CN116072262A - Acupoint alignment and motion following method, system, computer and readable storage medium - Google Patents

Acupoint alignment and motion following method, system, computer and readable storage medium Download PDF

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CN116072262A
CN116072262A CN202310214277.3A CN202310214277A CN116072262A CN 116072262 A CN116072262 A CN 116072262A CN 202310214277 A CN202310214277 A CN 202310214277A CN 116072262 A CN116072262 A CN 116072262A
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temperature field
distance
acupoint
calculating
moxibustion
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CN116072262B (en
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敖尚民
杨孔雳
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Jiangxi Yuanke Traditional Chinese Medicine Intelligent Equipment Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/06—Devices for heating or cooling such points within cell-life limits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/02—Devices for locating such points
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5082—Temperature sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention provides an acupoint alignment and motion following method, a system, a computer and a readable storage medium, wherein the method comprises the following steps: acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object; calculating the positioning information of the acupoints in the corresponding temperature field data and the boundary position of the region to be checked corresponding to the acupoints; determining the average value of the temperature field in the region to be checked; judging whether the average value of the temperature field is larger than a preset target temperature value or not; if the temperature field average value is smaller than the preset temperature field average value, the moxibustion device is controlled to move close to the moxibustion application object, if the temperature field average value is larger than the preset temperature field average value, the moxibustion device is controlled to move away from the moxibustion application object, the position of the acupuncture point can be rapidly and accurately determined, the temperature field average value in the surrounding area is obtained, the movement of the moxibustion device to the acupuncture point is used for following, the stability of the temperature of the acupuncture point is guaranteed, and the working efficiency of doctors is improved.

Description

Acupoint alignment and motion following method, system, computer and readable storage medium
Technical Field
The invention belongs to the technical field of movement following of moxibustion devices, and particularly relates to an acupoint alignment and movement following method, an acupoint alignment and movement following system, a computer and a readable storage medium.
Background
Moxibustion is becoming more and more popular as a traditional Chinese medicine health-preserving treatment method, the demand is gradually increased, and the number of qualified doctors is also gradually increased. In the traditional moxibustion process, a doctor is required to hold moxa sticks for moxibustion, and the moxibustion process is required to be manually aligned with acupuncture points so as to achieve the purposes of treatment and health care.
The traditional method can cause the phenomena of fatigue of doctors, and the like, and the doctors can only serve one person at a time, so that the efficiency of the doctors is further low, and the working efficiency of the doctors is influenced.
Disclosure of Invention
In order to solve the technical problems, the invention provides an acupoint alignment and motion following method, an acupoint alignment and motion following system, a computer and a readable storage medium, which are used for solving the technical problems in the prior art.
In a first aspect, the present invention provides the following technical solutions, and an acupoint alignment and motion following method, where the method includes:
acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object;
calculating positioning information of the acupoints in the corresponding temperature field data according to the temperature field data and the distance, and determining boundary positions of the areas to be checked corresponding to the acupoints according to the positioning information;
determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
judging whether the average value of the temperature field is larger than a preset target temperature value or not;
and if the average value of the temperature field is smaller than the preset target temperature value, controlling the moxibustion device to move close to the moxibustion application object, and if the average value of the temperature field is larger than the preset target temperature value, controlling the moxibustion device to move away from the moxibustion application object.
Compared with the prior art, the beneficial effects of this application are: firstly, acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object so as to obtain the temperature of the surface of the moxibustion application object and the distance between the moxibustion device and the acupoint of the moxibustion application object; then, according to the temperature field data and the distance, calculating positioning information of the acupoint in the corresponding temperature field data, and determining the boundary position of the region to be checked corresponding to the acupoint according to the positioning information so as to quickly obtain the accurate position relation of the acupoint; then determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked; judging whether the average value of the temperature field is larger than a preset target temperature value or not; if the average value of the temperature field is smaller than the preset target temperature value, the moxibustion device is controlled to move close to the moxibustion application object, and if the average value of the temperature field is larger than the preset target temperature value, the moxibustion device is controlled to move away from the moxibustion application object.
Preferably, in the step of acquiring temperature field data of the surface of the moxibustion application object and the distance between the moxibustion device and the acupoints of the moxibustion application object, the temperature field data are arranged according to a two-dimensional matrix to form a two-dimensional matrix of temperature fields.
Preferably, the step of calculating positioning information of the acupoints in the corresponding temperature field data according to the temperature field data and the distance, and determining the boundary position of the region to be examined corresponding to the acupoints according to the positioning information includes:
calculating the number of the corresponding acupoint rows and the number of the corresponding acupoint columns in the temperature field two-dimensional matrix according to the distance and the temperature field data;
taking the acupoint as a center, and determining the area range of the to-be-checked area corresponding to the acupoint;
and calculating the number of boundary rows and the number of boundary columns of the boundary of the area range in the temperature field two-dimensional matrix according to the distance and the temperature field data.
Preferably, the step of calculating the number of rows and columns of acupoints corresponding to the acupoints in the two-dimensional temperature field matrix according to the distance and the data of the temperature field includes:
determining the number of acupuncture point columns corresponding to the acupuncture points in the temperature field two-dimensional matrixm；
Calculating the number of the acupoint rows corresponding to the acupoints in the temperature field two-dimensional matrix according to the distancen：
Figure SMS_1
；
In the method, in the process of the invention,
Figure SMS_2
calculating coefficients for the first matrix,/->
Figure SMS_3
Calculating coefficients for the second matrix,/->
Figure SMS_4
Calculating a constant for the first matrix,/->
Figure SMS_5
Is the distance.
Preferably, the step of calculating the number of boundary rows and the number of boundary columns of the boundary corresponding to the area range in the temperature field two-dimensional matrix according to the distance and the temperature field data includes:
according to the distance, calculating a first actual distance between the position corresponding to the transverse single row and the longitudinal single column in the temperature field two-dimensional matrix and the moxibustion application objectdFrom a second actual distanceh：
Figure SMS_6
；
Figure SMS_7
；
In the method, in the process of the invention,
Figure SMS_8
calculating coefficients for the first distance,/for>
Figure SMS_9
Calculating coefficients for the second distance,/for>
Figure SMS_10
Calculating coefficients for the third distance,/->
Figure SMS_11
Calculating coefficients for the fourth distance,/->
Figure SMS_12
Calculating a constant for the first distance,/for>
Figure SMS_13
Calculating a constant for the second distance;
according to the first actual distancedFrom the second actual distancehCalculating the boundary line number and the boundary column number of the boundary position of the area range in the temperature field two-dimensional matrix:
Figure SMS_14
；
Figure SMS_15
；
Figure SMS_16
；
Figure SMS_17
；
in the method, in the process of the invention,
Figure SMS_18
for border column number>
Figure SMS_19
For the boundary line number->
Figure SMS_20
Is the furthest distance from the acupoint to the boundary of the region.
Preferably, after the step of calculating the positioning information of the acupoints in the corresponding temperature field data according to the temperature field data and the distance, and determining the boundary position of the region to be examined corresponding to the acupoints according to the positioning information, the method further includes:
judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix, the boundary position of the region to be checked is reduced to the boundary position of the temperature field two-dimensional matrix.
In a second aspect, the present invention provides a system for aligning and following acupoints, the system comprising:
the acquisition module is used for acquiring temperature field data of the surface of the moxibustion application object and the distance between the moxibustion device and the acupuncture points of the moxibustion application object;
the calculation module is used for calculating the positioning information of the acupuncture points in the corresponding temperature field data according to the temperature field data and the distance, and determining the boundary position of the region to be checked corresponding to the acupuncture points according to the positioning information;
the determining module is used for determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
the first judging module is used for judging whether the average value of the temperature field is larger than a preset target temperature value or not;
and the movement module is used for controlling the moxibustion device to move close to the moxibustion application object if the average value of the temperature field is smaller than the preset target temperature value, and controlling the moxibustion device to move away from the moxibustion application object if the average value of the temperature field is larger than the preset target temperature value.
Preferably, the system further comprises:
the second judging module is used for judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
and the boundary determining module is used for reducing the boundary position of the region to be checked to the boundary position of the temperature field two-dimensional matrix if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix.
In a third aspect, the present invention provides a computer, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the above-mentioned method of acupoint alignment and motion following when executing the computer program.
In a fourth aspect, the present invention provides a readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the above-mentioned method for aligning and following acupoints.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an acupoint alignment and motion following method according to a first embodiment of the present invention;
fig. 2 is a detailed flowchart of step S2 in the acupoint alignment and motion following method according to the first embodiment of the present invention;
fig. 3 is a detailed flowchart of step S21 in the acupoint alignment and motion following method according to the first embodiment of the present invention;
fig. 4 is a detailed flowchart of step S23 in the acupoint alignment and motion following method according to the first embodiment of the present invention;
fig. 5 is a flowchart of an acupoint alignment and motion following method according to a second embodiment of the present invention;
fig. 6 is a block diagram of an acupoint alignment and motion following system according to a third embodiment of the present invention;
fig. 7 is a schematic hardware structure of a computer according to another embodiment of the invention.
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended to illustrate embodiments of the invention and should not be construed as limiting the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In the embodiments of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present invention will be understood by those of ordinary skill in the art according to specific circumstances.
Example 1
As shown in fig. 1, in a first embodiment of the present invention, the present invention provides a method for aligning and following acupoints, the method comprising:
s1, acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object;
the temperature field data are arranged according to a two-dimensional matrix to form a temperature field two-dimensional matrix, the temperature field two-dimensional matrix is a two-dimensional 256-column 192-row matrix, so that in the temperature field two-dimensional matrix, the coordinates of boundary points at the upper left corner of the temperature field two-dimensional matrix are (0, 0), the coordinates of boundary points at the lower right corner of the temperature field two-dimensional matrix are (255, 191), and the rest coordinates are sequentially arranged in sequence;
the distance between the moxibustion device and the acupuncture point of the moxibustion application object is specifically the distance between the moxibustion strip and the acupuncture point in the moxibustion device, and meanwhile, in the moxibustion process, the moxibustion strip is positioned right above the acupuncture point, so that the distance between the moxibustion device and the acupuncture point of the moxibustion application object is the shortest vertical linear distance;
it should be noted that, the distance between the different components and the acupoints in the moxibustion device can also be used, but in this embodiment, for ease of understanding, the distance between the moxibustion stick and the acupoints of the moxibustion application object is used;
in step S1, the moxibustion device is located above the moxibustion object in the initial state, and since the moxibustion device is clamped with the ignited moxa stick, the ignition temperature of the moxa stick is high, and the temperature of the end of the moxa stick is radiated to the surface of the moxibustion object, the temperature of the acupuncture points on the surface of the moxibustion object is different according to the difference between the positions of the moxa stick and the moxibustion object, and the acquired temperature field data are also different.
S2, calculating positioning information of the acupuncture points in the corresponding temperature field data according to the temperature field data and the distance, and determining boundary positions of areas to be checked corresponding to the acupuncture points according to the positioning information;
specifically, the positioning information of the acupuncture point in the corresponding temperature field data, namely the specific coordinate information of the acupuncture point projected in the two-dimensional matrix coordinates formed by the temperature field data, can be calculated through the temperature field data and the distance, the region to be checked corresponding to the acupuncture point is a preset region range taking the acupuncture point as the center, and in the process of moxibustion, the movement of the moxibustion device is controlled by judging the average temperature in the preset region range so as to complete the process of automatic alignment and motion following of the acupuncture point;
meanwhile, in the initial state, the moxibustion bar in the moxibustion device is positioned right above the required moxibustion acupoint, so that the positioning information of the acupoint is specific coordinate information of the moxibustion bar projected in a two-dimensional matrix coordinate formed by temperature field data.
As shown in fig. 2, the step S2 includes:
s21, calculating the number of the acupoint rows and the number of the acupoint columns corresponding to the acupoint in the temperature field two-dimensional matrix according to the distance and the temperature field data;
specifically, specific coordinates of the acupoint projection in a coordinate system formed by the two-dimensional temperature field matrix can be obtained by determining the number of the corresponding acupoint rows and the number of the corresponding acupoint columns in the two-dimensional temperature field matrix, so that positioning information of the acupoint can be obtained.
As shown in fig. 3, the step S21 includes:
s211, determining the number m of acupuncture points corresponding to the acupuncture points in the temperature field two-dimensional matrix;
wherein, in this step, in the initial state, the acupoints are located at the position just below the moxibustion stick, so that the number of columns of acupoints corresponding to the acupoints in the two-dimensional matrix of the temperature field can be knownm128.
S212, calculating the number of the acupoint rows corresponding to the acupoints in the temperature field two-dimensional matrix according to the distancen：
Figure SMS_21
；
In the method, in the process of the invention,
Figure SMS_22
calculating coefficients for the first matrix,/->
Figure SMS_23
Calculating coefficients for the second matrix,/->
Figure SMS_24
Calculating a constant for the first matrix,/->
Figure SMS_25
Is the distance;
it should be noted that the calculation formula of the number of acupoint rows can also be
Figure SMS_26
Or->
Figure SMS_27
According to the difference of the lengths of the distances, the calculation formulas of the number of the acupoint rows are also different, and when the distance is smaller than the first preset calculation distance, the calculation formulas of the acupoint rows are also different, and the calculation formulas of the acupoint rows are also different>
Figure SMS_28
The number of the acupoint rows is calculated by the calculation formula of (1), and when the distance is between the first preset calculation distance and the second preset calculation distance, the +.>
Figure SMS_29
Calculating the number of acupoint rows by adopting a calculation formula of +.>
Figure SMS_30
Calculating the number of acupoint rows according to the calculation formula of (1);
wherein,,
Figure SMS_32
calculating coefficients for the third matrix,/->
Figure SMS_36
Calculating constants for the second matrix,/->
Figure SMS_39
Calculating coefficients for the fourth matrix,/->
Figure SMS_33
Calculating constants for the third matrix,/->
Figure SMS_35
、
Figure SMS_38
、
Figure SMS_41
Corresponding->
Figure SMS_31
、
Figure SMS_34
、
Figure SMS_37
、
Figure SMS_40
All can be obtained by fitting according to test data, and the first preset calculation distance is 15cm in the embodiment, and the second preset calculation distance is 30cm in the embodiment.
S22, taking the acupuncture points as the center, and determining the area range of the to-be-checked area corresponding to the acupuncture points;
specifically, the area to be checked can be divided into a rectangular area, a circular area, an elliptical area and other special-shaped areas according to actual needs, while in the embodiment, the area to be checked is determined to be a square area, the range of the area to be checked can be changed according to different acupuncture positions required by a human body, for example, when the back of the human body is required to be moxibustion, the side length of the area to be checked can be 15cm, and when the hand of the moxibustion human is required, the side length of the area to be checked can be 2.5cm.
S23, calculating the number of boundary rows and the number of boundary columns of the boundary of the area range in the temperature field two-dimensional matrix according to the distance and the temperature field data;
as shown in fig. 4, the step S23 includes the steps of:
s231, calculating a first actual distance from the position corresponding to the transverse single row and the longitudinal single row in the temperature field two-dimensional matrix to the moxibustion application object according to the distancedFrom a second actual distanceh：
Figure SMS_42
；
Figure SMS_43
；
In the method, in the process of the invention,
Figure SMS_44
calculating coefficients for the first distance,/for>
Figure SMS_45
Calculating coefficients for the second distance,/for>
Figure SMS_46
Calculating coefficients for the third distance,/->
Figure SMS_47
Calculating coefficients for the fourth distance,/->
Figure SMS_48
Calculating a constant for the first distance,/for>
Figure SMS_49
Calculating a constant for the second distance;
specifically, in step S231, for the purpose of calculating the distance between each row and each column of the moxibustion application objects in the temperature field two-dimensional matrix, so as to determine the coordinate position of the area range of the area to be examined in the temperature field two-dimensional matrix;
it is worth noting that the number of the parts,
Figure SMS_50
and +.>
Figure SMS_51
All can be obtained by fitting experimental data.
S232, according to the first actual distancedFrom the second actual distancehCalculating the boundary line number and the boundary column number of the boundary position of the area range in the temperature field two-dimensional matrix:
Figure SMS_52
；
Figure SMS_53
；
Figure SMS_54
；
Figure SMS_55
；
in the method, in the process of the invention,
Figure SMS_56
for border column number>
Figure SMS_57
For the boundary line number->
Figure SMS_58
The farthest distance from the acupoint to the boundary of the region range;
wherein the calculation can be performed by the above formula, in the two-dimensional matrix of the temperature field, the left boundary, the right boundary, the front boundary and the rear boundary of the selected square region to be checked are selected, and the number of lines of the region range is as follows
Figure SMS_59
Between, the column number is at
Figure SMS_60
Therefore, the coordinate value of the upper left corner of the region is +.>
Figure SMS_61
The lower right corner has a coordinate value of +.>
Figure SMS_62
。
S3, determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
specifically, after determining the boundary position, the specific position of the region to be checked projected on the two-dimensional matrix of the temperature field can be known, so that the average value of the temperature field in the region to be checked can be obtainedT；
Meanwhile, by setting an area to be checked and calculating the average temperature value in the area to be checked, the movement of the moxibustion device is controlled, the area to be checked is in a larger range, the average value in the range is counted, and the movement of the moxibustion device is controlled according to the average value and the preset target temperature value, so that the temperature of the surface of a human body is more suitable during moxibustion, and the human body is more comfortable during moxibustion.
S4, judging whether the average value of the temperature field is larger than a preset target temperature value or not;
wherein the preset target temperature value isT 0 The average value of the temperature field is the average value of the temperature in the region to be checked.
S5, if the average value of the temperature field is smaller than the preset target temperature value, controlling the moxibustion device to move close to the moxibustion application object, and if the average value of the temperature field is larger than the preset target temperature value, controlling the moxibustion device to move away from the moxibustion application object;
in particular, i.e. whenTLess thanT 0 When the moxibustion device approaches the moxibustion object, a certain distance is reserved between the moxibustion device and the moxibustion objectTGreater thanT 0 When the moxibustion device is far away from the moxibustion application object by a certain distance, the moxibustion device is controlled to complete automatic alignment and movement following of the acupuncture points.
The first advantage of this embodiment is: obtaining the temperature of the surface of the moxibustion application object and the distance between the moxibustion device and the acupuncture points of the moxibustion application object by acquiring temperature field data of the surface of the moxibustion application object and the distance between the moxibustion device and the acupuncture points of the moxibustion application object; then, according to the temperature field data and the distance, calculating positioning information of the acupoint in the corresponding temperature field data, and determining the boundary position of the region to be checked corresponding to the acupoint according to the positioning information so as to quickly obtain the accurate position relation of the acupoint; then determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked; judging whether the average value of the temperature field is larger than a preset target temperature value or not; if the average value of the temperature field is larger than the preset target temperature value, the moxibustion device is controlled to move close to the moxibustion application object, and if the average value of the temperature field is smaller than the preset target temperature value, the moxibustion device is controlled to move away from the moxibustion application object.
Example two
As shown in fig. 5, in a second embodiment of the present invention, the present invention provides a method for aligning and following acupoints, the method comprising:
s10, acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object;
s20, calculating positioning information of the acupuncture points in the corresponding temperature field data according to the temperature field data and the distance, and determining boundary positions of areas to be checked corresponding to the acupuncture points according to the positioning information;
s30, judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
s40, if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix, reducing the boundary position of the region to be checked to the boundary position of the temperature field two-dimensional matrix;
specifically, by judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix, the situation that the boundary of the region to be checked exceeds the temperature field two-dimensional matrix can be avoided, and as the temperature in the temperature field two-dimensional matrix can be obtained but the temperature exceeding the boundary range of the temperature field two-dimensional matrix is not obtained, the temperature exceeding the region range in the temperature field two-dimensional matrix can not be obtained, and the movement following of the moxibustion device can be influenced, so that if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix, the boundary position of the region to be checked is reduced to the boundary position of the temperature field two-dimensional matrix, so that the region to be checked is completely within the range of the temperature field two-dimensional matrix;
s50, determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
s60, judging whether the average value of the temperature field is larger than a preset target temperature value or not;
and S70, controlling the moxibustion device to move close to the moxibustion application object if the average value of the temperature field is smaller than the preset target temperature value, and controlling the moxibustion device to move away from the moxibustion application object if the average value of the temperature field is larger than the preset target temperature value.
The steps S10, S20, S50, S60, S70 in the above steps are the same as S1, S2, S3, S4, S5 in the first embodiment, and thus will not be described in detail.
Compared with the first embodiment, the second embodiment has the following advantages: and reducing the boundary position of the region to be checked to the boundary position of the temperature field two-dimensional matrix to ensure that the region to be checked is completely in the range of the temperature field two-dimensional matrix, so as to avoid influencing the motion following process of the moxibustion device.
Example III
As shown in fig. 6, in a third embodiment of the present invention, there is provided an acupoint alignment and motion following system, the system comprising:
an acquisition module 1, which is used for acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object;
the calculating module 2 is used for calculating the positioning information of the acupuncture points in the corresponding temperature field data according to the temperature field data and the distance, and determining the boundary position of the region to be checked corresponding to the acupuncture points according to the positioning information;
the second judging module 3 is used for judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
the boundary determining module 4 is configured to reduce the boundary position of the region to be checked to the boundary position of the temperature field two-dimensional matrix if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
the determining module 5 is used for determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
a first judging module 6, configured to judge whether the average value of the temperature field is greater than a preset target temperature value;
and the movement module 7 is used for controlling the moxibustion device to move close to the moxibustion application object if the average value of the temperature field is smaller than the preset target temperature value, and controlling the moxibustion device to move away from the moxibustion application object if the average value of the temperature field is larger than the preset target temperature value.
In this embodiment, the computing module 2 includes:
the first computing sub-module is used for computing the number of the acupoint rows and the number of the acupoint columns corresponding to the acupoint in the temperature field two-dimensional matrix according to the distance and the temperature field data;
the region range determining sub-module is used for determining the region range of the region to be checked corresponding to the acupuncture point by taking the acupuncture point as a center;
and the second calculation sub-module is used for calculating the number of boundary rows and the number of boundary columns of the boundary of the area range in the temperature field two-dimensional matrix according to the distance and the temperature field data.
The first computing submodule includes:
a determining unit for determining the number of columns of acupoints corresponding to the acupoints in the two-dimensional matrix of temperature fieldm；
A first calculation unit for calculating the number of acupoint rows corresponding to the acupoints in the temperature field two-dimensional matrix according to the distancen：
Figure SMS_63
；
In the middle of，
Figure SMS_64
Calculating coefficients for the first matrix,/->
Figure SMS_65
Calculating coefficients for the second matrix,/->
Figure SMS_66
Calculating a constant for the first matrix,/->
Figure SMS_67
Is the distance.
The second computing submodule includes:
a second calculation unit for calculating a first actual distance from the position corresponding to the horizontal single row and the vertical single column in the temperature field two-dimensional matrix to the moxibustion application object according to the distancedFrom a second actual distanceh：
Figure SMS_68
；/>
Figure SMS_69
；
In the method, in the process of the invention,
Figure SMS_70
calculating coefficients for the first distance,/for>
Figure SMS_71
Calculating coefficients for the second distance,/for>
Figure SMS_72
Calculating coefficients for the third distance,/->
Figure SMS_73
Calculating coefficients for the fourth distance,/->
Figure SMS_74
Calculating a constant for the first distance,/for>
Figure SMS_75
Calculating a constant for the second distance,/for>
Figure SMS_76
Is the distance;
a second calculation unit for calculating a first actual distancedFrom the second actual distancehCalculating the boundary line number and the boundary column number of the boundary position of the area range in the temperature field two-dimensional matrix:
Figure SMS_77
；
Figure SMS_78
；
Figure SMS_79
；
Figure SMS_80
；
in the method, in the process of the invention,
Figure SMS_81
for border column number>
Figure SMS_82
For the boundary line number->
Figure SMS_83
Is the furthest distance from the acupoint to the boundary of the region.
In other embodiments of the present invention, a computer is provided in the embodiments of the present invention, and the computer includes a memory 102, a processor 101, and a computer program stored in the memory 102 and capable of running on the processor 101, where the processor 101 implements the above-mentioned acupoint alignment and motion following method when executing the computer program.
In particular, the processor 101 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application SpecificIntegrated Circuit, abbreviated as ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
Memory 102 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 102 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, solid state Drive (Solid State Drive, SSD), flash memory, optical Disk, magneto-optical Disk, tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. Memory 102 may include removable or non-removable (or fixed) media, where appropriate. The memory 102 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 102 is a Non-Volatile (Non-Volatile) memory. In a particular embodiment, the Memory 102 includes Read-Only Memory (ROM) and random access Memory (Random Access Memory, RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, abbreviated PROM), an erasable PROM (Erasable ProgrammableRead-Only Memory, abbreviated EPROM), an electrically erasable PROM (Electrically ErasableProgrammable Read-Only Memory, abbreviated EEPROM), an electrically rewritable ROM (Electrically Alterable Read-Only Memory, abbreviated EAROM), or a FLASH Memory (FLASH), or a combination of two or more of these. The RAM may be a Static Random-Access Memory (SRAM) or a dynamic Random-Access Memory (DRAM) where appropriate, and the DRAM may be a fast page mode dynamic Random-Access Memory (Fast Page Mode DynamicRandom Access Memory, FPMDRAM), an extended data output dynamic Random-Access Memory (Extended Date Out Dynamic Random Access Memory, EDODRAM), a synchronous dynamic Random-Access Memory (SDRAM), or the like.
Memory 102 may be used to store or cache various data files that need to be processed and/or communicated, as well as possible computer program instructions for execution by processor 101.
The processor 101 reads and executes the computer program instructions stored in the memory 102 to implement the above-mentioned acupoint alignment and motion following method.
In some of these embodiments, the computer may also include a communication interface 103 and a bus 100. As shown in fig. 7, the processor 101, the memory 102, and the communication interface 103 are connected to each other via the bus 100 and perform communication with each other.
The communication interface 103 is used to implement communication between modules, devices, units, and/or units in the embodiments of the present application. The communication interface 103 may also enable communication with other components such as: and the external equipment, the image/data acquisition equipment, the database, the external storage, the image/data processing workstation and the like are used for data communication.
Bus 100 includes hardware, software, or both, coupling components of a computer to each other. Bus 100 includes, but is not limited to, at least one of: data Bus (Data Bus), address Bus (Address Bus), control Bus (Control Bus), expansion Bus (Expansion Bus), local Bus (Local Bus). By way of example, and not limitation, bus 100 may include a graphics acceleration interface (Accelerated Graphics Port), abbreviated AGP, or other graphics Bus, an enhanced industry standard architecture (Extended Industry StandardArchitecture, abbreviated EISA) Bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industry StandardArchitecture, ISA) Bus, a wireless bandwidth (InfiniBand) interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a micro channel architecture (Micro Channel Architecture, abbreviated MCa) Bus, a peripheral component interconnect (Peripheral ComponentInterconnect, abbreviated PCI) Bus, a PCI-Express (PCI-X) Bus, a serial advanced technology attachment (Serial Advanced TechnologyAttachment, abbreviated SATA) Bus, a video electronics standards association local (Video ElectronicsStandards Association Local Bus, abbreviated VLB) Bus, or other suitable Bus, or a combination of two or more of the foregoing. Bus 100 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.
The computer can execute the acupoint alignment and motion following method based on the obtained acupoint alignment and motion following system, thereby realizing acupoint alignment and motion following.
In still other embodiments of the present invention, in combination with the above-mentioned acupoint alignment and motion following method, the embodiments of the present invention provide the following technical solutions, a readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements the above-mentioned acupoint alignment and motion following method.
Those of skill in the art will appreciate that the logic and/or steps represented in the flow diagrams or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (10)

1. An acupoint alignment and motion following method is characterized by comprising the following steps:
acquiring temperature field data of the surface of a moxibustion application object and the distance between a moxibustion device and an acupoint of the moxibustion application object;
calculating positioning information of the acupoints in the corresponding temperature field data according to the temperature field data and the distance, and determining boundary positions of the areas to be checked corresponding to the acupoints according to the positioning information;
determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
judging whether the average value of the temperature field is larger than a preset target temperature value or not;
and if the average value of the temperature field is smaller than the preset target temperature value, controlling the moxibustion device to move close to the moxibustion application object, and if the average value of the temperature field is larger than the preset target temperature value, controlling the moxibustion device to move away from the moxibustion application object.
2. The method according to claim 1, wherein in the step of acquiring temperature field data of a surface of the moxibustion application object and a distance between the moxibustion device and the acupoints of the moxibustion application object, the temperature field data are arranged in a two-dimensional matrix to form a two-dimensional matrix of temperature fields.
3. The method according to claim 2, wherein the step of calculating positioning information of the acupoints in the corresponding temperature field data according to the temperature field data and the distance, and determining boundary positions of the regions to be examined corresponding to the acupoints according to the positioning information comprises:
calculating the number of the corresponding acupoint rows and the number of the corresponding acupoint columns in the temperature field two-dimensional matrix according to the distance and the temperature field data;
taking the acupoint as a center, and determining the area range of the to-be-checked area corresponding to the acupoint;
and calculating the number of boundary rows and the number of boundary columns of the boundary of the area range in the temperature field two-dimensional matrix according to the distance and the temperature field data.
4. The method according to claim 3, wherein the step of calculating the number of rows and columns of the acupoints corresponding to the acupoints in the two-dimensional matrix of the temperature field according to the distance and the data of the temperature field comprises:
determining the number of acupuncture point columns corresponding to the acupuncture points in the temperature field two-dimensional matrixm；
Calculating the number of the acupoint rows corresponding to the acupoints in the temperature field two-dimensional matrix according to the distancen：
Figure QLYQS_1
；
In the method, in the process of the invention,
Figure QLYQS_2
calculating coefficients for the first matrix,/->
Figure QLYQS_3
Calculating coefficients for the second matrix,/->
Figure QLYQS_4
Calculating a constant for the first matrix,/->
Figure QLYQS_5
Is the distance.
5. The method according to claim 4, wherein the step of calculating the number of boundary rows and the number of boundary columns of the boundary corresponding to the area range in the two-dimensional matrix of the temperature field according to the distance and the temperature field data comprises:
according to the distance, calculating a first actual distance between the position corresponding to the transverse single row and the longitudinal single column in the temperature field two-dimensional matrix and the moxibustion application objectdFrom a second actual distanceh：
Figure QLYQS_6
；
Figure QLYQS_7
；
In the method, in the process of the invention,
Figure QLYQS_8
calculating coefficients for the first distance,/for>
Figure QLYQS_9
Calculating coefficients for the second distance,/for>
Figure QLYQS_10
Calculating coefficients for the third distance,/->
Figure QLYQS_11
Calculating coefficients for the fourth distance,/->
Figure QLYQS_12
Calculating a constant for the first distance,/for>
Figure QLYQS_13
Calculating a constant for the second distance;
according to the first actual distancedFrom the second actual distancehCalculating the boundary line number and the boundary column number of the boundary position of the area range in the temperature field two-dimensional matrix:
Figure QLYQS_14
；
Figure QLYQS_15
；
Figure QLYQS_16
；
Figure QLYQS_17
；
in the method, in the process of the invention,
Figure QLYQS_18
for border column number>
Figure QLYQS_19
For the boundary line number->
Figure QLYQS_20
Is the furthest distance from the acupoint to the boundary of the region.
6. The method according to claim 5, wherein after the step of calculating positioning information of the acupoint in the corresponding temperature field data according to the temperature field data and the distance, determining a boundary position of a region to be examined corresponding to the acupoint according to the positioning information, the method further comprises:
judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix, the boundary position of the region to be checked is reduced to the boundary position of the temperature field two-dimensional matrix.
7. An acupoint alignment and motion following system, the system comprising:
the acquisition module is used for acquiring temperature field data of the surface of the moxibustion application object and the distance between the moxibustion device and the acupuncture points of the moxibustion application object;
the calculation module is used for calculating the positioning information of the acupuncture points in the corresponding temperature field data according to the temperature field data and the distance, and determining the boundary position of the region to be checked corresponding to the acupuncture points according to the positioning information;
the determining module is used for determining the average value of the temperature field in the region to be checked according to the boundary position of the region to be checked;
the first judging module is used for judging whether the average value of the temperature field is larger than a preset target temperature value or not;
and the movement module is used for controlling the moxibustion device to move close to the moxibustion application object if the average value of the temperature field is smaller than the preset target temperature value, and controlling the moxibustion device to move away from the moxibustion application object if the average value of the temperature field is larger than the preset target temperature value.
8. The acupoint positioning and motion tracking system of claim 7, further comprising:
the second judging module is used for judging whether the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix;
and the boundary determining module is used for reducing the boundary position of the region to be checked to the boundary position of the temperature field two-dimensional matrix if the boundary position of the region to be checked exceeds the boundary position of the temperature field two-dimensional matrix.
9. A computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the acupoint alignment and motion tracking method of any one of claims 1-6 when the computer program is executed.
10. A readable storage medium, wherein a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the method of acupoint alignment and motion following according to any one of claims 1 to 6 is implemented.
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