阅读说明：本技术 一种艾灸机械手的控制方法、装置及设备 (control method, device and equipment of moxibustion manipulator ) 是由 巫超 谈迎峰 叶梦思 李爱镇 于 2019-08-13 设计创作，主要内容包括：本发明涉及一种艾灸机械手的控制方法、装置及设备,包括：获取穴位位置信息；基于所述穴位位置信息和安全距离信息,确定艾灸机械手的坐标信息,控制所述艾灸机械手移动至所述坐标信息对应的位置；获取光点的坐标信息,基于所述光点的坐标信息确定所述光点对应的平面；基于所述光点对应的平面,确定所述机械手的旋转角度信息；所述旋转角度信息用于调整所述机械手相对于所述光点对应的平面的角度；基于所述旋转角度信息,控制所述艾灸机械手调整角度。上述方案,实现了艾灸机械手位置的自动调整,降低了艾灸过程中调整机械手位置的难度,提高了穴位定位的精度和速度。(The invention relates to a control method, a device and equipment of a moxibustion manipulator, comprising the following steps: acquiring acupoint position information; determining coordinate information of a moxibustion manipulator based on the acupuncture point position information and the safety distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information; acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; determining rotation angle information of the manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot; and controlling the moxibustion manipulator to adjust the angle based on the rotation angle information. Above-mentioned scheme has realized the automatic adjustment of moxa-moxibustion manipulator position, has reduced the degree of difficulty of moxa-moxibustion in-process adjustment manipulator position, has improved the precision and the speed of acupuncture point location.)

1. A control method of a moxibustion manipulator is characterized by comprising the following steps:

Acquiring acupoint position information;

Determining coordinate information of a moxibustion manipulator based on the acupuncture point position information and the safety distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

Acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

Determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

And controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

2. the method for controlling a moxibustion manipulator according to claim 1, wherein the determining coordinate information of the moxibustion manipulator based on the acupoint position information and the safety distance information and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information comprises:

controlling the moxibustion manipulator to move to the acupuncture point corresponding to the acupuncture point position information based on the acupuncture point position information;

Acquiring dynamic distance information between the moxibustion manipulator and acupuncture point points corresponding to the acupuncture point position information;

Comparing the dynamic distance information with the safety distance information; the safety distance information is a minimum distance value between the moxibustion manipulator and the acupuncture point corresponding to the acupuncture point position information;

And when the dynamic distance information is not greater than the safe distance information, determining coordinate information of the moxibustion manipulator, and controlling the moxibustion manipulator to stop moving to the acupuncture point corresponding to the acupuncture point position information.

3. the method of controlling a moxibustion manipulator according to claim 2, wherein the comparing the dynamic distance information with the safe distance information before it is done comprises:

Receiving an interactive signal sent by a laser sensor, and controlling the moxibustion manipulator to move towards the acupuncture point corresponding to the acupuncture point position information; the laser sensors are a pair of laser sensors which are horizontally shot, and when a moxibustion tool head of the moxibustion manipulator moves to the middle of the laser sensors, transmission of interactive signals can be blocked;

when the interactive signal cannot be received, acquiring the Z-axis coordinate information of the current moxibustion manipulator;

And acquiring z-axis coordinate information of the laser sensor, acquiring a difference value between the z-axis coordinate information of the current moxibustion manipulator and the z-axis coordinate information of the laser sensor, and determining the safety distance information.

4. The method of controlling a moxibustion manipulator according to claim 1, wherein the coordinate information of the light spot includes two-dimensional coordinate information and z-axis coordinate information, and the step of acquiring the coordinate information of the light spot and determining the plane corresponding to the light spot based on the coordinate information of the light spot comprises:

Acquiring two-dimensional coordinate information of a moxibustion manipulator, and determining the two-dimensional coordinate information of the light spot based on a preset difference value between the two-dimensional coordinate information of the moxibustion manipulator and the two-dimensional coordinate information of the light spot;

Acquiring vertical distance information between the light spot and the moxibustion manipulator;

And acquiring Z-axis coordinate information of the moxibustion manipulator, acquiring a difference value between the Z-axis coordinate information of the moxibustion manipulator and the vertical distance information, and determining the Z-axis coordinate information of the light spot.

5. the method of controlling a moxibustion manipulator according to claim 1, wherein determining the rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot comprises:

calculating a normal vector of a plane corresponding to the light spot based on a plane corresponding to the positioning point;

and determining the rotation angle of the moxibustion manipulator based on the normal vector and the plane corresponding to the flange surface of the moxibustion manipulator.

6. The method of controlling a moxibustion manipulator according to claim 1, wherein before the acquiring the acupoint position information, the method further comprises:

Acquiring a target area; wherein the target area is an area for performing moxibustion;

And adjusting the coordinate system of the moxibustion manipulator based on the coordinate system of the target area.

7. The method of controlling a moxibustion manipulator according to claim 6, wherein after acquiring the acupoint position information, the method comprises:

determining whether the acupuncture points corresponding to the acupuncture point position information are in the target area;

if the acupuncture point corresponding to the acupuncture point position information is in the target area, continuing to execute the method;

And if the acupuncture point corresponding to the acupuncture point position information is not in the target area, stopping executing the method.

8. A control device of a moxibustion manipulator is characterized by comprising:

The acquisition unit is used for acquiring the position information of the acupuncture points;

The first control unit is used for determining coordinate information of the moxibustion manipulator based on the acupoint position information and the safe distance information and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

the first determining unit is used for acquiring coordinate information of a light spot and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

A second determination unit configured to determine rotation angle information of the moxibustion manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

And the second control unit is used for controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

9. a control apparatus for a moxibustion manipulator comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

Technical Field

the invention relates to the technical field of physiotherapy equipment, in particular to a control method, a control device and control equipment of a moxibustion manipulator.

Background

Along with the improvement of living standard of people, the use of physical therapy equipment is more and more popular. At present, moxibustion manipulator is the important component of physiotherapy equipment, and moxibustion manipulator can accomplish some more accurate operations, improves physiotherapy efficiency in place of the people. Therefore, there is a trend toward physical therapy by a moxibustion robot.

However, the moxibustion manipulator technology in China is still in a starting stage, a large amount of manual work is still needed in the moxibustion manipulator physiotherapy process, and the overall efficiency is not high. Wherein, giving the in-process of moxa-moxibustion at utilizing moxa-moxibustion manipulator, also can have and be difficult to control moxa-moxibustion manipulator, make its problem of pinpointing the moxa-moxibustion acupuncture point.

Disclosure of Invention

the invention aims to overcome the defects in the prior art and provides a control method, a control device and control equipment of a moxibustion manipulator.

a first aspect of an embodiment of the present invention provides a method for controlling a moxibustion manipulator, including:

acquiring acupoint position information;

determining coordinate information of a moxibustion manipulator based on the acupuncture point position information and the safety distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

Acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

Determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

and controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

A second aspect of an embodiment of the present invention provides a control device of a moxibustion manipulator, including:

the acquisition unit is used for acquiring the position information of the acupuncture points;

The first control unit is used for determining coordinate information of the moxibustion manipulator based on the acupoint position information and the safe distance information and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

The first determining unit is used for acquiring coordinate information of a light spot and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

A second determination unit configured to determine rotation angle information of the moxibustion manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

And the second control unit is used for controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

a third aspect of the embodiments of the present invention provides a control apparatus for a moxibustion manipulator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the control method for a moxibustion manipulator as described in the first aspect above when executing the computer program.

a fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method of the moxibustion manipulator as described in the first aspect above.

in the embodiment of the invention, the position information of the acupuncture points is obtained; determining coordinate information of a moxibustion manipulator based on the acupuncture point position information and the safety distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information; acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three; determining rotation angle information of the manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot; and controlling the moxibustion manipulator to adjust the angle based on the rotation angle information. Above-mentioned scheme, based on acupuncture point positional information, can acquire moxibustion manipulator's coordinate information and rotation angle information automatically, reduced moxibustion in-process control moxibustion manipulator's the degree of difficulty, improved the precision and the speed of acupuncture point location.

drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a flowchart illustrating a control method of a moxibustion manipulator according to an exemplary embodiment of the present invention;

Fig. 2 is a plan view of a working space of a moxibustion manipulator according to an exemplary embodiment of the present invention;

fig. 3 is a flowchart illustrating a process of S102 in the control method of the moxibustion manipulator according to the exemplary embodiment of the present invention;

Fig. 4 is a flowchart illustrating a control method of the moxibustion manipulator according to an exemplary embodiment of the present invention at S107;

fig. 5 is a flowchart illustrating a control method of a moxibustion manipulator according to another exemplary embodiment of the present invention;

Fig. 6 is a schematic configuration diagram showing a control device of a moxibustion manipulator according to an exemplary embodiment of the present invention;

fig. 7 is a schematic configuration diagram of a control apparatus of a moxibustion manipulator according to an exemplary embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

before explaining embodiments of the present invention in detail, some concepts related to the present invention will be explained.

Tool Coordinate System of moxibustion manipulator (Tool Coordinate System): the tool coordinate system is composed of a Tool Center Point (TCP) and a coordinate position, and when the tool coordinate system moves, the Tool Center Point (TCP) moves according to a path and a speed which are strictly specified by a program. The TCP coordinate origin (TCP tool center point) of the system is at the center of the sixth-axis flange surface of the manipulator, and the vertical direction of the sixth-axis flange surface of the manipulator is the z-axis.

The motion mode of the moxibustion manipulator is as follows: comprises (1) attitude motion and (2) linear motion,

(1) gestural motion (i.e., repositioning motion): moxa-moxibustion manipulator's TCP position is unchangeable, and moxa-moxibustion manipulator is rotatory along the coordinate axis, changes rotation angle, adjustment moxa-moxibustion manipulator gesture.

(2) Linear motion: the posture of the moxibustion manipulator is unchanged, and the TCP moves linearly along the coordinate axis.

in the control logic taking Cartesian coordinates as a reference, if the six-axis moxibustion manipulator can accurately reach a position, the posture motion information and the linear motion information of the moxibustion manipulator need to be defined. The posture movement information comprises rx, ry and rz, wherein rx represents the rotation angle of the moxibustion manipulator along the X coordinate axis, ry represents the rotation angle of the moxibustion manipulator along the y coordinate axis, and rz represents the rotation angle of the moxibustion manipulator along the z coordinate axis. The linear motion information includes x, y, and z, where x represents a distance that the moxibustion manipulator moves linearly along an x coordinate axis, y represents a distance that the moxibustion manipulator moves linearly along a y coordinate axis, and z represents a distance that the moxibustion manipulator moves linearly along a z coordinate axis. Therefore, the six-axis moxibustion robot can be controlled to reach the specified position according to (x, y, z, rx, ry, rz) of the moxibustion robot.

referring to fig. 1, fig. 1 is a flow chart illustrating a control method of a moxibustion manipulator according to an exemplary embodiment of the present invention. The main execution body of the control method of the moxibustion manipulator in the present embodiment is a moxibustion control device, and the control method of the moxibustion manipulator shown in fig. 1 may include:

s101: and acquiring the position information of the acupuncture points.

Moxibustion control equipment acquires acupoint position information. The acupuncture point position information is two-dimensional coordinate information of acupuncture points under a tool coordinate system of the moxibustion manipulator, namely x-axis coordinate information and y-axis coordinate information. Before acquiring the acupoint position information, a group of acupoint position information needs to be acquired. When moxibustion is performed, the control device sequentially acquires the acupuncture point position information according to the arrangement sequence of the acupuncture point position information in the acquired set of acupuncture point position information. The specific operation of collecting the position information of a group of acupuncture points is as follows:

Fig. 2 is a top view of a working space of a moxibustion manipulator according to an exemplary embodiment of the present invention. Before collection, a moxibustion-moxibustion person lies on the moxibustion bed, a moxibustion operator clicks a teaching mode button on a touch screen, a manipulator reaches the position above an initial point P0 in fig. 2, the height is a fixed height, the initial point P0 displayed in the figure is only one of a plurality of initial points, and the specific position of the manipulator is not limited. At least three laser distance sensors which are arranged in a circumferential mode and have included angles of 120 degrees and face perpendicularly outwards along the flange surface of the sixth axis of the manipulator are arranged on the manipulator tool head, and in the embodiment, the manipulator tool head provided with the three laser distance sensors is selected. The laser distance sensor can be any sensor with both laser emission function and distance measurement function, or the laser sensor can be replaced by an ultrasonic sensor, and a light source is additionally arranged on each ultrasonic sensor. During collection, a moxibustion operator manually adjusts the two-dimensional coordinates of the mechanical hand tool head through the control remote rod. Because laser distance sensor can launch perpendicular orientation by the laser on the moxa-moxibustion person's skin, consequently can form three light spot on by the moxa-moxibustion person's skin surface, the moxa-moxibustion person can make through the control remote lever and treat to gather the centre that acupuncture point is in three light spot, and the two-dimensional coordinate information of present moxa-moxibustion manipulator is promptly treating the two-dimensional coordinate information of gathering the acupuncture point this moment. After the acupoint position information of one acupoint to be collected is collected, the moxibustion therapist continues to control remote sensing to collect the acupoint position information of the rest acupoint to be collected according to the mode, and finally a group of acupoint position information is obtained and stored in the control device. In addition, after the two-dimensional coordinate information of the current acupuncture point is collected, the moxibustion operator can select the manipulation and the execution time corresponding to the current acupuncture point on the control panel, and the manipulation and the execution time corresponding to the current acupuncture point are stored in the moxibustion control equipment together.

S102: and determining coordinate information of the moxibustion manipulator based on the acupoint position information and the safe distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information.

and the moxibustion control equipment determines the coordinate information of the moxibustion manipulator based on the acupoint position information and the safe distance information. Wherein, safe distance information is the distance value between the acupuncture point that moxa-moxibustion manipulator and current acupuncture point positional information correspond, and this safe distance information can be one of them: (1) the optimal distance value between the moxibustion manipulator and the acupuncture point; (2) the minimum distance value between the moxibustion manipulator and the acupuncture point which is acceptable by the human body; (3) a distance value set according to personal preference of a moxibustion subject. The coordinate information of the moxibustion manipulator is the linear motion information of the moxibustion manipulator, and specifically includes x-axis coordinate information, y-axis coordinate information and z-axis coordinate information, which can be expressed as (x, y, z). The moxibustion control equipment determines x-axis coordinate information and y-axis coordinate information of the moxibustion manipulator based on the acupuncture point position information, and determines z-axis coordinate information of the moxibustion manipulator based on the safe distance information, specifically, when the z-axis coordinate information is determined, body thickness information of a moxibustion-moxibustion person can be measured through distance measurement software, the body thickness information can be an average value of body thickness values, real-time measurement of body thickness can also be carried out according to a body below a current acupuncture point, and the body thickness information is input to the moxibustion control equipment, and the moxibustion control equipment adds the safe distance information to the body thickness information to obtain the z-axis coordinate information of the moxibustion manipulator. The moxibustion control device determines the coordinate information (x, y, z) and controls the moxibustion manipulator to reach the position corresponding to the coordinate information (x, y, z).

Further, in order to obtain the coordinate information of the moxibustion manipulator more accurately determined, thereby improving the accuracy of positioning the moxibustion manipulator, S102 may include S1021 to S1027, wherein the sequence of the moxibustion control device performing S1021 to S1022 and S1023 to S1025 is not limited herein, S1021 to S1022 are used for obtaining the dynamic distance information, S1023 to S1025 are used for determining the safety distance information, and the moxibustion control device performs S1026 to S1027 after performing S1021 to S1025, as shown in fig. 3, the steps of S1021 to S1027 are specifically as follows:

S1021: and controlling the moxibustion manipulator to move towards the acupuncture point corresponding to the acupuncture point position information based on the acupuncture point position information.

And the moxibustion control equipment controls the moxibustion manipulator to move to the acupuncture point corresponding to the acupuncture point position information based on the acupuncture point position information. The moxibustion manipulator is controlled to perform linear motion along the x axis and the y axis and move to the position above the acupuncture points.

s1022: and acquiring dynamic distance information between the moxibustion manipulator and the acupuncture point corresponding to the acupuncture point position information.

And the moxibustion control equipment acquires dynamic distance information between the moxibustion manipulator and the acupoint point corresponding to the acupoint position information. The dynamic distance information may be distance information obtained by the moxibustion control device from any distance measuring instrument, and is not limited herein, and the distance measuring instrument is selected as the laser distance sensor in this embodiment.

The laser distance sensor is a precise distance detecting sensor, and when the laser distance sensor works, a laser diode is firstly aligned with a target to emit laser pulses. The laser is scattered in all directions after being reflected by the target. Part of the scattered light returns to the receiver, is received by an optical system in the receiver and is imaged to the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function therein, and thus can detect an extremely weak optical signal. Thus, the laser range sensor records and processes the time from the emission of the laser pulse to the return of the laser pulse to the manager who received the laser pulse, and the target range can be determined. Compared with other distance sensors, the laser distance sensor can provide a more accurate detection result, and can further improve the accuracy and speed of measuring dynamic distance information in the embodiment.

Laser distance sensor sets up on moxibustion manipulator's instrument head, and when moxibustion control device control moxibustion manipulator carried out linear motion along z axial acupuncture point, laser distance sensor measured moxibustion manipulator and the dynamic distance information between the acupuncture point in real time.

S1023: receiving an interactive signal sent by a laser sensor, and controlling the moxibustion manipulator to move towards the acupuncture point corresponding to the acupuncture point position information; wherein, laser sensor is a pair of laser sensor of horizontal correlation, when moxibustion tool head of moxibustion manipulator removes to laser sensor is middle, can obstruct mutual signal's transmission.

The moxibustion control equipment controls the moxibustion manipulator to determine safe distance information, and the safe distance information is the minimum distance value allowed between the moxibustion manipulator and the acupuncture point corresponding to the acupuncture point position information in the embodiment. Specifically, a pair of horizontally oppositely-arranged laser sensors is arranged on a base of the moxibustion manipulator, so that the vertical distance value between the horizontally oppositely-arranged laser sensors and the acupuncture point is the minimum distance value allowed between the end part of the moxibustion stick and the acupuncture point. When the space for transmitting signals in the middle of the laser sensors which are horizontally opposite to each other is shielded, the laser sensors cannot receive the laser signals of the opposite side, and at the moment, the moxibustion control equipment cannot receive the interactive signals sent by the laser sensors. The moxibustion control equipment controls the moxibustion manipulator to do linear motion along the Z-axis to the acupuncture points, and meanwhile receives interaction signals sent by the laser sensors horizontally oppositely projected, so that whether the end part of the moxibustion stick moves to the middle of the laser sensors horizontally oppositely projected along with the manipulator or not can be confirmed, and whether the moxibustion stick still continues to be controlled to move to the acupuncture points or not can be confirmed.

S1024: and when the interactive signal cannot be received, acquiring the z-axis coordinate information of the current moxibustion manipulator.

when the moxibustion control equipment cannot receive the interactive signals, the end part of the moxibustion stick moves to the middle of the laser sensor which is horizontally shot along with the manipulator, the minimum distance between the end part of the moxibustion stick and the acupuncture point is reached, the movement of the manipulator is stopped at the moment, and the current z-axis coordinate information of the moxibustion manipulator is obtained.

S1025: and acquiring z-axis coordinate information of the laser sensor, acquiring a difference value between the z-axis coordinate information of the current moxibustion manipulator and the z-axis coordinate information of the laser sensor, and determining the safety distance information.

The moxibustion control equipment acquires the z-axis coordinate information of the laser sensor horizontally shot, and subtracts the z-axis coordinate information of the laser sensor shot by the z-axis coordinate of the current moxibustion manipulator, so that the distance between the current moxibustion manipulator and the acupoint point, namely the safety distance, can be obtained when the distance between the end part of the moxibustion stick and the acupoint point is the minimum.

S1026: comparing the dynamic distance information with the safety distance information; the safety distance information is a minimum distance value between the moxibustion manipulator and the acupuncture point corresponding to the acupuncture point position information.

The moxibustion control equipment compares the size of the dynamic distance information with the size of the safe distance information. Specifically, the moxibustion control equipment controls the moxibustion manipulator to downwards detect and move from the upper part of an acupuncture point corresponding to the acupuncture point position information, and when the moxibustion manipulator moves, the moxibustion control equipment acquires dynamic distance information from the laser distance sensor in real time and compares the dynamic distance information with the determined safety distance information in size. When the dynamic distance information is larger than the safe distance information, the moxibustion control equipment continuously controls the moxibustion manipulator to move to the acupuncture point corresponding to the acupuncture point position information.

S1027: and when the dynamic distance information is not greater than the safe distance information, determining coordinate information of the moxibustion manipulator, and controlling the moxibustion manipulator to stop moving to the acupuncture point corresponding to the acupuncture point position information.

when the dynamic distance information is not greater than the safe distance information, the moxibustion control device determines coordinate information (x, y, z) of the moxibustion manipulator and controls the manipulator to stop moving.

In the following S103 to S105, coordinate information of the light spot is acquired, and the coordinate information of the light spot includes two-dimensional coordinate information and z-axis coordinate information.

S103: acquiring two-dimensional coordinate information of a moxibustion manipulator, and determining the two-dimensional coordinate information of the light spot based on a preset difference value between the two-dimensional coordinate information of the moxibustion manipulator and the two-dimensional coordinate information of the light spot.

The light spot is formed by irradiating a light source in the moxibustion manipulator on the human body, and the type of the light source is not limited herein, and is preferably a parallel light having a strong interference resistance. In the present embodiment, the kind of the light source is laser light emitted from the laser distance sensor.

the moxibustion control equipment acquires two-dimensional coordinate information of the moxibustion manipulator, including x-axis coordinate information and y-axis coordinate information, because the light spots are formed by laser emitted by the laser distance sensor on a human body, in the embodiment, the laser distance sensors are three circular arrays with 120-degree included angles and installed on the manipulator tool head, and face towards the laser distance sensor which is vertically outward along the sixth-axis flange surface of the manipulator, therefore, according to the two-dimensional coordinate information of the moxibustion manipulator and the relative distances between the three laser distance sensors and the moxibustion manipulator (namely the manipulator moxibustion tool head), the two-dimensional coordinate information of the three laser distance sensors can be obtained, and the two-dimensional coordinate information of the laser distance sensors is the coordinate information of the light spots.

And S104, acquiring the vertical distance information between the light spot and the moxibustion manipulator.

the moxibustion control device acquires the vertical distance information of the light spot and the moxibustion manipulator, namely the difference between the z-axis coordinate information of the moxibustion manipulator and the z-axis coordinate information of the light spot, measured by the laser distance sensor.

S105: and acquiring z-axis coordinate information of the moxibustion manipulator, acquiring a difference value between the z-axis coordinate information of the moxibustion manipulator and the vertical distance information, and determining the z-axis coordinate information of the light spot.

The moxibustion control equipment acquires z-axis coordinate information of the moxibustion manipulator, and the vertical distance information is subtracted from the z-axis coordinate information of the moxibustion manipulator to obtain z-axis coordinate information of a light spot.

s106: acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of said spots is at least three.

the moxibustion control device acquires coordinate information of a light spot and determines a plane corresponding to the light spot based on the coordinate information of the light spot. Wherein, the number of the light spots is three in the present embodiment, and the coordinate information of the light spots can be represented as (x, y, z). Specifically, the moxibustion control device acquires coordinate information of three light points A, B and C, a (x) respectively₁，y₁，z₁)，B(x₂，y₂，z₂)，C(x₃，y₃，z₃) Let the plane on which the A, B and C three spots lie be a (x-x)₁)+b(y-y₁)+c(z-z₁) 0, the parameters a, b and c can be determined according to the following formula:

a＝(y₂-y₁)*(z₃-z₁)-(y₃-y₁)*(z₂-z₁)

b＝(z₂-z₁)*(x₃-x₁)-(z₃-z₁)*(x₂-x₁)

c＝(x₂-x₁)*(y₃-y₁)-(x₃-x₁)*(y₂-y₁)

The moxibustion control device substitutes the coordinate information of the three light points A, B and C into the above formula to obtain the values of the parameters a, b and C, thereby determining the plane a (x-x) where the A, B and C three light points are located₁)+b(y-y₁)+c(z-z₁)＝0。

S107: determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot.

The moxibustion control device determines the rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot. The moxibustion control device can select Euler angle, rotation vector or quaternion to determine the rotation angle, and the Euler angle is used for calculation of the rotation angle in the embodiment. Specifically, the rotation angle information of the moxibustion manipulator is the posture movement information of the moxibustion manipulator, and includes: the angle rx that moxibustion manipulator rotates along the x coordinate axis, the angle ry that moxibustion manipulator rotates along the y coordinate axis, the angle rz that moxibustion manipulator rotates along the z coordinate axis can be specifically expressed as (rx, ry, rz). The moxibustion control device adjusts a flange surface of a sixth axis of the moxibustion manipulator based on the plane corresponding to the light spot to enable the flange surface to be parallel to the plane corresponding to the light spot, and further determines rotation angle information (rx, ry, rz) of the moxibustion manipulator.

Further, in order to obtain more accurate adjustment of the posture of the moxibustion manipulator and thus improve the positioning accuracy of the moxibustion manipulator, S102 may include S1021 to S1027:

S1071: and calculating the normal vector of the plane corresponding to the light spot based on the plane corresponding to the positioning point.

the moxibustion control device is based on the plane a (x-x) corresponding to the locating point₁)+b(y-y₁)+c(z-z₁) And (5) calculating a normal vector corresponding to the plane when the plane is equal to 0, wherein the solving common process of the normal vector is as follows:

Based on the coordinates A (x) of the light spots₁，y₁，z₁)，B(x₂，y₂，z₂)，C(x₃，y₃，z₃) To obtain vectors in two planesSubstituting into the normal vector formula:

will vectorandSubstituting the value of (A) into a normal vector formula to obtain a normal vector.

S1072: and determining the rotation angle of the moxibustion manipulator based on the normal vector and the plane corresponding to the flange surface of the moxibustion manipulator.

The moxibustion control device makes the flange surface of the sixth axis of the moxibustion manipulator perpendicular to the normal vector based on the normal vector and the plane corresponding to the flange surface of the moxibustion manipulator, thereby determining the angles (rx, ry, rz) of the moxibustion manipulator to be rotated around the x-axis, the y-axis and the z-axis, respectively.

s108: and controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

And the moxibustion control equipment controls the moxibustion manipulator to adjust the angle around the x axis, the y axis and the z axis respectively based on the rotation angle (rx, ry, rz), so as to ensure that the end part of the moxa stick is just opposite to the acupuncture points of the human body.

referring to fig. 4, fig. 4 is a flowchart illustrating a control method of a moxibustion manipulator according to another exemplary embodiment of the present invention. The main executing body of the control method of the moxibustion manipulator in the present embodiment is the moxibustion control device, and the control method of the moxibustion manipulator shown in fig. 4 includes steps S201 to S213, S203 is the same as S101, and S207 to S213 are the same as S102 to S108, and the difference is that steps S201 to S202 are further included before S203, steps S204 to S206 are further included after S203, and steps S201 to S202 and steps S204 to S206 are specifically as follows:

s201, acquiring a target area; wherein the target area is an area where moxibustion is performed.

The moxibustion control device acquires a target area, wherein the target area is an execution moxibustion area in which moxibustion operation performed on a human body by a moxibustion manipulator needs to be executed.

s202: and adjusting the coordinate system of the moxibustion manipulator based on the coordinate system of the target area.

and the moxibustion control equipment adjusts the coordinate system of the moxibustion manipulator based on the coordinate system of the target area. The coordinate system where the target area is located may be set arbitrarily, for example: the origin of the coordinate system of the target area is the center of the mounting base of the moxibustion manipulator, the x axis is horizontally towards the right along the length direction of the moxibustion bed, the y axis is vertically upwards along the width direction of the moxibustion bed, and the z axis is perpendicular to the surface of the moxibustion bed. The coordinate system of the mounting base of the moxibustion manipulator is a base coordinate system of the manipulator, and the moxibustion control equipment can adjust the coordinate system of the moxibustion manipulator through the TCP arrangement inside the moxibustion manipulator, so that the coordinate system of the moxibustion manipulator is consistent with the coordinate system of the target area.

In addition, when the manipulator is installed manually, the directions of the x axis and the y axis of the remote rod need to be unified with the directions of the x axis and the y axis of the target area, so that the acupoint position information can be acquired more accurately.

s204: and determining whether the acupuncture point corresponding to the acupuncture point position information is in the target area.

The moxibustion control device determines whether the acupuncture point corresponding to the acupuncture point position information is in the target area. The acupuncture point position information is two-dimensional coordinate information of acupuncture point positions in a coordinate system of the moxibustion manipulator, and after the moxibustion control equipment acquires the acupuncture point position information, whether the acupuncture point corresponding to the acupuncture point position information falls into the target area needs to be determined. Specifically, it is possible to confirm on which side of the boundary the acupoint point corresponding to the acupoint position information is located by calculating the region boundary of the target region, thereby confirming whether the acupoint point is located within the target region.

s205: and if the acupuncture point corresponding to the acupuncture point position information is in the target area, continuing to execute the method.

If the moxibustion control device confirms that the acupuncture point corresponding to the acupuncture point position information is in the target area, the moxibustion control device continues to execute the following steps S207-S213.

S206: and if the acupuncture point corresponding to the acupuncture point position information is not in the target area, stopping executing the method.

if the moxibustion control equipment confirms that the acupuncture point corresponding to the acupuncture point position information is not in the target area, the execution method is stopped, and an alarm signal is sent out, so that the moxibustion operation of the moxibustion manipulator on the human body is executed in the target area.

referring to fig. 6, fig. 6 is a schematic diagram of a control device of a moxibustion manipulator according to an embodiment of the present invention. The included units are used for executing steps in the embodiments corresponding to fig. 1 and fig. 3 to fig. 5, and refer to the related descriptions in the embodiments corresponding to fig. 1 and fig. 3 to fig. 5. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 6, the control device 6 of the moxibustion manipulator includes:

The acquisition unit 310 is used for acquiring the position information of the acupuncture points;

The first control unit 320 is used for determining coordinate information of a moxibustion manipulator based on the acupoint position information and the safe distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

a first determining unit 330, configured to acquire coordinate information of a light spot, and determine a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

A second determination unit 340 for determining rotation angle information of the moxibustion manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

And a second control unit 350 controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

referring to fig. 7, fig. 7 is a schematic diagram of a control device of a moxibustion manipulator according to an embodiment of the invention. As shown in fig. 7, the control device 4 of the moxibustion manipulator of this embodiment includes: a processor 400, a memory 410, and a computer program 420, such as a control program for a moxibustion manipulator, stored in the memory 410 and operable on the processor 400. The processor 400, when executing the computer program 420, implements the steps in the above-described embodiments of the control method of each moxibustion manipulator, such as the steps S101 to S108 shown in fig. 1. Alternatively, the processor 400, when executing the computer program 420, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 310 to 350 shown in the figure.

illustratively, the computer program 420 may be partitioned into one or more modules/units that are stored in the memory 410 and executed by the processor 400 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution process of the computer program 420 in the control device 4 of the moxibustion manipulator. For example, the computer program 420 may be divided into an acquisition unit, a processing unit, an extraction unit, and a determination unit, and the specific functions of each unit are as follows:

The acquisition unit is used for acquiring the position information of the acupuncture points;

the first control unit is used for determining coordinate information of the moxibustion manipulator based on the acupoint position information and the safe distance information and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information;

The first determining unit is used for acquiring coordinate information of a light spot and determining a plane corresponding to the light spot based on the coordinate information of the light spot; the light spot is formed by irradiating a light source in the moxibustion manipulator on a human body, and the central point of the light spot is an acupuncture point corresponding to the acupuncture point position information; the number of the light spots is at least three;

A second determination unit configured to determine rotation angle information of the moxibustion manipulator based on a plane corresponding to the light spot; the rotation angle information is used for adjusting the angle of the manipulator relative to the plane corresponding to the light spot;

And the second control unit is used for controlling the moxibustion manipulator to adjust the angle based on the rotation angle information.

The control device 4 of the moxibustion manipulator may include, but is not limited to, a processor 400 and a memory 410. Those skilled in the art will appreciate that fig. 4 is merely an example of the control device 4 of the moxibustion manipulator and does not constitute a limitation of the control device 4 of the moxibustion manipulator, and may include more or less components than those shown, or some components in combination, or different components, for example, the control device 4 of the moxibustion manipulator may further include an input-output device, a network access device, a bus, etc.

The Processor 400 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 410 may be an internal storage unit of the control device 4 of the moxibustion manipulator, such as a hard disk or a memory of the control device 4 of the moxibustion manipulator. The memory 410 may also be an external storage device of the control device 4 of the moxibustion manipulator, such as a plug-in hard disk provided on the control device 4 of the moxibustion manipulator, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 410 may also include both an internal storage unit and an external storage device of the control device 4 of the moxibustion manipulator. The memory 410 is used to store the computer program and other programs and data required by the control device of the moxibustion manipulator. The memory 410 may also be used to temporarily store data that has been output or is to be output.

it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

in the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

in the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

the integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice. The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.