, and a test set, with a ratio of 6:3:1. S3 As Figure 8As shown in the figure, a convolutional neural network with a residual mechanism (RES-NET) is constructed. The training set and the validation set are used to train and validate each body type. A fully connected FC and a softmax function are sequentially connected to the output end of the RES-NET to predict the body type category to which the labeled image belongs. A fully convolutional neural network (FCN) is constructed and trained and validated using the training set and the validation set. The output end realizes the semantic segmentation of the labeled acupoints through another softmax function. In all labeled images, a unified rectangular coordinate system is constructed with two intersecting right-angled sides (the top side and the left side) of the image. The average coordinates of each moxibustion acupoint are calculated for each body type predicted by the test set in the trained RES-NET and used as the standard coordinates. Figure 8 The process of obtaining the projection coordinates of the Feiyu acupoint is exemplarily given. S4 The test image of the patient to be measured recorded by the visual moxibustion head is input into the trained RES-NET to predict the body type of the patient to be measured. According to the standard coordinates, the required moxibustion acupoints are marked in the test image as the predicted human acupoints (see the specific acupoint semantic names Figure 8 ).

[0045] Communicate with the wristband-type vital sign detector to obtain human vital sign information, and thus formulating the moxibustion plan specifically includes: Q1 Multiple medical experts feel the pulses of different volunteers and classify multiple types of pulses. All volunteers wear wristbands, and the main board receives pulse signals. Q2 As Figure 9 shown, based on the pulse signals, the main board constructs multiple time-varying pulse spectra for each type of pulse, defines a time microelement (0.001 - 0.005 s), and obtains the pulse signal intensity values within each time microelement, that is, the microelement intensity in the figure. The figure shows the schematic diagrams of the time-varying pulse spectra of the pulses of three types of patients, namely, A, B, and C.

[0046] Q3 Pseudocolor the pulse signal intensity values, and use the color values corresponding to all time microelements within a preset time period (1 min - 5 min) as a pixel value to construct a characterization map. Thus, the characterization maps converted from all time-varying pulse spectra are segmented into a training set and a validation set, and a convolutional neural network (CNN) is used for training and validation to predict the corresponding pulse classification. Q4 Obtain the characterization map of the patient to be measured according to Q2 and Q3, input it into the CNN to get the predicted pulse, and accordingly formulate the moxibustion plan, including the names of the acupoints for moxibustion, the moxibustion techniques, the moxibustion duration range for each acupoint, and the total moxibustion duration. Among them, the moxibustion techniques include five types: circular motion, hovering, reciprocating, pecking, and along the meridian.

Claims

1. A multi-functional health-care moxibustion robot, comprising a mobile main body and a multi-axis robotic arm connected to the mobile main body, characterized in that, It also includes a visual moxibustion head capable of generating a swirling flow detachably connected to the free end of the multi-axis robotic arm, a purification pump connected to the visual moxibustion head, and a wristband-type vital sign detector. Among them, The moving body is provided with a socket for pressing and trimming the burning head of the moxibustion product in the visual moxibustion head and inserting it for lighting the moxibustion product when lighting the cigarette. One side of the moving body is provided with a touch panel, the bottom of the moving body is provided with hidden controllable mechanical rotating casters, and the front side of the moving body is provided with a first positioning label for indoor positioning. A main board is arranged in the cavity of the moving body, which is used to control the multi-axis robotic arm, the visual moxibustion head, pressing, trimming and lighting, communicate with the touch panel for human-computer interaction, and is also used to predict human acupoints in the images recorded by the visual moxibustion head through artificial intelligence algorithms, and communicate with the wristband-type vital sign detector to obtain human vital sign information, so as to formulate a moxibustion plan to control the multi-axis robotic arm to manipulate the visual moxibustion head and realize human moxibustion with controllable techniques.

2. The moxibustion robot according to claim 1, wherein The multi-axis robotic arm is a six-axis robotic arm. One side of the moving body is connected to the touch panel through a multi-directional adjusting rod. The main board is vertically installed on one side of the moving body adjacent to or opposite to the multi-directional adjusting rod, and a maintenance door is arranged on the adjacent side or the opposite side.

3. The moxibustion robot according to claim 1, characterized in that The visual moxibustion head capable of generating a swirling flow includes an outer cylinder having a cavity for accommodating the moxibustion product, an end cap detachably sealed to the top of the outer cylinder, a wire management ring provided on the outer peripheral wall of the outer cylinder and communicating with the space inside the cylinder, and a cavity for accommodating a single-chip microcomputer integrating a rechargeable power source provided on the outer peripheral wall of the outer cylinder. A high-definition pinhole camera and a rangefinder are provided on the outer peripheral wall of one end of the outer cylinder opposite to the end cap, and the sensing ends of the high-definition pinhole camera and the rangefinder are flush with the end face of one end of the outer cylinder. Among them, At least three air holes are provided on the end cap, and micro fans are provided on at least two of the air holes facing each other for guiding air to the air holes they face. One air hole is left to connect to a suction pipe and then connected to the purification pump. An air duct is led out from the air hole facing the micro fan, and the end of the air duct communicates with the cavity. The end is a horizontal section where the central axis forms an acute angle or is parallel to the tangent line of the air inlet point. A heating device is provided on the air duct other than the horizontal section for heating the air introduced into the air duct. A lead screw mechanism including a slider is arranged on the outer wall of the cavity. A sliding ring detachably connected to the slider is slidably arranged on the inner wall of the cavity. A moving groove is provided on the outer wall of the cavity. A pair of silicone sealing curtains are arranged along the moving direction of the slider in the moving groove. The detachable connection part with the slider passes through the middle of the pair of silicone sealing curtains. Thus, when the slider moves to drive the sliding ring to slide, only the detachable connection part and its surrounding areas have an opening area, and the other areas are still in a state of contact and alignment of the silicone sealing curtains. The sliding ring can be in interference fit with the moxibustion product or detachably connect the moxibustion product.

4. The moxibustion robot according to claim 3, wherein A protective structure detachably connected to the cavity is also provided in front of the burning head. A notch is provided at the top of the cavity so that when the slider drives the sliding ring to rise to the notch and exposes part of the arc section of the sliding ring, the fingers can easily separate the moxa stick and the sliding ring. A charging port is provided on the storage compartment; The wires led out of the motors in the micro fan, the heating device, the high-definition pinhole camera, the rangefinder, and the screw mechanism are centrally introduced into the wire management ring, and are connected to the storage compartment and electrically connected to the single-chip microcomputer, so that the single-chip microcomputer controls the micro fan, the heating device, the high-definition pinhole camera, the rangefinder, and the screw mechanism according to the instructions wirelessly transmitted by the mainboard.

5. The moxibustion robot according to claim 1, characterized in that, The caliber of the socket is 3 to 5 times the diameter of the moxibustion product. A turntable is arranged directly below, and a trimming knife and a cigarette lighter are arranged on the turntable. The main board controls the multi-axis robotic arm and the motor of the screw mechanism to coordinate the rotation of the turntable, as well as the operation control of the trimming knife and the cigarette lighter, to respectively realize pressing and trimming, and igniting the moxibustion product. When pressing, the moxibustion product is controlled to descend through the socket, and the trimming knife in the closed state is pressed and lifted up for at least one cycle, and then the blade is controlled to flip down and pour the ashes into the ash bag directly below the turntable, and then the blade is restored to a horizontal closed state. When trimming, the trimming knife is controlled to be opened, and at this time, the moxibustion product is controlled to descend through the socket and the opening of the trimming knife, and then the trimming knife is controlled to close, and finally the moxibustion product is lifted out of the socket.

6. The moxibustion robot according to claim 1, wherein, The wristband-type vital sign detector includes a wristband, a pressure sensor arranged on the wristband, and a wireless transmitter. The wireless transmitter is used to send a pulse signal of the pressure sensor based on the wrist pulse to the mainboard, so as to formulate a moxibustion plan.

7. The moxibustion robot according to claim 1, wherein, The method for predicting acupuncture points of the human body in the image recorded by the visual moxibustion head by using an artificial intelligence algorithm includes: S1 recruited multiple volunteers of different body shapes and sizes, and asked multiple medical experts to mark the acupuncture points that can be moxibustioned on all volunteers' bodies; The S2 mainboard controls the single-chip microcomputer, so that the visual moxibustion head uses the high-definition pinhole camera to collect multiple labeled images of uniform sizes from all volunteers, and divides them into a training set, a verification set, and a test set; S3 constructs a convolutional neural network with a residual mechanism (RES-NET), uses the training set and validation set to train and validate each type of body shape, predicts the body shape category to which the marked image belongs, and constructs a fully convolutional neural network (FCN), uses the training set and validation set to train and validate, realizes the semantic segmentation of the marked acupoints, constructs a unified rectangular coordinate system in all marked images, calculates the average coordinates of each moxibustion acupoint in each type of body shape predicted by the trained RES-NET in the test set, and uses it as the standard coordinates; S4 uses the image of the patient to be tested recorded by the visual moxibustion head and inputs it into the trained RES-NET to predict the body shape of the patient to be tested, and marks the required moxibustion acupoints in the image to be tested according to the standard coordinates as the predicted human body acupoints.

8. The moxibustion robot according to claim 6, wherein Communicating with the wristband-type vital sign detector to obtain human vital sign information, thereby formulating a moxibustion program specifically includes: Q1 Multiple medical experts feel the pulses of different volunteers, classify multiple types of pulse conditions. All volunteers wear wristbands, and the main board receives pulse signals. Q2 Based on the pulse signals, the main board constructs multiple time-varying pulse spectra for each type of pulse condition, defines a time microelement, and obtains the pulse signal intensity value within each time microelement, i.e., the microelement intensity. Q3 Gray-scale or pseudo-color the pulse signal intensity values, and within a preset time period, use the gray-scale or color values corresponding to all time microelements as a pixel value to construct a representation graph. Thus, perform the segmentation of the training set and the validation set on the representation graphs converted from all time-varying pulse spectra, and use a convolutional neural network (CNN) for training and validation to predict the corresponding pulse condition classification. Q4 Obtain the representation graph of the patient to be tested according to Q2 and Q3, input it into the CNN to get the predicted pulse condition, and accordingly formulate an moxibustion plan, including the names of the acupoints for moxibustion, the moxibustion techniques, the moxibustion duration range for each acupoint, and the total moxibustion duration; the moxibustion techniques include swirling, hovering, reciprocating, pecking like a sparrow, and following the meridian.

9. A multi-functional health care moxibustion robot system, characterized in that, It includes the multifunctional health care moxibustion robot according to any one of claims 1 to 8, a moxibustion bed provided with a second positioning label, and an indoor positioning base station. The indoor positioning base station calculates the positions of the moxibustion robot and the moxibustion bed respectively by communicating with the first positioning label and the second positioning label, communicates with the main board, and displays the coordinate positions on the touch screen. The main board controls the moxibustion robot to move to the designated work station for moxibustion operation based on the current position of the moxibustion robot and the position of the moxibustion bed collected.

10. An moxibustion product for a multifunctional health-care moxibustion robot as described in any one of claims 1-11 or for a moxibustion robot system as described in claim 12 or 13, the moxibustion product being a stick made of mugwort or moxa floss, characterized in that, It has a diameter of 1 to 5 cm, and a connection structure that can be detachably connected to the sliding ring is fixedly arranged outside the moxibustion product.

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