Moxibustion instrument control method and device, moxibustion instrument and computer readable storage medium

Abstract

The invention relates to the field of instrument control, and discloses a moxibustion instrument control method and device, a moxibustion instrument and a computer readable storage medium. The moxibustion instrument control method comprises the steps that a moxibustion part is controlled to move along a preset moving route, and moving moxibustion is conducted on a user; in the moving moxibustion process, human body vibration signals generated by a user are collected in real time through the contact part, and a target moxibustion point is determined according to the human body vibration signals; the moxibustion part is controlled to stop moving, and fixed-point moxibustion is conducted on the target moxibustion point. According to the moxibustion instrument control method and device, the moxibustion instrument and the computer readable storage medium, the problem that the moxibustion result is greatly influenced by the energy of operators can be solved, and the moxibustion effect and the user experience can be improved.

Description

Technical Field

[0001] The present application relates to the field of instrument control, and in particular to a moxibustion instrument control method and device, a moxibustion instrument, and a computer-readable storage medium. Background Art

[0002] As an important part of traditional Chinese medicine, moxibustion uses the heat, light, and smoke generated by burning moxa sticks to act on acupuncture points on the human body, achieving the effects of warming the meridians and harmonizing qi and blood. Studies have shown that the mechanism of action of moxibustion mainly includes three aspects: heat radiation, light radiation, and moxa smoke: Thermal radiation: The heat energy generated by moxibustion improves the microenvironment of acupuncture points, promotes blood circulation and metabolism, and regulates immune function and recovery of internal organs.

[0003] Light radiation: The infrared radiation of moxibustion (wavelength 600 nanometers to 15 microns) penetrates deep into human tissues, activates biological macromolecules, and enhances cell metabolism and immune function.

[0004] Mugwort smoke: Mugwort smoke contains a variety of active ingredients with antibacterial, antiviral and anti-inflammatory effects, but the CO and solid particles in it may be harmful to the human body and need to be treated.

[0005] The theory of meridians and acupoints in Traditional Chinese Medicine (TCM) is the core foundation of moxibustion treatment. The Yellow Emperor's Classic of Internal Medicine states that meridians are the foundation of human life and the key to disease treatment. However, traditional moxibustion relies on manual acupoint selection and manipulation. Differences in operator skill significantly impact moxibustion results, leading to significant fluctuations in efficacy and compromising user experience. Summary of the Invention

[0006] In view of this, it is necessary to provide a moxibustion instrument control method and device, a moxibustion instrument and a computer-readable storage medium to solve the defect that the moxibustion results are greatly affected by the energy of the operator, making it difficult to improve the moxibustion effect and user experience.

[0007] In order to solve the above problems, the present application provides a moxibustion instrument control method, which is applied to a moxibustion instrument including a contact part and a moxibustion part, including: controlling the moxibustion part to move along a preset moving route to perform mobile moxibustion on the user; during the mobile moxibustion process, collecting the human body vibration signal generated by the user in real time through the contact part, and determining the target moxibustion point according to the human body vibration signal; controlling the moxibustion part to stop moving and performing fixed-point moxibustion on the target moxibustion point.

[0008] In an optional embodiment, the human body vibration signal generated by the user is collected in real time via the contact part, including: obtaining a mixed vibration signal collected by the contact part; obtaining a mechanical vibration signal of the moxibustion device; and separating the human body vibration signal from the mixed vibration signal based on the mechanical vibration signal.

[0009] In an optional embodiment, a human body vibration signal is separated from a mixed vibration signal according to a mechanical vibration signal, including: performing fast Fourier transform on the mixed vibration signal and the mechanical vibration signal, respectively, to obtain a mixed vibration spectrum corresponding to the mixed vibration signal and a mechanical vibration spectrum corresponding to the mechanical vibration signal; determining the mechanical vibration frequency of the mechanical vibration signal according to the mechanical vibration spectrum; filtering the mixed vibration spectrum according to the mechanical vibration frequency to obtain a filtered spectrum, and performing inverse Fourier transform on the filtered spectrum to obtain the human body vibration signal.

[0010] In an optional embodiment, the target moxibustion point is determined according to the human body vibration signal, including: performing a short-time Fourier transform on the human body vibration signal to obtain a human body vibration spectrum corresponding to the human body vibration signal; judging whether the vibration frequency of the human body vibration signal is within a preset frequency range and the signal energy is higher than a first preset energy threshold according to the human body vibration spectrum; if the vibration frequency is within the preset frequency range and the signal energy is higher than the first preset energy threshold, determining the target moxibustion point according to the current moxibustion point corresponding to the human body vibration signal.

[0011] In an optional embodiment, the target moxibustion point is determined based on the current moxibustion point corresponding to the human body vibration signal, including: determining a detection range around the current moxibustion point based on a preset expansion rule; controlling the movement of the moxibustion unit within the detection range, and determining the position with the highest signal energy within the detection range as the target moxibustion point. Due to factors such as the user's body shape, body position, and posture, the user's acupoints and other sensitive points may deviate from the preset movement route. By expanding the range of the current moxibustion point and determining the position with the highest signal energy within the detection range as the target moxibustion point, the accuracy of the target moxibustion point can be further improved.

[0012] In an optional embodiment, after performing fixed-point moxibustion on the target moxibustion point, it also includes: in response to the signal energy corresponding to the target moxibustion point being lower than the second preset energy threshold, controlling the moxibustion part to continue moving along the preset moving route to perform mobile moxibustion on the user.

[0013] In an optional embodiment, before controlling the moxibustion unit to stop moving and performing fixed-point moxibustion on the target moxibustion point, the moxibustion instrument control method further includes: determining a number of detection points around the target moxibustion point based on a preset point selection rule, collecting the human body temperature at the target moxibustion point as the target temperature, and collecting the human body temperature at each monitoring point as the detection temperature; judging whether the temperature difference between the target temperature and each detection temperature is greater than a preset temperature difference threshold; if the temperature difference between the target temperature and each detection temperature is greater than the preset temperature difference threshold, controlling the moxibustion unit to stop moving and performing fixed-point moxibustion on the target moxibustion point; if the temperature difference between the target temperature and any detection temperature is less than or equal to the preset temperature difference threshold, controlling the moxibustion unit to continue moving along the preset moving route and performing mobile moxibustion on the user. Sensitive areas such as acupoints are usually hotter than surrounding tissues due to active metabolism, high capillary density, and enriched ion channels. By detecting the temperature of the target moxibustion point, the accuracy of the target moxibustion point can be further improved.

[0014] In the second aspect, an embodiment of the present application provides a moxibustion instrument control device, which is used to control a moxibustion instrument including a contact part and a moxibustion part, including: a mobile control module, the mobile control module is used to control the moxibustion part to move along a preset moving route to perform mobile moxibustion on the user; a signal processing module, the signal processing module is used to control the contact part to collect the human body vibration signal generated by the user in real time during the mobile moxibustion process; a moxibustion point determination module, the moxibustion point determination module is used to determine the target moxibustion point according to the human body vibration signal; the mobile control module is also used to control the moxibustion part to stop moving and perform fixed-point moxibustion on the target moxibustion point.

[0015] In the third aspect, an embodiment of the present application provides a moxibustion instrument, comprising: a contact part, a moxibustion part, and a moxibustion instrument control device connected to the contact part and the moxibustion part, the moxibustion part is used to perform moxibustion on the user; the contact part is used to collect human body vibration signals generated by the user; the moxibustion instrument control device is used to execute the moxibustion instrument control method as described above to control the moxibustion part and the contact part to perform moxibustion on the user.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that it is used to store computer-readable programs or instructions, which, when executed by a processor, can implement the moxibustion instrument control method as described above.

[0017] Technical effect of the present application: In the moxibustion instrument control method provided in the embodiment of the present application, the human body vibration signal generated by the human body during the moving moxibustion process is collected through the contact part. Since the capillary density is high and the ion channels are enriched at sensitive points such as the human body's acupoints, they are more sensitive to moxibustion operations. Therefore, there is a difference between the vibration feedback generated during the initial moxibustion and the vibration feedback generated at non-acupoints. In the present application, the human body's acupoints can be accurately determined by determining the target moxibustion point based on the human body vibration signal. After determining the target moxibustion point, the moxibustion part is controlled to stop moving and fixed-point moxibustion is performed on the target moxibustion point, so that the user's acupoints can be accurately and continuously moxibustioned, and the user's acupoints and other sensitive points can be automatically and continuously moxibustioned without manual acupoint positioning, thereby solving the problem that the moxibustion results are greatly affected by the operator's energy, and improving the moxibustion effect and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a flow chart of an embodiment of a moxibustion apparatus control method provided by the present application; Figure 2 A schematic structural diagram of an embodiment of the moxibustion apparatus provided in this application; Figure 3 for Figure 1 Flowchart of the method of step S101 in an embodiment; Figure 4 for Figure 1 A method flow chart of an embodiment of step S102; Figure 5 for Figure 1 A method flow chart of another embodiment of step S102; Figure 6 for Figure 1 A method flow chart of another embodiment of step S102; Figure 7 This is a system framework diagram of an embodiment of the moxibustion instrument control device provided in this application. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present application to illustrate the principles of the present application, and are not used to limit the scope of the present application.

[0020] Please refer to Figure 1 In a specific embodiment of the present application, a moxibustion apparatus control method is disclosed, which is applied to a moxibustion apparatus comprising a contact portion and a moxibustion portion, wherein the contact portion contacts the user's body during the moxibustion process and is used to collect vibration signals from the user's body, and the moxibustion portion is used to perform moxibustion on the user. In actual application, if Figure 2As shown, the contact portion 100 and the moxibustion portion 200 can be a combined structure that is combined with each other and arranged together. The contact portion 100 is arranged on the moxibustion portion 200. During the process of moxibustion on the user, the contact portion 100 and the user's body are in contact with each other. Or in some embodiments of the present application, the contact portion and the moxibustion portion can also be two independent components independent of each other. Applicable to controlling the moxibustion instrument as described above, the moxibustion instrument control method provided in one embodiment of the present application specifically includes the following steps: Step S101: Control the moxibustion unit to move along a preset moving route to perform mobile moxibustion on the user.

[0021] Step S102: During the mobile moxibustion process, the human body vibration signal generated by the user is collected in real time via the contact part, and the target moxibustion point is determined according to the human body vibration signal.

[0022] Step S103: Control the moxibustion part to stop moving and perform fixed-point moxibustion on the target moxibustion point.

[0023] Compared with the related art, in the moxibustion instrument control method provided in the embodiment of the present application, the human vibration signal generated by the human body during the moving moxibustion process is collected through the contact part. Since the capillary density at sensitive points such as the human acupoints is high and the ion channels are enriched, they are more sensitive to moxibustion operations. Therefore, there is a difference between the vibration feedback generated during the initial moxibustion and the vibration feedback generated at non-acupoints. In the present application, the target moxibustion point can be determined according to the human body vibration signal to accurately determine the human acupoints. After determining the target moxibustion point, the moxibustion part is controlled to stop moving and fixed-point moxibustion is performed on the target moxibustion point, so that the user's acupoints can be accurately and continuously moxibustioned, and the user's acupoints and other sensitive points can be automatically and continuously moxibustioned without manual acupoint positioning, thereby solving the problem that the moxibustion results are greatly affected by the energy of the operator, and improving the moxibustion effect and user experience.

[0024] Specifically, in step S101, the preset moving route can be a moxibustion route set before moxibustion. For example, multiple different moxibustion routes are pre-set. When moxibustion is performed on the user, one moxibustion route is selected from the multiple preset moxibustion routes as the preset moving route in this embodiment. Alternatively, in some other embodiments of the present application, the preset moving route can also be a moxibustion route determined by an infrared camera and image recognition technology. Please refer to Figure 3 , the method for determining the preset moving route may specifically include: Step S201: capturing an infrared image of a human body, and dividing the infrared image of the human body into a plurality of unit images.

[0025] In this step, an infrared camera can be installed on the moxibustion device to capture an infrared image of the human body. The infrared image of the human body is then divided into a number of unit images according to a set image segmentation rule. For example, the captured infrared image of the human body can be divided into a grid image with a unit size of 1 cm*1 cm, and each cell in the grid image is a unit image.

[0026] Step S202: determining the human body temperature corresponding to each unit image, and determining the target unit image according to the human body temperature.

[0027] In this step, the human body temperature corresponding to each unit image may be the highest temperature in each unit image, the lowest temperature in each unit image, or the average temperature of each unit image.

[0028] Sensitive areas such as acupoints are typically warmer than surrounding tissue due to their active metabolism, high capillary density, and enriched ion channels. Accordingly, in this embodiment, determining the target unit based on human body temperature can specifically involve calculating the temperature difference between each unit image and the temperature of the adjacent unit image, and selecting the unit image whose temperature difference is greater than a preset temperature difference as the target unit image.

[0029] Step S203: connecting a plurality of target unit images to form a preset moving route.

[0030] By automatically determining the preset movement route through an infrared camera, the preset movement route can be adjusted according to the user's actual factors such as body shape and body shape, so that the preset movement route includes more acupoints and other sensitive points while improving the accuracy of determining the user's acupoints and other sensitive points, thereby improving the user experience.

[0031] In step S102, when the moxibustion part moves along the preset moving route and performs mobile moxibustion on the user, the contact part maintains contact with the user's body, and the vibration signal is collected in real time by the vibration sensor on the contact part. Since the contact part is affected by the vibration of the human body while being in contact with the human body, it is also provided on the moxibustion instrument and is affected by the vibration of the power components in the moxibustion instrument, such as the drive motor that drives the moxibustion part to move along the preset moving route. Therefore, in an embodiment of the present application, the vibration signal directly collected by the contact part is a mixed vibration signal of the human body vibration signal generated by the mixed user's body and the mechanical vibration signal generated by the moxibustion instrument. In some embodiments of the present application, the mechanical vibration signal generated by the moxibustion instrument can be separately collected by arranging a vibration sensor that does not contact the human body on the moxibustion instrument, and then the human body vibration signal generated by the user can be separated from the mixed vibration signal collected by the contact part based on the mechanical vibration signal generated by the moxibustion instrument alone.

[0032] For further information, please refer to Figure 4Separating the human body vibration signal from the mixed vibration signal according to the mechanical vibration signal may specifically include: Step S301 : performing fast Fourier transform on the mixed vibration signal and the mechanical vibration signal respectively to obtain a mixed vibration spectrum corresponding to the mixed vibration signal and a mechanical vibration spectrum corresponding to the mechanical vibration signal.

[0033] Step S302: determining the mechanical vibration frequency of the mechanical vibration signal according to the mechanical vibration spectrum.

[0034] Step S303: filtering the mixed vibration spectrum according to the mechanical vibration frequency to obtain a filtered spectrum.

[0035] Step S304: performing inverse Fourier transform on the filtered spectrum to obtain a human body vibration signal.

[0036] Specifically, in actual use, the main frequency band of the mechanical vibration of a moxibustion device is usually concentrated in the high frequency band, such as >50Hz, while the main frequency band of the vibration signal generated by sensitive points on the human body, such as acupoints, is usually distributed in the low frequency band, such as 5-20Hz. Filtering the mixed vibration spectrum by the mechanical vibration frequency can remove the mechanical vibration signal from the mixed vibration signal, obtaining a filtered spectrum that mainly contains the human vibration signal. Subsequently, performing an inverse Fourier transform on the filtered spectrum can obtain the human vibration signal.

[0037] For further information, please refer to Figure 5 In step S102, determining the target moxibustion point according to the human body vibration signal may specifically include: Step S401: performing short-time Fourier transform on the human body vibration signal to obtain a human body vibration spectrum corresponding to the human body vibration signal.

[0038] Step S402: determining, based on the human body vibration spectrum, whether the vibration frequency of the human body vibration signal is within a preset frequency range and whether the signal energy is higher than a first preset energy threshold.

[0039] Step S403: If the vibration frequency is within the preset frequency range and the signal energy is higher than the first preset energy threshold, the target moxibustion point is determined according to the current moxibustion point corresponding to the human body vibration signal.

[0040] For the human body, since blood vessels and nerves are more densely distributed at sensitive points such as acupoints, the vibration generated by the human body will be significantly enhanced when moxibustion is applied to sensitive points such as acupoints. In the embodiment of the present application, it can be determined whether the target moxibustion point has been reached based on whether the signal energy of the human body vibration signal during the moving moxibustion process is higher than the first preset energy threshold. In addition, since the intensity of the mechanical vibration of the moxibustion instrument is usually much greater than the intensity of the human body vibration, and there may still be residual mechanical vibration signals when the human body vibration signal is separated from the mixed vibration signal, in the embodiment of the present application, it is also possible to further reduce the influence of the mechanical vibration signal of the moxibustion instrument on the vibration intensity of the human body vibration signal by combining the determination of whether the vibration frequency of the human body vibration signal is within the preset frequency range.

[0041] It is understandable that before controlling the moxibustion part to stop moving and performing fixed-point moxibustion on the target moxibustion point, in some embodiments of the present application, the body temperature of the target moxibustion point can be further combined to verify whether the target moxibustion point is a sensitive point such as an acupoint. The specific verification method includes: determining a number of detection points around the target moxibustion point based on a preset point selection rule, collecting the human body temperature of the target moxibustion point as the target temperature, and collecting the human body temperature of each monitoring point as the detection temperature; judging whether the temperature difference between the target temperature and each detection temperature is greater than the preset temperature difference threshold; if the temperature difference between the target temperature and each detection temperature is greater than the preset temperature difference threshold, controlling the moxibustion part to stop moving and performing fixed-point moxibustion on the target moxibustion point; if the temperature difference between the target temperature and any detection temperature is less than or equal to the preset temperature difference threshold, controlling the moxibustion part to continue moving along the preset moving route and performing mobile moxibustion on the user. Sensitive areas such as acupoints are usually hotter than surrounding tissues due to active metabolism, high capillary density, and enriched ion channels. By detecting the temperature of the target moxibustion point, the accuracy of the target moxibustion point can be further improved.

[0042] Furthermore, in the embodiment of the present application, due to the influence of actual factors such as the user's body shape and individual acupoint distribution, acupoints and other sensitive points may be distributed in the area around the preset movement route. The current moxibustion point determined in the aforementioned step S403, whose vibration frequency is within the preset frequency range and whose signal energy is higher than the first preset energy threshold, is actually a point within the radiation area of ​​the acupoints and other sensitive points. In order to more accurately locate acupoints and other sensitive points, please refer to Figure 6 In one embodiment of the present application, the following may also be included: Step S501: Determine a detection range around the current moxibustion point based on a preset expansion rule.

[0043] Step S502: Control the moxibustion part to move within the detection range, and determine the position with the highest signal energy within the detection range as the target moxibustion point.

[0044] Among them, the preset expansion rules can be, for example, to use the current moxibustion point as the center and draw a circle with a preset radius to obtain the detection range around the current moxibustion point; or it can be to use the current moxibustion point as the center point to perform matrix expansion to obtain the detection range around the current moxibustion point, etc.

[0045] Due to the influence of factors such as the user's body shape, body position, and posture, the user's acupoints and other sensitive points may deviate from the preset movement route. By expanding the range of the current moxibustion point and determining the position with the highest signal energy within the detection range as the target moxibustion point, the accuracy of the target moxibustion point can be further improved.

[0046] Furthermore, in one embodiment of the present application, during the process of performing fixed-point moxibustion on the target moxibustion point in step S103, the skin surface temperature of the human body is also monitored in real time. After monitoring that the skin surface temperature of the human body is higher than the upper limit temperature, the height of the moxibustion part is controlled to rise and the distance from the human body is increased, thereby preventing burns to the human skin caused by long-term moxibustion during the fixed-point moxibustion process.

[0047] Furthermore, during the process of fixed-point moxibustion on the target moxibustion point, the human body vibration signal is also detected in real time. When the signal energy of the human body vibration signal corresponding to the target moxibustion point is lower than the second preset energy threshold, it is considered that the target moxibustion point has been moxibustioned. At this time, the moxibustion part is controlled to continue moving along the preset moving route, and the user is subjected to mobile moxibustion until the entire preset moving route is completely moxibustioned.

[0048] Please refer to Figure 7 The embodiment of the present application also provides a moxibustion instrument control device, which is used to control the moxibustion instrument including a contact part and a moxibustion part, including: a mobile control module 10, the mobile control module 10 is used to control the moxibustion part to move along a preset moving route to perform mobile moxibustion on the user; a signal processing module 20, the signal processing module 20 is used to control the contact part to collect the human body vibration signal generated by the user in real time during the mobile moxibustion process; a moxibustion point determination module 30, the moxibustion point determination module 30 is used to determine the target moxibustion point according to the human body vibration signal; the mobile control module 10 is also used to control the moxibustion part to stop moving and perform fixed-point moxibustion on the target moxibustion point.

[0049] Please refer to Figure 1 The embodiment of the present application further provides a moxibustion apparatus, comprising: a contact portion 100, a moxibustion portion 200, and a moxibustion apparatus control device connected to the contact portion 100 and the moxibustion portion 200 ( Figure 1Not shown, it can be specifically set at any position in the moxibustion instrument and connected to the contact part 100 and the moxibustion part 200), the moxibustion part 200 is used to perform moxibustion on the user; the contact part 100 is used to collect the human body vibration signal generated by the user; the moxibustion instrument control device is used to execute the moxibustion instrument control method provided in the aforementioned embodiment to control the moxibustion part 200 and the contact part 100 to perform moxibustion on the user.

[0050] The embodiment of the present application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the program or instructions are executed by a processor, the moxibustion instrument control method provided in the above embodiment can be implemented.

[0051] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0052] The above are only preferred specific implementation methods of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A moxibustion apparatus control method, applied to a moxibustion apparatus comprising a contact portion and a moxibustion portion, characterized in that: include: Control the moxibustion unit to move along a preset moving route to perform mobile moxibustion on the user; During the mobile moxibustion process, the user's human body vibration signal is collected in real time through the contact part, and the target moxibustion point is determined based on the human body vibration signal; Control the moxibustion part to stop moving and perform fixed moxibustion on the target moxibustion point.

2. The moxibustion apparatus control method according to claim 1, characterized in that: The user's human body vibration signals are collected in real time through the contact part, including: Acquire a mixed vibration signal collected from the contact part; Obtaining the mechanical vibration signal of the moxibustion instrument; The human body vibration signal is separated from the mixed vibration signal according to the mechanical vibration signal.

3. The moxibustion apparatus control method according to claim 2, characterized in that: The human body vibration signal is separated from the mixed vibration signal according to the mechanical vibration signal, including: Performing fast Fourier transform on the mixed vibration signal and the mechanical vibration signal respectively to obtain a mixed vibration spectrum corresponding to the mixed vibration signal and a mechanical vibration spectrum corresponding to the mechanical vibration signal; determining a mechanical vibration frequency of the mechanical vibration signal according to the mechanical vibration spectrum; The mixed vibration spectrum is filtered according to the mechanical vibration frequency to obtain a filtered spectrum, and the filtered spectrum is inverse Fourier transformed to obtain a human body vibration signal.

4. The moxibustion apparatus control method according to claim 1, characterized in that: Determine the target moxibustion point based on the human body vibration signal, including: Performing short-time Fourier transform on the human body vibration signal to obtain a human body vibration spectrum corresponding to the human body vibration signal; Determining, based on the human body vibration spectrum, whether the vibration frequency of the human body vibration signal is within a preset frequency range and the signal energy is higher than a first preset energy threshold; If the vibration frequency is within the preset frequency range and the signal energy is higher than the first preset energy threshold, the target moxibustion point is determined according to the current moxibustion point corresponding to the human body vibration signal.

5. The moxibustion apparatus control method according to claim 4, characterized in that: Determine the target moxibustion point based on the current moxibustion point corresponding to the human body vibration signal, including: Determine the detection range around the current moxibustion point based on preset expansion rules; The moxibustion part is controlled to move within the detection range, and the position with the highest signal energy within the detection range is determined as the target moxibustion point.

6. The moxibustion apparatus control method according to claim 4, characterized in that: After performing moxibustion on the target moxibustion point, it also includes: In response to the signal energy corresponding to the target moxibustion point being lower than the second preset energy threshold, the moxibustion part is controlled to continue moving along the preset moving route to perform mobile moxibustion on the user.

7. The moxibustion apparatus control method according to claim 1, characterized in that: Before controlling the moxibustion unit to stop moving and performing fixed-point moxibustion on the target moxibustion point, the moxibustion apparatus control method further includes: Based on the preset point selection rules, several detection points are determined around the target moxibustion point, the human body temperature at the target moxibustion point is collected as the target temperature, and the human body temperature at each monitoring point is collected as the detection temperature; Determine whether the temperature difference between the target temperature and each detected temperature is greater than a preset temperature difference threshold; If the temperature difference between the target temperature and each detected temperature is greater than the preset temperature difference threshold, the moxibustion unit is controlled to stop moving and fixed-point moxibustion is performed on the target moxibustion point; If the temperature difference between the target temperature and any detected temperature is less than or equal to the preset temperature difference threshold, the moxibustion unit is controlled to continue moving along the preset moving route to perform mobile moxibustion on the user.

8. A moxibustion apparatus control device, used for controlling a moxibustion apparatus comprising a contact portion and a moxibustion portion, characterized in that: include: A mobile control module is used to control the moxibustion unit to move along a preset moving route to perform mobile moxibustion on the user; A signal processing module is used to control the contact part to collect the human body vibration signal generated by the user in real time during the mobile moxibustion process; The moxibustion point determination module is used to determine the target moxibustion point according to the human body vibration signal; The mobile control module is also used to control the moxibustion part to stop moving and perform fixed-point moxibustion on the target moxibustion point.

9. A moxibustion instrument, characterized in that: include: contact part, moxibustion part and moxibustion instrument control device connected with the contact part and moxibustion part, The moxibustion unit is used to perform moxibustion on the user; The contact part is used to collect human body vibration signals generated by the user; The moxibustion apparatus control device is used to execute the moxibustion apparatus control method according to any one of claims 1 to 7, so as to control the moxibustion part and the contact part to perform moxibustion on the user.

10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the moxibustion instrument control method of any one of claims 1 to 7 above.

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