Control method and control device for automatically moving foot bath barrel

Abstract

The invention discloses a control method and a control device for automatically moving a foot bath barrel. The method comprises the steps that an optimal path is planned based on current SLAM map matching environment characteristics, and a foot bath barrel is controlled to move to preset point coordinates according to the optimal path; acquiring an angle parameter when the foot bath barrel arrives at the preset point position coordinate; and adjusting the direction of the foot bath barrel according to the angle parameter and a preset point position angle. According to the technical scheme provided by the invention, the foot bath barrel can automatically move to the designated position and automatically calibrate the direction, so that a user can obtain a comfortable foot bath posture without carrying equipment or adjusting the body, and the use convenience of the equipment is greatly improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of smart home appliances, and in particular to a control method and a control device for an automatically movable foot soaking bucket. Background Art

[0002] Existing smart foot baths generally have functions such as constant temperature and massage, but they usually require users to manually move the device to the foot soaking point and manually adjust the device's orientation. Since the device is bulky when filled with water, it is still very inconvenient to use. Summary of the Invention

[0003] The embodiment of the present invention provides a control method and a control device for automatically moving a foot soaking bucket, so as to enable the foot soaking bucket to automatically reach a specified position and automatically complete foot soaking direction calibration.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling an automatically movable foot soaking bucket, the method comprising:

[0005] Plan the optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path;

[0006] Obtaining the angle parameter when the foot bath bucket reaches the preset point coordinates;

[0007] The direction of the foot bath bucket is adjusted according to the angle parameters and the preset point angle.

[0008] Optionally, adjusting the direction of the foot bath bucket according to the angle parameter and the preset point angle includes:

[0009] If the angle deviation between the angle parameter and the preset point angle is greater than the preset deviation threshold, the foot bath bucket wheel assembly is driven to adjust the direction of the foot bath bucket according to the preset point angle.

[0010] Optionally, the step of driving the wheel assembly of the foot soaking bucket to adjust the direction of the foot soaking bucket according to the preset point angle includes:

[0011] The direction of the foot soaking bucket is calibrated in real time according to the angle information fed back in real time by the wheel encoder provided on the wheel group of the foot soaking bucket, so as to correct the angle direction of the foot soaking bucket toward the preset point.

[0012] Optionally, after adjusting the direction of the foot soaking bucket according to the angle parameter and the preset point angle, the method further includes:

[0013] The user's manual adjustment of the foot bath tub posture is monitored in real time, and the preset point parameters are updated based on the adjusted posture, wherein the preset point parameters include the preset point coordinates and / or the preset point angles.

[0014] Optionally, the real-time monitoring of the user manually adjusting the foot soaking bucket posture includes:

[0015] Collecting movement data of the foot soaking bucket through an inertial measurement unit and / or collecting wheel speed data through a wheel encoder provided on the wheel group of the foot soaking bucket;

[0016] The displacement of the foot soaking bucket is determined according to the movement data and / or the wheel speed data, and the adjusted posture is determined according to the displacement.

[0017] Optionally, before the real-time monitoring of the user manually adjusting the foot soaking bucket posture, the method further includes:

[0018] In response to the user's operating instructions, the mode is switched to manual operation mode and the brakes on the foot soaking bucket wheel assembly are released.

[0019] Optionally, the operation instruction includes a key instruction and / or a voice instruction.

[0020] Optionally, controlling the foot bath bucket to move to a preset point coordinate according to the optimal path includes:

[0021] If an obstacle is encountered during movement, the movement will be paused;

[0022] If the obstacle is removed within the preset time, the foot bath bucket continues to move according to the optimal path;

[0023] If the obstacle continues to remain within the preset time, the foot bath bucket is controlled to bypass the obstacle and then return to the optimal path for movement.

[0024] Optionally, before planning the optimal path based on the current SLAM map matching environment features, the method further includes:

[0025] Match the target user's profile to determine the current preset point coordinates and the preset point angle.

[0026] In a second aspect, an embodiment of the present invention further provides a control device for automatically moving a foot soaking bucket, the device comprising:

[0027] The foot bath bucket movement control module is used to plan the optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path;

[0028] A foot bath bucket angle acquisition module is used to obtain the angle parameters when the foot bath bucket reaches the preset point coordinates;

[0029] The foot bath bucket direction adjustment module is used to adjust the direction of the foot bath bucket according to the angle parameters and the preset point angle.

[0030] An embodiment of the present invention provides a control method for an automatically moving foot soaking bucket. First, the optimal path is planned based on the current SLAM map matching environmental features, and the foot soaking bucket is controlled to move to the preset point coordinates according to the optimal path. At the same time, the angle parameters of the foot soaking bucket at this time are obtained, and then the direction of the foot soaking bucket is adjusted according to the angle parameters and the preset point angle. The control method for an automatically moving foot soaking bucket provided by an embodiment of the present invention realizes the automatic movement of the foot soaking bucket to a specified position and automatic direction calibration, so that the user can obtain a comfortable foot soaking posture without carrying the equipment or adjusting the body, which greatly improves the convenience of using the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a control method for an automatically movable foot soaking bucket provided in Example 1 of the present invention;

[0032] Figure 2 A schematic diagram of the automatic adjustment process provided in the first embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the manual adjustment process provided in the first embodiment of the present invention;

[0034] Figure 4 This is a structural schematic diagram of the control device for the automatically movable foot soaking bucket provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] Example 1

[0038] Figure 1This is a flow chart of the control method for the automatic moving foot soaking bucket provided in the first embodiment of the present invention. This embodiment is applicable to the case where the foot soaking bucket is controlled to automatically move to a designated position and adjust its direction when the user needs to use it. The method can be executed by the control device for the automatic moving foot soaking bucket provided in the embodiment of the present invention. The device can be implemented by hardware and / or software and can generally be integrated into the foot soaking bucket device. Figure 1 As shown, the specific steps include:

[0039] S11. Plan an optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path.

[0040] S12, obtaining the angle parameters when the foot soaking bucket reaches the preset point coordinates.

[0041] S13. Adjust the direction of the foot soaking bucket according to the angle parameter and the preset point angle.

[0042] Specifically, a simultaneous localization and mapping (SLAM) algorithm can be used in advance to dynamically construct an environmental map of the specified indoor area to provide a benchmark for subsequent positioning. And the environmental map can be updated in real time at any time based on user instructions or based on environmental features collected during the movement process. For example, if furniture moves, it is necessary to re-map. Among them, the SLAM algorithm can be based on a variety of positioning modules in encoders, inertial measurement units, lidars, and visual sensors for joint positioning to improve positioning accuracy and solve the problem that positioning is susceptible to environmental interference (such as furniture obstruction, light changes, etc.) when relying on a single sensor. For example, this embodiment can use a waterproof 360° surround view TOF sensor array and an inertial measurement unit, wherein the inertial measurement unit can use a 9-axis IMU (accelerometer + gyroscope + magnetometer) and can be integrated with a Kalman filter algorithm to eliminate motion jitter errors. After completing the initialization map, the user can set the preset point coordinates (X, Y) and the preset point angle θ and save them to the map database to provide a reference for the subsequent automatic movement of the foot bath bucket.

[0043] When the user needs to use the foot soaking bucket, the optimal path from the current position of the foot soaking bucket to the preset point coordinates specified by the user can be automatically planned based on the latest current SLAM map matching environmental features. The PurePursuit algorithm can then be used for path tracking to control the foot soaking bucket to move to the preset point coordinates. After the foot soaking bucket arrives at the preset point coordinates, the actual angle parameter θ1 of the foot soaking bucket at this time can be obtained through the positioning module, and the angle parameter θ1 can be compared with the preset point angle θ to adjust the direction of the foot soaking bucket to the preset point angle for user use. The schematic diagram of the automatic adjustment process is shown as follows Figure 2 shown.

[0044] Wherein, optionally, the direction of the foot bath bucket is adjusted according to the angle parameter and the preset point angle, including: if the angle deviation between the angle parameter and the preset point angle is greater than a preset deviation threshold, the foot bath bucket wheel assembly is driven to adjust the direction of the foot bath bucket according to the preset point angle. Specifically, the preset deviation threshold can be set according to the angle adjustment accuracy. For example, the preset deviation threshold is 0.5°. When the angle deviation (△θ=|θ-θ1|) between the angle parameter and the preset point angle when the foot bath bucket reaches the preset point coordinates is greater than the preset deviation threshold, the steering angle (accuracy ±0.5°) can be fine-tuned by a micro-steering servo motor to drive the foot bath bucket wheel assembly (an omnidirectional differential wheel assembly can be used) to achieve accurate positioning calibration, and the current coordinates and angles can be locked after the adjustment is completed and no longer moved. When the angle deviation between the angle parameter and the preset point angle when the foot bath bucket reaches the preset point coordinates is less than the preset deviation threshold, it can be considered that the current accuracy requirements are met, no further adjustments are made, and the current coordinates and angles can be directly locked and no longer moved.

[0045] Further optionally, the method of driving the foot soaking bucket wheel assembly to adjust the direction of the foot soaking bucket according to the preset point angle includes: calibrating the direction of the foot soaking bucket in real time according to the angle information fed back in real time by the wheel encoder provided on the foot soaking bucket wheel assembly, so as to correct the foot soaking bucket toward the preset point angle. Specifically, PID control can be used to achieve high-precision angle correction. In the process of controlling the foot soaking bucket wheel assembly to adjust the direction, the angle information can be fed back in real time by the wheel encoder, and calibration can be performed in real time according to the angle information and the preset point angle, until the angle deviation is less than the preset deviation threshold. Calibration by fusing the encoder can solve the problem of insufficient accuracy caused by the easy accumulation of positioning errors (greater than 5°) in a small space of the SLAM algorithm, and the direction deviation can be controlled within ±1°. Moreover, through dynamic angle compensation, attitude offset compensation can also be well achieved to enhance anti-interference capability.

[0046] In an optional embodiment, after adjusting the direction of the foot bath bucket according to the angle parameters and the preset point angle, it also includes: real-time monitoring of the user's manual adjustment of the foot bath bucket posture, and updating the preset point parameters based on the adjusted posture, the preset point parameters including the preset point coordinates and / or the preset point angle.

[0047] Specifically, since the distance and angle to the target object are difficult to control when setting the preset point parameters in the map, the user can be allowed to perform manual fine-tuning on the basis of automatic calibration to achieve dynamic compensation calibration, thereby avoiding sensor redundancy and achieving the final calibration of the foot bath bucket position flexibly and efficiently through a simple algorithm. After completing the automatic calibration, the user's manual adjustment of the foot bath bucket posture can be monitored in real time, and the final fixed adjusted posture of the foot bath bucket after the user's adjustment can be obtained. Then, the new preset point parameters can be determined according to the adjusted posture (including coordinates and angles) and updated to the map for next use, thereby reducing the need for users to make manual adjustments in the future, achieving personalized map adaptation, and improving the flexibility and comfort of use. For example, the manual adjustment process diagram is as follows Figure 3 As shown, after the foot bath bucket completes automatic calibration, it may be far away from the sofa. When the user needs to sit on the sofa to soak their feet, the current position may not be suitable. At this time, the user can manually shorten the distance between the foot bath bucket and the sofa to obtain the final adjusted posture required for foot soaking and update the preset point parameters (at this time, only the preset point coordinates need to be adjusted).

[0048] Further optionally, the real-time monitoring of the user manually adjusting the posture of the foot soaking bucket includes: collecting the movement data of the foot soaking bucket through an inertial measurement unit and / or collecting the wheel speed data through a wheel encoder provided on the wheel set of the foot soaking bucket; determining the displacement of the foot soaking bucket according to the movement data and / or the wheel speed data, and determining the adjusted posture according to the displacement. Specifically, when the user manually drags, the inertial measurement unit IMU can detect external force disturbances, and the displacement of the foot soaking bucket can be calculated based on the detected IMU data. The displacement of the foot soaking bucket can also be calculated based on the wheel speed difference between the wheels in the omnidirectional differential wheel set. The two methods can also be used in combination, so that the adjusted posture of the foot soaking bucket when it is finally fixed can be determined based on the calculated displacement.

[0049] Further optionally, before the real-time monitoring of the user manually adjusting the foot bath tub position, the system further includes: switching to manual operation mode in response to the user's operating instructions and releasing the brakes on the foot bath tub wheels. Optionally, the operating instructions include key commands and / or voice commands. Specifically, after completing the automatic calibration, the foot bath activity is ready to begin, and the active wheel can be automatically locked to prevent movement from affecting the user's foot bath experience. At this time, if the user wants to adjust the foot bath tub position, the user can temporarily switch the foot bath tub to manual operation mode using physical buttons, virtual buttons, or voice commands (such as "release wheels" or "release brakes"). The buttons can be used for quick response in emergencies, and voice commands can provide natural interaction and enhance convenience. In manual operation mode, the brakes on the foot bath tub wheels can be released. Specifically, the resistance can be released by current control to avoid damage to the device. At the same time, the drive wheel enters zero-force mode, and the user can manually drag and move the foot bath tub to the most comfortable position for personal foot bathing. After entering manual operation mode, the active wheel can be automatically locked again after receiving the user's operating instructions, releasing the brakes for a certain period of time, or determining that the user has started foot bathing, to ensure the user's foot bath experience.

[0050] In an optional embodiment, the control of the foot bath bucket to move to the preset point coordinates according to the optimal path includes: if an obstacle is encountered during the movement, the movement is paused; if the obstacle leaves within a preset time, the foot bath bucket continues to be controlled to move according to the optimal path; if the obstacle continues to remain for the preset time, the foot bath bucket is controlled to bypass the obstacle and then return to the optimal path for movement. Specifically, in the process of controlling the foot bath bucket to move along the optimal path, the foot bath bucket can be controlled to bypass when encountering a fixed obstacle, and the foot bath bucket can be controlled to stop when encountering a dynamic obstacle, wherein a braking distance of less than or equal to 0.3m can be used. Specifically, the movement can be paused when an obstacle is detected. If the obstacle leaves within a preset time (such as 2 seconds), the foot bath bucket can continue to be controlled to move according to the optimal path. If the obstacle still does not leave after waiting for the preset time, the foot bath bucket can be controlled to bypass, and after bypassing the obstacle, it can return to the optimal path for movement. Of course, the route can also be replanned based on the current pause position.

[0051] In an optional embodiment, before the optimal path is planned based on the current SLAM map matching environmental features, it also includes: matching the target user's profile to determine the current preset point coordinates and the preset point angles. Specifically, independent profiles can be assigned to multiple users. For example, for a multi-person family, each user can use a different foot soaking point, and each user can configure different preset point coordinates and preset point angles respectively. Then when a user needs to use a foot soaking bucket, the user can be used as the target user, and the corresponding profile can be matched based on the target user's identity, so as to obtain the preset point coordinates and preset point angles configured by the user, so as to control the foot soaking bucket to go to and perform angle calibration. In addition, historical data, including environmental maps and user configurations, can all support cloud synchronization for traceability.

[0052] The technical solution provided by the embodiment of the present invention first plans the optimal path based on the current SLAM map matching environmental features, and controls the foot bath bucket to move to the preset point coordinates according to the optimal path. At the same time, the angle parameters of the foot bath bucket at this time are obtained, and then the direction of the foot bath bucket is adjusted according to the angle parameters and the preset point angle. The foot bath bucket automatically moves to the specified position and automatically calibrates its direction, allowing users to achieve a comfortable foot bathing posture without moving the device or adjusting their body, greatly improving the convenience of using the device.

[0053] Example 2

[0054] Figure 4 This is a schematic diagram of the structure of the control device for the automatic mobile foot bath bucket 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 the foot bath bucket device to execute the control method for the automatic mobile foot bath bucket provided in any embodiment of the present invention. Figure 4 As shown, the device includes:

[0055] The foot bath bucket movement control module is used to plan the optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path;

[0056] A foot bath bucket angle acquisition module is used to obtain the angle parameters when the foot bath bucket reaches the preset point coordinates;

[0057] The foot bath bucket direction adjustment module is used to adjust the direction of the foot bath bucket according to the angle parameters and the preset point angle.

[0058] Specifically, the foot bath bucket device may include a processor and a memory, and the memory stores a control program for automatically moving the foot bath bucket. The program may include the above-mentioned foot bath bucket movement control module, the foot bath bucket angle acquisition module, and the foot bath bucket direction adjustment module, etc. The processor can implement the above-mentioned control method for automatically moving the foot bath bucket by executing the program. At the same time, the processor may be connected to hardware such as a positioning module and a steering system, so that in the process of executing the program, the positioning information such as the required angle parameters can be obtained through the positioning module, and the foot bath bucket wheel group can be driven by the steering system to achieve the movement and rotation of the foot bath bucket, etc. Among them, as mentioned above, exemplarily, the positioning module may include a 360° surround view TOF sensor array, an inertial measurement unit, and a wheel encoder, etc., and the steering system may include a micro-steering servo motor, etc. The specific control process can refer to the content of the above embodiment, which will not be repeated here.

[0059] The technical solution provided by the embodiment of the present invention first plans the optimal path based on the current SLAM map matching environmental features, and controls the foot bath bucket to move to the preset point coordinates according to the optimal path. At the same time, the angle parameters of the foot bath bucket at this time are obtained, and then the direction of the foot bath bucket is adjusted according to the angle parameters and the preset point angle. The foot bath bucket automatically moves to the specified position and automatically calibrates its direction, allowing users to achieve a comfortable foot bathing posture without moving the device or adjusting their body, greatly improving the convenience of using the device.

[0060] On the basis of the above technical solution, optionally, the foot bath bucket direction adjustment module 43 is specifically used to:

[0061] If the angle deviation between the angle parameter and the preset point angle is greater than the preset deviation threshold, the foot bath bucket wheel assembly is driven to adjust the direction of the foot bath bucket according to the preset point angle.

[0062] On the basis of the above technical solution, optionally, the foot bath bucket direction adjustment module 43 is specifically used to:

[0063] The direction of the foot soaking bucket is calibrated in real time according to the angle information fed back in real time by the wheel encoder provided on the wheel group of the foot soaking bucket, so as to correct the angle direction of the foot soaking bucket toward the preset point.

[0064] On the basis of the above technical solution, optionally, the device further includes:

[0065] The manual adjustment compensation module is used to monitor in real time the user's manual adjustment of the foot bath bucket posture after the direction of the foot bath bucket is adjusted according to the angle parameters and the preset point angle, and update the preset point parameters based on the adjusted posture. The preset point parameters include the preset point coordinates and / or the preset point angle.

[0066] Based on the above technical solution, optionally, the manual adjustment compensation module is specifically used to:

[0067] Collecting movement data of the foot soaking bucket through an inertial measurement unit and / or collecting wheel speed data through a wheel encoder provided on the wheel group of the foot soaking bucket;

[0068] The displacement of the foot soaking bucket is determined according to the movement data and / or the wheel speed data, and the adjusted posture is determined according to the displacement.

[0069] On the basis of the above technical solution, optionally, the device further includes:

[0070] The manual mode switching module is used to switch to the manual operation mode in response to the user's operation instruction before the real-time monitoring of the user manually adjusting the posture of the foot soaking bucket, and release the brake on the foot soaking bucket wheel group.

[0071] Based on the above technical solution, optionally, the operation instruction includes a key instruction and / or a voice instruction.

[0072] On the basis of the above technical solution, optionally, the foot bath bucket movement control module 41 is specifically used to:

[0073] If an obstacle is encountered during movement, the movement will be paused;

[0074] If the obstacle is removed within the preset time, the foot bath bucket continues to move according to the optimal path;

[0075] If the obstacle continues to remain for the preset time, the foot bath bucket is controlled to bypass the obstacle and then return to the optimal path for movement.

[0076] On the basis of the above technical solution, optionally, the device further includes:

[0077] The profile matching module is used to match the profile of the target user before planning the optimal path based on the current SLAM map matching environment features to determine the current preset point coordinates and the preset point angle.

[0078] The control device for the automatic moving foot soaking bucket provided in the embodiment of the present invention can execute the control method for the automatic moving foot soaking bucket provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0079] It is worth noting that in the embodiment of the control device of the above-mentioned automatic mobile foot bath bucket, 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.

[0080] 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 control method for automatically moving a foot soaking bucket, characterized in that: include: Plan the optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path; Obtaining the angle parameter when the foot bath bucket reaches the preset point coordinates; The direction of the foot bath bucket is adjusted according to the angle parameters and the preset point angle.

2. The control method of the automatic mobile foot soaking bucket according to claim 1, characterized in that: The adjusting the direction of the foot bath bucket according to the angle parameter and the preset point angle includes: If the angle deviation between the angle parameter and the preset point angle is greater than the preset deviation threshold, the foot bath bucket wheel assembly is driven to adjust the direction of the foot bath bucket according to the preset point angle.

3. The control method of the automatic mobile foot soaking bucket according to claim 2, characterized in that: The step of driving the foot soaking bucket wheel assembly to adjust the direction of the foot soaking bucket according to the preset point angle includes: The direction of the foot soaking bucket is calibrated in real time according to the angle information fed back in real time by the wheel encoder provided on the wheel group of the foot soaking bucket, so as to correct the angle direction of the foot soaking bucket toward the preset point.

4. The control method of the automatic mobile foot soaking bucket according to claim 1, characterized in that: After adjusting the direction of the foot soaking bucket according to the angle parameter and the preset point angle, the method further includes: The user's manual adjustment of the foot bath tub posture is monitored in real time, and the preset point parameters are updated based on the adjusted posture, wherein the preset point parameters include the preset point coordinates and / or the preset point angles.

5. The control method of the automatic mobile foot bath bucket according to claim 4, characterized in that: The real-time monitoring of the user manually adjusting the foot soaking bucket posture includes: Collecting movement data of the foot soaking bucket through an inertial measurement unit and / or collecting wheel speed data through a wheel encoder provided on the wheel group of the foot soaking bucket; The displacement of the foot soaking bucket is determined according to the movement data and / or the wheel speed data, and the adjusted posture is determined according to the displacement.

6. The control method of the automatic mobile foot soaking bucket according to claim 4, characterized in that: Before the real-time monitoring of the user manually adjusting the foot soaking bucket posture, the method further includes: In response to the user's operating instructions, the mode is switched to manual operation mode and the brakes on the foot soaking bucket wheel assembly are released.

7. The control method of the automatic mobile foot soaking bucket according to claim 6, characterized in that: The operation instructions include key instructions and / or voice instructions.

8. The control method of the automatic mobile foot soaking bucket according to claim 1, characterized in that: Controlling the foot bath bucket to move to a preset point coordinate according to the optimal path includes: If an obstacle is encountered during movement, the movement will be paused; If the obstacle is removed within the preset time, the foot bath bucket continues to move according to the optimal path; If the obstacle continues to remain within the preset time, the foot bath bucket is controlled to bypass the obstacle and then return to the optimal path for movement.

9. The control method of the automatic mobile foot soaking bucket according to claim 1, characterized in that: Before planning the optimal path based on the current SLAM map matching environment features, the method further includes: Match the target user's profile to determine the current preset point coordinates and the preset point angle.

10. A control device for automatically moving a foot soaking bucket, characterized in that: include: The foot bath bucket movement control module is used to plan the optimal path based on the current SLAM map matching environment features, and control the foot bath bucket to move to the preset point coordinates according to the optimal path; A foot bath bucket angle acquisition module is used to obtain the angle parameters when the foot bath bucket reaches the preset point coordinates; The foot bath bucket direction adjustment module is used to adjust the direction of the foot bath bucket according to the angle parameters and the preset point angle.

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