CN114652600A - Robot is relaxed to foot - Google Patents
Robot is relaxed to foot Download PDFInfo
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- CN114652600A CN114652600A CN202210254068.7A CN202210254068A CN114652600A CN 114652600 A CN114652600 A CN 114652600A CN 202210254068 A CN202210254068 A CN 202210254068A CN 114652600 A CN114652600 A CN 114652600A
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- robot
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- massage
- mobile phone
- water
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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
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
- A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet
-
- 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
- A61H2201/5097—Control means thereof wireless
-
- 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)
- Telephone Function (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention provides a foot relaxing robot, which belongs to the field of robots and mainly comprises a positioning and navigation module, a temperature measuring and heating module, a massage module, an internal self-cleaning module, a wireless module and a driving module. The positioning and navigation module adopts an IMU and single line laser radar fusion positioning mode and uses an x86 architecture computing unit. The temperature measuring and heating module is used for monitoring the water temperature and the heating function. The massage module is divided into 4 distributed massage areas on each side according to the distribution of the acupuncture points on the sole, and each massage area is provided with a massage motor. The internal self-cleaning module can automatically clean the internal working space after completing a task each time. The wireless network module is used for communicating with the mobile phone and receiving the operation information of the mobile phone. The drive module is mainly used for chassis control.
Description
Technical Field
The invention relates to the field of robots, in particular to a foot relaxing robot.
Background
The types of robots on the market are gradually enriched from small to large, from indoor to outdoor and from ground to sky. The core problem of the motion robot is not two major directions of positioning and navigation, and various sensors and path planning algorithms applied to different scenes and mixed decision behaviors suitable for various scenes are rapidly developed along with the core problem. In the times of desire to cross flow, the pressure of life and work is too low to breathe, people do not have enough time to release pressure and protect the body at ordinary times, and daily foot massage is very important.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a foot relaxing robot.
The technical scheme of the invention is as follows:
a robot for relaxing feet is composed of a locating and navigating module, a temp measuring and heating module, a massage module, an internal self-cleaning module, a wireless module and a drive module.
Wherein the content of the first and second substances,
the positioning and navigation module adopts an IMU and single line laser radar fusion positioning mode and uses an x86 architecture computing unit.
The temperature measuring and heating module is used for monitoring the water temperature and the heating function.
The massage module is divided into 4 distributed massage areas on each side according to the distribution of the acupuncture points on the sole, and each massage area is provided with a massage motor.
The internal self-cleaning module can automatically clean the internal working space after completing a task each time.
The wireless network module is used for communicating with the mobile phone and receiving the operation information of the mobile phone.
The drive module is mainly used for chassis control.
Further, in the above-mentioned case,
the working process of the invention is as follows:
1. firstly, connecting a robot to a network, then selecting a charging pile position which needs a water source, a water outlet and a power supply, and then scanning to create an indoor map;
2. the mobile phone is connected to a robot control interface through a network, then the water level, the water temperature and the place can be selected, the robot stops receiving water for heating after reaching the water level line, and when the set water temperature is reached, the robot autonomously goes to a working place;
3. the robot automatically enters a heat preservation mode in the moving process, and after the robot works at a position, the robot automatically locks a mechanical structure so that the robot cannot move in the using process, and if the position needs to be finely adjusted, the robot needs to be controlled and adjusted through a remote control mode of a mobile phone;
4. a user puts feet into a working area of the robot and selects a massage mode through a mobile phone;
5. control the robot through the cell-phone after finishing using and return, the robot independently gets back to and fills electric pile, then adds the cleaner automatically, vibrates through the massager in the later work area, discharges through the outlet through the water that will make used at last, then adds water, the vibration washes 3 times, then inside heating is dried.
The autonomous navigation algorithm adopted by the invention is as follows:
1. the robot firstly obtains a global path from a charging pile to a target position through an A-x algorithm;
2. the robot acquires laser radar data and ultrasonic data in front of the robot in real time in the traveling process, when the acquired data information is less than 10cm away from the robot, the robot can rotate 45 degrees anticlockwise, then determines sensor data in front again, and repeats the process until reaching a target point.
The invention has the advantages that
1. The robot can independently accomplish the water receiving, the heating, and the goal point is gone to, and the drainage is washd the operation, has saved a large amount of time, and is very convenient.
2. The robot can ensure the real-time performance of water supply and water cut-off through the infrared control of the water switch.
3. The user can control the robot to move through the mobile phone in the process of foot massage, and the problem that the robot cannot move when the user relaxes feet at home at ordinary times is solved.
Drawings
Fig. 1 is a working block diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
The invention provides a foot relaxing robot which mainly comprises a positioning and navigation module, a temperature measuring and heating module, a massage module, an internal self-cleaning module, a wireless module and a driving module.
Wherein the content of the first and second substances,
the positioning and navigation module adopts an IMU and single line laser radar fusion positioning mode and uses an x86 architecture computing unit.
The temperature measuring and heating module is used for monitoring the water temperature and the heating function.
The massage module is divided into 4 distributed massage areas on each side according to the distribution of the acupuncture points on the sole, and each massage area is provided with a massage motor.
The internal self-cleaning module may automatically clean the internal workspace after each task is completed.
The wireless network module is used for communicating with the mobile phone and receiving the operation information of the mobile phone. The drive module is mainly used for chassis control.
Fill and have infrared receiving device and water injection delivery port on the electric pile, the running water is connected to the water filling port, and the robot work area is aimed at to the delivery port, and in addition, should fill electric pile by side, the robot delivery port goes out promptly, corresponds the mouth of a river.
Initially, an interactive interface on the robot is operated to be connected to a network, then the charging pile is fixed, and an indoor map is created.
When the water-saving device is used, the device is connected to the robot through the mobile phone, and the using position, the required water quantity and the water temperature of the device are selected. The infrared signal transmitter of robot sends the signal, fills electric pile and receives the signal and just the floodgate is opened, and the water level induction system of robot senses the water level and stops sending infrared signal after reaching, fills electric pile promptly and stops the water injection. The robot body begins to heat the working area, the temperature is monitored in real time, and the temperature can be checked through the mobile phone. And after the water temperature reaches the target water temperature, the robot leaves the charging pile and starts to go to the target position. And after the target position is reached, the robot mechanical device is self-locked and then continuously enters a heat preservation state.
Finish using, inform the robot through the cell-phone that the use is finished, the machine robot response can not arrive the foot of someone in the work area, the robot just stops automatically that the heating is cut and is returned automatically and fill electric pile, the robot gets back to and fills electric pile back, the automatic cleaner that adds, then robot workspace automatic vibration washs, it drains through the delivery port to wash finishing, then send infrared signal to filling electric pile and begin the water injection and wash, wash and stop after 3 times, and heat and dry inside work area, use the flow from here and finish.
The invention has the following characteristics:
the robot can complete the complete set of foot massage work.
The robot can receive water automatically after receiving the task, automatically adjust the temperature, independently go to the workplace, massage the foot automatically, self-cleaning inside working space returns automatically, charges automatically.
Through the positioning and navigation module, the user can autonomously go to and receive a work place.
The robot can independently go to a charging stop point through the positioning and navigation module after finishing work.
And when the robot receives the target position sent by the mobile phone, the robot can automatically plan a travelable route and avoid obstacles along the route.
The above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A foot relaxing robot is characterized in that,
the device comprises a positioning and navigation module, a temperature measuring and heating module, a massage module, an internal self-cleaning module, a wireless module and a driving module;
the positioning and navigation module adopts an IMU and single-line laser radar fusion positioning mode and uses an x86 architecture computing unit;
the temperature measuring and heating module is used for monitoring the water temperature and the heating function;
the massage module is divided into four distributed massage areas on each side according to the distribution of the acupuncture points on the sole, and each massage area is provided with a massage motor;
the internal self-cleaning module can automatically clean the internal working space after completing a task each time;
the wireless network module is used for communicating with the mobile phone and receiving the operation information of the mobile phone;
the drive module is mainly used for chassis control.
2. The robot of claim 1,
the robot is first connected to the network, then the charging pile location is selected, which requires water and drain outlets and power, and then scanned to create an indoor map.
3. Robot according to claim 1,
the mobile phone is connected to a robot control interface through a network, then the water level, the water temperature and the place can be selected, the robot stops receiving water for heating after reaching the water level line, and when the set water temperature is reached, the robot autonomously goes to a working place.
4. Robot according to claim 1,
the robot can automatically enter a heat preservation mode in the moving process, and after the robot works at a position, the robot can automatically lock the mechanical structure, so that the robot cannot move in the using process, and if the position needs to be finely adjusted, the robot needs to be controlled and adjusted through a remote control mode of a mobile phone.
5. Robot according to claim 1,
the user puts the feet into the working area of the robot and selects the massage mode through the mobile phone.
6. The robot of claim 1,
after the use, the robot is controlled to return through a mobile phone, the robot automatically returns to the charging pile, then a cleaning agent is added automatically, then vibration is carried out in a working area through a massager, finally, used water is discharged through a water outlet, then water is added, vibration is carried out for 3 times, and then internal heating and drying are carried out.
7. The robot of claim 1,
the robot firstly obtains a global path from the charging pile to the target position through an A-x algorithm.
8. The robot of claim 7,
the robot acquires laser radar data and ultrasonic data in front of the robot in real time in the traveling process, when the acquired data information is less than 10cm away from the robot, the robot can rotate 45 degrees anticlockwise, then determines sensor data in front again, and repeats the process until reaching a target point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254068.7A CN114652600A (en) | 2022-03-15 | 2022-03-15 | Robot is relaxed to foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210254068.7A CN114652600A (en) | 2022-03-15 | 2022-03-15 | Robot is relaxed to foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114652600A true CN114652600A (en) | 2022-06-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210254068.7A Pending CN114652600A (en) | 2022-03-15 | 2022-03-15 | Robot is relaxed to foot |
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| Country | Link |
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| CN (1) | CN114652600A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397816A (en) * | 2015-12-18 | 2016-03-16 | 中国科学院宁波材料技术与工程研究所 | Intelligent robot for providing foot massage and cleaning service |
| CN113181025A (en) * | 2021-04-09 | 2021-07-30 | 上海芊也多媒体科技有限公司 | Intelligent foot bath robot |
-
2022
- 2022-03-15 CN CN202210254068.7A patent/CN114652600A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397816A (en) * | 2015-12-18 | 2016-03-16 | 中国科学院宁波材料技术与工程研究所 | Intelligent robot for providing foot massage and cleaning service |
| CN113181025A (en) * | 2021-04-09 | 2021-07-30 | 上海芊也多媒体科技有限公司 | Intelligent foot bath robot |
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