CN113181025A - Intelligent foot bath robot - Google Patents
Intelligent foot bath robot Download PDFInfo
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- CN113181025A CN113181025A CN202110384347.0A CN202110384347A CN113181025A CN 113181025 A CN113181025 A CN 113181025A CN 202110384347 A CN202110384347 A CN 202110384347A CN 113181025 A CN113181025 A CN 113181025A
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- charging pile
- foot
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 132
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000010438 heat treatment Methods 0.000 claims abstract description 9
- 210000001503 joint Anatomy 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 210000000476 body water Anatomy 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000004087 circulation Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000011010 flushing procedure Methods 0.000 claims 3
- 238000001467 acupuncture Methods 0.000 abstract description 8
- 238000004140 cleaning Methods 0.000 abstract description 8
- 210000002683 foot Anatomy 0.000 description 150
- 241001465754 Metazoa Species 0.000 description 6
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 238000005406 washing Methods 0.000 description 5
- 239000002351 wastewater Substances 0.000 description 4
- 230000017531 blood circulation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 239000008399 tap water Substances 0.000 description 2
- 235000020679 tap water Nutrition 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000750 endocrine system Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 210000000452 mid-foot Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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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
- A61H35/00—Baths for specific parts of the body
- A61H35/006—Baths for specific parts of the body for the feet
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- 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
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
- A61H2205/125—Foot reflex zones
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Devices For Medical Bathing And Washing (AREA)
- Massaging Devices (AREA)
Abstract
The invention discloses an intelligent foot bath robot, which is characterized in that: the foot bath robot comprises a foot bath robot body and a comprehensive connection charging pile, wherein the foot bath robot body comprises a casing, a microcomputer controller, a foot bath mechanism, an operation panel and a chassis mechanism. The foot bath robot can set autonomous work according to time and position, the robot is separated from a comprehensive connection charging pile after completing water receiving and heating and moves to a preset position, autonomous accurate positioning, automatic obstacle avoidance and automatic route planning can be realized in the moving process, water in a bathtub is circularly heated after reaching the preset position, the water temperature is kept at the set temperature to wait for foot bath of a user, a foot bath mechanism starts to work after the foot bath robot detects that the foot of the user enters the bathtub body, a foot massage unit can work according to the preset work of a program, the massage acupuncture points and the foot area can be set, the robot automatically moves to the comprehensive charging pile after completing foot bath to perform charging, drainage and self-cleaning work, and the whole-course intelligent automation of foot bath is realized.
Description
Technical Field
The invention relates to an intelligent foot bath robot, and belongs to the technical field of household robots.
Background
When the foot bath is carried out by warm water, the foot reflex area can be stimulated, the blood circulation of a human body is promoted, the endocrine system is regulated, the organ function of the human body is enhanced, and the health care effect of preventing and treating diseases is achieved. But the old person is inconvenient to move about, and is difficult to get up, and although there are multiple lavipeditum basin and lavipeditum equipment in the market, can't provide more intelligent convenient use impression for these use crowd.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the prior art does not have intelligent automatic foot bath equipment.
In order to solve the problems, the technical scheme of the invention is to provide an intelligent foot bath robot, which is characterized in that: the foot bath robot comprises a foot bath robot body and a comprehensive connection charging pile, wherein the foot bath robot body comprises a casing, a microcomputer controller, a foot bath mechanism, an operation panel and a chassis mechanism, and the foot bath mechanism, the operation panel and the chassis mechanism are controlled by the microcomputer controller; the chassis mechanism is arranged at the bottom of the shell and used for driving the foot bath robot to move, and the operation panel is arranged on the foot bath mechanism and used for setting a foot bath mode of the foot bath mechanism; the foot bath mechanism is of a hollow cavity structure, a massage unit is arranged in the foot bath mechanism, and a water inlet and a water outlet which are respectively communicated with a water inlet of the robot body and a water outlet of the robot body are arranged at the bottom of the foot bath mechanism;
the machine shell is arranged on the outer side of the foot bath mechanism, and a heater is arranged in the machine shell and used for heating the foot bath mechanism; the charging unit is butted with the comprehensive connection charging pile and is used for charging the foot bath robot; the circulating pump is respectively connected with a water inlet and a water outlet which are arranged on the foot bath mechanism, so that water circulation in the foot bath mechanism is realized;
the comprehensive connection charging pile is provided with a charging pile connection terminal, a water inlet interface and a drainage interface, the charging unit is in butt joint with the charging pile connection terminal when the foot bath robot body is in a connection state with the comprehensive connection charging pile, and the water inlet of the robot body and the water outlet of the robot body are in butt joint with the water inlet interface and the drainage interface respectively.
Preferably, the charging unit comprises a lithium battery pack and a charging terminal, and the lithium battery pack is in butt joint with a charging pile connection terminal of the comprehensive connection charging pile through the charging terminal and is used for charging the foot bath robot.
Preferably, the operation panel is provided with a knob switch, a touch switch and a touch display screen convenient for operation, and is used for setting the foot bath mode of the foot bath mechanism.
Preferably, the bottom of the chassis mechanism is provided with at least four omnidirectional driving units for driving the foot bath robot to move; the front part and the left and right sides of the chassis mechanism are provided with contact sensors for collision protection in the advancing process of the foot bath robot; a laser radar sensor is arranged in the middle area of the front part of the chassis mechanism and used for drawing a map and detecting space coordinates and obstacles; a visual sensor and an infrared sensor are arranged in the middle area of the rear part of the chassis mechanism and are used for carrying out butt joint detection on the comprehensive connection charging pile; and a charging terminal and a robot body water outlet are arranged below the rear part of the chassis mechanism and are in butt joint with a comprehensive connection charging pile.
Preferably, the omnidirectional driving unit adopts Mecanum wheels as driving wheels, and adopts an omnidirectional driving technology to realize translation and in-situ rotation of the foot bath robot in any direction.
Preferably, the driving wheel travels in a manner including straight travel, diagonal travel, transverse travel, S-shaped travel and zero-radius rotation at any angle.
Preferably, a washing device is arranged on the foot bath mechanism and comprises a high-pressure water pump, a connecting pipeline, a static high-pressure nozzle and a dynamic high-pressure nozzle, the high-pressure water pump is arranged outside the foot bath mechanism and controlled by a microcomputer controller and is respectively connected with the static high-pressure nozzle and the dynamic high-pressure nozzle through the connecting pipeline, and the static high-pressure nozzle and the dynamic high-pressure nozzle are arranged on the side edge of an opening of the foot bath mechanism and are respectively used for washing the inner wall of the foot bath mechanism and the massage unit.
Preferably, the foot bath device further comprises a temperature sensor, wherein the temperature sensor is arranged in a water inlet pipeline of the circulating pump and used for measuring the water temperature of a water outlet of the foot bath mechanism and sending a temperature signal to the microcomputer controller.
Preferably, the foot bath device further comprises a water level sensor which is arranged inside the foot bath mechanism and used for detecting the water level of the foot bath mechanism and sending a water level signal to the microcomputer controller.
Preferably, the microcomputer controller comprises an arithmetic unit, a controller, a memory, an input/output (IO) port, a communication port, a power supply processing circuit, a motor driving circuit, a water pump control circuit and a heater control circuit, wherein the communication port receives data information of the laser radar sensor, the temperature sensor and the water level sensor; the water pump control circuit controls the high-pressure water pump and the circulating pump to work and stop; the heater control circuit controls the heating power and the stop of the heater; the motor driving circuit is connected with the omnidirectional driving unit and controls the movement of the Mecanum wheel
Compared with the prior art, the invention has the beneficial effects that:
the foot bath robot can set autonomous work according to time and position, the robot is separated from a comprehensive connection charging pile after completing water receiving and heating and moves to a preset position, autonomous accurate positioning, automatic obstacle avoidance and automatic route planning can be realized in the moving process, water in a bathtub is circularly heated after reaching the preset position, the water temperature is kept at the set temperature to wait for foot bath of a user, a foot bath mechanism starts to work after the foot bath robot detects that the foot of the user enters the bathtub body, a foot massage unit can work according to the preset work of a program, foot acupuncture points are hammered and massaged in the massage process, the massage acupuncture points and foot sole areas can be set, the robot moves to the comprehensive charging pile autonomously after completing the foot bath to perform charging, water drainage and self-cleaning work, and the whole-course intellectualization and automation of the foot bath are realized.
Drawings
Fig. 1 is a front upper top plan three-dimensional schematic view of the intelligent foot bath robot provided by the invention.
Fig. 2 is a rear-lower bottom three-dimensional schematic view of the intelligent foot bath robot provided by the invention.
Fig. 3 is a three-dimensional schematic diagram of the interior of a robot body of the intelligent foot bath robot provided by the invention.
Fig. 4 is a schematic cross-sectional view of a robot body of the intelligent foot bath robot provided by the invention.
Fig. 5 is a schematic top plan view of the intelligent foot bath robot provided by the invention.
Fig. 6 is a schematic diagram of a state that a robot body of the intelligent foot bath robot is separated from a comprehensive connection charging pile.
Fig. 7 is a schematic diagram of a connection state of a robot body of the intelligent foot bath robot and a comprehensive connection charging pile provided by the invention.
Reference numerals: 101-comprehensive connection charging pile, 210-foot bath robot body, 102-charging pile connection terminal, 103-connection laser transmitter, 104-water injection outlet, 105-cold water interface, 106-hot water interface, 107-water drainage interface, 108-water drainage connection port, 109-power supply interface, 200-operation panel, 201-knob switch, 202-touch display screen, 205-water inlet, 206-water outlet, 207-massage head, 208-massage unit, 209-foot bath mechanism, 211-high pressure water pump, 212-water separator, 214-connecting pipeline, 215-heater, 216-circulating pump, 217-temperature sensor, 218-water level sensor, 219-dynamic cleaning motor, 220-chassis mechanism, 221-Mecanum wheel, 222-docking laser sensor, 223-robot docking terminal, 224-robot body drain port, 225-lithium battery pack, 230-front contact sensor, 231-side contact sensor, 232-laser radar sensor, 233-dynamic high-pressure nozzle, 234-static high-pressure nozzle and 235-microcomputer controller.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 5, the intelligent foot bath robot of the present invention includes a foot bath robot body 210 and a comprehensive connection charging pile 101 connected with the foot bath robot body 210.
The foot bath robot body 210 is composed of a casing, an operation panel 200, a foot bath mechanism 209, a chassis mechanism 220, a microcomputer controller 235 and the like. The upper part of the machine shell is connected with the operation panel 200 through a fastener, the lower part of the machine shell is connected with the chassis mechanism 220 through a fastener, a foot bath mechanism 209 is arranged between the operation panel 200 and the chassis mechanism 220, the upper part of the foot bath mechanism 209 is connected with the operation panel 200 through a fastener, and the lower part of the foot bath mechanism 209 is connected with the chassis mechanism 220 through a fastener, so that a complete foot bath robot body 210 is formed.
The foot bath robot body 210 is a hollow cavity structure, and a high pressure water pump 211, a circulating pump 216, a heater 215, a temperature sensor 217, a water level sensor 218, a microcomputer controller 235 and a lithium battery pack 225 which are connected with each other are further arranged in the foot bath robot body.
The operation panel 200 is provided with a knob switch 201 for easy operation, a touch switch and a touch display screen 202 for easy operation, and is connected to the microcomputer controller 235 for realizing control of each device.
The foot bath mechanism 209 is a square hollow basin-shaped structure, the upper edge of the basin body extends outwards and is connected with the operation panel 200, and the lower end of the basin body is connected with the chassis mechanism 220 through a fastener to form a support of the basin body. The upper mouth edge of the foot bath mechanism 209 is provided with a fixed static high pressure nozzle 234 and a dynamic high pressure nozzle 233 for rinsing the cleaning basin. The bottom of the foot bath mechanism 209 is provided with a plurality of massage units 208 capable of reciprocating up and down for hammering massage of sole acupuncture points, and the massage area, the hammering strength and the hammering mode can be set through program setting. The foot bath mechanism 209 is provided with a circulating water inlet and a circulating water outlet for water circulation, and an electrically controlled drainage device.
Chassis mechanism 220 is equipped with four omnidirectional drive units and is used for removing, and anterior and left and right sides are provided with preceding contact pick-up 230 and side contact pick-up 231 and are used for marcing in-process collision protection, and anterior middle zone disposes laser radar sensor 232 and is used for drawing the map and detect spatial coordinates and obstacle, and the rear portion middle zone is provided with vision sensor and infrared sensor and is used for with the butt joint detection of the stake 101 of charging of synthetically plugging into, and the rear portion below is provided with and synthetically plugs into the charging terminal and the robot body outlet 224 that stake 101 docks into.
The laser radar sensor 232 is located in the middle of the front portion of the chassis mechanism 220, and the laser radar sensor 232 detects the surrounding environment in real time to obtain a contour map of the surrounding environment, so that the foot bath robot can perform map building in the primary operation environment and can perform real-time detection and accurate positioning in the subsequent autonomous operation process.
The omnidirectional driving unit adopts the Mecanum wheel 221 as an output wheel, adopts the omnidirectional driving technology, and can realize translation in any direction and rotation in place by the unique running mode of the Mecanum wheel 221, wherein the specific running mode comprises straight running, oblique running, transverse running, S-shaped running, rotation at any angle with zero radius and the like.
The high-pressure water pump 211 is a booster water pump driven by a direct current motor, water is sucked into an inlet of the high-pressure water pump to improve water pressure and then is discharged from an outlet, a water inlet of the high-pressure water pump is connected with a water inlet 205 of the foot bath mechanism 209 through a connecting pipeline 214, a water outlet of the high-pressure water pump is connected with a high-pressure water outlet 206 of the foot bath mechanism 209 through a connecting pipeline 214, and high water pressure is generated at the high-pressure water outlet 206 of the foot bath mechanism 209 and used for washing the basin body.
The circulating pump 216 is connected with the water inlet 205 and the water outlet 206 of the foot bath mechanism 209 through the connecting pipeline 214 for water circulation of the foot bath mechanism 209.
The temperature sensor 217 is embedded in the water inlet pipeline of the circulating pump 216 and is used for accurately measuring the water temperature from the water circulating outlet of the foot bath basin.
The water level sensor 218 is used to detect the water level inside the midfoot tub.
The microcomputer controller 235 includes an arithmetic unit, a controller, a memory, an input/output IO port, a communication port, a power supply processing circuit, a motor driving circuit, a water pump control circuit, and a heater control circuit.
The microcomputer controller 235 is a main control part of the robot body 210 for foot bath, and is connected to the high pressure water pump 211, the circulation pump 216, the heater 215, the temperature sensor 217, the water level sensor 218, the circuit board, the lithium battery pack 225, the chassis mechanism 220, and the operation panel 200. The microcomputer controller 235 communication port receives data information of the laser radar sensor 232, the temperature sensor 217 and the water level sensor 218, the water pump control circuit controls the high-pressure water pump 211 and the circulating pump 216 to work and stop, the heater control circuit controls the heating power and stop of the heater 215, and the motor driving circuit is connected with the driving unit and used for driving the Mecanum wheel 221 to move.
The lithium battery pack 225 is formed by connecting a plurality of lithium ion batteries in series, is connected with the microcomputer controller 235, and is used for supplying power to the foot bath robot body 210.
The comprehensive plug-in charging pile 101 is installed by the ground and the wall, and the comprehensive plug-in charging pile 101 is provided with a cold water interface 105 and a hot water interface 106 and is connected with a tap water pipeline through a pipeline; a drainage connector 107 is connected with a floor drain or a drainage pipeline through a pipeline; the electric foot bath robot is provided with a naked charging pile connection terminal 102 for charging the foot bath robot, and the terminal supplies power to a safe voltage below direct current 24V.
According to the invention, by setting the use time and the use position of the intelligent foot bath robot in a room, the foot bath robot autonomously completes water receiving and heating processes after reaching the set time, then is separated from the comprehensive connection charging pile 101 and moves to the preset position, the autonomous precise positioning movement, automatic obstacle avoidance and automatic route planning can be realized in the moving process, water in a foot bath basin is circularly heated after reaching the preset position, the water temperature is kept at the set temperature for the foot bath of a user, the foot bath mechanism 209 starts to work after the foot bath robot detects that the foot of the user enters the basin body, the foot massage unit 208 can enter a foot massage process according to the preset program, hammering massage is carried out on foot acupuncture points in the massage process, the massage foot bath and foot sole regions can be set according to personal preferences, after finishing the foot bath and the robot autonomously move back to the comprehensive connection charging pile 101 for charging, Drainage and self-cleaning work. As shown in fig. 6 and 7, the present invention has two operation modes:
mode of operation 1
The foot bath robot is in a silent standby state when not in operation, and when a call instruction sent by a user is received, the system is activated to enter a working state, and the working state of the comprehensive connection charging pile 101 is also activated.
The comprehensive charging pile injects tap water from a water network into the footbath mechanism 209, the water is heated by an instant heating device in the comprehensive connection charging pile 101 and then becomes warm water, the warm water is injected into the footbath mechanism 209 of the footbath robot, and the water injection is stopped when the water level sensor 218 detects that the water injection amount reaches a set value.
The foot bath robot after the water injection is separated from the comprehensive connection charging pile 101 under the driving of the Mecanum wheel 221 of the chassis mechanism 220, and automatically moves to the coordinate position set by the user. The laser radar sensor 232 and the collision sensor of the foot bath robot are in working states in the whole process of moving, the laser radar scans the surrounding environment in real time in the running process of the foot bath robot, the moving path can be ensured to avoid fixed obstacles in a room, and when the robot scans that the obstacles appear on the running path to influence the running process in the running process, the robot automatically bypasses the obstacles to run. If an animal pet or a person suddenly blocks the traveling path in the traveling process, the robot stops traveling and automatically plans the detour path again, if the animal collides with the traveling foot bath robot, a collision sensor of the foot bath robot is triggered, the foot bath robot immediately stops traveling to protect the safety of the animal and the robot, and after the robot stops, the robot reversely travels to separate from the contact area and then automatically plans the destination traveling path again until the robot reaches the use point coordinate position set by the user.
When the foot bath robot reaches the coordinate position set by the user, the direction is automatically adjusted, and the water in the foot bath mechanism 209 is heated and insulated for the user to use.
The feet of a user extend to the foot bath mechanism 209 to perform foot bath, the massage head 207 of the massage unit 208 starts to perform hammering massage on the soles of the user after the feet are detected to extend into the foot bath mechanism, the hammering region and hammering mode of the soles and the massage and foot bath time can be selected and set on the touch display screen 202 of the operation panel 200, the temperature sensor 217 for the foot bath process detects that the water temperature is kept constant, and the sole acupuncture points are properly massaged, so that the blood circulation of the feet is promoted to achieve the purpose of health maintenance.
After the foot bath is finished, the foot bath robot autonomously sets a traveling path and returns to the position of the comprehensive connection charging pile 101, the foot bath robot and the comprehensive connection charging pile 101 are accurately positioned and connected through laser, and power is supplied to the foot bath robot through the charging pile connection terminal 102 after the foot bath robot and the comprehensive connection charging pile 101 are accurately positioned and connected. The robot body water outlet 224 of the foot bath robot is in butt joint with the water drainage connection port 108 of the comprehensive connection charging pile 101, and the foot bath robot discharges the wastewater into a sewer pipe through the water drainage port 107 of the comprehensive connection charging pile 101.
After drainage is completed, the comprehensive connection charging pile 101 injects water into the foot bath robot again, the foot bath robot starts autonomous cleaning, water sprayed by a static high-pressure nozzle 234 of the foot bath robot washes the inner wall of the foot bath mechanism 209, water sprayed by a dynamic high-pressure nozzle 233 washes a massage unit 208 at the bottom of the foot bath mechanism 209, and wastewater generated in a washing process is directly discharged into a sewer pipe through a drainage interface 107 of the comprehensive connection charging pile 101.
After the automatic cleaning is finished, the foot bath robot enters a charging mode until the whole machine enters a silent standby mode after the lithium battery pack 225 in the foot bath robot is charged.
Mode of operation 2
The foot bath robot is in a silent standby state when not in operation, the system is activated to enter a working state after the use time preset by a user is reached, and the working state of the comprehensive connection charging pile 101 is also activated.
The comprehensive connection charging pile 101 is provided with a hot water interface 106 and is connected with an external water heater, warm water from the external water heater is injected into the basin body of the foot bath mechanism 209 by the comprehensive charging pile, the warm water is injected into the foot bath mechanism 209 of the foot bath robot, and water injection is stopped when the water injection amount reaches a set value.
The footbath robot with the water injected completed is driven by a Mecanum wheel 221 of the chassis mechanism 220 to be separated from the comprehensive connection charging pile 101, the footbath robot automatically moves to a coordinate position preset by a user, a laser radar sensor 232 and a collision sensor of the footbath robot are in a working state in the whole process of moving, the laser radar scans the surrounding environment in real time in the running process of the footbath robot, and the moving path can be ensured to avoid fixed obstacles in a room. When the robot scans that an obstacle appears on the traveling path to influence the traveling process, the robot automatically bypasses the obstacle to travel. If an animal pet or a person suddenly blocks the traveling path in the traveling process, the robot stops traveling and automatically plans the detour path again, if the animal collides with the traveling foot bath robot, a collision sensor of the foot bath robot is triggered, the foot bath robot immediately stops traveling to protect the safety of the animal and the robot, and after the robot stops, the robot reversely travels to separate from the contact area and then automatically plans the destination traveling path again until the robot reaches the use point coordinate position set by the user.
When the foot bath robot reaches the coordinate position preset by the user, the direction is automatically adjusted, and the water in the foot bath mechanism 209 is heated and insulated for the user to use.
The feet of the user extend to the foot bath mechanism 209 to perform foot bath, the foot bath mechanism 209 works according to a preset program after detecting that the feet extend into the foot bath mechanism, the foot bath time length and the hammering mode set according to the preset program perform hammering massage on the acupuncture points of the soles, and the acupuncture points of the soles are properly massaged, so that the blood circulation of the feet is promoted to achieve the purpose of health maintenance.
Get back to after the lavipeditum robot independently sets for the route of advancing and synthesize and plug into and fill electric pile 101 position, install the laser emitter 103 of plugging into on the lavipeditum robot, synthesize and plug into and set up laser sensor 222 of plugging into on filling electric pile 101, the lavipeditum robot with synthesize plug into and fill electric pile 101 and pass through accurate the location of going on of laser positioning and plug into, plug into and supply power for the lavipeditum robot through the terminal of plugging into after target in place. The robot body water outlet 224 of the foot bath robot is in butt joint with the water drainage connection port 108 of the comprehensive connection charging pile 101, and the foot bath robot discharges the wastewater into a sewer pipe through the water drainage port 107 of the comprehensive connection charging pile 101.
After drainage is completed, the comprehensive connection charging pile 101 injects water into the foot bath robot again, the foot bath robot starts autonomous cleaning, water sprayed by a static high-pressure nozzle 234 of the foot bath robot washes the inner wall of the foot bath mechanism 209, water sprayed by a dynamic high-pressure nozzle 233 washes a massage unit 208 at the bottom of the foot bath mechanism 209, and wastewater generated in a washing process is directly discharged into a sewer pipe through a drainage interface 107 of the comprehensive connection charging pile 101.
Claims (10)
1. An intelligence lavipeditum robot which characterized in that: the electric foot bath robot comprises a foot bath robot body (210) and a comprehensive connection charging pile (101), wherein the foot bath robot body (210) comprises a shell, a microcomputer controller (235), a foot bath mechanism (209), an operation panel (200) and a chassis mechanism (220), and the foot bath mechanism (209), the operation panel (200) and the chassis mechanism (220) are controlled through the microcomputer controller (235); the chassis mechanism (220) is arranged at the bottom of the machine shell and used for driving the foot bath robot to move, and the operation panel (200) is arranged on the foot bath mechanism (209) and used for setting a foot bath mode of the foot bath mechanism (209); the foot bath mechanism (209) is of a hollow cavity structure, a massage unit (208) is arranged in the foot bath mechanism, and a water inlet (205) and a water outlet (206) are arranged at the bottom of the foot bath mechanism and are respectively communicated with a water inlet of the robot body and a water outlet (224) of the robot body;
the machine shell is arranged on the outer side of the foot bath mechanism (209), and a heater (215) is arranged in the machine shell and used for heating the foot bath mechanism (209); the charging unit is butted with the comprehensive connection charging pile (101) and is used for charging the foot bath robot; the circulating pump (216) is respectively connected with a water inlet (205) and a water outlet (206) arranged on the foot bath mechanism (209) to realize water circulation in the foot bath mechanism (209);
the comprehensive connection charging pile (101) is provided with a charging pile connection terminal (102), a water inlet interface and a water drainage interface (107), when the foot bath robot body (210) is in a connection state with the comprehensive connection charging pile (101), a charging unit is in butt joint with the charging pile connection terminal (102), and a robot body water inlet and a robot body water outlet (224) are in butt joint with the water inlet interface and the water drainage interface (107) respectively.
2. The intelligent foot bath robot of claim 1, wherein: the charging unit comprises a lithium battery pack (225) and a charging terminal, wherein the lithium battery pack (225) is in butt joint with a charging pile connection terminal (102) of the comprehensive connection charging pile (101) through the charging terminal and is used for charging the foot bath robot.
3. The intelligent foot bath robot of claim 1, wherein: the operating panel (200) is provided with a knob switch (201), a touch switch and a touch display screen (202) convenient to operate, and is used for setting a foot bath mode of the foot bath mechanism (209).
4. The intelligent foot bath robot of claim 1, wherein: the bottom of the chassis mechanism (220) is provided with at least four omnidirectional driving units for driving the foot bath robot to move; the front part and the left and right sides of the chassis mechanism (220) are provided with contact sensors for collision protection in the advancing process of the foot bath robot; a laser radar sensor (232) is arranged in the middle area of the front part of the chassis mechanism (220) and used for drawing a map and detecting space coordinates and obstacles; a visual sensor and an infrared sensor are arranged in the middle area of the rear part of the chassis mechanism (220) and are used for carrying out butt joint detection with the comprehensive connection charging pile (101); and a charging terminal and a robot body water outlet (224) are arranged below the rear part of the chassis mechanism (220) and are in butt joint with the comprehensive connection charging pile (101).
5. The intelligent foot bath robot of claim 1, wherein: the omnidirectional driving unit adopts Mecanum wheels (221) as driving wheels and adopts an omnidirectional driving technology to realize the translation and in-situ rotation of the foot bath robot in any direction.
6. The intelligent foot bath robot of claim 5, wherein: the driving wheel has the advancing modes of straight advancing, oblique advancing, transverse advancing, S-shaped advancing and zero-radius rotation at any angle.
7. The intelligent foot bath robot of claim 1, wherein: the footbath mechanism (209) is provided with a flushing device, the flushing device comprises a high-pressure water pump (211), a connecting pipeline (214), a static high-pressure nozzle (234) and a dynamic high-pressure nozzle (233), the high-pressure water pump (211) is arranged outside the footbath mechanism (209), the high-pressure water pump (211) is controlled by a microcomputer controller (235) and is respectively connected with the static high-pressure nozzle (234) and the dynamic high-pressure nozzle (233) through the connecting pipeline (214), and the static high-pressure nozzle (234) and the dynamic high-pressure nozzle (233) are arranged on the side edge of an opening of the footbath mechanism (209) and are respectively used for flushing the inner wall of the footbath mechanism (209) and the massage unit (208).
8. The intelligent foot bath robot of claim 1, wherein: the device is characterized by further comprising a temperature sensor (217), wherein the temperature sensor (217) is arranged in a water inlet pipeline of the circulating pump (216) and used for measuring the water temperature of a water outlet (206) of the foot bath mechanism (209) and sending a temperature signal to the microcomputer controller (235).
9. The intelligent foot bath robot of claim 1, wherein: the foot bath device further comprises a water level sensor (218), wherein the water level sensor (218) is arranged inside the foot bath mechanism (209) and used for detecting the water level of the foot bath mechanism (209) and sending a water level signal to the microcomputer controller (235).
10. The intelligent foot bath robot of claim 1, wherein: the microcomputer controller (235) comprises an arithmetic unit, a controller, a memory, an input/output (IO) port, a communication port, a power supply processing circuit, a motor driving circuit, a water pump control circuit and a heater (215) control circuit, wherein the communication port receives data information of the laser radar sensor (232), the temperature sensor (217) and the water level sensor (218); the water pump control circuit controls the high-pressure water pump (211) and the circulating pump (216) to work and stop; the heater (215) control circuit controls the heating power and stop of the heater (215); the motor driving circuit is connected with the omnidirectional driving unit and controls the movement of the Mecanum wheel (221).
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| CN202110384347.0A CN113181025A (en) | 2021-04-09 | 2021-04-09 | Intelligent foot bath robot |
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| CN202110384347.0A CN113181025A (en) | 2021-04-09 | 2021-04-09 | Intelligent foot bath robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114532880A (en) * | 2022-02-15 | 2022-05-27 | 燕山大学 | Automatic footbath robot |
| CN114652600A (en) * | 2022-03-15 | 2022-06-24 | 山东新一代信息产业技术研究院有限公司 | Robot is relaxed to foot |
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Application publication date: 20210730 |