A method and device for mixing hot and cold water for a foot bath system

Abstract

The application discloses a cold and hot water mixing method, a mixing device and a foot bath system. The method comprises the following steps: obtaining a water injection instruction of a user, the water injection instruction comprising a target temperature and a target water quantity; generating an opening control signal to control the opening of a cold water valve and a hot water valve to start water injection into a water containing cavity, and collecting temperature data and water quantity data in the water containing cavity in real time; using a trained Kalman filter to predict the current temperature and the current water quantity according to the temperature data and the water quantity data; and generating a valve adjustment instruction to adjust the opening and closing states of the cold water valve and the hot water valve according to the current temperature, the current water quantity, the target temperature and the target water quantity. The technical scheme provided by the application reduces manual operation in the temperature mixing process, realizes intelligent temperature mixing and accurate control of water temperature and water quantity when the foot bath water is prepared at the base station, improves the efficiency and user experience, and can also reduce the use of temperature controllers after leaving the base station, thereby saving energy consumption.

Description

Technical Field

[0001] This invention relates to the field of smart home appliance technology, and in particular to a method, mixing device and foot bath system for mixing hot and cold water in a foot bath. Background Technology

[0002] Existing foot bath products typically require manual operation of the water mixing and filling process during the foot bath preparation stage. Users must adjust the water temperature and volume themselves, which is not only time-consuming and labor-intensive but also lacks precise quantification, making accurate water temperature and volume control difficult. After manual operation, unsuitable water temperatures often require further temperature compensation via a thermostat, leading to higher energy consumption and costs, shortening the equipment's lifespan. Furthermore, the thermostat's heating efficiency is low, requiring a long time to reach the set temperature. This ultimately affects the product's affordability and miniaturization. Summary of the Invention

[0003] This invention provides a method, device, and system for mixing hot and cold water in a foot bath, which automatically achieves precise control of water temperature and volume, reduces energy consumption during preparation, and enhances user experience.

[0004] In a first aspect, embodiments of the present invention provide a method for mixing hot and cold water in a foot bath system, applicable to a foot bath system. The foot bath system includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, then leave the base station and move to a foot bathing point. The foot bath tub includes a water-holding cavity, a detection unit for detecting the water temperature and volume within 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 channel, a hot water valve connected to a hot water channel, and a second control unit electrically connected to both 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] Obtain the user's water injection command, which includes the target temperature and target water volume;

[0006] An opening control signal is generated and transmitted to the second control unit, so that the second control unit controls the cold water valve and the hot water valve to open, so as to start filling the water-filled cavity with water, and collects the temperature data and water volume data in the water-filled cavity in real time;

[0007] Based on the temperature data and the water volume data, the current temperature and current water volume are predicted using a trained Kalman filter.

[0008] Based on the current temperature, the current water volume, the target temperature, and the target water volume, a valve adjustment command is generated and transmitted to the second control unit, so as to adjust the opening and closing state 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 a preset delay, the system predicts a new current temperature and current water volume based on real-time temperature and water volume data, and generates a new valve adjustment command based on the new current temperature and current water volume, as well as the target temperature and 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, then the cold water valve is turned down and the hot water valve is turned up.

[0013] If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, then the cold water valve is increased and the hot water valve is decreased.

[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, then the cold water valve and the hot water valve are controlled to close.

[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, then the cold water valve and the hot water valve are controlled to close.

[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 rapid water injection volume, then increase the volume of the cold water valve and the hot water valve until the current water volume reaches the preset rapid water injection 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] Wherein, V1 represents the preset rapid water injection 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 opening of the cold water valve and the hot water valve to begin filling the water-filled cavity includes:

[0024] The hot water valve and drain valve are opened to drain the cold water stagnating at the hot water valve and to clean the water-filled cavity.

[0025] The drain valve is closed and the cold water valve is opened to begin filling the water-filled chamber with water.

[0026] Secondly, embodiments of the present invention also provide a hot and cold water mixing device for a foot bath, applied to a foot bath system. The foot bath system includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, leave the base station, and move to a foot bathing point. The foot bath tub 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 communicating with a cold water channel, a hot water valve communicating with a hot water 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 and includes:

[0027] The water injection instruction acquisition module is used to acquire the user's water injection instruction, which includes the target temperature and the target water volume;

[0028] The water injection module is used to generate an opening control signal and transmit it to the second control unit, so that the second control unit can control the cold water valve and the hot water valve to open, so as to start injecting water into the water-filling cavity, and collect temperature data and water volume data in the water-filling cavity in real time.

[0029] The water temperature and water volume prediction module is used to predict the current temperature and current water volume using a trained Kalman filter based on the temperature data and the water volume data.

[0030] The valve adjustment module is used to generate valve adjustment commands based on the current temperature, the current water volume, the target temperature, and the target water volume, and transmit them 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.

[0031] Thirdly, embodiments of the present invention also provide a foot bath system, the foot bath system including a base station and a foot bath tub, the foot bath tub being configured to receive foot bath water at the base station, leave the base station, and move to a foot bathing point; the foot bath tub including 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 including a cold water valve communicating with a cold water channel, a hot water valve communicating with a hot water channel, and a second control unit electrically connected to the cold water valve and the hot water valve; the first control unit and the second control unit are electrically connected; the second control unit is configured as follows:

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

[0033] The cold water valve and the hot water valve are opened according to the opening control signal; and...

[0034] Receive valve adjustment commands 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 command.

[0036] This invention provides a method for mixing hot and cold water in a foot bath. First, it obtains the user's water injection command, including the target temperature and target water volume. Then, it controls the opening of the cold and hot water valves to begin injecting water into the water-filling chamber. Temperature and water volume data within the chamber are collected in real time. Based on this real-time temperature and water volume data, a trained Kalman filter is used to predict the current temperature and current water volume. Finally, the opening and closing states of the cold and hot water valves are adjusted in real time according to the current temperature, current water volume, target temperature, and target water volume. This method for mixing hot and cold water in a foot bath, through an automated algorithm, dynamically adjusts the opening and closing states of the hot and cold water valves in real time based on the temperature and water volume data within the water-filling chamber. This reduces manual operation in the mixing process and achieves automatic and intelligent mixing and precise control of water temperature and volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. It also reduces the use of the thermostat after leaving the base station, saving energy. Attached Figure Description

[0037] Figure 1 A flowchart of the hot and cold water mixing method for a foot bath provided in Embodiment 1 of the present invention;

[0038] Figure 2 This is an exemplary temperature mixing and water injection process diagram provided in Embodiment 1 of the present invention;

[0039] Figure 3 This is a schematic diagram of the hot and cold water mixing device for a foot bath provided in Embodiment 2 of the present invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0041] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0042] Example 1

[0043] Figure 1 This is a flowchart illustrating a method for mixing hot and cold water in a foot bath according to Embodiment 1 of the present invention. This embodiment is applicable to situations where foot bath water is automatically prepared for the user. The method can be executed by the hot and cold water mixing device of the foot bath provided in this embodiment. This device can be implemented in hardware and / or software, and is generally integrated into a foot bath system. The foot bath system includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, leave the base station, and move to the foot bath point. The foot bath tub includes a water-holding cavity, a detection unit for detecting the water temperature and volume within 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 channel, a hot water valve connected to a hot water channel, and a second control unit electrically connected to both the cold water valve and the hot water valve. The first control unit and the second control unit are electrically connected. Specifically, the method can be executed by the aforementioned first control unit, such as... Figure 1 As shown, the specific steps include the following:

[0044] S11. Obtain the user's water injection command, which includes the target temperature and 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 the water-filled cavity with water, and collect the temperature data and water volume data in the water-filled cavity in real time.

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

[0047] S14. Generate valve adjustment commands based on the current temperature, the current water volume, the target temperature, and the target water volume, and transmit them 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 injection control unit, which may include a cold water valve and a hot water valve, and optionally a solenoid valve, for connecting to the pre-existing cold and hot water interfaces in the room. This allows for automatic control of the water flow through the cold and hot water valves without requiring upgrades to existing household interfaces. A second control unit in the base can be wired to the water injection control unit to transmit control signals to control the opening and closing of the cold and hot water valves. During the preparation of the foot bath water, the foot bath tub can be connected to a designated position on the base. At this time, the cold and hot water outlets can be suspended above the semi-open water-filling chamber of the foot bath tub, thereby controlling the opening and closing of the cold and hot water valves to achieve the water injection process. The foot bath tub may include a control panel for user operation or information display. The detection unit may include a temperature sensor and a liquid level sensor. A temperature sensor can be deployed on the bottom surface inside the foot bath tub, and a liquid level sensor can be vertically deployed on the side near the control panel inside the tub to collect temperature and water volume data within the water-filling chamber. During the preparation of the foot bath water, the drain outlet of the foot bath tub can be connected to the drain outlet on the base, which can be connected to a pre-installed floor or wall drain interface indoors. The foot bath tub body may also include a drain valve to control the drainage process of the water-filled chamber.

[0049] When users want to soak their feet, they can provide water injection commands through the foot bath tub's control panel or a mobile app. After setting the target temperature and water volume, clicking the "one-click foot bath" button generates the water injection command. Based on this command, the system automatically controls the injection of hot and cold water to prepare foot bath water at the specified temperature and volume. This water injection command can be processed by the first control unit within the foot bath tub, specifically an MCU board. The resulting hot and cold water valve control signals are transmitted through the physical contact point between the foot bath tub and the base to the second control unit on the base. The second control unit then transmits these signals to the hot and cold water valves, controlling them to open. This allows hot and cold water to flow into the water-filling chamber through the space above the foot bath tub. Simultaneously, temperature and water volume data within the water-filling chamber can be collected in real time using temperature and level sensors. The collected data can be preprocessed using a sliding filter.

[0050] While maintaining the collection of temperature and water volume data, a closed-loop control strategy can be employed. This strategy adjusts the opening and closing states of the hot and cold water valves in real time according to the collected and target data at a predetermined cycle, 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 operation, a trained Kalman filter can be used to optimize the collected data. The Kalman filter can be pre-initialized upon receiving a water injection command. After initialization, the closed-loop control cycle can begin according to a predetermined cycle Δt, specifically controlling the opening of the cold and hot water valves to inject water after initialization. The initialization process involves fusing prior data such as historically recorded hot and cold water temperature and flow rates with corresponding historically collected temperature and water volume data. By adjusting relevant noise parameters, a stable two-dimensional Kalman filter is achieved to reduce the impact of error noise and delay when using only sensor data, ensuring that the accuracy of the foot bath water temperature and volume reaches the predetermined range. At preset intervals, the Kalman filter can predict the impact of hot and cold water injection on the water temperature and level in the water-filling chamber within a preset period. This prediction is then fused with real-time temperature and water volume data to obtain updated current temperature T and current water volume V, replacing the sensor data. This updated current temperature and water volume are then compared with the user-set target temperature and target water volume to determine the on / off requirements of the cold and hot water valves. Corresponding control signals are then generated and transmitted to the cold and hot water valves to adjust their opening and closing states. Specifically, the first control unit of the foot bath tub can determine this and generate valve adjustment commands. The second control unit of the base station only needs to control the opening and closing states of the cold and hot water valves according to the received valve adjustment commands, thereby controlling the hot and cold water ratio and the water injection and shutdown. By having the foot bath tub determine the actual process, the base station can be adapted to foot bath tubs of various sizes.

[0051] In an optional implementation, after adjusting the opening and closing states of the cold water valve and the hot water valve, the method further includes: waiting for a preset delay time and then predicting a new current temperature and current water volume based on real-time temperature and water volume data, and generating a new valve adjustment command 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 initialization is completed, after each round of judgment and adjustment, a new round of judgment and adjustment can be performed after waiting for a preset delay time, until the exit conditions are met, such as successful temperature mixing, excessive water injection, water injection timeout, etc.

[0052] In an optional embodiment, 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 the cold water valve is turned down and the hot water valve is turned up; if the current water volume is less than the target water volume and the current temperature is greater than the target temperature, then the cold water valve is turned up and the hot water valve is turned down.

[0053] Specifically, if the current water volume is less than the target water volume, temperature adjustment can continue by adding water. If the current temperature is less than the target temperature, rapid temperature adjustment can be achieved by increasing the hot water inflow and decreasing the cold water inflow. This can be done by reducing the cold water valve and increasing the hot water valve, specifically by reducing it to a completely closed position or by increasing it from a closed to an open position. If the current temperature is greater than the target temperature, rapid temperature adjustment can be achieved by reducing the hot water inflow and increasing the cold water inflow. This can be done by increasing the cold water valve and reducing the hot water valve. A certain tolerance for error is allowed for the set target water volume and target temperature. For example, if 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 reduced and the hot water valve increased. Conversely, if 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 increased and the hot water valve reduced.

[0054] In an optional embodiment, 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 deviations between the current water volume and the target water volume, as well as the deviations between the current temperature and the target temperature, are both within tolerable ranges (e.g., T∈Tt±ΔT, V∈Vt±ΔV), the temperature mixing can be considered successful. At this point, the cold water valve and the hot water valve can be closed, and the current closed-loop control process can be exited. Optionally, after closing the cold water valve and the hot water valve, the process further includes: providing feedback to the user regarding the successful temperature mixing result. This feedback can be provided to the user through the control panel of the foot bath tub itself or an app on a mobile device, reminding the user that they can begin their foot bath.

[0056] In an optional implementation, 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, then 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 (which can be the target water volume plus the target water volume tolerance error Vt + ΔV), and a suitable temperature is still not achieved, it can be considered that the water volume has been overfilled and the temperature mixing has failed. In this case, the cold water valve and hot water valve can be closed first 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 has been 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, the method further includes: if the current water volume is less than a preset rapid water injection volume, then increasing the opening and closing states of the cold water valve and the hot water valve until the current water volume reaches the preset rapid water injection volume.

[0059] Specifically, for each closed-loop control cycle, after optimizing and obtaining the current water volume and temperature, it can first be determined whether the current water volume V has reached the preset rapid water injection volume V1. If it has not yet reached it, it can be considered to be in the rapid water injection stage. The cold water valve and hot water valve can be increased, and the current closed-loop control can be terminated directly. This can include increasing the valve from the closed state to the open state, etc., to accelerate the overall water injection speed. Once the current water volume V reaches the preset rapid water injection volume V1, i.e., V≥V1, the above-mentioned output control strategies for the cold water valve and hot water valve can be adopted to adjust the opening and closing 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] Wherein, V1 represents the preset rapid water injection 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. Th and Tc can be predicted values, and fastup_param is between 0 and 1, used to prevent mixing failure due to excessive deviation between the predicted hot and cold water temperatures.

[0063] In an optional embodiment, controlling the opening of the cold water valve and the hot water valve to begin filling the water-filled cavity includes: controlling the opening of the hot water valve and the drain valve to drain the cold water stagnating at the hot water valve and clean the water-filled cavity; controlling the drain valve to close and controlling the opening of the cold water valve to begin filling the water-filled cavity.

[0064] Specifically, when preparing to start water filling, first open the hot water valve and drain valve to drain the cold water remaining in the hot water pipe. The drained cold water, along with the subsequent hot water, can be used to clean the water-filling chamber. The wastewater from cleaning can be discharged through the drain outlet. After cleaning, close the drain valve and open the cold water valve to begin the water filling process, while simultaneously activating the closed-loop control circulation.

[0065] In an optional implementation, after the water injection into the water-filled cavity begins, the method further includes: recording the water injection duration in real time; if the water injection 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 injection duration t is first determined. If the water injection duration does not exceed the preset duration tmax, the selection of subsequent output control strategies can continue. If the water injection duration has exceeded the preset duration, i.e., t > tmax, it can be considered that the water injection has 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 caused by abnormal operation of certain devices.

[0066] Based on the above technical solution, an exemplary mixed-temperature water injection process flow chart is shown below. Figure 2 As shown, this process allows for precise temperature control of foot bath water within ±0.5℃ and precise water volume control within ±0.5mm. The overall mixing and water filling time is less than 2 minutes, thus eliminating or minimizing the use of thermostats, reducing energy consumption in the mixing and water filling process, and simultaneously achieving system automation and intelligence, reducing manual operation, and improving user experience.

[0067] The technical solution provided by this invention first obtains the user's water injection command, including the target temperature and target water volume. Then, it controls the opening of the cold water valve and hot water valve to begin injecting water into the water-filling chamber. Temperature and water volume data within the chamber are collected in real time. Based on this real-time temperature and water volume data, a trained Kalman filter is used to predict the current temperature and current water volume. The opening and closing states of the cold water valve and hot water valve are then adjusted in real time according to the current temperature, current water volume, target temperature, and target water volume. Through an automated algorithm, the opening and closing states of the cold and hot water valves are dynamically adjusted in real time based on the temperature and water volume data within the water-filling chamber. This reduces manual operation in the temperature mixing and injection process, achieving automatic and intelligent temperature and volume mixing and precise control of water temperature and volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. It also reduces the use of the thermostat after leaving the base station, saving energy.

[0068] Example 2

[0069] Figure 3This is a schematic diagram of the hot and cold water mixing device for a foot bath provided in Embodiment 2 of the present invention. This device can be implemented in hardware and / or software, and is generally integrated into a foot bath system. The foot bath system includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, then leave the base station and move to the foot bathing point. The foot bath tub includes a water-holding cavity, a detection unit for detecting the water temperature and volume within 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 channel, a hot water valve connected to a hot water channel, and a second control unit electrically connected to both the cold water valve and the hot water valve. The first control unit and the second control unit are electrically connected. 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, specifically executed by the aforementioned first control unit. Figure 3 As shown, the device includes:

[0070] The water injection instruction acquisition module is used to acquire the user's water injection instruction, which includes the target temperature and the target water volume;

[0071] The water injection module is used to generate an opening control signal and transmit it to the second control unit, so that the second control unit can control the cold water valve and the hot water valve to open, so as to start injecting water into the water-filling cavity, and collect temperature data and water volume data in the water-filling cavity in real time.

[0072] The water temperature and water volume prediction module is used to predict the current temperature and current water volume using a trained Kalman filter based on the temperature data and the water volume data.

[0073] The valve adjustment module is used to generate valve adjustment commands and transmit them 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 foot bath tub may also include a memory that stores a hot and cold water mixing program for the foot bath. This program may include the aforementioned program modules. The first control unit of the foot bath tub can execute this program to implement the aforementioned hot and cold water mixing method. Simultaneously, the first control unit may be connected to hardware such as a temperature sensor and a liquid level sensor, so that during the execution of the program, the required temperature data and water volume data can be collected through the temperature sensor and the liquid level sensor. The second control unit of the base station may be connected to hardware such as a cold water valve and a hot water valve. When the first control unit determines that it needs to control the cold water valve and / or the hot water valve during the execution of the program, the first control unit can generate a corresponding control signal and transmit it to the second control unit, so that the second control unit can 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 be referred to the above embodiments, and will not be repeated here.

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

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

[0077] The cold water valve and the hot water valve are opened according to the opening control signal; and...

[0078] Receive valve adjustment commands 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 command.

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

[0081] The technical solution provided by this invention first obtains the user's water injection command, including the target temperature and target water volume. Then, it controls the opening of the cold water valve and hot water valve to begin injecting water into the water-filling chamber. Temperature and water volume data within the chamber are collected in real time. Based on this real-time temperature and water volume data, a trained Kalman filter is used to predict the current temperature and current water volume. The opening and closing states of the cold water valve and hot water valve are then adjusted in real time according to the current temperature, current water volume, target temperature, and target water volume. Through an automated algorithm, the opening and closing states of the cold and hot water valves are dynamically adjusted in real time based on the temperature and water volume data within the water-filling chamber. This reduces manual operation in the temperature mixing and injection process, achieving automatic and intelligent temperature and volume mixing and precise control of water temperature and volume when preparing foot bath water at the base station, thereby improving efficiency and user experience. It also reduces the use of the thermostat after leaving the base station, saving energy.

[0082] Based on the above technical solution, optionally, the device further includes:

[0083] The 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 then predict a new current temperature and current water volume based on real-time temperature and water volume data, and generate a new valve adjustment command based on the new current temperature and current water volume, as well as the target temperature and target water volume.

[0084] Based on 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, then the cold water valve is turned down and the hot water valve is turned up.

[0086] If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, then the cold water valve is increased and the hot water valve is decreased.

[0087] Based on 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, then the cold water valve and the hot water valve are controlled to close.

[0089] Based on the above technical solution, optionally, the device further includes:

[0090] The result feedback module is used to provide feedback to the user on the successful temperature mixing result after the control valves for the cold water and hot water are closed.

[0091] Based on 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, then the cold water valve and the hot water valve are controlled to close.

[0093] Based on the above technical solution, optionally, the device further includes:

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

[0095] Based on 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] Wherein, V1 represents the preset rapid water injection 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] Based on the above technical solution, optionally, the water injection module is specifically used for:

[0099] The hot water valve and drain valve are opened to drain the cold water stagnating at the hot water valve and to clean the water-filled cavity.

[0100] The drain valve is closed and the cold water valve is opened to begin filling the water-filled chamber with water.

[0101] Based on the above technical solution, optionally, the device further includes:

[0102] The water injection duration determination module is used to record the water injection duration in real time after the water injection into the water-filled cavity begins. If the water injection duration exceeds a preset duration, the module controls the cold water valve and the hot water valve to close.

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

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

[0105] Note that the above description is merely a preferred embodiment 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 various obvious changes, readjustments, and substitutions can be made 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 which 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, An application is made in a foot bath system, which includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, then leave the base station and move to a foot bathing point. The foot bath tub 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 channel, a hot water valve connected to a hot water 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: Obtain the user's water injection command, which includes the target temperature and target water volume; An opening control signal is generated and transmitted to the second control unit, so that the second control unit controls the cold water valve and the hot water valve to open, so as to start filling the water-filled cavity with water, and collects the temperature data and water volume data in the water-filled cavity in real time; Based on the temperature data and the water volume data, the current temperature and current water volume are predicted using a trained Kalman filter. Based on the current temperature, the current water volume, the target temperature, and the target water volume, a valve adjustment command is generated and transmitted to the second control unit, so as to adjust the opening and closing state of the cold water valve and the hot water valve through the second control unit; 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 rapid water injection volume, then increase the volume of the cold water valve and the hot water valve until the current water volume reaches the preset rapid water injection volume; The preset rapid water injection volume is determined by the following formula: V1=Vt×min(Th-Tt,Tt-Tc)×2 / (Th-Tc)×fastup_param; Wherein, V1 represents the preset rapid water injection 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.

2. The method for mixing hot and cold water in 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 a preset delay, the system predicts a new current temperature and current water volume based on real-time temperature and water volume data, and generates a new valve adjustment command based on the new current temperature and current water volume, as well as the target temperature and target water volume.

3. The method for mixing hot and cold water in a foot bath according to claim 1, characterized in that, 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 the cold water valve is turned down and the hot water valve is turned up. If the current water volume is less than the target water volume and the current temperature is greater than the target temperature, then the cold water valve is increased and the hot water valve is decreased.

4. The method for mixing hot and cold water in a foot bath according to claim 1, characterized in that, 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 the cold water valve and the hot water valve are controlled to close.

5. The method for mixing hot and cold water in a foot bath according to claim 1, characterized in that, 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, then the cold water valve and the hot water valve are controlled to close.

6. The method for mixing hot and cold water in a foot bath according to claim 1, characterized in that, The control of opening the cold water valve and the hot water valve to begin filling the water-filled cavity includes: The hot water valve and drain valve are opened to drain the cold water stagnating at the hot water valve and to clean the water-filled cavity. The drain valve is closed and the cold water valve is opened to begin filling the water-filled chamber with water.

7. A hot and cold water mixing device for a foot bath, employing the hot and cold water mixing method for a foot bath as described in any one of claims 1-6, characterized in that, An application is made in a foot bath system, which includes a base station and a foot bath tub. The foot bath tub is configured to receive foot bath water at the base station, then leave the base station and move to a foot bathing point. The foot bath tub 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 channel, a hot water valve connected to a hot water 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 and includes: The water injection instruction acquisition module is used to acquire the user's water injection instruction, which includes the target temperature and the target water volume; The water injection module is used to generate an opening control signal and transmit it to the second control unit, so that the second control unit can control the cold water valve and the hot water valve to open, so as to start injecting water into the water-filling cavity, and collect temperature data and water volume data in the water-filling cavity in real time. The water temperature and water volume prediction module is used to predict the current temperature and current water volume using a trained Kalman filter based on the temperature data and the water volume data. The valve adjustment module is used to generate valve adjustment commands based on the current temperature, the current water volume, the target temperature, and the target water volume, and transmit them 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.

8. A foot bath system, employing the hot and cold water mixing method of a foot bath device as described in any one of claims 1-6, characterized in that, The foot bath system includes a base station and a foot bath tub. The foot bath tub is configured to collect foot bath water at the base station, then leave the base station and move to a foot bathing point. The foot bath tub includes a water-holding cavity, a detection unit for detecting the water temperature and volume within 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 channel, a hot water valve connected to a hot water channel, and a second control unit electrically connected to both 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: Receive the start control signal transmitted by the first control unit; The cold water valve and the hot water valve are opened according to the opening control signal; as well as, Receive valve adjustment commands transmitted by the first control unit; Adjust the opening and closing states of the cold water valve and the hot water valve according to the valve adjustment command.

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