Du-moxibustion intelligent therapeutic instrument, du-moxibustion therapeutic method and medium

Abstract

The invention relates to a du-moxibustion intelligent therapeutic instrument, a du-moxibustion therapeutic method and a medium in the technical field of traditional Chinese medicine physiotherapy. The du-moxibustion intelligent therapeutic apparatus comprises a bearing table, a moxa combustion module, a distance control module, a temperature detection module and a controller, and the controller is used for calculating the optimal ignition quantity iopt of a combustion box at the t moment and controlling the ignition quantity of the combustion box based on iopt. The controller is further used for calculating the optimal distance hopt between the moxa combustion module and the medicine groove and controlling the distance control module to be started based on the hopt. By fusing multi-source data such as a real-time temperature field, moxa time-sharing combustion, a moxa box ignition working condition and environment temperature, the distance between a combustion disc and a medicine layer is dynamically regulated and controlled, the total intensity of moxa combustion is controlled, an auxiliary heat dissipation and smoke purification mechanism is started, and precise closed-loop control over the treatment temperature is achieved.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine physiotherapy technology, and in particular to a Du-moxibustion intelligent therapeutic instrument, a temperature control method for the Du-moxibustion intelligent therapeutic instrument, and a computer-readable storage medium. Background Technology

[0002] Du Meridian Moxibustion (also known as Du Mai Moxibustion, Long Snake Moxibustion, or Fire Dragon Moxibustion) is a unique therapy in Traditional Chinese Medicine (TCM) moxibustion, characterized by its large application area and deep penetration. It has a wide range of indications, including ankylosing spondylitis, cervical spondylosis, lumbar spondylosis, arthritis, chronic bronchitis, asthma, chronic gastroenteritis, cold uterus, dysmenorrhea, irregular menstruation, aversion to cold, fatigue, and low immunity. The traditional procedure is as follows: The patient lies face down on the bed with their back exposed. A layer of mulberry bark paper is laid along the Du Meridian on the back. A layer of ginger powder (after removing the juice) is then piled on top of the paper, and finally, a certain amount of moxa wool is placed on top of the ginger layer. When the moxa wool is ignited, the heat generated by its combustion penetrates the ginger layer. The pharmacological effects of the ginger and the warming effect of the burning moxa wool work together on the Du Meridian to achieve therapeutic and preventative functions. Currently, there are some moxibustion devices on the market, such as the utility model patent with announcement number CN217111231U, which designs a bed with moxibustion grooves. A moxibustion burning plate is located at the bottom of the bed, below the moxibustion grooves. During use, the patient lies supine on the bed, and the moxa is directly ignited on the burning plate. However, the burning temperature of moxa is relatively high. If a small amount of moxa is used, although the temperature can be lowered, the burning time is short. If a large amount of moxa is used, the temperature will undoubtedly be too high for the patient to bear, and the temperature will also fluctuate as the moxa burns. Therefore, existing moxibustion devices have the characteristics of rapid temperature rise and high calorific value during the burning process. The heat generated needs to be conducted to the patient's skin through a medicinal medium layer such as ginger. This process involves many conduction links and complex heat loss variables, making precise control of the treatment temperature difficult and causing patient discomfort. Summary of the Invention

[0003] To address the technical challenges of precise control in existing moxibustion devices, which can easily cause discomfort to patients, this invention provides a smart moxibustion therapy instrument, a temperature control method for the smart moxibustion therapy instrument, and a computer-readable storage medium.

[0004] This invention is achieved through the following technical solution: In a first aspect, this invention proposes a moxibustion intelligent therapeutic instrument, comprising: a support platform, a moxa wool combustion module, a distance control module, a temperature detection module, and a controller. The support platform is provided with a medicine tank. The moxa wool combustion module includes: I A controllable combustion box for heating the medicine tank. A distance control module for controlled adjustment of the distance between the moxa burning module and the medicine tank. A temperature detection module for collecting ambient temperature data. Te ( t ), collect medicine from the tank N Temperature at each point T n ( t The controller is used for: (1) Based on the patient's preferred temperature T target and T e ( t ) Calculate the target temperature for regulation T goal ( t ).based on T n ( t Constructing the temperature field of the medicine tank: .

[0005] In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor T n ( t ) is the first n Drug temperature sensor t The temperature collected at time t, where ||·|| is the norm. p This is the distance attenuation coefficient.

[0006] (2) According to T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target .according to Q target , T ( r , t (and the total predicted heat flux generated by the ignited combustion chamber) Q total，r calculate t The optimal number of flames in the constant combustion box i opt .based on i opt Control the number of combustion chambers ignited.

[0007] (3) In i opt Once determined, according toi opt Total heat source power of each combustion box P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt .based on h opt The distance control module is activated.

[0008] Secondly, the present invention also proposes a Du-moxibustion treatment method, which uses the Du-moxibustion intelligent therapeutic instrument described in the first aspect to treat the patient. The Du-moxibustion treatment method includes: Based on the patient's preferred temperature T target and T e ( t ) Calculate the target temperature for regulation T goal ( t ).based on T n ( t Constructing the temperature field of the medicine tank: .

[0009] In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let these be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor T n ( t ) is the first n Drug temperature sensor t The temperature collected at time t, where ||·|| is the norm. p This is the distance attenuation coefficient.

[0010] First according to T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target Then according to Q target , T ( r , t(and the total predicted heat flux generated by the ignited combustion chamber) Q total，r calculate t The optimal number of flames in the constant combustion box i opt Based on i opt Control the number of combustion chamber ignitions. i opt Once determined, according to i opt Total heat source power of each combustion box P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt Based on h opt The distance control module is activated.

[0011] Thirdly, the present invention also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the steps of the Du-moxibustion treatment method described in the above embodiments.

[0012] The beneficial effects of this invention are as follows: 1. This invention integrates multi-source data such as real-time temperature field, timed combustion of moxa wool, ignition conditions of moxa wool box and ambient temperature, dynamically adjusts the distance between the combustion plate and the drug layer, controls the total intensity of moxa wool combustion, and activates auxiliary heat dissipation and smoke purification mechanisms to achieve precise closed-loop control of treatment temperature.

[0013] 2. Based on the treatment process, smoke sensor data, and negative pressure sensor feedback, this invention adjusts the exhaust fan speed in real time to ensure efficient smoke purification, avoid environmental pollution caused by smoke from burning moxa wool, and improve the comfort of the treatment environment. At the same time, the smoke purification module assists in dynamically managing the heat loss rate in the combustion chamber, thereby maintaining the stability and reliability of the treatment temperature field. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0015] Figure 1 This is an overall schematic diagram of the Dujiu Intelligent Therapy Instrument; Figure 2 This is a schematic diagram of the structure below the support platform; Figure 3 This is a magnified view of a portion of the medicine tank on the support platform; Figure 4 This is a structural diagram of the moxibustion combustion module and the distance control module; Figure 5 This is a schematic diagram of the overall smoke-free combustion chamber.

[0016] In the diagram: support platform 1, hollow chassis 11, drug temperature sensor 12, smoke purification module 2, smoke purification combustion chamber 21, smoke purifier 22, heat insulation cover 3, base plate 41, combustion box 42, ignition column 43, lead screw 51, limit rod 52, motor 53. Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. 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.

[0018] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] This embodiment presents a moxibustion intelligent therapeutic instrument, which mainly consists of the following functional modules: a support platform 1, a temperature detection module, a heat preservation cover 3, a moxa burning module, a distance control module, a smoke removal module 2, and a controller. For details, please refer to... Figure 1 and Figure 2The support platform 1 is the equipment frame of this Du-moxibustion therapy instrument, used to integrate and install various functional modules. The support platform 1 can be configured as a bed, with a soft surface on its top. According to the requirements of Du-moxibustion therapy, a square hole is made in the center of the support platform 1. The length of this square hole covers the distance from the Dazhui (GV14) to the coccyx, and extends 50mm to each side of the spine as the center line. Figure 3 As shown, a perforated base 11 is installed at the bottom of the square hole. This perforated base 11, together with the inner wall of the square hole, forms a medicine trough. Ginger and other medicinal materials are directly laid on the perforated base 11. The patient lies flat on the support platform 1, with the midline of the spine aligned with the midline of the medicine trough. Throughout the treatment, the patient remains in a supine position, ensuring comfort throughout the entire process. The temperature detection module includes: a module for collecting ambient temperature data. T e ( t An ambient temperature sensor used to collect the temperature inside the medicine tank. N A drug temperature sensor 12. An ambient temperature sensor can be installed on the outside or side of the support platform 1. For example... Figure 3 As shown, N A drug temperature sensor 12 is arranged on the inner wall of a square hole and directly contacts the drug layer such as ginger. Since the drug layer is relatively thin in actual use, the temperature can be considered uniform in the thickness direction. n The location of a drug temperature sensor can be considered using only two-dimensional planar coordinates. x , y Each coordinate corresponds to a temperature collected by a drug temperature sensor 12. T n ( t Furthermore, an arc-shaped heat insulation cover 3 is hinged to the support platform 1. The heat insulation cover 3 has an opening for the patient's head to protrude. When the patient is undergoing treatment, the heat insulation cover 3 covers the patient, which can keep the patient warm and prevent the upper body from getting cold, and can also effectively protect the patient's privacy.

[0021] The core of the moxa burning module lies in its inclusion of I A controllable ignition combustion box 42 for heating the medicine tank. Please refer to... Figure 4 In this embodiment, the moxa burning module includes: a base plate 41, six burning boxes 42, and six ignition columns 43. The six burning boxes 42 are arrayed and connected to the base plate 41, and are positioned as far below the medicine trough as possible. The six ignition columns 43 are arranged one-to-one within the six burning boxes 42, and can ignite the moxa wool placed in the corresponding burning box 42 by electric ignition. This ensures that the moxa wool is placed in a measured quantity and burns within the burning box 42, preventing the ash from scattering and ensuring safety and reliability. Furthermore, the multiple burning boxes 42 can be ignited in batches under controlled conditions, ensuring that the burning intensity of the moxa wool is relatively uniform and the temperature is constant throughout the entire treatment process.

[0022] The distance control module is used to controllably adjust the distance between the moxa burning module and the medicine tank, and works in conjunction with the moxa burning module to further regulate the temperature and reduce temperature fluctuations. Please refer again. Figure 4 and combined Figure 5 In this embodiment, the distance control module includes: a lead screw 51, a limit rod 52, and a motor 53. The lead screw 51 is threadedly connected to the base plate 41. The limit rod 52 is slidably connected to the base plate 41. The motor 53 is controlled to rotate forward and backward, driving the lead screw 51 to rotate through a reducer. The lead screw 51 converts the rotation into linear motion to drive the base plate 41 to move up and down. The smoke purification module 2 includes: a smoke purification combustion chamber 21 for purifying the smoke during combustion of the combustion box 42, and a smoke purifier 22. The smoke purification combustion chamber 21 is connected below the platform of the support platform 1, and the upper opening of the smoke purification combustion chamber 21 communicates with the medicine tank. The smoke purification combustion chamber 21 encloses the moxa wool combustion module and is equipped with a chamber door to allow for real-time replacement of the moxa wool. The motor 53, reducer, etc., are arranged outside the smoke purification combustion chamber 21 to prevent it from being affected by the smoke temperature. The lead screw 51, limit rod 52, and other transmission components are arranged inside the smoke purification combustion chamber 21 to increase the airtightness of the smoke purification combustion chamber 21. The smoke purifier 22 includes a heater, a high-temperature catalyst, a radiator, and a fan. The fan continuously draws smoke from the smoke purification combustion chamber 21. The smoke is heated by the heater, undergoing an oxidation reaction at high temperature and completely vaporizing. Then, the high-temperature catalyst catalyzes the vapor, converting it into harmless gas, which is then cooled before being directly released into the air. A smoke concentration sensor and a negative pressure sensor are installed inside the smoke purification combustion chamber 21 to detect the smoke concentration within the chamber. C smoke and pressure P smoke When the smoke concentration C smoke When the temperature drops below the set value, the fan speed decreases, reducing the smoke processing rate. This lowers energy consumption and reduces heat loss within the combustion chamber, extending the treatment's constant temperature time. A negative pressure sensor monitors the chamber pressure in real time, ensuring a slightly negative pressure environment is maintained and preventing smoke leakage.

[0023] The startup and operation of the above-mentioned structures are all controlled by the controller in this invention, and the precise temperature regulation of the Du-moxibustion intelligent therapeutic instrument also depends on the controller's regulation. Therefore, this invention proposes an intelligent temperature control logic integrating multi-dimensional temperature detection, quantitative control of the combustion process, and heat conduction distance adjustment. Combined with the patient's personalized sensory parameters, a "fusion-sensory dynamic thermal field regulation strategy" is constructed to achieve precise, dynamic, and adaptive regulation of the temperature field during Du-moxibustion treatment. Specifically, the controller is used to achieve the following functions: (1) Obtain initial environmental parameters through the temperature detection module and compare them with the preset preferred temperature. T target By comparing the results, a target temperature for regulation can be determined. T goal (t ).Should T goal ( t To compare ambient temperature, drug layer temperature, and patient target parameters, and to correlate treatment progress time, environmental compensation is incorporated to generate a time-varying target temperature. T goal ( t ): T goal ( t )= T target - α ( T e ( t )- T ref ).

[0024] In the formula, α This is the environmental compensation coefficient (dimensionless, which can be calibrated experimentally). T ref The reference ambient temperature is typically 25°C (standard room temperature). Then, using thermodynamic principles and algorithms, a time-based transient temperature field model of the treatment area is constructed and dynamically updated to calculate the temperature distribution and its changing trends in real time. T n ( t The temperature field for constructing the medicine tank is as follows: .

[0025] In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor 12 T n ( t ) is the first n 12 drug temperature sensors t The temperature collected at time t, where ||·|| is the norm. p Distance attenuation coefficient (can be taken as...) p =2). In the temperature field of the medicine tank, if r and r n When they overlap, then r The temperature is directly used in the first nThe temperature collected by each drug temperature sensor 12 is adjusted to avoid generating outliers. From this constructed temperature field, it can be seen that the contribution of each drug temperature sensor 12's signal source to the temperature of surrounding points is related to the distance... p The power is inversely proportional to the distance; that is, the closer the distance, the greater the weight of the measurement value of the drug temperature sensor 12 in the final result.

[0026] (2) Ignition decision based on the above temperature field: Based on the target treatment temperature value and the current temperature field distribution of the drug layer, and in conjunction with the treatment process, determine the optimal number of moxa burning boxes 42 required to achieve the target heat flux. i opt Its spatial configuration is precisely designed to shape the desired temperature distribution profile. Subsequently, the corresponding ignition column 43 is energized to achieve precise ignition of the moxa wool. Specifically, first according to... T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target Then according to Q target , T ( r , t The total predicted heat flux generated by the ignited combustion chamber 42 and the total predicted heat flux. Q total，r calculate t The optimal number of flames for the 42-hour combustion box i opt .based on i opt Control the number of times the combustion box 42 is ignited.

[0027] Among them, the relationship between temperature gradient and heat flux can be based on T goal ( t The target heat flux for regulation was calculated. Q target .

[0028] i opt The methods for determining this include: Treat each combustion chamber 42 as a heat source and calculate the... i 42 combustion boxes r heat flux at q i,r : .

[0029] In the formula, P 0 represents the nominal heat source power of a single combustion chamber 42. x , y They are respectivelyr x and y coordinates x i , y i The first i The horizontal and vertical coordinates of the center of each combustion box 42. σ This is the characteristic radius of thermal diffusion. Next, the calculation is performed at... r The total predicted heat flux generated by all ignited combustion chambers 42 Q total，r : .

[0030] To achieve the optimal number of fires i opt The combustion chamber 42 produces Q total，r equal to or closest to Q target : Q total，r ( I = i opt )= Q target .

[0031] (3) In i opt Once determined, distance adjustment is performed: based on i opt The total heat source power of each combustion box 42 P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt .based on h opt The distance control module is activated, and the drive motor 53 moves the combustion disc to ensure that the distance between the combustion box 42 and the propellant tank (a customizable reference surface, such as the distance between the top of the combustion box 42 and the bottom of the propellant tank) reaches a certain value. h opt This enables stepless adjustment of the heat source intensity. Specifically, the combustion disc generates heat in the drug layer. Q total，r The vertical distance between the combustion disc and the drug layer h Inverse proportion: .

[0032] P total =i opt * P 0.

[0033] In the formula, P total The total heat source power of the ignited combustion box 42, β This is the offset parameter, used to correct for near-range nonlinear effects. ε The heat transfer index ( ε A value of 1 indicates that convection is the dominant phenomenon, and a value of 2 indicates that radiation is the dominant phenomenon. P 0 represents the nominal heat source power of a single combustion chamber 42.

[0034] exist i opt Below, based on the approximate relationship between heat balance and heat flux, the temperature-distance relationship is obtained: .

[0035] In the formula, γ This refers to the thermal resistance coefficient. The target temperature will be adjusted accordingly. T goal ( t Substituting the temperature-distance relationship above, the optimal distance can be obtained. h opt for: .

[0036] The calculation is in i opt , T goal ( t Perform this once each time a change is made, to adjust in real time. h opt .

[0037] (4) Due to errors in the calculation process and the dynamic changes in the combustion process, it is necessary to perform PID closed-loop fine-tuning based on real-time temperature feedback. In each calculation based on... h opt After the distance control module is started, the distance control module is corrected using the PID control method: first calculate... T target and T ( r , t Deviation between ) e ( t ), and then according to e ( t ) Calculate the distance adjustment amount Δ h ( t ): .

[0038] In the formula, K p , K i , K d These represent the proportional gain coefficient, integral gain coefficient, and derivative gain coefficient in the PID control method, respectively. Next, Δ... h ( t ), e ( t Add them together to get the real-time target distance. h real ( t ), and based on h real ( t The distance control module is restarted. Simultaneously, the distance control module is activated again. h real ( t Apply upper and lower limit position constraints.

[0039] (5) Dynamic negative pressure control based on smoke and environmental parameters: The fan extracts the smoke generated by the burning moxa wool in the combustion chamber in real time to prevent smoke leakage. When the smoke is relatively small, the fan power is reduced and the speed is reduced to minimize heat loss caused by ventilation while ensuring that the smoke does not leak. When the temperature is high and the smoke is large, the fan speed can be increased to increase the smoke extraction rate and remove heat to help stabilize the temperature of the drug layer. The smoke concentration and real-time negative pressure value in the smoke-free combustion chamber 21 are continuously monitored and combined with multi-dimensional time-series data such as the current cumulative treatment time and the ignition duration of each combustion box 42, and fusion calculation and analysis are performed. Based on this, the PWM speed of the smoke extraction fan is dynamically adjusted through the PID control algorithm (PWM represents the duty cycle control signal (0-100% or the corresponding value range). In this embodiment, the control adjustment object is voltage) to achieve continuous and smooth adjustment of the suction speed, ensuring that the smoke is removed in a timely, quiet and efficient manner, while maintaining the stability of the thermal environment and air pressure in the chamber. Specifically, based on the smoke concentration in the smoke-free combustion chamber 21 C smoke ( t and target concentration value C target The difference e c ( t Calculate the first feedback quantity Δ U 1( t ): .

[0040] e c ( t )= C target -C smoke ( t ).

[0041] It indicates that when C smoke Greater than C target hour( e c ( t If the value is less than 0, the fan output increases, requiring a higher air volume to accelerate smoke extraction.

[0042] Based on the pressure value inside the clean smoke combustion chamber 21 P smoke ( t and target pressure value P target The difference e p ( t Calculate the second feedback quantity Δ U 2( t ): .

[0043] e p ( t )= P target -| P smoke ( t )|.

[0044] This indicates that when the absolute value of the sum of the actual pressure values ​​is less than P target hour( e p ( t If the value is less than 0, the controller outputs a positive increment, requiring an increase in airflow to restore the target negative pressure; otherwise, it requires a decrease in airflow.

[0045] Δ U 1( t ), Δ U 2( t The actual output voltage inside the clean smoke combustion chamber 21 is obtained after weighted fusion. U total ( t ): U total ( t )= U ff ( t ) +w ( t )· PWMc ( t )+(1- w ( t ))· PWM p ( t ).

[0046] In the formula, U ff ( t This represents the basic output power of the clean smoke combustion chamber 21. w ( t () represents the dynamic weight. w ( t Based on the cumulative treatment time, the system is designed to perform better at different treatment stages. Specifically, in the initial treatment phase (ignition phase): smoke production is slow and minimal, reducing the weight of smoke concentration control, allowing for temporary deviations from the target negative pressure, and prioritizing rapid temperature rise. In the middle treatment phase (rising phase): combustion accelerates, smoke production is rapid and abundant, increasing the weight of smoke concentration control, balancing smoke and negative pressure control, and aiming for zero smoke leakage. In the final treatment phase (decay phase): smoke volume is low, reducing the weight of negative pressure control, precisely maintaining a slight negative pressure, and minimizing heat loss. All of the above treatment phases can be customized. Finally, based on... U ff ( t The smoke-cleaning combustion chamber 21 is activated to achieve the smoke-cleaning effect.

[0047] In another embodiment, a Du-moxibustion treatment method is also proposed, which uses the Du-moxibustion intelligent therapeutic instrument described in the above embodiments to treat the patient. This Du-moxibustion treatment method includes: Based on the patient's preferred temperature T target and T e ( t ) Calculate the target temperature for regulation T goal ( t ).based on T n ( t Constructing the temperature field of the medicine tank: .

[0048] In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let these be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor 12 T n( t ) is the first n 12 drug temperature sensors t The temperature collected at time t, where ||·|| is the norm. p This is the distance attenuation coefficient.

[0049] First according to T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target Then according to Q target , T ( r , t The total predicted heat flux generated by the ignited combustion chamber 42 and the total predicted heat flux. Q total，r calculate t The optimal number of flames for the 42-hour combustion box i opt Based on i opt Control the number of ignitions in combustion chamber 42. i opt Once determined, according to i opt The total heat source power of each combustion box 42 P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt Based on h opt The distance control module is activated.

[0050] In another embodiment, a computer-readable storage medium is also provided. This computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the steps of the Du-moxibustion treatment method described in the above embodiments. The computer-readable storage medium may include, but is not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0051] 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.

[0052] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A Du-moxibustion intelligent therapeutic instrument, characterized in that, It includes: A support platform on which a medicine tank is installed; The moxa burning module includes: I A controllable ignition combustion box used to heat the medicine tank; Distance control module, which is used to controllably adjust the distance between the moxa burning module and the medicine trough; Temperature detection module, which is used to collect ambient temperature. T e ( t ), collect medicine from the tank N Temperature at each point T n ( t ); Controller, which is used for: (1) Based on the patient's preferred temperature T target and T e ( t ) Calculate the target temperature for regulation T goal ( t ); based on T n ( t Constructing the temperature field of the medicine tank: ； In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor T n ( t ) is the first n Drug temperature sensor t The temperature collected at time t, where ||·|| is the norm. p This is the distance attenuation coefficient; (2) According to T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target ; according to Q target , T ( r , t (and the total predicted heat flux generated by the ignited combustion chamber) Q total，r calculate t The optimal number of flames in the constant combustion box i opt ;based on i opt Control the number of combustion chambers ignited; (3) In i opt Once determined, according to i opt Total heat source power of each combustion box P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt ;based on h opt The distance control module is activated.

2. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, T goal ( t The formula for calculating ) is: T goal ( t )= T target － α ( T e ( t )－ T ref )； In the formula, α This is the environmental compensation coefficient. T ref For reference ambient temperature; And / or, in the temperature field of the medicine tank, if r and r n When they overlap, then r The temperature is directly used in the first n The temperature collected by the drug temperature sensor.

3. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, The moxa burning module includes: a base plate, 6 combustion boxes, and 6 ignition columns; the 6 combustion boxes are arrayed and connected to the base plate; the 6 ignition columns are arranged one-to-one in the 6 combustion boxes; The distance control module includes: a lead screw, a limit rod, and a motor; the lead screw is threadedly connected to the base plate; the limit rod is slidably connected to the base plate; the motor is used to drive the lead screw to rotate forward and backward. And / or, the Dujiu intelligent therapeutic instrument also includes: a heat insulation cover covering the surface of the support platform; the heat insulation cover has an opening for the patient's head to extend out.

4. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, i opt The methods for determining this include: Treat each combustion chamber as a heat source and calculate the... i A combustion box in r heat flux at q i,r : ； In the formula, P 0 represents the nominal heat source power of a single combustion chamber. x , y They are respectively r x and y coordinates x i , y i The first i The horizontal and vertical coordinates of the center of each combustion chamber; σ The characteristic radius of thermal diffusion; Calculation in r Total predicted heat flux generated by all ignited combustion chambers Q total，r : ； Optimal number of fires i opt satisfy: Q total，r ( I = i opt )= Q target 。 5. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, optimal distance h opt The calculation formula is: ； P total = i opt * P 0； In the formula, γ The thermal resistance coefficient, P total The total heat source power of the ignited combustion box, β For offset parameters, ε The heat transfer index, P 0 represents the nominal heat source power of a single combustion chamber.

6. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, The controller is also used for: (4) In each based h opt After the distance control module is started, the distance control module is corrected using the PID control method: calculation T target and T ( r , t Deviation between ) e ( t );according to e ( t ) Calculate the distance adjustment amount Δ h ( t ): ； In the formula, K p , K i , K d These represent the proportional gain coefficient, integral gain coefficient, and derivative gain coefficient in the PID control method, respectively. Next, Δ h ( t ), e ( t Add them together to get the real-time target distance. h real ( t ), and based on h real ( t The distance control module is started again.

7. The Du-moxibustion intelligent therapeutic instrument according to claim 1, characterized in that, The Dujiu Intelligent Therapy Device also includes: a smoke-purifying combustion chamber, which is used to wrap the moxa wool combustion module and purify the smoke when the combustion box is burning; The controller is also used for: (5) Based on the smoke concentration in the clean smoke combustion chamber C smoke ( t and target concentration value C target The difference e c ( t Calculate the first feedback quantity Δ U 1( t ); Based on the pressure value inside the smoke-free combustion chamber P smoke ( t and target pressure value P target The difference e p ( t Calculate the second feedback quantity Δ U 2( t ); Δ U 1( t ), Δ U 2( t The actual output voltage inside the clean smoke combustion chamber is obtained after weighted fusion. U total ( t ): U total ( t )= U ff ( t ) +w ( t )· PWM c ( t )+(1－ w ( t ))· PWM p ( t )； In the formula, U ff ( t This represents the base output power of the clean smoke combustion chamber. w ( t ) represents dynamic weights; based on U ff ( t Control the start of the clean smoke combustion chamber.

8. The Du-moxibustion intelligent therapeutic instrument according to claim 7, characterized in that, First feedback quantity Δ U 1( t The formula for calculating ) is: ； In the formula, K p , K i , K d These represent the proportional gain coefficient, integral gain coefficient, and derivative gain coefficient in the PID control method, respectively. Second feedback quantity Δ U 2( t The formula for calculating ) is: 。 9. A moxibustion treatment method for Du meridian disorders, characterized in that, The patient is treated using the Du-moxibustion intelligent therapeutic instrument as described in any one of claims 1 to 8; Du moxibustion treatment methods include: Based on the patient's preferred temperature T target and T e ( t ) Calculate the target temperature for regulation T goal ( t ); based on T n ( t Constructing the temperature field of the medicine tank: ； In the formula, T ( r , t )for t The temperature at a specific point inside the medicine tank at any given time. r Let these be the coordinates of a point within the medicine tank. r n For the first n The coordinates of the drug temperature sensor T n ( t ) is the first n Drug temperature sensor t The temperature collected at time t, where ||·|| is the norm. p This is the distance attenuation coefficient; according to T goal ( t ) Calculate the target heat flux generated by the wormwood combustion module Q target ; according to Q target , T ( r , t (and the total predicted heat flux generated by the ignited combustion chamber) Q total，r calculate t The optimal number of flames in the constant combustion box i opt ;based on i opt Control the number of combustion chambers ignited; exist i opt Once determined, according to i opt Total heat source power of each combustion box P total as well as T target , T e ( t The optimal distance between the moxa burning module and the medicine tank was calculated. h opt ;based on h opt The distance control module is activated.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the Du moxibustion treatment method as described in claim 9.

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