Abstract: A tool head posture adjustment method and apparatus, and a readable storage medium are disclosed. Distances to laser points are measured by laser distance sensors, and the laser points can construct at least one plane, thereby determining each plane corresponding to a site to be checked; and a comprehensive normal vector of each plane is calculated, and posture parameters of a tool head of a robot are calculated by using a posture expression, thereby adjusting the tool head posture.

Abstract: A tool head posture adjustment method and apparatus, and a readable storage medium are disclosed. Distances to laser points are measured by means of laser distance sensors, and the laser points can construct at least one plane, thereby determining each plane corresponding to a site to be checked; and a comprehensive normal vector of each plane is calculated, and posture parameters of a tool head of a robot are calculated by using a posture expression, thereby adjusting the tool head posture.

Abstract: A method, apparatus, and device for controlling a moxibustion manipulator are disclosed. The method includes: acquiring acupuncture point position information; determining coordinate information of the moxibustion manipulator based on the acupuncture point position information and safe distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information; acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot, the rotation angle information being used to adjust an angle of the manipulator relative to the plane corresponding to the light spot; and controlling, based on the rotation angle information, the moxibustion manipulator to adjust the angle.

Abstract: A method, apparatus, and device for controlling a moxibustion manipulator are disclosed. The method includes: acquiring acupuncture point position information; determining coordinate information of the moxibustion manipulator based on the acupuncture point position information and safe distance information, and controlling the moxibustion manipulator to move to a position corresponding to the coordinate information; acquiring coordinate information of a light spot, and determining a plane corresponding to the light spot based on the coordinate information of the light spot; determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot, the rotation angle information being used to adjust an angle of the manipulator relative to the plane corresponding to the light spot; and controlling, based on the rotation angle information, the moxibustion manipulator to adjust the angle.