Design and Research of Mobile Moxibustion Robot Based on AprilTag

Moxibustion is a traditional Chinese medical therapy, which has a good effect on preventing and treating diseases. However, the traditional moxibustion method has problems such as extended time and repetitive labor. Therefore, a mobile moxibustion robot system has been designed and constructed in this paper, which can autonomously navigate indoors and simulate manual moxibustion therapy. The functional requirements of the mobile moxibustion robot were initially analyzed, and the overall system scheme was designed. Subsequently, a localization and navigation scheme based on AprilTag technology was proposed for the autonomous movement function of the moxibustion robot. For the moxibustion treatment function, an acupoint localization scheme based on visual recognition was proposed. Finally, moxibustion robot localization and navigation and moxibustion experiments were conducted to verify the practical efficacy and application value of the mobile moxibustion robot designed in this paper.