A fully automatic Chinese medicine foot massage and foot soaking device based on voice control

Abstract

The present invention discloses a fully automatic Chinese medicine foot massage and foot soaking device based on voice control, comprising: a box-type terminal having a garage therein; an automatic walking trolley that can be parked in the garage of the box-type terminal; a foot washing basin that can be detachably fixed to the automatic walking trolley; a water injection and drainage mechanism installed in the box-type terminal and located above the foot washing basin for injecting hot water into the foot washing basin or draining the water in the foot washing basin; a Chinese medicine bag adding mechanism installed in the box-type terminal and located above the foot washing basin for adding Chinese medicine bags to the foot washing basin; and a main controller arranged in the box-type terminal, the main controller being connected to the automatic walking trolley, the water injection and drainage mechanism, and the Chinese medicine bag adding mechanism respectively. The present invention has a high degree of automation and strong practicality, and effectively solves the problem that people with limited mobility find it difficult to complete the foot soaking process independently.

Description

Technical Field

[0001] The present invention relates to the technical field of physical therapy equipment, and in particular to a fully automatic Chinese medicine foot therapy and foot soaking device based on voice control. Background Art

[0002] Chinese medicine foot soaking is to use a suitable Chinese medicine formula to boil Chinese medicine water for foot soaking. The effective Chinese medicine ingredients in it, with the help of the heat of hot water, penetrate into the skin, are absorbed by the capillaries of the feet, and enter the human blood circulation system, thereby achieving the effect of improving physical fitness, conditioning the body, and treating diseases.

[0003] During the foot soaking process, it is troublesome to hold the foot soaking basin to fill and pour water, especially for people with limited mobility, especially those with lower limb paralysis, it is difficult to complete the foot soaking process independently.

[0004] Therefore, the applicant has found a solution to the above-mentioned problem through beneficial exploration and research. The technical solution to be introduced below is produced in this context. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a fully automatic Chinese medicine foot massage and soaking device based on voice control in response to the deficiencies of the existing technology.

[0006] The technical problem to be solved by the present invention can be achieved by adopting the following technical solutions:

[0007] A fully automatic Chinese medicine foot massage and foot soaking device based on voice control, comprising:

[0008] A box-type terminal, wherein a garage is formed inside the box-type terminal;

[0009] An automatic walking trolley that can be parked in the garage of the box-type terminal;

[0010] A foot washing basin detachably fixed to the automatic traveling trolley;

[0011] A water filling and drainage mechanism installed in the box-type terminal and located above the footbath for injecting hot water into the footbath or draining the water in the footbath;

[0012] a Chinese medicine bag adding mechanism installed in the box-type terminal and located above the footbath for adding Chinese medicine bags into the footbath; and

[0013] A main controller is arranged in the box-type terminal, and the main controller is connected to the automatic walking trolley, the injection and drainage mechanism and the Chinese medicine bag adding mechanism respectively, and is used to control the automatic walking trolley, the injection and drainage mechanism and the Chinese medicine bag adding mechanism to work in coordination according to voice control instructions.

[0014] In a preferred embodiment of the present invention, the automatic walking vehicle comprises:

[0015] A walking trolley, comprising a trolley frame for placing a foot basin, a plurality of walking wheels spaced apart at the bottom of the trolley frame, and an electrical box mounted on the trolley frame;

[0016] At least two encoding motors, each encoding motor is connected to a corresponding traveling wheel, for driving the traveling wheel to rotate forward and reverse;

[0017] An encoding motor drive circuit module is disposed in the electrical box and is respectively connected to each encoding motor;

[0018] a voice recognition module disposed on the surface of the electrical box for collecting and recognizing voice control information;

[0019] a water temperature setting module disposed on the surface of the electrical box for setting the hot water temperature;

[0020] a sub-controller disposed in the electrical box and connected to the encoder motor drive circuit module, the voice recognition module, and the water temperature setting module, respectively, the sub-controller being further connected to the main controller via a wired or wireless manner; and

[0021] A rechargeable battery module is arranged in the electrical box and is used to provide working power to various modules or components in the automatic walking vehicle.

[0022] In a preferred embodiment of the present invention, the automatic walking vehicle further includes a liquid level sensor for measuring the liquid level status of the foot basin in real time. The liquid level sensor is connected to the sub-controller and is provided with working power by the rechargeable battery module.

[0023] In a preferred embodiment of the present invention, a clamping and fixing mechanism for detachably fixing the foot basin is installed on the trolley frame.

[0024] In a preferred embodiment of the present invention, the voice-controlled fully automatic Chinese medicine foot massage and foot soaking device also includes a wireless signal transmitting module and a wireless signal receiving module. The wireless signal transmitting module is arranged in the electrical box and connected to the sub-controller, and is used to send the signal data collected or generated by the sub-controller to the wireless signal receiving module. The wireless signal receiving module is arranged in the box-type terminal and connected to the main controller. It is used to receive the signal data sent by the wireless signal transmitting module and transmit it to the main controller for processing.

[0025] In a preferred embodiment of the present invention, the voice-controlled fully automatic Chinese medicine foot massage and foot soaking device also includes a power module, which provides working power to each mechanism or module in the box-type terminal, and at the same time charges the rechargeable battery module of the automatic walking vehicle through contact or non-contact means.

[0026] In a preferred embodiment of the present invention, the injection and drainage mechanism includes:

[0027] a solenoid valve disposed in the box-type terminal, located above the footbath, and connected to the main controller, wherein the water inlet end of the solenoid valve is connected to the water outlet end of the electric water heater via a first water inlet hose, and the water outlet end thereof is connected to a first water outlet hose, the lower end of the first water outlet hose enters the footbath located below and extends to the bottom of the footbath, the electric water heater is also connected to the main controller, and the outlet water temperature thereof is controlled by the main controller; and

[0028] A water-suctioning diaphragm pump is arranged in the box-type terminal, located above the footwashing basin and connected to the main controller. The water inlet end of the water-suctioning diaphragm pump is connected to a second water inlet hose, the lower end of the second water inlet hose enters the footwashing basin located below and extends to the bottom of the footwashing basin, and the water outlet end of the water-suctioning diaphragm pump is connected to a second water outlet hose for discharging the water in the footwashing basin.

[0029] In a preferred embodiment of the present invention, the Chinese medicine bag adding mechanism includes:

[0030] An upper partition is horizontally arranged in the box-type terminal and located above the footbath, and a through hole for dropping a Chinese medicine bag is opened on the upper partition located just above the footbath;

[0031] A cylindrical Chinese medicine bag storage turntable with a horizontal axis is provided on the upper partition and is located above the foot washing basin. A plurality of partition blades are provided circumferentially at intervals within the cylindrical Chinese medicine bag storage turntable. The plurality of partition blades divide the interior of the cylindrical Chinese medicine bag storage turntable into a plurality of fan-shaped storage spaces for storing Chinese medicine bags.

[0032] a stepping motor mounted on the upper partition, connected to the cylindrical Chinese medicine bag storage turntable and connected to the main control, and used to drive the cylindrical Chinese medicine bag storage turntable to rotate; and

[0033] An infrared sensor is installed at the Chinese medicine bag falling through hole of the upper partition and connected to the main controller for detecting whether a Chinese medicine bag has fallen.

[0034] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0035] 1. The invention uses a voice-based remote control automatic walking trolley to transport the foot basin to the designated foot washing location, eliminating the need for manual labor to carry the foot basin back and forth;

[0036] 2. The present invention uses the water injection and drainage mechanism to complete operations such as injecting hot water into the footbath or pumping water, and also uses the Chinese medicine bag adding mechanism to add Chinese medicine bags, without the need for manual water collection or drainage;

[0037] 3. The present invention has a high degree of automation and strong practicality, and effectively solves the problem that people with limited mobility find it difficult to complete the foot soaking process independently. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a three-dimensional structural schematic diagram of the fully automatic Chinese medicine foot massage and foot soaking device based on voice control of the present invention.

[0040] Figure 2 It is a three-dimensional structural schematic diagram of the fully automatic Chinese medicine foot massage and foot soaking device based on voice control of the present invention (with the outer shell removed and the electric water heater added).

[0041] Figure 3 It is a schematic diagram of the three-dimensional structure of the fully automatic Chinese medicine foot massage and foot soaking device based on voice control of the present invention (excluding the outer shell and the upper partition).

[0042] Figure 4 yes Figure 3 side view.

[0043] Figure 5 This is an electrical schematic diagram of a fully automatic Chinese medicine foot massage and foot soaking device based on voice control according to the present invention. DETAILED DESCRIPTION

[0044] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0045] See also Figures 1 to 4 Combined with Figure 5 The figure shows a fully automatic Chinese medicine foot massage and foot soaking device based on voice control, which includes a box-type terminal 100, an automatic walking trolley 200, a foot washing basin 300, a water injection and drainage mechanism 400, a Chinese medicine bag adding mechanism 500 and a main controller 600.

[0046] The box-type terminal 100 is composed of a box-type frame 110 and a box-type housing 120 provided on the outer peripheral surface of the box-type frame 110. A garage 101 is formed in the box-type terminal 100 for parking the self-propelled vehicle 200.

[0047] The automatic walking trolley 200 can be parked in the garage 101 of the box-type terminal 100, and the foot washing basin 300 is detachably fixed to the automatic walking trolley 200. Specifically, the automatic walking trolley 200 includes a walking trolley 210, encoder motors 220a and 220b, an encoder motor drive circuit module 230, a voice recognition module 240, a water temperature setting module 250, a sub-controller 260, and a rechargeable battery module 270.

[0048] The walking trolley 210 includes a trolley frame 211 for placing the footbath 300, four walking wheels 212 spaced apart at the bottom of the trolley frame 211, and an electrical box 213 mounted on the trolley frame 211. Encoding motors 220a and 220b are respectively connected to two of the walking wheels 212 to drive the two walking wheels 212 to rotate forward and reverse. An encoding motor drive circuit module 230 is disposed within the electrical box 213 and is respectively connected to the encoding motors 220a and 220b to drive the encoding motors 220a and 220b to operate. A voice recognition module 240 is disposed on the surface of the electrical box 213 and is used to collect and recognize voice control information. A water temperature setting module 250 is disposed on the surface of the electrical box 213 and is used to set the hot water temperature. In this embodiment, the water temperature setting module 250 is a touch screen display with input function or a key assembly with a display. The sub-controller 260 is housed within the electrical box 213 and is connected to the encoder motor drive circuit module 230, the voice recognition module 240, and the water temperature setting module 250. The sub-controller 260 can also be connected to the main controller 600 via wired or wireless communication. A rechargeable battery module 270 is housed within the electrical box 213 and is used to provide power to the various modules and components within the autonomous vehicle 200.

[0049] When it is necessary to soak the feet, the sub-controller 260 of the automatic walking trolley 200 drives the encoding motors 220a and 220b to rotate through the encoding motor drive circuit module 230 according to the control instructions, so that the walking trolley 210 transports the foot washing basin 300 to the designated foot soaking area; when hot water needs to be added or the foot soaking is completed, the sub-controller 260 of the automatic walking trolley 200 drives the encoding motors 220a and 220b to rotate through the encoding motor drive circuit module 230 according to the control instructions, so that the walking trolley 210 carries the foot washing basin 300 and walks into the garage 101 of the box-type terminal 100.

[0050] The automatic walking trolley 200 also includes a liquid level sensor 280, which is installed at the upper edge of the footbath 300. The liquid level sensor 280 is connected to the sub-controller 260 and is provided with working power by the rechargeable battery module 270. It is used to measure the liquid level status of the footbath 300 in real time and transmit the collected liquid level signal to the sub-controller 260.

[0051] In addition, a clamping and fixing mechanism (not shown in the figure) is installed on the trolley frame 211, which is used to detachably fix the foot basin 300. On the one hand, it prevents the foot basin 300 from shaking during walking, and on the other hand, it facilitates the disassembly and cleaning of the foot basin 300.

[0052] The filling and drainage mechanism 400 is installed in the box terminal 100 and is located above the footbath 300. It is used to inject hot water into the footbath 300 or drain the water in the footbath 300. Specifically, the filling and drainage mechanism 400 includes a solenoid valve 410 and a water pump 420.

[0053] The electromagnetic valve 410 is arranged in the box-type terminal 100 and is located above the footbath 300 and is connected to the main controller 600. The water inlet end of the electromagnetic valve 410 is connected to the water outlet end of the electric water heater 10 through the first water inlet hose (not shown in the figure), and its water outlet end is connected with the first water outlet hose (not shown in the figure). The lower end of the first water outlet hose enters the footbath 300 below and extends to the bottom of the footbath 300. Since the first water outlet hose is made of soft material, when the footbath 300 on the automatic walking trolley 200 enters or leaves the garage 101, the first water outlet hose will automatically enter the footbath 300 or leave the footbath 300. The electric water heater 10 is also connected to the main controller 600, and its water outlet temperature is controlled by the main controller 600. The solenoid valve 410 is opened or closed under the control of the main controller 600. When opened, the hot water generated by the electric water heater 10 is injected into the footbath 300 through the pipeline. When closed, the injection of hot water into the footbath 300 is stopped.

[0054] Water-pumping diaphragm pump 420 is arranged in box-type terminal 100 and is positioned at the top of footbath 300 and is connected with main controller 600, the water inlet end of water-pumping diaphragm pump 420 is connected with the second water inlet hose (not shown), the lower end of the second water inlet hose enters the footbath 300 positioned below and extends to the bottom of footbath 300, because the second water inlet hose adopts soft material, when the footbath 300 on the automatic walking trolley 200 enters or leaves garage 101, the second water inlet hose can automatically enter the footbath 300 or leave footbath 300. The water outlet end of water-pumping diaphragm pump 420 is connected with the second water outlet hose (not shown) for the water body in footbath 300 is discharged. Water-pumping diaphragm pump 420 works under the control of main controller 600, and when needs draining, water-pumping diaphragm pump 420 extracts the water body in footbath 300 out.

[0055] The Chinese medicine bag adding mechanism 500 is installed in the box-type terminal 100 and is located above the footbath 300. It is used to add Chinese medicine bags into the footbath 300. Specifically, the Chinese medicine bag adding mechanism 500 includes an upper partition 510, a cylindrical Chinese medicine bag storage turntable 520, a stepping motor 530 and an infrared sensor 540.

[0056] The upper partition 510 is horizontally arranged in the upper part of the box-type terminal 100 and is located above the foot washing basin 300. The upper partition 510 is located directly above the foot washing basin 300 and has a through hole 511 for the Chinese medicine bag to fall into.

[0057] The horizontal axis of the cylindrical Chinese medicine bag storage turntable 520 is set on the upper partition 510 and is located above the foot washing basin 300. A number of partition blades 521 are arranged at circumferential intervals inside the cylindrical Chinese medicine bag storage turntable 520. The number of partition blades 521 divides the interior of the cylindrical Chinese medicine bag storage turntable 520 into a number of fan-shaped storage spaces 522. Each fan-shaped storage space 522 can be used to store one or more packages of Chinese medicine bags.

[0058] The stepper motor 530 is installed on the upper partition 510 and is connected to the cylindrical Chinese medicine bag storage turntable 520 and the main controller 600. It is used to drive the cylindrical Chinese medicine bag storage turntable 520 to rotate under the control of the main controller 600.

[0059] The infrared sensor 540 is installed at the Chinese medicine bag falling hole 511 of the upper partition 510 and is connected to the main controller 600. It is used to detect whether a Chinese medicine bag falls and transmit the detection signal to the main controller 600 for processing in real time.

[0060] When it is necessary to add a Chinese medicine bag to the foot washing basin 300, the main controller 600 drives the stepper motor 530 to rotate, and drives the cylindrical Chinese medicine bag storage turntable 520 to rotate. When any fan-shaped storage space 522 in the cylindrical Chinese medicine bag storage turntable 520 is aligned with the Chinese medicine bag falling through hole 511 of the upper partition 510, the Chinese medicine bag stored in the fan-shaped storage space 522 falls into the foot washing basin 300 through the Chinese medicine bag falling through hole 511. At this time, the infrared sensor 540 sends a detection signal to the main controller 600. The main controller 600 determines whether a Chinese medicine bag has fallen based on the detection signal. If it is detected that a Chinese medicine bag has fallen, it indicates that a Chinese medicine bag is stored in the fan-shaped storage space 522 and has successfully fallen into the foot basin. At this time, the main controller 600 controls the stepper motor 530 to stop moving; if it is detected that no Chinese medicine bag has fallen, it indicates that no Chinese medicine bag is stored in the fan-shaped storage space 522. At this time, the main controller 600 controls the stepper motor 530 to continue driving the cylindrical Chinese medicine bag storage turntable 520 to rotate until a Chinese medicine bag has successfully fallen.

[0061] The main controller 600 is located within the box-type terminal 100 and is connected to the automated vehicle 200, the water injection and drainage mechanism 400, and the Chinese medicine bag adding mechanism 500. It is used to control the automated vehicle 200, the water injection and drainage mechanism 400, and the Chinese medicine bag adding mechanism 500 to coordinate their operation according to voice control commands. In this embodiment, the main controller 600 can be a PCL controller or a microcontroller chip.

[0062] The voice-controlled fully automatic Chinese medicine foot massage and foot soaking device of the present invention also includes a wireless signal transmitting module 700a and a wireless signal receiving module 700b. The wireless signal transmitting module 700a is arranged in the electrical box 213 and is connected to the sub-controller 260. It is used to send the signal data collected or generated by the sub-controller 260 to the wireless signal receiving module 700b. The wireless signal receiving module 700b is arranged in the box-type terminal 100 and is connected to the main controller 600. It is used to receive the signal data sent by the wireless signal transmitting module 700a and transmit it to the main controller 600 for processing.

[0063] The voice-controlled fully automatic Chinese medicine foot massage and foot soaking device of the present invention also includes a power module 800, which provides working power to each mechanism or module in the box-type terminal 100, and at the same time charges the rechargeable battery module 270 of the automatic walking vehicle 200 through contact or non-contact means.

[0064] The fully automatic Chinese medicine foot massage and foot soaking device based on voice control of the present invention can achieve the following functions:

[0065] 1. Automatic water supply and drainage function

[0066] The voice recognition module 240 receives the user's instructions and sends the control instructions to the main controller 600 wirelessly. The automatic walking vehicle 200 returns to the garage 101 of the box-type terminal 100, and the filling and drainage mechanism 400 executes the water receiving instruction or the drainage instruction.

[0067] 1. Automatic water collection: The voice recognition module 240 determines and executes instructions.

[0068] First water supply: After the automatic walking trolley 200 is reset, the solenoid valve 410 opens to discharge water, and the electric water heater 10 adjusts the hot water and cold water in proportion in advance. After the water supply is completed, the automatic walking trolley 200 moves to the designated foot bathing position;

[0069] Heating water: After the temperature is adjusted through the water temperature setting module 250, wait for the automatic walking trolley 200 to reset, first pump out a part of the water through the water pumping diaphragm pump 420, and then the solenoid valve 410 discharges the water. After the heating of the water is completed, the automatic walking trolley 200 returns to the designated foot soaking position.

[0070] 2. Drainage function: the voice recognition module 240 recognizes the "foot soaking end instruction".

[0071] After the automatic walking trolley 200 is reset, the water in the foot washing basin is pumped out by the water pumping diaphragm pump 420.

[0072] 2. Remote control function

[0073] 1. Get water: Say the command "soak your feet".

[0074] Automatic traveling vehicle 200: The voice recognition module 240 recognizes the instruction, and the wireless signal transmitting module 700a sends a signal to the wireless signal receiving module 700b.

[0075] Box terminal 100: The wireless signal receiving module 700b receives the instruction and transmits it to the main controller 600. The main controller 600 controls the addition of the Chinese medicine bag and the addition of hot water, and then controls the automatic walking vehicle 200 to transport the foot basin 300 to the designated foot soaking position.

[0076] 2. Add water: Say the command "add hot water" and control the hot water temperature.

[0077] Automatic traveling vehicle 200: The voice recognition module 240 recognizes the command, and the wireless signal transmitting module 700a sends a signal to the wireless signal receiving module 700b.

[0078] Box-type terminal 100: The wireless signal receiving module 700b receives the instruction and transmits it to the main controller 600. The main controller 600 adjusts the water outlet temperature of the electric water heater 10. After waiting for the automatic walking trolley 200 to return to its position, the water pumping diaphragm pump 420 extracts a part of the water, and then the solenoid valve 410 discharges the water. After the water is heated, the automatic walking trolley 200 returns to the designated foot bathing position.

[0079] 3. End of foot soaking: Say the command “End of foot soaking” and take out the Chinese medicine bag.

[0080] Automatic traveling vehicle 200: The voice recognition module 240 recognizes the instruction, and the wireless signal transmitting module 700a sends a signal to the wireless signal receiving module 700b.

[0081] Box terminal 100: The wireless signal receiving module 700b receives the instruction and transmits it to the main controller 600. After the automatic walking vehicle 200 is reset, the water in the foot basin is pumped out through the water pumping diaphragm pump 420.

[0082] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic Chinese medicine foot massage and foot soaking device based on voice control, characterized in that: include: A box-type terminal, wherein a garage is formed inside the box-type terminal; An automatic walking trolley that can be parked in the garage of the box-type terminal; A foot washing basin detachably fixed to the automatic traveling trolley; A water filling and drainage mechanism installed in the box-type terminal and located above the footbath for injecting hot water into the footbath or draining the water in the footbath; A Chinese medicine bag adding mechanism installed in the box-type terminal and located above the footbath for adding Chinese medicine bags into the footbath; as well as A main controller is provided in the box-type terminal, and the main controller is connected to the automatic walking trolley, the water injection and drainage mechanism, and the Chinese medicine bag adding mechanism respectively, and is used to control the automatic walking trolley, the water injection and drainage mechanism, and the Chinese medicine bag adding mechanism to work in coordination according to voice control instructions; The automatic walking trolley comprises: A walking trolley, comprising a trolley frame for placing a foot basin, a plurality of walking wheels spaced apart at the bottom of the trolley frame, and an electrical box mounted on the trolley frame; At least two encoding motors, each encoding motor is connected to a corresponding traveling wheel, for driving the traveling wheel to rotate forward and reverse; An encoding motor drive circuit module is disposed in the electrical box and is respectively connected to each encoding motor; a voice recognition module disposed on the surface of the electrical box for collecting and recognizing voice control information; a water temperature setting module disposed on the surface of the electrical box for setting the hot water temperature; a sub-controller disposed in the electrical box and connected to the encoder motor drive circuit module, the voice recognition module, and the water temperature setting module, respectively, the sub-controller being further connected to the main controller via a wired or wireless manner; and A rechargeable battery module provided in the electrical box for providing working power to various modules or components in the self-propelled vehicle; The Chinese medicine bag adding mechanism includes: An upper partition is horizontally arranged in the box-type terminal and located above the footbath, and a through hole for dropping a Chinese medicine bag is opened on the upper partition located just above the footbath; A cylindrical Chinese medicine bag storage turntable with a horizontal axis is provided on the upper partition and is located above the foot washing basin. A plurality of partition blades are provided circumferentially at intervals within the cylindrical Chinese medicine bag storage turntable. The plurality of partition blades divide the interior of the cylindrical Chinese medicine bag storage turntable into a plurality of fan-shaped storage spaces for storing Chinese medicine bags. a stepping motor mounted on the upper partition, connected to the cylindrical Chinese medicine bag storage turntable and connected to the main control, and used to drive the cylindrical Chinese medicine bag storage turntable to rotate; and An infrared sensor is installed at the Chinese medicine bag falling through hole of the upper partition and connected to the main controller for detecting whether a Chinese medicine bag has fallen.

2. The fully automatic Chinese medicine foot massage and foot soaking device based on voice control according to claim 1 is characterized in that: The automatic walking trolley also includes a liquid level sensor for measuring the liquid level status of the footbath in real time. The liquid level sensor is connected to the sub-controller and is provided with working power by the rechargeable battery module.

3. The fully automatic Chinese medicine foot massage and foot soaking device based on voice control according to claim 1 is characterized in that: A clamping and fixing mechanism for detachably fixing the foot basin is installed on the trolley frame.

4. The fully automatic Chinese medicine foot massage and foot soaking device based on voice control according to claim 1 is characterized in that: The voice-controlled fully automatic Chinese medicine foot massage and foot soaking device also includes a wireless signal transmitting module and a wireless signal receiving module. The wireless signal transmitting module is arranged in the electrical box and connected to the sub-controller. It is used to send the signal data collected or generated by the sub-controller to the wireless signal receiving module. The wireless signal receiving module is arranged in the box-type terminal and connected to the main controller. It is used to receive the signal data sent by the wireless signal transmitting module and transmit it to the main controller for processing.

5. The fully automatic Chinese medicine foot massage and soaking device based on voice control according to claim 1 is characterized in that: The voice-controlled fully automatic Chinese medicine foot massage and foot soaking device also includes a power module, which provides working power to each mechanism or module in the box-type terminal, and charges the rechargeable battery module of the automatic walking vehicle through contact or non-contact means.

6. The fully automatic Chinese medicine foot massage and soaking device based on voice control according to any one of claims 1 to 5, characterized in that: The injection and drainage mechanism includes: a solenoid valve disposed in the box-type terminal, located above the footbath, and connected to the main controller, wherein the water inlet end of the solenoid valve is connected to the water outlet end of the electric water heater via a first water inlet hose, and the water outlet end thereof is connected to a first water outlet hose, the lower end of the first water outlet hose enters the footbath located below and extends to the bottom of the footbath, the electric water heater is also connected to the main controller, and the outlet water temperature thereof is controlled by the main controller; and A water-suctioning diaphragm pump is arranged in the box-type terminal, located above the footwashing basin and connected to the main controller. The water inlet end of the water-suctioning diaphragm pump is connected to a second water inlet hose, the lower end of the second water inlet hose enters the footwashing basin located below and extends to the bottom of the footwashing basin, and the water outlet end of the water-suctioning diaphragm pump is connected to a second water outlet hose for discharging the water in the footwashing basin.

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