Meridian conditioning method and device

Abstract

The invention provides a meridian conditioning method and device, and relates to the field of medical instrument technology and traditional Chinese medicine health care conditioning, and the method comprises the steps: determining the attribute description of each acupuncture point in preset meridians and collaterals based on a pre-established human body coordinate system and a target acupuncture point standard, and obtaining the spatial position of an initial acupuncture point in the meridians and collaterals, the target acupoint standard represents unified provisions of acupoint related contents, and the attribute description is data describing acupoint attributes; according to the spatial position, a conditioning head at the tail end of a mechanical arm is controlled to be located at the initial acupuncture point of the target conditioning object; according to the real-time position of the conditioning head and the attribute description of each acupuncture point, performing path planning in real time, and controlling the conditioning head at the tail end of the mechanical arm to perform meridian conditioning on the target conditioning object according to the path planned in real time. According to the invention, the meridian conditioning is safer, more accurate, more effective and lower in cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices and the technical field of traditional Chinese medicine health conditioning, in particular to a meridian conditioning method and device. BACKGROUND

[0002] Traditional meridian conditioning relies on human experience, and is a very labor-intensive work. In recent years, with the emergence of robots, meridian conditioning can be completed by robots semi-automatically or automatically.

[0003] At present, the scheme of meridian conditioning by robots generally determines the human acupoints through machine vision technology, connects the corresponding acupoints to form meridians according to the standard of traditional Chinese medicine meridians, completes the meridian planning, and the mechanical arm performs conditioning according to the planned meridian, that is, three parts including acupoint recognition, path planning and conditioning implementation.

[0004] However, the above scheme requires the conditioning object to be in a stationary state as much as possible, and to be as still as possible within the conditioning time, otherwise the initial meridian planning needs to be re-planned. Therefore, an effective scheme is needed to solve the above problems. SUMMARY

[0005] To solve the above problems, the present application provides a meridian conditioning method and device.

[0006] The present application provides a meridian conditioning method, comprising: Based on a pre-established human body coordinate system and a target acupoint standard, the attribute description of each acupoint in the preset meridian is determined, and the spatial position of the initial acupoint in the meridian is obtained, the target acupoint standard represents the unified provision of acupoint related content, and the attribute description is data describing the attribute of the acupoint; According to the spatial position, the conditioning head at the end of the mechanical arm is located at the initial acupoint of the target conditioning object; According to the real-time position of the conditioning head and the attribute description of each acupoint, real-time path planning is performed, and the conditioning head at the end of the mechanical arm is controlled to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0007] According to the meridian conditioning method provided by the present application, further comprising: According to the real-time position of the conditioning head and the attribute description of the current acupoint being conditioned, the conditioning head is monitored and corrected.

[0008] According to the meridian conditioning method provided by the present application, the monitoring and correction of the conditioning head according to the real-time position of the conditioning head and the attribute description of the current acupoint being conditioned comprises: Monitoring whether the real-time position and position change of the conditioning head conform to the attribute description of the current acupoint; If yes, the control head continues to perform meridian conditioning on the target conditioning object and continues to monitor; If no, a three-dimensional information detection device at the end of the mechanical arm acquires local three-dimensional information of the target conditioning object, and the control head is corrected according to the local three-dimensional information.

[0009] According to the meridian conditioning method provided by the application, the correction of the control head according to the local three-dimensional information comprises: According to the local three-dimensional information, the pose change information of the target conditioning object is determined; According to the pose change information and the attribute description of each acupoint, the real-time position of the control head is adjusted so that the real-time position of the control head does not deviate from the meridian.

[0010] According to the meridian conditioning method provided by the application, before the real-time position of the control head is adjusted according to the pose change information and the attribute description of each acupoint so that the real-time position of the control head does not deviate from the meridian, the method further comprises: According to the pose change information, the pose change amount of the target conditioning object is determined; In the case that the pose change amount is less than a preset change amount, the step of adjusting the real-time position of the control head according to the pose change information is performed; In the case that the pose change amount is greater than or equal to the preset change amount, the meridian conditioning is stopped and an alarm is given.

[0011] According to the meridian conditioning method provided by the application, the spatial position of the initial acupoint in the meridian is obtained by: By adjusting the three-dimensional information detection device at the end of the control mechanical arm, a plurality of local three-dimensional information of the target conditioning object is obtained; each local three-dimensional information is spliced to obtain global three-dimensional information of the target conditioning object; and the spatial position of the initial acupoint in the meridian is determined according to the global three-dimensional information; Alternatively, a global three-dimensional information acquisition device is called to obtain global three-dimensional information of the target conditioning object; and the spatial position of the initial acupoint in the meridian is determined according to the global three-dimensional information; Alternatively, the three-dimensional information of the initial acupoint marker on the target conditioning object is acquired by the three-dimensional information detection device at the end of the control mechanical arm; and the spatial position of the initial acupoint in the meridian is determined according to the three-dimensional information of the initial acupoint marker; Alternatively, a meridian conditioning setting instruction is received; and the initial position carried in the meridian conditioning setting instruction is taken as the spatial position of the initial acupoint in the meridian.

[0012] According to the meridian conditioning method provided by the application, the target acupoint standard comprises names and positions of all acupoints; The attribute description of each acupoint in the preset meridian is determined based on the pre-established human body coordinate system and the target acupoint standard, comprising: The human body coordinate system corresponding to the target conditioning object is obtained from the coordinate system library based on the pose of the target conditioning object during meridian conditioning and / or the gender of the target conditioning object; The position information of each acupoint in the meridian is determined in the human body coordinate system based on the names and positions of all acupoints; The attribute description of each acupoint in the meridian is determined according to the position information of each acupoint in the meridian.

[0013] According to the meridian conditioning method provided by the application, the attribute description comprises ontology attribute description and associated attribute description; The attribute description of each acupoint in the meridian is determined according to the position information of each acupoint in the meridian, comprising: The following steps are performed for each acupoint in the meridian: The ontology attribute description of the acupoint is determined according to the position information of the acupoint; The associated attribute description of the acupoint is determined according to the position information of the acupoint and the position information of adjacent acupoints, the adjacent acupoints being the previous acupoint and / or the next acupoint of the acupoint in the meridian.

[0014] The application further provides a meridian conditioning device, comprising: A determination module configured to determine the attribute description of each acupoint in the preset meridian based on the pre-established human body coordinate system and the target acupoint standard, and obtain the spatial position of the initial acupoint in the meridian, wherein the target acupoint standard represents a unified provision of acupoint-related content, and the attribute description is data describing acupoint attributes; A control module configured to control the conditioning head at the end of the mechanical arm to be located at the initial acupoint of the target conditioning object according to the spatial position; A conditioning module configured to perform real-time path planning according to the real-time position of the conditioning head and the attribute description of each acupoint, and control the conditioning head at the end of the mechanical arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0015] The application further provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the meridian conditioning method as described above when executing the computer program.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described meridian conditioning methods.

[0017] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned meridian conditioning methods.

[0018] The meridian conditioning method and device provided by the present invention determine the attribute description of each acupoint in a preset meridian based on a pre-established human body coordinate system and target acupoint standard, and obtain the spatial position of the initial acupoint in the meridian, the target acupoint standard represents a unified regulation of acupoint-related content, and the attribute description is data describing the acupoint attribute; according to the spatial position, the conditioning head at the end of the robotic arm is controlled to be located at the initial acupoint of the target conditioning object; according to the real-time position of the conditioning head and the attribute description of each acupoint, path planning is performed in real time, and the conditioning head at the end of the robotic arm is controlled to perform meridian conditioning on the target conditioning object according to the real-time planned path. The attribute information of acupoints is determined through prior knowledge of human acupoints (target acupoint standards), and these prior knowledge of human acupoints and the attribute information of acupoints are loaded into the meridian conditioning system. Combined with the spatial position of the initial acupoints, the path is planned in real time to monitor the position relationship and changes of the acupoints in real time, and the conditioning head is guided online to perform meridian conditioning instead of using a pre-planned meridian path. This not only avoids the problem of inaccurate path or the need to re-plan the path after the target conditioning object moves, but also improves the accuracy of conditioning and reduces the amount of data processing, making meridian conditioning safer, more accurate and effective.

[0019] In addition, based on the attribute description of each acupoint and the real-time position of the conditioning head, the conditioning head is monitored during the meridian conditioning process to determine whether the target conditioning object has moved, so that corrections can be made based on the attribute description of each acupoint and the real-time position of the conditioning head, and meridian conditioning can be continued, achieving continuity and low cost of meridian conditioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is one of the flow charts of the meridian conditioning method provided by the present invention.

[0022] Figure 2Figure 2 is a flowchart of a meridian conditioning method according to the present application.

[0023] Figure 3 Figure 3 is a structural diagram of a meridian conditioning device according to the present application.

[0024] Figure 4 Figure 4 is a structural diagram of an electronic device according to the present application. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] The meridian conditioning method and device of the present application will be described below in conjunction with Figures 1-4

[0027] First, the related content involved in the present application will be briefly described.

[0028] Meridian conditioning is based on the basic theory of traditional Chinese medicine. The meridian system is composed of twelve main meridians and eight extra meridians, and contains several hundred acupoints. These acupoints correspond to different organs and functions of the body.

[0029] For the case that the conditioning object moves during the conditioning process. The current solutions are as follows: 1) Although the conditioning object moves, it is considered to be a small movement, and the conditioning along the original planned meridian path is continued, that is, the movement is ignored. However, such meridian conditioning has deviation, the accuracy of the acupoint is poor, and the conditioning object can only accept it.

[0030] 2) Real-time tracking of the movement of the conditioning object, real-time correction, which requires real-time human acupoint recognition and planning of the meridian path, and has certain requirements for device computing power, large technical cost and high cost.

[0031] 3) Real-time recognition of human acupoints. Because the mechanical arm is involved in conditioning, real-time captured human visual information will include the influence of the mechanical arm, which involves human acupoint recognition in the case of mechanical arm blocking, which increases the difficulty of recognition or makes it impossible to recognize, that is, it is technically difficult to implement and has low accuracy.

[0032] 4) Load a vision camera on the mechanical arm, and identify the image by shooting while conditioning. This involves local acupoint recognition of the human body, which also requires a large amount of data collection and training, and there is a position matching between global conditioning and local recognition, which has certain difficulty in engineering level. ​

[0033] Figure 1 is one of the flowcharts of the meridian conditioning method provided by the present application, as shown in the figure, the method comprises steps 101-103. Figure 1

[0034] Step 101: Based on the pre-established human body coordinate system and the target acupoint standard, the attribute description of each acupoint in the preset meridian is determined, and the spatial position of the initial acupoint in the meridian is obtained.

[0035] Specifically, the execution subject of the present application can be a meridian conditioning system. The human body coordinate system can be a standard human body meridian and acupoint coordinate system. The target acupoint standard refers to the unified provision of acupoint related content, which can be human body acupoint priori knowledge such as human body structure and national standard acupoint standard, such as GBT12346-2021 "Meridian and Acupoint Name and Positioning".

[0036] The attribute description is data describing the attribute of the acupoint, and the attribute of the acupoint mainly refers to the position attribute of the acupoint. The attribute description can be determined based on the characteristics of the position of the acupoint in the human body coordinate system, or based on the characteristics of the position of the acupoint in the human body coordinate system and the conditioning characteristics of the acupoint during conditioning, wherein the conditioning characteristics include at least one of acupoint conditioning time, acupoint pressing force, acupoint pressing direction and acupoint pressing frequency. The attribute description can include ontology attribute description and associated attribute description: the ontology attribute description refers to the attribute description of the acupoint itself, that is, the coordinate characteristics of the acupoint in the human body coordinate system; the associated attribute description refers to the attribute description between the current acupoint and the adjacent acupoint and / or the relationship between the current acupoint and the human body structure, that is, the position change from the current acupoint to the next acupoint.

[0037] The meridian is formed by corresponding acupoints that need to be conditioned in a certain order, such as "Zhongfu, Yunmen, Tianfu, Xiaobai, Chize, Kongzhi, Liehuo, Jingqu, Taiyuan, Yuj and Shaoshang", and these 11 acupoints form the meridian of the hand taiyin lung meridian in order. The initial acupoint refers to the first acupoint in the meridian that needs to be conditioned, such as Zhongfu in "Zhongfu, Yunmen, Tianfu, Xiaobai, Chize, Kongzhi, Liehuo, Jingqu, Taiyuan, Yuj and Shaoshang".

[0038] In actual application, before conditioning the meridian, the conditioning characteristics of the meridian and each acupoint in the meridian can be determined based on the conditioning scheme, then the acupoint standard corresponding to each acupoint in the meridian is determined from the target acupoint standard, the human body coordinates corresponding to each acupoint in the meridian are determined in the human body coordinate system based on the acupoint standard corresponding to each acupoint in the meridian, and then the attribute description of each acupoint in the meridian is determined based on the human body coordinates or based on the human body coordinates and the conditioning characteristics of each acupoint. The human body coordinates refer to the coordinates of the acupoint in the human body coordinate system.

[0039] ​Alternatively, the acupoint standards corresponding to all acupoints can be determined from the target acupoint standards, and based on the acupoint standards corresponding to all acupoints, the human coordinates corresponding to all acupoints can be determined in the human coordinate system. Then, based on the human coordinates of each acupoint in the meridian, the attribute description of each acupoint in the meridian can be determined.

[0040] At the same time, the spatial position of the initial acupuncture point in the meridian needs to be obtained. The spatial position here refers to the position of the initial acupuncture point on the treatment object in the three-dimensional world (world coordinate system), that is, the world coordinate. The treatment object can be a person or a body part such as the back, hand, foot, etc.

[0041] The spatial position can be identified through real-time data such as images and videos, can be given by an operator, can be calculated by a guided meridian conditioning system, or can be given in real time by a robotic arm.

[0042] Preferably, the spatial position is provided in real time by the robotic arm. Specifically, the position of the robotic arm is adjusted so that the distal end of the robotic arm contacts the initial acupuncture point of the target subject. At this point, the robotic arm can directly obtain the distal end position of the robotic arm, which serves as the spatial position of the initial acupuncture point. Because the distal end position of the robotic arm is directly provided by the robotic arm, it is highly accurate, thereby improving the accuracy of the spatial position of the initial acupuncture point. Meridian conditioning based on the spatial position of the initial acupuncture point can thus greatly ensure the accuracy and reliability of meridian conditioning.

[0043] Step 102: According to the spatial position, the conditioning head at the end of the robotic arm is controlled to be located at the initial acupuncture point of the target conditioning object.

[0044] After obtaining the spatial position of the initial acupuncture point, the robotic arm uses the touch mode with the spatial position of the initial acupuncture point as the target, so that the conditioning head at the end of the robotic arm reaches the initial acupuncture point and is close to the human body.

[0045] It should be noted that the conversion relationship between the human coordinate system and the spatial coordinate system, i.e., the correlation matrix, can be determined based on the human coordinates of at least three acupuncture points in the meridians in the human coordinate system and their spatial positions in the spatial coordinate system. Specifically, three or more points can be selected on the human body, the human coordinates of these points in the human coordinate system and the world coordinates of the world coordinate system can be measured, and the conversion relationship between the human coordinate system and the world coordinate system, i.e., the correlation matrix R, can be calculated.

[0046] Step 103: Path planning is performed in real time according to the real-time position of the conditioning head and the attribute description of each acupuncture point, and the conditioning head at the end of the robotic arm is controlled to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0047] Specifically, the real-time position of the conditioning head is the position of the conditioning head in the three-dimensional world (world coordinate system). The real-time position of the conditioning head can be directly obtained by the meridian conditioning system by obtaining the position of the end of the robotic arm.

[0048] The path of the meridian can be planned in real time based on the attribute description of each acupoint in the meridian: after obtaining the attribute description of each acupoint in the meridian and the spatial position of the initial acupoint, if the conditioning head has finished conditioning the current acupoint and needs to move to the next acupoint of the current acupoint, the spatial position of the current acupoint can be analyzed based on the attribute description of the current acupoint and the attribute description of the next acupoint of the current acupoint, and the spatial position of the next acupoint of the current acupoint and the path from the current acupoint to the next acupoint of the current acupoint can be determined, where the current acupoint is the acupoint currently being conditioned by the conditioning head. In this way, the path that the conditioning head needs to move to the next acupoint is planned in real time only before the conditioning head needs to move, rather than directly planning the conditioning path before conditioning. This can avoid the problem of inaccurate path or the need to re-plan the path after the target conditioning object moves, which can improve the accuracy of conditioning and reduce the amount of data processing.

[0049] In actual applications, after the conditioning head reaches the initial acupuncture point of the target conditioning object, the real-time position of the conditioning head can be monitored according to the attribute description of each acupuncture point in the meridian, so as to guide the conditioning head to perform meridian conditioning on the target conditioning object according to the real-time planned path, that is, according to the attribute description of each acupuncture point in the meridian, it is monitored whether the conditioning head is located at the current conditioning acupuncture point in the meridian, and it can also guide the conditioning head to move to the next conditioning acupuncture point according to the attribute description of each acupuncture point in the meridian, that is, meridian conditioning is performed on the target conditioning object according to the meridian path.

[0050] For example, the human coordinates of the human coordinate system and the spatial coordinates (spatial positions) of the spatial coordinate system are constrained by the relationship w = Rb, where w represents the spatial coordinate, b represents the human coordinate, and R is the correlation matrix. The human coordinate b is fixed by the acupuncture point standard. At this point, the 3D information detection device at the end of the robotic arm can monitor the position changes of the target object, update the correlation matrix R, and calculate the new spatial coordinate w'. This allows monitoring for discrepancies between the new and old spatial coordinates, thereby adjusting the path planning of the conditioning head.

[0051] The embodiment of the present application determines the attribute information of the acupoint by the prior knowledge of human acupoints (target acupoint standard), loads the prior knowledge of human acupoints and the attribute information of the acupoints into the meridian conditioning system, combines the spatial position of the initial acupoint, plans the path in real time, monitors the change of the acupoint position and the change of the human body coordinate system relative to the world coordinate system in real time, and guides the conditioning head online to condition the meridian, instead of using the meridian path planned in advance, which can not only avoid the problem of inaccurate path or the need to re-plan the path after the target conditioning object moves, but also improve the conditioning accuracy and reduce the data processing amount, so that the meridian conditioning is safer, more accurate and effective.

[0052] In addition, based on the attribute description of each acupoint and the real-time position of the conditioning head, the conditioning head in the meridian conditioning process is monitored to determine whether the target conditioning object moves, so as to correct the deviation according to the attribute description of each acupoint and the real-time position of the conditioning head, continue the meridian conditioning, and realize the continuity and low cost of the meridian conditioning.

[0053] The embodiment of the present application acquires the local three-dimensional information of the target conditioning object by the three-dimensional information detection device arranged near the conditioning head, which is used to calculate the real-time position of the conditioning head and track the offset of the human body coordinate system (conditioning object) relative to the world coordinate system, calculate the expected spatial position of the acupoint, correct the spatial position that the conditioning head should reach, combine the vision, touch and position information, quickly compensate the micro-disturbance of the conditioning object, and monitor and correct the deviation of the meridian conditioning, so that the meridian conditioning is safer, more accurate and effective.

[0054] In one or more optional embodiments of the present application, the still further comprises: According to the real-time position of the conditioning head and the attribute description of the current acupoint being conditioned, the conditioning head is monitored and corrected.

[0055] In practical application, according to the attribute description of each acupoint in the meridian and the real-time position of the conditioning head, whether the conditioning head deviates from the acupoint being conditioned is monitored, if not, the monitoring is continued, and if there is deviation, the deviation needs to be corrected, and based on the attribute description of each acupoint in the meridian, the real-time position of the conditioning head is adjusted to correct the conditioning head to reach the acupoint being conditioned.

[0056] In the embodiment of the present application, by combining the attribute information determined based on the prior knowledge of human acupoints (target acupoint standard), the prior knowledge of human acupoints and the attribute information of the acupoints are loaded into the meridian conditioning system, the acupoint position relationship and change are monitored in real time, and the conditioning head of the mechanical arm is calculated and guided online to condition the meridian, so that the meridian conditioning is safer, more accurate and effective.

[0057] In one or more optional embodiments of the present invention, monitoring and correcting the conditioning head according to the real-time position of the conditioning head and the attribute description of the current acupuncture point being conditioned includes: Monitoring the real-time position and position change of the conditioning head to see whether it conforms to the attribute description of the current acupuncture point; If it is met, the conditioning head is controlled to continue to condition the meridians of the target conditioning object and continue to monitor; If not, the local three-dimensional information of the target conditioning object is collected by a three-dimensional information detection device at the end of the robotic arm, and the conditioning head is corrected according to the local three-dimensional information.

[0058] Specifically, a three-dimensional information detection device is also provided at the end of the robotic arm. The three-dimensional information detection device refers to a device that can detect three-dimensional information, such as a color depth camera (RGBD camera) and a laser depth meter.

[0059] In practical applications, the coordinates of the robotic arm's end position—that is, the real-time position and position changes of the conditioning head—are recorded in real time. Combined with the current acupoint's attribute description, the conditioning head is monitored in real time to ensure that it complies with the current acupoint's attribute description. If it does, meridian conditioning and monitoring can continue. If not, a 3D information detection device is used to collect local 3D information about the target object, and then the conditioning head is corrected based on this local 3D information.

[0060] For example, the spatial coordinates of the current acupuncture point can be calculated based on the local three-dimensional information, and the conditioning head can be moved to the spatial coordinates of the current acupuncture point to correct the deviation, and then the meridian conditioning can continue.

[0061] In an embodiment of the present invention, a three-dimensional information detection device is arranged near the conditioning head to collect local three-dimensional information of the target conditioning object for correction, and vision, touch and position are integrated to perform meridian conditioning monitoring and correction, making meridian conditioning safer, more accurate and effective.

[0062] In one or more optional embodiments of the present invention, the step of correcting the orientation of the conditioning head according to the local three-dimensional information includes: Determining position change information of the target conditioning object based on the local three-dimensional information; According to the posture change information and the attribute description of each acupuncture point, the real-time position of the conditioning head is adjusted so that the real-time position of the conditioning head does not deviate from the meridian.

[0063] Specifically, posture change information refers to information about changes in position and / or posture.

[0064] In actual application, the current collected local three-dimensional information and the last collected local three-dimensional information can be analyzed to determine the pose change information of the target conditioning object. Further, based on the pose change information and the attribute description of each acupoint, the real-time position of the conditioning head is adjusted so that the conditioning head is located at the correct conditioning position (such as the spatial position of the current acupoint, such as the path from the current acupoint to the next acupoint), thereby continuing the meridian conditioning.

[0065] In addition, the pose change information of the target conditioning object can be the pose change information of the local part of the target conditioning object, for example, the target conditioning object is a human body, and the local part of the target conditioning object is a hand, and the hand can be monitored.

[0066] In the embodiment of the present application, the pose change information is determined by the collected local three-dimensional information of the target conditioning object, which can not only improve the accuracy of the pose change information, but also improve the speed and accuracy of the correction by using the pose change information for correction, and can also calculate and analyze the movement of the human body component rigid body, avoiding the recognition and tracking of acupoints when the human body moves.

[0067] In addition, since the pose change of the target conditioning object causes the conditioning head to deviate, correction is performed at this time, the correlation matrix between the human body coordinate system and the world coordinate system can be coordinate transformed, that is, the rotation and translation between the coordinate systems, and then the corrected correlation matrix is obtained, so as to realize the correction based on the correlation matrix. Specifically, the conversion matrix between the world coordinate system and the human body coordinate system, that is, the correlation matrix, can be established by calibration. During conditioning, if the pose change of the human body target conditioning object is detected, the human body coordinate system has a certain displacement and / or rotation relative to the world coordinate system. At this time, the new conversion relationship between the human body coordinate system and the world coordinate system can be determined by real-time correction of the correlation matrix.

[0068] Exemplarily, the correlation matrix R between the human body coordinate system and the world coordinate system can be calculated by calibration in a specific pose. The spatial position (world coordinate) of the acupoint is used to guide the conditioning head loaded by the mechanical arm to perform conditioning, and the world coordinate of the acupoint is w = R*b, b is the human body coordinate in the human body coordinate system. When the human body moves during conditioning, the correlation matrix R changes to R', the movement is monitored in real time, the correlation matrix is updated, and the updated world coordinate w' = R' * b is calculated in real time, where w' is the updated world coordinate.

[0069] In one or more optional embodiments of the present application, before the real-time position of the conditioning head is adjusted so that the real-time position of the conditioning head does not deviate from the meridian, the method further comprises: According to the pose change information, the pose change amount of the target conditioning object is determined. In a case where the pose change amount is less than the preset change amount, the step of adjusting the real-time position of the conditioning head according to the pose change information is performed. In a case where the pose change amount is greater than or equal to the preset change amount, the meridian conditioning is stopped and an alarm is given.

[0070] Specifically, the pose change amount refers to specific data of a change in the pose of the target conditioning object, for example, a translation of 3 mm in the X-axis direction, or a counterclockwise rotation of 10 degrees along the Z-axis.

[0071] In actual applications, the pose change amount can be extracted from the pose change information, and then compared with the preset change amount: if the pose change amount is less than the preset change amount, it indicates that the target conditioning object has a slight movement, and the real-time position of the conditioning head can be compensated according to the pose change information, so that the conditioning head moves to the correct conditioning position, and the meridian conditioning continues; if the pose change amount is greater than or equal to the preset change amount, it indicates that the target conditioning object has a significant displacement, indicating that the robot arm may have fallen off the human body, and in order to ensure safety, the meridian conditioning is terminated and an alarm is given to protect the safety of the target conditioning object.

[0072] Exemplarily, the pose change information of the target conditioning object is the pose change information of a local part of the target conditioning object, for example, the target conditioning object is a human body, and the local part of the target conditioning object is a hand, which can be monitored; when the hand is turned over from the palm to the back of the hand, the position of the acupoint changes significantly, that is, the pose change amount is greater than the preset change amount, and the conditioning is terminated at this time.

[0073] In the embodiments of the present application, the movement degree of the target conditioning object is determined by the pose change amount and the preset change amount, so as to determine whether to continue conditioning after correction or to stop conditioning, which can greatly improve the continuity of meridian conditioning while ensuring safety. In addition, a low-cost solution can be provided for slight movement of the human body during conditioning, and a rapid monitoring and warning capability can be provided for large-scale movement of the human body, thereby improving the safety capability of the system.

[0074] In one or more optional embodiments of the present application, the obtaining of the spatial position of the initial acupoint in the meridian comprises: adjusting a three-dimensional information detection device at the end of the control robot arm to obtain a plurality of local three-dimensional information of the target conditioning object; splicing the local three-dimensional information to obtain global three-dimensional information of the target conditioning object; determining the spatial position of the initial acupoint in the meridian according to the global three-dimensional information.

[0075] In actual application, the control mechanical arm can perform flipping and translation operations, so that the three-dimensional information detection device at the end of the mechanical arm can avoid occlusion and obtain multiple local three-dimensional information of the target conditioning object. Then, the local three-dimensional information of the target conditioning object is spliced to form global three-dimensional information, and then the global three-dimensional information of the target conditioning object is analyzed to obtain the spatial positions of each acupoint on the target conditioning object, i.e. the spatial positions of the initial acupoints. In this way, the spatial positions of the initial acupoints can be accurately found.

[0076] In one or more optional embodiments of the present application, the acquiring the spatial position of the initial acupoint in the meridian includes: acquiring global three-dimensional information of the target conditioning object by calling a global three-dimensional information acquisition device; determining the spatial position of the initial acupoint in the meridian according to the global three-dimensional information.

[0077] In actual application, the global three-dimensional information acquisition device is installed on the meridian conditioning system, and the global three-dimensional information of the target conditioning object can be directly acquired by the global three-dimensional information acquisition device. Then, the global three-dimensional information of the target conditioning object is analyzed to obtain the spatial positions of each acupoint on the target conditioning object, i.e. the spatial positions of the initial acupoints. In this way, the spatial positions of the initial acupoints can be quickly found.

[0078] In one or more optional embodiments of the present application, the acquiring the spatial position of the initial acupoint in the meridian includes: acquiring global three-dimensional information of the target conditioning object by a global camera; determining the spatial position of the initial acupoint in the meridian according to the global three-dimensional information.

[0079] In actual application, the spatial position can be determined by global recognition, i.e. acupoint recognition in a non-occluded scene by using visual technology to give the spatial position of the acupoint.

[0080] Specifically, the global three-dimensional information of the target conditioning object can be acquired in a non-occluded scene by a global camera. Then, the global three-dimensional information of the target conditioning object is analyzed to obtain the spatial positions of the initial acupoints on the target conditioning object. In this way, the spatial positions of the initial acupoints can be quickly found.

[0081] In one or more optional embodiments of the present application, the acquiring the spatial position of the initial acupoint in the meridian includes: acquiring three-dimensional information of an initial acupoint mark on the target conditioning object by a three-dimensional information detection device at the end of the control mechanical arm; determining the spatial position of the initial acupoint in the meridian according to the three-dimensional information of the initial acupoint mark.

[0082] In actual application, the spatial position can be obtained through marking guidance, that is, three-dimensional information of the initial acupoint marker is acquired by using visual technology, and then the spatial position of the initial acupoint is calculated.

[0083] Specifically, the position of the initial acupoint can be marked on the target conditioning object by using the initial acupoint marker, and then three-dimensional information of the initial acupoint marker is collected by starting the three-dimensional information detection of the end of the mechanical arm. Then, the three-dimensional information of the initial acupoint marker is analyzed, and the spatial position of the initial acupoint is calculated. In this way, the spatial position of the initial acupoint can be quickly and accurately found.

[0084] In one or more optional embodiments of the present application, the spatial position of the initial acupoint in the meridian is obtained by: receiving a meridian conditioning setting instruction; taking the initial position carried in the meridian conditioning setting instruction as the spatial position of the initial acupoint in the meridian.

[0085] In actual application, the spatial position can be directly given: when starting the meridian conditioning, the operator can input the spatial position of the initial acupoint in the meridian conditioning system. Correspondingly, the meridian conditioning system receives the meridian conditioning setting instruction carrying the spatial position of the initial acupoint, extracts the spatial position in the meridian conditioning setting instruction, and obtains the spatial position of the initial acupoint. In this way, the spatial position of the initial acupoint can be quickly determined.

[0086] In one or more optional embodiments of the present application, the target acupoint standard includes the names and positions of all acupoints. The attribute description of each acupoint in the preset meridian is determined based on the pre-established human body coordinate system and the target acupoint standard, including: acquiring the human body coordinate system corresponding to the target conditioning object from the coordinate system library based on the pose of the target conditioning object during the meridian conditioning and / or the gender of the target conditioning object; determining the position information of each acupoint in the meridian in the human body coordinate system based on the names and positions of all acupoints; determining the attribute description of each acupoint in the meridian according to the position information of each acupoint in the meridian.

[0087] Specifically, the target acupoint standard includes the standards of all acupoints, and the standard of each acupoint includes the name and position.

[0088] In practical applications, a coordinate system library is pre-established, storing human coordinate systems corresponding to different genders and / or different body postures. For example, different human coordinate systems are established for males and females, and for supine and prone positions, thereby forming a coordinate system library. When a target patient requires meridian conditioning, the corresponding human coordinate system can be retrieved from the coordinate system library based on the target patient's gender and / or posture during the conditioning.

[0089] Then, based on the target acupoint standards, constraints can be established between acupoints in the human coordinate system. For example, relative and absolute violation thresholds can be set. Relative thresholds can be set to constrain the distance between two acupoints, while absolute thresholds can be set to constrain the distance between an acupoint and a fixed object (such as a bed). This allows the positional information of each acupoint in the meridians and the constraints between them to be determined in the human coordinate system based on the target acupoint standards. Furthermore, attribute descriptions for each acupoint can be determined based on its positional information and the constraints between them.

[0090] It should be noted that if there is no matching human coordinate system in the coordinate system library, a human coordinate system can be obtained based solely on gender. Then, based on the target subject's posture, a coordinate transformation (rotation and translation) can be performed on the human coordinate system to obtain matching reference coordinates. For example, if the target subject is male and their posture is side-lying, and there is no human coordinate system corresponding to a side-lying male in the coordinate system library, a human coordinate system corresponding to a supine male can be obtained. Then, a coordinate transformation can be performed on the obtained human coordinate system to obtain a human coordinate system corresponding to a side-lying male.

[0091] In the embodiment of the present application, the attribute description of the acupoint is determined based on the human body coordinate system and the target acupoint standard, which can improve the accuracy and reliability of the attribute description.

[0092] In one or more optional embodiments of the present invention, the attribute description includes an ontology attribute description and an association attribute description; Determining the attribute description of each acupoint in the meridian according to the position information of each acupoint in the meridian includes: The following steps are performed for each acupuncture point in the meridian: Determining an ontological attribute description of the acupuncture point according to the location information of the acupuncture point; The associated attribute description of the acupoint is determined according to the position information of the acupoint and the position information of adjacent acupoints, where the adjacent acupoints are the previous acupoint and / or the next acupoint of the acupoint in the meridian.

[0093] Specifically, the position information refers to the position coordinates of each acupoint in the human body coordinate system. The ontology attribute description refers to the attribute description of the acupoint itself, i.e., the coordinate characteristics of the acupoint in the human body coordinate system. For example, taking the supine position of the human body as an example, a human body coordinate system can be established, the Ren channel is the X axis, the left and right middle chest acupoint connecting line is the Y axis, and the vertical human body plane is the Z axis. The attribute description can include the coordinate values of the acupoint on the X, Y and Z axes, the interval range of the coordinate values, whether the coordinate is an extreme point, etc. The associated attribute description refers to the attribute description between the current acupoint and the adjacent acupoint and / or the relationship between the current acupoint and the human body structure, i.e., the position change from the current acupoint to the next acupoint. The acupoint associated attribute can be calculated according to the ontology attribute of the acupoint, or the associated attribute can be directly described, such as how to walk from the human body coordinates (X1, Y1, Z1) of the current acupoint to the human body coordinates (X2, Y2, Z2) of the next acupoint.

[0094] In actual application, the ontology attribute description of the acupoint can be determined according to the position information of the acupoint. The position information of the acupoint in the XYZ three-axis direction of the human body coordinate system is used to describe whether the position of the acupoint is in the local minimum, local maximum, gradually increasing, and gradually decreasing area. The coordinate value range of the acupoint on the XYZ three-axis is determined according to the position information of the acupoint. In addition, the ontology attribute description of the acupoint can also include the conditioning time length, pressing force, acupoint pressing direction, and pressing frequency of the acupoint.

[0095] For example, the ontology attribute description includes that the acupoint is in a local protrusion (local maximum) or a local depression (local minimum), such as the middle chest acupoint, the coordinate Z value of which is in a local maximum; the acupoint is at the edge of the human body, such as the Yanglingquan acupoint located below the head of the fibula, the coordinate Y value of which is in a local extreme value, such as the tip of the foot or the tip of the finger, the X value is in a local extreme value; the acupoint is at a few inches in the human body coordinate system (generally measured by equal division inches, which is related to a specific human body and can be measured in advance before conditioning, such as a person's height being defined as 75 equal inches), such as the acupoint being on the middle line of the human body part (such as the arm), the acupoint being at 2 / 3 of the arm length, etc.

[0096] The associated attribute description of the acupoint can be determined according to the position information of the acupoint and the position information of the adjacent acupoint. According to the position information of the acupoint and the position information of the adjacent acupoint, the position change from the current acupoint to the adjacent acupoint is described, whether it is gradually increasing, gradually decreasing, or remaining unchanged. The relationship between the acupoint and the human body structure can be described.

[0097] For example, to condition the hand taiyin lung meridian, the next acupoint of the Zhongfeng acupoint is the Yunmen acupoint. The associated attribute of the Zhongfeng acupoint can be described as the X-axis coordinate gradually decreasing, the Y-axis coordinate remaining unchanged, and the Z-axis coordinate slightly decreasing (because the ontology attribute description of the Yunmen acupoint is in the subclavicular fossa depression of the anterior chest).

[0098] Generally, the ontology attribute description of the acupoint is used to check whether the regulation is violated during conditioning, and the association attribute description of the acupoint is used to plan and adjust the motion trajectory of the conditioning head of the robot arm. In combination with the three-dimensional information of the human body, the association attribute of the acupoint can be calculated and deduced from the ontology attribute of the acupoint.

[0099] In the embodiments of the present application, attribute descriptions are constructed from two aspects of ontology attribute description and association attribute description, which are used to guide the conditioning head of the robot arm to regulate the meridian, so as to ensure the accuracy and effectiveness of the meridian conditioning.

[0100] It should be noted that when the distance between two adjacent acupoints in the meridian is far, a turning point can be inserted between the two acupoints to guide the robot arm to regulate the meridian.

[0101] The following will be combined Figure 2 to further illustrate the meridian conditioning method provided by the present application. Figure 2 is a flowchart of the meridian conditioning method provided by the present application, as Figure 2 shown, the method comprises steps 201-206.

[0102] Step 201: Establish a human body coordinate system and attribute constraints.

[0103] A standard human meridian and acupoint coordinate system for ordinary male and female, supine and prone positions is established. The positional relationship between acupoints is based on human structure and national standard acupoint standard GBT12346-2021 “Meridian and Acupoint Name and Positioning”. The constraint relationship is established.

[0104] Establish the ontology attribute description of the acupoint: in XYZ direction, describe whether the acupoint position is in local minimum, local maximum, gradually increasing, gradually decreasing. XYZ position coordinate value range. The acupoint conditioning time, the acupoint pressing force, the acupoint pressing direction, and the acupoint pressing frequency.

[0105] Establish the association attribute description of the acupoint: describe the position change from the current acupoint to the next acupoint, gradually increasing, gradually decreasing, keeping unchanged. The relationship between the acupoint and the human body structure, such as the acupoint on the midline of the human body part (such as the arm), the acupoint at 2 / 3 of the arm length of the human body.

[0106] After the human body coordinate system is established, the meridian conditioning of the human body in other postures can have a coordinate exchange relative to the human body coordinate system, that is, it can be unified. The coordinate transformation involves rotation and translation of two coordinate systems.

[0107] Step 202: Taking the spatial position of the initial acupoint in the meridian as the target, the robot arm adopts a touch mode, and the end conditioning head reaches the initial acupoint and closely contacts the human body.

[0108] The end of the robot arm can be loaded with a three-dimensional information detection device (which can be an RGBD camera, a laser depth meter, etc.).

[0109] Step 203: Record the real-time position of the conditioning head at the end of the robotic arm in real time, and monitor in real time whether the end of the robotic arm complies with the acupoint attribute description in combination with the attribute description of the current acupoint.

[0110] Combined with the three-dimensional information collected by the three-dimensional information detection equipment, it is calculated in real time whether the target conditioning object has displacement, that is, whether the human body coordinate system has displacement relative to the world coordinate system. If there is displacement, the association matrix between the human body coordinate system and the world coordinate system is revised in real time for meridian conditioning monitoring and correction.

[0111] Step 204: If the person moves slightly during meridian conditioning, and the conditioning head does not perform conditioning according to the acupoint's ontological attribute description and associated attribute description, correct the conditioning path and perform conditioning according to the acupoint's ontological attribute description and associated attribute description.

[0112] Through three-dimensional information detection equipment and three-dimensional visual computing technology, the local human body is reconstructed in real time in three dimensions, and the coordinates of relevant acupuncture points on the local human body are measured and calculated. Combined with the description of acupuncture point attributes and the description of the associated attributes between acupuncture points, it guides the planning of the robotic arm conditioning path.

[0113] Step 205: If the person moves obviously during meridian conditioning, when conditioning is performed according to the acupoint's ontological attribute description and associated attribute description, the conditioning is terminated and an alarm is issued.

[0114] The meridian conditioning device provided by the present invention is described below. The meridian conditioning device described below and the meridian conditioning method described above can be referenced to each other.

[0115] Figure 3 Schematic diagram of the structure of the meridian conditioning device provided by the present invention, such as Figure 3 As shown, the device includes: Determination module 301 is configured to determine attribute descriptions of each acupoint in a preset meridian based on a pre-established human body coordinate system and target acupoint standards, and obtain the spatial position of an initial acupoint in the meridian. The target acupoint standards represent unified regulations for acupoint-related content, and the attribute descriptions are data describing acupoint attributes. The control module 302 is configured to control the conditioning head at the end of the robotic arm to be located at the initial acupuncture point of the target conditioning object according to the spatial position; The conditioning module 303 is configured to perform path planning in real time according to the real-time position of the conditioning head and the attribute description of each acupuncture point, and control the conditioning head at the end of the robotic arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0116] Optionally, the device further includes a monitoring module configured to: The conditioning head is monitored and corrected according to the real-time position of the conditioning head and the attribute description of the current acupuncture point being conditioned.

[0117] Optionally, the monitoring module is specifically configured to: Monitoring the real-time position and position change of the conditioning head to see whether it conforms to the attribute description of the current acupuncture point; If it is met, the conditioning head is controlled to continue to condition the meridians of the target conditioning object and continue to monitor; If not, the local three-dimensional information of the target conditioning object is collected by a three-dimensional information detection device at the end of the robotic arm, and the conditioning head is corrected according to the local three-dimensional information.

[0118] Optionally, the monitoring module is specifically configured to: Determining position change information of the target conditioning object based on the local three-dimensional information; According to the posture change information and the attribute description of each acupuncture point, the real-time position of the conditioning head is adjusted so that the real-time position of the conditioning head does not deviate from the meridian.

[0119] Optionally, the monitoring module is specifically configured to: Determining a posture change amount of the target conditioning object according to the posture change information; When the posture change amount is less than a preset change amount, performing the step of adjusting the real-time position of the conditioning head according to the posture change information; When the posture change is greater than or equal to the preset change, the meridian conditioning is stopped and an alarm is issued.

[0120] Optionally, the determining module 301 is specifically configured to: By adjusting the three-dimensional information detection device at the end of the control robot arm, a plurality of local three-dimensional information of the target conditioning object is obtained; each of the local three-dimensional information is spliced ​​to obtain global three-dimensional information of the target conditioning object; and the spatial position of the initial acupuncture point in the meridian is determined based on the global three-dimensional information; Alternatively, global three-dimensional information of the target conditioning object is acquired by calling a global three-dimensional information acquisition device; and the spatial position of the initial acupuncture point in the meridian is determined based on the global three-dimensional information; Alternatively, the three-dimensional information of the initial acupuncture point marking on the target conditioning object is collected by a three-dimensional information detection device at the end of the control robot arm; and the spatial position of the initial acupuncture point in the meridian is determined based on the three-dimensional information of the initial acupuncture point marking; Alternatively, a meridian conditioning setting instruction is received; and the initial position carried in the meridian conditioning setting instruction is used as the spatial position of the initial acupuncture point in the meridian.

[0121] Optionally, the target acupoint criteria include the names and locations of all acupoints; The determining module 301 is specifically configured to: Based on the posture of the target conditioning subject during meridian conditioning and / or the gender of the target conditioning subject, obtaining a human body coordinate system corresponding to the target conditioning subject from a coordinate system library; Based on the names and locations of all the acupoints, determining the position information of each acupoint in the meridian in the human body coordinate system; According to the position information of each acupoint in the meridian, the attribute description of each acupoint in the meridian is determined.

[0122] Optionally, the attribute description includes an ontology attribute description and an associated attribute description; The determining module 301 is specifically configured to: The following steps are performed for each acupuncture point in the meridian: Determining an ontological attribute description of the acupuncture point according to the location information of the acupuncture point; The associated attribute description of the acupoint is determined according to the position information of the acupoint and the position information of adjacent acupoints, where the adjacent acupoints are the previous acupoint and / or the next acupoint of the acupoint in the meridian.

[0123] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other via the communications bus 440. The processor 410 may call logic instructions in the memory 430 to execute a meridian conditioning method, which includes: determining the attribute description of each acupoint in a preset meridian based on a pre-established human body coordinate system and target acupoint standards, and obtaining the spatial position of the initial acupoint in the meridian; controlling a conditioning head at the end of a robotic arm to locate at the initial acupoint of a target conditioning object based on the spatial position; performing real-time path planning based on the real-time position of the conditioning head and the attribute descriptions of each acupoint, and controlling the conditioning head at the end of the robotic arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0124] Further, the logic instructions in the memory 430 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0125] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the meridian conditioning method provided by the above-mentioned methods. The method comprises: determining the attribute description of each acupoint in the preset meridian based on a pre-established human body coordinate system and a target acupoint standard, and obtaining the spatial position of an initial acupoint in the meridian; controlling the conditioning head at the end of the mechanical arm to be located at the initial acupoint of the target conditioning object according to the spatial position; and performing real-time path planning according to the real-time position of the conditioning head and the attribute description of each acupoint, and controlling the conditioning head at the end of the mechanical arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0126] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the meridian conditioning method provided by the above-mentioned methods. The method comprises: determining the attribute description of each acupoint in the preset meridian based on a pre-established human body coordinate system and a target acupoint standard, and obtaining the spatial position of an initial acupoint in the meridian; controlling the conditioning head at the end of the mechanical arm to be located at the initial acupoint of the target conditioning object according to the spatial position; and performing real-time path planning according to the real-time position of the conditioning head and the attribute description of each acupoint, and controlling the conditioning head at the end of the mechanical arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

[0127] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0128] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A meridian conditioning method, characterized in that: include: Determining the attribute description of each acupoint in a preset meridian based on a pre-established human coordinate system and target acupoint standards, and obtaining the spatial position of the initial acupoint in the meridian. The target acupoint standards represent unified regulations for acupoint-related content, and the attribute descriptions are data describing acupoint attributes. According to the spatial position, controlling the conditioning head at the end of the robotic arm to be positioned at the initial acupuncture point of the target conditioning object; According to the real-time position of the conditioning head and the attribute description of each acupuncture point, path planning is performed in real time, and the conditioning head at the end of the robotic arm is controlled to perform meridian conditioning on the target conditioning object according to the real-time planned path.

2. The meridian conditioning method according to claim 1, characterized in that Also includes: The conditioning head is monitored and corrected according to the real-time position of the conditioning head and the attribute description of the current acupuncture point being conditioned.

3. The meridian conditioning method according to claim 2, characterized in that: The step of monitoring and correcting the conditioning head according to the real-time position of the conditioning head and the attribute description of the current acupuncture point being conditioned includes: Monitoring the real-time position and position change of the conditioning head to see whether it conforms to the attribute description of the current acupuncture point; If it is met, the conditioning head is controlled to continue to condition the meridians of the target conditioning object and continue to monitor; If not, the local three-dimensional information of the target conditioning object is collected by a three-dimensional information detection device at the end of the robotic arm, and the conditioning head is corrected according to the local three-dimensional information.

4. The meridian conditioning method according to claim 3, characterized in that: The correcting the adjustment head according to the local three-dimensional information includes: Determining position change information of the target conditioning object based on the local three-dimensional information; According to the posture change information and the attribute description of each acupuncture point, the real-time position of the conditioning head is adjusted so that the real-time position of the conditioning head does not deviate from the meridian.

5. The meridian conditioning method according to claim 4, characterized in that: The method further includes adjusting the real-time position of the conditioning head according to the posture change information and the attribute description of each acupoint so that the real-time position of the conditioning head does not deviate from the meridian: Determining a posture change amount of the target conditioning object according to the posture change information; When the posture change amount is less than a preset change amount, performing the step of adjusting the real-time position of the conditioning head according to the posture change information; When the posture change is greater than or equal to the preset change, the meridian conditioning is stopped and an alarm is issued.

6. The meridian conditioning method according to any one of claims 1 to 5, characterized in that: The obtaining of the spatial position of the initial acupuncture point in the meridian comprises: By adjusting the three-dimensional information detection device at the end of the control robot arm, a plurality of local three-dimensional information of the target conditioning object is obtained; each of the local three-dimensional information is spliced ​​to obtain global three-dimensional information of the target conditioning object; and the spatial position of the initial acupuncture point in the meridian is determined based on the global three-dimensional information; Alternatively, global three-dimensional information of the target conditioning object is acquired by calling a global three-dimensional information acquisition device; and the spatial position of the initial acupuncture point in the meridian is determined based on the global three-dimensional information; Alternatively, the three-dimensional information of the initial acupuncture point marking on the target conditioning object is collected by a three-dimensional information detection device at the end of the control robot arm; and the spatial position of the initial acupuncture point in the meridian is determined based on the three-dimensional information of the initial acupuncture point marking; Alternatively, a meridian conditioning setting instruction is received; and the initial position carried in the meridian conditioning setting instruction is used as the spatial position of the initial acupuncture point in the meridian.

7. The meridian conditioning method according to any one of claims 1 to 5, characterized in that: The target acupoint standards include the names and locations of all acupoints; The method of determining the attribute description of each acupoint in the preset meridian based on the pre-established human body coordinate system and target acupoint standard includes: Based on the posture of the target conditioning subject during meridian conditioning and / or the gender of the target conditioning subject, obtaining a human body coordinate system corresponding to the target conditioning subject from a coordinate system library; Based on the names and locations of all the acupoints, determining the position information of each acupoint in the meridian in the human body coordinate system; According to the position information of each acupoint in the meridian, the attribute description of each acupoint in the meridian is determined.

8. The meridian conditioning method according to claim 7, characterized in that: The attribute description includes an ontology attribute description and an associated attribute description; Determining the attribute description of each acupoint in the meridian according to the position information of each acupoint in the meridian includes: The following steps are performed for each acupuncture point in the meridian: Determining an ontological attribute description of the acupuncture point according to the location information of the acupuncture point; The associated attribute description of the acupoint is determined according to the position information of the acupoint and the position information of adjacent acupoints, where the adjacent acupoints are the previous acupoint and / or the next acupoint of the acupoint in the meridian.

9. A meridian conditioning device, characterized in that: include: a determination module configured to determine attribute descriptions of each acupoint in a preset meridian based on a pre-established human body coordinate system and a target acupoint standard, and to obtain a spatial position of an initial acupoint in the meridian, wherein the target acupoint standard represents a unified regulation of acupoint-related content, and the attribute description is data describing an acupoint attribute; A control module is configured to control the conditioning head at the end of the robotic arm to be located at the initial acupuncture point of the target conditioning object according to the spatial position; The conditioning module is configured to perform path planning in real time according to the real-time position of the conditioning head and the attribute description of each acupuncture point, and control the conditioning head at the end of the robotic arm to perform meridian conditioning on the target conditioning object according to the real-time planned path.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the meridian conditioning method according to any one of claims 1 to 8 is implemented.

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