Intelligent moxa warming temperature control and distance adjustment method based on double function coupling

Abstract

The application discloses a kind of intelligent moxa-moxibustion temperature control and distance adjustment method based on double function coupling, it is related to the technical field of intelligent control of traditional Chinese medicine physiotherapy apparatus, comprising: S1, after the power on of intelligent moxa-moxibustion equipment, environmental temperature and humidity are collected, and environmental compensation factor is calculated;S2, based on, theoretical temperature is calculated using temperature-time function model;S3, coupling to temperature-distance function model is calculated;S4, if then, the distance between moxa-moxibustion head and skin is shortened, otherwise, it is far away;S5, after each moxa-moxibustion head position adjustment, whether the distance between moxa-moxibustion head and skin needs to be adjusted based on disturbance correction function d Error correction is carried out.The application provides an intelligent moxa-moxibustion temperature control and distance adjustment method based on double function coupling, which uses a pure algorithm scheme, can complete temperature control and adjustment by relying on a basic actuator and a main control chip, and the overall cost can be controlled within 800 yuan, with a cost-effective advantage.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for traditional Chinese medicine physiotherapy devices. More specifically, this invention relates to an intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling. Background Technology

[0002] Traditional moxibustion methods rely primarily on manual operation, which suffers from problems such as uncontrollable temperature and unstable operation. In recent years, with the emergence of automated moxibustion devices and moxibustion robots, some devices have attempted to use infrared or contact temperature sensors to detect temperature changes and control the distance between the moxibustion head and the skin to maintain a constant temperature. However, in high-temperature, smoky, and disturbed environments, infrared temperature measurement suffers from drift, contact temperature measurement affects comfort, and the devices are slow to respond and costly, failing to meet the requirements for high-precision, low-cost, and robust intelligent moxibustion control. The inability of traditional devices to dynamically adjust moxibustion temperature in the absence of temperature sensors has become a major bottleneck in achieving universal automated moxibustion.

[0003] Currently, most traditional moxibustion devices use fixed stands or manual distance adjustment for application. Users need to manually adjust the distance between the moxa head and their skin based on their own perception (e.g., "it feels too hot"). This method has a significant problem of passive response lag, especially during the later stages of moxa burning when the temperature rises rapidly. Users often fail to react in time, resulting in burns or low-temperature scalds without their knowledge. Because the height cannot be dynamically adjusted according to different stages of the moxa burning process, heat transfer control is rough, easily leading to problems such as local overheating, excessive stimulation, or unstable therapeutic effects. While some technologies control the distance using moxibustion devices, there are currently three main methods for controlling the distance in moxibustion devices:

[0004] 1. While some mainstream moxibustion devices have incorporated infrared sensors to detect temperature and use PID algorithms to control a stepper motor-driven screw mechanism to adjust the distance between the moxibustion head and the skin, most only monitor the temperature of the moxibustion head or air outlet, adjusting heating power, fan speed, or implementing power-off protection accordingly. This design only protects against overheating of the device itself and cannot sense the actual skin temperature, let alone dynamically adjust the distance based on skin temperature. Therefore, it still cannot avoid unstable moxibustion effects and the risk of skin damage. Although some high-end moxibustion devices or medical-grade equipment are equipped with infrared sensors to detect skin temperature and can automatically adjust the distance between the moxibustion head and the skin to some extent based on temperature changes, the following key problems still exist:

[0005] 1. The combination of infrared monitoring response delay and mechanical response lag results in untimely control.

[0006] The surface temperature of moxa sticks is extremely high (typically 550–850°C), with an ignition point of approximately 183°C and a calorific value of 14000–18139 J / g. During actual moxibustion, once the moxa stick is ignited, its surface temperature rises very rapidly. However, the typical response time of infrared sensors is 200–500 ms (e.g., the MLX90614 sensor), and with the control response delay of mechanical actuators such as stepper motors, the overall control delay can exceed one second. During this time, the skin surface temperature may rise instantaneously by 2.6–5°C due to the temperature increase of the moxa head. Based on the thermal inertia and thermal relaxation characteristics of biological tissues, even if the system immediately performs the distance adjustment operation, heat will continue to be conducted to deeper tissues, like a "braking delay" effect, making the thermal injury process irreversible, thus causing burns or low-temperature scalds.

[0007] 2. Moxibustion smoke and wind disturbance significantly interfere with the accuracy of infrared thermometry.

[0008] Infrared sensors calculate temperature by receiving the 814μm infrared band emitted from the skin surface. However, the large amount of smoke generated during moxibustion contains particulate matter, aldehydes, and polycyclic aromatic hydrocarbons (PAHs). These components absorb and scatter infrared radiation, significantly interfering with the effective signal received by the sensor. Studies have shown that in the early stages of moxibustion when smoke concentration is high, the infrared temperature measurement error can reach 2.5~4.0°C. The system may misjudge the current temperature as "below the target temperature," thus continuing heating and causing the skin to overheat.

[0009] Furthermore, the heat conduction pathway of moxibustion consists of radiation (approximately 60%) and natural convection (approximately 40%). In windy environments (e.g., wind speed of 1.0 m / s), enhanced convective heat transfer leads to a drop in actual skin temperature of approximately 3.5°C. Infrared sensors, due to measurement lag, struggle to capture this sudden temperature drop in real time. More seriously, wind disturbance can cause uneven temperature distribution at acupoints, with one side being excessively warm and the other insufficient, affecting the uniformity of moxibustion stimulation and its therapeutic effect. At wind speeds of 0.5–2.0 m / s, infrared thermometry fluctuations can reach ±2.5°C, causing unstable control oscillations. Traditional PID control algorithms are slow to respond to sudden disturbances, making real-time correction difficult.

[0010] 3. Single-point temperature measurement leads to regional temperature blind spots.

[0011] Most current infrared thermometry systems only measure the temperature of the central spot. However, acupuncture points are often large areas of skin, making it difficult to represent the temperature distribution of the entire acupuncture area. This lack of breadth in the measurement results may lead to inaccurate control. When the spot coverage is insufficient, the temperature status of the surrounding area cannot be known, resulting in control results based on local point values ​​rather than the overall temperature. This can easily create hot or cold spots, affecting the consistency of the overall stimulation effect and therapeutic efficacy.

[0012] 4. Simple control logic, but significant temperature fluctuations.

[0013] Because temperature control logic often uses fixed threshold triggering for distance adjustment (e.g., adjusting further away when above 43°C, and closer when below 40°C), the system regulation exhibits significant fluctuations, manifesting as frequent cycles of "heating up → adjusting further away → cooling down → adjusting closer." This type of on / off or hysteresis control mechanism not only fails to maintain a stable temperature plateau but may also affect user comfort due to frequent distance adjustments, ultimately leading to a decrease in therapeutic efficacy.

[0014] 5. Lacks predictive ability and cannot achieve feedforward regulation.

[0015] Most current systems employ a lag mechanism of "adjusting after temperature exceeds the limit," lacking the ability to predict temperature change trends and provide feedforward control. During moxibustion, the burning characteristics of moxa sticks exhibit a clear time-dynamic curve (heating-constant temperature-decay). If the temperature change trend of the moxa head cannot be modeled and predicted, the equipment cannot make pre-adjustment strategies in advance to cope with the upcoming temperature rise or fall, thus further exacerbating the drawbacks of lag control.

[0016] 2. The method of using the thermal deformation characteristics of shape memory alloy to drive the displacement of the moxibustion head is flawed because the alloy elongates and shortens as the temperature rises, making it impossible to achieve active algorithm control.

[0017] 3. While combining distance and temperature sensors, a time-temperature prediction model for the combustion process is not established, resulting in a low adjustment frequency. Furthermore, the sensor hardware is expensive. Most current mainstream smart moxibustion devices employ high-precision infrared temperature sensors, contact thermistors, and distance sensors working in conjunction with mechanical control structures to achieve temperature control. For example, commercial moxibustion instruments equipped with infrared array temperature measurement modules such as the MLX90640 often have individual temperature control modules priced between 200 and 400 yuan, with the overall system price generally exceeding 3000 yuan. Summary of the Invention

[0018] One object of the present invention is to solve at least the above-mentioned problems and / or defects, and to provide at least the advantages described below.

[0019] To achieve these objectives and other advantages of the present invention, a method for intelligent moxibustion temperature control and distance adjustment based on dual-function coupling is provided, characterized by comprising:

[0020] S1. After the intelligent moxibustion device is powered on, the ambient temperature and humidity are collected, and the environmental compensation factor is calculated. ;

[0021] S2, based on The temperature-time function model was used to calculate the surface temperature of the moxibustion head at time t. t Predicted temperature ;

[0022] S3, the result obtained from S2 Coupled to a temperature-distance function model to calculate the distance between the moxibustion head and the skin. d skin surface temperature at time ;

[0023] S4. If If the control function outputs a control signal to the power mechanism, it shortens the distance between the moxibustion head and the skin; conversely, it moves the head further away. Target skin temperature;

[0024] S5. After each adjustment of the moxibustion head position, detect whether there is any environmental disturbance. If so, determine whether the distance between the moxibustion head and the skin needs to be adjusted based on the disturbance correction function. d Error correction is performed to maintain the skin surface temperature within the range of 45℃±0.3℃.

[0025] Preferably, in S1, the environmental compensation factor Obtained through the following formula:

[0026]

[0027] In the above formula, , These are ambient temperature and relative humidity, respectively. The ambient temperature is used as a reference for combustion. The ambient relative humidity is used as a reference for combustion. , These are the weighting factors for the effects of temperature and humidity, respectively.

[0028] Preferably, in S2, the temperature-time function model is characterized by the following equation:

[0029]

[0030] In the above formula, The theoretical maximum combustion temperature is given by α, the heating rate coefficient is given by β, and the temperature decay rate coefficient is given by β. The set end time of the warming period. The set end time for the plateau period.

[0031] Preferably, in S3, the temperature-distance function model is characterized by the following equation:

[0032]

[0033] In the above formula, It is a temperature-distance function, and , It is the thermal radiation attenuation factor. For convective heat loss factor, n This is the convective heat loss attenuation index.

[0034] Preferably, step S3 also includes the following method for calibrating the parameters:

[0035] S30. Under test conditions of no wind and a fixed moxibustion head temperature, measure different distances. d Corresponding skin surface temperature Ignoring the convection term, the least squares method is used for nonlinear regression fitting. Complete the task Calibration;

[0036] S31. In a wind tunnel, under conditions of fixed wind speed and fixed moxibustion head temperature, test at different distances... d Corresponding skin surface temperature In the known Fitting under the condition Complete the task and n Calibration;

[0037] S32. Repeat the experiment under different temperature and humidity changes to verify the robustness of each model parameter in the temperature-distance function model.

[0038] Preferably, in S4, the control function is characterized by the following formula:

[0039]

[0040] In the above formula, for t Maintain the distance between the moxibustion head and the skin at all times. To control the step size, This is the distance-adjustable gain coefficient. for t Control signals at specific times.

[0041] Preferably, in S5, the disturbance refers to external interference situations such as cold wind, heat reflection, or abnormal combustion that occur during the moxibustion process;

[0042] The perturbation correction function is characterized by the following equation:

[0043]

[0044] In the above formula, This is the distance correction amount. The rate of change of temperature at the moxibustion head. The temperature change rate response coefficient The trend deviation response coefficient. Dead zone threshold, The model prediction error, and No compensation will be provided at this time.

[0045] Preferably, the It is characterized by the following formula:

[0046]

[0047] in, N For the number of periods, To control the step size, In the first i The predicted skin surface temperature was obtained by using a combination of temperature-time function and temperature-distance function models at several historical time points. This is the model prediction value for the current period; Let be the average rate of temperature change over the past N periods, and We obtain it from the following formula:

[0048]

[0049] In the above formula, i The index variable in the sliding window, that is, the first... i The purpose of each historical point in time is to enumerate the past. N Data from each time step helps construct a moving average and a moving slope, achieving the goal of sensorless predictive consistency analysis. In the first i+ The predicted skin surface temperature is obtained by using a combination of temperature-time function and temperature-distance function models at a single historical time point.

[0050] Preferably, the The calibration method is as follows: A temperature step input is created in the moxibustion head heating model, the distance adjustment behavior during the system response process is observed, and adjustments are made. Make the distance correction amount The number of response oscillations was controlled to be no more than two, as verified experimentally. The recommended setting range is: ;

[0051] The The calibration method is as follows: apply continuous external wind disturbance to the system and record the model prediction error. Adjust over time Until the system completes the task within 10 seconds. The temperature converged to less than 0.5℃, which was verified experimentally. The recommended setting range is: .

[0052] Preferably, μ2 is optimized in the dynamic compensation mechanism using an extreme trend deviation self-gain method. The extreme trend deviation self-gain refers to: if the system detects... Then it will automatically increase temporarily. Up to a maximum value of 0.20 to enhance the model's callback capability;

[0053] In the dynamic compensation mechanism, protective inhibition is achieved through abrupt temperature changes. The optimization, specifically the protective inhibition of sudden temperature changes, refers to: if a sudden temperature change is detected... This indicates a sudden rise or fall in the temperature of the moxibustion head, and the system automatically adjusts its temperature accordingly. To 0.02, to suppress pitch overshoot.

[0054] The present invention has at least the following beneficial effects:

[0055] Firstly, this invention eliminates reliance on sensors: it replaces expensive infrared / contact ranging with mathematical models to achieve low-cost, non-sensory intelligent control.

[0056] Secondly, the present invention has strong environmental adaptability. By designing a temperature-time function model that integrates environmental factors, it innovatively quantifies the influence of temperature and humidity on combustion efficiency and embeds it into the temperature control model to achieve environmental adaptive adjustment. That is, the present invention comprehensively considers environmental temperature and humidity factors and improves the robustness of the system to complex operating environments (such as winter, humid indoor environments, etc.).

[0057] Thirdly, the linkage control of this invention is precise and stable. By designing a temperature-distance inverse function mechanism, it can accurately calculate the distance corresponding to the target temperature in a non-contact manner, replacing traditional ranging or skin feedback, and achieving a faster and more precise temperature control response.

[0058] Fourth, this invention links and nests two function models to obtain a function-coupled driven dynamic distance adjustment method, which improves control sensitivity by outputting real-time target distance;

[0059] Fifth, the present invention, through the design of a disturbance correction control mechanism, enables it to achieve real-time compensation optimization. That is, by introducing a dynamic compensation strategy, it adapts to sudden changes in heat flow and disturbances, achieves closed-loop robust regulation, has anti-disturbance capability, and can adapt to dynamic adjustment in non-static operating environments.

[0060] Sixth, the pure algorithm solution proposed in this invention can complete temperature control adjustment by relying on basic actuators and main control chips, and the cost of the whole machine can be controlled within 800 yuan, which has a great cost-performance advantage.

[0061] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the processing flow of the intelligent moxibustion temperature control and distance adjustment method in this invention;

[0063] Figure 2 This is a schematic diagram illustrating the typical three-stage characteristics of the temperature change of the moxibustion head over time in this invention;

[0064] Figure 3 This is a schematic diagram illustrating the nonlinear inverse relationship between skin temperature and the distance to the moxibustion head in this invention;

[0065] Figure 4 This is a schematic diagram of the temperature change curve under the dynamic compensation and optimization mechanism in this invention;

[0066] Figure 5 This is a schematic diagram of the distance adjustment curve under the dynamic compensation and optimization mechanism in this invention;

[0067] Figure 6 This is a schematic diagram of the dynamic compensation amount curve under the dynamic compensation and optimization mechanism in this invention;

[0068] Figure 7 This is a comparative diagram of the present invention and the prior art. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0070] like Figure 1 As shown, this invention provides a temperature control and distance-linked adjustment system that integrates multiple physical factors. Its core technical solution includes the following four function models:

[0071] 1. Temperature-Time Function Model (Integrating Ambient Temperature and Humidity with Combustion Efficiency Compensation): Establish a nonlinear function that comprehensively considers the combustion law of the moxibustion body and the influence of environmental temperature, humidity and other factors on the combustion efficiency, and outputs the time change curve of the moxibustion head surface temperature.

[0072] Specifically, this scheme is based on the nonlinear heating and decay behavior of typical moxibustion materials (such as moxa wool) during combustion. It employs a piecewise temperature function model to describe the temperature changes during the heating phase, the isothermal plateau phase, and the later decay phase. The model form is as follows:

[0073]

[0074] in, The predicted temperature of the moxibustion head surface at time t; α is the theoretical maximum combustion temperature; α is the heating rate coefficient, reflecting the heat release rate in the initial stage of ignition; β is the temperature decay rate coefficient, reflecting the decreasing trend of heat energy in the middle and later stages of combustion. The heating period end time (set to 20~40s, depending on the characteristics of the heating element); The plateau period ends (3-5 minutes, set according to the burning time of the moxibustion material); ∈(0,1] is the square-type smooth environmental compensation factor (referred to as the environmental compensation factor), defined as:

[0075]

[0076] in, , These are ambient temperature and relative humidity, respectively. The ambient temperature reference for combustion (25°C in this case). The ambient relative humidity reference for combustion is 45%RH in this case. , The influence of temperature and humidity is weighted by factors to adjust the degree of influence of environmental variables on combustion efficiency. Figure 2 It presents the typical three-stage characteristics of the temperature change of the moxibustion head over time.

[0077] 2. Temperature-Distance Function Model: Based on the principles of thermal radiation and convection heat transfer, the temperature decays with a power law when away from the heat source, which can predict skin temperature, provide temperature control targets, and provide a basis for subsequent dynamic adjustment functions.

[0078] Specifically, this solution constructs a temperature-distance mathematical function model based on physical principles to comprehensively consider two mechanisms during moxibustion: heat radiation attenuation and heat loss due to natural air convection. The model takes the following form:

[0079]

[0080] in, Indicates the distance at time t. d The theoretical temperature felt on the skin surface (unit: °C); For the surface of the moxibustion head at all times t The predicted temperature (unit: °C) is calculated using a temperature-time function model; d The distance between the moxibustion head and the skin (unit: m) is adjusted in real time by a stepper motor driven by the control system; Thermal radiation attenuation factor (unit: Thermal radiation follows the Stefan-Boltzmann law, and its energy intensity is inversely proportional to the square of the distance (manifested as...). This is used to reflect the degree of attenuation of radiant heat with the square of the distance; Convection heat loss factor (unit: The heat carried away by natural air convection can be expressed as a power function decay through empirical heat transfer relationships (manifested as...). (), used to describe the heat loss caused by air convection; n The convective heat loss decay index (i.e., the convection term) is recommended to be in the range of 1.3 to 2.0, which represents the decreasing trend of convective heat transfer capacity due to the increase of air layer thickness.

[0081] Figure 3 This demonstrates a non-linear inverse relationship between skin temperature and the distance from the moxibustion head. As the distance between the moxibustion head and the skin (…) increases… d As the temperature of the skin increases, the skin temperature shows a significant decreasing trend, which is consistent with the physical law that the intensity of thermal radiation decreases with the square of the distance.

[0082] The temperature-distance function model also involves parameter calibration, and the calibration methods include:

[0083] (1) Static thermal radiation experiment (calibration) )

[0084] In a windless environment (wind speed <0.1 m / s), the temperature of the moxibustion head was kept constant. T ( t ) =150℃ Measure skin surface temperature at different distances d (5~50mm) Ignore convection terms. The least squares method was used for fitting. have to In a windless environment, convective heat transfer can be considered extremely weak. Only the decrease in skin temperature with distance due to thermal radiation needs to be considered, thus the convection term can be omitted. .

[0085] (2) Forced convection experiment (calibration) , n )

[0086] In the wind tunnel (wind speed v = 0.5~2.0 m / s), fixed T ( t ) =150℃ Measure different d Below In the known Under the condition of fitting ,get , n .

[0087] (3) Environmental adaptability verification

[0088] Under conditions of temperature and humidity change Repeat the experiment to verify the robustness of the model parameters.

[0089] 3. Dual-function coupling control and dynamic distance adjustment function: Combining the temperature-time model and the temperature-distance model, the current ideal moxibustion distance is calculated in real time, and the position of the robotic arm or moxibustion head is controlled through closed-loop feedback to achieve intelligent distance adjustment.

[0090] Specifically, in order to maintain a constant temperature stimulation between the moxibustion head and the skin, a temperature-time function is used. With temperature-distance function model Based on the coupling relationship, a dynamic distance adjustment control model driven by two functions was constructed, with the control objective being:

[0091]

[0092] In the above formula, It is a temperature-distance function, and also a nonlinear thermal decay function, simulating how the temperature of the moxibustion head gradually decays as the distance increases during the process of being transferred to the skin surface.

[0093] To achieve this goal, the system at each control step... The distance is adjusted based on the deviation between the skin surface temperature and the target temperature. The control function is:

[0094]

[0095] This is a negative feedback closed-loop regulation function with three characteristics: first, it controls the target, setting the skin surface temperature... Converging to the target temperature Second, the control strategy: the greater the deviation of the current temperature from the target, the larger the adjustment step size; third, convergence: if... With proper selection, the system will remain stable. .

[0096] in, For a moment t The distance between the moxibustion head and the skin; To control the step size; Target skin temperature set by the user or generated adaptively by the system; The current skin surface temperature is calculated based on a temperature-distance function model; The distance adjustment gain coefficient (a positive real number) controls the response speed and system stability. for t The timing control signal, specifically... yes t The control commands calculated based on the state error at all times will be... It is executed at all times. If This indicates overheating; the system will increase the distance if it is overheated, and decrease the distance if it is underheated.

[0097] 4. Dynamic compensation and optimization mechanism (disturbance correction function): Design a disturbance sensing and correction module. When a sudden wind disturbance, abnormal heat diffusion, or external interference is detected, the distance output is dynamically corrected according to the error.

[0098] To avoid relying on skin surface temperature sensors, this invention constructs a perturbation correction mechanism based on model prediction consistency and temperature change trend analysis. This mechanism can detect abnormalities such as cold wind, heat reflection, and combustion during moxibustion (the perturbation sensing module in the system does not rely on skin temperature sensors; it identifies perturbations through two internal model inference mechanisms: one is a temperature change rate analysis module, which calculates the slope of the predicted temperature of the moxibustion head). The first feature is the rapid response to disturbances such as cold air, ventilation, and sudden heat loss from the moxibustion head; the second is the model consistency deviation analysis module, which constructs trend deviation indicators. This system captures model deviations caused by factors such as unstable heat diffusion paths, fluctuations in local combustion efficiency, and environmental humidity disturbances. Combining these factors enables efficient and low-cost intelligent compensation and control without external sensors. Under external interference scenarios, it actively identifies mismatch trends in the temperature control model and automatically adjusts the distance between the moxibustion head and the skin to restore the moxibustion temperature to the target range. Within each control cycle (in each control cycle, the system calculates the correction distance in real time), it detects these deviations. Used to generate the next distance adjustment command This enables timely response and dynamic compensation control to sudden disturbances. The system calculates the correction distance. :

[0099]

[0100] in, This is the distance correction amount (unit: mm), used to fine-tune the distance between the moxibustion head and the skin; The rate of change of moxibustion head temperature (unit: ℃ / s) is obtained by the numerical differentiation of the predicted value of moxibustion head temperature. , The disturbance response coefficient (dimensionless) controls the response intensity to temperature slope and trend deviation. The dead zone threshold (unit: °C) is when It is recommended not to perform compensation at times to prevent minor disturbances from triggering erroneous adjustments. The initial setting is 0.5℃, which can be adjusted through experimental calibration. Model prediction error (unit: °C) is used to measure the degree of deviation of the model in terms of consistency of time prediction, and is defined as follows:

[0101]

[0102] in, In the first i The predicted skin surface temperature was obtained by using a combination of temperature-time function and temperature-distance function models at several historical time points. This is the model prediction value for the current period; For the past The average temperature change rate over several cycles is calculated using the following formula:

[0103]

[0104] in, i For "index variable in the sliding window", that is, the first i The purpose of each historical point in time is to enumerate the past. N Data from each time step helps construct a moving average and a moving slope, achieving the goal of sensorless prediction consistency analysis. Indicates the first i The predicted skin surface temperature was obtained by jointly calculating using temperature-time function and temperature-distance function models at several historical time points. In the first i+ The predicted skin surface temperature was obtained by jointly calculating using temperature-time function and temperature-distance function models at a single historical time point. and Together, they form the temperature difference between two adjacent prediction time points within the sliding window, used to estimate the rate of temperature change within the i-th historical period. Typically, N =3~5: This is the length of the moving average filter window, which can balance the anti-interference capability and the response speed. N The system is sensitive to short-term interference when the threshold is <3. N A value >5 indicates a delayed response; a value between 3 and 5 is recommended (specifically...). N This refers to the number of historical points (window length) in the moving average, indicating how many historical forecasts the system "reviews" to determine the trend (which can also be understood as the aforementioned period). Specifically, if the current time is t=100 seconds, the control period... Second, i =3, representing the 3rd historical point, then:

[0105] The above formula represents the predicted temperature 6 seconds ahead;

[0106] and This represents the predicted temperature two seconds prior; the difference between the two values ​​represents the "temperature trend" over a short period of time.

[0107] .

[0108] In this scheme, the dynamic compensation mechanism , The optimization logic includes:

[0109] (1) —Temperature change rate response coefficient

[0110] Function: To respond to changes in temperature slope caused by rapid rise or fall in the temperature of the moxibustion head (such as unstable combustion or sudden cooling), and to avoid over-adjustment or adjustment delay of the system.

[0111] Experimental calibration steps:

[0112] ① Create a temperature "step input" (e.g., in the moxibustion head heating model) (The temperature rose rapidly from 150°C to 170°C);

[0113] ② Observe the distance adjustment behavior during the system response process;

[0114] ③ Adjustment Make the distance correction amount The number of response oscillations is controlled to be no more than 2 (reaching or approximately “critical damping”);

[0115] ④ The recommended setting range was obtained through experimental verification:

[0116] (Default value: 0.05)

[0117] (2) —Trend Deviation Response Coefficient

[0118] Function: Used to correct for model prediction trend drift caused by external disturbances (such as wind flow or obstruction), quickly pulling the system back to the target temperature range. It should be noted that... Instead of relying on direct detection of external disturbances (such as anemometers or infrared light blocking sensors), it utilizes a trend deviation term generated within the model. The system senses abnormal changes in the heat conduction path and temperature rise trend. This structure ensures that the system can indirectly identify disturbances such as airflow and obstruction without external environmental sensors and make temperature control adjustments. When external disturbances, such as accelerated heat loss due to airflow, heat reflection due to obstruction, or obstruction of the heat transfer path, occur, the system's temperature change trend will differ from the model prediction. This difference is... .

[0119] The experimental calibration steps are as follows:

[0120] ① Apply continuous external wind disturbance to the system (e.g., wind speed v=1m / s);

[0121] ② Record the model prediction error Changes over time;

[0122] ③ Adjustment Until the system completes the task within 10 seconds. Converging to <0.5℃;

[0123] ④ The recommended setting range based on actual measurements is as follows:

[0124] (Default value: 0.10)

[0125] (3) To enhance the system's ability to cope with sudden disturbances and extreme operating conditions, the system is designed with the following emergency adaptive parameter adjustment mechanism. This mechanism is based on the limiting criterion of prediction error and temperature rise rate, and adjusts the compensation parameters in a short time. , The value of can be used to temporarily increase or decrease the pitch intensity in order to improve the robustness and safety of the system.

[0126] The adaptive optimization logic mainly refers to the protective suppression of sudden temperature changes, that is, if a sudden temperature change is detected... This indicates a sudden rise / fall in the temperature of the moxibustion head, and the system will automatically temporarily adjust accordingly. The value is reduced to a "protective suppression value" of 0.02 (below the recommended normal operating range [0.03, 0.07]) and is only activated briefly in extreme temperature rise scenarios (temperature change rate exceeding 5℃ / s, indicating risks such as intensified combustion or nonlinear temperature rise). This state is used to temporarily weaken the system's response to the slope of temperature changes, preventing overshoot or pitch oscillation. Once the system temperature rise rate returns to normal, it reverts to the default value to suppress pitch overshoot.

[0127] The adaptive optimization logic mainly involves extreme trend deviation self-gain, that is, if the system detects extreme trend deviation for 5 consecutive seconds... Then it will automatically temporarily put The setting is raised to the "emergency control upper limit" of 0.20 (exceeding the recommended normal operating range [0.08, 0.15]), and is only activated briefly under extreme disturbance conditions (such as a trend deviation continuously greater than 1℃ for 5 seconds). This state is only used to temporarily enhance the disturbance correction capability. It will revert to the default value after the system detects that the model error has fallen back to a safe range, thus enhancing the model's fallback capability. It should be noted that... , In the adaptive optimization logic, although the system temporarily adjusts its values ​​beyond the limits, this does not actually conflict with or err against the previously defined "recommended setting range." Instead, it reflects that the "recommended operating range" and the "extreme adaptive extension strategy" are two different layers of logic. The recommended value range is the default stable operating range for the system; used for system initialization calibration and daily control strategies, it represents the optimal balance between measured responsiveness and stability. The adaptive extension strategy is used when the system identifies "extreme anomalies" (such as sudden severe interference); it temporarily breaks the default control strength limit and forcibly pulls back to the target state using a more aggressive control strategy; this process is generally short (5-10 seconds), after which the default is restored. This can be simply understood as: Recommended... ∈[0.08, 0.15], which corresponds to the normal speed limit range for a car (80~120 km / h); while =0.20 temporarily triggers the "hazard avoidance mode" (such as emergency acceleration obstacle avoidance), which is not frequently used but is necessary. Adaptive optimization logic (i.e. The "extreme adaptive scaling strategy" and The consistency is the same, and will not be described further here.

[0128] and Figures 4-6 This study systematically demonstrates the regulatory effects and rationality of dynamic compensation and optimization mechanisms during moxibustion. Figure 4 In the temperature change curve, the blue solid line represents the three typical stages of the moxibustion head temperature: rapid initial heating (0~60 seconds), constant temperature maintenance in the middle stage (60~1320 seconds), and slow decay in the later stage (>1320 seconds), which is consistent with the physical characteristics of the moxibustion head operation; the red dashed line represents the skin temperature, which, after a rapid initial rise, gradually stabilizes at the target temperature of 45℃ through the intervention of the distance adjustment mechanism, indicating that the system can effectively suppress the excessive impact of the high temperature of the moxibustion head on the skin.

[0129] Figure 5 The distance adjustment curve (purple solid line) shows that the distance between the moxibustion head and the skin increases rapidly during the heating stage to prevent the skin from getting too hot, fluctuates slightly during the constant temperature stage to maintain temperature stability, and decreases as the moxibustion head cools down in the later stage, which reflects the rationality of negative feedback control.

[0130] Figure 6 The dynamic compensation curve (solid cyan line) further reveals the details of the regulation: when the initial temperature change rate is large, the compensation amount is significant (from...). Dominant), medium-term trend deviation becomes the main adjustment factor ( (Effect), and triggers protective inhibition at the mutation time (e.g., 30 seconds). (Temporarily reduced), which conforms to the adaptive logic of document design.

[0131] It can be seen that, Figures 4-6 The time axis is fully aligned, and the changes in temperature, distance, and compensation are closely coupled, exhibiting critical damping characteristics (fast response and no overshoot), which verifies the effectiveness of the dynamic compensation mechanism.

[0132] The present invention provides an intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling. This method does not rely on infrared ranging or contact sensors. By constructing a temperature-time function model (integrating environmental temperature and humidity and combustion efficiency compensation mechanisms) and a temperature-distance function model, it further realizes dual-function coupling control and dynamic distance adjustment. It also superimposes dynamic compensation and disturbance optimization mechanisms to solve the problems of insufficient temperature control accuracy, poor environmental adaptability, lagging distance adjustment, and low system intelligence level in existing moxibustion devices. This method enables real-time linkage and precise control of the two variables of temperature and distance during the moxibustion process.

[0133] Example 1

[0134] 1. Purpose of Implementation

[0135] This embodiment is a basic control verification experiment under constant temperature environment in the laboratory. It aims to verify the temperature control distance adjustment effect of the dual-function coupling control strategy combining the temperature-time function model and the temperature-distance function model proposed in this invention under the condition of no external sensor, and to examine whether the system can achieve automatic and stable distance adjustment to maintain a constant skin surface temperature.

[0136] 2. Implementation Environment and Equipment Configuration

[0137] Experimental environment: Temperature 25°C, Humidity 50%RH

[0138] Main control chip: ESP32

[0139] Heating element: PTC ceramic heating chip, maximum temperature 250℃

[0140] Actuator: Stepper motor, control accuracy 0.1mm

[0141] Simulated skin material: Medical-grade silicone sheet (4mm thick, with a heat capacity close to that of human skin).

[0142] Target temperature setting: 45℃

[0143] Control cycle: Adjustment interval updated every 2 seconds

[0144] 3. Implementation Steps

[0145] ① After the device is powered on, it uses the built-in ambient temperature and humidity sensor module to collect environmental parameters, which are then used to calculate the environmental compensation factor in the temperature-time function and the temperature-distance function. ;

[0146] ② Calculate the theoretical temperature of the heating element at different time points based on the temperature-time function model. ;

[0147] ③ Calculate the skin surface temperature at the current distance based on the temperature-distance function model. ;

[0148] ④If The system automatically shortens the distance between the moxibustion head and the skin, and conversely, moves it away from the skin.

[0149] ⑤ Continue adjusting until it stabilizes at a certain distance. d At approximately 4.8 cm, maintain skin temperature within the range of 45℃±0.3℃.

[0150] 4. Implementation Results

[0151] The entire moxibustion process requires no real-time temperature sensor intervention; temperature control and adjustment are achieved solely through model calculations. The system completes stable adjustment within 30 seconds, without overheating or significant fluctuations, demonstrating that the constructed dual-function coupled control logic possesses good predictability and stability under ideal conditions. Figure 7 A comparison of the implementation effects of this invention with the three existing technologies clearly demonstrates the effectiveness of this invention. Figure 7 The red dotted line is used to represent the target temperature line, which is the skin surface temperature (45°C) that the system is designed to maintain.

[0152] Figure 7 The gray dashed line represents the fixed height control in the existing technology, which gradually increases the temperature to about 45℃; the high temperature is stable (45.5℃±0.5℃), but the inability to adjust the distance leads to the risk of low-temperature burns; the moxa stick decays, and the temperature slowly decreases;

[0153] Figure 7 The orange dotted line is used to characterize the existing infrared temperature control system, which has a response delay of ≈0.5 seconds and significant oscillation. The "over-adjustment-compensation" phenomenon is caused by the lag in infrared temperature control and the repeated correction of PID feedback.

[0154] Figure 7 The solid blue line represents the model in this patent, and it can be seen that its temperature is maintained within ±0.3℃ of the target value, demonstrating self-stability.

[0155] The above solution is merely an illustration of a preferred example and is not limited thereto. When implementing this invention, appropriate substitutions and / or modifications can be made according to the user's needs.

[0156] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A method for intelligent moxibustion temperature control and distance adjustment based on dual-function coupling, characterized in that, include: S1. After the intelligent moxibustion device is powered on, the ambient temperature and humidity are collected, and the environmental compensation factor is calculated. ; S2, based on The temperature-time function model was used to calculate the surface temperature of the moxibustion head at time t. t Predicted temperature ; S3, the result obtained from S2 Coupled to a temperature-distance function model to calculate the distance between the moxibustion head and the skin. d skin surface temperature at time ; S4. If If the control function outputs a control signal to the power mechanism, it shortens the distance between the moxibustion head and the skin; conversely, it moves the head further away. Target skin temperature; S5. After each adjustment of the moxibustion head position, detect whether there is any environmental disturbance. If so, determine whether the distance between the moxibustion head and the skin needs to be adjusted based on the disturbance correction function. d Error correction is performed to maintain the skin surface temperature within the range of 45℃±0.3℃; In S3, the temperature-distance function model is characterized by the following equation: In the above formula, It is a temperature-distance function, and , It is the thermal radiation attenuation factor. For convective heat loss factor, n This is the convective heat loss attenuation index.

2. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 1, characterized in that, In S1, the environmental compensation factor Obtained through the following formula: In the above formula, , These are ambient temperature and relative humidity, respectively. The ambient temperature is used as a reference for combustion. The ambient relative humidity is used as a reference for combustion. , These are the weighting factors for the effects of temperature and humidity, respectively.

3. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 1, characterized in that, In S2, the temperature-time function model is characterized by the following equation: In the above formula, The theoretical maximum combustion temperature is given by α, the heating rate coefficient is given by β, and the temperature decay rate coefficient is given by β. The set end time of the warming period. The set end time for the plateau period.

4. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 1, characterized in that, S3 also includes the following methods for calibrating parameters: S30. Under test conditions of no wind and a fixed moxibustion head temperature, measure different distances. d Corresponding skin surface temperature Ignoring the convection term, the least squares method is used for nonlinear regression fitting. Complete the task Calibration; S31. In a wind tunnel, under conditions of fixed wind speed and fixed moxibustion head temperature, test at different distances... d Corresponding skin surface temperature In the known Fitting under the condition Complete the task and n Calibration; S32. Repeat the experiment under different temperature and humidity changes to verify the robustness of each model parameter in the temperature-distance function model.

5. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 1, characterized in that, In S4, the control function is characterized by the following equation: In the above formula, for t Maintain the distance between the moxibustion head and the skin at all times. To control the step size, This is the distance-adjustable gain coefficient. for t Control signals at specific times.

6. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 1, characterized in that, In S5, the disturbance refers to external interference situations such as cold wind, heat reflection, and abnormal combustion that occur during the moxibustion process; The perturbation correction function is characterized by the following equation: In the above formula, This is the distance correction amount. The rate of change of temperature at the moxibustion head. The temperature change rate response coefficient The trend deviation response coefficient. Dead zone threshold, The model prediction error, and No compensation will be provided at this time.

7. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 6, characterized in that, The It is characterized by the following formula: in, N For the number of periods, To control the step size, In the first i The predicted skin surface temperature was obtained by using a combination of temperature-time function and temperature-distance function models at several historical time points. This is the model prediction value for the current period; Let be the average rate of temperature change over the past N periods, and We obtain it from the following formula: In the above formula, i The index variable in the sliding window, that is, the first... i The purpose of each historical point in time is to enumerate the past. N Data from each time step helps construct a moving average and a moving slope, achieving the goal of sensorless predictive consistency analysis. In the first i+ The predicted skin surface temperature is obtained by using a combination of temperature-time function and temperature-distance function models at a single historical time point.

8. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 6, characterized in that, The The calibration method is as follows: A temperature step input is created in the moxibustion head heating model, the distance adjustment behavior during the system response process is observed, and adjustments are made. Make the distance correction amount The number of response oscillations was controlled to be no more than two, as verified experimentally. The recommended setting range is: ; The The calibration method is as follows: apply continuous external wind disturbance to the system and record the model prediction error. Adjust over time Until the system will [resume action] within 10 seconds. The temperature converged to less than 0.5℃, which was verified experimentally. The recommended setting range is: .

9. The intelligent moxibustion temperature control and distance adjustment method based on dual-function coupling as described in claim 8, characterized in that, In the dynamic compensation mechanism, μ2 is optimized through extreme trend deviation self-gain. The extreme trend deviation self-gain refers to: if the system detects [a certain value] for 5 consecutive seconds... Then it will automatically increase temporarily. Up to a maximum value of 0.20 to enhance the model's callback capability; In the dynamic compensation mechanism, protective inhibition is achieved through abrupt temperature changes. The optimization, specifically the protective inhibition of sudden temperature changes, refers to: if a sudden temperature change is detected... This indicates a sudden rise or fall in the temperature of the moxibustion head, and the system automatically adjusts its temperature accordingly. To 0.02, to suppress pitch overshoot.

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