Intelligent fusion perception constant-temperature self-adaptive moxibustion device and control method

Abstract

The application discloses a kind of intelligent fusion perception constant-temperature self-adaptive moxa sticking device and control method, it is related to the technical field of traditional Chinese medical treatment instrument. Including fixed unit, mechanical movement unit, multi-sensing fusion unit, control unit, interactive unit;With adjustable rope double fixing of double fixed of inner concave silica gel suction cup, realize multi-hand method moxa sticking by automatic telescopic sleeve cooperation spherical surface rotary top cover;Fusion infrared temperature measurement, infrared ranging, millimeter wave radar, four-dimensional data of smoke sensor, realize skin temperature closed-loop constant-temperature control by improving attention mechanism control algorithm, temperature control error≤±0.8℃, response time≤5 seconds;With burning length and residual length double-dimension monitoring, three-level early warning and automatic extinguishing function.The application solves the problems of existing moxa sticking equipment, such as large temperature fluctuation, weak anti-interference, unstable fixation, insufficient safety, etc., realizes precise constant-temperature, intelligent self-adaption, unattended safe moxa sticking, and is suitable for medical institutions and family health care.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine medical devices, and in particular to an intelligent fusion sensing constant temperature adaptive moxibustion device and control method. Background Technology

[0002] Moxibustion, a traditional Chinese medicine therapy, uses the heat radiation and medicinal components generated by burning moxa sticks to act on acupoints on the body, achieving therapeutic effects such as warming and unblocking the meridians, dispelling cold and dampness, and strengthening Yang and consolidating the body. With the accelerated pace of modern life and increased health awareness, moxibustion therapy is gradually moving from professional medical institutions to home self-care. However, existing moxibustion devices still have many shortcomings in terms of intelligence, precision, and safety.

[0003] 1) Traditional handheld moxibustion It is highly dependent on physician experience, with large differences in operation and difficulty in standardization; prolonged holding can easily lead to fatigue, resulting in unstable distance and temperature; patients need to maintain a fixed posture, resulting in a poor experience; open flame operation poses a risk of burns, with a clinical burn incidence rate of about 3-5%.

[0004] 2) Simple moxibustion boxes / stands The distance is fixed and cannot be automatically adjusted as the moxa stick shortens during burning, resulting in a significant drop in temperature later on; there is a lack of temperature feedback, posing a risk of burns; the strap is not securely fastened and is prone to slipping; there is no status display, making it impossible to know the remaining length of the moxa stick and the burning time.

[0005] 3) Electronically controlled moxibustion device The control logic is simple, with only open-loop or single temperature feedback, resulting in lag in response, large temperature fluctuations, and difficulty in stabilizing within the ideal treatment range of 40-53℃; the sensing dimension is singular, and measurement errors increase and control fails under smoke interference; there is a lack of early warning mechanism, making it easy to "overheat"; and the functional integration is low, failing to achieve comprehensive functions such as angle adjustment, dynamic moxibustion, and automatic smoke extinguishing.

[0006] Therefore, there is a need for a constant-temperature adaptive moxibustion device and control method based on multi-sensor fusion and improved attention mechanism to solve the problems mentioned above, such as inaccurate temperature control, single state perception, unstable fixation, insufficient safety, and low degree of automation of existing moxibustion devices. Summary of the Invention

[0007] Purpose of the invention: This invention provides an intelligent fusion sensing constant temperature adaptive moxibustion device and control method, which solves the problems of inaccurate temperature control, single status sensing, unstable fixation, insufficient safety, and low degree of automation of existing moxibustion equipment, and realizes the precision, intelligence and safety of moxibustion treatment.

[0008] Technical solution: To solve the above-mentioned technical problems, according to one aspect of the present invention, more specifically, an intelligent fusion sensing constant temperature adaptive moxibustion device and control method, comprising a fixed unit, a mechanical motion unit, a multi-sensor fusion unit, a control unit, and an interaction unit.

[0009] Fixed unit Concave silicone suction cup: medical-grade silicone, Shore hardness 30-40A; 3 concentric silicone rings, outer diameter Φ45mm, Φ35mm, Φ25mm; the innermost ring is hollow Φ15mm deep 2mm, pressing creates a negative pressure of -5~-10kPa, with an adsorption force of 5-8N.

[0010] External silicone adjustable length cord: 15mm wide, adjustable length 20-80cm, quick-release buckle / Velcro; forms double fixation with suction cup, with a detachment rate of less than 0.5% when body position changes.

[0011] Mechanical motion unit Round box base: 80mm in diameter and 25mm in height, made of phenolic resin, integrating control board, motor and battery.

[0012] Automatic telescopic sleeve: 4-stage telescopic structure, aluminum alloy material, 25mm retraction and 80mm extension, corresponding to a moxa stick-skin distance of 2-5cm; driven by a stepper servo motor, telescopic speed 0-5mm / s, positioning accuracy ±0.1mm.

[0013] Double-layer semi-curved top cover: fixed layer + movable layer are connected by a spherical hinge, 0-5° spherical rotation; central clamping hole is adapted to 10mm moxa sticks, and elastic spring locks it; independent servo motor drive realizes suspended moxibustion, rotary moxibustion, and sparrow-pecking moxibustion, with speed adjustable from 0-30° / s.

[0014] Multi-sensor fusion unit Infrared temperature measurement module MLX90614: -40~125℃, ±0.5℃, 10Hz; Infrared ranging module VL53L1X: 0-4m, ±1mm, 50Hz; Millimeter-wave radar IWR6843: 0-5m, ±2mm, 50Hz; Smoke sensor MQ-2: 0-10000ppm, ±5%, 5Hz.

[0015] Fusion strategy: Range fusion: Smoke < 500 ppm, infrared weight 0.8, radar weight 0.2; ≥ 500 ppm, infrared weight 0.3, radar weight 0.7.

[0016] Temperature calibration: Temperature measurement values ​​are combined with distance for deviation compensation.

[0017] Control Unit Core: STM32F407 (ARM Cortex-M4, 168MHz).

[0018] 1) Improve the attention mechanism control algorithm Input feature vector:

[0019] Temperature deviation; Distance deviation; Normalized smoke concentration (0-1).

[0020] Attention weights:

[0021] Feature fusion:

[0022] Control output:

[0023] Adaptive scaling factor:

[0024]

[0025] 2) Early warning and smoke suppression logic Remaining length:

[0026] Triggering conditions: Duration ≥ preset value or remaining length ≤ 5mm.

[0027] Level 3 response: screen flashes → voice prompts → solenoid valve shuts off gas, extinguishing the smoke in 3-5 seconds.

[0028] Interactive Unit 2.4-inch TFT color screen: displays temperature, distance, time, smoke, battery level, etc.

[0029] SYN6288 voice chip: provides full voice prompts for power-on, temperature control stabilization, warnings, and end of operation.

[0030] Beneficial effects: This invention comprehensively optimizes various aspects such as temperature accuracy, usage stability, treatment safety, ease of operation, and therapeutic effect through multi-sensor fusion and intelligent constant temperature control, dual stable fixation, full-process safety protection, and dynamic moxibustion technique simulation. It effectively solves various defects of traditional moxibustion and existing electronic moxibustion devices, and realizes a high-quality intelligent therapeutic experience with precise and controllable moxibustion process, safety and comfort, and a high degree of automation, which greatly improves the therapeutic effect of moxibustion and the user experience. Attached Figure Description

[0031] Figure 1 is a three-dimensional schematic diagram of the overall structure of the moxibustion device of the present invention; Figure 2 is a flowchart of the improved attention mechanism control algorithm of the present invention; Figure 3 is a flowchart of the constant temperature adaptive control process of the moxibustion device of the present invention; Figure 4 is a data graph of the therapeutic effect of the present invention (WOMAC score efficacy comparison graph); Figure 5 is a graph showing the monitoring parameters of the moxibustion process according to the present invention. Detailed Implementation

[0032] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Referring to Figure 1, the intelligent fusion sensing constant temperature adaptive moxibustion device of the present invention is composed of a fixed unit, a mechanical motion unit, a multi-sensor fusion unit, a control unit, and an interactive unit. The overall structure is compact, fits the human body, and can achieve stable adsorption and automatic moxibustion with multiple techniques.

[0034] Taking moxibustion treatment at the knee eye acupoint (Dubi acupoint) for knee osteoarthritis as a typical application example, the operation process and control logic of the device are explained in detail: Example: Intelligent constant-temperature moxibustion treatment for knee pain 1. Device and Parameter Settings Selected moxa stick specifications: 10 mm in diameter, 50 mm in length, moxa wool purity 30:1, aged for 3 years; preset target temperature: T0=45 ℃; temperature safety threshold: 40-53 ℃; preset treatment duration: 20 minutes; moxibustion mode: rotary moxibustion, angular velocity 10 ° / s, rotation range ±3°.

[0035] 2. Installation and fixing of moxa sticks and devices Insert the tail of the moxa stick into the central clamping hole of the movable layer of the double-layer semi-curved top cover. The elastic metal spring inside the hole will automatically lock it, ensuring that the moxa stick and the center line of the multi-sensor fusion unit are coaxial. Align the concave silicone suction cup at the bottom of the device with the knee joint's eye acupoint, press vertically for 3 seconds to expel the air from the suction cup, creating a local negative pressure of -5 to -10 kPa, allowing the device to adhere stably to the skin; Wrap the external silicone adjustable straps on both sides of the base around your legs and fasten them. Adjust the tightness to a moderate level so that the legs do not shift when the body position changes. This forms a double fixation of suction cup adsorption and strap binding, ensuring that the legs do not fall off during treatment.

[0036] 3. System Initialization and Parameter Configuration Setup is completed via the 2.4-inch TFT color touchscreen of the interactive unit: Target temperature 45℃ Treatment duration: 20 minutes Moxibustion mode: After the rotary moxibustion system completes its self-test, it enters standby mode.

[0037] 4. Ignition and Initiation of Treatment Light the tip of the moxa stick with the igniter. After confirming that the temperature, distance, and smoke concentration signals on the display screen are normal, press the start button: The automatic telescopic sleeve in the mechanical motion unit extends automatically, so that the initial distance between the moxa stick and the skin is 25 mm; The movable top cover begins a 0-5° spherical rotational motion driven by a servo motor, simulating the traditional rotary moxibustion technique; The control unit initiates the improved attention mechanism control algorithm (flow shown in Figure 2) and enters the constant temperature adaptive closed-loop control (flow shown in Figure 3).

[0038] 5. Multi-sensor fusion and constant temperature control (refer to Figures 2 and 3) The multi-sensor fusion unit acquires four channels of data in real time: Infrared thermometer MLX90614: Non-contact skin temperature detection; Infrared ranging VL53L1X + millimeter-wave radar IWR6843: Fusion detection of moxa stick-skin distance; MQ2 smoke sensor: monitors the concentration of moxa smoke.

[0039] The control unit executes the improved attention mechanism algorithm as shown in Figure 2: Input feature vectors: temperature deviation, distance deviation, and normalized smoke concentration; Attention weights are calculated using LeakyReLU activation and Softmax. After feature fusion, the output distance adjustment amount drives the servo motor to adjust the sleeve height in real time.

[0040] The constant temperature adaptive control process is shown in Figure 3: The control cycle is 2.5 seconds, and the skin temperature is judged in real time to see if it falls within the treatment range of 40-50 ℃; If the temperature exceeds 55 ℃, the moxa stick will be forcibly raised and put into protective mode immediately. If the temperature is insufficient, the height of the moxa stick will be automatically reduced to quickly return to the target temperature; The system provides simultaneous on-screen and voice updates throughout the entire treatment process, enabling safe, unattended treatment.

[0041] 6. Monitoring of treatment progress (refer to Figure 5) During treatment, the interactive unit displays and records in real time the curves of skin temperature, moxa stick-skin distance, and smoke concentration over time (see Figure 5). The data is stable with minimal fluctuations. Temperature control error ≤ ±0.8 ℃; Distance measurement is reliable even under smoke interference; The system broadcasts messages at regular intervals, such as "Temperature has stabilized" and "Treatment has 5 minutes remaining."

[0042] 7. Intelligent early warning and automatic smoke extinguishing The control unit monitors two independent parameters in real time: burning time t and remaining length of the moxa stick l′. A level three response is triggered when either reaches a threshold. Level 1: The display value turns red and flickers at 2 Hz; Level 2: Voice module broadcasts warnings; Level 3: The solenoid valve drives the baffle to close the air inlet, quickly extinguishing the smoke within 3-5 seconds.

[0043] Once the treatment lasts for 20 minutes, the system will automatically end with a voice prompt saying, "Moxibustion complete, please remove the device."

[0044] 8. End of treatment and removal of the device Gently lift the edge of the suction cup to break the negative pressure, untie the rope, and remove the device; after checking the skin for any abnormalities, the moxibustion treatment is complete.

[0045] 9. Clinical efficacy verification (refer to Figure 4) Thirty patients with knee osteoarthritis received treatment once daily for 20 minutes for two consecutive weeks. The efficacy was assessed using the WOMAC score. The results are shown in Figure 4. After treatment, the patient's joint pain, stiffness, and dysfunction were significantly improved; The treatment efficacy rate (pain relief ≥50%) reached 92.3%; Patient comfort, safety, and convenience scores were significantly better than those of traditional moxibustion devices.

[0046] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. 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 modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An intelligent fusion sensing constant temperature adaptive moxibustion device, comprising a fixing unit, a mechanical motion unit, a multi-sensor fusion unit, a control unit, and an interaction unit, characterized in that: The fixing unit adopts a double fixing structure consisting of an inner concave silicone suction cup and an outer silicone adjustable length rope. The mechanical motion unit includes a circular box base, an automatic telescopic sleeve, and a double-layer semi-curved top cover, which can realize the height adjustment of the moxa stick and spherical rotational motion. The multi-sensor fusion unit integrates an infrared temperature measurement module, an infrared ranging module, a millimeter-wave radar, and a smoke sensor to collect and fuse data on skin temperature, the distance between the moxa stick and the skin, and smoke concentration. The control unit is based on a 32-bit ARM Cortex-M4 microcontroller and is equipped with an improved attention mechanism control algorithm to achieve closed-loop adaptive temperature adjustment. It also features moxa stick combustion status monitoring, intelligent early warning, and automatic smoke extinguishing functions. The interactive unit includes a display screen and a voice module, enabling visual display of status and voice broadcast.

2. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The concave silicone suction cup of the fixing unit is made of medical-grade silicone material with a Shore hardness of 30-40A. It consists of 3 concentric silicone rings, with the innermost ring being hollow. When pressed, it forms a local negative pressure of -5~-10kPa and an adsorption force of 5-8N. The external silicone adjustable length cord is 15mm wide and has a length adjustment range of 20-80cm. It has buckles or Velcro at both ends and works with the concave silicone suction cup to make the device detachment rate less than 0.5%.

3. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The automatic telescopic sleeve of the mechanical motion unit has a 4-level telescopic structure, with a minimum retracted length of 25mm and a maximum extended length of 80mm, corresponding to an adjustment range of 2-5cm between the moxa stick and the skin. Driven by a miniature stepper servo motor via a lead screw, the extension speed is adjustable from 0-5mm / s, and the positioning accuracy is ±0.1mm; The double-layer semi-curved top cover includes a fixed layer and a movable layer, which are connected by a spherical hinge. The movable layer can rotate within a spherical range of 0-5°. The active layer has a moxa stick clamping hole in the center, and the inner wall of the hole is equipped with an elastic metal spring. It is driven by a micro servo motor to realize three modes of moxibustion: suspension moxibustion, rotary moxibustion, and sparrow-pecking moxibustion. The movement speed is adjustable from 0-30° / s.

4. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The sensors of the multi-sensor fusion unit are specifically: The infrared temperature measurement module MLX90614 has a range of -40~125℃, an accuracy of ±0.5℃, and a sampling frequency of 10Hz. Infrared ranging module VL53L1X, measuring range 0-4m, accuracy ±1mm, sampling frequency 50Hz; The IWR6843 millimeter-wave radar has a range of 0-5m, an accuracy of ±2mm, and a sampling frequency of 50Hz. The MQ-2 smoke sensor has a range of 0-10000ppm, an accuracy of ±5%, and a sampling frequency of 5Hz.

5. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The multi-sensor fusion strategy is as follows: Distance fusion: When the smoke concentration is <500ppm, the infrared ranging weight is 0.8 and the millimeter-wave radar weight is 0.2; when the smoke concentration is ≥500ppm, the infrared ranging weight is 0.3 and the millimeter-wave radar weight is 0.

7. Temperature calibration: The temperature measurement module readings are combined with the distance value for deviation compensation.

6. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The improved attention mechanism control algorithm of the control unit defines the input feature vector: in: Temperature deviation; This refers to distance deviation; Normalized smoke concentration (0-1); Attention weight calculation: Fusion characteristics: Control output: in The parameter matrix is ​​a learnable matrix, and its optimal value is determined through offline training; the control unit is based on fused features. The output of the moxa stick-skin target distance drives the servo motor for adjustment; when the skin temperature is >55℃, the control unit forcibly increases the distance between the moxa stick and the skin to achieve over-temperature protection.

7. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 6, characterized in that, The control function of the control unit includes adaptive proportional coefficient calculation: in The current smoke concentration, The base scaling factor and the adaptive scaling factor are used to adjust the distance adjustment increment. This updates the target distance. And limited to a preset safety range Inside.

8. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The warning and smoke extinguishing control logic of the control unit is as follows: Real-time monitoring of combustion duration With remaining available length ,in: in This is the initial length of the moxa stick. This represents the current distance between the moxa stick tip and the clamping end. This is the fixed distance between the clamping end and the skin surface; when ( Preset treatment duration for users (default 20 minutes) or ( A three-level response is triggered when any of the following conditions are met: (minimum remaining length threshold, default 5mm). Level 1 response: The display value turns red and flashes at a frequency of 2Hz; Level 2 response: The voice module broadcasts a warning notification; Level 3 response: The solenoid valve drives the baffle to close the air inlet, blocking oxygen, and the moxa stick extinguishes within 3-5 seconds.

9. The intelligent fusion sensing constant temperature adaptive moxibustion device according to claim 1, characterized in that, The interactive unit uses a 2.4-inch TFT color LCD screen to display skin temperature, moxa stick-skin distance, treatment time, temperature threshold, rotation mode, smoke concentration, and battery level in real time. The voice module uses the SYN6288 chip to provide Chinese voice announcements for power-on, temperature stabilization, warnings, and treatment completion.

10. A method for controlling moxibustion with intelligent fusion sensing and constant temperature adaptive temperature, using an intelligent fusion sensing and constant temperature adaptive moxibustion device as described in any one of claims 1-9, characterized in that, Includes the following steps: (1) System initialization, setting target temperature, treatment duration, and moxibustion mode; (2) The multi-sensor fusion unit collects skin temperature, moxa stick-skin distance and smoke concentration data in real time, and dynamically weights and fuses the distance measurement data and calibration temperature data according to the smoke concentration; (3) The control unit is based on the improved attention mechanism control algorithm. It takes temperature deviation, distance deviation and normalized smoke concentration as input feature vectors, calculates attention weight through LeakyReLU activation and Softmax function, and outputs distance adjustment increment after feature fusion to drive the automatic telescopic sleeve to adjust the distance between the moxa stick and the skin. (4) Monitor the burning time and remaining length of the moxa stick in real time to determine whether the warning conditions are triggered; (5) After the warning is triggered, the three-level response is executed in sequence: screen flashing, voice broadcast, and automatic smoke extinguishing; (6) After the treatment is completed, remind the user to remove the device to complete the moxibustion process.

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