Household intelligent robot for alkene moxibustion

Abstract

The invention discloses a household graphene moxibustion intelligent robot which comprises a robot body, a mechanical arm, a graphene heating module, a main control module and an LED phototherapy module. The device has the beneficial effects that 1, mechanization, automation and digitization of alkene moxibustion are realized; 2, the traditional Chinese medicine suspended moxibustion manipulation treatment is accurately simulated, a standardized treatment scheme is realized, the manipulation precision of a professional physician can be copied, and the burn risk of traditional moxibustion is completely eradicated; voice interaction is supported, acupoint combination is intelligently matched, the detachable graphene module design is adopted, independent replacement can be achieved when the thermal efficiency attenuation exceeds 5%, and safety and comfort are improved; 4, the smokeless and dustless design thoroughly solves the pollution problem of traditional moxibustion, and the application scene is expanded to closed spaces such as bedrooms and offices; and fifthly, the maintenance cost is reduced through the modular design, and production and maintenance are easy.

Description

Technical Field

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

[0002] Moxibustion, also known as moxibustion therapy or moxibustion therapy, is a therapeutic method that uses moxa sticks or cones made from mugwort leaves to stimulate acupuncture points or specific areas of the body. The heat generated by the moxa stimulates the flow of qi in the meridians, thereby regulating the body's physiological and biochemical disorders, thereby preventing and treating disease. Moxibustion's mechanism of action is similar to that of acupuncture, and they have complementary therapeutic effects. It offers numerous advantages, including ease of use, low cost, and significant effectiveness.

[0003] Existing artificial moxibustion therapy has the following defects: First, there is no robot that can realize the automation, mechanization and digitization of moxibustion; Second, manual moxibustion relies on the experience of doctors, and there are problems such as large errors in acupoint positioning and unstable temperature control, resulting in significant differences in efficacy; Third, open-flame moxibustion produces pollutants such as PM2.5, and more than 90% of households find it difficult to use it continuously for a long time due to smoke problems; Fourth, the training cycle for highly skilled physiotherapists is long, an average of 3-5 years, and labor costs account for more than 40% of the institution's operating expenses; Fifth, existing moxibustion equipment uses a fixed-trajectory robotic arm, which lacks the ability to adapt to the human body surface, resulting in insufficient fit for moxibustion; the temperature control module generally uses PID single-point temperature measurement, which has the risk of local overheating and uneven heat field distribution; the interactive system is limited to basic touch operations, and has not achieved closed-loop feedback of physiological data and personalized solution optimization. Summary of the Invention

[0004] The main technical problem solved by the present invention is to provide a household moxibustion intelligent robot, which realizes the mechanization, automation and digitization of moxibustion, has high efficiency, can be used for moxibustion on the whole body, has no open flame and smoke, etc., and is more efficient, convenient and safe.

[0005] In order to solve the above problems, the present invention provides a household moxibustion intelligent robot, comprising:

[0006] Robot body;

[0007] A robotic arm, which includes a pressure sensor and infrared positioning components, enables automatic acupoint recognition and simulation of ancient moxibustion movements;

[0008] Graphene heating module, used to generate far-infrared radiation and temperature control;

[0009] The main control module generates personalized moxibustion treatment plans based on the user's physical data;

[0010] LED light therapy module.

[0011] Furthermore, the robot body, robotic arm, graphene heating module, main control module, and LED light therapy module are combined into one, and each module and component works together through a data bus.

[0012] Furthermore, the graphene heating module includes a core material, a temperature control element, and a heat dissipation layer; the core material is a detachable structure and supports independent replacement.

[0013] Furthermore, the robotic arm is a multi-degree-of-freedom robotic arm, and its range of motion covers the main acupuncture point groups on the back and limbs of the human body.

[0014] Furthermore, the main control module includes a processor, a traditional Chinese medicine database, and a communicator.

[0015] Furthermore, the LED light therapy module includes red light LED and near-infrared light LED.

[0016] Furthermore, the infrared positioning component includes a 3D vision sensor and a thermal imager.

[0017] Furthermore, the TCM acupoint database supports inputting symptoms via voice and automatically matching acupoint combinations.

[0018] Furthermore, the red light LED is used for superficial muscle relaxation, and the near-infrared light LED is used for deep tissue repair.

[0019] Furthermore, the surface of the graphene heating module is coated with a boron nitride heat dissipation layer.

[0020] The beneficial effects of the present invention are: 1. It realizes the mechanization, automation and digitization of moxibustion; 2. It accurately simulates the traditional Chinese medicine moxibustion manipulation treatment and realizes standardized treatment plans, which can replicate the accuracy of professional doctors' manipulations while eliminating the burn risks of traditional moxibustion; 3. It supports voice interaction and intelligent matching of acupoint combinations, and a detachable graphene module design. It can be replaced independently when the thermal efficiency attenuation exceeds 5%, thereby improving safety and comfort; 4. The smoke-free and dust-free design completely solves the pollution problem of traditional moxibustion, and the applicable scenarios are expanded to enclosed spaces such as bedrooms and offices; 5. The modular design reduces maintenance costs by about 10%, and is easy to produce and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the description are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a product appearance diagram of Example 1 of the present invention.

[0023] Figure 2 It is a schematic diagram of the connection of various components of the present invention.

[0024] Figure 3 This is a product appearance diagram of the second embodiment of the present invention.

[0025] The accompanying drawings are marked as follows: 10. Robot body, 20. Robotic arm, 21. Pressure sensor, 22. Infrared positioning component, 221. 3D vision sensor, 222. Thermal imager, 30. Graphene heating module, 31. Core material, 32. Temperature control element, 33. Heat dissipation layer, 40. Main control module, 41. Processor, 42. Traditional Chinese medicine database, 43. Communicator, 50. LED phototherapy module, 51. Red light LED, 52. Near-infrared light LED.

[0026] The following further illustrates the purpose, features and advantages of the present invention with reference to the embodiments and accompanying drawings. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions, and advantages of the invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0028] Example 1:

[0029] like Figure 1 、 Figure 2 As shown, a household moxibustion intelligent robot, the robot body 10 of this embodiment is in the form of a mechanical arm, including:

[0030] Robot body 10;

[0031] The robotic arm 20 includes a pressure sensor 21 and an infrared positioning component 22 to achieve automatic acupoint recognition and simulation of traditional moxibustion movements. The pressure sensor 21 uses the TE Connectivity MS5837-30BA with a range of 0-30N.

[0032] Graphene heating module 30, used to generate 6-14μm far-infrared band radiation, with a temperature control accuracy of ±0.5℃;

[0033] The main control module 40 generates a personalized moxibustion treatment plan based on the user's physical fitness data;

[0034] LED light therapy module 50.

[0035] like Figure 1、 Figure 2 As shown, the robot body 10, the robotic arm 20, the graphene heating module 30, the main control module 40, and the LED light therapy module 50 are combined into one, and each module and each component works together through a data bus.

[0036] like Figure 1 、 Figure 2 As shown, the graphene heating module 30 includes a core material 31, a temperature control element 32, and a heat dissipation layer 33; the core material 31 is a detachable structure and supports independent replacement; the core material 31 adopts a single-layer graphene film with a thickness of 0.35nm; the temperature control element 32 adopts a MAX31855 thermocouple converter; the heat dissipation layer 33 adopts a Hexagonal BoronNitride coating with a thickness of 50μm.

[0037] like Figure 1 、 Figure 2 As shown, the robotic arm 20 is a multi-degree-of-freedom robotic arm, and its range of motion covers the main acupuncture point groups on the back and limbs of the human body; the multi-degree-of-freedom robotic arm adopts the UR3 collaborative robotic arm, and is 6-axis.

[0038] like Figure 1 、 Figure 2 As shown, the main control module 40 includes a processor 41, a traditional Chinese medicine database 42, and a communicator 43; specifically, the processor 41 adopts NVIDIA Jetson AGX Orin; the traditional Chinese medicine database 42 adopts an acupoint knowledge graph based on the "Acupuncture and Moxibustion Jia Yi Jing"; the communicator 43 adopts ESP32-WROOM-32D, which supports Bluetooth / Wi-Fi; the main control module 40 is connected to the mobile terminal via Bluetooth / Wi-Fi through the communicator 43; and supports voice command interaction and cloud storage of moxibustion data.

[0039] like Figure 1 、 Figure 2 As shown, the LED phototherapy module 50 includes a red light LED 51 and a near-infrared light LED 52, which synergistically enhance the tissue repair effect; specifically, the red light LED 51 adopts CREE XLamp XP-E2 and is 630nm; the near-infrared LED adopts Osram SFH4775 and is 850nm; a driver chip is also provided, and the driver chip adopts TI TLC5940.

[0040] like Figure 1 、 Figure 2As shown, the infrared positioning component 22 includes a 3D vision sensor 221 and a thermal imager 222; it detects the skin temperature distribution in real time and dynamically adjusts the moxibustion pressure of the robotic arm; specifically, the threshold value of the moxibustion pressure of the robotic arm is 0.5-2N; the 3D vision sensor 221 adopts the Intel Real Sense D455 depth camera, and the thermal imager 222 adopts the FLIR A315 thermal imager;.

[0041] like Figure 1 、 Figure 2 As shown, the TCM acupoint database supports inputting symptoms through voice and automatically matching acupoint combinations; specifically, it supports inputting symptoms such as "shoulder and neck pain" through voice and automatically matching acupoint combinations such as Zusanli and Dazhui.

[0042] like Figure 1 、 Figure 2 As shown, the red light LED 51 is used for superficial muscle relaxation, and the near-infrared light LED 52 is used for deep tissue repair; the working mode of the LED phototherapy module 50 is synchronized with the graphene heating module 30.

[0043] like Figure 1 、 Figure 2 As shown, the surface of the graphene heating module 30 is coated with a boron nitride heat dissipation layer; the working life of the boron nitride heat dissipation layer is ≥5000 hours.

[0044] The difference between the household moxibustion intelligent robot of this embodiment and the moxibustion robot is that the traditional moxibustion robot uses mugwort as consumables, and directly burns the mugwort to produce smoke and fire, which produces pollutants such as PM2.5. More than 90% of households find it difficult to use it for a long time due to the smoke problem, and it is also easy to burn users; while this household moxibustion intelligent robot uses a single-layer graphene film, which has a service life of 50 years, which is equivalent to no consumables cost, and realizes the Chinese medicine suspended moxibustion technique treatment, eliminating the burn risk of traditional moxibustion; the smoke-free and dust-free design completely solves the pollution problem of traditional moxibustion.

[0045] The working process of the household moxibustion intelligent robot in this embodiment:

[0046] 1. User interaction stage: Users input symptoms such as "lower back pain" through voice / APP. The main control module, NVIDIA Jetson AGX Orin, calls the Traditional Chinese Medicine knowledge graph based on the "Acupuncture and Moxibustion Jia Yi Jing" to generate a personalized solution including acupoints such as Zusanli and Shenshu, and synchronizes it to the cloud through the ESP32-WROOM-32D module.

[0047] Acupoint positioning: The Intel RealSense D455 depth camera creates a 3D point cloud model of the human body, and the FLIRA315 thermal imager detects abnormal surface temperature areas with an accuracy of ±0.5°C. After multi-sensor data fusion, the UR3 six-axis robotic arm moves to the target acupoint according to the optimal path planning.

[0048] 3. Precision moxibustion stage: The graphene heating module generates 6-14μm far-infrared radiation, the MAX31855 thermocouple maintains the set temperature, the robotic arm dynamically adjusts the contact pressure of 0.5-2N through the MS5837-30BA pressure sensor, synchronously activates the LED light therapy module, and the TLC5940 driver chip controls the light intensity parameters.

[0049] 4. Dynamic adjustment stage: The real-time monitoring system provides continuous feedback, the thermal imager tracks changes in skin microcirculation, the pressure sensor detects changes in muscle tension, and the moxibustion parameter database is updated every 15 seconds.

[0050] 5. Treatment termination stage: After the preset duration is reached, the robotic arm will automatically retract to a safe position and generate a moxibustion treatment report containing temperature curve and pressure data; heat will be quickly dissipated through the Hexagonal Boron Nitride coating.

[0051] Functions of the household moxibustion intelligent robot of this embodiment: 1. Intelligent acupoint recognition: 1. Use IntelRealSense D455 depth camera to achieve millimeter-level infrared positioning, combined with FLIR A315 thermal imager to dynamically analyze skin temperature distribution. 2. Real-time monitoring of moxibustion pressure through pressure sensor, namely TE Connectivity MS5837-30BA, with the threshold controlled within the range of 0.5-2N. 3. 6-axis UR3 collaborative robotic arm realizes multi-degree-of-freedom movement, covering the main acupoint groups on the back and limbs of the human body. 2. Precise temperature-controlled moxibustion therapy: 1. The graphene heating module generates 6-14μm far-infrared radiation, and the single-layer graphene film (0.35nm) is combined with the MAX31855 thermocouple converter with a temperature control accuracy of ±0.5℃. 2. The boron nitride heat dissipation layer (50μm) ensures that the module life is ≥5000 hours and supports independent replacement of core materials. 3. Simulate ancient moxibustion movements such as hanging moxibustion and sparrow pecking moxibustion, and dynamically adjust the moxibustion parameters through the robotic arm. III. Personalized Solution Generation: 1. Utilizes the "Acupuncture and Moxibustion Classic" knowledge graph based on the NVIDIA Jetson AGX Orin processor. 2. Supports voice input for symptoms such as "shoulder and neck pain" and automatically matches acupoint combinations. 3. Records user physical condition data and moxibustion treatment parameters, storing data in the cloud via the ESP32-WROOM-32D module. IV. Phototherapy Synergy: 1. Combines CREE XLamp XP-E2 red LEDs with Osram SFH 4775 near-infrared LEDs. 2. Utilizes the TI TLC5940 driver chip to achieve both superficial muscle relaxation and deep tissue repair. IV. Safety Protection: 1. 3D human body modeling for real-time obstacle avoidance to prevent burns. 2. Catalytic smoke purification technology treats moxibustion smoke. 3. Automatic shutdown for overheating protection. IV. Human-Computer Interface: 1. Supports dual-mode Wi-Fi / BLE connectivity for mobile devices. 2. Provides voice control and app-based remote operation.

[0052] Example 2:

[0053] like Figure 3 As shown, the difference between the second embodiment and the first embodiment is that the robot body 10 is changed into a humanoid robot, and the positions of other corresponding components are also adjusted, but the components and functions are the same as those of the first embodiment.

[0054] From the products of Example 1 and Example 2, the products of the present invention fully possess the beneficial effects described in the content of the invention.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention is disclosed through the above embodiments, the protection scope of the present invention is not limited thereto. Without departing from the concept of the present invention, any deformation or replacement of the above components shall fall within the scope of the claims of the present invention.

Claims

1. A household moxibustion intelligent robot, characterized in that: include: Robot body; A robotic arm, which includes a pressure sensor and infrared positioning components, enables automatic acupoint recognition and simulation of ancient moxibustion movements; Graphene heating module, used to generate far-infrared radiation and temperature control; The main control module generates personalized moxibustion treatment plans based on the user's physical data; LED light therapy module.

2. A household moxibustion intelligent robot according to claim 1, characterized in that: The robot body, the robotic arm, the graphene heating module, the main control module, and the LED light therapy module are integrated into one, and each module and each component works in coordination via a data bus.

3. A household moxibustion intelligent robot according to claim 1, characterized in that: The graphene heating module includes a core material, a temperature control element, and a heat dissipation layer; the core material is a detachable structure and supports independent replacement.

4. A household moxibustion intelligent robot according to claim 1, characterized in that: The robotic arm is a multi-degree-of-freedom robotic arm, and its range of motion covers the main acupuncture point groups on the back and limbs of the human body.

5. A household moxibustion intelligent robot according to claim 1, characterized in that: The main control module includes a processor, a traditional Chinese medicine database, and a communicator.

6. The household moxibustion intelligent robot according to claim 1, characterized in that: The LED light therapy module includes a red light LED and a near-infrared light LED.

7. A household moxibustion intelligent robot according to claim 1, characterized in that: The infrared positioning component includes a 3D vision sensor and a thermal imager.

8. A household moxibustion intelligent robot according to claim 5, characterized in that: The TCM acupoint database supports inputting symptoms via voice and automatically matching acupoint combinations.

9. A household moxibustion intelligent robot according to claim 6, characterized in that: The red light LED is used for superficial muscle relaxation, and the near-infrared light LED is used for deep tissue repair.

10. A household moxibustion intelligent robot according to claim 1, characterized in that: The surface of the graphene heating module is coated with a boron nitride heat dissipation layer.

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