CN116392387A - Moxibustion robot system control method - Google Patents
Moxibustion robot system control method Download PDFInfo
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- CN116392387A CN116392387A CN202310673232.2A CN202310673232A CN116392387A CN 116392387 A CN116392387 A CN 116392387A CN 202310673232 A CN202310673232 A CN 202310673232A CN 116392387 A CN116392387 A CN 116392387A
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- 230000007613 environmental effect Effects 0.000 claims description 23
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- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
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- A61B5/0816—Measuring devices for examining respiratory frequency
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- A61B5/4809—Sleep detection, i.e. determining whether a subject is asleep or not
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H2205/00—Devices for specific parts of the body
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- 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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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a control method of a moxibustion robot system, wherein the control method of the moxibustion robot system comprises the following steps: determining whether the user enters a sleep state; if the user is determined to enter a sleep state, determining whether the user has a wakeup trend; if the user is determined to have a wake-up trend, controlling the moxibustion robot to execute a first preset action set, wherein the first preset action set comprises: the smoke outlet of the moxibustion head is controlled to shorten the preset distance back to the user, so that the aperture of the smoke outlet is reduced, the smoke discharge range of the smoke outlet is correspondingly increased, and the smoke temperature discharged by the moxibustion outlet is correspondingly increased, so that the moxibustion effect of the moxibustion robot after executing the first preset action set on the user is unchanged. The technical scheme of the invention can reduce the risk that the moxibustion robot is easy to scald due to subconscious actions of the user after sleeping and waking up.
Description
Technical Field
The invention relates to the technical field of moxibustion robot systems, in particular to a control method of a moxibustion robot system.
Background
At present, since the moxibustion robot has the advantages of being capable of accurately corresponding to human body acupoints for moxibustion for a long time, the moxibustion robot is often adopted to replace manual moxibustion in occasions where moxibustion is needed.
However, when the moxibustion robot carries out moxibustion on a user, the user often enters a sleep state, and after entering the sleep state, the user easily subconsciously turns over, stands up and the like and touches the moxibustion head with higher temperature of the moxibustion robot, so that the user is at risk of being scalded.
Disclosure of Invention
The invention mainly aims to provide a control method of a moxibustion robot system, which aims to solve the problem that a moxibustion robot is easy to scald due to subconscious actions of a user when the user wakes up after falling asleep.
In order to achieve the above object, the present invention provides a control method of a moxibustion robot system, the control method of a moxibustion robot system comprising:
determining whether the user enters a sleep state;
if the user is determined to enter a sleep state, determining whether the user has a wakeup trend;
if the user is determined to have a wake-up trend, controlling the moxibustion robot to execute a first preset action set, wherein the first preset action set comprises: the smoke outlet of the moxibustion head is controlled to shorten the preset distance back to the user so as to reduce the aperture of the smoke outlet, correspondingly improve the smoke discharge range of the smoke outlet and correspondingly improve the smoke temperature discharged by the moxibustion outlet.
Optionally, before the step of determining whether the user enters the sleep state, the moxibustion robot system control method further comprises:
acquiring breathing parameters of a user;
the step of determining whether the user enters a sleep state specifically comprises:
according to the breathing parameters of the user, whether the user enters a sleep state is determined.
Optionally, the respiratory parameters include a respiratory frequency parameter and a respiratory intensity parameter;
determining whether the user enters a sleep state according to the breathing parameters of the user, wherein the step comprises the following steps:
determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
and determining whether the user enters a sleep state according to the breathing frequency parameter of the user, the variation trend of the breathing frequency and the variation trend of the breathing intensity.
Optionally, the step of determining whether the user enters the sleep state according to the breathing frequency parameter, the variation trend of the breathing frequency and the variation trend of the breathing intensity of the user includes:
determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both downward trends;
if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both decreasing trends, determining whether the breathing frequency of the user decreases to a first preset frequency interval;
and if the breathing frequency of the user is reduced to a first preset frequency interval, determining that the user enters a sleep state.
Optionally, the minimum frequency value of the first preset frequency interval is greater than 15 times/min, and the maximum frequency value of the first preset frequency interval is less than 20 times/min.
Alternatively, if it is determined that either one of the trend of the variation in the respiratory frequency and the trend of the variation in the respiratory intensity is not a downward trend; or if the breathing frequency of the user does not drop to the first preset frequency interval, determining that the user does not enter a sleep state.
Optionally, before the step of determining whether the user enters the sleep state, the moxibustion robot system control method further comprises:
acquiring environmental sound;
determining whether snoring exists in the environmental sound according to the acquired environmental sound;
if the snore exists in the environmental sound, determining that the user enters a sleep state;
if it is determined that no snore exists in the environmental sound, it is determined that the user does not enter a sleep state.
Optionally, the step of determining whether the user has a wake-up trend specifically includes:
and determining whether the user has a wakeup trend according to the breathing parameters of the user.
Optionally, the respiratory parameters include a respiratory frequency parameter and a respiratory intensity parameter;
determining whether the user has a wakeup trend according to the breathing parameters of the user, wherein the step comprises the following steps:
determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
and determining whether the user has a wakeup trend according to the breathing frequency parameter of the user, the variation trend of the breathing frequency and the variation trend of the breathing intensity.
Optionally, the step of determining whether the user has a wake up trend according to the respiratory rate parameter, the respiratory rate variation trend and the respiratory intensity variation trend of the user includes:
determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both rising trends;
if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both rising trends, determining that the user has a wakeup trend.
The technical scheme of the invention determines whether the user enters a sleep state; if the user is determined to enter a sleep state, determining whether the user has a wakeup trend; if the user is determined to have a wake-up trend, controlling the moxibustion robot to execute a first preset action set, wherein the first preset action set comprises: the smoke outlet of the moxibustion head is controlled to shorten the preset distance back to the user, so that the aperture of the smoke outlet is reduced, the smoke discharge range of the smoke outlet is correspondingly increased, and the smoke temperature discharged by the moxibustion outlet is correspondingly increased, so that the moxibustion effect of the moxibustion robot after executing the first preset action set on the user is unchanged. According to the control method of the moxibustion robot system, the moxibustion head is controlled to be far away from the user when the user is determined to have a wake-up trend, so that the moxibustion head can be controlled to be far away from the user in advance compared with the existing moxibustion robot, and the problem that the user is easy to scald after being wake-up cannot be avoided by adopting a space control scheme of the existing moxibustion robot is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method of a moxibustion robot system according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a control method of a moxibustion robot system according to another embodiment of the present invention;
fig. 3 is a flowchart of a control method of a moxibustion robot system according to still another embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a control method of a moxibustion robot system.
The moxibustion robot can comprise a bed frame, a moxibustion head, a driving component and a control device. Wherein, the bedstead is used for the user to lie down; the control device is used for controlling the driving assembly to drive the moxibustion head to perform moxibustion on a user lying on the bed frame. The moxibustion robot is long in moxibustion time for performing moxibustion on a user, so that the user can easily enter a sleep state in the moxibustion process, smoke affecting the sleep of the user can be generated in the moxibustion process, and the temperature of the skin opposite to the moxibustion head is high, so that the sleep quality of the user is poor easily, and the user can wake up in a short time after entering the sleep state easily, and can turn over, get up, stretch hands to scratch the current moxibustion position and the like. However, at present, in order to ensure a moxibustion effect, ai Jiutou is often close to a user's body when the user performs moxibustion, and a moxibustion head is used for continuously performing moxibustion on the user after the user enters a sleep state, so that the temperature of the moxibustion head is extremely high at this time, and when the user suddenly performs actions, the user is extremely easy to mistakenly touch the high-temperature moxibustion head to cause scalding.
In view of the above problems, referring to fig. 1, an embodiment of the present invention provides a control method of a moxibustion robot system, including:
step S100, determining whether a user enters a sleep state;
the execution main body of the control method can be a control device in the moxibustion robot. The moxibustion robot can be provided with a sleep detection module, and the sleep detection module can detect physiological parameters of a user on the bed frame when the moxibustion robot carries out moxibustion on the user and can output physiological parameter detection signals to the control device according to detection results, so that the control device can determine whether the user enters a sleep state according to the physiological parameter detection signals. Wherein the physiological parameter may be at least one of an acceleration parameter, a blood oxygen parameter, a blood pressure parameter, a heart rate parameter, a respiration parameter. Since the physiological parameters of the user in the sleep state and the physiological parameters of the user not in the sleep state are different, whether the user enters the sleep state or not can be determined by detecting the physiological parameters.
In this embodiment, the control device may continuously acquire the physiological parameter detection signal output by the sleep detection module after the user enters the sleep state, so as to continuously determine whether the user has a wake-up trend according to the received physiological parameter detection signal.
Because the user has a transition state for a period of time when the user changes from the sleep state to the wake state, and the physiological parameters of the user in the sleep state are also different from those of the user in the transition state, whether the user in the sleep state enters the transition state or not can be determined by detecting the physiological parameters, and whether the user has a wake trend or not can be further determined. The method comprises the following steps: when the user is determined to be in a transitional state, determining that the user has a wakeup trend; when the user is determined not to be in the transitional state, the user is determined not to have the wakeup trend, namely the user is still in the sleep state.
Step S300, if it is determined that the user has a wake-up trend, controlling the moxibustion robot to execute a first preset action set, wherein the first preset action set comprises: the smoke outlet of the moxibustion head is controlled to shorten the preset distance back to the user, so that the aperture of the smoke outlet is reduced, the smoke discharge range of the smoke outlet is correspondingly increased, and the smoke temperature discharged by the moxibustion outlet is correspondingly increased, so that the moxibustion effect of the moxibustion robot after executing the first preset action set on the user is unchanged.
In this embodiment, the moxibustion head comprises a barrel, the barrel is provided with a head part, a middle part and a tail part which are connected in sequence, and a smoke outlet is arranged on the head part of the barrel. The head part of the cylinder body is of a spiral telescopic structure, namely, the head part of the cylinder body can perform reciprocating telescopic movement along the axial direction of the cylinder body through rotation; the smoke outlet is arranged on one side of the head part far away from the middle, and the smoke outlet can be correspondingly enlarged or reduced according to the telescopic direction of the head part of the cylinder body. Specifically, when the head rotates along the first preset direction, the head of the cylinder can be shortened towards the tail so that the smoke outlet is reduced along with the head; when the head rotates along the second preset direction, the head of the cylinder can stretch away from the tail so that the smoke outlet is enlarged along with the tail, wherein one of the first preset direction and the second preset direction can be clockwise, and the other can be anticlockwise. The middle of the cylinder body can be communicated with the combustion chamber to form a smoke air channel so as to connect smoke output after the moxibustion strip is combusted in the combustion chamber and discharge the smoke through the smoke outlet, thereby realizing the moxibustion function of the moxibustion robot system. The tail part of the cylinder body can be provided with a motor and a rotating shaft fixedly connected with a motor rotor, and the rotating shaft can be connected with the inner wall of the head part through a connecting piece; the motor can rotate along a first preset direction or a second preset direction under the control of the control device, so that the head of the moxibustion head is driven to shorten or lengthen, and the aperture of the smoke outlet is increased or reduced.
The control device can control the motor to rotate along a first preset direction by a preset angle when determining that the user has a wake-up trend, so as to drive the head of the moxibustion head to move towards the tail direction by a preset distance corresponding to the preset angle, so that the smoke outlet of the moxibustion head is shortened by a preset distance away from the user, and the aperture of the smoke outlet is reduced simultaneously. So, can make moxa-moxibustion robot system control moxa-moxibustion head in advance keep away from the user to can solve current moxa-moxibustion robot and make the user carry out subconsciously action and scalded problem after waking up because of falling asleep, be favorable to improving moxa-moxibustion robot system's safety in utilization.
In addition, although a distance sensor is provided in the conventional moxibustion robot to detect the distance between Ai Jiutou and the user in real time and output a distance detection signal to the control device, the control device can always maintain the preset distance between Ai Jiutou and the user according to the distance detection signal. However, as the user is very fast in action after waking up, and the detection of the distance sensor and the control of the control device on the moxibustion head have large response delay, the conventional moxibustion robot cannot timely control the moxibustion head away from the user. The technical scheme of the invention controls the moxibustion head to be far away from the user when the user is determined to have a wake-up trend, so that the moxibustion head can be controlled to be far away from the user in advance compared with the existing moxibustion robot, thereby solving the problem that the interval control scheme adopted by the existing moxibustion robot cannot avoid easy scalding after the user is wake-up, and further being beneficial to further improving the use safety of the moxibustion robot system.
In practical tests, it is found that, as the smoke outlet of the moxibustion head is far away from the user, although the risk of scalding the user is avoided, the moxibustion effect on the user is also easily reduced, so as to solve the negative effect. In the embodiment of the invention, a heating component such as a fan, a resistance wire and the like can be arranged in the smoke air duct; the control device can control the fan to work when executing the step S300 so as to correspondingly accelerate the smoke outlet speed of the smoke outlet; and the heating component can be controlled to work so as to correspondingly heat the temperature of the smoke in the smoke air channel. It should be noted that, because the aperture of the smoke outlet is reduced and the smoke outlet speed is increased, the smoke sprayed out of the moxibustion head can more intensively and effectively reach the moxibustion part, and meanwhile, because the temperature of the sprayed smoke is correspondingly increased, even if the path of the smoke reaching the moxibustion part is prolonged, the moxibustion smoke with enough temperature can be effectively ensured to be received at the moxibustion part, thereby reducing the influence of the smoke outlet shortening on the moxibustion effect. Therefore, the problem that the user is scalded due to subconscious action after waking up after falling asleep can be solved, and the moxibustion effect of the moxibustion robot system is ensured.
In practical use, because the user usually lies on the bedstead when using the moxa-moxibustion robot system, therefore the acceleration of user often is zero for a long time, and because the stimulus of moxa-moxibustion smog, the difference of current moxa-moxibustion acupuncture point and user individual physical quality, the relevant physiological parameters (blood oxygen, blood pressure, rhythm of heart) when making different user moxa-moxibustion differ greatly easily, therefore adopt acceleration, blood oxygen, blood pressure, rhythm of heart parameter detection to carry out the precision that falls asleep to the user when the moxa-moxibustion detects extremely low, consequently what is needed in the art is a detection scheme that can effectively go on it to fall asleep to detect when the user is by the moxa-moxibustion.
For this problem, before the step of determining whether the user enters the sleep state, the moxibustion robot system control method further includes:
step S400, obtaining breathing parameters of a user;
step S100 of determining whether the user enters a sleep state, specifically:
step S130, determining whether the user enters a sleep state according to the breathing parameters of the user.
In this embodiment, the sleep detection module may be a respiratory parameter detection module, and the respiratory parameter detection module may be configured to detect a respiratory parameter of a user when the user is moxibustion, and output a respiratory parameter detection signal to the control device. The control device can analyze and process the respiration parameter detection signal after converting the respiration parameter detection signal into a digital signal to obtain the respiration parameter of the user when the user is subjected to moxibustion, and can determine whether the user enters a sleep state according to the respiration parameter of the user. Because the breathing parameters of the user can be changed along with the sleeping of the user and can not be influenced by the moxibustion process to become disordered and irregular, the technical scheme of the invention can realize the sleeping detection of the user during the moxibustion by adopting the breathing parameters, and compared with the detection of the user during the moxibustion by adopting the acceleration, blood oxygen, blood pressure and heart rate parameters, the invention can effectively improve the sleeping detection accuracy of the user during the moxibustion.
In particular, the respiratory parameters include a respiratory frequency parameter and a respiratory intensity parameter;
referring to fig. 2, the step of determining whether the user enters a sleep state according to the breathing parameters of the user includes:
step S110, determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
in this embodiment, the control device may determine, according to each respiratory rate parameter obtained in a preset time, whether a variation trend of the respiratory rate of the user in the preset time is an ascending trend, a stable trend or a descending trend; and determining that the variation trend of the respiration intensity of the user in the preset time is an ascending trend, a stable trend or a descending trend according to the respiration intensity parameters acquired in the preset time.
Step S120, determining whether the user enters a sleep state according to the breathing frequency parameter, the variation trend of the breathing frequency and the variation trend of the breathing intensity of the user.
Optionally, step S120 may specifically include the following steps:
step S121, determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both falling trends;
it should be noted that, although the respiratory rate of the user is faster than that of the user without moxibustion and the respiratory intensity is stronger than that of the user without moxibustion, the variation trend of the respiratory rate and the variation trend of the respiratory intensity of the user are both stationary trends when the moxibustion does not enter the sleep state. When the user has a trend of going to sleep from a non-sleep state, i.e. is trapped, the variation trend of the respiratory rate and the respiratory intensity of the user is changed from a steady trend to a decreasing trend, so that whether the user has a trend of going to sleep or not during moxibustion can be determined by executing step S121. The embodiment of the invention jointly judges whether the user has the trend of shifting to the sleep state by adopting the variation trend of the breathing frequency and the breathing intensity, and is beneficial to improving the detection accuracy of the sleep state of the user during moxibustion compared with the single variation trend of the breathing frequency or the breathing intensity.
Step S122, if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both decreasing trends, determining whether the breathing frequency of the user decreases to a first preset frequency interval;
the control device may determine that the respiratory frequency of the user falls to the first preset frequency interval when it is determined that the respiratory frequency of the user is not less than the minimum frequency value of the first preset frequency interval and not greater than the maximum frequency value of the first preset frequency interval.
Step 123, if the respiratory rate of the user falls to the first preset frequency interval, determining that the user enters a sleep state.
According to the embodiment of the invention, on the premise that the trend of shifting to the sleep state exists in the user is determined, whether the user enters the sleep state or not is further determined according to the breathing frequency, so that the situation that the breathing frequency is directly in the first preset frequency interval due to other conditions such as special physique of the user can be effectively avoided, misjudgment is further caused, and the detection accuracy of the sleep state of the user during moxibustion is further improved.
Specifically, the minimum frequency value of the first preset frequency interval is greater than 15 times/min, and the maximum frequency value of the first preset frequency interval is less than 20 times/min. According to the technical scheme, the numerical range of the first preset frequency interval is adopted, so that the first preset frequency interval is higher than the upper limit of normal breathing frequency of an adult and lower than the lower limit of breathing frequency of shortness of breath of the adult, and therefore the breathing frequency characteristics of a user during moxibustion are matched, and the accuracy of judging the sleeping state of the user during moxibustion is improved.
If it is determined that any one of the variation trend of the respiratory rate and the variation trend of the respiratory intensity is not a falling trend; or if the breathing frequency of the user does not drop to the first preset frequency interval, determining that the user does not enter a sleep state. At this time, the control device can control the smoke outlet of the moxibustion head to be inactive, maintain the current aperture of the smoke outlet, maintain the smoke range of the smoke outlet and maintain the current smoke temperature discharged by the moxibustion outlet.
In practical applications, it is found that the moxibustion robot system exists among users of the audience, for example: the breathing frequency of users in special groups such as obesity is far more than 20 times/min due to the body type, so that the sleep state of the users in special groups cannot be effectively detected even if the breathing parameter detection is adopted. For this problem, before step S100 of determining whether the user enters a sleep state, the moxibustion robot system control method further includes:
acquiring environmental sound;
determining whether snoring exists in the environmental sound according to the acquired environmental sound;
if the snore exists in the environmental sound, determining that the user enters a sleep state;
if it is determined that no snore exists in the environmental sound, it is determined that the user does not enter a sleep state.
In this embodiment, a microphone is disposed in the moxibustion robot system, and the microphone may collect sounds in the environment and output an environmental audio signal in the form of an electrical signal to the control device, so that the control device may perform analysis processing on the audio signal after converting the audio signal into a digital signal to determine whether there is a snore audio component representing snore in the environmental audio signal. Specifically, if it is determined that the snore audio component exists in the environmental audio signal, it is determined that the snore exists in the environmental sound, and the user enters a sleep state; if the snore audio component does not exist in the environment audio signal, the snore does not exist in the environment sound, and the user does not enter a sleep state.
It should be noted that, in the embodiment of the present invention, the priority of the result of determining that the user enters the sleep state according to the snore detection is higher than the priority of the result of determining that the user enters the sleep state according to the breathing parameter detection. The method comprises the following steps: if the user is determined to enter the sleep state according to the acquired breathing parameters and the acquired environmental sound, determining that the user enters the sleep state; if the user is determined not to enter the sleep state according to the acquired breathing parameters and the environmental sound, the user is determined not to enter the sleep state; if the user is determined to not enter the sleep state according to the acquired breathing parameters, and the user is determined to enter the sleep state according to the acquired environmental sound, the user is determined to enter the sleep state; if the user is determined to enter the sleep state according to the acquired breathing parameters and the user is determined not to enter the sleep state according to the acquired environmental sound, the user is determined to enter the sleep state.
By the arrangement, because the special group users often have snore after entering the sleep state, the embodiment of the invention determines whether the users enter the sleep state or not through snore detection, and is beneficial to improving the detection precision of the moxibustion robot system for the sleep state of the special group users such as obesity during moxibustion.
Similarly, because relevant physiological parameters (blood oxygen, blood pressure and heart rate) of moxibustion of different users have extremely large differences, the accuracy of wake-up detection of users in moxibustion by adopting blood oxygen, blood pressure and heart rate parameter detection is also extremely low, and therefore, a detection scheme capable of effectively carrying out wake-up detection on the users when the users are subjected to moxibustion is also needed in the field.
Step S200 of determining whether the user has a wake-up trend, specifically:
and determining whether the user has a wakeup trend according to the breathing parameters of the user.
The control means may also determine whether the user has a wake up trend based on the breathing parameters of the user. Because the breathing parameters of the user can be changed along with the transition state when the user enters the wake-up state, and the user is not influenced by the moxibustion process in the stage to become irregularly and circularly, the technical scheme of the invention realizes the wake-up detection of the user during the moxibustion by adopting the breathing parameters, and compared with the detection of blood oxygen, blood pressure and heart rate parameters, the invention can effectively improve the accuracy of the wake-up detection of the user during the moxibustion.
Optionally, referring to fig. 3, the respiratory parameters include a respiratory rate parameter and a respiratory intensity parameter;
determining whether the user has a wakeup trend according to the breathing parameters of the user, wherein the step comprises the following steps:
step S210, determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
in this embodiment, the determination manner of the variation trend of the respiratory rate and the variation trend of the respiratory intensity can refer to step S210, which is not described herein.
Step S220, determining whether the user has a wake-up trend according to the respiratory rate parameter, the respiratory rate change trend and the respiratory intensity change trend of the user.
Optionally, the step S220 of determining whether the user has a wake up trend according to the respiratory rate parameter, the respiratory rate variation trend, and the respiratory intensity variation trend of the user includes:
step S221, determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both rising trends;
it should be noted that, although the respiratory rate of the user is faster than that of the user without moxibustion, and the respiratory intensity of the user is stronger than that of the user without moxibustion, when the user is in a state of moxibustion, the variation trend of the respiratory rate and the variation trend of the respiratory intensity of the user are both steady trends. When the user is in the transition state from the sleep state, that is, when there is a wake-up trend, the variation trend of the respiratory rate and the respiratory intensity of the user is changed from the steady trend to the ascending trend, so that whether the user has the wake-up trend during the moxibustion can be determined by executing step S221.
The embodiment of the invention jointly judges whether the user has the awakening trend by adopting the variation trend of the breathing frequency and the breathing intensity, and is beneficial to improving the detection accuracy of the awakening trend of the user during moxibustion compared with the variation trend of the single breathing frequency or the single breathing intensity.
Step S222, if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both rising trends, determining that the user has a wakeup trend.
Alternatively, if one of the trend of the variation in the respiratory frequency and the trend of the variation in the respiratory intensity is not an upward trend, it is determined that the user does not have an awake state. At this time, the control device can control the smoke outlet of the moxibustion head to be inactive, maintain the current aperture of the smoke outlet, maintain the smoke range of the smoke outlet and maintain the current smoke temperature discharged by the moxibustion outlet.
In addition, because the embodiment of the invention adopts the breathing parameter detection scheme for sleep detection and wake-up detection, a special wake-up detection module is not required to be arranged, and the design cost of the moxibustion robot system is reduced.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. A moxibustion robot system control method, characterized in that the moxibustion robot system control method comprises:
determining whether the user enters a sleep state;
if the user is determined to enter a sleep state, determining whether the user has a wakeup trend;
if the user is determined to have a wake-up trend, controlling the moxibustion robot to execute a first preset action set, wherein the first preset action set comprises: the smoke outlet of the moxibustion head is controlled to shorten the preset distance back to the user so as to reduce the aperture of the smoke outlet, correspondingly improve the smoke discharge range of the smoke outlet and correspondingly improve the smoke temperature discharged by the moxibustion outlet.
2. The moxibustion robotic system control method of claim 1, wherein prior to the step of determining whether the user enters a sleep state, the moxibustion robotic system control method further comprises:
acquiring breathing parameters of a user;
the step of determining whether the user enters a sleep state specifically comprises:
according to the breathing parameters of the user, whether the user enters a sleep state is determined.
3. The moxibustion robotic system control method of claim 2, wherein the breathing parameters include a breathing frequency parameter and a breathing intensity parameter;
determining whether the user enters a sleep state according to the breathing parameters of the user, wherein the step comprises the following steps:
determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
and determining whether the user enters a sleep state according to the breathing frequency parameter of the user, the variation trend of the breathing frequency and the variation trend of the breathing intensity.
4. The moxibustion robot system control method according to claim 3, wherein the step of determining whether the user enters a sleep state according to the breathing frequency parameter of the user, the variation trend of the breathing frequency, and the variation trend of the breathing intensity comprises:
determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both downward trends;
if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both decreasing trends, determining whether the breathing frequency of the user decreases to a first preset frequency interval;
and if the breathing frequency of the user is reduced to a first preset frequency interval, determining that the user enters a sleep state.
5. The method for controlling a moxibustion robot system according to claim 4, wherein the minimum frequency value of the first preset frequency interval is greater than 15 times/min, and the maximum frequency value of the first preset frequency interval is less than 20 times/min.
6. The moxibustion robot system control method according to claim 4, wherein if it is determined that any one of the trend of the breathing frequency and the trend of the breathing intensity is not a downward trend; or if the breathing frequency of the user does not drop to the first preset frequency interval, determining that the user does not enter a sleep state.
7. The moxibustion robotic system control method of any one of claims 2-6, wherein prior to the step of determining whether the user enters a sleep state, the moxibustion robotic system control method further comprises:
acquiring environmental sound;
determining whether snoring exists in the environmental sound according to the acquired environmental sound;
if the snore exists in the environmental sound, determining that the user enters a sleep state;
if it is determined that no snore exists in the environmental sound, it is determined that the user does not enter a sleep state.
8. The moxibustion robot system control method according to claim 2, wherein the step of determining whether the user has a wake-up trend is specifically:
and determining whether the user has a wakeup trend according to the breathing parameters of the user.
9. The moxibustion robotic system control method of claim 8, wherein the breathing parameters include a breathing frequency parameter and a breathing intensity parameter;
determining whether the user has a wakeup trend according to the breathing parameters of the user, wherein the step comprises the following steps:
determining the variation trend of the breathing frequency of the user according to the breathing frequency parameter of the user, and determining the variation trend of the breathing intensity of the user according to the breathing intensity parameter of the user;
and determining whether the user has a wakeup trend according to the breathing frequency parameter of the user, the variation trend of the breathing frequency and the variation trend of the breathing intensity.
10. The moxibustion robot system control method according to claim 9, wherein the step of determining whether the user has a wakeup trend according to the breathing frequency parameter of the user, the variation trend of the breathing frequency, and the variation trend of the breathing intensity, comprises:
determining whether the variation trend of the respiratory frequency and the variation trend of the respiratory intensity are both rising trends;
if the variation trend of the breathing frequency and the variation trend of the breathing intensity are both rising trends, determining that the user has a wakeup trend.
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