Intelligent bathing method, device and system

Abstract

The intelligent bathing method, device, and system provided in this application, after monitoring a user entering the bathing area in an intelligent wheelchair, collect a first point cloud containing the user in the bathing area, determine a third point cloud of the human body toward the sampling module based on the first and second point clouds, and generate a 3D model of the human body shape based on the third and fourth point clouds; wherein the fourth point cloud is a point cloud of the intelligent wheelchair model toward the sampling module, sets a bathing path and bathing attributes for each part in the bathing path based on the 3D model of the human body shape, and performs intelligent bathing according to the bathing path and the bathing attributes of each part. The 3D model of the human body shape is identified by collecting point clouds, and intelligent bathing is performed according to the set bathing path and bathing attributes based on the determined 3D model of the human body shape. Without infringing on the user's privacy, the robot can identify the human body shape and parts during the bathing and drying process, providing a personalized and comfortable bathing and drying experience.

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] During a robot's intelligent bathing process, it collects user images to identify their body shape and body parts, adjusting the angle and intensity of the shower accordingly to provide a comfortable and personalized bathing experience. However, for adult users, using a robot bathing machine can lead to privacy issues, making them feel uneasy and like they are being spied on. Summary of the Invention

[0003] This application provides an intelligent bathing method, device, electronic device, and storage medium. Its primary purpose is to enable a robot to identify human body shapes and parts during bathing, providing a personalized and comfortable bathing experience without infringing user privacy.

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

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

[0006] Determining a third point cloud set of the human body orientation 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 of the user before entering the bathing area;

[0007] generating 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;

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

[0009] Perform intelligent bathing according to the bathing path and bathing attributes of each part.

[0010] In some embodiments, generating a 3D model of a human body 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 and the fourth point cloud set are combined 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 3D human body model includes:

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

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

[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 locations of the sampling points and the bathing attributes of each location in the bathing path, the method further includes:

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

[0020] Acquire the updated content in the modification instruction, and use the updated content to modify the bathing path and / or bathing attributes.

[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 opening of the water supply valve 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 is ended after 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] Acquire adjustment items and adjustment parameters corresponding to the adjustment instruction, and perform bathing according to the adjustment items and adjustment parameters.

[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 impact point of the bathing water on the human body based on the fifth point cloud;

[0031] Acquiring position information and a 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;

[0032] Correcting the human body morphology 3D model using the optimized landing point position 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, 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:

[0035] Constructing a spatial straight line equation according to the position information and 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 a 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] Replace the target sampling point with the coordinates corresponding to the optimized landing point position;

[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] Setting a whole-body drying path and drying attributes for each body part in the drying path according to the modified 3D human body model, wherein the drying attributes include at least one of the following: hot air temperature, drying body parts to be avoided, hot air nozzle direction, drying time, wind speed and wind pressure, and distance between the hot air nozzle and the 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 whole body drying according to the whole body drying path and the drying attributes of each part in the drying path includes:

[0047] The hot air nozzle is controlled by the robotic arm to move to the starting point of the whole body drying path, and the position of the hot air nozzle is adjusted 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 the 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 ended 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 configured 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 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 of an area where the user does not enter a 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, configured to set a bathing path and bathing attributes of each part in the bathing path according to the 3D human body model;

[0056] The bathing unit is used to perform intelligent bathing according to the bathing path and the 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 and the fourth point cloud set are combined 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 the human body;

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

[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, configured to receive a modification instruction for the bathing path and / or bathing attributes after generating the bathing path and bathing attributes of each of the parts in the bathing path based on the parts to which the determined sampling points belong;

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

[0068] In some embodiments, the bathing unit is further configured to:

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

[0070] Control the opening of the water supply valve 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 is ended after 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 configured to receive an instruction for adjusting the bathing attribute during bathing;

[0074] The second processing unit is used to obtain the adjustment item and 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 for collecting the fifth point cloud of the bathing water flow;

[0077] a determination module, configured to determine a landing point of the bath water on the human body based on the fifth point cloud;

[0078] an optimization module, configured to obtain position information and a 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;

[0079] A correction module, configured 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 configured to:

[0082] Constructing a spatial straight line equation according to the position information and 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 configured to:

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

[0087] Replace the target sampling point with the coordinates corresponding to the optimized landing point position;

[0088] Using a linear interpolation device to replace the 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 configured to set a whole-body drying path and drying attributes of each part in the drying path according to the modified 3D human body shape model, wherein the drying attributes include at least one of the following: hot air temperature, drying parts to be avoided, hot air nozzle direction, drying 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 whole body drying according to the whole body drying path and the drying properties of each part in the drying path.

[0093] In some embodiments, the drying unit is further configured to:

[0094] The hot air nozzle is controlled by the robotic arm to move to the starting point of the whole body drying path, and the position of the hot air nozzle is adjusted 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 the 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 ended 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 includes 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. 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.

[0105] According to a sixth aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described in the first aspect above when executed by a processor.

[0106] The smart bathing method, device and system provided in 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 the 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 the 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 the human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of the human body shape, and enables the robot to identify the human body shape and parts during the bathing and drying process without infringing on the user's 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 provided to facilitate a better understanding of the present invention 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 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 structural diagram of a smart bathing device provided in an embodiment of the present application;

[0115] Figure 7 A schematic structural diagram of another smart 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] Figure 9 A schematic block diagram of an example electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0118] The following description of exemplary embodiments of the present application is made in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may 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, descriptions of well-known functions and structures are omitted in the following description.

[0119] The following describes the smart bathing method, device and system according to 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 robotic 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 embodiments of the present application adopt 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 does not have the 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, thus fundamentally eliminating the problem of leaking user privacy. Moreover, 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 embodiment of the present application does not limit the specific installation position of the ToF laser radar.

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

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

[0128] Before the user enters the bathing area, the ToF lidar is used to collect the second point cloud set C2 containing only the bathing area environment. When the user is detected to enter the bathing area, the ToF lidar 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}. Here, dist(p,C2) represents the distance from point p to the nearest point in C2, and δ1 is the screening threshold, which is related to the expected error of the ToF lidar, 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 based on 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 user's entry, 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 mainly occur in the sampling points of the front surface of the human body (facing 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 lidar, for example, twice the expected error. The specific embodiment of the present application does not limit the value of δ2.

[0133] Step 103: Generate a 3D model of the 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 the smart wheelchair model 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.

[0135] The model point cloud set of the smart wheelchair (the fourth point cloud set C4) can 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, and the union of the two sets 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 based on the 3D human body model. Specifically, the body 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 start from the toes of the 3D human body model and traverse all parts of the body, or start from the arms of the 3D human body model and traverse all parts of the body, etc. Specifically, the embodiments of the present application do not limit the bathing path.

[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 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: Perform 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 the 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 the 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 the human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of the human body shape, and enables the robot to identify the human body shape and parts during the bathing and drying process without infringing on the user's privacy, providing a personalized and comfortable bathing and drying experience.

[0142] Furthermore, as a refinement of step 103, when generating the human body 3D model based on 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 and the fourth point cloud set are combined to obtain the human body 3D model.

[0146] A position sensor and data communication interface are installed within the smart wheelchair. The position sensor collects the wheelchair's spatial coordinates, orientation, and other posture information. The bathing robot then uses the data communication interface to obtain this information. The smart wheelchair's surface model can be exported from the smart wheelchair's mechanical design software and transmitted to the bathing robot via the data communication interface. Alternatively, it can be pre-loaded into the bathing robot's data system via a USB flash drive. The ToF lidar-based surface model is sampled and combined with the posture information to generate the fourth point cloud (C4).

[0147] The above-mentioned sampling point set of the human body facing the ToF laser radar (the third point cloud set C3) and the sampling point set 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 using any method in the relevant technology, and the embodiments of this application will not be described in detail here.

[0150] For example, taking the bathing path of head-face-neck-body-arms-armpits-legs-feet as an example, the following bathing attributes can be set: bathing duration is 15 minutes, the number of traversals for the head, neck, armpits, and feet is 2, 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 this 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 their 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 instructions through the touch screen of the bathing robot, or input the modification instructions through a bound terminal (such as a mobile phone APP). Furthermore, the modification instructions can also be input through voice, gestures, etc. Specifically, the embodiment of the present application does not limit the method of inputting the modification instructions.

[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 jets bathing water toward the target bathing position, the power of the booster pump on the water supply pipe is adjusted according to the bathing intensities set at the target bathing position to achieve adjustment of the bathing intensities.

[0154] To further enhance the user's bathing comfort, 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 the bathing is performed according to the adjustment item and adjustment parameter. For example, if the adjustment item is the bathing temperature, the adjustment parameter is to increase it by 2 degrees; or if the adjustment item is whether to use shower gel, the adjustment parameter is to not use shower gel, etc. Specifically, the user can flexibly set the adjustment item and adjustment parameter according to actual needs, and this embodiment of the application is not limited thereto.

[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 user's bathing experience.

[0156] In order to further improve the comfort of bathing, during the bathing process, the data acquisition module is used to scan, and the landing point 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 Shown, including:

[0157] Step 201 : collecting the fifth point cloud of the bathing water flow.

[0158] When the shower water is spraying, a ToF lidar scan is used to obtain the fifth point cloud C5. Since the difference between the fifth point cloud C5 and the first point cloud C1 is mainly due to the presence of shower water in the field of view, the difference between the two point clouds is mainly due to 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 shower water on the human body can be achieved by using a neural network model or a morphological analysis rule method. Specifically, the embodiment of the present application does not limit the method for achieving the location of the shower water.

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

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

[0164] Constructing a spatial straight line equation according to the position information and 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, and these parameters 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. 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 provided in an embodiment of the present application, Figure 4 In the equation, point O is the location where the shower water impacts the body {x1, y1, z1}; point N is the projection point {x2, y2, z2}, i.e., the optimized impact point. A and B are determined based on the showerhead's location and spray direction. A can be the center of the showerhead's nozzle, set to {xA, yA, zA}. Assuming the spray direction vector 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 3D model to obtain a corrected human body 3D model, the following methods may be used but are 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] Replace the target sampling point with the coordinates corresponding to the optimized landing point position;

[0173] Using a linear interpolation method to replace the 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 {x2, y2, z2} is used to modify the 3D human body model. Specifically, the following steps can be performed: retrieve the target sampling point in the 3D human body model that is closest to {x2, y2, z2}, replace the target sampling point with {x2, y2, z2}, and use linear interpolation to replace points whose distance from the target sampling point is less than a preset distance threshold (e.g., δ3). δ3 can be set to 5 cm 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 on setting the bathing path in the above embodiment, adjust the bathing path according to the corrected human body 3D model, and perform smart 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, set the whole body drying path and the 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, direction of hot air nozzle, blowing time, wind speed and wind pressure, and distance between the hot air nozzle and the human body.

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

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

[0183] Step 302 : performing whole body drying according to the whole body drying path and the drying attributes 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] The hot air nozzle is controlled by the robotic arm to move to the starting point of the whole body drying path, and the position of the hot air nozzle is adjusted 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 the 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 ended after the hot air nozzle reaches the end position of the drying path.

[0189] After creating a drying path based on the modified 3D model of the human body, the robotic arm controls the hot air nozzle to move to the starting point of the drying path. Once there, the damper opens and the blades adjust to the desired angle, directing the hot air to the desired area. During the drying process, the nozzle uses path planning to avoid blowing water droplets onto the user's facial features.

[0190] To prevent burns, a temperature sensor at the end of the robotic arm constantly measures body surface temperature and the temperature of the hot air outlet, adjusting the power of the heating element to bring the hot air to the appropriate temperature. As the hot air nozzle delivers hot air to the target drying location, the wind speed can be adjusted by adjusting the fan power in the hot air pipe, thereby affecting the drying speed.

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

[0192] The implementation principles of blow-drying and bathing are exactly the same. The only difference is that in the bathing scene, the robotic arm controls the shower head to complete the smart bathing. In the full body drying scene, the robotic arm controls the hot air nozzle to complete the 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 the color information of the human body. 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, 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, this embodiment of the present invention uses machine learning technology to first estimate a 3D human body model. To address the significant errors in the data acquisition module, real-time modeling of the bathing water flow is used during the bathing process to dynamically correct the 3D human body model, thereby better determining the relative position of the showerhead 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 drying experience.

[0197] 4. Without infringing on user privacy, the robot can identify the body shape and body parts during the bathing and drying process, 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 this invention.

[0199] Figure 5 This is a schematic diagram of the structure of a smart bathing device provided in an embodiment of the present application, such as Figure 5 Shown, including:

[0200] The collecting unit 31 is configured 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 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 of an area where the user does not enter a bathing area;

[0202] a generating unit 33 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;

[0203] A setting unit 34 is used to set a bathing path and bathing attributes of each part in the bathing path according to the 3D human body 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 further configured to:

[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 and the fourth point cloud set are combined 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 further used for:

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

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

[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 configured to receive a modification instruction for the bathing path and / or bathing attributes after generating the bathing path and bathing attributes of each of the parts in the bathing path based on the determined parts of the sampling points;

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

[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 opening of the water supply valve 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 is ended after 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 configured to receive an instruction to adjust the bathing attributes during bathing;

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

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

[0224] a collection module 351 for collecting a fifth point cloud of the bathing water flow;

[0225] a determination module 352 for determining a landing point of the bath water 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 configured 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 further used to:

[0230] Constructing a spatial straight line equation according to the position information and 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 further used to:

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

[0235] Replace the target sampling point with the coordinates corresponding to the optimized landing point position;

[0236] Using a linear interpolation device to replace the 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 the bath is finished, the device further includes:

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

[0240] The drying unit 310 is configured 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] The hot air nozzle is controlled by the robotic arm to move to the starting point of the whole body drying path, and the position of the hot air nozzle is adjusted 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 the 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 ended after the hot air nozzle reaches the end position of the drying path.

[0246] The present application also provides an intelligent bathing system. Figure 8 As shown, it includes: a bathing robot 41 and an intelligent 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 the 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 based on the 3D model of the 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 the human body shape, performs smart bathing according to the set bathing path and bathing attributes based on the determined 3D model of the human body shape, and enables the robot to identify the human body shape and parts during the bathing and drying process without infringing on the user's 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 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] Figure 9A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, 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 assistants, cellular phones, smartphones, 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 claimed herein.

[0252] like Figure 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 into a RAM (Random Access Memory) 503. Various programs and data required for the operation of the device 500 can also be stored in the RAM 503. 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] Various components in device 500 are connected to I / O interface 505, including: an input unit 506, such as a keyboard, mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, optical disk, etc.; and a communication unit 509, such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows device 500 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0254] The computing unit 501 can be any general-purpose and / or specialized processing component 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 Unit), various specialized AI (Artificial Intelligence) computing chips, various computing units that run machine learning model algorithms, a DSP (Digital Signal Processor), and any suitable 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 can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can 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 herein can 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 can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can 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 methods of the present application can be written in any combination of one or more programming languages. Such program code 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 when the program code is executed by the processor or controller, the functions / operations specified in the path diagram and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, 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 apparatus. 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 apparatus, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, 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 pointing device (e.g., a mouse or 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 can 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 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 can 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 server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0261] It's important to note that artificial intelligence (AI) is the study of how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). This encompasses both hardware and software technologies. AI hardware technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily encompass computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graphs.

[0262] It should be understood that the various paths shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this application can be achieved. This is not a limitation herein.

[0263] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. An intelligent bathing method, characterized in that: include: After monitoring the user entering the bathing area in the smart wheelchair, the first point cloud containing the user in the bathing area is collected; Determining a third point cloud set of the human body orientation 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 of the user before entering the bathing area; generating 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; Setting a bathing path and bathing attributes of each part in the bathing path according to the 3D human body model; wherein the bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts to be avoided, bathing duration, and bathing temperature; Perform intelligent bathing according to the bathing path and bathing attributes of each body part; The smart bathing according to the bathing path and the bathing attributes of each body part includes: The fifth point of collecting bathing water flows together; determining the impact point of the bathing water on the human body based on the fifth point cloud; Acquiring position information and a 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; Correcting the human body morphology 3D model using the optimized landing point position 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.

2. The method according to claim 1, characterized in that Generating a 3D model of a human body according to the third point cloud set and the fourth point cloud set includes: 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 and the fourth point cloud set are combined to obtain the human body 3D model.

3. The method according to claim 2, characterized in that The step of setting the bathing path and the bathing attributes of each part in the bathing path according to the 3D human body model includes: Determine the location of each sampling point in the 3D model of the human body; The bathing path and the bathing attributes of each part in the bathing path are generated based on the determined parts of the sampling points.

4. The method according to claim 3, characterized in that After generating the bathing path and the bathing attributes of each of the parts in the bathing path based on the determined parts of the sampling points, the method further includes: receiving a modification instruction for the bathing path and / or bathing attributes; Acquire the updated content in the modification instruction, and use the updated content to modify the bathing path and / or bathing attributes.

5. The method according to claim 1, wherein The smart bathing according to the bathing path and the bathing attributes of each body part includes: Controlling the shower nozzle to move to the starting position of the shower path based on the robotic arm; Control the opening of the water supply valve 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 is ended after 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; Acquire adjustment items and adjustment parameters corresponding to the adjustment instruction, and perform bathing according to the adjustment items and the adjustment parameters.

7. The method according to claim 1, characterized in that The step of obtaining the position information and the spray direction of the shower nozzle and optimizing the landing point based on the position information and the spray direction to obtain the optimized landing point includes: Constructing a spatial straight line equation according to the position information and 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.

8. The method according to claim 7, characterized in that The method of using the optimized landing point position to correct the human body morphology 3D model to obtain a corrected human body morphology 3D model includes: Determine a target sampling point in the human body 3D model that is closest to the optimized landing point position; Replace the target sampling point with the coordinates corresponding to the optimized landing point position; Using a linear interpolation method to replace the 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.

9. The method according to claim 8, characterized in that After finishing bathing, the method further comprises: Setting a whole-body drying path and drying attributes for each body part in the drying path according to the modified 3D human body model, wherein the drying attributes include at least one of the following: hot air temperature, drying body parts to be avoided, hot air nozzle direction, drying time, wind speed and wind pressure, and distance between the hot air nozzle and the body; Whole body drying is performed according to the whole body drying path and the drying attributes of each part in the drying path.

10. The method according to claim 9, 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 includes: The hot air nozzle is controlled by the robotic arm to move to the starting point of the whole body drying path, and the position of the hot air nozzle is adjusted according to the distance between the hot air nozzle and the human body; Control the air door to open and adjust the blades to the 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 ended after the hot air nozzle reaches the end position of the drying path.

11. An intelligent bathing device, characterized in that: include: A collection unit is configured 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 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 of an area where the user does not enter a 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, configured to set a bathing path and bathing attributes of each part in the bathing path according to the 3D human body model; wherein the bathing attributes include at least one of the following: number of traversals, bathing intensity, bathing parts to be avoided, bathing duration, and bathing temperature; a bathing unit, configured to perform intelligent bathing according to the bathing path and bathing attributes of each body part; The bathing unit comprises: A collection module for collecting the fifth point cloud of the bathing water flow; a determination module, configured to determine a landing point of the bath water on the human body based on the fifth point cloud; an optimization module, configured to obtain position information and a 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; A correction module, configured to correct the human body morphology 3D model using the optimized landing point position to obtain a corrected human body morphology 3D model; 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.

12. An intelligent bathing system, characterized in that: include: Bathing robots and smart wheelchairs; Wherein, the bathing robot includes the intelligent bathing device as claimed in claim 11.

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