CN111098314A

CN111098314A - Intelligent heat-sensitive moxibustion system based on cooperative robot

Info

Publication number: CN111098314A
Application number: CN202010007814.3A
Authority: CN
Inventors: 肖聚亮; 卫小涛; 洪鹰; 王国栋; 郭恒志; 张春洋
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-01-05
Filing date: 2020-01-05
Publication date: 2020-05-05

Abstract

The invention discloses an intelligent heat-sensitive moxibustion system based on a cooperative robot, which comprises a heat-sensitive moxibustion execution system, a detection system and a human-computer interface control system; the heat-sensitive moxibustion execution system comprises a treatment bed, a cooperative robot and a heat-sensitive moxibustion instrument which are connected in sequence; the treatment bed comprises a bed body and a driving unit which are mutually connected; the driving unit drives the bed body to horizontally move relative to the cooperative robot; the detection system comprises a vision system, a distance sensor and a temperature sensor; the vision system includes a vision camera; the distance sensor is used for measuring the distance from the surface of the treatment position of the human body; the temperature sensor is used for detecting the surface temperature of the treatment position of the human body; the vision camera is used for acquiring the surface image of the treatment position of the human body; the human-computer interface control system inputs signals from the detection system; the output signal controls the work of the heat-sensitive moxibustion execution system. The invention relates to an intelligent heat-sensitive moxibustion system integrating automatic acupoint searching and height-adjustable thermal moxibustion, which is simple and convenient to operate and accurate in acupoint searching, and a treated person can adjust the treatment position.

Description

Intelligent heat-sensitive moxibustion system based on cooperative robot

Technical Field

The invention relates to a moxibustion system, in particular to an intelligent thermosensitive moxibustion system based on a cooperative robot.

Background

At present, moxibustion is a moxibustion method in the ancient acupuncture therapy, mainly ignites moxa cones and moxa sticks made of folium artemisiae argyi, and smokes and bakes acupuncture points of a human body to achieve a natural therapy of health care and disease treatment. With the improvement of living standard, the demand of traditional Chinese medicine physical therapy is increasing day by day. In the current state of the art, physicians often treat acupoints with burning moxa sticks in their hands, which has the following drawbacks: moxa burning can bring the smog puzzlement, and it is inhomogeneous to generate heat, and the doctor can consume great physical stamina and patient's removal can lead to seeking the cave inaccurate in the treatment process.

It is necessary to develop a device that integrates automatic acupoint searching and adaptive height to release doctors, so that thermo-sensitive moxibustion with stable frequency waves is used to replace moxa burning unstable waves, and a cooperative robot with a vision system is used to reduce the burden of doctors and track acupoints in real time.

For example, chinese patent publication No. CN107080690U, publication No. 2017.08.22, discloses an intelligent moxibustion robot and an operation method thereof, including a control mechanism, a smoke evacuation device, and a moxibustion device. Intelligent moxibustion robot adopts linear coordinate to remove, drives the camera and removes the automatic acupuncture point of seeking to go to aim at the target acupuncture point at the in-process of the removal of camera and carry out the moxa-moxibustion physiotherapy, carry out the moxa-moxibustion physiotherapy with utilizing intelligent moxibustion robot to replace the manual work. But everybody's size is different, and the acupuncture point position has the deviation, only relies on the camera to scan, and is relatively poor to the accuracy assurance at acupuncture point position, leads to the moxa-moxibustion effect not good.

For example, chinese patent application publication No. CN110141498A, publication No. 2019.08.20, discloses a moxibustion intelligent cooperation robot and an operation method thereof, wherein a professional doctor drives the robot to simulate a path and confirm physiotherapy acupuncture points according to the body type of a physiotherapist, and then the robot automatically performs moxibustion physiotherapy according to the simulated path. This mechanism has avoided only relying on the camera to go the drawback of looking for the acupuncture point, but needs the doctor to simulate the route, greatly increased doctor's burden, and adopt traditional moxa-moxibustion to treat, there is smog puzzlement in the treatment process.

Disclosure of Invention

The invention provides an intelligent thermosensitive moxibustion system based on a cooperative robot for solving the technical problems in the prior art.

The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows: an intelligent heat-sensitive moxibustion system based on a cooperative robot comprises a heat-sensitive moxibustion execution system, a detection system and a human-computer interface control system; the heat-sensitive moxibustion execution system comprises a treatment bed, a cooperative robot and a heat-sensitive moxibustion instrument which are sequentially connected; the treatment bed comprises a bed body and a driving unit which are connected with each other; the driving unit is used for driving the bed body to horizontally move relative to the cooperative robot; the detection system comprises a vision system, a distance sensor and a temperature sensor; the vision system comprises a vision camera; the distance sensor is used for measuring the distance from the distance sensor to the surface of the treatment position of the human body; the temperature sensor is used for detecting the temperature of the surface of the treatment position of the human body; the vision camera is used for acquiring images of the surface of the treatment position of the human body; the human-computer interface control system inputs a signal from the detection system; the output signal controls the work of the heat-sensitive moxibustion execution system.

Further, the distance sensor, the temperature sensor, the vision camera and the thermal moxibustion instrument are integrated into a thermal moxibustion module, and the thermal moxibustion module comprises a shell; the distance sensor, the temperature sensor, the vision camera and the thermal moxibustion instrument are fixedly connected in the shell; the housing is mounted at a manipulator end of the cooperative robot.

Further, the distance sensor, the temperature sensor and the vision camera are all 2; respectively as follows: the first distance sensor, the first temperature sensor and the first vision camera are close to the surface of the human body treatment position; and a second distance sensor, a second temperature sensor and a second vision camera which are far away from the surface of the human body treatment position.

Further, the shell is made of a polyformaldehyde resin material through a 3D printing method.

Furthermore, the temperature sensor and the distance sensor are connected with a PCB circuit board, the temperature sensor, the distance sensor, the vision camera and the PCB circuit board are connected with the human-computer interface control system through the PCB circuit board, and polytetrafluoroethylene materials are adopted between the temperature sensor, the distance sensor, the vision camera and the PCB circuit board and the moxibustion gun of the thermosensitive moxibustion instrument for heat insulation.

Further, the cooperative robot comprises a base; the base is fixed on the base; the base is provided with a guide rail, the treatment bed is positioned on the guide rail, and the driving unit drives the treatment bed to move along the guide rail.

Further, the human-computer interface control system comprises a controller, a database and a human-computer interface; the database stores the point location information of the person to be treated; the controller calls information in the database, inputs signals of the human-computer interface, the distance sensor, the temperature sensor and the visual system, processes the input signals, outputs the signals to the human-computer interface for display, and outputs the signals to control the work of the driving unit, the cooperative robot and the thermal moxibustion instrument.

Further, the controller is provided with a timer; the timer is used for timing the treatment time of the thermal moxibustion instrument.

Further, the human-computer interface is arranged on the treatment couch.

Furthermore, four corners of the treatment bed are provided with anti-collision devices made of polyformaldehyde resin materials.

The invention has the advantages and positive effects that: the invention relates to an intelligent heat-sensitive moxibustion system integrating automatic acupoint searching and adjustable height of thermal moxibustion based on a cooperative robot, which has the characteristics of simple and convenient operation, accurate acupoint searching and liberation of the hands of a doctor. The material contacting with human body is POM material, and according to the characteristic that the cooperative robot has collision detection, the personal safety of the curer can be effectively ensured. The smokeless thermosensitive moxibustion instrument can effectively prevent smoke trouble for a therapist, replaces unstable waves generated by burning traditional Chinese mugwort grass with the thermosensitive moxibustion instrument with stable frequency waves, can also adjust the temperature through gears in real time, and greatly improves the treatment effect.

The shell of the integrated thermosensitive moxibustion module and the dragging teaching handle are printed and processed by POM materials in a 3D mode, structural design is carried out by combining ergonomics, and robot dragging teaching can be carried out in a labor-saving mode. The vision system can carry out position compensation according to the position of the movement of the human body in the treatment process, and the treatment effect is ensured in real time. Two sets of vision systems are adopted and integrated at the tail end of a mechanical arm of the robot, two sets of distance sensors, temperature sensors and vision cameras are adopted and are arranged in an up-and-down layout mode, and a human-computer interface can switch the vision cameras so as to adapt to treatment at various heights. The person to be treated can monitor the treatment temperature and the thermosensitive moxibustion height on the human-computer interface, and can set the time for treating each acupoint and adjust the gear of the current thermosensitive moxibustion instrument, so that the operation of the person to be treated is extremely simple and convenient. If the person to be treated feels inaccurate, the person to be treated can move back and forth by controlling the bed through the human-computer interface so as to adapt to the treatment of each human body part.

Drawings

FIG. 1 is a block diagram of the system components of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic view of a thermal moxibustion module according to the present invention;

FIG. 4 is a schematic flow chart of the operation of the present invention;

FIG. 5 is a flow diagram of a system association job of the present invention;

fig. 6 is a flow chart of the autonomous operation of the treated person through the man-machine interface.

In the figure: 1. a collaborative robot; 2. a heat-sensitive moxibustion module; 3. a treatment couch; 4. a second vision camera; 5. a PCB circuit board; 6. a heat-sensitive moxibustion instrument; 7. a first temperature sensor; 8. a first distance sensor; 9. a first vision camera; 10. a housing of the thermal moxibustion module; 11. a teaching handle; 12. a second temperature sensor; 13. a second distance sensor.

Detailed Description

For further understanding of the contents, features and effects of the present invention, the following embodiments are enumerated in conjunction with the accompanying drawings, and the following detailed description is given:

referring to fig. 1 to 6, an intelligent thermal moxibustion system based on a cooperative robot includes a thermal moxibustion executing system, a detecting system and a human-computer interface control system; the heat-sensitive moxibustion execution system comprises a treatment bed 3, a cooperative robot 1 and a heat-sensitive moxibustion instrument 6 which are connected in sequence; the treatment bed 3 comprises a bed body and a driving unit which are connected with each other; the driving unit is used for driving the bed body to horizontally move relative to the cooperative robot 1; the detection system comprises a vision system, a distance sensor and a temperature sensor; the vision system comprises a vision camera; the distance sensor is used for measuring the distance from the distance sensor to the surface of the treatment position of the human body; the temperature sensor is used for detecting the temperature of the surface of the treatment position of the human body; the vision camera is used for acquiring images of the surface of the treatment position of the human body; the human-computer interface control system inputs a signal from the detection system; the output signal controls the work of the heat-sensitive moxibustion execution system.

A fixed horizontally placed guide rail can be arranged below the bed body; the driving unit can comprise a servo motor, an output shaft of the servo motor is positioned below the bed body of the treatment bed 3 and is vertical to the ground, a gear can be connected to the output shaft of the servo motor, a rack can be arranged on the side surface of the guide rail, so that the gear is matched with the rack, the servo motor is driven, and the bed body of the treatment bed 3 can move along the guide rail, namely, the bed body of the treatment bed 3 moves horizontally relative to the cooperative robot 1; fixed gears can be arranged at the two ends of the guide rail; the toothed belt is sleeved on the fixed gears at two ends of the guide rail, the output shaft of the servo motor is positioned below the bed body of the treatment bed 3 and is parallel to the ground, the gear connected with the output shaft of the servo motor is meshed with the toothed belt to drive the servo motor, and then the bed body of the treatment bed 3 can horizontally move along the guide rail.

The driving unit may also adopt other prior art structures and systems, such as a linear motor, an XY moving platform, a pneumatic sliding table, and the like.

Preferably, a base may be further included, and the cooperative robot 1 may include a base; the base can be fixed on the base; the base can be provided with a guide rail, the treatment bed 3 can be positioned on the guide rail, and the driving unit drives the treatment bed 3 to move along the guide rail. And an integrated base is adopted, so that the cooperative robot 1 and the treatment couch 3 are positioned relatively, and the structure is more compact.

The distance sensor measures the distance from the distance sensor to the surface of the treatment position of the human body; the distance sensor is fixed and close to the moxibustion gun or the moxibustion head of the thermosensitive moxibustion instrument 6; the distance measured by the distance sensor can be converted into the distance between the moxibustion gun or the moxibustion head of the heat-sensitive moxibustion instrument 6 and the surface of the treatment position of the human body, namely the treatment height of the moxibustion gun or the moxibustion head of the heat-sensitive moxibustion instrument 6.

The cooperative robot 1 may be a multi-joint robot. Such as a six joint robot of the prior art.

Preferably, the distance sensor, the temperature sensor, the vision camera and the thermal moxibustion instrument 6 may be integrated into one thermal moxibustion module 2, and the thermal moxibustion module 2 may include a housing; the distance sensor, the temperature sensor, the vision camera and the thermal moxibustion instrument 6 are fixedly connected in the shell; the housing may be mounted at the robot arm end of the co-operating robot 1. The distance sensor, the temperature sensor, the vision camera and the moxibustion gun or head of the thermal moxibustion instrument 6 are fixed. The distance between the position of the moxibustion gun or the moxibustion head of the thermal moxibustion instrument 6 and the surface of the treatment position of the human body can be conveniently determined through a distance sensor. Preferably, the housing 10 of the thermal moxibustion module may be made of a polyoxymethylene resin material by a 3D printing method. The shell is made of the polyformaldehyde resin material through 3D printing, so that the structure of the shell can be more exquisite and complex, and the processing technology is simple; and the material contacting with human body adopts polyformaldehyde resin, namely POM material, and the robot is provided with an anti-collision system and distance detection feedback of a distance sensor, so that the personal safety of a curer can be effectively ensured.

Preferably, the distance sensor, the temperature sensor and the vision camera may all be 2; can be respectively as follows: a first distance sensor 8, a first temperature sensor 7 and a first vision camera 9 which are close to the surface of the human body treatment position; and a second distance sensor 13, a second temperature sensor 12 and a second vision camera 4 which are far from the surface of the human body treatment position. The first distance sensor 8, the first temperature sensor 7 and the first vision camera 9 are close to the surface of the human body treatment position, and are suitable for treatment at a lower height. The second distance sensor 13, the second temperature sensor 12 and the second vision camera 4 are far away from the surface of the human body treatment position, so that the device is suitable for high-height treatment. According to different treatment heights, using distance sensors, temperature sensors and vision cameras which are different in distance from the surface of the treatment position of the human body; the distance between the moxibustion gun of the thermal moxibustion instrument 6 and the surface of the treatment position of the human body can be detected more accurately, the temperature of the surface of the treatment position of the human body can be detected more accurately, and the collected picture of the surface of the treatment position of the human body can be clearer.

Preferably, the temperature sensor and the distance sensor can be connected with a PCB circuit board, the temperature sensor, the distance sensor, the vision camera and the PCB circuit board can be connected with the human-computer interface control system through the PCB circuit board, and polytetrafluoroethylene materials can be adopted for heat insulation between the components such as the temperature sensor, the distance sensor, the vision camera and the PCB circuit board and the moxibustion gun of the thermosensitive moxibustion instrument 6. The PCB circuit board can set up various interfaces, is convenient for temperature sensor with distance sensor etc. with human-computer interface control system connects, temperature sensor distance sensor vision camera reaches PCB circuit board etc. with adopt the polytetrafluoroethylene material thermal-insulated between the moxibustion rifle of temperature sensing moxibustion appearance 6, prevent these components and parts harm.

Preferably, the human-machine interface control system can comprise a controller, a database and a human-machine interface; the database can store the point location information of the person to be treated; the controller can input the information of the database, can input the signals of the human-computer interface, the distance sensor, the temperature sensor and the visual system, can output the signals to the human-computer interface for display after processing the input signals, and can output the signals to control the work of the driving unit, the cooperative robot 1 and the thermal moxibustion instrument 6.

The human-computer interface is arranged, so that the temperature of a treated person or a doctor can be monitored in real time conveniently, and the treatment temperature can be regulated and controlled conveniently. The person or doctor can regulate the treatment bed 3 to move back and forth through the human-computer interface, and the heat-sensitive moxibustion treatment can be conveniently carried out on each part of the whole body.

The database can store the information of the position of the acupoints of a person to be treated, the treatment time, the treatment height of a moxibustion gun of the heat-sensitive moxibustion and the like in the teaching process, and the stored information can be called in the future treatment.

The controller can adopt an Industrial Personal Computer (IPC) in the prior art, namely an Industrial control Computer, and is a tool general name for detecting and controlling a production process, electromechanical equipment and process equipment by adopting a bus structure. The industrial personal computer has important computer attributes and characteristics, such as a computer mainboard, a CPU, a hard disk, a memory, peripherals and interfaces, and has an operating system, a control network, a protocol and computing power. The system can process images, process picture information collected by a visual camera, and call information of a database, such as acupuncture point or point location pictures of a treated person; comparing the information with the information collected by the visual camera; the deviation between the two is analyzed, and the controller can be used as the controller of the cooperative robot 1 to output instructions to control the operation of the cooperative robot 1. Which can control the driving unit to work so that the bed body of the treatment bed 3 moves horizontally relative to the cooperative robot 1.

When the vision system can also be provided with an image processor independently, the controller can control the work of the cooperative robot 1 and the driving unit according to the processing result of the vision system.

Preferably, the controller may be provided with a timer; the timer can be used for timing the treatment time of the thermal moxibustion instrument 6.

Preferably, the human machine interface is mounted on the treatment couch 3. The man-machine interface is arranged on the treatment bed 3, so that a treated person can conveniently monitor the treatment condition of the heat-sensitive moxibustion instrument 6, and the treated person can automatically control the cooperation robot 1, the driving unit and the heat-sensitive moxibustion instrument 6 through the man-machine interface.

Preferably, four corners of the treatment couch 3 may be provided with anti-collision devices made of polyoxymethylene resin materials. In order to prevent the treatment couch 3 from colliding with walls and other objects when moving, anti-collision devices made of polyformaldehyde resin materials can be arranged at four corners of the treatment couch 3.

The distance sensor, the temperature sensor and the vision system comprise a vision camera, a treatment couch 3, the cooperative robot 1, the thermal moxibustion instrument 6, a driving unit, a controller, a database, a human-computer interface and the like, which can all adopt applicable products in the prior art.

The working principle of the invention is explained below in connection with a preferred embodiment of the invention:

as shown in fig. 1 and 2, an intelligent thermal moxibustion system based on a cooperative robot includes a thermal moxibustion executing system, a detecting system and a human-computer interface control system.

The heat-sensitive moxibustion execution system comprises a treatment bed 3, a cooperative robot 1 and a heat-sensitive moxibustion instrument 6 which are connected in sequence; the treatment couch 3 comprises a servo motor; the servo motor drives the bed body of the treatment bed 3 to horizontally move relative to the cooperative robot 1; the cooperative machine is a six-joint robot in the prior art. The servo motor can adopt the suitable servo motor among the prior art, can set up the fixed cooperation robot of base 1, sets up the guide rail on the base, sets up the bed body of treatment bed 3 on the guide rail to the bed body of servo motor drive treatment bed 3 moves along the guide rail, and the operation is more stable.

The detection system comprises a vision system, a distance sensor and a temperature sensor; the vision system mainly comprises a vision camera and an image processor internally provided with an acupoint recognition algorithm. The distance sensor is used for measuring the distance from the distance sensor to the surface of the treatment position of the human body; the temperature sensor is used for detecting the temperature of the surface of the treatment position of the human body; the vision camera is used for acquiring images of the surface of the treatment position of the human body; the vision camera is used for collecting human body acupoint pictures, the image processor is used for identifying the collected pictures by adopting an acupoint identification algorithm, corresponding signals such as point location information and the like are generated after identification processing and sent to the human-computer interface control system, the human-computer interface control system outputs signals to the cooperative robot 1, and the cooperative robot 1 carries the heat-sensitive moxibustion instrument 6 to move to a corresponding position. The vision camera, the acupoint recognition algorithm, and the image processor can be implemented by the vision camera, the acupoint recognition algorithm, and the image processor in the prior art.

The human-computer interface control system comprises a controller, a database and a human-computer interface; the controller is internally provided with a timer, the controller calls the information of the person to be treated in the database, inputs the operation instruction of the human-computer interface, the detection signal of the distance sensor, the measurement signal of the temperature sensor, the signal of the visual system and the like, processes the input signal and outputs the signal to the human-computer interface for display, and the human-computer interface can display the information of a three-dimensional human body model, the current temperature of the human body surface, the treatment distance of the thermal moxibustion instrument 6 and the like. The controller outputs signals to control the servo motor, the cooperative robot 1 and the thermal moxibustion instrument 6 to work.

Distance sensor, temperature sensor, vision camera and temperature sensing moxibustion appearance 6 can be integrated into a temperature sensing moxibustion module 2, and temperature sensing moxibustion module 2 is installed on the manipulator tip of cooperation robot 1, and human-computer interface support mounting is on the bed body of treatment bed 3.

The distance sensor and the temperature sensor can be correspondingly adopted by the distance sensor and the temperature sensor with a serial port communication module in the prior art.

The cooperative robot 1 carries the integrated module to move to the position above the acupuncture points for treatment, the distance sensor can send real-time distance data to the controller, and the controller controls the cooperative robot 1 to move to a set height. The thermal moxibustion instrument 6 can emit stable frequency waves to conduct heat to replace moxa for combustion and heating, and can be used for smokeless treatment and more conveniently adjusting the temperature. The temperature sensor sends real-time temperature information to the controller, and a therapist monitors the temperature information in real time through a human-computer interface so as to regulate and control the heat conduction of the thermal moxibustion instrument 6. The therapist or the doctor can input instruction signals or parameters to the controller through the human-computer interface, and the controller can regulate and control the bed body of the treatment bed 3 to move forwards and backwards in an equal horizontal mode according to the input signals and output signals so as to adapt to the treatment of diseases of all parts.

The human-computer interface can display the temperature of the surface of the human body, the treatment distance of the heat-sensitive moxibustion instrument 6, the treatment timing, the information of a treated person, the three-dimensional human body model and the like. The timing of the treatment can be set by a timer arranged in the controller, the treatment time of the thermo-sensitive moxibustion instrument 6 of each acupoint is set, one-key operation is convenient, the database can store the information of the acupoint positions of the treated person, for example, the relative position information of other acupoint positions relative to the acupoint position is stored in the database by taking the certain acupoint position of the body of the treated person as a calibration origin. Alternatively, a protrusion or an apparent location of the subject's body can be used as the calibration origin, and the information about the relative location of the points relative to the protrusion or apparent location can be stored in a database. The next treatment can be more conveniently carried out, the three-dimensional human body model can display the current treatment acupuncture points to a curer, and the treatment effect can be more intuitively monitored.

As shown in fig. 3, the distance sensor, the temperature sensor, the visual camera and the thermal moxibustion instrument 6 are integrated on a thermal moxibustion module 2, and the thermal moxibustion module 2 is integrated with components including the temperature sensor, the distance sensor, the visual camera, the thermal moxibustion instrument 6, the PCB 5, the teaching handle 11, and the like. Thermosensitive moxibustion module 2 and teaching handle 11 adopt polyoxymethylene resin material english abbreviation POM material to print processing preparation through 3D, and teaching handle 11 can drag the teaching, and is light and safe.

The distance sensor, the temperature sensor and the vision camera are all 2; respectively named as: a first distance sensor 8, a first temperature sensor 7, a first vision camera 9, a second distance sensor 13, a second temperature sensor 12, and a second vision camera 4.

The first distance sensor 8, the first temperature sensor 7 and the first vision camera 9 are close to the surface of the human body treatment position, and are suitable for treatment at a lower height. The second distance sensor 13, the second temperature sensor 12 and the second vision camera 4 are far away from the surface of the human body treatment position, so that the device is suitable for high-height treatment. The components contacted with the moxibustion gun or head of the thermal moxibustion instrument 6 are all insulated by polytetrafluoroethylene and the moxibustion gun or head of the thermal moxibustion instrument 6 to prevent damage. Each electrical component is connected with a power supply and is in communication connection with a controller and the like through the PCB 5, the PCB is provided with an interface circuit, and each electrical component can be connected in a plug-in mode, so that the space is saved, and the change is flexible.

The treatment operation flow of the intelligent thermosensitive moxibustion adopting the invention can be as follows:

(1) and opening a human-computer interface, inquiring whether a treatment record exists in the database, if the treatment record does not exist, newly building the treatment record in the database, selecting the disease needing treatment, and posting sign information near the acupoints listed in the database. And starting a visual system on a human-computer interface, and inputting information needing to identify the posted sign.

(2) The terminal of the cooperative robot 1 is dragged to the position above the acupoint to be taught by the hand-held teaching handle 11, the point information is stored in the database system by clicking the point-determining teaching button on the human-computer interface, and all the acupoint treatment operations are repeated in sequence, which is not described herein again.

(3) After all the teaching is finished, the human-computer interface selects the sequence of the acupoints needing to be treated in sequence and sets the treatment height (namely the height of the thermal moxibustion instrument 6 from the human body), and if the sequence is not selected, the system can treat according to the default teaching sequence and the default height.

(4) The cooperative robot 1 is in communication connection with a human-computer interface, a button is started or an instruction is input to enable the cooperative robot 1 to automatically operate, the cooperative robot 1 operates above a first acupoint position, the distance sensor detects the current height of a moxibustion gun of the heat-sensitive moxibustion instrument 6 and sends information, the controller compares the current height with a set height in real time, and an output signal controls the cooperative robot 1 to enable the carried heat-sensitive moxibustion instrument 6 to move to the set height.

(5) After the thermal moxibustion instrument 6 moves to the set height, the vision system collects the picture of the surface of the human body of the person to be treated, the picture information is sent to the image processor for processing, the image processor sends the deviation information to the controller after processing, and the controller controls the cooperative robot 1 to move and adjust according to the deviation information, so that the moxibustion gun of the thermal moxibustion instrument 6 is aligned to the acupuncture point position.

(6) The human-machine interface prompts the treated person or the doctor to select the treatment time, and if the default time is clicked, the system carries out treatment according to the default time.

(7) The human-computer interface prompts whether the treatment position of the treated person is proper or not, and if the treatment position is proper, the cooperative robot 1 keeps the current pose until the set time is over. If not suitable, the person to be treated can select to manually or automatically adjust the current position, and the person to be treated can input instructions or parameters on a human-computer interface to move the cooperative robot 1 in a manual mode; in the automatic adjustment mode, the cooperative robot 1 automatically runs according to the circular arc path with the radius from small to large, and after the person to be treated clicks and determines, the cooperative robot 1 keeps the current position until the treatment of the part is finished.

(8) During the treatment process, the treated person can monitor the treatment temperature of the moxibustion gun of the current thermosensitive moxibustion instrument 6 and the height of the moxibustion gun of the thermosensitive moxibustion instrument 6 through a human-computer interface. If the temperature of the person to be treated is not suitable, the gear of the heat-sensitive moxibustion can be adjusted through the human-computer interface so as to regulate and control the current temperature.

The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, and the present invention shall not be limited to the embodiments, i.e. the equivalent changes or modifications made within the spirit of the present invention shall fall within the scope of the present invention.

Claims

1. An intelligent heat-sensitive moxibustion system based on a cooperative robot is characterized by comprising a heat-sensitive moxibustion execution system, a detection system and a human-computer interface control system; the heat-sensitive moxibustion execution system comprises a treatment bed, a cooperative robot and a heat-sensitive moxibustion instrument which are sequentially connected; the treatment bed comprises a bed body and a driving unit which are connected with each other; the driving unit is used for driving the bed body to horizontally move relative to the cooperative robot; the detection system comprises a vision system, a distance sensor and a temperature sensor; the vision system comprises a vision camera; the distance sensor is used for measuring the distance from the distance sensor to the surface of the treatment position of the human body; the temperature sensor is used for detecting the temperature of the surface of the treatment position of the human body; the vision camera is used for acquiring images of the surface of the treatment position of the human body; the human-computer interface control system inputs a signal from the detection system; the output signal controls the work of the heat-sensitive moxibustion execution system.

2. The cooperative robot based intelligent thermal moxibustion system of claim 1, wherein the distance sensor, the temperature sensor, the visual camera and the thermal moxibustion instrument are integrated into one thermal moxibustion module, the thermal moxibustion module comprising a housing; the distance sensor, the temperature sensor, the vision camera and the thermal moxibustion instrument are fixedly connected in the shell; the housing is mounted at a manipulator end of the cooperative robot.

3. The intelligent cooperative robot-based thermal moxibustion system of claim 2, wherein the distance sensor, the temperature sensor and the vision camera are all 2; respectively as follows: the first distance sensor, the first temperature sensor and the first vision camera are close to the surface of the human body treatment position; and a second distance sensor, a second temperature sensor and a second vision camera which are far away from the surface of the human body treatment position.

4. The cooperative robot based intelligent thermal moxibustion system of claim 2, wherein the housing is made of a polyoxymethylene resin material by a 3D printing method.

5. The cooperative robot based intelligent thermal moxibustion system of claim 2, wherein the temperature sensor and the distance sensor are connected to a PCB circuit board, and both are connected to the human-computer interface control system through the PCB circuit board, and the temperature sensor, the distance sensor, the vision camera and the PCB circuit board are insulated from the moxibustion gun of the thermal moxibustion instrument by teflon.

6. The cooperative robot based intelligent thermal moxibustion system of claim 1, further comprising a base, the cooperative robot comprising a base; the base is fixed on the base; the base is provided with a guide rail, the treatment bed is positioned on the guide rail, and the driving unit drives the treatment bed to move along the guide rail.

7. The cooperative robot based intelligent thermal moxibustion system of claim 1, wherein the human-machine interface control system comprises a controller, a database, and a human-machine interface; the database stores the point location information of the person to be treated; the controller calls information in the database, inputs signals of the human-computer interface, the distance sensor, the temperature sensor and the visual system, processes the input signals, outputs the signals to the human-computer interface for display, and outputs the signals to control the work of the driving unit, the cooperative robot and the thermal moxibustion instrument.

8. The intelligent cooperative robot-based thermo-sensitive moxibustion system according to claim 7, wherein the controller is provided with a timer; the timer is used for timing the treatment time of the thermal moxibustion instrument.

9. The cooperative robot based intelligent thermal moxibustion system of claim 7, wherein the human-machine interface is mounted on a treatment couch.

10. The cooperative robot based intelligent thermal moxibustion system of claim 1, wherein the four corners of the treatment couch are provided with anti-collision devices made of polyoxymethylene resin material.