574 results about "Point light" patented technology

The invention discloses a detection method of an ocean magnetic field sensor based on a diamond NV color center. The detection method comprises the following steps: S1, calibrating a base line; s2, alternately measuring fluorescence between two single quantum resonance frequencies, and obtaining a difference to realize DQ reading; s3, three-axis compensation current is adjusted based on closed-loop control, and the NV working point is maintained at zero magnetization bias; s4, obtaining background magnetic field change through digital demodulation and adaptive filtering; and S5, calculating a gradient based on the spatial difference of the multi-point light spots, judging the existence and trajectory of the underwater vehicle in combination with a threshold value and a spectrum matching method, calibrating the threshold value according to the magnetic field characteristics of the existing underwater vehicle, adopting short-time Fourier transform signal spectrum, comparing the threshold value with known submarine characteristic spectrum data, and prompting if the similarity exceeds a set threshold value. According to the detection method, the measurement precision and the anti-interference capability can be improved, and the method is suitable for real-time monitoring of weak magnetic anomalies (such as magnetic moment disturbance of an underwater vehicle).

The invention discloses a point light source electron accelerator which comprises a sealing box body, a cathode, a laser emitter, a reflecting cover, a grid plate and a mounting plate, the mounting plate is erected in the sealing box body, a mounting hole is formed in the mounting plate, the cathode is mounted in the mounting hole, and the laser emitter is arranged in the sealing box body. The reflecting cover is arranged at the top of the mounting hole; the reflecting cover is a semi-spherical surface, a laser through hole is formed in the top of the semi-spherical surface, and the laser through hole is coaxial with the cathode; the transmitting end of the laser transmitter is aligned with the cathode; the grid plate is mounted below the mounting plate and is aligned with the mounting holes; and an electron outlet is formed below the grid plate. The invention provides a point light source electron accelerator, and the point light source electron accelerator provides a light and miniaturized electron accelerator design, so that the application field of the accelerator is wider.

The invention provides an inter-satellite laser communication sun-sun avoidance method and system, computer equipment, a storage medium and a program product. The method comprises the following steps: determining a current unit pointing light vector of a laser communication terminal under a J2000 coordinate system as a first unit pointing light vector; acquiring a sun vector under a J2000 coordinate system; calculating an included angle between the first unit directional light vector and the sun vector; if the included angle is not larger than the preset angle, the first unit pointing light vector is rotated by a second angle in the component direction of the first unit pointing light vector on the sun vector normal plane, and the angles are iteratively adjusted and accumulated until the accumulated angle exceeds the preset angle; and then planning a motion trail of the vector after rotation towards a safe direction on a normal plane so as to realize sun-sun avoidance. According to the method, the sun-sun can be avoided before and after the inter-satellite laser communication is established, the terminal is prevented from directly looking at the sun by directionally rotating along the normal plane component, the safety of the avoidance process is remarkably improved, and meanwhile, the directional stability is favorably maintained.

The invention discloses a multi-light-spot anti-interference deformation measuring device and method based on stroboscopic energy spectrum.The multi-light-spot anti-interference deformation measuring device comprises a point light source, a first cylindrical mirror is arranged below the point light source, a first linear array sensor is arranged below the first cylindrical mirror, and the first linear array sensor is electrically connected with a data acquisition device; light emitted by the point light source passes through the first cylindrical mirror and then is focused into a line segment to be imaged on the first linear array sensor, and the first linear array sensor converts optical signals of the focused line segment into digital signals and outputs the digital signals to the data acquisition device. According to the multi-light-spot anti-interference deformation measuring device, a multi-dimensional displacement sensor measuring system is established by applying the cylindrical mirror, the linear array sensor and the point light source, a displacement measuring system with high precision, high resolution and high sampling rate can be realized, and the multi-light-spot anti-interference deformation measuring device is few in related components, small in size, simple to maintain, low in cost, high in system stability and easy to popularize. The method is more suitable for outdoor multi-point monitoring of engineering structures.

The invention relates to the technical field of optical wireless communication, in particular to an optical wireless communication device and method based on beam shaping, and the device comprises a beam shaping module which comprises at least one beam shaping lens so as to convert a beam outputted by a point light source into a uniformly distributed linear or planar light field; the optical transceiver module comprises a plurality of optical base stations, the optical base stations are arranged in a redundant mode in the extension direction of the communication scene, each optical base station integrates at least one optical transmitter, an optical detector and a plurality of prisms and is used for transmitting and receiving optical signals, and the coverage range of the single optical base station is expanded through the prisms; and the dynamic demodulation module is connected with the optical detector, and dynamically adjusts the demodulation threshold value of the corresponding bit error rate according to the real-time channel state. Therefore, when the technology is applied to wireless optical communication, the communication performance can be improved, the coverage distance can be increased, the coverage uniformity can be improved, the bit error rate can be reduced, the construction cost can be reduced, and the long-term stable communication requirement of a closed scene can be met.

The invention belongs to the technical field of laser processing, and provides a powder laying layer thickness and beam shaping coordinated regulation and control system and method for laser additive manufacturing, and the system comprises a light source device which is used for emitting laser beams required by additive manufacturing; then, when the manufacturing and forming device determines the thickness of the powder laying layer needed by laying, the light source device uses a point light source and / or an annular light source to emit laser beams, and the spot diameter of the laser beams or the size of a molten pool formed by the laser beams is dynamically adjusted according to the thickness of the powder laying layer. The method has the beneficial effects that intelligent segmentation and process planning are conducted on all parts of the L-PBF forming component, the large-layer-thickness powder laying-large-size light source forming process and the small-layer-thickness powder laying-small-size light source forming process are adopted, and meanwhile the forming precision and efficiency of the component are considered.

The utility model discloses an artificial climate chamber water-cooling seedling raising vehicle, a chassis comprises a bottom frame, a support is connected to the bottom frame, and trundles are connected to the bottom of the bottom frame; the supporting pieces are connected to the corners of the bottom frame; the multiple groups of clamping strips are arranged up and down, each group comprises two clamping strips, heat dissipation holes are formed in the clamping strips, and the two ends of the clamping strips are connected to the supporting pieces; the light guide plate is clamped between each group of clamping strips, and light guide points are arranged on the light guide plate; the light source is inserted into the clamping strip and irradiates the side part of the light guide plate; the water inlet pipe is connected to the supporting piece, and one end of the heat dissipation hole of the clamping strip communicates with the water inlet pipe; the water return pipe is connected to the supporting piece, and the other end of the heat dissipation hole of the clamping strip communicates with the water return pipe. Compared with the prior art, the circulating water cooling system enables the seedling raising vehicle to keep a proper temperature environment, damage to seeds or seedlings caused by too high temperature is avoided, and seed germination and seedling growth are facilitated.

The invention provides a coaxial collection laser-induced breakdown spectroscopy device. The coaxial collection laser-induced breakdown spectroscopy device comprises a computer, a laser, a 9-to-1 spectroscope, a photoelectric external trigger unit, a reflector, a dichroscope, a galvanometer group, a field lens, a double-focusing lens group, a spectrograph optical fiber probe and a spectrograph, a laser beam passes through the 9-to-1 spectroscope and the reflector, is deflected, then enters the dichroscope, penetrates through the dichroscope, enters the galvanometer group, is reflected by the X reflector and the Y reflector for multiple times and then enters the field lens, and parallel light is focused to a test sample. A laser induced plasma emission spectrum generated in the laser cleaning process serves as a point light source and is converted into parallel light through a field lens, and then the parallel light enters a dichroscope through an original path of a galvanometer set, deflects to enter a double-focusing lens set and is stably focused to a spectrograph optical fiber probe to be processed and analyzed by the spectrograph. The coaxial collection light path is applied to the galvanometer laser head, plasma emission light can be directly collected in the laser cleaning process, and more efficient signal collection and processing are achieved.

A control system and control method for LED string light source with fast control speeds, occupy low signal transmission capacity, and can smartly detect faults in the LED string light source, wherein comprising an LED string light provided with a plurality of LED point light sources, a power line and data control line connected between the decoder controller and each LED point light source. Address lines are used in the LED string light source to connect all address pins of the smart driver chip in series based on the numerical order of the electrical connection of the decoder controller. The smart driver chip requires rewriting the temporary address once every power-on cycle. Since the chip has a signal feedback function, users do not need specialized personnel to effectively use the decoder controller to assess the status of the point light source.

A warning light, including a point source configured to emit a front light, and one or more side firing light sources, where the first side firing light source and the second side firing light source are configured to emit one or more side lights at an angle substantially perpendicular to the front light, and where the one or more side lights are configured to illuminate an emergency vehicle. Further, a system including two or more warning lights as described herein, an emergency vehicle, and a processor configured to communicatively couple the two or more warning lights.

The invention discloses an optical axis calibration method and device applied to a projection illumination light path, and belongs to the technical field of optics, and the device comprises a laser which is used for transmitting an initial collimated light beam; the forward beam expander is arranged on a light emitting path of the laser and is used for expanding the initial collimated light beam to form large-aperture collimated light; the beam splitter is arranged on an emergent light path of the forward beam expander and is used for splitting the large-aperture collimated light into a reflected light beam and a transmitted light beam; the reflecting mirror is arranged in a transmission light path of the beam splitter and is used for reflecting the transmission light beam back to the beam splitter; and the reverse beam expander is arranged in a reflection light path of the beam splitter and is used for converging the reflection light beams into a point light source. According to the invention, the abstract'optical axis alignment 'problem is converted into visual'light spot superposition' judgment, the principle breakthrough from traditional indirect energy measurement to direct spatial position comparison is realized, and the calibration precision is improved.

The invention relates to the technical field of automobile testing, and discloses a method and system for evaluating and testing visual field glare of a driver in a cabin, and the method comprises the following steps: starting from the position of the eyes of the driver, capturing a brightness distribution image of the whole visual field, and dividing the image into a plurality of sub light source regions around a glare source; dividing the visual field into a main sight area and a residual light sight area according to the attention distribution of the driver, and endowing sub light source areas falling into different areas with different weight values; calculating a unified glare index according to the weighted sum of the glare intensity of each sub light source area and the background brightness in the cabin; and finally, comparing the index with a preset threshold value, and outputting an evaluation result. According to the method, the large-area light source is divided into the sub-light sources, weighted calculation is carried out in combination with the attention of the driver, the problem that a traditional glare evaluation model is not suitable for a close-range non-point light source scene of the automobile cabin is solved, a scientific evaluation system matched with the automobile cabin is established, and the glare evaluation result is more accurate.

The invention relates to the technical field of environment detection, in particular to a humanoid robot for classroom light environment detection, which comprises a hand detection component group and a head detection module, and the hand detection component group and the head detection module are respectively used for executing positioning point light parameter detection and space light environment detection. The hand detection component set comprises a first detection module and a limiting installation mechanism used for detachably fixing the first detection module. Through the integrated sensor module and the liftable human-shaped structure, synchronous acquisition of multiple parameters of a light environment and automatic reproduction of a standard measurement attitude are realized, and the modular quick-release mechanism improves the maintenance safety through an electric connection priority separation mechanism, so that single equipment can efficiently and normatively complete illumination detection tasks under various scenes.

The invention relates to a lithium ion battery thermal runaway multi-dimensional signal coupling test device in the technical field of lithium ion battery thermal safety. The lithium ion battery thermal runaway multi-dimensional signal coupling test device comprises a closed test container, a signal acquisition system, an optical visualization system, a temperature control system, a gas acquisition system and an inflation system, the closed test container is a cube, four orthogonal through holes are formed in the front, rear, left and right outer walls of the closed test container, and optical glass is mounted on the left and right through holes; the signal acquisition system comprises an impact force sensor, a pressure sensor, a thermocouple, a battery test system, a data acquisition card and an analysis device; the optical visualization system comprises a camera, a point light source, a reflecting mirror, a concave mirror and a blade; the temperature control system comprises a heating rod, a heating sheet, a power supply and a controller; the gas collection system comprises an exhaust channel, a gas collection bag and a gas chromatograph; the inflation system comprises an inflation pipeline, a pressure regulating valve and an inert gas tank. According to the invention, the air injection state generated by the battery or the battery module in the thermal runaway process can be intuitively reflected.

The present invention relates to the technical field of laser welding. Disclosed are a method for establishing a point-ring laser welding heat source model, a system and a medium. A point-ring laser is composed of point light of a central laser body heat source and ring light of an annular laser surface heat source, the point light is used for achieving a weld seam having a high depth-to-width ratio for a welded material, and the ring light is used for achieving auxiliary heating and slow cooling for the welded material. According to the method for establishing a point-ring laser welding heat source model provided in the present invention, the laser power ratio of the point light to the ring light in the model can be regulated and controlled according to any proportion, the defocusing amounts of the point light and the ring light can be separately controlled, and spot parameters such as point light spot diameter and ring light spot diameter can be used for effectively expressing heat flux density distribution. The method for establishing a heat source model provides a powerful reference basis for accurately simulating a temperature field, a stress field and a deformation field of point-ring laser welding. On the basis of regulation and control of a welding path, the present invention can be widely applied to the field of finite element simulation of point-ring laser linear welding and weaving welding.

The invention provides a miniaturized laser processing system based on a metasurface laser processing head, which relates to the technical field of laser processing and comprises a light path modulation module, the metasurface laser processing head, a displacement device, a sample adjustment module and an image observation module, the metasurface laser processing head, the sample adjusting module and the image observation module are located on the same axis, and the light path modulation module modulates laser emitted by the laser light source into target polarized light and projects the target polarized light to the metasurface laser processing head; the metasurface laser processing head is fixedly connected with the displacement device and comprises one or more processing areas with functions of forming a point light field, a line light field, a surface light field, a body light field, a light field with a specific function expression and a space-time light field; the sample adjusting module enables the sample to be located in a modulation light field formed by the target polarized light, and laser processing is conducted on the sample. According to the invention, the integration level and functionality of the laser processing system can be improved.

The utility model discloses an air LED screen and an air LED display system, relates to the technical field of display screens, can be applied to a mooring helium balloon, and specifically comprises a plurality of LED light source sets connected to the surface of the mooring helium balloon through connecting pieces, and each LED light source set comprises a plurality of LED point light sources; and the main controller responds to a control instruction received by the communication module and sends a control signal to the sub-controllers, so that the sub-controllers control the LED point light sources in the LED light source groups connected with the sub-controllers. The buoyancy provided by the helium balloon can drive the LED screen arranged on the helium balloon to lift off, so that the limitation of a traditional ground display mode is broken through; moreover, after the power interface is connected with a power supply, a user can control the light-emitting state of the LED dot matrix on the surface of the tethered helium balloon through the main controller and the sub-controller, and finally an all-dimensional, high-quality and stable aerial image display task is achieved.

The invention provides a spliced detector flatness large-flux in-situ detection method which comprises the following steps: a light source emits a light beam which is compressed by a cylindrical lens, then is dispersed by a dispersion prism and respectively enters the edges of two adjacent detectors, and the two light beams are reflected by the surfaces of the detectors and then converge to generate dispersion stripes; a fixed difference calibration mode is adopted to calibrate stripe slope singularity caused by edge stripe variation in the dispersion stripe forming process; a band elimination filter is used for generating band elimination of a specific wave band in the dispersion fringes, and the channel spectrum is tested by analyzing the characteristics of the band elimination; the edge position of each detector is finely adjusted by using a dispersion prism, and the edge position of each detector is adjusted through deviation of a pupil position in combination with multi-point light emitted from one side of a wide-angle optical system by using an optical fiber interconnection system. According to the invention, the confocal and co-phase adjustment speed and precision of the spliced detector are greatly improved, and the regulation and control requirements of extremely high information flux and rapid convergence of a large-aperture system are met.

The invention discloses an illuminance uniformity detection method and device, and the method comprises the steps: collecting the illuminance data of each point light source on each light bar in a light bar group through a detection part, then judging whether the illuminance uniformity of the light bar group is qualified or not according to an illuminance data group corresponding to each light bar, if the illuminance uniformity is qualified, sending out a qualified signal, and if the illuminance uniformity is not qualified, sending out a qualified signal; if the illumination uniformity is not qualified, the unqualified light bars are marked and abnormal signals are sent out so as to remind personnel, so that the whole detection process and the evaluation of the illumination uniformity of the light bar group are completely automatically realized, and the personnel can directly know whether the illumination uniformity of the light bar group is qualified or not, which is convenient and rapid and is accurate in evaluation.

The utility model relates to the technical field of liquid medicine quality detection devices and equipment, in particular to a lamp inspection machine which is provided with a working table, a lifting driver, a cover, a bottle placing disc, an imager, a table top light source, a rotary driver and a point light source, the lifting driver is fixed on the working table, the lifting driver drives the cover to indirectly lift, and the rotary driver drives the bottle placing disc to rotate. The lifting cover is used for putting in or taking out the liquid medicine bottles on the bottle placing disc; the rotary driver is fixed on the workbench, the rotary driver indirectly drives the bottle placing disc to rotate, the rotating bottle placing disc and a liquid medicine bottle filled with liquid medicine are placed in an imaging range of the imager, the bottle placing disc is provided with a hollow rotating shaft, and a light source emitted by the point light source irradiates the bottom of the liquid medicine bottle through a center hole. A plurality of table top light sources are arranged on the periphery of the liquid medicine bottle. According to the lamp inspection machine, the point light source is arranged at the bottom of the liquid medicine bottle, so that the rotating liquid medicine is detected under illumination, the detection efficiency of the liquid medicine is improved, and the lamp inspection machine has the advantages of high reliability and high-speed stable detection.

The invention discloses a micro-lens array focal length detection method and detection equipment based on an image moving fitting method, and the method comprises the steps: setting a camera, adjusting the camera until the camera is focused on a micro-lens array, adjusting the optical axis distance between the camera and the array in a floating manner, and collecting star point light spot images and Perot plate line-to-plate images at a plurality of adjusted positions; according to the light spot sub-images corresponding to the same sub-lens in the plurality of light spot images, focal plane coordinates are determined, and corresponding PSF reconstruction is carried out; selecting a pair of light plate images and line-to-plate images, and performing recovery processing on sub-images corresponding to the sub-lenses in the images by using a Wiener filtering algorithm; performing convolution operation on the restored image and the reconstructed PSF function to obtain a reconstructed line-to-board image corresponding to the focal plane coordinates; and the focal length of the sub-lens is calculated according to the focal length of the collimator, the actual line distance of the Perot plate and the line distance determined by the reconstruction line to the plate image. Array images near the focus are collected in an image moving mode, and the focal lengths of the multiple sub-lenses are detected in parallel.

The invention discloses a vaginal dilator with a light source, which relates to the technical field of medical instruments and is characterized by comprising a dilation structure, a light source system, an adjusting structure and a handle. The expansion structure is formed by hinging upper and lower tooth parts, and the surface of the expansion structure is coated with a silica gel layer to ensure comfort and biocompatibility; an observation window is arranged at the front end of the upper tooth part; a light guide column is integrated in the lower tooth part. The light source system comprises an LED module and a turning structure, uniform floodlight source distribution and accurate point light source illumination are achieved through microprism texture processing and light guide fibers, and the irradiation angle can be adjusted to meet different inspection requirements. And the adjusting structure comprises a fine adjustment knob and an angle adjusting knob, so that accurate control of the expansion angle and flexible adjustment of the light source angle can be realized. The problems that in the prior art, the light source angle cannot be adjusted, and the dilation angle is not finely adjusted are solved, the examination accuracy and the comfort of a patient are improved, and the device is suitable for gynecological examination and conventional treatment.

The invention provides a multi-focus point ring light spot generation system and a laser welding method, and belongs to the technical field of laser machining. The system comprises an annular light source, a first collimating lens, an annular light beam generation module and a first reflecting mirror which are sequentially arranged at intervals along a first linear direction, and a point light source, a second collimating lens, a first focusing mirror, a multi-curvature hollow reflecting mirror and a second focusing mirror which are sequentially arranged at intervals along a second linear direction, the center of the multi-curvature hollow reflecting mirror and the center of the second focusing mirror are provided with through holes for light beams emitted by the point light source to penetrate through, and the mirror surface curvature of the multi-curvature hollow reflecting mirror is adjustable. The technical problems of high processing cost and poor deep welding stability caused by structural limitation of a point ring laser in the prior art can be solved.

To provide a measuring apparatus capable of improving accuracy in measuring an object to be measured.SOLUTION: The measuring apparatus according to one aspect of the present invention is a measuring apparatus for measuring an object to be measured conveyed in a conveying direction, and includes: an illumination unit for illuminating the object to be measured and a light receiving unit for receiving specularly reflected light from the object to be measured illuminated by the illumination unit. The illumination unit includes: a light source including a plurality of point light sources; and a first diffusion plate, the light source being arranged in a plurality along a predetermined arrangement direction, the plurality of point light sources being arranged in an orthogonal direction orthogonal to the arrangement direction. When the diffusion angle of the first diffusion plate in the arrangement direction is defined as Ax and the diffusion angle in the orthogonal direction is defined as Ay, the relationship of Ax<Ay is satisfied.SELECTED DRAWING: Figure 4

The invention belongs to the field of laser processing, and discloses a double-light-source point ring light spot generation system which comprises a first light source (1), a first collimating lens (2), a second light source (7), a second collimating lens (8), a first reflecting mirror (3), a second reflecting mirror (4) with a middle through hole, a ridge beam combiner (5) with a middle through hole and a focusing lens (6). The first reflecting mirror (3) is used for forming a non-closed symmetrical annular light beam; the second reflector (4) is used for reflecting and collimating the non-closed symmetric annular light beam; the ridge beam combiner (5) is used for combining beams and inputting the beams to the focusing lens (6); and laser emitted by the second light source (7) is collimated and then passes through middle through holes of the second reflecting mirror (4) and the ridge beam combiner (5) to the focusing lens (6). By improving the design of each component of the system and the matching working mode of the components, the central point light spot and the peripheral annular light spot can be output at the same time.

The invention provides a quantum dot light source and a preparation method thereof. The quantum dot light source can be applied to the technical field of semiconductors and quantum information. The quantum dot light source comprises a first doping layer, a quantum dot layer, a barrier layer, an energy level matching layer and a second doping layer which are sequentially stacked, the first doping layer is used for providing holes under electrical excitation; the quantum dot layer comprises a plurality of quantum dots, and the quantum dots are used for emitting fluorescence when holes from the first doped layer and electrons which are from the second doped layer and pass through the barrier layer are compounded in the quantum dots; the barrier layer is used for preventing holes from the quantum dot layer from passing through under electrical excitation and enabling electrons which come from the energy level matching layer and have energy equal to preset energy to pass through; the energy level matching layer is used for adjusting the energy of the electrons from the second doping layer to preset energy under electrical excitation; and the second doping layer is used for providing electrons under electrical excitation.

The invention relates to the technical field of data processing alignment, in particular to a long-distance photoelectric sensor focusing calibration method and system, and the method comprises the following steps: starting a laser transmitter with an end to monitor a photoelectric array, obtaining the light intensity and three-dimensional coordinates of multiple sampling points, and carrying out the filtering; and extracting edge and radial light intensity, calculating a gradient vector through derivative difference and generating an offset direction vector, extracting symmetrical sampling points based on the vector to construct a balance ratio sequence, generating an offset angle through a mean square error model, and mapping the angle and the vector to generate a calibration instruction. According to the method, multi-sampling-point light intensity is associated with three-dimensional coordinates, median filtering is executed to remove noise, gradient is extracted through derivative difference to achieve spatial offset direction mapping, an offset angle value is finely solved in combination with a balance ratio sequence and a mean square error model, and parameter stability is ensured; the offset vector and the angle are correlated to execute coordinate mapping operation to compensate the angle deviation, real-time automatic correction of the pose of the transmitting end is achieved, and the long-distance alignment efficiency and the signal intensity of the sensor are improved.

The utility model discloses a mounting bracket for a point light source illuminating lamp, and relates to the technical field of illuminating lamps. Comprising a mounting plate used for being connected with a point light source illumination lamp and further comprises a quick connecting assembly, the top of the quick connecting assembly is fixedly connected with the bottom of the mounting plate, and the inner wall of the quick connecting assembly is slidably connected with an adjusting assembly; the quick connecting assembly comprises a mounting block, limiting blocks are symmetrically and fixedly connected to the outer wall of the mounting block, a clamping block is fixedly connected to the outer wall of the mounting block, the mounting support adopts a double positioning structure of clamping block and clamping groove and limiting block and limiting groove through the quick connecting assembly, and during mounting, only the mounting block needs to be aligned with the fixing block and inserted into the fixing block; by means of the installation support, the purpose of the installation support for the point light source lighting lamp is achieved.

This disclosure provides a massage robot and its control method, control device, and storage medium. The massage robot control method of this disclosure includes: determining a massage path based on a user's human body point cloud data to obtain the user's massage path data, the massage path data including a massage movement trajectory and a first position, a first tolerance range, and a massage intensity range for each acupoint on the massage movement trajectory; controlling a robotic arm to perform multi-point light touches in a local area of ​​the first position of the acupoint and obtaining the pressure value of each light touch point; determining a second position of each acupoint on the massage movement trajectory based on the pressure value of each light touch point; and controlling the robotic arm to perform a massage operation according to the massage movement trajectory, the second position of each acupoint on the massage movement trajectory, the pre-set second tolerance range, and the massage intensity range. This disclosure can effectively improve the accuracy of acupoint positioning and the stability and safety of the massage effect.