Control method of foot bath robot, foot bath robot and storage medium

Abstract

The present application belongs to the field of robot technology, and in particular, relates to a control method for a foot bath robot, a foot bath robot, and a storage medium. The control method of the foot bath robot includes: controlling the foot bath robot to move to a preset water receiving place based on a water receiving instruction, and performing a water receiving operation at the preset water receiving place; or, controlling the foot bath robot to move to a preset drainage place based on a drainage instruction, and performing a drainage operation at the preset drainage place; when the water receiving operation or the drainage operation is completed, controlling the foot bath robot to move to a designated position. In this way, the control method of the foot bath robot provided by the present invention can enable the foot bath robot to automatically go to the corresponding preset water receiving place or preset drainage place to perform the corresponding water receiving operation or drainage operation after receiving a user instruction, without the need for manual handling or movement, thereby reducing the difficulty of use.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control method of a foot bath robot, a foot bath robot and a storage medium. Background Art

[0002] With the improvement of social and economic level, more and more families use footbaths to improve their quality of life. However, the footbaths currently on the market usually need to be manually moved to a specific area such as a bathroom or kitchen to add water before use. After use, they also need to be manually moved to the above specific area for drainage. For specific groups of people with limited mobility, such as the elderly or pregnant women, this has caused considerable obstacles to the use of footbaths, reducing the frequency of use.

[0003] Thus, how to reduce the difficulty of using a footbath and improve the user experience is currently an important improvement direction for footbaths. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method for a foot bath robot, a foot bath robot and a storage medium, aiming to enable the foot bath robot to automatically perform water collection and drainage operations after receiving user instructions without the need for manual handling or movement, thereby reducing the difficulty of using the foot bath robot.

[0005] To achieve the above object, the present invention provides a control method for a foot bath robot, comprising the following steps:

[0006] Based on the water receiving instruction, the foot bath robot is controlled to move to a preset water receiving location, and performs a water receiving operation at the preset water receiving location; or,

[0007] Controlling the foot bath robot to move to a preset drainage location based on a drainage instruction, and performing a drainage operation at the preset drainage location;

[0008] When the water receiving operation or the water draining operation is completed, the foot bath robot is controlled to move to a designated position.

[0009] In some embodiments of the present application, based on the above technical solution, controlling the foot bath robot to move to a preset water receiving place / preset drainage place includes:

[0010] Detecting whether the first preset water inlet / first preset drainage location meets the operating conditions, wherein the operating conditions include that the road condition corresponding to the first preset water inlet / first preset drainage location is reachable, and the first preset water inlet / first preset drainage location is in an available state;

[0011] If the first preset water receiving location / first preset drainage location meets the operating conditions, the foot bath robot is controlled to move to the preset water receiving location / preset drainage location to perform the corresponding water receiving operation / drainage operation.

[0012] In some embodiments of the present application, based on the above technical solution, the foot bath includes a sensing device, and the detection of whether the first preset water receiving place / the first preset drainage place has the operating conditions includes:

[0013] Determine whether the road condition moving to the first preset water receiving place / first preset drainage place encounters a target obstacle according to the first environmental detection data detected by the sensing device; if no target obstacle is encountered, or the foot bath robot encounters a target obstacle and can cross or bypass the target obstacle, then determine that the road condition corresponding to the movement to the first preset water receiving place / first preset drainage place is reachable;

[0014] Determine whether there is a target obstacle at the first preset water inlet / first preset drainage point based on the second environmental detection data detected by the sensing device, and if not, determine that the first preset water inlet / first preset drainage point is in an available state; or, send a water receiving signal to the preset water inlet, and if "idle state" information fed back by the first preset water inlet is received, determine that the first preset water inlet / first preset drainage point is in an available state.

[0015] In some embodiments of the present application, based on the above technical solution, after detecting whether the first preset water inlet / first preset drainage location meets the operating conditions, the method further includes:

[0016] If the first preset water inlet / the first preset drainage point does not meet the operating conditions, the nearest preset water inlet / preset drainage point is determined as the second preset water inlet / the second preset drainage point;

[0017] Detecting whether the second preset water inlet / the second preset drainage outlet meets the operating conditions;

[0018] If the second preset water receiving location / the second preset drainage location meets the operating conditions, the foot bath robot is controlled to move to the second preset water receiving location / the second preset drainage location to perform the corresponding water receiving operation / drainage operation.

[0019] In some embodiments of the present application, based on the above technical solution, after detecting whether the second preset water inlet / the second preset drainage outlet meets the operating conditions, the method further includes:

[0020] If the second preset water inlet / the second preset drainage outlet does not meet the operating conditions, the foot bath robot is controlled to perform a waiting operation.

[0021] In some embodiments of the present application, based on the above technical solution, after controlling the foot bath robot to perform the waiting operation, the method further includes:

[0022] Detecting the waiting time corresponding to the waiting operation;

[0023] If the waiting time reaches the preset time, the foot bath robot is controlled to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence, so as to perform the water receiving operation or the drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

[0024] In some embodiments of the present application, based on the above technical solution, after controlling the foot bath robot to move to the first preset water receiving place / the first preset drainage place and the second preset water receiving place / the second preset drainage place in sequence, the method further includes:

[0025] Detecting the number of times the foot bath robot passes through the first preset water inlet / the first preset drainage point and the second preset water inlet / the second preset drainage point;

[0026] If the number of times reaches a preset value and the foot bath robot is still unable to perform the water collection operation or the water discharge operation, an alarm operation is performed.

[0027] In some embodiments of the present application, based on the above technical solution, before controlling the foot bath robot to move to a preset water receiving place / preset drainage place based on a water receiving instruction / drainage instruction, the method further includes:

[0028] Sending an inquiry signal to all preset water receiving locations / preset drainage locations based on the water receiving instruction / the drainage instruction;

[0029] Receive a status signal fed back from the preset water inlet / the preset drainage outlet;

[0030] The first preset water inlet / first preset drainage point is determined based on the state signal and the distance between the preset water inlet / the preset drainage point and the foot bath robot.

[0031] In some embodiments of the present application, based on the above technical solution, the foot bath robot includes a cleaning device, and after the foot bath robot is controlled to perform a water receiving operation / drainage operation at the preset water receiving location / the preset drainage location, the method further includes:

[0032] Controlling the cleaning device to clean the interior of the foot bath robot; or,

[0033] A cleaning signal is sent to the preset water inlet / the preset drainage point, and the cleaning signal is used to control the preset water inlet / the preset drainage point to clean the interior of the foot bath robot.

[0034] In some embodiments of the present application, based on the above technical solution, the method further includes:

[0035] Before the preset water receiving location performs the water receiving operation, a water receiving signal is sent to the preset water receiving location, so that the preset water receiving location releases water according to the water receiving signal; or

[0036] After the water receiving operation at the preset water discharge location is completed, a stop signal is sent to the preset water receiving location, so that the preset water receiving location stops draining water according to the stop signal.

[0037] In some embodiments of the present application, based on the above technical solution, during the process of performing the water receiving operation at the preset water receiving location, the method further includes:

[0038] When the foot bath robot receives water, the water level of the internal water body of the foot bath robot is detected to determine whether the foot bath robot is in a normal water receiving state;

[0039] If the foot bath robot is in an abnormal water receiving state, an alarm message is issued.

[0040] In some embodiments of the present application, based on the above technical solution, during the process of performing the drainage operation at the preset water connection point, the method further includes:

[0041] When the foot bath robot is draining water, the water level of the internal water body of the foot bath robot is detected to determine whether the foot bath robot is in a normal drainage state;

[0042] If the foot bath robot is in an abnormal drainage state, an alarm message is issued.

[0043] In some embodiments of the present application, based on the above technical solution, controlling the foot bath robot to move to a preset water receiving location / preset drainage location based on a water receiving instruction / drainage instruction includes:

[0044] Receive a follow-up instruction triggered by a user, and follow the user to move to the preset water receiving location / the preset drainage location according to the follow-up instruction to perform a corresponding water receiving operation or drainage operation.

[0045] In some embodiments of the present application, a control method for a foot bath robot is disclosed, the method comprising:

[0046] Sending a control instruction to the smart water tank so that the smart water tank moves to the position of the foot bath robot according to the control instruction;

[0047] The foot bath robot is controlled to perform water receiving operation or water discharge operation on the intelligent water tank.

[0048] According to one aspect of an embodiment of the present application, a foot bath robot is disclosed, the foot bath robot comprising:

[0049] A moving module is configured to move to a preset water receiving location based on a water receiving instruction; to move to a preset drainage location based on a drainage instruction; and to move to a designated location when the water receiving operation or the drainage operation is completed;

[0050] The water receiving and drainage module is configured to perform a water receiving operation based on the preset water receiving location and to perform a water drainage operation based on the preset water drainage location.

[0051] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method of the foot bath robot in the above technical solution.

[0052] In an embodiment of the present application, when the foot bath robot receives a water collection command triggered by the user, it automatically moves to a preset water collection point pre-set by the user, and performs a water collection operation at the preset water collection point; or, after receiving a drainage command triggered by the user, it automatically moves to a preset drainage point pre-set by the user, and performs a drainage operation at the preset drainage point. After the foot bath robot completes the water collection operation or the drainage operation, it automatically returns to the designated position.

[0053] In this way, the control method of the foot bath robot provided by the present invention can enable the foot bath robot to automatically go to the corresponding preset water receiving point or preset drainage point to perform the corresponding water receiving operation or drainage operation after receiving the user's instructions, without the need for manual handling or movement, thereby reducing the difficulty of use.

[0054] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 A flow chart showing the steps of a control method for a foot bath robot in one embodiment of the present application is shown.

[0057] Figure 2 A flow chart showing the steps of controlling the intelligent water tank to move toward the foot bath robot in one embodiment of the present application.

[0058] Figure 3 The structural block diagram of the foot bath robot provided in an embodiment of the present application is schematically shown.

[0059] Figure 4 The structure block diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0060] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0061] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0062] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0063] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0064] The control method of the foot bath robot, the foot bath robot, the storage medium and other technical solutions provided by the present application are described in detail below in conjunction with specific implementation methods.

[0065] Figure 1 A flow chart showing a control method for a foot bath robot in one embodiment of the present application is shown. Figure 1 As shown, the control method of the foot bath robot may mainly include the following steps S100 to S300.

[0066] Step S100, controlling the foot bath robot to move to a preset water receiving location based on a water receiving instruction, and performing a water receiving operation at the preset water receiving location;

[0067] Step S200, controlling the foot bath robot to move to a preset drainage location based on a drainage instruction, and performing a drainage operation at the preset drainage location;

[0068] Step S300, when the water receiving operation or the water draining operation is completed, control the foot bath robot to move to a designated position.

[0069] Among them, the upper shell of the foot bath robot includes a moving motion component, and the moving motion component can be a motor or a robotic arm.

[0070] Among them, the water collection operation can be performed manually, or the water can be released by an automatic sensing faucet. The foot bath robot moves to the faucet, and the faucet can automatically waterproof after sensing the foot bath robot. When the foot bath robot leaves or the faucet releases water for a preset time, the faucet stops releasing water.

[0071] Among them, the foot bath robot may include a drain valve, and the foot bath robot can control the opening and closing of the drain valve to control the automatic drainage of the foot bath robot.

[0072] In the control method of the foot bath robot provided in the embodiment of the present application, when the foot bath robot receives a water collection instruction, it automatically moves to a pre-set preset water collection point and performs a water collection operation at the preset water collection point, or, after receiving a drainage instruction, it automatically moves to a pre-set preset drainage point and performs a drainage operation at the preset drainage point. When the foot bath robot completes the water collection operation or the drainage operation, it automatically returns to the designated position, wherein the water collection instruction or the drainage instruction can be triggered by the user or sent by other electronic devices.

[0073] In this way, the control method of the foot bath robot provided by the present invention can enable the foot bath robot to automatically go to the corresponding preset water receiving point or preset drainage point to perform the corresponding water receiving operation or drainage operation after receiving the user's instructions, without the need for manual handling or movement, thereby reducing the difficulty of use.

[0074] The following is a detailed description of each method step in the control method of the foot bath robot.

[0075] Step S100, based on the water receiving instruction, the foot bath robot is controlled to move to a preset water receiving location, and performs a water receiving operation at the preset water receiving location.

[0076] When the foot bath robot is in an idle state, upon receiving a water collection instruction from the user, it will move to a pre-set water collection location, such as a kitchen, toilet, balcony, etc., to perform the water collection operation.

[0077] Step S200, based on the drainage instruction, the foot bath robot is controlled to move to a preset drainage location, and a drainage operation is performed at the preset drainage location.

[0078] When the user has finished using the foot bath robot, the water inside the foot bath robot needs to be drained. At this time, after receiving the drainage command issued by the user, the foot bath robot will move to the preset drainage location set by the user, such as the kitchen, toilet, balcony, etc., to perform the drainage operation.

[0079] As an optional implementation, the user sends a water collection command to the foot bath robot through a mobile phone or other electronic device to wake up the idle foot bath robot, so that the foot bath robot moves to the kitchen to perform the water collection operation; or, after the user completes the foot bath through the foot bath robot, the user sends a drainage command to the foot bath robot through a mobile phone or other electronic device to make the foot bath robot move to the kitchen to perform the drainage operation.

[0080] As an optional implementation, the user triggers a water collection command through a button set on the outer shell of the foot bath robot to wake up the foot bath robot in an idle state, so that the foot bath robot moves to the kitchen to perform a water collection operation; or, after the user completes a foot bath with the foot bath robot, the user triggers a drainage command through a button set on the outer shell of the foot bath robot to make the foot bath robot move to the kitchen to perform a drainage operation.

[0081] As an optional embodiment, the above-mentioned preset water receiving point and the above-mentioned preset drainage point can be the same location, that is, some locations have the function of allowing the foot bath robot to perform water receiving operations and drainage operations; or they can be different locations, that is, some locations only have the function of allowing the foot bath robot to perform water receiving operations or drainage operations.

[0082] Step S300, when the water receiving operation or the water draining operation is completed, control the foot bath robot to move to a designated position.

[0083] It should be noted that the designated location is a location preset by the user, and the designated location may include any of the following: a designated user location, a designated foot bath location, a designated storage location, a designated drying location, a designated charging location, etc. After receiving water, the robot walks to the designated location, such as the user's location or a sofa or seat, so that the user can soak his feet.

[0084] For example, if a user is somewhere, the robot can search for the user. Specifically, the robot can search for the user through the sensing device on the foot bath robot. Alternatively, the foot bath robot can search for the user's electronic devices, such as wearable devices and mobile phones, and go to the user's location. The foot bath robot can directly search for the user and prompt the user to soak his feet.

[0085] For example, the foot bath robot goes to a designated sofa or seat according to a preset map, and reminds users elsewhere or users at that location that the water has been connected and they can soak their feet.

[0086] After the foot bath robot finishes draining, it can generally return to the storage location according to the preset map, such as the place where the user bathes his feet, such as the living room or bedroom, or the place where the user stores the foot bath robot after use, such as a storage room, etc., or it can go to the drying place for drying according to the preset map, or it can go to the charging place for charging according to the preset map, etc., thus realizing the intelligence of the foot bath robot.

[0087] As an optional implementation, after the foot bath robot completes the water collection operation at the preset water collection point, it moves to the sofa in the living room for the user to use for foot bathing.

[0088] As an optional implementation, after the foot bath robot has completed the drainage operation on the water used by the user at the preset drainage location, it moves to the corner of the utility room, thereby eliminating the need for the user to move and store it.

[0089] Further, based on the above embodiments, controlling the foot bath robot to move to a preset water receiving point / preset drainage point in step S100 or step S200 includes the following steps S401 and S402.

[0090] Step S401, detecting whether the first preset water inlet / first preset drainage point meets the operating conditions, wherein the operating conditions include that the road condition corresponding to moving to the first preset water inlet / first preset drainage point is reachable, and the first preset water inlet / first preset drainage point is in an available state.

[0091] It should be noted that the above-mentioned operating conditions can specifically be water receiving conditions or drainage conditions. Specifically, when the foot bath robot moves to the first preset water receiving place, it is necessary to determine whether the first preset water receiving place has the water receiving conditions, that is, whether there are obstacles on the route to the first preset water receiving place, which causes the foot bath robot to be unable to smoothly move to the first preset water receiving place to perform the water receiving operation, and it is necessary to detect whether the first preset water receiving place is in an available state, including whether the water supply equipment of the first preset water receiving place is damaged, etc., which causes the foot bath robot to be unable to receive water at the first preset water receiving place through the water supply equipment, etc., that is, the foot bath robot needs to determine whether the first preset water receiving place is in a normal working state for the foot bath machine to perform the water receiving operation.

[0092] Similarly, when the footbath robot moves to the first preset drainage location, it needs to determine whether the first preset drainage location has drainage conditions, that is, whether there are obstacles on the route to the first preset drainage location, which causes the footbath robot to be unable to move smoothly to the first preset water receiving location to perform drainage operations, and it needs to detect whether the first preset drainage location is in an available state, including whether the drainage outlet of the first preset drainage location is blocked, etc., which causes the footbath robot to be unable to drain water through the drainage outlet at the first preset drainage location, etc., that is, the footbath robot needs to determine whether the first preset drainage location is in a normal working state for the footbath machine to perform drainage operations.

[0093] As an optional embodiment, the foot bath includes a sensing device, and the detecting whether the first preset water inlet / first preset drain outlet meets the operating conditions includes:

[0094] Determine whether the road condition moving to the first preset water receiving place / first preset drainage place encounters a target obstacle according to the first environmental detection data detected by the sensing device; if no target obstacle is encountered, or the foot bath robot encounters a target obstacle and can cross or bypass the target obstacle, then determine that the road condition corresponding to the movement to the first preset water receiving place / first preset drainage place is reachable;

[0095] Determine whether there is a target obstacle at the first preset water inlet / first preset drainage point based on the second environmental detection data detected by the sensing device, and if not, determine that the first preset water inlet / first preset drainage point is in an available state; or, send a water receiving signal to the preset water inlet, and if "idle state" information fed back by the first preset water inlet is received, determine that the first preset water inlet / first preset drainage point is in an available state.

[0096] The target obstacle refers to an obstacle that will prevent the foot bath robot from reaching the first preset water receiving point / first preset drainage point. Specifically, it can be an obstacle that exceeds a preset size, or an obstacle of a preset type, and so on.

[0097] Specifically, a laser radar can be installed inside the foot bath robot so that the foot bath robot continuously emits detection signals (laser beams) while moving to the first preset water inlet / first preset drainage point, and determines whether there are target obstacles that hinder the movement of the foot bath robot based on the received reflected signals (target echoes), thereby determining whether it can move smoothly to the first preset water inlet / first preset drainage point.

[0098] As an optional embodiment, a camera device can be installed inside the foot bath robot, so that when the foot bath robot moves to the first preset water inlet / first preset drainage point, it can shoot the road conditions to obtain corresponding images, and then judge whether there is a target obstacle hindering the movement of the foot bath robot based on the image, and shoot the first preset water inlet / first preset drainage point to obtain corresponding images, and then judge whether the water supply equipment of the first preset water inlet or the drainage outlet of the first preset drainage point is damaged and unusable based on the image.

[0099] As an optional implementation, an infrared sensor can be installed inside the foot bath robot so that the foot bath robot continuously emits infrared rays while moving to the first preset water inlet / first preset drainage point, and determines whether there are target obstacles hindering the movement of the foot bath robot based on the received infrared rays, thereby determining whether it can move smoothly to the first preset water inlet / first preset drainage point.

[0100] It should be noted that there are many ways for the foot bath robot to detect whether there is a target obstacle, which are not specifically limited here.

[0101] Step S402: If the first preset water receiving location / first preset drainage location meets the operating conditions, the foot bath robot is controlled to move to the preset water receiving location / preset drainage location to perform the corresponding water receiving operation / drainage operation.

[0102] When the foot bath robot detects that there are no obstacles on the route to the first preset water inlet / first preset drainage point, and the first preset water inlet / first preset drainage point is in an available state, the foot bath robot performs corresponding water collection operations or drainage operations at the first preset water inlet / first preset drainage point.

[0103] Further, based on the above embodiment, after detecting whether the first preset water inlet / first preset drainage outlet meets the operating conditions in the above step S401, the following steps S403 to S405 are also included.

[0104] Step S403: If the first preset water inlet / the first preset drainage point does not meet the operating conditions, the nearest preset water inlet / preset drainage point is determined as the second preset water inlet / second preset drainage point.

[0105] Step S404, detecting whether the second preset water inlet / the second preset drainage outlet meets the operating conditions.

[0106] Step S405: If the second preset water receiving location / the second preset drainage location meets the operating conditions, the foot bath robot is controlled to move to the second preset water receiving location / the second preset drainage location to perform the corresponding water receiving operation / drainage operation.

[0107] When it is detected that there is an obstacle on the route to the first preset water inlet / the first preset drainage point, that is, the foot bath robot cannot move to the first preset water inlet / the first preset drainage point, or the first preset water inlet / the first preset drainage point is in an unavailable state, the foot bath robot automatically moves to other preset water inlet / the preset drainage point, that is, the second preset water inlet / the second preset drainage point, to perform corresponding water collection operations or drainage operations at the second preset water inlet / the second preset drainage point.

[0108] As an optional implementation, there are multiple preset water inlets / preset drainages, and the footbath robot can sort the multiple preset water inlets / preset drainages according to preset rules, and sort the multiple preset water inlets / preset drainages into 1, 2, 3...10. When the footbath robot detects that it cannot move to the preset water inlet / preset drainage with sorting position 1, or the preset water inlet / preset drainage with sorting position 1 is in an unavailable state, it automatically moves to the preset water inlet / preset drainage with sorting position 2 and performs a test. If the preset water inlet / preset drainage with sorting position 2 also does not meet the operating conditions, the footbath robot continues to move to the preset water inlet / preset drainage with sorting position 3 and performs a test, and so on, until the footbath robot can perform the corresponding water collection operation or drainage operation at the preset water inlet / preset drainage with operating conditions.

[0109] As an optional implementation, the above preset rule may be to sort the preset water inlet / preset drainage point according to the distance between the preset water inlet / preset drainage point and the current position of the foot bath robot.

[0110] As an optional implementation, the above preset rule may be an order preset by a user.

[0111] It should be noted that there may be multiple preset rules for sorting the preset heating positions, which are not specifically limited here.

[0112] In this way, the present embodiment provides a corresponding strategy to be executed by the foot bath robot when the first preset water inlet / first preset drainage point does not meet the operating conditions, thereby improving the practicality of the control method of the foot bath robot of the present application.

[0113] Further, based on the above embodiment, after detecting whether the second preset water inlet / the second preset drainage outlet meets the operating conditions in the above step S404, the following step S406 is also included.

[0114] Step S406: If the second preset water receiving point / the second preset drainage point does not meet the operating conditions, the foot bath robot is controlled to perform a waiting operation.

[0115] If the foot bath robot determines that the second preset water inlet / the second preset drainage point does not meet the operating conditions after detecting the second preset water inlet / the second preset drainage point, it will continue to look for the nearest preset water inlet / preset drainage point as the third preset water inlet / third preset drainage point, and move to the third preset water inlet / third preset drainage point for detection. When the foot bath robot traverses all the preset water inlets / preset drainage points and performs detection, and determines that all the preset water inlets / preset drainage points do not meet the operating conditions, it will execute the waiting operation.

[0116] Further, based on the above embodiment, after controlling the foot bath robot to perform the waiting operation in the above step S406, the following steps S407 and S408 are also included.

[0117] Step S407, detecting the waiting time corresponding to the waiting operation.

[0118] When the foot bath robot determines that all preset water receiving locations / preset drainage locations do not currently meet the operating conditions and performs a waiting operation, the waiting time corresponding to the waiting operation is detected and counted.

[0119] Step S408, if the waiting time reaches the preset time, the foot bath robot is controlled to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence, so as to perform the water receiving operation or the drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

[0120] When the foot bath robot detects and counts that the waiting time reaches the time preset by the user, it will move to each preset water receiving point / preset drainage point in turn and perform detection to perform water receiving operation or drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

[0121] As an optional implementation, specifically, when the foot bath robot detects and counts the waiting time reaching the 5 minutes set by the user, each preset water inlet / preset drainage point is sorted as 1, 2, 3...10 according to the distance between each preset water inlet / preset drainage point and the current position, and moves to the preset water inlet / preset drainage points numbered 1 to 10 for detection in sequence, that is, the foot bath robot traverses all the preset water inlets / preset drainage points according to the sorting to perform water collection operations or drainage operations at the preset water inlets / preset drainage points that meet the operating conditions.

[0122] Further, based on the above embodiments, after controlling the foot bath robot to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence in the above step S408, it also includes the following steps S409 and S410.

[0123] Step S409, detecting the number of times the foot bath robot passes through the first preset water inlet / the first preset drainage point and the second preset water inlet / the second preset drainage point.

[0124] When the waiting time of the footbath robot reaches the time pre-set by the user, and it moves to each preset water receiving point / preset drainage point in turn for detection, that is, after traversing all the preset water receiving points / preset drainage points, if the detection determines that all the preset water receiving points / preset drainage points do not have the operating conditions, and the footbath robot still cannot perform the water receiving operation and the drainage operation, the footbath robot continues to perform the waiting operation, and at the end of the waiting operation, it re-traverses all the preset water receiving points / preset drainage points, and detects and counts the number of times the footbath robot has performed the above traversal process.

[0125] Step S410: If the number of times reaches a preset value and the foot bath robot still cannot perform the water collection operation or the water discharge operation, an alarm operation is performed.

[0126] It should be noted that the preset value is a reference value preset by the user for the footbath robot to traverse all preset water inlets / preset drainage points. Specifically, assuming that the preset value is 3 times, when the footbath robot traverses all preset water inlets / preset drainage points 3 times and still cannot detect a preset water inlet / preset drainage point that meets the operating conditions so that the footbath robot can perform a water collection operation or a drainage operation, the footbath robot performs an alarm operation to remind the user to handle it in time.

[0127] It should be noted that specific alarm operations include but are not limited to: alarming by emitting light from the foot bath robot, alarming by triggering the alarm of the foot bath robot, alarming by sending warning messages to the user's mobile phone or other electronic devices through the foot bath robot, etc., and are not specifically limited here.

[0128] In this embodiment, when the first preset water inlet / first preset drainage point does not meet the operating conditions, resulting in the foot bath robot being unable to perform the water receiving operation or the drainage operation at the first preset water inlet / first preset drainage point, the foot bath robot will move to other preset water inlets / preset drainage points in sequence according to the distance for detection. If all the preset water inlets / preset drainage points are traversed and still no preset water inlet / preset drainage point with the operating conditions is detected to perform the water receiving operation or the drainage operation, a waiting operation will be performed. After the waiting operation is completed, all the preset water inlets / preset drainage points will be traversed again until the foot bath robot can finally perform the water receiving operation or the drainage operation at the preset water inlet / preset drainage point with the operating conditions, or the foot bath robot has traversed the preset water inlet / preset drainage point for a preset number of times, and the foot bath robot performs an alarm operation to remind the user to deal with it in time. At this time, the detection module of the foot bath robot may be faulty.

[0129] In this way, the technical solution provided by the above embodiment can control the foot bath robot to automatically and efficiently perform water collection and drainage operations, and when the foot bath robot is unable to perform water collection or drainage operations due to unexpected factors, it can promptly remind the user to avoid the user waiting for too long, thereby reducing the user's experience.

[0130] Further, based on the above embodiments, before the above step S100 or the above step S200, the following steps S501 to S503 are also included.

[0131] Step S501: sending an inquiry signal to all preset water receiving locations / preset drainage locations based on the water receiving instruction / the drainage instruction.

[0132] When the user triggers the water collection command or drainage command to the foot bath robot, the foot bath robot sends an inquiry signal to all preset water collection points / preset drainage points, so that the preset water collection points / preset drainage points can detect whether they are currently in an available state based on the inquiry signal.

[0133] Step S502, receiving a status signal fed back from the preset water inlet / the preset drainage outlet.

[0134] After sending the inquiry signal, the foot bath robot waits for the preset water inlet / preset drainage point to feed back a status signal containing its own status information to the foot bath robot, thereby obtaining the status information of the preset water inlet / preset drainage point.

[0135] Step S503: determining the first preset water inlet / first preset drainage point based on the state signal and the distance between the preset water inlet / the preset drainage point and the foot bath robot.

[0136] After obtaining the status signal sent by the water source location, the foot bath robot determines the preset water inlet / preset drainage point that is in an available state according to the status signal, and then sorts the preset water inlet / preset drainage point that is in an available state according to the distance, and selects the preset water inlet / preset drainage point that is closest as the first preset water inlet / first preset drainage point.

[0137] Specifically, for example, when the user triggers a water collection command or a drainage command to the footbath robot, the footbath robot sends an inquiry signal to the electronic devices located in the kitchen, toilet and balcony. Then the electronic devices located in the kitchen, toilet and balcony feed back status signals to the footbath robot after detecting their own status. The water supply equipment / drainage outlets located in the toilet and balcony are in an available state, and the water supply equipment / drainage outlets located in the kitchen are in an unavailable state. Finally, the footbath robot selects the water supply equipment / drainage outlet located in the toilet, which is closer, as the first preset water collection point / first preset drainage point.

[0138] In this embodiment, the foot bath robot sends an inquiry signal to the preset water inlet / preset drainage point, and then receives a status signal containing status information fed back by the preset water inlet / preset drainage point, thereby filtering out the preset water inlet / preset drainage point in an available state according to the status signal, and then selecting the nearest preset water inlet / preset drainage point as the first preset water inlet / first preset drainage point, thereby ensuring that the water collection operation or drainage operation can be performed smoothly and with minimal time consumption, saving the user's waiting time and improving the user's experience.

[0139] Further, based on the above embodiments, before performing the water receiving operation at the preset water receiving location in the above step S100, the following step S101 or step S102 is also included.

[0140] Step S101, sending a water receiving signal to the preset water receiving location, so that the preset water receiving location releases water according to the water receiving signal.

[0141] After the foot bath robot reaches the preset water receiving point, it actively sends a water receiving signal to the water supply equipment at the preset water receiving point, so that the water supply equipment starts to release water according to the water receiving signal.

[0142] Step S102, after the water receiving operation at the preset drainage location is completed, a stop signal is sent to the preset water receiving location, so that the preset water receiving location stops draining water according to the stop signal.

[0143] When the foot bath robot completes the water receiving operation, it actively sends a stop signal to the water supply equipment at the preset water receiving point, so that the water supply equipment stops releasing water according to the stop signal.

[0144] Further, based on the above embodiment, in the process of performing the water receiving operation at the preset water receiving location in the above step S100, the following steps S103 and S104 are also included.

[0145] Step S103, when the foot bath robot receives water, the water level of the internal water body of the foot bath robot is detected to determine whether the foot bath robot is in a normal water receiving state.

[0146] In order to avoid the situation where the footbath robot is unable to receive water normally due to errors in the water receiving position or problems with the preset water receiving point, while the footbath robot is still in the water receiving stage, causing the user to wait too long, the footbath robot will continuously detect the water level of the internal water body during the water receiving process, and judge whether the footbath robot is in a normal water receiving state based on the real-time height of the water level.

[0147] Step S104: If the foot bath robot is in an abnormal water receiving state, an alarm message is issued.

[0148] When the foot bath robot detects that the water level has not reached the height during the normal water collection process, that is, the foot bath robot determines that it is in an abnormal water collection state, it will issue a specific form of alarm information to remind the user to deal with it in time.

[0149] As an optional implementation manner, during the process of performing the drainage operation at the preset water connection point, the method further includes:

[0150] When the foot bath robot is draining water, the water level of the internal water body of the foot bath robot is detected to determine whether the foot bath robot is in a normal drainage state;

[0151] If the foot bath robot is in an abnormal drainage state, an alarm message is issued.

[0152] As an optional implementation, when the foot bath robot determines that it is in an abnormal water receiving state, an alarm ring sounds to remind the user to handle it in time.

[0153] As an optional implementation, when the foot bath robot determines that it is in an abnormal water receiving state, an alarm ring sounds to remind the user to handle it in time.

[0154] It should be noted that the alarm information used to provide feedback that the foot bath robot is in an abnormal water receiving state and to remind the user to handle it in a timely manner can be in various forms, which are not specifically limited here.

[0155] As an optional embodiment, the foot bath robot includes a cleaning device, and after controlling the foot bath robot to perform a water receiving operation / a water draining operation at the preset water receiving location / the preset draining location, the method further includes:

[0156] Controlling the cleaning device to clean the interior of the foot bath robot; or,

[0157] A cleaning signal is sent to the preset water inlet / the preset drainage point, and the cleaning signal is used to control the preset water inlet / the preset drainage point to clean the interior of the foot bath robot.

[0158] During the process of performing the water receiving operation or the water draining operation, the foot bath robot can control the cleaning of the internal water structure of the foot bath robot, so as to remove the scale of the internal water structure of the foot bath robot.

[0159] As an optional embodiment, a brush is provided inside the foot bath robot as a cleaning device. When the foot bath robot performs water collection operation or drainage operation, the brush enters the working state and cleans the internal water structure of the foot bath robot to remove dirt and impurities in the internal water structure of the foot bath robot.

[0160] As an optional embodiment, a brush is provided at the water source as a cleaning device. When the foot bath robot performs water collection operation or drainage operation, it will automatically send a cleaning signal to the water source, so that the brush installed at the water source can clean the internal water structure of the foot bath robot, thereby removing dirt and impurities from the internal water structure of the foot bath robot.

[0161] Thus, in this embodiment, the foot bath robot detects the water level during the water collection process and monitors in real time whether it is in a normal water collection state, thereby avoiding failure to collect water normally due to unexpected factors, which causes the user to wait too long.

[0162] Further, based on the above embodiments, the above step S100 or step S200 may include the following step S601.

[0163] Step S601, receiving a follow-up instruction triggered by a user, and following the user to move to the preset water receiving location / the preset drainage location according to the follow-up instruction to perform a corresponding water receiving operation or drainage operation.

[0164] The foot bath robot receives a follow-up instruction triggered by the user, controls the sensing device to detect the user's location according to the follow-up instruction, and then tracks the user's location to move, so as to follow the user to a preset position, and uses the preset position as a preset water receiving point / preset drainage point to perform corresponding water receiving operations or drainage operations.

[0165] like Figure 2 As shown, the present application also discloses an embodiment of a control method for a foot bath robot, including the following steps S701 and S702.

[0166] Step S701, sending a control instruction to the smart water tank, so that the smart water tank moves to the position of the foot bath robot according to the control instruction.

[0167] Step S702, controlling the foot bath robot to perform water collection or drainage operations on the intelligent water tank.

[0168] The smart water tank reserves a certain amount of water and serves as a device specifically used to add water to or drain water from the foot bath robot. After receiving a control instruction, it determines the location of the foot bath robot and moves it according to the control instruction, and then adds water to the foot bath robot or receives the water discharged by the foot bath robot. This eliminates the need for the foot bath robot to move to a preset water receiving point / preset drainage point for water receiving / draining operations, saving the movement time of the foot bath robot.

[0169] Specifically, a control instruction is sent to the smart water tank, which can control the smart water tank to heat the water. After the heating is completed, the smart water tank moves to the location of the foot bath robot to heat the water for the foot bath robot.

[0170] As an optional implementation, after receiving the water collection instruction / drainage instruction, the foot bath robot automatically sends a control instruction to the smart water tank to move the smart water tank to the location of the foot bath robot.

[0171] As an optional implementation, the user sends a control instruction to the smart water tank through an electronic device such as a mobile phone to move the smart water tank to the location of the foot bath robot.

[0172] In this embodiment, the smart water tank is controlled to move to the location of the foot bath robot, so that the foot bath robot can perform water collection operations or drainage operations through the smart water tank, which saves the time required for the foot bath robot to go to the preset water collection point / preset drainage point, thereby further reducing the user's waiting time and improving the user experience.

[0173] The following introduces an apparatus embodiment of the present application, which can be used to execute the control method of the foot bath robot in the above-mentioned embodiment of the present application. Figure 3 The structural block diagram of the foot bath robot provided in the embodiment of the present application is schematically shown. Figure 3 As shown, the foot bath robot includes:

[0174] A moving module is configured to move to a preset water receiving location based on a water receiving instruction; to move to a preset drainage location based on a drainage instruction; and to move to a designated location when the water receiving operation or the drainage operation is completed;

[0175] The water receiving and drainage module is configured to perform a water receiving operation based on the preset water receiving location and to perform a water drainage operation based on the preset water drainage location.

[0176] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0177] The first detection module is configured to detect whether the first preset water inlet / first preset drainage point meets the operating conditions, the operating conditions including that the road condition corresponding to moving to the first preset water inlet / first preset drainage point is reachable, and the first preset water inlet / first preset drainage point is in an available state; and, if the first preset water inlet / first preset drainage point meets the operating conditions, the foot bath robot is controlled to move to the preset water inlet / preset drainage point to perform the corresponding water collection operation / drainage operation.

[0178] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0179] The second detection module is configured to, if the first preset water inlet / the first preset drainage point does not meet the operating conditions, determine the nearest preset water inlet / preset drainage point as the second preset water inlet / second preset drainage point; detect whether the second preset water inlet / the second preset drainage point meets the operating conditions; and, if the second preset water inlet / the second preset drainage point meets the operating conditions, control the foot bath robot to move to the second preset water inlet / the second preset drainage point to perform the corresponding water receiving operation / drainage operation.

[0180] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0181] The waiting execution module is configured to control the foot bath robot to execute a waiting operation if the second preset water inlet / the second preset drainage outlet does not meet the operating conditions.

[0182] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0183] The time detection module is configured to detect the waiting time corresponding to the waiting operation; and if the waiting time reaches a preset time, the foot bath robot is controlled to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence, so as to perform the water receiving operation or the drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

[0184] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0185] A times detection module is configured to detect the times that the foot bath robot passes through the first preset water receiving place / the first preset drainage place and the second preset water receiving place / the second preset drainage place;

[0186] The alarm module is configured to execute an alarm operation if the number of times reaches a preset value and the foot bath robot is still unable to perform the water collection operation or the drainage operation.

[0187] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0188] The signal processing module is configured to send an inquiry signal to all preset water receiving points / preset drainage points based on the water receiving instruction / the drainage instruction; receive a status signal fed back from the preset water receiving point / the preset drainage point; and determine the first preset water receiving point / the first preset drainage point based on the status signal and the distance between the preset water receiving point / the preset drainage point and the foot bath robot.

[0189] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0190] The cleaning module is configured to control the cleaning device to clean the interior of the foot bath robot; and to send a cleaning signal to the preset water inlet / the preset drainage point, wherein the cleaning signal is used to control the preset water inlet / the preset drainage point to clean the interior of the foot bath robot.

[0191] In one embodiment of the present application, based on the above embodiment, the signal processing module includes:

[0192] The water receiving control unit is configured to send a water receiving signal to the preset water receiving location so that the preset water receiving location releases water according to the water receiving signal; and send a stop signal to the preset water receiving location so that the preset water receiving location stops releasing water according to the stop signal.

[0193] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0194] The water receiving detection module is configured to detect the water level of the internal water body of the foot bath robot when the foot bath robot receives water, so as to determine whether the foot bath robot is in a normal water receiving state; and if the foot bath robot is in an abnormal water receiving state, an alarm message is issued.

[0195] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0196] The follow-up module is configured to receive a follow-up instruction triggered by a user, and follow the user to move to the preset water receiving location / the preset drainage location according to the follow-up instruction to perform a corresponding water receiving operation or drainage operation.

[0197] In one embodiment of the present application, based on the above embodiment, the foot bath robot further includes:

[0198] The instruction sending module is configured to send control instructions to the smart water tank so that the smart water tank moves to the position of the foot bath robot according to the control instructions; and control the foot bath robot to perform water collection or drainage operations on the smart water tank.

[0199] The specific details of the foot bath robot provided in each embodiment of the present application have been described in detail in the corresponding method embodiments and will not be repeated here.

[0200] Figure 4 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. It should be noted that: Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0201] like Figure 4 As shown, the computer system 400 includes a central processing unit 401 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 402 (ROM) or the program loaded from the storage part 408 to the random access memory 403 (RAM). Various programs and data required for system operation are also stored in the random access memory 403. The central processing unit 401, the read-only memory 402 and the random access memory 403 are connected to each other through a bus 404. An input / output interface 405 (Input / Output interface, i.e., I / O interface) is also connected to the bus 404.

[0202] The following components are connected to the input / output interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the input / output interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0203] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processor 401, various functions defined in the system of the present application are executed.

[0204] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0205] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0206] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0207] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions so that a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) executes the method according to the embodiment of the present application. After considering the specification and practicing the invention disclosed here, it will be easy for those skilled in the art to think of other embodiments of the present application. The present application is intended to cover any modification, use or adaptive change of the present application, which follows the general principles of the present application and includes the common knowledge or customary technical means in the art that are not disclosed in the present application.

[0208] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for a foot bath robot, characterized in that: The method comprises: Based on the water receiving instruction, the foot bath robot is controlled to move to a preset water receiving location, and performs a water receiving operation at the preset water receiving location; or, Controlling the foot bath robot to move to a preset drainage location based on a drainage instruction, and performing a drainage operation at the preset drainage location; When the water receiving operation or the water draining operation is completed, controlling the foot bath robot to move to a designated position; Wherein, controlling the foot bath robot to move to a preset water receiving location / preset drainage location includes: Detecting whether the first preset water inlet / first preset drainage location meets the operating conditions, wherein the operating conditions include that the road condition corresponding to the first preset water inlet / first preset drainage location is reachable, and the first preset water inlet / first preset drainage location is in an available state; If the first preset water receiving location / first preset drainage location meets the operating conditions, control the foot bath robot to move to the preset water receiving location / preset drainage location to perform the corresponding water receiving operation / drainage operation; If the first preset water inlet / the first preset drainage point does not meet the operating conditions, the nearest preset water inlet / preset drainage point is determined as the second preset water inlet / the second preset drainage point; Detecting whether the second preset water inlet / the second preset drainage outlet meets the operating conditions; If the second preset water receiving place / the second preset drainage place meets the operating conditions, control the foot bath robot to move to the second preset water receiving place / the second preset drainage place to perform the corresponding water receiving operation / drainage operation; If the second preset water receiving place / the second preset drainage place does not meet the operating conditions, controlling the foot bath robot to perform a waiting operation; Detecting the waiting time corresponding to the waiting operation; If the waiting time reaches the preset time, the foot bath robot is controlled to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence, so as to perform the water receiving operation or the drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

2. The control method of the foot bath robot according to claim 1, characterized in that: After controlling the foot bath robot to move to the first preset water receiving location / the first preset drainage location and the second preset water receiving location / the second preset drainage location in sequence, the method further includes: Detecting the number of times the foot bath robot passes through the first preset water inlet / the first preset drainage point and the second preset water inlet / the second preset drainage point; If the number of times reaches a preset value and the foot bath robot is still unable to perform the water collection operation or the water discharge operation, an alarm operation is performed.

3. The control method of the foot bath robot according to any one of claims 1 to 2, characterized in that: The foot bath robot includes a cleaning device. After the foot bath robot is controlled to perform a water receiving operation / a water draining operation at the preset water receiving location / the preset water draining location, the method further includes: Controlling the cleaning device to clean the interior of the foot bath robot; or, A cleaning signal is sent to the preset water inlet / the preset drainage point, and the cleaning signal is used to control the preset water inlet / the preset drainage point to clean the interior of the foot bath robot.

4. A foot bath robot, characterized in that: The foot bath robot comprises: A moving module is configured to move to a preset water receiving location based on a water receiving instruction; to move to a preset drainage location based on a drainage instruction; and to move to a designated location when the water receiving operation or the drainage operation is completed; a water receiving and drainage module, configured to perform a water receiving operation based on the preset water receiving location, and to perform a water drainage operation based on the preset drainage location; The first detection module is configured to detect whether the first preset water receiving place / the first preset drainage place meets the operating conditions, wherein the operating conditions include that the road condition corresponding to the movement to the first preset water receiving place / the first preset drainage place is reachable, and the first preset water receiving place / the first preset drainage place is in an available state; and, if the first preset water receiving place / the first preset drainage place meets the operating conditions, the foot bath robot is controlled to move to the preset water receiving place / the preset drainage place to perform the corresponding water receiving operation / drainage operation; The second detection module is configured to, if the first preset water receiving place / the first preset drainage place does not meet the operating conditions, determine the nearest preset water receiving place / preset drainage place as the second preset water receiving place / the second preset drainage place; detect whether the second preset water receiving place / the second preset drainage place meets the operating conditions; and, if the second preset water receiving place / the second preset drainage place meets the operating conditions, control the foot bath robot to move to the second preset water receiving place / the second preset drainage place to perform the corresponding water receiving operation / drainage operation; a waiting execution module, configured to control the foot bath robot to execute a waiting operation if the second preset water receiving place / the second preset drainage place does not meet the operation condition; The time detection module is configured to detect the waiting time corresponding to the waiting operation; and if the waiting time reaches a preset time, the foot bath robot is controlled to move to the first preset water receiving point / the first preset drainage point and the second preset water receiving point / the second preset drainage point in sequence, so as to perform the water receiving operation or the drainage operation at the preset water receiving point / preset drainage point that meets the operating conditions.

5. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the control method for a foot bath robot according to any one of claims 1 to 3.

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