Cold and hot water mixing method and device of foot bath device and foot bath system

Abstract

The invention discloses a cold and hot water mixing method and device of a foot bath device and a foot bath system. The method comprises the following steps: acquiring a water injection instruction of a user, wherein the water injection instruction comprises target temperature and target water volume; an opening control signal is generated to control a cold water valve and a hot water valve to be opened so as to start to inject water into the water containing cavity, and temperature data and water volume data in the water containing cavity are collected in real time; according to the temperature data and the water volume data, using the trained Kalman filter to predict the current temperature and the current water volume; according to the current temperature, the current water volume, the target temperature and the target water volume, a valve adjusting instruction is generated to adjust the opening and closing states of a cold water valve and a hot water valve. According to the technical scheme, manual operation in the temperature mixing process is reduced, intelligent temperature mixing and accurate control over the water temperature and the water quantity when foot bath water is prepared in a base station are achieved, and efficiency and user experience are improved. And the use of the temperature controller after leaving the base station can be reduced, so that the energy consumption is saved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of smart home appliances, and in particular to a hot and cold water mixing method, a mixing device, and a foot bath system for a foot bath. Background Art

[0002] Existing footbaths typically require manual water mixing and filling during the soaking process, requiring users to adjust the water temperature and volume based on their own perception. This is not only time-consuming and labor-intensive, but also lacks precise quantification, making precise temperature and volume control difficult. Following this manual operation, inappropriate water temperatures often require further temperature adjustment via a thermostat, resulting in high energy consumption and costs, impacting device lifespan. Furthermore, thermostats have low heating efficiency, requiring a long time to reach the set temperature. This, in turn, impacts product affordability and miniaturization. Summary of the Invention

[0003] The embodiments of the present invention provide a hot and cold water mixing method, a mixing device, and a foot bath system for a foot bath, so as to automatically achieve precise control of water temperature and water volume, reduce energy consumption during the preparation process, and improve user experience.

[0004] In a first aspect, an embodiment of the present invention provides a method for mixing hot and cold water in a foot bath, which is applied to a foot bath system, wherein the foot bath system includes a base station and a foot bath bucket, wherein the foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket includes a water holding cavity, a detection unit for detecting the water temperature and water volume in the water holding cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit; the method is executed by the first control unit, and includes:

[0005] Obtaining a water injection instruction from a user, wherein the water injection instruction includes a target temperature and a target water volume;

[0006] generating an opening control signal and transmitting it to the second control unit, so as to control the cold water valve and the hot water valve to open through the second control unit, thereby starting to fill water into the water storage cavity, and collecting temperature data and water volume data in the water storage cavity in real time;

[0007] According to the temperature data and the water volume data, a trained Kalman filter is used to predict the current temperature and the current water volume;

[0008] A valve adjustment instruction is generated according to the current temperature, the current water volume, the target temperature and the target water volume and transmitted to the second control unit so as to adjust the opening and closing states of the cold water valve and the hot water valve through the second control unit.

[0009] Optionally, after adjusting the opening and closing states of the cold water valve and the hot water valve, the method further includes:

[0010] After waiting for the preset delay time, the new current temperature and current water volume are predicted again based on the real-time temperature data and water volume data, and a new valve adjustment instruction is generated based on the new current temperature and current water volume, as well as the target temperature and the target water volume.

[0011] Optionally, adjusting the opening and closing states of the cold water valve and the hot water valve includes:

[0012] If the current water volume is less than the target water volume and the current temperature is less than the target temperature, the cold water valve is adjusted downward and the hot water valve is adjusted upward;

[0013] If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, the cold water valve is adjusted up and the hot water valve is adjusted down.

[0014] Optionally, adjusting the opening and closing states of the cold water valve and the hot water valve includes:

[0015] If the deviation between the current water volume and the target water volume is within a preset water volume deviation range, and the deviation between the current temperature and the target temperature is within a preset temperature deviation range, the cold water valve and the hot water valve are controlled to be closed.

[0016] Optionally, adjusting the opening and closing states of the cold water valve and the hot water valve includes:

[0017] If the current water volume is greater than the target water volume, the cold water valve and the hot water valve are controlled to be closed.

[0018] Optionally, before adjusting the opening and closing states of the cold water valve and the hot water valve, the method further includes:

[0019] If the current water volume is less than the preset fast water filling volume, the cold water valve and the hot water valve are adjusted to increase until the current water volume reaches the preset fast water filling volume.

[0020] Optionally, the preset rapid water injection volume is determined by the following formula:

[0021] V1=Vt*min(Th-Tt,Tt-Tc)*2 / (Th-Tc)*fastup_param;

[0022] Among them, V1 represents the preset fast filling water volume, Vt represents the target water volume, Tt represents the target temperature, Th represents the outlet water temperature at the hot water valve, Tc represents the outlet water temperature at the cold water valve, and fastup_param represents the preset correction coefficient.

[0023] Optionally, controlling the cold water valve and the hot water valve to open to start filling water into the water holding cavity includes:

[0024] Controlling the hot water valve and the drain valve to open, so as to drain the cold water retained at the hot water valve and clean the water holding cavity;

[0025] The drain valve is controlled to be closed, and the cold water valve is controlled to be opened to start filling water into the water storage cavity.

[0026] In a second aspect, an embodiment of the present invention further provides a hot and cold water mixing device for a foot bath, which is applied to a foot bath system. The foot bath system includes a base station and a foot bath bucket. The foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket includes a water holding cavity, a detection unit for detecting the water temperature and water volume in the water holding cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit; the device is executed by the first control unit, including:

[0027] A water injection instruction acquisition module is used to obtain a user's water injection instruction, wherein the water injection instruction includes a target temperature and a target water volume;

[0028] a water filling start module, configured to generate an opening control signal and transmit it to the second control unit, so as to control the cold water valve and the hot water valve to open via the second control unit, thereby starting to fill water into the water storage cavity and collecting temperature data and water volume data in the water storage cavity in real time;

[0029] A water temperature and water quantity prediction module is used to predict the current temperature and water quantity using a trained Kalman filter based on the temperature data and the water quantity data;

[0030] The valve adjustment module is used to generate a valve adjustment instruction based on the current temperature, the current water volume, the target temperature and the target water volume, and transmit it to the second control unit to adjust the opening and closing status of the cold water valve and the hot water valve through the second control unit.

[0031] In a third aspect, an embodiment of the present invention further provides a foot bath system, comprising a base station and a foot bath bucket, wherein the foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket comprises a water holding cavity, a detection unit for detecting the water temperature and water volume in the water holding cavity, and a first control unit electrically connected to the detection unit; the base station comprises a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit; the second control unit is configured as follows:

[0032] receiving a start control signal transmitted by the first control unit;

[0033] Controlling the cold water valve and the hot water valve to open according to the opening control signal; and

[0034] receiving a valve adjustment instruction transmitted by the first control unit;

[0035] The opening and closing states of the cold water valve and the hot water valve are adjusted according to the valve adjustment instruction.

[0036] An embodiment of the present invention provides a method for mixing hot and cold water for a foot bath. First, the user's water injection instruction is obtained, which includes a target temperature and a target water volume. Then, the cold water valve and the hot water valve are controlled to open to start injecting water into the water storage cavity, and the temperature data and the water volume data in the water storage cavity are collected in real time. On this basis, the current temperature and the current water volume are predicted using a trained Kalman filter based on the real-time temperature data and water volume data. Then, the opening and closing states of the cold water valve and the hot water valve are adjusted in real time based on the current temperature, the current water volume, the target temperature and the target water volume. The method for mixing hot and cold water for a foot bath provided by an embodiment of the present invention dynamically adjusts the opening and closing states of the cold and hot water valves based on the temperature data and the water volume data in the water storage cavity in real time through an automated algorithm, thereby reducing manual operations in the mixed temperature and water injection process, and realizing automatic intelligent mixed temperature and precise control of water temperature and water volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. At the same time, it can also reduce the use of the thermostat after leaving the base station, saving energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a method for mixing hot and cold water in a foot bath provided in Example 1 of the present invention;

[0038] Figure 2 This is an exemplary mixed-temperature water injection flow chart provided in Example 1 of the present invention;

[0039] Figure 3 This is a structural schematic diagram of the hot and cold water mixing device of a foot bath provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0041] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0042] Example 1

[0043] Figure 1 This is a flow chart of the hot and cold water mixing method for a footbath provided in the first embodiment of the present invention. This embodiment is applicable to the situation where footbath water is automatically prepared for the user. The method can be performed by the hot and cold water mixing device of the footbath provided in the embodiment of the present invention. The device can be implemented by hardware and / or software, and can generally be integrated into a footbath system. The footbath system includes a base station and a footbath bucket. The footbath bucket is configured to receive footbath water at the base station and then leave the base station and move to the footbath point; the footbath bucket includes a water holding cavity, a detection unit for detecting the water temperature and water volume in the water holding cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to the cold water flow channel, a hot water valve connected to the hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit. The method can be specifically performed by the above-mentioned first control unit, such as Figure 1 As shown, the specific steps include:

[0044] S11. Obtain a water injection instruction from a user, where the water injection instruction includes a target temperature and a target water volume.

[0045] S12. Generate an opening control signal and transmit it to the second control unit, so as to control the cold water valve and the hot water valve to open through the second control unit, so as to start filling water into the water storage cavity, and collect temperature data and water volume data in the water storage cavity in real time.

[0046] S13. According to the temperature data and the water volume data, use a trained Kalman filter to predict the current temperature and the current water volume.

[0047] S14. Generate a valve adjustment instruction according to the current temperature, the current water volume, the target temperature and the target water volume, and transmit the instruction to the second control unit, so as to adjust the opening and closing states of the cold water valve and the hot water valve through the second control unit.

[0048] Specifically, the base may include a water filling control unit, which may include a cold water valve and a hot water valve, optionally with a solenoid valve, for connecting to pre-installed hot and cold water connections in the home. This allows for automatic control of the flow of hot and cold water via the cold and hot water valves, eliminating the need to modify or upgrade existing hot and cold water connections. A second control unit in the base may be wired to the water filling control unit to transmit control signals to the control unit to control the opening and closing of the cold and hot water valves. To prepare water for footbath, the footbath can be docked at a designated location on the base. The hot and cold water outlets can then be suspended above the semi-open water storage chamber, allowing the water chamber to be filled by controlling the opening and closing of the cold and hot water valves. The footbath may include a control panel for user operation and information display. The detection unit may include a temperature sensor and a liquid level sensor. The temperature sensor may be located on the bottom surface of the footbath, and the liquid level sensor may be located vertically on the side of the interior near the panel to collect temperature and water volume data within the water storage chamber. When preparing the foot bath water, the drain outlet of the foot bath tub can be connected to the drain outlet on the base, and the drain outlet on the base can be connected to the floor drain or wall drain interface reserved in the room. The foot bath tub body may also include a drain valve to realize the drainage process of the water cavity by controlling the drain valve.

[0049] When the user needs to soak his feet, he can provide a water injection instruction through the control panel of the footbath tub or the APP in the mobile terminal. For example, after setting the target temperature and target water volume, he can click the one-touch footbath button to generate a water injection instruction, so as to automatically control the injection of hot and cold water based on the water injection instruction to prepare footbath water of a specific temperature and water volume for the user. The water injection instruction can be processed by the first control unit in the footbath tub, which can be specifically an MCU board. The hot and cold water valve control signal generated after processing can be transmitted to the second control unit of the base through the physical contact point between the footbath tub and the base, and then transmitted to the hot and cold water valves by the second control unit, so as to control the cold water valve and the hot water valve to open, so that the hot and cold water outlets can start to inject water into the water holding cavity through the space above the footbath tub. At the same time, the temperature data and water volume data in the water holding cavity can be collected in real time through the temperature sensor and the liquid level sensor, and the collected data can be pre-processed through sliding filtering.

[0050] While maintaining the collection of temperature and water volume data, a closed-loop control strategy can be employed to adjust the opening and closing states of the hot and cold water valves in real time according to the collected data and target data at a predetermined period, thereby achieving precise temperature and water level control, reducing the impact of environmental factors on temperature and water volume control, and improving stability. For each closed-loop control, a trained Kalman filter can be used to optimize the collected data. The Kalman filter can be initialized upon receiving a water injection command. After initialization, the closed-loop control cycle can be started according to a preset period Δt. Specifically, after initialization, the cold and hot water valves can be controlled to open for water injection. During the initialization process, prior data, such as historically measured and recorded hot and cold water temperature and flow data, can be fused with observed data, such as historically collected temperature and water volume data. By adjusting the relevant noise parameters, a stable two-dimensional Kalman filter can be implemented to reduce the impact of error noise and delay when using sensor data alone, ensuring that the accuracy of the foot bath water temperature and water volume remains within the predetermined range. Then, at every preset period, the Kalman filter can be used to predict the impact of the injection of hot and cold water on the water temperature and water level in the water storage cavity within a preset period, and then fused with the real-time temperature data and water volume data to obtain the updated current temperature T and current water volume V to replace the sensor data. The updated current temperature and current water volume are then compared with the target temperature and target water volume set by the user to obtain the switching requirements of the cold water valve and the hot water valve, and generate corresponding control signals to be transmitted to the cold and hot water valves to adjust their opening and closing states. Specifically, the first control unit of the footbath can be used to make a judgment to generate a valve adjustment instruction, and the second control unit of the base station only needs to control the opening and closing states of the cold water valve and the hot water valve according to the received valve adjustment instruction, thereby realizing the control of the cold and hot water ratio and the injection and water stop. By letting the footbath make the actual judgment process, the base station can adapt to footbaths of more different specifications.

[0051] In an optional embodiment, after adjusting the open and closed states of the cold water valve and the hot water valve, the method further includes: waiting for a preset delay time, again predicting a new current temperature and current water volume based on the real-time temperature data and water volume data, and generating a new valve adjustment instruction based on the new current temperature and current water volume, as well as the target temperature and target water volume. That is, after the Kalman filter is initialized, each round of judgment and adjustment can be followed by a new round of judgment and adjustment after waiting for a preset delay time until an exit condition is met, such as successful temperature mixing, excessive water injection, or water injection timeout.

[0052] In an optional embodiment, the adjusting the opening and closing states of the cold water valve and the hot water valve includes: if the current water volume is less than the target water volume, and the current temperature is less than the target temperature, then reducing the cold water valve and increasing the hot water valve; if the current water volume is less than the target water volume, and the current temperature is greater than the target temperature, then increasing the cold water valve and reducing the hot water valve.

[0053] Specifically, if the current water volume is less than the target water volume, temperature adjustment can continue through water injection. If the current temperature is less than the target temperature, rapid temperature adjustment can be achieved by increasing the hot water flow and decreasing the cold water flow. Specifically, the cold water valve can be adjusted downward and the hot water valve can be adjusted upward. This can include adjusting the valve downward to completely closed or increasing the valve from closed to open. If the current temperature is greater than the target temperature, rapid temperature adjustment can be achieved by decreasing the hot water flow and increasing the cold water flow. Specifically, the cold water valve can be adjusted upward and the hot water valve can be adjusted downward. A certain tolerance can be applied to the set target water volume and target temperature. For example, when the current water volume V is less than the target water volume minus the target water volume tolerance error Vt-ΔV, and the current temperature T is less than the target temperature minus the target temperature tolerance error T-ΔT, the cold water valve can be adjusted downward and the hot water valve can be adjusted upward. When the current water volume V is less than the target water volume minus the target water volume tolerance error Vt-ΔV, and the current temperature T is greater than the target temperature plus the target temperature tolerance error Tt+ΔT, the cold water valve can be adjusted upward and the hot water valve can be adjusted downward.

[0054] In an optional embodiment, the adjusting the opening and closing states of the cold water valve and the hot water valve includes: if the deviation between the current water volume and the target water volume is within a preset water volume deviation range, and the deviation between the current temperature and the target temperature is within a preset temperature deviation range, then controlling the cold water valve and the hot water valve to close.

[0055] Specifically, when the deviation between the current water volume and the target water volume, as well as the deviation between the current temperature and the target temperature, are both within a tolerable deviation range, such as T∈Tt±ΔT, and V∈Vt±ΔV, the temperature mixing can be considered successful. At this time, the cold water valve and the hot water valve can be controlled to close, and the current closed-loop control process can be exited. Further optionally, after controlling the cold water valve and the hot water valve to close, it also includes: feeding back the successful temperature mixing result to the user. Specifically, feedback can be given to the user through the control panel of the foot bath body or the APP in the mobile terminal to remind the user to start the foot soaking activity.

[0056] In an optional embodiment, the adjusting the opening and closing states of the cold water valve and the hot water valve includes: if the current water volume is greater than the target water volume, controlling the cold water valve and the hot water valve to close.

[0057] Specifically, as water is continuously added, if the current water volume exceeds the target water volume (specifically, it can be greater than the target water volume plus the target water volume tolerance Vt+ΔV), and if the appropriate temperature is still not achieved, it can be considered that the water is overfilled and the temperature mixing has failed. In this case, the cold water valve and the hot water valve can be closed to prevent water overflow, and then the current closed-loop control process can be exited. Alternatively, the drain valve can be opened and closed after a certain amount of water is discharged to continue the closed-loop control process.

[0058] In an optional embodiment, before adjusting the opening and closing states of the cold water valve and the hot water valve, it also includes: if the current water volume is less than the preset fast water injection volume, increasing the cold water valve and the hot water valve until the current water volume reaches the preset fast water injection volume.

[0059] Specifically, for each closed-loop control, after optimizing the current water volume and current temperature, it is first determined whether the current water volume V has reached the preset rapid water injection volume V1. If it has not yet reached that level, it can be considered to be in the rapid water injection stage. The cold water valve and hot water valve can be adjusted to increase the speed and the closed-loop control can be terminated directly. Specifically, this can include adjusting the valve from the closed state to the open state, etc., to speed up the overall water injection speed. After the current water volume V reaches the preset rapid water injection volume V1, that is, V ≥ V1, any of the above-mentioned output control strategies for the cold water valve and hot water valve can be used to adjust the open and closed states of the cold water valve and hot water valve according to the current temperature, current water volume, target temperature, and target water volume.

[0060] Optionally, the preset rapid water injection volume is determined by the following formula:

[0061] V1=Vt*min(Th-Tt,Tt-Tc)*2 / (Th-Tc)*fastup_param;

[0062] Where V1 represents the preset fast-fill water volume, Vt represents the target water volume, Tt represents the target temperature, Th represents the outlet water temperature at the hot water valve, Tc represents the outlet water temperature at the cold water valve, and fastup_param represents a preset correction factor. Th and Tc can be predicted values, and fastup_param is between 0 and 1 to prevent mixing failures due to large deviations from the predicted hot and cold water temperatures.

[0063] In an optional embodiment, controlling the cold water valve and the hot water valve to open to start injecting water into the water holding cavity includes: controlling the hot water valve and the drain valve to open to discharge the cold water retained at the hot water valve and clean the water holding cavity; controlling the drain valve to close, and controlling the cold water valve to open to start injecting water into the water holding cavity.

[0064] Specifically, when preparing to begin water filling, the hot water valve and drain valve can be controlled to open first to drain the cold water trapped in the hot water pipe. The discharged cold water and subsequent hot water can be used to clean the water storage cavity, and the wastewater after cleaning can be discharged through the drain outlet. After cleaning is completed, the drain valve is controlled to close and the cold water valve is controlled to open to start the water filling process, and the closed-loop control cycle can be started at the same time.

[0065] In an optional embodiment, after the water filling into the water holding chamber is started, the process further includes: recording the water filling duration in real time, and if the water filling duration exceeds a preset duration, controlling the cold water valve and the hot water valve to close. Specifically, at the beginning of each closed-loop control cycle, the water filling duration t is first determined. If the water filling duration does not exceed the preset duration tmax, the subsequent output control strategy selection can be continued. If the water filling duration exceeds the preset duration, i.e., t>tmax, the water filling can be considered to have timed out. At this time, the cold water valve and the hot water valve can be controlled to close, and the current closed-loop control process can be exited to avoid long waiting times due to abnormal operation of certain components.

[0066] Based on the above technical solution, the exemplary mixed temperature water injection flow chart is as follows: Figure 2 As shown, through this process, the accuracy of foot bath water temperature control can be within ±0.5℃, the accuracy of water volume control can be within ±0.5mm, and the overall mixing and water injection time is less than 2 minutes, so that the thermostat is not used or used less, reducing the energy consumption of the mixing temperature and water injection process. At the same time, the system is automated and intelligent, reducing manual operations and improving user experience.

[0067] The technical solution provided by the embodiment of the present invention first obtains the user's water injection instruction, which includes the target temperature and target water volume, and then controls the cold water valve and the hot water valve to open to start injecting water into the water storage cavity, and collects the temperature data and water volume data in the water storage cavity in real time. On this basis, according to the real-time temperature data and water volume data, the trained Kalman filter is used to predict the current temperature and current water volume, and then the opening and closing states of the cold water valve and the hot water valve are adjusted in real time according to the current temperature, current water volume, target temperature and target water volume. Through the automated algorithm, the opening and closing states of the cold and hot water valves are dynamically adjusted in real time according to the temperature data and water volume data in the water storage cavity, reducing the manual operation in the mixed temperature water injection process, and realizing automatic intelligent mixed temperature and precise control of water temperature and water volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. At the same time, it can also reduce the use of thermostats after leaving the base station, saving energy consumption.

[0068] Example 2

[0069] Figure 3This is a structural diagram of the hot and cold water mixing device of the foot bath provided in the second embodiment of the present invention. The device can be implemented by hardware and / or software, and can generally be integrated into a foot bath system. The foot bath system includes a base station and a foot bath bucket. The foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to the foot bathing point; the foot bath bucket includes a water holding cavity, a detection unit for detecting the water temperature and water volume in the water holding cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to the cold water flow channel, a hot water valve connected to the hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit. This device is used to execute the hot and cold water mixing method for the foot bath provided in any embodiment of the present invention, and can be specifically executed by the above-mentioned first control unit. As Figure 3 As shown, the device includes:

[0070] A water injection instruction acquisition module is used to obtain a user's water injection instruction, wherein the water injection instruction includes a target temperature and a target water volume;

[0071] a water filling start module, configured to generate an opening control signal and transmit it to the second control unit, so as to control the cold water valve and the hot water valve to open via the second control unit, thereby starting to fill water into the water storage cavity and collecting temperature data and water volume data in the water storage cavity in real time;

[0072] A water temperature and water quantity prediction module is used to predict the current temperature and water quantity using a trained Kalman filter based on the temperature data and the water quantity data;

[0073] The valve adjustment module is used to generate a valve adjustment instruction and transmit it to the second control unit, so that the second control unit can adjust the opening and closing states of the cold water valve and the hot water valve according to the current temperature, the current water volume, the target temperature and the target water volume.

[0074] Specifically, the footbath may also include a memory, in which a hot and cold water mixing program for the footbath is stored. The program may include the above-mentioned program modules, and the first control unit of the footbath may implement the above-mentioned hot and cold water mixing method for the footbath by executing the program. At the same time, the first control unit may be connected to hardware such as a temperature sensor and a liquid level sensor, so that in the process of executing the program, the required temperature data and water volume data, etc. may be collected by the temperature sensor and the liquid level sensor. The second control unit of the base station may be connected to hardware such as the cold water valve and the hot water valve. When it is determined that the cold water valve and / or the hot water valve need to be controlled during the execution of the program by the first control unit, the first control unit may generate a corresponding control signal and transmit it to the second control unit, so that the second control unit may actually perform corresponding control operations on the cold water valve and / or the hot water valve according to the control signal. The specific control process can refer to the contents of the above-mentioned embodiment, which will not be repeated here.

[0075] Accordingly, the second control unit may be configured as follows:

[0076] receiving a start control signal transmitted by the first control unit;

[0077] Controlling the cold water valve and the hot water valve to open according to the opening control signal; and

[0078] receiving a valve adjustment instruction transmitted by the first control unit;

[0079] The opening and closing states of the cold water valve and the hot water valve are adjusted according to the valve adjustment instruction.

[0080] Specifically, such as Figure 3 As shown, the base station may also include a memory storing a valve control program, which may include an information receiving module and a valve control module. The information receiving module may be configured to receive an opening control signal and a valve adjustment instruction transmitted by the first control unit, and the valve control module may be configured to control the opening of the cold water valve and the hot water valve according to the opening control signal, and to adjust the opening and closing states of the cold water valve and the hot water valve according to the valve adjustment instruction. The second control unit of the base station may execute this program to cooperate with the foot bath tub to implement the above-mentioned hot and cold water mixing method for the foot bath.

[0081] The technical solution provided by the embodiment of the present invention first obtains the user's water injection instruction, which includes the target temperature and target water volume, and then controls the cold water valve and the hot water valve to open to start injecting water into the water storage cavity, and collects the temperature data and water volume data in the water storage cavity in real time. On this basis, according to the real-time temperature data and water volume data, the trained Kalman filter is used to predict the current temperature and current water volume, and then the opening and closing states of the cold water valve and the hot water valve are adjusted in real time according to the current temperature, current water volume, target temperature and target water volume. Through the automated algorithm, the opening and closing states of the cold and hot water valves are dynamically adjusted in real time according to the temperature data and water volume data in the water storage cavity, reducing the manual operation in the mixed temperature water injection process, and realizing automatic intelligent mixed temperature and precise control of water temperature and water volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. At the same time, it can also reduce the use of thermostats after leaving the base station, saving energy consumption.

[0082] On the basis of the above technical solution, optionally, the device further includes:

[0083] A readjustment module is used to, after adjusting the opening and closing states of the cold water valve and the hot water valve, wait for a preset delay time, and again predict the new current temperature and current water volume based on the real-time temperature data and water volume data, and generate a new valve adjustment instruction based on the new current temperature and current water volume, as well as the target temperature and the target water volume.

[0084] On the basis of the above technical solution, optionally, the valve regulating module is specifically used for:

[0085] If the current water volume is less than the target water volume and the current temperature is less than the target temperature, the cold water valve is adjusted downward and the hot water valve is adjusted upward;

[0086] If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, the cold water valve is adjusted up and the hot water valve is adjusted down.

[0087] On the basis of the above technical solution, optionally, the valve regulating module is specifically used for:

[0088] If the deviation between the current water volume and the target water volume is within a preset water volume deviation range, and the deviation between the current temperature and the target temperature is within a preset temperature deviation range, the cold water valve and the hot water valve are controlled to be closed.

[0089] On the basis of the above technical solution, optionally, the device further includes:

[0090] The result feedback module is used to feedback the temperature mixing success result to the user after the cold water valve and the hot water valve are controlled to be closed.

[0091] On the basis of the above technical solution, optionally, the valve regulating module is specifically used for:

[0092] If the current water volume is greater than the target water volume, the cold water valve and the hot water valve are controlled to be closed.

[0093] On the basis of the above technical solution, optionally, the device further includes:

[0094] The quick water injection module is used to increase the cold water valve and the hot water valve if the current water volume is less than the preset quick water injection volume before adjusting the opening and closing states of the cold water valve and the hot water valve, until the current water volume reaches the preset quick water injection volume.

[0095] On the basis of the above technical solution, optionally, the preset rapid water injection volume is determined by the following formula:

[0096] V1=Vt*min(Th-Tt,Tt-Tc)*2 / (Th-Tc)*fastup_param;

[0097] Among them, V1 represents the preset fast filling water volume, Vt represents the target water volume, Tt represents the target temperature, Th represents the outlet water temperature at the hot water valve, Tc represents the outlet water temperature at the cold water valve, and fastup_param represents the preset correction coefficient.

[0098] On the basis of the above technical solution, optionally, the water injection start module is specifically used to:

[0099] Controlling the hot water valve and the drain valve to open, so as to drain the cold water retained at the hot water valve and clean the water holding cavity;

[0100] The drain valve is controlled to be closed, and the cold water valve is controlled to be opened to start filling water into the water storage cavity.

[0101] On the basis of the above technical solution, optionally, the device further includes:

[0102] The water injection time determination module is used to record the water injection time in real time after the water is injected into the water storage cavity, and control the cold water valve and the hot water valve to be closed if the water injection time exceeds a preset time.

[0103] The hot and cold water mixing device for a foot bath provided in an embodiment of the present invention can execute the hot and cold water mixing method for a foot bath provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0104] It is worth noting that in the embodiment of the hot and cold water mixing device of the above-mentioned foot bath, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0105] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for mixing hot and cold water in a foot bath, characterized in that: Applicable to a foot bath system, the foot bath system includes a base station and a foot bath bucket, the foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket includes a water storage cavity, a detection unit for detecting the water temperature and water volume in the water storage cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; The first control unit is electrically connected to the second control unit; the method is executed by the first control unit, including: Obtaining a water injection instruction from a user, wherein the water injection instruction includes a target temperature and a target water volume; generating an opening control signal and transmitting it to the second control unit, so as to control the cold water valve and the hot water valve to open through the second control unit, thereby starting to fill water into the water storage cavity, and collecting temperature data and water volume data in the water storage cavity in real time; According to the temperature data and the water volume data, a trained Kalman filter is used to predict the current temperature and the current water volume; A valve adjustment instruction is generated according to the current temperature, the current water volume, the target temperature and the target water volume and transmitted to the second control unit so as to adjust the opening and closing states of the cold water valve and the hot water valve through the second control unit.

2. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: After adjusting the opening and closing states of the cold water valve and the hot water valve, the method further includes: After waiting for the preset delay time, the new current temperature and current water volume are predicted again based on the real-time temperature data and water volume data, and a new valve adjustment instruction is generated based on the new current temperature and current water volume, as well as the target temperature and the target water volume.

3. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: The adjusting the opening and closing states of the cold water valve and the hot water valve includes: If the current water volume is less than the target water volume and the current temperature is less than the target temperature, the cold water valve is adjusted downward and the hot water valve is adjusted upward; If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, the cold water valve is adjusted up and the hot water valve is adjusted down.

4. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: The adjusting the opening and closing states of the cold water valve and the hot water valve includes: If the deviation between the current water volume and the target water volume is within a preset water volume deviation range, and the deviation between the current temperature and the target temperature is within a preset temperature deviation range, the cold water valve and the hot water valve are controlled to be closed.

5. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: The adjusting the opening and closing states of the cold water valve and the hot water valve includes: If the current water volume is greater than the target water volume, the cold water valve and the hot water valve are controlled to be closed.

6. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: Before adjusting the opening and closing states of the cold water valve and the hot water valve, the method further includes: If the current water volume is less than the preset fast water filling volume, the cold water valve and the hot water valve are adjusted to increase until the current water volume reaches the preset fast water filling volume.

7. The method for mixing hot and cold water for a foot bath according to claim 6, characterized in that: The preset rapid water injection volume is determined by the following formula: V1=Vt*min(Th-Tt,Tt-Tc)*2 / (Th-Tc)*fastup_param; Among them, V1 represents the preset fast filling water volume, Vt represents the target water volume, Tt represents the target temperature, Th represents the outlet water temperature at the hot water valve, Tc represents the outlet water temperature at the cold water valve, and fastup_param represents the preset correction coefficient.

8. The method for mixing hot and cold water for a foot bath according to claim 1, characterized in that: The controlling the cold water valve and the hot water valve to open to start filling water into the water storage cavity comprises: Controlling the hot water valve and the drain valve to open, so as to drain the cold water retained at the hot water valve and clean the water holding cavity; The drain valve is controlled to be closed, and the cold water valve is controlled to be opened to start filling water into the water storage cavity.

9. A hot and cold water mixing device for a foot bath, characterized in that: Applicable to a foot bath system, the foot bath system includes a base station and a foot bath bucket, the foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket includes a water storage cavity, a detection unit for detecting the water temperature and water volume in the water storage cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; The first control unit is electrically connected to the second control unit; the device is executed by the first control unit, including: A water injection instruction acquisition module is used to obtain a user's water injection instruction, wherein the water injection instruction includes a target temperature and a target water volume; a water filling start module, configured to generate an opening control signal and transmit it to the second control unit, so as to control the cold water valve and the hot water valve to open via the second control unit, thereby starting to fill water into the water storage cavity and collecting temperature data and water volume data in the water storage cavity in real time; A water temperature and water quantity prediction module is used to predict the current temperature and water quantity using a trained Kalman filter based on the temperature data and the water quantity data; The valve adjustment module is used to generate a valve adjustment instruction based on the current temperature, the current water volume, the target temperature and the target water volume, and transmit it to the second control unit to adjust the opening and closing status of the cold water valve and the hot water valve through the second control unit.

10. A foot bath system, characterized in that: The foot bath system includes a base station and a foot bath bucket, wherein the foot bath bucket is configured to receive foot bath water at the base station and then leave the base station and move to a foot bathing point; the foot bath bucket includes a water storage cavity, a detection unit for detecting the water temperature and water volume in the water storage cavity, and a first control unit electrically connected to the detection unit; the base station includes a cold water valve connected to a cold water flow channel, a hot water valve connected to a hot water flow channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit is electrically connected to the second control unit; and the second control unit is configured as follows: receiving a start control signal transmitted by the first control unit; Controlling the cold water valve and the hot water valve to open according to the opening control signal; as well as, receiving a valve adjustment instruction transmitted by the first control unit; The opening and closing states of the cold water valve and the hot water valve are adjusted according to the valve adjustment instruction.

Images