Intelligent bathing method, device and system

Abstract

According to the intelligent bathing method, device and system, after it is monitored that the user enters the bathing area in the intelligent wheelchair, the first point cloud set containing the user in the bathing area is collected, and the third point cloud set of the human body facing the sampling module is determined according to the first point cloud set and the second point cloud set; generating a human body form 3D model according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is an intelligent wheelchair model point cloud set facing the sampling module, the bathing path and the bathing attribute of each part in the bathing path are set according to the human body form 3D model, and intelligent bathing is executed according to the bathing path and the bathing attribute of each part. A human body form 3D model is obtained through recognition in a point cloud set collection mode, intelligent bathing is executed based on the determined human body form 3D model according to a set bathing path and bathing attributes, on the premise that privacy of a user is not invaded, the robot can distinguish the human body form and parts in the bathing and drying process, and the user experience is improved. And personalized comfortable bathing and blow-drying experience is provided.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to an intelligent bathing method, device and system. Background Art

[0002] When the robot is bathing the user intelligently, it needs to collect user images to identify the user's body shape and body parts, and adjust the angle and intensity of the bathing accordingly, so as to provide a comfortable and personalized bathing experience. However, there is a problem of privacy leakage when adult users use the robot to bathe, which makes users feel uncomfortable because they are being spied on during the bathing process. Summary of the invention

[0003] The present application provides an intelligent bathing method, device, electronic device and storage medium. Its main purpose is to enable the robot to identify the shape and part of the human body during the bathing process without infringing the user's privacy, and provide a personalized and comfortable bathing experience.

[0004] According to a first aspect of the present application, a smart bathing method is provided, which includes:

[0005] After monitoring that the user enters the bathing area in the smart wheelchair, the first point cloud containing the user in the bathing area is collected;

[0006] Determine a third point cloud set of the human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set in which the user does not enter the bathing area;

[0007] Generate a human body 3D model according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a smart wheelchair model point cloud set facing the sampling module;

[0008] Setting a bathing path and bathing attributes of each part in the bathing path according to the 3D human body shape model;

[0009] Intelligent bathing is performed according to the bathing path and bathing attributes of each part.

[0010] In some embodiments, generating a human body 3D model according to the third point cloud set and the fourth point cloud set includes:

[0011] Reading the surface model and posture information of the smart wheelchair to obtain a 3D model of the smart wheelchair;

[0012] Sampling the 3D model of the smart wheelchair to obtain the fourth point cloud;

[0013] The third point cloud set is combined with the fourth point cloud set to obtain the human body 3D model.

[0014] In some embodiments, setting the bathing path and the bathing attributes of each part in the bathing path according to the human body 3D model includes:

[0015] Determine the location of each sampling point in the 3D model of human body shape;

[0016] Generating the bathing path based on the location to which the determined sampling points belong, and bathing attributes of each location in the bathing path;

[0017] The bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts avoided, bathing duration, and bathing temperature.

[0018] In some embodiments, after generating the bathing path based on the determined parts of the sampling points and the bathing attributes of each part in the bathing path, the method further includes:

[0019] receiving a modification instruction for the bathing path and / or bathing attributes;

[0020] The update content in the modification instruction is obtained, and the bathing path and / or bathing attributes are modified using the update content.

[0021] In some embodiments, performing intelligent bathing according to the bathing path and bathing attributes of each body part includes:

[0022] Controlling the shower nozzle to move to the starting position of the shower path based on the robotic arm;

[0023] Control the water supply valve to open, and adjust the power of the booster pump on the water supply pipeline and the cold / hot opening of the water supply valve according to the bathing intensity and bathing temperature set at the target bathing position;

[0024] Bathing is performed according to the bathing path, and bathing ends when the bathing nozzle reaches the end position of the bathing path.

[0025] In some embodiments, the method further comprises:

[0026] During bathing, receiving an instruction to adjust the bathing attribute;

[0027] The adjustment item and adjustment parameter corresponding to the adjustment instruction are obtained, and bathing is performed according to the adjustment item and the adjustment parameter.

[0028] In some embodiments, performing intelligent bathing according to the bathing path and bathing attributes of each body part includes:

[0029] The fifth point of collecting bathing water flows together;

[0030] Determining the landing point of the bath water flow on the human body based on the fifth point cloud;

[0031] Acquire the position information and the spray direction of the shower nozzle, and optimize the landing point position based on the position information and the spray direction to obtain an optimized landing point position;

[0032] Using the optimized landing point position to correct the human body morphology 3D model, to obtain a corrected human body morphology 3D model;

[0033] The bathing path is reset according to the corrected human body morphology 3D model, and intelligent bathing is performed according to the reset bathing path.

[0034] In some embodiments, the acquiring the position information and the spray direction of the shower nozzle, and optimizing the landing point position based on the position information and the spray direction to obtain the optimized landing point position includes:

[0035] Constructing a spatial straight line equation according to the position information and the spray direction of the shower nozzle;

[0036] Calculate the projection point of the landing point on the straight line corresponding to the spatial straight line equation;

[0037] The projection point is determined as the optimized landing point position.

[0038] In some embodiments, the using the optimized landing point position to correct the human body morphology 3D model to obtain the corrected human body morphology 3D model includes:

[0039] Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position;

[0040] Use the coordinates corresponding to the optimized landing point position to replace the target sampling point;

[0041] Using a linear interpolation method to replace sampling points whose distance from the target sampling point is less than a preset distance threshold;

[0042] The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

[0043] In some embodiments, after finishing bathing, the method further comprises:

[0044] According to the modified human body morphology 3D model, a whole body drying path and drying properties of each part in the drying path are set, wherein the drying properties include at least one of the following: hot air temperature, drying parts to be avoided, hot air nozzle direction, blowing time, wind speed and wind pressure, and distance between the hot air nozzle and the human body;

[0045] Whole body drying is performed according to the whole body drying path and the drying attributes of each part in the drying path.

[0046] In some embodiments, performing full body blow drying according to the full body blow drying path and the blow drying properties of each part in the blow drying path includes:

[0047] Controlling the hot air nozzle to move to the starting point of the whole body drying path based on the robotic arm, and adjusting the position of the hot air nozzle according to the distance between the hot air nozzle and the human body;

[0048] Control the air door to open, and adjust the blades to a corresponding angle according to the direction of the hot air nozzle;

[0049] The temperature of the hot air nozzle and the body surface temperature are detected by a temperature sensor, and the power of the heating element is controlled to adjust the hot air to the hot air temperature set by the drying attribute;

[0050] Drying is performed according to the whole body drying path, and the whole body drying is terminated after the hot air nozzle reaches the end position of the drying path.

[0051] According to a second aspect of the present application, there is provided a smart bathing device, comprising:

[0052] A collection unit is used to collect a first point cloud containing the user in the bathing area after monitoring that the user enters the bathing area in the smart wheelchair;

[0053] A determining unit, configured to determine a third point cloud set of the human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set of the user before entering the bathing area;

[0054] A generating unit, configured to generate a 3D model of a human body according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a point cloud set of a smart wheelchair model facing the sampling module;

[0055] A setting unit, used for setting a bathing path and bathing attributes of each part in the bathing path according to the 3D model of human body shape;

[0056] The bathing unit is used to perform intelligent bathing according to the bathing path and bathing attributes of each part.

[0057] In some embodiments, the generating unit is further configured to:

[0058] Reading the surface model and posture information of the smart wheelchair to obtain a 3D model of the smart wheelchair;

[0059] Sampling the 3D model of the smart wheelchair to obtain the fourth point cloud;

[0060] The third point cloud set is combined with the fourth point cloud set to obtain the human body 3D model.

[0061] In some embodiments, the setting unit is further configured to:

[0062] Determine the location of each sampling point in the 3D model of human body shape;

[0063] Generating the bathing path based on the location to which the determined sampling points belong, and bathing attributes of each location in the bathing path;

[0064] The bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts avoided, bathing duration, and bathing temperature.

[0065] In some embodiments, the apparatus further comprises:

[0066] A first receiving unit is used to receive a modification instruction of the bathing path and / or bathing attributes after generating the bathing path based on the location to which the determined sampling points belong and the bathing attributes of each location in the bathing path;

[0067] The first processing unit is used to obtain the update content in the modification instruction and use the update content to modify the bathing path and / or bathing attributes.

[0068] In some embodiments, the bathing unit is further used for:

[0069] Controlling the shower nozzle to move to the starting position of the shower path based on the robotic arm;

[0070] Control the water supply valve to open, and adjust the power of the booster pump on the water supply pipeline and the cold / hot opening of the water supply valve according to the bathing intensity and bathing temperature set at the target bathing position;

[0071] Bathing is performed according to the bathing path, and bathing ends when the bathing nozzle reaches the end position of the bathing path.

[0072] In some embodiments, the apparatus further comprises:

[0073] The second receiving unit is further used to receive an adjustment instruction for the bathing attribute during the bathing process;

[0074] The second processing unit is used to obtain the adjustment item and the adjustment parameter corresponding to the adjustment instruction, and perform bathing according to the adjustment item and the adjustment parameter.

[0075] In some embodiments, the bathing unit comprises:

[0076] A collection module, used to collect the fifth point cloud of the bathing water flow;

[0077] a determination module, configured to determine a location of a bathing water flow falling on a human body based on the fifth point cloud;

[0078] An optimization module, used for obtaining the position information and the spray direction of the shower nozzle, and optimizing the landing point position based on the position information and the spray direction to obtain an optimized landing point position;

[0079] A correction module, used to correct the human body morphology 3D model using the optimized landing point position to obtain a corrected human body morphology 3D model;

[0080] The bathing module is used to reset the bathing path according to the corrected human body 3D model and perform intelligent bathing according to the reset bathing path.

[0081] In some embodiments, the optimization module is further used to:

[0082] Constructing a spatial straight line equation according to the position information and the spray direction of the shower nozzle;

[0083] Calculate the projection point of the landing point on the straight line corresponding to the spatial straight line equation;

[0084] The projection point is determined as the optimized landing point position.

[0085] In some embodiments, the correction module is further used to:

[0086] Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position;

[0087] Use the coordinates corresponding to the optimized landing point position to replace the target sampling point;

[0088] Using a linear interpolation device to replace sampling points whose distance from the target sampling point is less than a preset distance threshold;

[0089] The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

[0090] In some embodiments, after finishing bathing, the device further comprises:

[0091] The setting unit is further used to set a whole body drying path and drying properties of each part in the drying path according to the corrected human body morphology 3D model, wherein the drying properties include at least one of the following: hot air temperature, drying parts to be avoided, hot air nozzle direction, blowing time, wind speed and wind pressure, and distance between the hot air nozzle and the human body;

[0092] The drying unit is used to perform full body drying according to the full body drying path and the drying properties of each part in the drying path.

[0093] In some embodiments, the drying unit is further used for:

[0094] Controlling the hot air nozzle to move to the starting point of the whole body drying path based on the robotic arm, and adjusting the position of the hot air nozzle according to the distance between the hot air nozzle and the human body;

[0095] Control the air door to open, and adjust the blades to a corresponding angle according to the direction of the hot air nozzle;

[0096] The temperature of the hot air nozzle and the body surface temperature are detected by a temperature sensor, and the power of the heating element is controlled to adjust the hot air to the hot air temperature set by the drying attribute;

[0097] Drying is performed according to the whole body drying path, and the whole body drying is terminated after the hot air nozzle reaches the end position of the drying path.

[0098] According to a third aspect of the present application, there is provided an intelligent bathing system, comprising: a bathing robot and an intelligent wheelchair;

[0099] Wherein, the bathing robot comprises the intelligent bathing device as claimed in claim 11.

[0100] According to a fourth aspect of the present application, an electronic device is provided, including:

[0101] at least one processor; and

[0102] a memory communicatively connected to the at least one processor; wherein,

[0103] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect.

[0104] According to a fifth aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described in the first aspect above.

[0105] According to a sixth aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the method according to the first aspect is implemented.

[0106] The smart bathing method, device and system provided by the present application, after monitoring a user entering the bathing area in a smart wheelchair, collects a first point cloud set containing the user in the bathing area, determines a third point cloud set of the human body facing the sampling module based on the first point cloud set and the second point cloud set, wherein the second point cloud set is an environmental point cloud set before the user enters the bathing area, generates a 3D model of human body shape based on the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a point cloud set of the smart wheelchair model facing the sampling module, sets a bathing path and bathing attributes of each part in the bathing path according to the 3D model of human body shape, and performs smart bathing according to the bathing path and the bathing attributes of each part. The embodiment of the present application provides a method of collecting point clouds to identify a 3D model of human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of human body shape, and enables the robot to identify human body shape and parts during bathing and drying without infringing on user privacy, providing a personalized and comfortable bathing and drying experience.

[0107] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.

[0109] Figure 1 A schematic diagram of an intelligent bathing system provided in an embodiment of the present application;

[0110] Figure 2 A schematic diagram of a flow chart of an intelligent bathing method provided in an embodiment of the present application;

[0111] Figure 3 A schematic diagram of a process for correcting a 3D human body model and a bathing path provided in an embodiment of the present application;

[0112] Figure 4 A schematic diagram of a landing point position provided in an embodiment of the present application;

[0113] Figure 5 A schematic diagram of a flow chart of another intelligent bathing method provided in an embodiment of the present application;

[0114] Figure 6 A schematic diagram of the structure of a smart bathing device provided in an embodiment of the present application;

[0115] Figure 7 A schematic diagram of the structure of another intelligent bathing device provided in an embodiment of the present application;

[0116] Figure 8 A schematic block diagram of an intelligent bathing system provided in an embodiment of the present application;

[0117] Fig. 9 A schematic block diagram of an example electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0118] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0119] The following describes the smart bathing method, device and system of the embodiments of the present application with reference to the accompanying drawings.

[0120] For ease of understanding, the present application embodiment provides a smart bathing system, such as Figure 1 As shown, the intelligent bathing system includes a bathing robot and an intelligent wheelchair, wherein the bathing robot also includes a mechanical arm

[0121] Figure 2 A schematic diagram of a path of an intelligent bathing method provided in an embodiment of the present application.

[0122] like Figure 2 As shown, the method comprises the following steps:

[0123] Step 101 , after monitoring that a user enters a bathing area in a smart wheelchair, a first point cloud containing the user in the bathing area is collected.

[0124] In order to avoid the problem of user privacy leakage caused by image acquisition methods with high resolution and clarity such as color cameras and infrared cameras, the embodiment of the present application adopts a data acquisition module that can protect privacy to obtain data related to body parts in terms of data acquisition. The data acquisition module, such as ToF laser radar, uses the flight time of light to measure the distance of various parts of the body. When collecting data, the ToF laser radar has no color information of the human body on the one hand, and is limited by the laser sampling error on the other hand, and the distance error is at the centimeter level. Therefore, these data cannot be used to identify the detailed characteristics and identity of the user, so the problem of leaking user privacy is fundamentally eliminated. And from the appearance, the data acquisition module is significantly different from the camera and is easy to distinguish, thereby avoiding causing discomfort to the user.

[0125] The data acquisition module uses a ToF laser radar, which is installed in the middle position of the bathing robot, or any other position of the bathing robot. The specific installation position of the ToF laser radar is not limited in the embodiment of the present application.

[0126] The data collected by the ToF laser radar is a point cloud of the surface of objects within the field of view of the ToF laser radar in the bathing area. Each sampling point that makes up the point cloud comes from the surface of the human body, smart wheelchair or environment (ground, wall, etc.) facing the ToF laser radar, and contains spatial coordinate information in three dimensions (x, y, z).

[0127] The bathing robot monitors in real time whether there is a user entering the bathing area. The monitoring method is as follows:

[0128] Before the user enters the bathing area, the ToF laser radar is used to collect the second point cloud set C2 that only includes the bathing area environment. When the user is detected to enter the bathing area, the ToF laser radar is used to collect the first point cloud set C1 including the user.

[0129] The first point cloud is {p|dist(p,C2)>δ1,p∈C1}. Where dist(p,C2) represents the distance between point p and the nearest point in C2, and δ1 is the screening threshold, the value of which is related to the expected error of the ToF laser radar, for example, 3 times the expected error. Specifically, the present embodiment does not limit the screening threshold.

[0130] Step 102: determining a third point cloud set of a human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set when the user does not enter the bathing area.

[0131] Due to the entry of the user, the point clouds obtained by the two scans of the ToF lidar (the first point cloud set C1 and the second point cloud set C2) are quite different. The differences are mainly the sampling points on the front surface of the human body (towards the bathing robot) and a small number of sampling points on the wheelchair surface exposed in the field of view.

[0132] The third point cloud C3 of the sampling points on the front surface of the human body is {p|dist(p-C2)>δ1and dist(p-C3)>δ2,p∈C1}, where the value of δ2 is related to the expected error of the ToF laser radar, for example, twice the expected error. The specific embodiment of the present application does not limit the value of δ2.

[0133] Step 103, generating a human body 3D model according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a smart wheelchair model point cloud set facing the sampling module.

[0134] Since the human body sits on the smart wheelchair and leans on the backrest of the smart wheelchair when bathing, the surface morphology of the human body facing away from the ToF laser radar can refer to the 3D model of the wheelchair mentioned above.

[0135] The model point cloud set (the fourth point cloud set C4) of the smart wheelchair may be input into the bathing robot before this. The specific embodiment of the present application does not limit the transmission method.

[0136] The third point cloud set C3 of the human body facing the ToF laser radar and the fourth point cloud set C4 of the human body facing away from the ToF laser radar are calculated as the union of the two sets, and the union is used as the 3D model of the human body shape.

[0137] Step 104 , setting a bathing path and bathing attributes of each part in the bathing path according to the 3D human body shape model.

[0138] A bathing path is set according to the 3D human body model. Specifically, the part to which each sampling point in the 3D human body model belongs is determined, such as the forehead, eyes, ears, neck, etc. The bathing path can start from the forehead of the 3D human body model and traverse all parts of the body, or can start from the toes of the 3D human body model and traverse all parts of the body, or can also start from the arms of the 3D human body model and traverse all parts of the body, etc. Specifically, the bathing path is not limited in the embodiments of the present application.

[0139] The bathing attributes described in the embodiments of the present application include but are not limited to the number of times each part is traversed during the bathing process, the intensity of the bathing, the bathing parts to be avoided, the duration of the bathing, the temperature of the bathing, whether shampoo is needed, the brand of shampoo, whether shower gel is used, the brand of shower gel, etc. The specific bathing attributes can be set in advance before bathing, and can also be modified during the bathing process through the touch screen, remote terminal, voice control, etc. of the bathing robot. Specifically, the embodiments of the present application do not limit the bathing attributes.

[0140] Step 105, performing intelligent bathing according to the bathing path and bathing attributes of each body part.

[0141] The smart bathing method provided by the present application, after monitoring a user entering the bathing area in a smart wheelchair, collects a first point cloud set containing the user in the bathing area, determines a third point cloud set of the human body facing the sampling module based on the first point cloud set and the second point cloud set, wherein the second point cloud set is an environmental point cloud set before the user enters the bathing area, generates a 3D model of human body shape based on the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a point cloud set of the smart wheelchair model facing the sampling module, sets a bathing path and bathing attributes of each part in the bathing path according to the 3D model of human body shape, and performs smart bathing according to the bathing path and the bathing attributes of each part. The embodiment of the present application provides a method of collecting point clouds to identify a 3D model of human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of human body shape, and enables the robot to identify human body shape and parts during bathing and drying without infringing on user privacy, providing a personalized and comfortable bathing and drying experience.

[0142] Further, as a refinement of step 103, when generating the human body 3D model according to the third point cloud set and the fourth point cloud set, the following methods may be used but are not limited to:

[0143] Reading the surface model and posture information of the smart wheelchair to obtain a 3D model of the smart wheelchair;

[0144] Sampling the 3D model of the smart wheelchair to obtain the fourth point cloud;

[0145] The third point cloud set is combined with the fourth point cloud set to obtain the human body 3D model.

[0146] Position sensors and data communication interfaces are set in the smart wheelchair. The position sensors collect the spatial coordinates, orientation and other posture information of the wheelchair. The bathing robot obtains the wheelchair posture information through the data communication interface. The surface model of the smart wheelchair can be exported by the mechanical structure design software of the smart wheelchair and transmitted to the bathing robot through the data communication interface. It can also be pre-input into the data system of the bathing robot by copying it with a USB flash drive. The surface model of the smart wheelchair is sampled based on the ToF laser radar, and the posture information can be obtained to obtain the fourth point cloud C4.

[0147] The sampling point set of the human body facing the ToF laser radar (the third point cloud set C3) and the sampling point set of the human body facing away from the ToF laser radar (the fourth point cloud set C4) are combined, and the third point cloud set C3 and the fourth point cloud set C4 are merged to obtain a 3D model of the human body shape.

[0148] Furthermore, when setting the bathing path and the bathing attributes of each part in the bathing path according to the human body morphology 3D model, it includes: determining the part to which each sampling point in the human body morphology 3D model belongs, and generating the bathing path and the bathing attributes of each part in the bathing path based on the part to which the determined sampling point belongs.

[0149] Specifically, a supervised learning method is used to determine the part to which each sampling point in the 3D human body model belongs, such as the forehead, eyes, ears, neck, armpits, etc. Specifically, the supervised learning method can be implemented by any method in the relevant technology, and the embodiments of the present application will not be described in detail here.

[0150] For example, taking the bathing path of head-face-neck-body-arm-armpit-leg-foot as an example, the following bathing attributes can be set: bathing time is 15 minutes, the number of traversals for the head, neck, armpit, and foot is 2 times, the eyes and ears are bypassed and not rinsed, the rinsing intensity is level 2, and a certain brand of shampoo is used when washing hair, etc. It should be noted that the embodiments of the present application do not specifically limit the bathing path and bathing attributes.

[0151] As an optional implementation method of the embodiment of the present application, after the bathing robot generates the bathing path and bathing attributes, the user can adjust the bathing path and bathing attributes according to his own needs to increase user stickiness, specifically including: receiving modification instructions for the bathing path and / or bathing attributes, obtaining the updated content in the modification instructions, and using the updated content to modify the bathing path and / or bathing attributes. For example, the user can input the modification instruction through the touch screen of the bathing robot, or input the modification instruction through a bound terminal (such as a mobile phone APP), and further, the modification instruction can also be input by voice, gesture, etc. Specifically, the embodiment of the present application does not limit the method of inputting the modification instruction.

[0152] Please continue to refer to 5. The bathing robot includes two robotic arms, which control the bathing nozzle to aim at the target bathing position on the bathing path. When performing intelligent bathing according to the bathing path and the bathing attributes of each part, the robotic arm controls the bathing nozzle to move to the starting position of the bathing path, controls the water supply valve to open, and adjusts the power of the booster pump on the water supply pipeline and the cold / hot opening of the water supply valve according to the bathing intensity and bathing temperature set at the target bathing position. Bathing is performed according to the bathing path, and the water supply valve is automatically controlled to open to spray bathing water toward the target bathing position. After the bathing nozzle reaches the end position of the bathing path, the bathing ends.

[0153] In some embodiments, different bathing intensities can also be set at different positions of the human body 3D model. The bathing intensities refer to the pressure of the jetted bathing water. When the shower head sprays the bathing water toward the target bathing position, the power of the booster pump on the water supply pipeline is adjusted according to the bathing intensities set at the target bathing position to adjust the bathing intensity.

[0154] In order to further satisfy the user's comfort experience when bathing, during the bathing process, an adjustment instruction for the bathing attribute is received, the adjustment item and adjustment parameter corresponding to the adjustment instruction are obtained, and bathing is performed according to the adjustment item and the adjustment item and adjustment parameter. For example, the adjustment item is the bathing temperature, and the adjustment parameter is to increase it by 2 degrees; or, the adjustment item is whether to use shower gel, and the adjustment parameter is not to use shower gel, etc. Specifically, the user can flexibly set the adjustment item and adjustment parameter according to actual needs, which is not limited in the embodiment of the present application.

[0155] After the bathing robot receives the adjustment instruction, the bathing path and / or bathing attributes of the bathing robot are updated in real time to ensure the bathing experience of the user.

[0156] In order to further improve the comfort of bathing, during the bathing process, the data acquisition module is used to scan, and the location of the bathing water flow is calculated based on the scan data, and the human body 3D model and bathing path are further corrected. Figure 3 As shown, including:

[0157] Step 201 , collecting the fifth point cloud of the bath water flow.

[0158] When the shower water is sprayed, the fifth point cloud C5 is obtained by scanning using the ToF laser radar. Since the difference between the fifth point cloud C5 and the first point cloud C1 is mainly whether there is shower water in the field of view, the difference between the two point clouds is mainly the sampling points of the shower water.

[0159] Step 202: determining the landing point of the bath water on the human body based on the fifth point cloud.

[0160] The morphological feature of the bathing water flow is analyzed according to the fifth point cloud C5. Optionally, the morphological feature is the landing point of the bathing water flow on the human body, that is, the position where the bathing water flow changes from a straight water column to a scattered form, and the value is {x1, y1, z1}.

[0161] In practical applications, the identification of the location of the bath water flow on the human body can be carried out by using a neural network model method or a morphological analysis rule method. Specifically, the implementation method of the location of the bath water flow is not limited in the embodiment of the present application.

[0162] Step 203, obtaining the position information and the spray direction of the shower nozzle, and optimizing the landing point position based on the position information and the spray direction to obtain an optimized landing point position.

[0163] When obtaining the position information and the spray direction of the shower nozzle, and optimizing the landing point position based on the position information and the spray direction to obtain the optimized landing point position, the following methods may be used but are not limited to:

[0164] Constructing a spatial straight line equation according to the position information and the spray direction of the shower nozzle;

[0165] Calculate the projection point of the landing point on the straight line corresponding to the spatial straight line equation;

[0166] The projection point is determined as the optimized landing point position.

[0167] The landing point position determined in step 202 can also be optimized with reference to the spatial parameters of the shower head. The spatial parameters of the shower head include the position and spray direction of the shower head, which can be obtained from the motion control system of the robotic arm (here the robotic arm is required to have a closed-loop motion control system that can accurately control the motion orientation). In one embodiment, the method for optimizing the landing point position is as follows: first, a spatial straight line equation L of the bathing water flow is established based on the position and spray direction of the shower head, and then the projection point {x2, y2, z2} of the spatial point {x1, y1, z1} on the straight line L is calculated, and the projection point is the optimized landing point position.

[0168] In order to better understand the location of the landing point, Figure 4 As shown, Figure 4 A schematic diagram of a landing point position provided in an embodiment of the present application, Figure 4 In the figure, point O is the location of the shower water on the human body {x1, y1, z 1}; point N is the projection point {x2, y2, z2}, that is, the optimized location of the shower water. A and B are determined according to the location and spray direction of the shower head. A can be the center point of the shower head's spray hole, set to {xA, yA, zA}. Assuming that the direction vector of the spray direction is (a, b, c), point B is {xA+a, yA+b, zA+c}.

[0169] Step 204, using the optimized landing point position to correct the human body morphology 3D model to obtain a corrected human body morphology 3D model;

[0170] When the optimized landing point position is used to correct the human body morphology 3D model to obtain the corrected human body morphology 3D model, it can be implemented in the following ways but not limited to:

[0171] Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position;

[0172] Use the coordinates corresponding to the optimized landing point position to replace the target sampling point;

[0173] Using a linear interpolation method to replace sampling points whose distance from the target sampling point is less than a preset distance threshold;

[0174] The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

[0175] In some embodiments, the optimized landing point position {x2, y2, z2} is used to correct the human body morphology 3D model. Specifically, the following steps can be used to retrieve the target sampling point closest to {x2, y2, z2} in the human body 3D model, replace the target sampling point with {x2, y2, z2}, and use linear interpolation to replace the point whose distance from the target sampling point is less than a preset distance threshold (such as δ3). Among them, δ3 can be set to 5cm based on experience.

[0176] The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

[0177] Step 205, resetting the bathing path according to the corrected human body morphology 3D model, and performing intelligent bathing according to the re-set bathing path.

[0178] Please refer to the relevant instructions for setting the bathing path in the above embodiment, adjust the bathing path according to the corrected human body 3D model, and perform intelligent bathing according to the reset bathing path.

[0179] like Figure 5 As shown, the embodiment of the present application also provides a smart bathing method, including:

[0180] Step 301, after finishing bathing, setting a whole body blow-drying path and the blow-drying properties of each part in the blow-drying path according to the corrected human body morphology 3D model, wherein the blow-drying properties include at least one of the following: hot air temperature, bypassing the blow-drying body part, hot air nozzle direction, blow-drying time, wind speed and wind pressure, and the distance between the hot air nozzle and the human body.

[0181] After the bathing process is finished, the user can start the blow-drying process according to his / her own needs.

[0182] The implementation principle of setting the blow-drying path and the blow-drying attributes in the embodiments of the present application is the same as the principle of setting the bathing path and the bathing attributes described above, and the specific embodiments of the present application will not be described in detail here.

[0183] Step 302 , performing full body drying according to the full body drying path and the drying properties of each part in the drying path.

[0184] When performing full body drying according to the full body drying path and the drying attributes of each part in the drying path, it can be achieved in the following ways:

[0185] Controlling the hot air nozzle to move to the starting point of the whole body drying path based on the robotic arm, and adjusting the position of the hot air nozzle according to the distance between the hot air nozzle and the human body;

[0186] Control the air door to open, and adjust the blades to a corresponding angle according to the direction of the hot air nozzle;

[0187] The temperature of the hot air nozzle and the body surface temperature are detected by a temperature sensor, and the power of the heating element is controlled to adjust the hot air to the hot air temperature set by the drying attribute;

[0188] Drying is performed according to the whole body drying path, and the whole body drying is terminated after the hot air nozzle reaches the end position of the drying path.

[0189] After the drying path is compiled according to the corrected 3D model of the human body, the robot arm is controlled to control the hot air nozzle to move to the starting point of the drying path. After reaching the starting point of the drying path, the air door is controlled to open and the blades are adjusted to the required angle to guide the hot air to the position that needs to be dried. In the process of drying hair, the nozzle will avoid blowing water droplets onto the user's facial features through path planning.

[0190] In order to avoid scalding the user, the temperature sensor installed at the end of the robot arm tests the body surface temperature and the temperature of the hot air outlet at any time, and adjusts the power of the heating element to adjust the hot air to the appropriate temperature. When the hot air nozzle delivers hot air to the target drying position, the wind speed can be adjusted by adjusting the fan power in the hot air pipeline, thereby affecting the drying speed.

[0191] In addition, the user can set different temperatures and wind speeds for drying different body positions as needed. For instructions on setting the drying properties, please refer to the updating process of the bathing properties. The specific embodiments of the present application will not be described one by one.

[0192] The implementation principles of blow-drying and bathing are exactly the same, except that there is no electricity. In the bathing scene, the robotic arm controls the shower head to complete smart bathing. In the full body blow-drying scene, the robotic arm controls the hot air nozzle to complete bathing.

[0193] The following are the beneficial effects of the embodiments of the present application:

[0194] 1. In terms of data collection, the present invention uses a data collection module that can protect privacy to obtain data related to body parts. The data collection module, such as a ToF laser radar, uses the flight time of light to measure the distance of various parts of the body. On the one hand, the data collected by the ToF laser radar does not have color information of the human body, and on the other hand, it is limited by the laser sampling error, and the distance error is at the centimeter level. Therefore, these data cannot be used to identify the detailed characteristics and identity of the user, thus fundamentally eliminating the problem of leaking user privacy. Moreover, from the appearance point of view, the data collection module is significantly different from the camera and is easy to distinguish, thereby avoiding causing discomfort to the user.

[0195] 2. In terms of data analysis, the embodiment of the present invention uses machine learning technology to first estimate the 3D model of human body shape. In order to solve the problem of large errors in the above data acquisition module, during the bathing process, the real-time modeling technology of the bathing water flow is used to dynamically correct the 3D model of human body shape, so as to better judge the relative position between the shower head and the user's body parts.

[0196] 3. In terms of intelligent control, based on the characteristics of body parts and the relative position between the robotic arm and the body parts, the bathing robot can automatically perform targeted bathing operations, allowing users to experience a more comfortable and convenient bathing and blow-drying experience.

[0197] 4. Without infringing on user privacy, the robot can identify the shape and part of the human body during bathing and drying, providing a personalized and comfortable bathing and drying experience.

[0198] Corresponding to the above-mentioned smart bathing method, the present invention also provides a smart bathing device. Since the device embodiment of the present invention corresponds to the above-mentioned method embodiment, details not disclosed in the device embodiment can be referred to the above-mentioned method embodiment, and will not be repeated in the present invention.

[0199] Figure 5 A schematic diagram of the structure of a smart bathing device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, including:

[0200] The collecting unit 31 is used to collect a first point cloud containing the user in the bathing area after monitoring that the user enters the bathing area in the smart wheelchair;

[0201] A determining unit 32, configured to determine a third point cloud set of a human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set of an area where the user does not enter a bathing area;

[0202] A generating unit 33 is used to generate a human body 3D model according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a smart wheelchair model point cloud set facing the sampling module;

[0203] A setting unit 34, used for setting a bathing path and bathing attributes of each part in the bathing path according to the human body 3D model;

[0204] The bathing unit 35 is used to perform intelligent bathing according to the bathing path and bathing attributes of each part.

[0205] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the generating unit 33 is also used for:

[0206] Reading the surface model and posture information of the smart wheelchair to obtain a 3D model of the smart wheelchair;

[0207] Sampling the 3D model of the smart wheelchair to obtain the fourth point cloud;

[0208] The third point cloud set is combined with the fourth point cloud set to obtain the human body 3D model.

[0209] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the setting unit 34 is also used for:

[0210] Determine the location of each sampling point in the 3D model of human body shape;

[0211] Generating the bathing path based on the location to which the determined sampling points belong, and bathing attributes of each location in the bathing path;

[0212] The bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts avoided, bathing duration, and bathing temperature.

[0213] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the device also includes:

[0214] A first receiving unit 36 ​​is used to receive a modification instruction of the bathing path and / or bathing attributes after generating the bathing path based on the location to which the determined sampling points belong and the bathing attributes of each location in the bathing path;

[0215] The first processing unit 37 is used to obtain the update content in the modification instruction and use the update content to modify the bathing path and / or bathing attribute.

[0216] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the bathing unit 35 is also used for:

[0217] Controlling the shower nozzle to move to the starting position of the shower path based on the robotic arm;

[0218] Control the water supply valve to open, and adjust the power of the booster pump on the water supply pipeline and the cold / hot opening of the water supply valve according to the bathing intensity and bathing temperature set at the target bathing position;

[0219] Bathing is performed according to the bathing path, and bathing ends when the bathing nozzle reaches the end position of the bathing path.

[0220] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the device also includes:

[0221] The second receiving unit 38 is further used to receive an adjustment instruction for the bathing attribute during the bathing process;

[0222] The second processing unit 39 is used to obtain the adjustment item and the adjustment parameter corresponding to the adjustment instruction, and perform bathing according to the adjustment item and the adjustment parameter.

[0223] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the bathing unit 35 comprises:

[0224] A collection module 351 is used to collect a fifth point cloud of the bathing water flow;

[0225] A determination module 352, configured to determine a location where the bath water falls on the human body based on the fifth point cloud;

[0226] The optimization module 353 is used to obtain the position information and the spray direction of the shower nozzle, and optimize the landing point position based on the position information and the spray direction to obtain an optimized landing point position;

[0227] A correction module 354 is used to correct the human body morphology 3D model using the optimized landing point position to obtain a corrected human body morphology 3D model;

[0228] The bathing module 355 is used to reset the bathing path according to the corrected human body morphology 3D model, and perform intelligent bathing according to the reset bathing path.

[0229] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the optimization module 353 is also used for:

[0230] Constructing a spatial straight line equation according to the position information and the spray direction of the shower nozzle;

[0231] Calculate the projection point of the landing point on the straight line corresponding to the spatial straight line equation;

[0232] The projection point is determined as the optimized landing point position.

[0233] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the correction module 354 is also used for:

[0234] Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position;

[0235] Use the coordinates corresponding to the optimized landing point position to replace the target sampling point;

[0236] Using a linear interpolation device to replace sampling points whose distance from the target sampling point is less than a preset distance threshold;

[0237] The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

[0238] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, after finishing bathing, the device further comprises:

[0239] The setting unit 34 is further used to set a whole body drying path and drying properties of each part in the drying path according to the modified human body morphology 3D model, wherein the drying properties include at least one of the following: hot air temperature, drying parts to be avoided, hot air nozzle direction, blowing time, wind speed and wind pressure, and distance between the hot air nozzle and the human body;

[0240] The drying unit 310 is used to perform full body drying according to the full body drying path and the drying properties of each part in the drying path.

[0241] Furthermore, in a possible implementation of the embodiment of the present application, as Figure 7 As shown, the drying unit 35 is also used for:

[0242] Controlling the hot air nozzle to move to the starting point of the whole body drying path based on the robotic arm, and adjusting the position of the hot air nozzle according to the distance between the hot air nozzle and the human body;

[0243] Control the air door to open, and adjust the blades to a corresponding angle according to the direction of the hot air nozzle;

[0244] The temperature of the hot air nozzle and the body surface temperature are detected by a temperature sensor, and the power of the heating element is controlled to adjust the hot air to the hot air temperature set by the drying attribute;

[0245] Drying is performed according to the whole body drying path, and the whole body drying is terminated after the hot air nozzle reaches the end position of the drying path.

[0246] The present application also provides a smart bathing system. Figure 8 As shown, it includes: a bathing robot 41 and a smart wheelchair 42;

[0247] Wherein, the bathing robot 41 includes: Figure 6 or Figure 7 The smart bathing device shown.

[0248] The smart bathing device and system provided by the present application, after monitoring a user entering the bathing area in a smart wheelchair, collects a first point cloud set containing the user in the bathing area, determines a third point cloud set of the human body facing the sampling module based on the first point cloud set and the second point cloud set, wherein the second point cloud set is an environmental point cloud set before the user enters the bathing area, generates a 3D model of human body shape based on the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a point cloud set of the smart wheelchair model facing the sampling module, sets a bathing path and bathing attributes of each part in the bathing path according to the 3D model of human body shape, and performs smart bathing according to the bathing path and the bathing attributes of each part. The embodiment of the present application provides a method of collecting point clouds to identify a 3D model of human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of human body shape, and enables the robot to identify human body shape and parts during bathing and drying without infringing on user privacy, providing a personalized and comfortable bathing and drying experience.

[0249] It should be noted that the above explanation of the method embodiment is also applicable to the device of the embodiment of the present application, the principle is the same, and it is no longer limited in the embodiment of the present application.

[0250] According to an embodiment of the present application, the present application also provides an electronic device, a readable storage medium and a computer program product.

[0251] Fig. 9A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0252] like Fig. 9 As shown, the device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 502 or a computer program loaded from a storage unit 508 to a RAM (Random Access Memory) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An I / O (Input / Output) interface 505 is also connected to the bus 504.

[0253] A number of components in the device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0254] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the intelligent bathing method. For example, in some embodiments, the intelligent bathing method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to execute the aforementioned intelligent bathing method in any other appropriate manner (for example, by means of firmware).

[0255] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a special purpose or general purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0256] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the path diagram and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0257] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Dis sc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0258] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0259] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0260] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0261] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0262] It should be understood that the various forms of paths shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0263] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. An intelligent bathing method, characterized in that: include: After monitoring that the user enters the bathing area in the smart wheelchair, the first point cloud containing the user in the bathing area is collected; Determine a third point cloud set of the human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set in which the user does not enter the bathing area; Generate a human body 3D model according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a smart wheelchair model point cloud set facing the sampling module; Setting a bathing path and bathing attributes of each part in the bathing path according to the 3D human body shape model; Intelligent bathing is performed according to the bathing path and the bathing attributes of each part.

2. The method according to claim 1, characterized in that Generating a human body 3D model according to the third point cloud set and the fourth point cloud set comprises: Reading the surface model and posture information of the smart wheelchair to obtain a 3D model of the smart wheelchair; Sampling the 3D model of the smart wheelchair to obtain the fourth point cloud; The third point cloud set is combined with the fourth point cloud set to obtain the human body 3D model.

3. The method according to claim 2, characterized in that The step of setting a bathing path and bathing attributes of each part in the bathing path according to the human body 3D model includes: Determine the location of each sampling point in the 3D model of human body shape; Generating the bathing path based on the location to which the determined sampling points belong, and bathing attributes of each location in the bathing path; The bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts avoided, bathing duration, and bathing temperature.

4. The method according to claim 3, characterized in that After generating the bathing path based on the location to which the determined sampling points belong and the bathing attributes of each location in the bathing path, the method further includes: receiving a modification instruction for the bathing path and / or bathing attributes; The update content in the modification instruction is obtained, and the bathing path and / or bathing attributes are modified using the update content.

5. The method according to claim 1, characterized in that The performing of intelligent bathing according to the bathing path and bathing attributes of each part includes: Controlling the shower nozzle to move to the starting position of the shower path based on the robotic arm; Control the water supply valve to open, and adjust the power of the booster pump on the water supply pipeline and the cold / hot opening of the water supply valve according to the bathing intensity and bathing temperature set at the target bathing position; Bathing is performed according to the bathing path, and bathing ends when the bathing nozzle reaches the end position of the bathing path.

6. The method according to claim 5, characterized in that The method further comprises: During bathing, receiving an instruction to adjust the bathing attribute; The adjustment item and adjustment parameter corresponding to the adjustment instruction are obtained, and bathing is performed according to the adjustment item and the adjustment parameter.

7. The method according to claim 1, characterized in that The performing of intelligent bathing according to the bathing path and bathing attributes of each part includes: The fifth point of collecting bathing water flows together; Determining the landing point of the bath water flow on the human body based on the fifth point cloud; Acquire the position information and the spray direction of the shower nozzle, and optimize the landing point position based on the position information and the spray direction to obtain an optimized landing point position; Using the optimized landing point position to correct the human body morphology 3D model, to obtain a corrected human body morphology 3D model; The bathing path is reset according to the corrected human body morphology 3D model, and intelligent bathing is performed according to the reset bathing path.

8. The method according to claim 7, characterized in that The step of obtaining the position information and the spray direction of the shower nozzle, and optimizing the landing point position based on the position information and the spray direction to obtain the optimized landing point position includes: Constructing a spatial straight line equation according to the position information and the spray direction of the shower nozzle; Calculate the projection point of the landing point on the straight line corresponding to the spatial straight line equation; The projection point is determined as the optimized landing point position.

9. The method according to claim 8, characterized in that The method of using the optimized landing point position to correct the human body morphology 3D model to obtain the corrected human body morphology 3D model comprises: Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position; Use the coordinates corresponding to the optimized landing point position to replace the target sampling point; Using a linear interpolation method to replace sampling points whose distance from the target sampling point is less than a preset distance threshold; The human body morphology 3D model is corrected based on the replaced sampling points to obtain a corrected human body morphology 3D model.

10. The method according to claim 9, characterized in that After finishing bathing, the method further comprises: According to the modified human body morphology 3D model, a whole body drying path and drying properties of each part in the drying path are set, wherein the drying properties include at least one of the following: hot air temperature, drying parts to be avoided, hot air nozzle direction, blowing time, wind speed and wind pressure, and distance between the hot air nozzle and the human body; Whole body drying is performed according to the whole body drying path and the drying attributes of each part in the drying path.

11. The method according to claim 10, characterized in that The performing of whole body drying according to the whole body drying path and the drying attributes of each part in the drying path comprises: Controlling the hot air nozzle to move to the starting point of the whole body drying path based on the robotic arm, and adjusting the position of the hot air nozzle according to the distance between the hot air nozzle and the human body; Control the air door to open, and adjust the blades to a corresponding angle according to the direction of the hot air nozzle; The temperature of the hot air nozzle and the body surface temperature are detected by a temperature sensor, and the power of the heating element is controlled to adjust the hot air to the hot air temperature set by the drying attribute; Drying is performed according to the whole body drying path, and the whole body drying is terminated after the hot air nozzle reaches the end position of the drying path.

12. An intelligent bathing device, characterized in that: include: A collection unit is used to collect a first point cloud containing the user in the bathing area after monitoring that the user enters the bathing area in the smart wheelchair; A determining unit, configured to determine a third point cloud set of the human body orientation sampling module according to the first point cloud set and the second point cloud set, wherein the second point cloud set is an environment point cloud set of the user before entering the bathing area; A generating unit, configured to generate a 3D model of a human body according to the third point cloud set and the fourth point cloud set; wherein the fourth point cloud set is a point cloud set of a smart wheelchair model facing the sampling module; A setting unit, used for setting a bathing path and bathing attributes of each part in the bathing path according to the 3D model of human body shape; The bathing unit is used to perform intelligent bathing according to the bathing path and bathing attributes of each part.

13. An intelligent bathing system, characterized in that: include: Bathing robots and smart wheelchairs; Wherein, the bathing robot comprises the intelligent bathing device as claimed in claim 12.

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