Suspension moxibustion device based on unmanned flight technology and intelligent control method thereof

Abstract

According to the suspension moxibustion device based on the unmanned flight technology and the intelligent control method of the suspension moxibustion device based on the unmanned flight technology, through the multi-mode sensing positioning unit fusing infrared thermal imaging and visual data, acupuncture points can be accurately recognized and tracked from the double dimensions of thermodynamics and morphology, and the positioning accuracy and robustness are remarkably improved; the central processing unit constructs a dynamic thermal field model based on real-time thermal imaging data, closed-loop precise control and online optimization of moxibustion distance, temperature and motion trail are achieved by applying algorithms such as anti-interference PID control, fuzzy PID temperature control and energy optimal path planning, the appropriate moxibustion temperature can be stably maintained, various traditional Chinese medicine moxibustion techniques can be simulated vividly, and the moxibustion effect is good. Intelligent upgrading from static fixed-point moxibustion to dynamic manipulation moxibustion is achieved. According to the automatic moxibustion solution provided by the invention, the operation threshold of professional moxibustion is greatly reduced, and a key technical foundation is laid for modernization and family popularization of the traditional Chinese medicine moxibustion technology.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a suspended moxibustion device based on unmanned flight technology and its intelligent control method. Background Technology

[0002] Moxibustion, as one of the essences of external treatment in Traditional Chinese Medicine, uses the warmth generated by burning moxa wool to stimulate specific acupoints or areas of the body. This aims to warm and unblock the meridians, harmonize Qi and blood, and strengthen the body's resistance to pathogens. It is widely used in the management of chronic diseases, pain treatment, and health maintenance. Traditional moxibustion therapy relies heavily on the practitioner's personal experience, requiring accurate acupoint location and manual adjustment of the moxa stick's distance, angle, and movement technique (such as pecking or swirling) based on the patient's sensations. This method is not only physically demanding for the practitioner, but the quality of moxibustion is also significantly affected by the practitioner's skill level, concentration, and fatigue level, making standardized and reproducible treatment difficult. Furthermore, the smoke produced during hand-held moxibustion also impacts the respiratory environment for both the practitioner and the patient.

[0003] To free the practitioner's hands and improve the stability of moxibustion, various moxibustion auxiliary devices have emerged in existing technologies. One type involves fixing the moxibustion device to the affected area with straps or brackets. While this achieves fixed moxibustion, it lacks flexibility in adjusting the position and angle during treatment, and severely restricts the patient's limb movement, resulting in a poor experience. Another type uses a floor-mounted robotic arm or multi-degree-of-freedom bracket to suspend the moxibustion device, enabling movement within a certain range. However, its range of motion is limited by the length of the robotic arm and the position of the base, making it difficult to cover large areas such as the back. Furthermore, the device is bulky and inconvenient for home use. In recent years, with the development of drone technology, preliminary concepts combining aircraft and moxibustion have emerged. For example, Chinese patent publication number CN114504492A discloses an automatic moxibustion device that uses an aircraft to move the moxibustion device above the acupoint. This device identifies acupoints through a camera and uses temperature and distance sensors for basic feedback control.

[0004] However, existing solutions, including the aforementioned flying moxibustion devices, still have many limitations. First, in terms of positioning and tracking, they mostly rely on ordinary visual cameras. When the body's posture changes, lighting conditions are poor, or hair covers the area, the accuracy and robustness of acupoint recognition are insufficient, and they lack the ability to detect the "thermal sensitivity" of acupoints—a key biological characteristic of moxibustion. Second, in terms of moxibustion process control, existing solutions mostly only achieve simple distance maintenance or temperature threshold control, failing to accurately simulate complex and dynamic moxibustion techniques (such as the frequency and amplitude of pecking moxibustion, and the trajectory of rotary moxibustion), and further failing to dynamically optimize moxibustion parameters based on real-time heat field diffusion, making it difficult to guarantee the accuracy and consistency of therapeutic effects. Third, safety considerations are insufficient, lacking active obstacle avoidance and three-dimensional safety monitoring mechanisms to address the risk of collisions with people and environmental obstacles during flight. Furthermore, the handling of moxa smoke is often neglected, affecting user experience and the home environment; the devices also often lack portable design, hindering their widespread use in home settings. Therefore, there is an urgent need in this field to develop an automated moxibustion device and method that integrates intelligent and precise positioning, dynamic technique reproduction, real-time thermal field control, active safety protection, and portability, so as to truly realize the intelligent, standardized, and personalized nature of moxibustion treatment. Summary of the Invention

[0005] The purpose of this invention is to provide a suspended moxibustion device based on unmanned flight technology and its intelligent control method to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a suspended moxibustion device based on unmanned flight technology, comprising: The flight therapy module includes a foldable frame, a power system, an environmental processing unit, a sensing and positioning unit, and a moxibustion execution unit, wherein: The foldable frame serves as the support structure for the flight therapy module; The power system is integrated into the foldable frame and is used to provide power for levitation and movement; The environmental processing unit is integrated into the foldable frame and is used to collect and process the smoke generated by moxibustion. The sensing and positioning unit is integrated on the foldable frame and is used to acquire images, temperature and spatial location information of the treatment area. The moxibustion execution unit is connected to the bottom of the foldable frame and is used to support and fix the moxibustion material and apply heat stimulation to the moxibustion site. The remote control module includes a central processing unit, which is communicatively connected to the flight therapy module. It is used to receive information from the sensing and positioning unit and generate control signals according to a preset treatment plan or instruction to drive the power system and the moxibustion execution unit, thereby achieving automatic positioning and intelligent moxibustion. The human-computer interaction collaboration module includes a display unit and an interaction unit. The display unit is used to display a human acupoint model, a thermal imaging distribution map, and real-time treatment images. The interaction unit supports at least one input method among gesture recognition, voice commands, or eye tracking, and is used to receive the operator's advanced treatment intentions. The central processing unit is configured as an intelligent agent, capable of parsing the advanced treatment intentions and autonomously planning flight paths, executing obstacle avoidance and dynamic moxibustion, thereby realizing collaborative operation between the operator and the flight therapy module.

[0007] Preferably, the foldable frame adopts a multi-rotor layout, and its arm is folded through a joint hinge. The moxibustion execution unit is connected to the foldable frame through an electric telescopic and fine-tuning mechanism, which is used for vertical distance adjustment and horizontal posture fine-tuning.

[0008] Preferably, the sensing and positioning unit includes an infrared thermal imager and an auxiliary positioning camera; the infrared thermal imager is used to acquire heat distribution images of the moxibustion site in real time; the auxiliary positioning camera is used to acquire visible light images; the infrared thermal imager is connected to the central processing unit, and the central processing unit identifies acupoints based on the fusion of the heat distribution images and the visible light images, and constructs a dynamic thermal field model.

[0009] Preferably, the sensing and positioning unit further includes a laser safety scanner, which is used to scan the treatment environment before treatment, establish a three-dimensional spatial map, and monitor the distance between the moxibustion execution unit and the human body or obstacles in real time during treatment. The central processing unit dynamically adjusts the flight path according to the monitoring distance to ensure a safe distance.

[0010] Preferably, the moxibustion execution unit has a mushroom-shaped structure, with an electromechanical interface on the top that connects to the foldable frame, an elastic clamping mechanism inside for holding the moxibustion stick, and an openable bottom cover with a dust-proof structure.

[0011] Preferably, the environmental treatment unit includes a smoke collection hood arranged in a ring, an exhaust fan communicating with the smoke collection hood, and an air filter connected in series in the exhaust passage.

[0012] This invention also provides an intelligent control method for a suspended moxibustion device based on unmanned flight technology, comprising the following steps: S1. Human-computer interaction initialization: The operator selects or specifies the treatment area and acupoints through the interaction unit, and the central processing unit presents the human acupoint model, thermal imaging distribution and local images on the display unit in real time. S2. Intelligent Intent Analysis and Path Planning: Based on the high-level instructions input by the operator, the central processing unit combines multimodal data from the perception and positioning unit to identify target acupoints and autonomously plan a safe and efficient flight path; S3. Precise Suspension and Thermal Field Control: Control the flight therapy module to fly along the planned path to the initial treatment point and hover; based on the skin temperature fed back in real time by the infrared thermal imager, the central processing unit dynamically adjusts the extension and retraction of the electric telescopic and fine-tuning mechanism through the anti-disturbance PID controller to adjust the moxibustion distance and keep the temperature of the moxibustion point stable within the preset range; S4. Dynamic Moxibustion Autonomous Execution: The central processing unit generates a corresponding dynamic motion trajectory control signal according to the moxibustion mode selected by the operator or the real-time adjustment instruction, and drives the flight therapy module to move the moxibustion execution unit along the trajectory to simulate sparrow pecking moxibustion, rotary moxibustion or meridian moxibustion techniques. S5. Process monitoring and adaptive collaborative adjustment: During the moxibustion process, the uniformity of the thermal field in the treatment area and the patient's micro-movements are continuously monitored through the sensing and positioning unit; the central processor optimizes the flight attitude, moxibustion distance and dwell time online based on the fuzzy PID temperature control algorithm and real-time positioning data, and allows the operator to intervene and adjust in real time; S6. End and Return: After a single or all acupoint moxibustion sessions are completed, the flight therapy module is controlled to automatically fly back to the charging base and upload the treatment data.

[0013] Preferably, in step S3, the control law of the disturbance rejection PID controller is: ; in, To account for the deviation between the set temperature and the measured temperature, , , For proportional, integral, and differential coefficients, This is the total system disturbance that is estimated and compensated in real time using an extended state observer.

[0014] Preferably, in step S5, the input variables of the fuzzy PID temperature control algorithm are temperature deviation and its rate of change, and the output variables are the self-adjustment amount of the PID parameters; the central processing unit performs inference and defuzzification according to the preset fuzzy rule base to realize the self-tuning of the PID parameters during the treatment process.

[0015] Preferably, in steps S2 and S5, the central processing unit constructs and updates a three-dimensional thermal field model of the acupuncture site in real time by fusing data from the infrared thermal imager and data from the auxiliary positioning camera; the energy-optimal path objective function for controlling the movement of the flight therapy module is: ; in, For velocity vector, For acceleration vectors, For thermal field gradient, , , The weighting coefficient is used to optimize the function to achieve a balance between stable flight and uniform thermal diffusion.

[0016] The present invention achieves the following beneficial technical effects compared to the prior art: This invention provides a suspended moxibustion device and its intelligent control method based on unmanned aerial technology. Through highly integrated modular design and advanced intelligent control algorithms, it effectively overcomes the shortcomings of existing technologies. The device achieves portability and complete functionality primarily through a foldable frame and an integrated moxibustion execution unit. Its innovation lies mainly in: a multimodal perception and positioning unit that integrates infrared thermal imaging and visual data can accurately identify and track acupoints from both thermodynamic and morphological dimensions, significantly improving positioning accuracy and robustness; furthermore, the central processing unit constructs a dynamic thermal field model based on real-time thermal imaging data and uses algorithms such as anti-disturbance PID control, fuzzy PID temperature control, and energy-optimal path planning to achieve closed-loop precise control and online optimization of moxibustion distance, temperature, and motion trajectory. This not only stably maintains a suitable moxibustion temperature but also realistically simulates various traditional Chinese medicine moxibustion techniques, realizing an intelligent upgrade from static "fixed-point moxibustion" to dynamic "manual moxibustion." Simultaneously, the design of the laser safety scanner and smoke treatment unit comprehensively ensures spatial safety and environmental friendliness during the treatment process.

[0017] Of particular note is the introduction of a human-computer interaction and collaboration mechanism in this invention. Operators can issue advanced treatment intentions via gestures, voice, or eye movements, and the unmanned aerial vehicle (UAV) intelligent agent autonomously completes path planning, obstacle avoidance, and moxibustion execution, achieving a "human-computer collaborative, autonomously controllable" treatment mode. This interactive system is not only suitable for moxibustion treatment but can also be extended to other physiotherapy instruments requiring precise heating.

[0018] In summary, this invention provides a safe, precise, intelligent, and portable automated moxibustion solution, which greatly reduces the operational threshold for professional moxibustion and lays a key technological foundation for the modernization and home-based promotion of traditional Chinese medicine moxibustion technology. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the suspended moxibustion device based on unmanned flight technology provided by the present invention; Figure 2 A schematic diagram of the moxibustion execution unit structure in the suspended moxibustion device based on unmanned flight technology provided by the present invention; Figure 3 This invention provides a schematic diagram of the control relationship of a suspended moxibustion device based on unmanned flight technology. Figure 4 A flowchart illustrating the intelligent control method for the suspended moxibustion device based on unmanned flight technology provided by this invention. Detailed Implementation

[0021] Unless otherwise specified, the terms "connection" and "linkage" used in this application include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The purpose of this invention is to provide a suspended moxibustion device based on unmanned flight technology and its intelligent control method to solve the problems existing in the prior art.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1: Please see Figures 1 to 3 This invention provides a suspended moxibustion device based on unmanned flight technology. The device mainly consists of two core components: a flight therapy module 10 and a remote control module 20, which achieve data interaction and collaborative control through a wireless communication link.

[0027] The flying therapy module 10, serving as the aerial unit directly performing moxibustion tasks, is centered around a foldable frame 101 with a multi-rotor layout. The arms of this frame 101 are connected by joint hinges with built-in shape memory alloy, allowing the entire frame to be folded and stored when not in operation, significantly improving portability. At the center of the frame 101 and at the ends of each arm, a power system 102, consisting of brushless motors and variable-pitch propellers, is integrated to provide precise levitation lift and multi-directional propulsion for the entire module. To optimize flight stability and reduce noise, the power system 102 can employ a redundant design with four shafts and eight propellers.

[0028] At the center of the lower part of the foldable frame 101, the moxibustion execution unit 104 is connected via a high-precision electric telescopic and fine-tuning mechanism 103. This electric telescopic and fine-tuning mechanism 103 features vertical electric telescopic function with a stroke of 0-150mm and a resolution of 0.1mm. It also integrates a three-axis fine-tuning gimbal, enabling precise angle adjustments in pitch, yaw, and roll, ensuring that the moxibustion execution unit 104 can be aligned with the acupoint at the optimal angle. The moxibustion execution unit 104 is designed with a mushroom-shaped structure, with a standard electromechanical interface on its top for quick connection to the electric telescopic and fine-tuning mechanism 103. The unit's interior features adaptive elastic grippers that can securely hold standard moxa sticks with a diameter between 15mm and 25mm. Its bottom is a moxibustion end made of a microporous ceramic panel, equipped with a dust-proof bottom cover with multiple layers of stainless steel filters. This ensures effective collection of moxa ash while ensuring heat transmission. The bottom cover can be opened and closed via a micro servo motor for easy moxa stick replacement. The unit also contains multiple platinum resistance temperature sensors to monitor the temperature of the moxa stick's burning point in real time.

[0029] The flight therapy module 10 also integrates a highly intelligent perception and positioning unit. This unit includes an infrared thermal imager 105 and an auxiliary positioning camera 106, both fixed at a certain angle to the lower part of the frame 101, forming a multimodal vision system. The infrared thermal imager 105 (e.g., 640×480 pixels resolution) is used to acquire real-time thermal distribution images of the moxibustion site, with a temperature measurement range covering 30℃ to 150℃ and an accuracy of ±0.5℃. It is a key sensor for identifying "thermal sensitive points" and monitoring the moxibustion temperature. The auxiliary positioning camera 106 is a high-definition binocular camera used to acquire images of the body surface morphology under visible light, assisting in feature point matching and 3D reconstruction. In the professional version, the perception and positioning unit may further include a laser safety scanner 107 (e.g., TOF lidar), used to scan the surrounding environment before treatment, construct a 3D point cloud map, and continuously monitor the distance to the human body and obstacles during treatment to achieve active obstacle avoidance.

[0030] Considering the smoke generated during moxibustion, the flying therapy module 10 integrates an environmental treatment unit 108 in a ring above the frame 101. This unit includes a ring-shaped smoke collection hood, dual centrifugal exhaust fans connected to it, and a three-stage air filtration system consisting of a pre-filter, a HEPA high-efficiency filter, and an activated carbon filter connected in series. The exhaust fans can be activated during moxibustion to draw in the rising moxa smoke, filter it, and then exhaust it, significantly improving the air quality of the treatment environment.

[0031] The remote control module 20 is the brain of the device, with a central processing unit 201 at its core. This processor can adopt a dual-core architecture combining an ARM Cortex-A72 and an FPGA, responsible for complex algorithm calculations and real-time control tasks, respectively. The central processing unit 201 communicates with the flight therapy module 10 via a 5G or low-latency Bluetooth module. The remote control module 20 can be integrated into a separate handheld remote controller, or it can be implemented through a mobile terminal APP (such as a mobile phone or tablet), providing users with an interface for acupoint selection, moxibustion mode setting, treatment parameter adjustment, and real-time monitoring.

[0032] In one embodiment, a human-computer interaction collaboration module may also be included. The human-computer interaction collaboration module includes a display unit and an interaction unit. The display unit is used to display a human acupoint model, a thermal imaging distribution map, and real-time treatment images. The interaction unit supports at least one input method among gesture recognition, voice commands, or eye tracking, and is used to receive the operator's advanced treatment intentions. The central processing unit is configured as an intelligent agent, capable of parsing advanced treatment intentions and autonomously planning flight paths, executing obstacle avoidance and dynamic moxibustion, thereby realizing collaborative operation between the operator and the flight therapy module.

[0033] Example 2: The core of the intelligent control method for the aforementioned suspended moxibustion device of this invention lies in a series of advanced control algorithms executed by the central processing unit 201. Please refer to the following references. Figure 4 The specific implementation process of this method is as follows: First, the initialization and positioning steps are performed. After the user selects a treatment plan through the terminal interface, the device is activated. A laser safety scanner 107 (if equipped) scans the environment to create a safe 3D spatial map. Subsequently, the flight therapy module 10 takes off to a preset altitude and scans the patient's treatment area (e.g., the back) using an auxiliary positioning camera 106 and an infrared thermal imager 105. The central processing unit 201 simultaneously acquires visible light images and thermal imaging data, forming multimodal data. The data is then fused and analyzed using a trained convolutional neural network model, which can be represented as: ; in, , For convolution kernel weights, , For bias, For the Softmax function, This is an infrared thermal imaging data matrix. The model outputs a probability distribution map of the target acupoints (such as the Lung Shu and Kidney Shu acupoints), and combines it with the depth information of binocular vision. Through a calibration matrix, the two-dimensional image coordinates are converted into three-dimensional spatial coordinates relative to the device, thereby completing the precise three-dimensional positioning of the acupoints.

[0034] Based on the locations of all target acupoints and the security map, the central processing unit 201 uses an improved A* algorithm to plan a global path to the first acupoint. The cost function of this algorithm is: ; in, For actual mobility costs, Heuristic cost estimation for reaching the target (e.g., Euclidean distance). To predict the cost of thermal uniformity, This is its weighting coefficient. This design ensures that the path is shortest while also maintaining the uniformity of the heat field diffusion during subsequent moxibustion.

[0035] Next, the precise hovering and thermal field control steps begin. The flight therapy module 10 autonomously flies along the planned path and hovers precisely at a predetermined position above the target acupoint. At this point, the core task is to maintain the skin temperature at the moxibustion point within the preset optimal treatment range (e.g., 45℃±2℃). The central processing unit 201 compares the real-time skin temperature feedback from the infrared thermal imager 105 with the set target temperature to obtain the deviation e(t). To counteract uncertainties such as aircraft self-disturbance and airflow disturbances, an anti-disturbance PID controller combined with an extended state observer (ESO) is used to dynamically adjust the electric telescopic and fine-tuning mechanism 103, thereby controlling the moxibustion distance d(t). The anti-disturbance PID control law is: ; in, To account for the deviation between the set temperature and the measured temperature, , , For proportional, integral, and differential coefficients, This algorithm estimates and compensates for the total system disturbance in real time using an extended state observer. Based on this algorithm, the adjustment model for the moxibustion distance can be further refined as follows: ; in, As the reference distance, This is the temperature feedback coefficient. These are the gradient coefficients. The thermal gradient is measured by the thermal imager. Target skin temperature, This allows for real-time skin temperature measurement, enabling adaptive distance adjustment based on temperature feedback and thermal field morphology.

[0036] Then, the dynamic moxibustion method is executed. If the user selects a dynamic moxibustion method (such as sparrow-pecking moxibustion), the central processing unit 201 will generate a corresponding periodic motion trajectory control signal based on the medical definition of the technique. For example, when simulating sparrow-pecking moxibustion, the control flight therapy module 10 drives the moxibustion execution unit 104 to move periodically between two different altitudes. The altitude change can be described as follows: ; in, For amplitude, The frequency is used. During simulated rotary moxibustion, the control device moves cyclically between multiple related acupoints along a specific trajectory.

[0037] Throughout the moxibustion process, the system continuously monitors and adaptively adjusts. The central processing unit 201 utilizes a fuzzy PID temperature control algorithm to fine-tune the basic PID parameters online, addressing differences in thermal response among individuals and at different sites. This algorithm takes temperature deviation and its rate of change as input, performs inference through a pre-set fuzzy rule base, and outputs the adjustment amount for the parameters, achieving parameter self-tuning. Simultaneously, the system integrates multi-sensor data in real time, updates the three-dimensional thermal field model of the moxibustion site, and dynamically optimizes the subsequent movement path based on this model. The objective function of path optimization is to minimize energy consumption and thermal field unevenness, i.e.: ; in, For velocity vector, For acceleration vectors, For thermal field gradient, , , , where represents the weighting coefficient. By solving this optimization problem in real time, the device can ensure that heat penetrates evenly into acupoints and surrounding meridians while flying smoothly, thereby enhancing therapeutic efficacy.

[0038] Finally, when the treatment time for a single acupoint reaches the set value, or when all selected acupoints have been treated, the system enters the end and return-to-base step. The central processing unit 201 controls the flight therapy module 10 to smoothly fly back to the dedicated charging base, with the laser safety scanner 107 continuously ensuring safe return during the journey. The device automatically shuts off the moxibustion air supply and uploads all key data of this treatment (such as the actual temperature curve of each acupoint, thermal field distribution map, total moxibustion time, etc.) to the cloud or local storage for users and doctors to analyze and review.

[0039] In summary, through the synergistic implementation of the above-mentioned specific device structure design and intelligent control method, this invention creatively integrates unmanned flight technology, multimodal perception technology, advanced control algorithms and traditional Chinese medicine moxibustion theory, thereby realizing the automation, precision and personalization of moxibustion treatment.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] It should be noted that the components mentioned in the above embodiments are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0042] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

Claims

1. A suspended moxibustion device based on unmanned flight technology, characterized in that, include: The flight therapy module includes a foldable frame, a power system, an environmental processing unit, a sensing and positioning unit, and a moxibustion execution unit, wherein: The foldable frame serves as the support structure for the flight therapy module; The power system is integrated into the foldable frame and is used to provide power for levitation and movement; The environmental processing unit is integrated into the foldable frame and is used to collect and process the smoke generated by moxibustion. The sensing and positioning unit is integrated on the foldable frame and is used to acquire images, temperature and spatial location information of the treatment area. The moxibustion execution unit is connected to the bottom of the foldable frame and is used to support and fix the moxibustion material and apply heat stimulation to the moxibustion site. The remote control module includes a central processing unit, which is communicatively connected to the flight therapy module. It is used to receive information from the sensing and positioning unit and generate control signals according to a preset treatment plan or instruction to drive the power system and the moxibustion execution unit, thereby achieving automatic positioning and intelligent moxibustion. The human-computer interaction collaboration module includes a display unit and an interaction unit. The display unit is used to display a human acupoint model, a thermal imaging distribution map, and real-time treatment images. The interaction unit supports at least one input method among gesture recognition, voice commands, or eye tracking, and is used to receive the operator's advanced treatment intentions. The central processing unit is configured as an intelligent agent, capable of parsing the advanced treatment intentions and autonomously planning flight paths, executing obstacle avoidance and dynamic moxibustion, thereby realizing collaborative operation between the operator and the flight therapy module.

2. The suspended moxibustion device based on unmanned flight technology as described in claim 1, characterized in that, The foldable frame adopts a multi-rotor layout, and its arm is folded through joint hinges. The moxibustion execution unit is connected to the foldable frame through an electric telescopic and fine-tuning mechanism, which is used for vertical distance adjustment and horizontal posture fine-tuning.

3. The suspended moxibustion device based on unmanned flight technology as described in claim 1, characterized in that, The sensing and positioning unit includes an infrared thermal imager and an auxiliary positioning camera; the infrared thermal imager is used to acquire heat distribution images of the moxibustion site in real time; the auxiliary positioning camera is used to acquire visible light images; the infrared thermal imager is connected to the central processing unit, and the central processing unit identifies acupoints based on the fusion of the heat distribution images and visible light images, and constructs a dynamic thermal field model.

4. The suspended moxibustion device based on unmanned flight technology as described in claim 3, characterized in that, The sensing and positioning unit also includes a laser safety scanner, which is used to scan the treatment environment before treatment, establish a three-dimensional spatial map, and monitor the distance between the moxibustion execution unit and the human body or obstacles in real time during treatment. The central processing unit dynamically adjusts the flight path according to the monitoring distance to ensure a safe distance.

5. The suspended moxibustion device based on unmanned flight technology as described in claim 1, characterized in that, The moxibustion execution unit has a mushroom-shaped structure. Its top is equipped with an electromechanical interface that connects to the foldable frame. Inside, there is an elastic clamping mechanism for holding the moxibustion sticks. At the bottom, there is an openable bottom cover with a dust-proof structure.

6. The suspended moxibustion device based on unmanned flight technology as described in claim 1, characterized in that, The environmental treatment unit includes a ring-shaped smoke collection hood, an exhaust fan connected to the smoke collection hood, and an air filter connected in series in the exhaust passage.

7. A smart control method for a suspended moxibustion device based on unmanned flight technology according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Human-computer interaction initialization: The operator selects or specifies the treatment area and acupoints through the interaction unit, and the central processing unit presents the human acupoint model, thermal imaging distribution and local images on the display unit in real time. S2. Intelligent Intent Analysis and Path Planning: Based on the high-level instructions input by the operator, the central processing unit combines multimodal data from the perception and positioning unit to identify target acupoints and autonomously plan a safe and efficient flight path; S3. Precise Suspension and Thermal Field Control: Control the flight therapy module to fly along the planned path to the initial treatment point and hover; based on the skin temperature fed back in real time by the infrared thermal imager, the central processing unit dynamically adjusts the extension and retraction of the electric telescopic and fine-tuning mechanism through the anti-disturbance PID controller to adjust the moxibustion distance and keep the temperature of the moxibustion point stable within the preset range; S4. Dynamic Moxibustion Autonomous Execution: The central processing unit generates a corresponding dynamic motion trajectory control signal according to the moxibustion mode selected by the operator or the real-time adjustment instruction, and drives the flight therapy module to move the moxibustion execution unit along the trajectory to simulate sparrow pecking moxibustion, rotary moxibustion or meridian moxibustion techniques. S5. Process monitoring and adaptive collaborative adjustment: During the moxibustion process, the uniformity of the thermal field in the treatment area and the patient's micro-movements are continuously monitored through the sensing and positioning unit; the central processor optimizes the flight attitude, moxibustion distance and dwell time online based on the fuzzy PID temperature control algorithm and real-time positioning data, and allows the operator to intervene and adjust in real time; S6. End and Return: After a single or all acupoint moxibustion sessions are completed, the flight therapy module is controlled to automatically fly back to the charging base and upload the treatment data.

8. The intelligent control method for the suspended moxibustion device based on unmanned flight technology as described in claim 7, characterized in that, In step S3, the control law of the disturbance rejection PID controller is: ； in, To account for the deviation between the set temperature and the measured temperature, , , For proportional, integral, and differential coefficients, This is the total system disturbance that is estimated and compensated in real time using an extended state observer.

9. The intelligent control method for the suspended moxibustion device based on unmanned flight technology as described in claim 7, characterized in that, In step S5, the input variables of the fuzzy PID temperature control algorithm are temperature deviation and its rate of change, and the output variables are the self-adjustment amount of the PID parameters; the central processing unit performs inference and defuzzification according to the preset fuzzy rule base to realize the self-tuning of the PID parameters during the treatment process.

10. The intelligent control method for the suspended moxibustion device based on unmanned flight technology as described in claim 7, characterized in that, In steps S2 and S5, the central processing unit constructs and updates a three-dimensional thermal field model of the moxibustion site in real time by fusing data from the infrared thermal imager and the auxiliary positioning camera; the energy-optimal path objective function for controlling the movement of the flight therapy module is: ； in, For velocity vectors, For acceleration vectors, For thermal field gradient, , , The weighting coefficient is used to optimize the function to achieve a balance between stable flight and uniform thermal diffusion.

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