CN116570501A - Moxibustion device control method and device, electronic equipment and medium - Google Patents

Moxibustion device control method and device, electronic equipment and medium Download PDF

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CN116570501A
CN116570501A CN202310842926.4A CN202310842926A CN116570501A CN 116570501 A CN116570501 A CN 116570501A CN 202310842926 A CN202310842926 A CN 202310842926A CN 116570501 A CN116570501 A CN 116570501A
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moxibustion
head
image
preset
region
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CN116570501B (en
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林风杰
杜世贵
邱锦冰
庄伟�
郑志皇
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Shenzhen Pushuo Health Culture Technology Co ltd
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Shenzhen Pushuo Health Culture Technology 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • 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
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • 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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  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

A moxibustion device control method, a device, an electronic device and a computer readable storage medium, wherein the moxibustion device control method comprises the following steps: when the moxibustion head of the moxibustion device reaches the coordinates of a target acupoint of a moxibustion object, acquiring an image of the moxibustion surface of the moxibustion object; selecting a region of interest according to the geometric center of the image of the moxibustion surface to obtain an image of the region of interest; determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the image of the region of interest; if the moxibustion device does not exist, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance from the moxibustion surface; detecting moxibustion distances between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object. The control method, the control device, the electronic equipment and the computer readable storage medium of the moxibustion device can timely and accurately adjust the moxibustion head of the moxibustion device.

Description

Moxibustion device control method and device, electronic equipment and medium
Technical Field
The embodiment of the application relates to the technical field of system control, in particular to a moxibustion device control method, a device, electronic equipment and a computer readable storage medium.
Background
Moxibustion is a physiotherapy mode that uses more, when the moxa-moxibustion, generally need medical personnel to observe and adjust the angle of moxibustion device's moxibustion head through modes such as remote sensing interval in the moxa-moxibustion in-process to make the moxa-moxibustion effect better, but this kind of mode consumes time and manpower, and the inefficiency, and medical personnel often have other things to do, can not in time adjust, therefore also can influence the effect of moxa-moxibustion.
Disclosure of Invention
The embodiment of the application provides a control method and device of a moxibustion device, electronic equipment and a computer readable storage medium, which can realize the aim of timely and accurately adjusting a moxibustion head of the moxibustion device.
In one aspect, the embodiment of the application provides a control method of a moxibustion device, which comprises the following steps:
when a moxibustion head of the moxibustion device reaches the coordinates of a target acupoint of a moxibustion object, acquiring an image of the moxibustion surface of the moxibustion object;
selecting an interested region according to the geometric center of the image of the moxibustion surface to obtain an interested region image;
determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image;
if the moxibustion surface of the moxibustion object does not have the preset attachments, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface;
Detecting a plurality of edge points on the surface of a moxibustion head of the moxibustion device and moxibustion distances on the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object.
Optionally, the determining whether the moxibustion surface of the moxibustion object has a preset attachment by performing image recognition on the region of interest image includes:
identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
if the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
If the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
Optionally, the detecting the moxibustion distance between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface includes:
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a first distance measuring method to obtain a first distance result;
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a second distance measuring method to obtain a second distance result;
and determining moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result.
Optionally, a distance sensor is installed to the moxibustion head of moxibustion device, detect through a first range finding method a plurality of edge points on the moxibustion head surface of the moxibustion head of moxibustion device with the distance on moxibustion surface obtains first distance result, includes:
The distance between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface is detected by the distance sensor on the moxibustion head of the moxibustion device.
Optionally, the detecting, by the second ranging method, a distance between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface includes:
and detecting the distance between a plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface through a double-shot ranging algorithm.
Optionally, after the determining whether the moxibustion surface of the moxibustion object has the preset attachments, the method further includes:
if a preset attachment exists on the moxibustion surface of the moxibustion object, the operations of detecting the moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances are directly executed, so that the moxibustion head surface is parallel to the moxibustion surface of the moxibustion object.
In one aspect, an embodiment of the present application further provides a control device for a moxibustion device, including:
the image acquisition module is used for acquiring an image of the moxibustion surface of the moxibustion object when the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of the moxibustion object;
The region of interest acquisition module is used for selecting a region of interest according to the geometric center of the image of the moxibustion surface to obtain a region of interest image;
the identification module is used for determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not through image identification of the region of interest image;
the first control module is used for controlling the moxibustion head of the moxibustion device to move towards the direction of reducing the distance between the moxibustion head and the moxibustion surface if the moxibustion surface of the moxibustion object does not have preset attachments;
the second control module is used for detecting the moxibustion distance between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distance so as to enable the moxibustion head surface to be parallel to the moxibustion surface of the moxibustion object.
Optionally, the identification module is specifically configured to:
identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
If the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
if the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
An aspect of an embodiment of the present application further provides an electronic device, including: a memory and a processor; the memory stores executable program code; the processor coupled to the memory invokes the executable program code stored in the memory to execute the moxibustion device control method as provided in the above embodiment.
In one aspect, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a control method of a moxibustion device provided in the foregoing embodiment.
As can be seen from the above embodiments of the present application, an image of a moxibustion surface of a moxibustion object is obtained when a moxibustion head of a moxibustion device reaches coordinates of a target acupoint of the moxibustion object; selecting an interested region according to the geometric center of the image of the moxibustion surface to obtain an interested region image; determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image; if the moxibustion surface of the moxibustion object does not have the preset attachments, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface; detecting a plurality of edge points on the surface of a moxibustion head of the moxibustion device and moxibustion distances on the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object. According to the embodiment of the application, manual operation by a moxibustion applying person is not needed, the angle of the moxibustion head of the moxibustion device can be directly adjusted based on distance measurement, so that the surface of the moxibustion head of the moxibustion device is parallel to the surface of the moxibustion device, the adjustment efficiency and accuracy of the moxibustion device are improved, and the moxibustion effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a flowchart illustrating a control method of a moxibustion device according to an embodiment of the present application;
fig. 2 is a diagram illustrating an example of detecting moxibustion distances between a plurality of edge points of a moxibustion head surface and a moxibustion surface of a moxibustion head of a moxibustion device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device for a moxibustion device according to an embodiment of the present application;
fig. 4 is a schematic hardware structure of an electronic device according to an embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation method of a moxibustion device according to an embodiment of the present application. The method of the embodiment may be applied to an electronic device, which may be a moxibustion device for moxibustion, for example, a moxibustion instrument, a moxibustion device, or a moxibustion robot. As shown in fig. 1, the method specifically includes:
and S11, acquiring an image of a moxibustion surface of the moxibustion object when the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of the moxibustion object.
In this embodiment, the moxibustion device may be a large or small moxibustion instrument, a moxibustion device or a moxibustion robot. The moxibustion head of the moxibustion device is a container for placing moxibustion combustion products, specifically, the moxibustion head of the moxibustion device can be a cylindrical container, the cylindrical container comprises two ends (top end and bottom end), each end is a plane, specifically, one plane can be in a sealing state, one plane is in an opening state and/or a semi-sealing state (such as sealing by using a circular cover with a plurality of holes), the moxibustion combustion products (such as moxa sticks or moxa) can be placed in the cylindrical container, and one end of the cylindrical container is opposite to the moxibustion surface of the moxibustion object when the moxibustion combustion products are burnt, so that the purpose of moxibustion is realized.
In this embodiment, the moxibustion object refers to an object that is being subjected to moxibustion using the moxibustion device, for example, a moxibustion object is a user who is being subjected to moxibustion. At Ai Jiushi, the moxibustion device is spaced apart from the moxibustion surface of the moxibustion object in a vertical direction or in a horizontal direction. For example, the moxibustion device is directly above the moxibustion surface of the moxibustion object.
The target acupoint of the moxibustion object refers to the selected moxibustion acupoint when the moxibustion object is subjected to moxibustion. Specifically, the target acupoint of the moxibustion object may be determined after identifying a preset moxibustion scheme (the moxibustion scheme includes moxibustion acupoints). The target coordinates of the moxibustion object may be calculated according to characteristics such as the shape of the moxibustion object, or the target coordinates of the moxibustion object may be preset.
In this embodiment, the condition that the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of the moxibustion object includes both the condition that the coordinates of the moxibustion head of the moxibustion device are completely consistent with the coordinates of the target acupoint of the moxibustion object, and the condition that the coordinates of the moxibustion head of the moxibustion device and the coordinates of the target acupoint of the moxibustion object are smaller than a preset coordinate deviation, where the preset coordinate deviation may be a preset value. When the coordinate of the moxibustion head of the moxibustion device and the coordinate of the target acupoint of the moxibustion object are smaller than the preset coordinate deviation, the position difference between the moxibustion head of the moxibustion device and the moxibustion surface of the moxibustion object in the horizontal direction is not large.
In this embodiment, the image of the moxibustion surface of the moxibustion object may be obtained by the camera of the moxibustion device, or may be obtained by other cameras in the current environment (such as the current room) during moxibustion.
In this embodiment, the moxibustion surface refers to a surface of a target acupoint of a moxibustion object, for example, a skin surface of an acupoint (e.g., a large vertebral acupoint) of a moxibustion user.
And step S12, selecting a region of interest according to the geometric center of the image of the moxibustion surface to obtain an image of the region of interest.
In this embodiment, the geometric center of the image of the moxibustion surface refers to the center of the image. For example, if the captured image is square, the region of interest is selected based on the center of the diagonal of the square, or if the captured image is rectangular, the region of interest is selected based on the center of the diagonal of the rectangle.
Specifically, selecting a region of interest according to the geometric center of an image of the moxibustion surface to obtain an image of the region of interest, including: taking the geometric center of the image of the moxibustion surface as the center, intercepting a geometric figure (such as square or rectangle) with the length smaller than the preset length and the width smaller than the preset width, determining the area corresponding to the geometric figure as an interested area, and acquiring the image of the interested area as an interested area image.
The preset length and the preset width may be preset, and the values of the preset length and the preset width are smaller than the radius of the moxibustion head, or the values of the preset length and the preset width are smaller than one half of the side length of the moxibustion head, for example, the preset length is 3mm, the preset width is 2mm or the preset width is 3mm.
In this embodiment, the obtained region of interest is a region smaller than the area of the moxibustion head. For example, the area of the region of interest is less than one half the area of the moxibustion head. Therefore, the speed and efficiency of image processing can be improved while ensuring the validity of the image (i.e., the image contains sufficiently rich information that can be used for image recognition).
And step S13, determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image.
In this embodiment, the image recognition may be performed on the region of interest by using a target detection algorithm (such as YOLO algorithm or fast R-CNN algorithm) to determine whether a preset attachment exists in the image of the region of interest.
Specifically, the preset attachments can be ginger, chinese herbal medicine or silver needles for acupuncture.
Further, in an optional embodiment of the present invention, the determining whether a preset attachment exists on the moxibustion surface of the moxibustion object by performing image recognition on the region of interest image includes:
Identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
if the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
if the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
In this embodiment, the first image recognition model may be a convolutional neural network model, for example, the first image recognition model is a VGG19 model.
In this embodiment, before detecting whether the first attachment exists in the region of interest image by using the preset first image recognition model, preprocessing may further be included in the region of interest image, for example, adjusting the contrast of the region of interest image.
The specific first image recognition model can be obtained through training. The first image recognition model may be used to recognize whether non-fine objects are present in the image.
In this embodiment, the first attachment is an auxiliary moxibustion object for large-area use such as ginger and Chinese herbal medicine.
In this embodiment, when the first attachment is not present in the region of interest image, it is determined whether the second attachment is present in the region of interest image. Specifically, the second attachment is a fine attachment such as a needle for acupuncture.
Specifically, determining that the imaging quality of the region of interest image meets the preset imaging standard includes determining whether the brightness of the region of interest image meets the preset brightness, or determining whether the noise of the region of interest image is smaller than the preset noise, when the brightness of the region of interest image meets the preset brightness and the noise of the region of interest image is smaller than the preset noise, indicating that the quality of the region of interest image is high, and accurately determining whether the second attachment exists in the region of interest image in an image identification manner.
Further, before judging whether the imaging quality of the region of interest image meets the preset imaging standard, amplifying the region of interest image by preset times, judging whether the imaging quality of the amplified region of interest image meets the preset imaging standard, if so, identifying the amplified region of interest image by an image identification mode.
In this embodiment, the accuracy of image recognition can be improved by amplifying the image of the region of interest and then performing image recognition.
In this embodiment, the second image recognition model may be a model different from the first image recognition model, and the second image recognition model may be used to recognize whether or not a fine object exists in the image. For example, the second image recognition model is a ResNet model (e.g., resNet 152).
In this embodiment, if the imaging quality of the region of interest image does not meet the preset imaging standard, determining whether the second attachment exists on the moxibustion surface according to whether the moxibustion object has a position movement within a preset time.
Specifically, whether the moxibustion object has a position movement or not may be detected by a sensor such as a distance sensor. The preset time may be preset, for example, the preset time is any time within 1 minute to 3 minutes.
In this embodiment, when the first attachment and the second attachment do not exist on the moxibustion surface of the moxibustion object, it is determined that the predetermined attachment does not exist on the moxibustion surface of the moxibustion object, and when the first attachment or the second attachment exists on the moxibustion surface of the moxibustion object, it is determined that the predetermined attachment exists on the moxibustion surface of the moxibustion object.
Because the second attachment is tiny and is not easy to detect, in the embodiment, the second attachment is identified by an image identification method when the imaging quality of the image of the region of interest meets the imaging standard, and is identified by a distance detection method when the imaging quality of the image of the region of interest does not meet the imaging standard, so that whether the second attachment exists on the moxibustion surface of the moxibustion object can be rapidly and accurately determined, and whether the preset attachment exists on the moxibustion surface of the moxibustion object can be accurately determined.
And S14, if no preset attachments exist on the moxibustion surface of the moxibustion object, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface.
For example, when there is no preset attachment on the moxibustion surface of the moxibustion object, if the moxibustion head of the moxibustion device is above the moxibustion object, the moxibustion head is directly controlled to move vertically downwards, so as to reduce the distance between the moxibustion head of the moxibustion device and the moxibustion surface of the moxibustion object.
In this embodiment, the movement may be stopped after a predetermined distance. Furthermore, the temperature sensor (such as an infrared sensor) can be used for detecting the temperature in the moving process, and when the temperature reaches the preset temperature (such as 35 degrees or 38 degrees), the movement is stopped, so that the safety in the moxibustion process is improved.
Specifically, different preset temperatures may be set for users of different users (e.g., different sexes, ages, physical conditions).
Further, in an alternative embodiment of the present invention, if the moxibustion surface of the moxibustion object has a predetermined attachment, the operation of step S15 is directly performed without performing control of the movement of the moxibustion head of the moxibustion device in a direction of decreasing the distance from the moxibustion surface, and the moxibustion head of the moxibustion device is adjusted to avoid danger caused by the fact that the moxibustion head surface of the moxibustion head is too close to the moxibustion surface when the moxibustion surface has an object.
Step S15, detecting the moxibustion distance between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distance so that the surface of the moxibustion head is parallel to the moxibustion surface of the moxibustion object.
In this embodiment, in a case where a moxibustion head of the moxibustion device and a moxibustion object are relatively stationary, a plurality of edge points of a moxibustion head surface of the moxibustion head of the moxibustion device and moxibustion distances of the moxibustion surface are detected.
In this embodiment, the surface of the moxibustion head is the surface of the moxibustion device on the opposite side of the moxibustion head from the moxibustion surface. The detection of the moxibustion distance between the plurality of edge points on the moxibustion head surface and the moxibustion surface of the moxibustion device means that the moxibustion distance between each edge point on the moxibustion head surface and the moxibustion surface of the moxibustion device is detected respectively.
Specifically, the moxibustion distance between a plurality of edge points on the moxibustion head surface of the moxibustion head and the moxibustion surface can be directly measured by the distance sensor.
Further, in an optional embodiment of the present invention, the detecting the moxibustion distance between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface includes:
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a first distance measuring method to obtain a first distance result;
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a second distance measuring method to obtain a second distance result;
and determining moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result.
Further, a distance sensor is installed to the moxibustion head of moxibustion device, detect through a first range finding method a plurality of edge points on the moxibustion head surface of the moxibustion head of moxibustion device with the distance on moxibustion surface obtains first distance result, includes:
the distance between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface is detected by the distance sensor on the moxibustion head of the moxibustion device.
In this embodiment, the first distance result includes the distance between each edge point of the moxibustion head surface and the moxibustion surface, and the second distance result includes the distance between each edge point of the moxibustion head surface and the moxibustion surface.
In an alternative embodiment, each edge of the moxibustion head of the moxibustion device may be provided with a position sensor, so that the moxibustion distances between a plurality of edge points on the surface of the moxibustion head and the moxibustion surface can be directly obtained.
In another alternative embodiment, a position sensor is installed at one edge of the moxibustion head of the moxibustion device, and the moxibustion distance of each edge point of the moxibustion head surface from the moxibustion surface is detected by moving the moxibustion head, where the sensor is installed, in different directions by a certain distance (for example, by moving the distance of the diameter of the moxibustion head to the right).
Further, the detecting, by the second ranging method, the distances between the plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface includes:
and detecting the distance between a plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface through a double-shot ranging algorithm.
Specifically, when a double-shot ranging algorithm is used for detection, position relation diagrams of a moxibustion head and a moxibustion surface of the moxibustion device are obtained through cameras in different directions, and distances between a plurality of edge points of the moxibustion head surface of the moxibustion head and the moxibustion surface are determined through the position relation diagrams.
Further, determining moxibustion distances between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result, including:
and respectively carrying out weighted calculation on the distances between the same edge points in the first distance result and the second distance result and the surface of the moxibustion head to obtain the moxibustion distances between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the surface of the moxibustion head.
For example, the first distance result is a distance A between an edge point A of the moxibustion head surface and the moxibustion surface 1 The second distance result is the distance A between the point A of the edge of the moxibustion head surface and the moxibustion surface 2 Then pair A 1 And A 2 A weighting calculation (for example, the weighting coefficients are 0.5 or 0.4 and 0.6 respectively) is performed, so as to determine the moxibustion distance between the edge point a of the moxibustion head surface and the moxibustion surface as a result of the weighting calculation.
As shown in fig. 2, fig. 2 is an exemplary diagram for detecting moxibustion distances between a plurality of edge points of a moxibustion head surface of a moxibustion head of a moxibustion device and the moxibustion surface.
In FIG. 2, the moxibustion head surface opposite to the moxibustion surface is circular (containing A, B, C, D four points), and the moxibustion surface (having four points of position 1, position 2, position 3, and position 4) is non-horizontal, and then the distance H between the edge A of the moxibustion head surface and the position 1 of the moxibustion surface is detected a Detecting distance H between edge B of moxibustion head surface and moxibustion surface position 2 b Detecting distance H between the edge C of the moxibustion head surface and the position 3 of the moxibustion surface c Detecting distance H between edge D of moxibustion head surface and moxibustion surface position 4 d The angle between the moxibustion head surface (i.e. the surface defined by the four points A, B, C, D) and the moxibustion surface in fig. 2 is calculated according to the 4 distances, and the angle of the moxibustion head is adjusted according to the angle (the change of the moxibustion head causes the change of the moxibustion head surface) so that the moxibustion head surface is parallel to the moxibustion surface of the moxibustion object.
In this embodiment, the moxibustion head may be physically connected to a plurality of mechanical arms, and the moxibustion head may be moved in different directions by moving each mechanical arm, so that when the moxibustion head moves in different directions, the surface of the moxibustion head also changes, thereby achieving the purpose that the surface of the moxibustion head of the moxibustion device is parallel to the surface of the moxibustion object. Through adjusting to moxibustion head surface and moxa-moxibustion object's moxa-moxibustion surface parallel, can make the moxa-moxibustion effect better, and need not artificial adjustment, improve adjustment efficiency.
For example, the moxibustion object is a moxibustion user, the moxibustion surface is the back of the moxibustion object, ai Jiushi is performed on the back, the moxibustion surface is the surface of a large cone hole, the moxibustion surface is not completely horizontal, and the moxibustion head is adjusted according to the distances between a plurality of edge points of the moxibustion head surface and the surface of the large cone hole, so that the moxibustion head surface is parallel to the surface of the large cone hole.
In the embodiment of the application, when the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of a moxibustion object, an image of the moxibustion surface of the moxibustion object is obtained; selecting an interested region according to the geometric center of the image of the moxibustion surface to obtain an interested region image; determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image; if the moxibustion surface of the moxibustion object does not have the preset attachments, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface; detecting a plurality of edge points on the surface of a moxibustion head of the moxibustion device and moxibustion distances on the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object. According to the embodiment of the application, manual operation by a moxibustion applying person is not needed, the angle of the moxibustion head of the moxibustion device can be directly adjusted based on distance measurement, so that the surface of the moxibustion head of the moxibustion device is parallel to the surface of the moxibustion device, the adjustment efficiency and accuracy of the moxibustion device are improved, and the moxibustion effect is improved.
Referring to fig. 3, a schematic structural diagram of a control device for a moxibustion device according to an embodiment of the present application is provided. For convenience of explanation, only portions relevant to the embodiments of the present application are shown. The device may be provided in an electronic apparatus, which may be a moxibustion device for moxibustion, for example a moxibustion instrument, a moxibustion device or a moxibustion robot. The device comprises:
the image acquisition module 301 is configured to acquire an image of a moxibustion surface of a moxibustion object when a moxibustion head of the moxibustion device reaches coordinates of a target acupoint of the moxibustion object.
In this embodiment, the moxibustion device may be a large or small moxibustion instrument, a moxibustion device or a moxibustion robot. The moxibustion head of the moxibustion device is a container for placing moxibustion combustion products, specifically, the moxibustion head of the moxibustion device can be a cylindrical container, the cylindrical container comprises two ends (top end and bottom end), each end is a plane, specifically, one plane can be in a sealing state, one plane is in an opening state and/or a semi-sealing state (such as sealing by using a circular cover with a plurality of holes), the moxibustion combustion products (such as moxa sticks or moxa) can be placed in the cylindrical container, and one end of the cylindrical container is opposite to the moxibustion surface of the moxibustion object when the moxibustion combustion products are burnt, so that the purpose of moxibustion is realized.
In this embodiment, the moxibustion object refers to an object that is being subjected to moxibustion using the moxibustion device, for example, a moxibustion object is a user who is being subjected to moxibustion. At Ai Jiushi, the moxibustion device is spaced apart from the moxibustion surface of the moxibustion object in a vertical direction or in a horizontal direction. For example, the moxibustion device is directly above the moxibustion surface of the moxibustion object.
The target acupoint of the moxibustion object refers to the selected moxibustion acupoint when the moxibustion object is subjected to moxibustion. Specifically, the target acupoint of the moxibustion object may be determined after identifying a preset moxibustion scheme (the moxibustion scheme includes moxibustion acupoints). The target coordinates of the moxibustion object may be calculated according to characteristics such as the shape of the moxibustion object, or the target coordinates of the moxibustion object may be preset.
In this embodiment, the condition that the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of the moxibustion object includes both the condition that the coordinates of the moxibustion head of the moxibustion device are completely consistent with the coordinates of the target acupoint of the moxibustion object, and the condition that the coordinates of the moxibustion head of the moxibustion device and the coordinates of the target acupoint of the moxibustion object are smaller than a preset coordinate deviation, where the preset coordinate deviation may be a preset value. When the coordinate of the moxibustion head of the moxibustion device and the coordinate of the target acupoint of the moxibustion object are smaller than the preset coordinate deviation, the position difference between the moxibustion head of the moxibustion device and the moxibustion surface of the moxibustion object in the horizontal direction is not large.
In this embodiment, the image of the moxibustion surface of the moxibustion object may be obtained by the camera of the moxibustion device, or may be obtained by other cameras in the current environment (such as the current room) during moxibustion.
In this embodiment, the moxibustion surface refers to a surface of a target acupoint of a moxibustion object, for example, a skin surface of an acupoint (e.g., a large vertebral acupoint) of a moxibustion user.
And the region of interest acquisition module 302 is configured to select a region of interest according to the geometric center of the image of the moxibustion surface, and obtain an image of the region of interest.
In this embodiment, the geometric center of the image of the moxibustion surface refers to the center of the image. For example, if the captured image is square, the region of interest is selected based on the center of the diagonal of the square, or if the captured image is rectangular, the region of interest is selected based on the center of the diagonal of the rectangle.
Further, the region of interest acquisition module 302 is specifically configured to: taking the geometric center of the image of the moxibustion surface as the center, intercepting a geometric figure (such as square or rectangle) with the length smaller than the preset length and the width smaller than the preset width, determining the area corresponding to the geometric figure as an interested area, and acquiring the image of the interested area as an interested area image.
The preset length and the preset width may be preset, and the values of the preset length and the preset width are smaller than the radius of the moxibustion head, or the values of the preset length and the preset width are smaller than one half of the side length of the moxibustion head, for example, the preset length is 3mm, the preset width is 2mm or the preset width is 3mm.
In this embodiment, the obtained region of interest is a region smaller than the area of the moxibustion head. For example, the area of the region of interest is less than one half the area of the moxibustion head. Therefore, the speed and efficiency of image processing can be improved while ensuring the validity of the image (i.e., the image contains sufficiently rich information that can be used for image recognition).
The identifying module 303 is configured to determine whether a preset attachment exists on the moxibustion surface of the moxibustion object by performing image identification on the region of interest image.
In this embodiment, the image recognition may be performed on the region of interest by using a target detection algorithm (such as YOLO algorithm or fast R-CNN algorithm) to determine whether a preset attachment exists in the image of the region of interest.
Specifically, the preset attachments can be ginger, chinese herbal medicine or silver needles for acupuncture.
Further, in an alternative embodiment of the present invention, the identification module 303 is specifically configured to:
Identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
if the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
if the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
In this embodiment, the first image recognition model may be a convolutional neural network model, for example, the first image recognition model is a VGG19 model.
In this embodiment, before the detection of whether the first attachment exists in the region of interest image by the preset first image recognition model, the region of interest image may be further preprocessed, for example, the contrast processing of the region of interest image may be adjusted.
The specific first image recognition model can be obtained through training. The first image recognition model may be used to recognize whether non-fine objects are present in the image.
In this embodiment, the first attachment is an auxiliary moxibustion object for large-area use such as ginger and Chinese herbal medicine.
In this embodiment, when the first attachment is not present in the region of interest image, it is determined whether the second attachment is present in the region of interest image. Specifically, the second attachment is a fine attachment such as a needle for acupuncture.
Specifically, determining that the imaging quality of the region of interest image meets the preset imaging standard includes determining whether the brightness of the region of interest image meets the preset brightness, or determining whether the noise of the region of interest image is smaller than the preset noise, when the brightness of the region of interest image meets the preset brightness and the noise of the region of interest image is smaller than the preset noise, indicating that the quality of the region of interest image is high, and accurately determining whether the second attachment exists in the region of interest image in an image identification manner.
Further, before judging whether the imaging quality of the region of interest image meets the preset imaging standard, amplifying the region of interest image by preset times, judging whether the imaging quality of the amplified region of interest image meets the preset imaging standard, if so, identifying the amplified region of interest image by an image identification mode.
In this embodiment, the accuracy of image recognition can be improved by amplifying the image of the region of interest and then performing image recognition.
In this embodiment, the second image recognition model may be a model different from the first image recognition model, and the second image recognition model may be used to recognize whether or not a fine object exists in the image. For example, the second image recognition model is a ResNet model (e.g., resNet 152).
In this embodiment, if the imaging quality of the region of interest image does not meet the preset imaging standard, determining whether the second attachment exists on the moxibustion surface according to whether the moxibustion object has a position movement within a preset time.
Specifically, whether the moxibustion object has a position movement or not may be detected by a sensor such as a distance sensor. The preset time may be preset, for example, the preset time is any time within 1 minute to 3 minutes.
In this embodiment, when the first attachment and the second attachment do not exist on the moxibustion surface of the moxibustion object, it is determined that the predetermined attachment does not exist on the moxibustion surface of the moxibustion object, and when the first attachment or the second attachment exists on the moxibustion surface of the moxibustion object, it is determined that the predetermined attachment exists on the moxibustion surface of the moxibustion object.
Because the second attachment is tiny and is not easy to detect, in the embodiment, the second attachment is identified by an image identification method when the imaging quality of the image of the region of interest meets the imaging standard, and is identified by a distance detection method when the imaging quality of the image of the region of interest does not meet the imaging standard, so that whether the second attachment exists on the moxibustion surface of the moxibustion object can be rapidly and accurately determined, and whether the preset attachment exists on the moxibustion surface of the moxibustion object can be accurately determined.
The first control module 304 is configured to control the moxibustion head of the moxibustion device to move in a direction in which a distance between the moxibustion head and the moxibustion surface decreases if no preset attachment exists on the moxibustion surface of the moxibustion object.
For example, when there is no preset attachment on the moxibustion surface of the moxibustion object, if the moxibustion head of the moxibustion device is above the moxibustion object, the moxibustion head is directly controlled to move vertically downwards, so as to reduce the distance between the moxibustion head of the moxibustion device and the moxibustion surface of the moxibustion object.
In this embodiment, the movement may be stopped after a predetermined distance. Furthermore, the temperature sensor (such as an infrared sensor) can be used for detecting the temperature in the moving process, and when the temperature reaches the preset temperature (such as 35 degrees or 38 degrees), the movement is stopped, so that the safety in the moxibustion process is improved.
Specifically, different preset temperatures may be set for users of different users (e.g., different sexes, ages, physical conditions).
Further, in an alternative embodiment of the present invention, if a predetermined attachment exists on the moxibustion surface of the moxibustion object, the control of the movement of the moxibustion head of the moxibustion device in the direction of decreasing the distance from the moxibustion surface is not performed, and the moxibustion head of the moxibustion device is directly adjusted, so as to avoid the danger caused by the fact that the moxibustion head surface of the moxibustion head is too close to the moxibustion surface when the moxibustion surface has articles.
And a second control module 305, configured to detect a moxibustion distance between a plurality of edge points on a moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface, and adjust an angle of the moxibustion head of the moxibustion device according to the moxibustion distance, so that the moxibustion head surface is parallel to the moxibustion surface of the moxibustion object.
In this embodiment, in a case where a moxibustion head of the moxibustion device and a moxibustion object are relatively stationary, a plurality of edge points of a moxibustion head surface of the moxibustion head of the moxibustion device and moxibustion distances of the moxibustion surface are detected.
In this embodiment, the surface of the moxibustion head is the surface of the moxibustion device on the opposite side of the moxibustion head from the moxibustion surface. The detection of the moxibustion distance between the plurality of edge points on the moxibustion head surface and the moxibustion surface of the moxibustion device means that the moxibustion distance between each edge point on the moxibustion head surface and the moxibustion surface of the moxibustion device is detected respectively.
Specifically, the moxibustion distance between a plurality of edge points on the moxibustion head surface of the moxibustion head and the moxibustion surface can be directly measured by the distance sensor.
Further, in an alternative embodiment of the present invention, a moxibustion distance between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface is detected by performing the following operations:
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a first distance measuring method to obtain a first distance result;
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a second distance measuring method to obtain a second distance result;
and determining moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result.
Further, a distance sensor is mounted on the moxibustion head of the moxibustion device, the following operations are performed to detect distances between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface by a first distance measuring method, and a first distance result is obtained:
the distance between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface is detected by the distance sensor on the moxibustion head of the moxibustion device.
In this embodiment, the first distance result includes the distance between each edge point of the moxibustion head surface and the moxibustion surface, and the second distance result includes the distance between each edge point of the moxibustion head surface and the moxibustion surface.
In an alternative embodiment, each edge of the moxibustion head of the moxibustion device may be provided with a position sensor, so that the moxibustion distances between a plurality of edge points on the surface of the moxibustion head and the moxibustion surface can be directly obtained.
In another alternative embodiment, a position sensor is installed at one edge of the moxibustion head of the moxibustion device, and the moxibustion distance of each edge point of the moxibustion head surface from the moxibustion surface is detected by moving the moxibustion head, where the sensor is installed, in different directions by a certain distance (for example, by moving the distance of the diameter of the moxibustion head to the right).
Further, the following operations are performed to detect distances between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface by a second ranging method:
and detecting the distance between a plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface through a double-shot ranging algorithm.
Specifically, when a double-shot ranging algorithm is used for detection, position relation diagrams of a moxibustion head and a moxibustion surface of the moxibustion device are obtained through cameras in different directions, and distances between a plurality of edge points of the moxibustion head surface of the moxibustion head and the moxibustion surface are determined through the position relation diagrams.
Further, the following operations are performed to determine moxibustion distances between a plurality of edge points of a moxibustion head surface of a moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result:
and respectively carrying out weighted calculation on the distances between the same edge points in the first distance result and the second distance result and the surface of the moxibustion head to obtain the moxibustion distances between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the surface of the moxibustion head.
For example, the first distance result is a distance A between an edge point A of the moxibustion head surface and the moxibustion surface 1 The second distance result is the distance A between the point A of the edge of the moxibustion head surface and the moxibustion surface 2 Then pair A 1 And A 2 A weighting calculation (for example, the weighting coefficients are 0.5 or 0.4 and 0.6 respectively) is performed, so as to determine the moxibustion distance between the edge point a of the moxibustion head surface and the moxibustion surface as a result of the weighting calculation.
As shown in fig. 2, fig. 2 is an exemplary diagram for detecting moxibustion distances between a plurality of edge points of a moxibustion head surface of a moxibustion head of a moxibustion device and the moxibustion surface.
In FIG. 2, the moxibustion head surface opposite to the moxibustion surface is circular (containing A, B, C, D four points), and the moxibustion surface (having four points of position 1, position 2, position 3, and position 4) is non-horizontal, and then the distance H between the edge A of the moxibustion head surface and the position 1 of the moxibustion surface is detected a Edge for detecting surface of moxibustion headDistance H between edge B and moxibustion surface position 2 b Detecting distance H between the edge C of the moxibustion head surface and the position 3 of the moxibustion surface c Detecting distance H between edge D of moxibustion head surface and moxibustion surface position 4 d The angle between the moxibustion head surface (i.e. the surface defined by the four points A, B, C, D) and the moxibustion surface in fig. 2 is calculated according to the 4 distances, and the angle of the moxibustion head is adjusted according to the angle (the change of the moxibustion head causes the change of the moxibustion head surface) so that the moxibustion head surface is parallel to the moxibustion surface of the moxibustion object.
In this embodiment, the moxibustion head may be physically connected to a plurality of mechanical arms, and the moxibustion head may be moved in different directions by moving each mechanical arm, so that when the moxibustion head moves in different directions, the surface of the moxibustion head also changes, thereby achieving the purpose that the surface of the moxibustion head of the moxibustion device is parallel to the surface of the moxibustion object. Through adjusting to moxibustion head surface and moxa-moxibustion object's moxa-moxibustion surface parallel, can make the moxa-moxibustion effect better, and need not artificial adjustment, improve adjustment efficiency.
For example, the moxibustion object is a moxibustion user, the moxibustion surface is the back of the moxibustion object, ai Jiushi is performed on the back, the moxibustion surface is the surface of a large cone hole, the moxibustion surface is not completely horizontal, and the moxibustion head is adjusted according to the distances between a plurality of edge points of the moxibustion head surface and the surface of the large cone hole, so that the moxibustion head surface is parallel to the surface of the large cone hole.
In the embodiment of the application, when the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of a moxibustion object, an image of the moxibustion surface of the moxibustion object is obtained; selecting an interested region according to the geometric center of the image of the moxibustion surface to obtain an interested region image; determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image; if the moxibustion surface of the moxibustion object does not have the preset attachments, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface; detecting a plurality of edge points on the surface of a moxibustion head of the moxibustion device and moxibustion distances on the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object. According to the embodiment of the application, manual operation by a moxibustion applying person is not needed, the angle of the moxibustion head of the moxibustion device can be directly adjusted based on distance measurement, so that the surface of the moxibustion head of the moxibustion device is parallel to the surface of the moxibustion device, the adjustment efficiency and accuracy of the moxibustion device are improved, and the moxibustion effect is improved.
Referring to fig. 4, a hardware structure of an electronic device according to an embodiment of the present application is shown.
By way of example, the electronic device may be any of a variety of types of computer system devices that are mobile or portable and that perform wireless communications. Specifically, the electronic device may be a moxibustion device for moxibustion, for example, a moxibustion instrument, a moxibustion device or a moxibustion robot.
The electronic device may also be any of a number of electronic devices that, in some cases, may perform a variety of functions (e.g., playing music, displaying video, storing pictures, and receiving and sending telephone calls).
As shown in fig. 4, the electronic device 10 may include control circuitry that may include storage and processing circuitry 30. The storage and processing circuitry 30 may include memory, such as hard drive memory, non-volatile memory (e.g., flash memory or other electronically programmable limited delete memory used to form solid state drives, etc.), volatile memory (e.g., static or dynamic random access memory, etc.), and the like, as embodiments of the present application are not limited. Processing circuitry in the storage and processing circuitry 30 may be used to control the operation of the electronic device 10. The processing circuitry may be implemented based on one or more microprocessors, microcontrollers, digital signal processors, baseband processors, power management units, audio codec chips, application specific integrated circuits, display driver integrated circuits, and the like.
The storage and processing circuitry 30 may be used to run software in the electronic device 10, such as internet browsing applications, voice over internet protocol (Voice over Internet Protocol, VOIP) telephone call applications, email applications, media playing applications, operating system functions, and the like. Such software may be used to perform some control operations, such as image acquisition based on a camera, ambient light measurement based on an ambient light sensor, proximity sensor measurement based on a proximity sensor, information display functions implemented based on status indicators such as status indicators of light emitting diodes, touch event detection based on a touch sensor, functions associated with displaying information on multiple (e.g., layered) displays, operations associated with performing wireless communication functions, operations associated with collecting and generating audio signals, control operations associated with collecting and processing button press event data, and other functions in electronic device 10, to name a few.
Further, the memory stores executable program codes, and the processor coupled to the memory calls the executable program codes stored in the memory to execute the moxibustion device control method as described in the embodiment shown in fig. 1.
Wherein the executable program code comprises various modules in the moxibustion device control device as described in the embodiment shown in fig. 3 above, for example: the device comprises an image acquisition module, a region of interest acquisition module, an identification module, a first control module and a second control module.
The electronic device 10 may also include input-output circuitry 42. The input-output circuit 42 is operable to enable the electronic device 10 to input and output data, i.e., to allow the electronic device 10 to receive data from an external device and also to allow the electronic device 10 to output data from the electronic device 10 to an external device. The input-output circuit 42 may further include a sensor 32. The sensors 32 may include ambient light sensors, proximity sensors based on light and capacitance, touch sensors (e.g., based on light touch sensors and/or capacitive touch sensors, where the touch sensors may be part of a touch display screen or may be used independently as a touch sensor structure), acceleration sensors, and other sensors, among others.
The input-output circuitry 42 may also include one or more displays, such as the display 14. The display 14 may comprise one or a combination of several of a liquid crystal display, an organic light emitting diode display, an electronic ink display, a plasma display, and a display using other display technologies. The display 14 may include an array of touch sensors (i.e., the display 14 may be a touch screen display). The touch sensor may be a capacitive touch sensor formed of an array of transparent touch sensor electrodes, such as Indium Tin Oxide (ITO) electrodes, or may be a touch sensor formed using other touch technologies, such as acoustic wave touch, pressure sensitive touch, resistive touch, optical touch, etc., as embodiments of the application are not limited.
The electronic device 10 may also include an audio component 36. Audio component 36 may be used to provide audio input and output functionality for electronic device 10. The audio components 36 in the electronic device 10 may include speakers, microphones, buzzers, tone generators, and other components for generating and detecting sound.
Communication circuitry 38 may be used to provide electronic device 10 with the ability to communicate with external devices. The communication circuitry 38 may include analog and digital input/output interface circuitry, and wireless communication circuitry based on radio frequency signals and/or optical signals. The wireless communication circuitry in the communication circuitry 38 may include radio frequency transceiver circuitry, power amplifier circuitry, low noise amplifiers, switches, filters, and antennas. For example, the wireless communication circuitry in the communication circuitry 38 may include circuitry for supporting near field communication (Near Field Communication, NFC) by transmitting and receiving near field coupled electromagnetic signals. For example, the communication circuit 38 may include a near field communication antenna and a near field communication transceiver. The communication circuitry 38 may also include a cellular telephone transceiver and antenna, a wireless local area network transceiver circuit and antenna, and the like.
The electronic device 10 may further include a battery, power management circuitry, and other input-output units 40. The input output unit 40 may include buttons, levers, click wheels, scroll wheels, touch pads, keypads, keyboards, cameras, light emitting diodes, and other status indicators, etc.
A user may control the operation of the electronic device 10 by inputting commands through the input output circuit 42, and may use output data of the input output circuit 42 to effect receipt of status information and other outputs from the electronic device 10.
Further, the embodiment of the present invention further provides a computer readable storage medium, which may be provided in the electronic device in the above embodiments, and the computer readable storage medium may be a memory in the storage and processing circuit 30 in the embodiment shown in fig. 3. The computer readable storage medium stores a computer program which, when executed by a processor, implements the moxibustion device control method described in the embodiment shown in fig. 1. Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing describes a method, apparatus and computer readable storage medium for controlling a moxibustion device according to the present invention, and those skilled in the art should not understand the present invention to limit the scope of the present invention.

Claims (10)

1. A method for controlling a moxibustion device, the method comprising:
when a moxibustion head of the moxibustion device reaches the coordinates of a target acupoint of a moxibustion object, acquiring an image of the moxibustion surface of the moxibustion object;
selecting an interested region according to the geometric center of the image of the moxibustion surface to obtain an interested region image;
determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not by carrying out image recognition on the region-of-interest image;
if the moxibustion surface of the moxibustion object does not have the preset attachments, controlling the moxibustion head of the moxibustion device to move in the direction of reducing the distance between the moxibustion head and the moxibustion surface;
Detecting a plurality of edge points on the surface of a moxibustion head of the moxibustion device and moxibustion distances on the surface of the moxibustion device, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances so that the surface of the moxibustion head is parallel to the surface of the moxibustion object.
2. The method according to claim 1, wherein the determining whether a preset attachment exists on the moxibustion surface of the moxibustion object by performing image recognition on the region of interest image comprises:
identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
if the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
If the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
3. The method according to claim 1, wherein said detecting moxibustion distances of a plurality of edge points of a moxibustion head surface of a moxibustion head of said moxibustion device from said moxibustion surface comprises:
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a first distance measuring method to obtain a first distance result;
detecting the distance between a plurality of edge points on the surface of a moxibustion head of the moxibustion device and the moxibustion surface by a second distance measuring method to obtain a second distance result;
and determining moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface according to the first distance result and the second distance result.
4. A method according to claim 3, wherein the moxibustion head of the moxibustion device is provided with a distance sensor, and the detecting the distance between a plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface by the first distance measuring method, to obtain a first distance result, comprises:
the distance between a plurality of edge points on the surface of the moxibustion head of the moxibustion device and the moxibustion surface is detected by the distance sensor on the moxibustion head of the moxibustion device.
5. A method according to claim 3, wherein said detecting the distance of a plurality of edge points of a moxibustion head surface of a moxibustion head of said moxibustion device from said moxibustion surface by a second distance measuring method comprises:
and detecting the distance between a plurality of edge points of the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface through a double-shot ranging algorithm.
6. The method according to any one of claims 1 to 5, wherein after said determining whether a preset deposit exists on a moxibustion surface of said moxibustion object, said method further comprises:
if a preset attachment exists on the moxibustion surface of the moxibustion object, the operations of detecting the moxibustion distances between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distances are directly executed, so that the moxibustion head surface is parallel to the moxibustion surface of the moxibustion object.
7. A moxibustion device control device, characterized in that it comprises:
the image acquisition module is used for acquiring an image of the moxibustion surface of the moxibustion object when the moxibustion head of the moxibustion device reaches the coordinates of the target acupoint of the moxibustion object;
the region of interest acquisition module is used for selecting a region of interest according to the geometric center of the image of the moxibustion surface to obtain a region of interest image;
the identification module is used for determining whether a preset attachment exists on the moxibustion surface of the moxibustion object or not through image identification of the region of interest image;
the first control module is used for controlling the moxibustion head of the moxibustion device to move towards the direction of reducing the distance between the moxibustion head and the moxibustion surface if the moxibustion surface of the moxibustion object does not have preset attachments;
the second control module is used for detecting the moxibustion distance between a plurality of edge points on the moxibustion head surface of the moxibustion head of the moxibustion device and the moxibustion surface, and adjusting the angle of the moxibustion head of the moxibustion device according to the moxibustion distance so as to enable the moxibustion head surface to be parallel to the moxibustion surface of the moxibustion object.
8. The apparatus of claim 7, wherein the identification module is specifically configured to:
Identifying whether a first attachment exists in the image of the region of interest through a preset first image identification model;
if a first attachment exists in the image of the region of interest, determining that a preset attachment exists on the moxibustion surface of the moxibustion object;
if the first attachments do not exist in the region-of-interest image, judging whether the imaging quality of the region-of-interest image meets a preset imaging standard or not;
if the imaging quality of the region-of-interest image meets a preset imaging standard, identifying whether a second attachment exists in the region-of-interest image through a preset second image identification model;
if the imaging quality of the region-of-interest image does not meet a preset imaging standard, judging whether the moxibustion object has position movement in a preset time;
if the moxibustion object does not have position movement within the preset time, determining that a second attachment exists on the moxibustion surface of the moxibustion object, and determining that the preset attachment exists on the moxibustion surface of the moxibustion object;
if the moxibustion object moves in the position within the preset time, determining that the second attachment does not exist on the moxibustion surface of the moxibustion object, and determining that the preset attachment does not exist on the moxibustion surface of the moxibustion object.
9. An electronic device, the electronic device comprising:
a memory and a processor;
the memory stores executable program code;
the processor coupled with the memory, invoking the executable program code stored in the memory, performing the moxibustion device control method according to any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a moxibustion device control method according to any of claims 1 to 6.
CN202310842926.4A 2023-07-11 2023-07-11 Moxibustion device control method and device, electronic equipment and medium Active CN116570501B (en)

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DE102020132699A1 (en) * 2020-12-08 2022-06-09 Feng Chia University HANDHELD AUTOMATIC ACUPUNCTURE POINT STIMULATION SYSTEM
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0731659A (en) * 1993-04-12 1995-02-03 Tokujiro Noritake Curing method by sterilization of colonial bacteria being weak to heat with heat of at least 45×c for at least 60 minutes
CN107080690A (en) * 2017-06-26 2017-08-22 洛阳艾罗德智控技术有限公司 A kind of Intelligent moxibustion machine people and its operating method
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