Wheelchair bath control circuit and method based on FPGA

Abstract

The invention provides a wheelchair bath control circuit and method based on an FPGA, and relates to the technical field of FPGAs, and the method comprises the steps that after a target user and a wheelchair slide into a bath and are positioned in a preset area, the FPGA executes first information detection, and obtains posture and position information and target control position information; generating a pulse control signal according to the first detection data and the control scheme data, and setting water level, water temperature and time sequence linkage parameters of an eddy current actuator, a bubble actuator and a phototherapy actuator; the three types of execution units are cooperatively driven according to signals, and composite driving is conducted on a target user fixed to the wheelchair; second information detection is continuously executed in the operation process, action change, environment disturbance and control displacement change data are collected, real-time adjustment is carried out, and closed-loop self-adaptive control is formed; according to the scheme, the problems of positioning deviation and environment disturbance caused by wheelchair bathing are solved, and the driving consistency and operation stability of the wheelchair target user are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of FPGA, in particular to a wheelchair bath control circuit and method based on FPGA. BACKGROUND

[0002] As a common auxiliary control method, wheelchair bath control is widely used in user assistance, health management and function expansion fields. The existing wheelchair bath control circuit generally controls physical parameters such as water temperature, water flow or air bubbles to provide users with local or overall operation effects, so as to achieve the purpose of optimizing user experience, improving operation stability or assisting functions. Such circuits generally use preset program control to complete corresponding operations under fixed conditions. Some circuits can preliminarily set parameters according to individual user needs, but as a whole, they still run in static or semi-static mode.

[0003] However, in actual application, users may adjust their posture, move locally or shift their position during operation. The existing circuit often lacks real-time perception and intelligent response capability to dynamic state changes of users. In addition, local disturbance factors such as water flow, water temperature and light in the operating environment may also affect the operation effect. The existing circuit generally lacks dynamic detection and adaptive control mechanism for these disturbance factors, especially in pulse signal processing and feedback adjustment. Traditional circuits are difficult to achieve efficient real-time calculation and parameter optimization, thereby limiting the precision and individualized adaptation ability of the operation process to some extent. Therefore, how to improve the response capability of the wheelchair bath control circuit in dynamic detection and intelligent control, especially through adaptive optimization of pulse technology by programmable logic such as FPGA, is still one of the important problems faced by the existing technology. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a wheelchair bath control circuit and method based on FPGA.

[0005] In a first aspect, the present application provides a wheelchair bath control method based on FPGA, comprising:

[0006] In response to the target user being in a preset position in the bath, the signal acquisition module of the FPGA performs first information detection to generate first detection data; wherein the preset position is used to control the circuit to correctly execute pulse driving;

[0007] Based on the first detection data and preset control scheme data, a pulse control signal is generated in the pulse generation module of the FPGA; the pulse control signal is used to define the driving parameters and timing linkage strategy of the eddy current actuator, the air bubble actuator and the light therapy actuator, wherein the driving parameters include the duty cycle, pulse frequency and sequence mode of the pulse width modulation signal;

[0008] Based on the pulse control signal, the vortex executor, the bubble executor and the light therapy executor are driven in linkage in the output control module of the FPGA to perform operation on the target user, and the linkage driving is achieved through pulse timing synchronization;

[0009] In the process of operation, the second information detection is performed by the feedback processing module of the FPGA to generate second detection data, and the pulse control signal is dynamically adjusted based on the second detection data, wherein the adjustment includes real-time shaping of the duty cycle and frequency of the PWM pulse.

[0010] Optionally, the first detection data includes posture information, position information and target control position information; the first information detection is performed by the signal acquisition module of the FPGA to generate first detection data in response to the target user being at a preset position in the bathtub.

[0011] The contact posture and support state of the target user in the bathtub are detected by the signal acquisition module of the FPGA to generate the posture information of the target user.

[0012] Based on the posture information, the spatial position of the target user relative to the reference frame of the bathtub is detected by the signal processing module of the FPGA to generate the position information of the target user, and the position information is used to determine the front-back, left-right and up-down offset of the target user in the bathtub.

[0013] Based on the posture information and the position information, the target control position information of the target user is identified in the identification module of the FPGA, and the target control position information is used to represent the relative spatial position distribution of the key target parts to be operated in the bathtub and to guide the pulse driving parameter setting of the vortex executor, the bubble executor and the light therapy executor.

[0014] Optionally, the pulse control signal is generated in the pulse generation module of the FPGA based on the first detection data and the preset control scheme data.

[0015] Based on the target control position information, the coverage area corresponding to the target control position information is determined in the pulse generation module of the FPGA in combination with the coverage requirements of each target part in the control scheme data, and the target water level pulse parameter is set to drive the water level control executor through the PWM pulse.

[0016] Based on the posture information, the distribution of the areas above and below the target user's body surface is determined in the signal processing module of the FPGA, based on the position information, the spatial relationship between each area of the target user's body surface and the space boundary of the bathtub and the expected water surface position is determined, the temperature sensitive area is identified, and the target water temperature pulse parameters are set in combination with the temperature control standard in the control scheme data, which are used to drive the heating actuator through the pulse sequence.

[0017] Optionally, the generating, by the FPGA, of the pulse control signal based on the first detection data and the preset control scheme data further includes:

[0018] Based on the target control position information, in combination with the eddy current driving requirements for different target parts in the control scheme data, the jet angle pulse, the jet intensity duty cycle and the jet pulse mode of the eddy current actuator are determined in the pulse generation module of the FPGA;

[0019] Based on the target control position information, in combination with the bubble driving requirements for different target parts in the control scheme data, the release pulse frequency, the release intensity duty cycle and the action range sequence of the bubble actuator are determined;

[0020] Based on the target control position information, in combination with the light therapy driving requirements for different target parts in the control scheme data, the light emitting wavelength pulse, the light emitting pulse mode and the irradiation area sequence of the light therapy actuator are determined.

[0021] In a second aspect, the application provides a wheelchair bathtub control circuit based on FPGA, comprising:

[0022] A signal acquisition module, in response to the target user being in a preset position in the bathtub, performs first information detection to generate first detection data; wherein the preset position is used for the control circuit to correctly perform pulse driving, the signal acquisition module is integrated in the FPGA, includes an ADC interface and pulse synchronization logic, and is used for acquiring sensor signals;

[0023] A pulse generation module, which generates a pulse control signal based on the first detection data and preset control scheme data; the pulse control signal is used to define the driving parameters and timing linkage strategy of the eddy current actuator, the bubble actuator and the light therapy actuator, wherein the driving parameters include the duty cycle, the pulse frequency and the sequence mode of the pulse width modulation signal, the pulse generation module is integrated in the FPGA, and includes a PWM generator and a logic unit;

[0024] An output control module, which drives the eddy current actuator, the bubble actuator and the light therapy actuator in linkage based on the pulse control signal to perform operation on the target user, wherein the linkage driving is achieved through pulse timing synchronization, and the output control module is integrated in the FPGA and includes I / O pins and timing control logic.

[0025] a feedback processing module for performing second information detection during operation, generating second detection data, and dynamically adjusting the pulse control signal based on the second detection data, wherein the adjustment includes real-time shaping of the duty cycle and frequency of the PWM pulse, the feedback processing module being integrated in the FPGA and including a DSP core and a feedback loop.

[0026] Beneficial effects: Compared with the existing wheelchair bath control circuit which relies on fixed water level, water temperature and single-channel timing control, the present application realizes individualized parameter initialization before bathing, determines the water level, water temperature and driving parameters of the three types of actuators in the pulse generation module of the FPGA using posture information, position information and target control position information, avoiding driving deviation caused by initial positioning error in traditional circuits; continuously collects user state and environmental data during operation, and dynamically corrects the duty cycle, frequency and sequence mode of the pulse control signal in the feedback processing module of the FPGA, so that the operation effect always follows the target part; the eddy current, bubble and light therapy actuators are driven cooperatively according to the unified pulse control signal, which can form a composite pulse drive in the same area and synchronize and connect in time sequence in different areas, improving the depth of comprehensive control; through the determination of the second detection data and the rapid PWM pulse fine adjustment, the one-time or cumulative influence of posture changes, flow disturbances and the like on the operation effect is suppressed. The present application significantly improves the positioning accuracy, strength matching degree, dynamic stability and individual adaptability of pulse driving, and overcomes the problems of action deviation, uneven driving and effect fluctuation that are prone to occur in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 a flowchart of a wheelchair bath control method based on FPGA provided by the present application;

[0028] Figure 2 a flowchart of a pulse control signal generation method provided by the present application;

[0029] Figure 3 a flowchart of a target stimulation position information identification method for a target user provided by the present application;

[0030] Figure 4 a schematic diagram of a wheelchair bath control circuit based on FPGA provided by the present application;

[0031] Figure 5 a schematic diagram of a wheelchair bath provided by the present application.

[0032] Reference signs: 10, signal acquisition module; 20, pulse generation module; 30, output control module; 40, feedback processing module; 100, transfer chair; 200, bath. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application.

[0034] Please refer to Figure 1 A flowchart of a wheelchair bathtub control method based on FPGA is provided in the present application, the method comprising steps S101-S104, wherein:

[0035] S101: In response to the target user being in a preset position in the bathtub, performing first information detection by the signal acquisition module of the FPGA to generate first detection data; wherein the preset position is used to control the circuit to correctly perform pulse driving;

[0036] S102: Based on the first detection data and preset control scheme data, generating a pulse control signal in the pulse generation module of the FPGA; the pulse control signal is used to define the driving parameters and timing linkage strategy of the eddy current actuator, the bubble actuator and the phototherapy actuator, wherein the driving parameters include the duty cycle, pulse frequency and sequence mode of the pulse width modulation signal;

[0037] S103: Based on the pulse control signal, driving the eddy current actuator, the bubble actuator and the phototherapy actuator in linkage in the output control module of the FPGA to perform operation on the target user, wherein the linkage driving is achieved by pulse timing synchronization;

[0038] S104: In the process of operation, performing second information detection by the feedback processing module of the FPGA to generate second detection data, and dynamically adjusting the pulse control signal based on the second detection data, wherein the adjustment includes real-time shaping of the duty cycle and frequency of the PWM pulse.

[0039] For the above S101:

[0040] Wherein, the first information detection refers to, when the target user enters the bathtub for the first time and is stable in the preset position, collecting a preliminary data set related to the target user's posture, position and target control area by the sensor module, imaging module or other detection devices. The first detection data includes but is not limited to posture information, position information and target control position information, which is used for subsequent generation of pulse control signal. The preset position refers to the ideal area of the target user after entering the bathtub according to the initial setting of the system, which is used to ensure that the execution unit can accurately act on the target user under the set conditions.

[0041] In the FPGA-based wheelchair bath control circuit, the initial posture and position of the target user have a basic influence on the pulse driving parameter setting. If the target user is not in the position or posture expected by the system, the subsequent eddy current, bubble and light therapy driving based on fixed parameters may not accurately cover the target control area, reducing the operation effect. Therefore, the circuit needs to confirm whether the target user has been in the preset position through the first information detection before the operation starts, and obtain the basic state data associated with the execution. This detection not only provides a spatial reference for the execution application area, but also provides reference information for the subsequent dynamic adjustment of the pulse control signal, ensuring the accuracy and individual adaptability of the operation.

[0042] In specific embodiments, the wheelchair bath control circuit is provided with a posture sensing module, a position detection module and a data processing unit, which are integrated in the FPGA. The posture sensing module includes a multi-point pressure sensor array distributed on the inner bottom surface and side wall of the bath, and an infrared depth imaging unit installed above the bath. The position detection module uses positioning markers paired with the bath reference frame or three-dimensional space ranging algorithms to monitor the three-dimensional spatial position of the target user in the bath in real time.

[0043] When the target user enters the bath, the signal acquisition module of the FPGA first acquires the force distribution diagram of the contact area between the target user and the bath through the pressure sensor array. The data processing unit calculates the position, number and pressure center of the target user's support points based on the pressure distribution data, judges whether the target user forms a stable support state that meets the set standard, such as uniform support of limbs or trunk and pressure center located in the central region of the bath. At the same time, the infrared depth imaging unit acquires the three-dimensional contour information of the target user's surface, and extracts the target user's posture parameters such as forward inclination angle, lateral inclination angle, trunk pitch angle, etc. through bone tracking algorithm or key point recognition algorithm.

[0044] The position detection module calculates the specific coordinate position of the target user's center of gravity in the bath reference frame based on the depth imaging data or additional spatial positioning signals, such as a three-dimensional coordinate system with the center of the bath bottom surface as the origin. If the detected center of gravity position is located in the preset target area, and the posture parameters meet the system's set stability threshold, such as the pitch angle and lateral inclination angle being within ±15°, the system determines that the target user is in the required preset position state.

[0045] Based on the above detection results, the data processing unit of the FPGA generates first detection data, which may include, for example:

[0046] Posture information: the current trunk posture angle of the target user, the extension state of the limbs, etc.

[0047] Position information: three-dimensional coordinates of the target user's center of gravity and main support points relative to the bath reference frame.

[0048] Target control position information: the relative position of the key target part to be driven, such as the shoulder, waist, leg, etc., in the bath space, derived based on the posture information and position information.

[0049] The first detection data is then used as the basis for the subsequent pulse control signal generation process, ensuring that the execution unit, such as the eddy current executor, bubble executor, and light therapy executor, can be accurately driven according to the actual target user state.

[0050] In this way, by performing first information detection before operation, it can be ensured that the target user is in the optimal position and posture set by the control circuit, effectively improving the accuracy of the eddy current executor, bubble executor, and light therapy executor. At the same time, the preliminary state reference generated based on the first detection data provides a reliable basis for the personalized setting and dynamic adjustment of the subsequent operation mode, helping to improve the targeting, comfort, and effect stability of the operation, and reducing the risk of driving misalignment due to position deviation.

[0051] For example, please refer to Figure 5 A schematic diagram of a wheelchair bath provided by the present application, the transfer chair 100 is seamlessly connected with the bath 200 opening through the front end guide rail or plug-in docking mechanism, realizing smooth transition between the transfer chair 100 and the bath 200; the main body of the transfer chair 100 can be provided with an adjustable backrest, a safety handrail, a foot support, and a universal wheel with locking function; the bath 200 side wall integrates a touch liquid crystal panel and a key for controlling water inlet and outlet, temperature adjustment, and functions; the bath 200 bottom is provided with support legs for stable support, and the inner wall is arranged with eddy current executor and bubble executor. When the target user slides into the bath 200 together with the transfer chair 100 and is positioned in the preset area, the detection, operation, and other processes disclosed in the present application can be continued.

[0052] In addition, in response to the target user sliding into the bath 200 together with the transfer chair 100 and being positioned in the preset area, the device can be locked to improve the sealing and prevent the wheelchair from moving.

[0053] For the above S102:

[0054] In the present application, the control scheme data refers to a set of standardized parameter configurations preset according to the individual situation of the target user, such as control target, state parameter, and recommended configuration, which can specifically include but is not limited to water flow intensity, bubble release frequency, light wavelength, action time, and linkage timing information required for different parts. The pulse control signal refers to a specific driving signal determined based on the first detection data and the control scheme data, which is used to guide the eddy current executor, bubble executor, and light therapy executor to operate according to the predetermined mode.

[0055] In practical applications, the pulse generation module of the FPGA matches the standard parameter requirements of the corresponding part in the control scheme data based on the posture information, position information and target control position information identified in the first detection data. Through the logic unit of the FPGA, the corresponding driving requirements are analyzed in combination with the current spatial posture and control region distribution of the target user, and specific pulse parameters are generated.

[0056] For example, in the process of generating the pulse control signal, the FPGA can perform the following processing flow:

[0057] For the target control position information, the corresponding execution unit configuration relationship is determined, for example, the shoulder region preferentially matches the vortex actuator of a specific angle and flow, the waist region preferentially matches the high-density bubble drive, and the leg region preferentially matches the light therapy drive of a specific wavelength.

[0058] Based on the position information and the posture information, the spatial correspondence relationship between the execution unit and the target control region is calculated, and the jet angle, jet direction, positioning parameter of the bubble release port and irradiation area of the light therapy actuator of the actuator mounting point are determined.

[0059] According to the control scheme data, the driving parameters of each execution unit are set, including the jet intensity duty cycle, jet frequency and working cycle of the vortex actuator, the release intensity, release frequency and bubble size of the bubble actuator, and the light wavelength, light intensity and pulse mode of the light therapy actuator.

[0060] The above configuration results are combined to generate a set of pulse control signals in a unified format as the basis for subsequent linkage driving each execution unit to perform actions.

[0061] In this way, the pulse control signal not only contains the independent driving parameters of each execution module, but also defines the cooperative linkage strategy between the vortex actuator, the bubble actuator and the light therapy actuator, so that each driving means is coordinated in the time axis and the space axis, and the operation coverage accuracy and the comprehensive effect are guaranteed.

[0062] For S103 described above:

[0063] In this application, linkage driving refers to coordinating and controlling the operating states of the vortex actuator, the bubble actuator and the light therapy actuator based on the parameters of each execution unit set in the pulse control signal, so that each unit forms a synergistic effect in the time axis and the spatial distribution according to the set intensity, frequency, angle, direction or mode. Operation refers to the comprehensive execution process of water power drive, bubble drive and light drive acting on a specific part of the target user through the above control.

[0064] In a specific application, the output control module of the FPGA controls the vortex actuator, the bubble actuator, and the light therapy actuator to respectively issue pulse signals through the internal communication module or the execution module according to the generated pulse control signal. The control logic can include the following processing steps:

[0065] For the vortex actuator, the fluid output pressure of the working pump group, the angle setting mechanism of the jet direction control device, and the jet mode selector are controlled to achieve directional water flow driving of the target control area according to the signal set jet angle pulse, jet intensity duty cycle, and pulse mode;

[0066] For the bubble actuator, the output flow of the gas supply system, the opening and closing frequency of the release valve group, and the single bubble release amount are controlled to achieve point or zoned bubble driving of the target area according to the signal set bubble release intensity, frequency, and diffusion range;

[0067] For the light therapy actuator, the wavelength switching module, the light intensity adjustment unit, and the light spot moving mechanism of the light emitting unit are controlled to achieve corresponding light driving according to the signal set light wavelength, light mode (such as continuous driving or pulse driving), and irradiation area.

[0068] During the execution of the above control process, the FPGA can coordinate the start, stop, and switching sequence of each unit based on the timing setting in the pulse control signal to achieve dynamic linkage between water flow, bubble, and light driving. For example, the bubble release can be synchronized during water flow driving, or the water flow direction can be adjusted during light driving switching to ensure that the superimposed effect of different types of driving in time and space meets the control scheme requirements.

[0069] In this way, through the above linkage driving, each execution unit can act on the target control area of the target user according to the set scheme to form a comprehensive, directional, and dynamically adjustable driving effect, thereby improving the overall operation quality and individual adaptability.

[0070] For the above S104:

[0071] In this application, the second information detection refers to the real-time or periodic collection of dynamic data related to the changes in the target user state and the environment state during the operation process, which is used to evaluate the real-time adaptability of the operation. The second detection data refers to the dynamic change information obtained by the second information detection to describe the current target user posture, position information, and environmental state. The dynamically adjusted pulse control signal refers to the real-time or periodic updating, correction, or fine-tuning of the issued pulse control signal according to the second detection data changes to maintain the accuracy and consistency of the driving.

[0072] In a specific application, the feedback processing module of the FPGA collects the dynamic posture change, displacement change and environmental disturbance information of the target user in real time during operation execution through the posture detection module, the position detection module and the environment monitoring module, such as local water temperature change, bubble distribution change or water flow disturbance change, etc.

[0073] The data processing unit of the FPGA generates second detection data based on the continuously or intermittently collected second information data, which can specifically include:

[0074] Target user posture change information: such as trunk inclination angle change, limb position change, etc.

[0075] Target user position information change: such as center of gravity point offset, support point distribution change, etc.

[0076] Environmental disturbance information: such as water flow pressure change, bubble diffusion change, illumination intensity change, etc.

[0077] Through analysis and processing of the second detection data, the FPGA determines whether the current posture and position of the target user deviate from the initial setting, or whether the environmental parameters have significant fluctuations. If the detected deviation or disturbance exceeds the preset threshold range, the FPGA will dynamically adjust the pulse control signal based on the current second detection data, for example:

[0078] Correcting the jet angle pulse and jet intensity duty cycle of the vortex actuator;

[0079] Adjusting the release frequency and release direction sequence of the bubble actuator;

[0080] Correcting the light emitting direction, light emitting intensity or driving mode of the light therapy actuator.

[0081] Through the above dynamic adjustment, the operation effect deviation caused by the body position change of the target user or the environmental change can be compensated in real time, the continuous and accurate action of the driving on the target area is maintained, and the adaptability, stability and personalized experience in the operation process are further improved.

[0082] As an optional implementation, the first detection data includes posture information, position information and target control position information; and the FPGA performs first information detection through the signal acquisition module to generate first detection data in response to the target user being in a preset position in the bathtub, which includes:

[0083] The signal acquisition module of the FPGA detects the contact posture and support state of the target user in the bathtub to generate the posture information of the target user.

[0084] Based on the attitude information, a signal processing module of the FPGA detects a spatial position of the target user relative to a reference frame of the bathtub, and generates position information of the target user, which is used to determine front-back, left-right and up-down offset amounts of the target user in the bathtub.

[0085] Based on the attitude information and the position information, a recognition module of the FPGA recognizes target control position information of the target user, which is used to represent a relative spatial position distribution of a key target part to be operated in the bathtub, and is used to guide setting of pulse driving parameters of the eddy current executor, the bubble executor and the light therapy executor.

[0086] In the present application, the attitude information refers to a data set representing a whole posture form and a stable support state of the target user in the bathtub, and generally includes parameters such as a front-back inclination angle, a lateral inclination angle, a pitch angle and a limb distribution state. The position information refers to a spatial position of the target user in the reference frame of the bathtub, including a center of gravity position, a main support point position and a relative distance from the bathtub boundary. The target control position information refers to a relative spatial coordinate distribution of a key target part to be operated, such as a shoulder, a waist and a leg, in the bathtub, which is derived based on the attitude information and the position information, and is used to guide accurate pulse driving of the execution unit.

[0087] Since the wheelchair bathtub control mode needs to dynamically configure pulse driving parameters according to the actual attitude and position of the target user, the FPGA first needs to obtain the current attitude information of the target user, then calculate the spatial position of the target user in the bathtub, and finally recognize the corresponding target control area.

[0088] The detection of the attitude information can reflect the overall stable state and body orientation of the target user; the detection of the position information provides specific offset amounts of the target user in three-dimensional space. Combined with both, the relative position relationship of the key regions on the body surface of the target user in the bathtub can be accurately located, which serves as a basis for subsequent pulse control signal setting.

[0089] In a specific implementation, when the target user is stably in the bathtub, a signal acquisition module of the FPGA first detects a force distribution of a contact area between the target user and the bathtub through a multi-point pressure sensor array arranged on the bottom and the side wall. By performing pattern recognition and stability analysis on the force data, the number, distribution and pressure center position of the main support points of the target user are determined, and the basic attitude form of the target user is derived.

[0090] Meanwhile, the top-mounted infrared depth imaging unit collects the three-dimensional contour information of the target user's surface, and combines with the skeleton tracking algorithm or key point extraction algorithm to further supplement and refine the posture information, such as the trunk forward angle, the side tilt angle, the pitch angle, the limb expansion state, etc., to generate a complete posture information data set. These algorithms can be implemented in the FPGA signal processing module through hardware acceleration, for example, using parallel processing LUT (Look-Up Table) or DSP core for real-time calculation.

[0091] Based on the above posture information, the FPGA signal processing module further combines with the bath reference frame established inside the bath, such as the space coordinate system with the center of the bath bottom surface as the origin, to detect and calculate the overall center of gravity position of the target user, the position of each support point, and the front-back, left-right, and up-down offset relative to the bath boundary, to generate position information.

[0092] Among them, the calculation of the offset can be based on the Euclidean distance of each support point to the reference origin, the component analysis in the horizontal and vertical directions, etc., and can be efficiently executed in the FPGA calculation module through digital logic circuit.

[0093] After obtaining the posture information and position information, the FPGA recognition module calculates the target control region to be executed based on the pre-set human key point model, such as the standard definition positions of the neck, shoulder, waist, knee, and ankle, and combines the actual body size ratio parameters of the target user and the current detected posture and position, to calculate the target control position information, such as the position coordinates of the center point of the shoulder relative to the bath reference frame, the water surface depth layer corresponding to the waist, the side wall distance corresponding to the leg, etc. The recognition process can use the matching logic of FPGA, such as using the key point template stored in RAM for hardware-level matching.

[0094] Finally, the posture information, position information, and target control position information are used as part of the first detection data for the subsequent pulse control signal generation module, to realize the accurate correspondence between the execution unit, such as the eddy current executor, bubble executor, and light therapy executor, and the actual state of the target user.

[0095] In this way, by subdividing the generation of posture information, position information, and target control position information in the first information detection, not only can the real-time state of the target user in the bath be fully reflected, but also highly personalized and accurate parameter basis can be provided for the pulse control signal.

[0096] Especially by deducing the target control position information based on the posture and position information, the execution unit can accurately align the target region for eddy current, bubble, and light therapy pulse driving, effectively improving the coverage accuracy, intensity matching, and comfort and effect of the target user experience of the operation.

[0097] Referring to Figure 2The flowchart of a method for generating a pulse control signal provided in this application includes S201 to S202, wherein:

[0098] S201: Based on the target control location information and the coverage requirements for each target location in the control scheme data, determine the coverage area corresponding to the target control location information and set the target water level pulse parameters;

[0099] S202: Based on the posture information, the distribution of the area above and below the target user's body surface is initially determined. Based on the position information, the spatial relationship between each area of ​​the target user's body surface and the boundary of the bath space and the expected water surface position is further determined. Temperature-sensitive areas are identified, and the target water temperature pulse parameters are set in combination with the temperature control standards in the control scheme data.

[0100] In this application, the coverage area refers to the range of body surface that needs to be covered by water to achieve operational coverage drive, as determined by the target control location information. The target water level pulse parameter refers to the water level reference inside the bathtub set to meet the coverage area requirements, driven by a PWM pulse to control the water level actuator. The temperature-sensitive area refers to a localized area of ​​the body surface that is more sensitive to water temperature changes during operation and is easily affected by local temperature differences, thus impacting operational comfort and effectiveness. The water temperature pulse parameter refers to local or overall water temperature control indicators set for different sensitive areas, driven by a pulse sequence to control the heating actuator.

[0101] The effectiveness of the operation depends not only on dynamic effects such as water flow, bubbles, and light, but also highly on whether the covered area is at a suitable water depth and temperature. Therefore, based on the detected target control location information and the coverage requirements for each part in the control scheme data, it is necessary to accurately determine the surface area to be covered, and set the water level pulse parameters accordingly.

[0102] Meanwhile, different areas of the body surface exhibit varying sensitivities to temperature changes, particularly those exposed near the water surface or boundary areas, which are more susceptible to temperature gradients. Therefore, it is necessary to identify temperature-sensitive areas based on attitude and position information, and to set appropriate water temperature pulse parameters in conjunction with control scheme data to improve operational comfort and local effectiveness.

[0103] In practical implementation, when the FPGA generates pulse control signals, it first calculates the height distribution of each target control point relative to the bottom of the bathtub based on the target control position information in the first detection data and the coverage requirements set for each target part in the control scheme data, such as the shoulders needing complete coverage and the waist needing partial coverage.

[0104] According to the height level of the target control position information, the lowest required water level covering all the required coverage areas is determined, and is set as the target water level pulse parameter. During the setting process, a certain safety margin can be left according to the control scheme data requirements, for example, 2-3 cm of upward floating, to ensure that the coverage areas can still be continuously covered when the target user's small action changes. The parameter can be converted into a pulse signal with adjustable duty cycle by the PWM generator of the FPGA, to drive the water level control actuator such as a pump valve.

[0105] Subsequently, the FPGA preliminarily divides the area distribution above (exposed above the water surface) and below (completely immersed in water) the target user's body surface based on the posture information in the signal processing module, for example, the area above the chest is preliminarily classified as above, and the area below the waist is classified as below.

[0106] Further, in combination with the position information, the horizontal distance of each body surface area relative to the bath border and the vertical position relationship relative to the set water level are determined. For the areas close to the water surface, close to the bath border, and partially covered or half-covered, they are identified as temperature sensitive areas.

[0107] For example, if the upper edge of the shoulder is close to the water surface, or the outer edge of the arm is close to the bath side wall, these areas are easily affected by the local temperature difference or the cooling caused by water surface evaporation, and are marked as temperature sensitive areas. The identification can be realized by a digital logic circuit in the calculation module of the FPGA.

[0108] According to the temperature control standards set for the sensitive areas in the control scheme data, the FPGA sets the overall water temperature or local water circulation heating pulse parameters to ensure that the temperature sensitive areas can maintain a constant or slowly changing temperature gradient within the expected range. These parameters can be converted into sequence pulses by the pulse generation module of the FPGA to drive the heating actuator.

[0109] In the finally generated pulse control signal, the target water level pulse parameter, the water temperature pulse parameter, and the corresponding driving logic are included, which serve as the basis for subsequent water level adjustment and temperature regulation in the execution stage.

[0110] Determining the coverage areas and setting the target water level pulse parameters based on the target control position information can effectively guarantee the spatial coverage consistency and stability of the operation driving.

[0111] At the same time, identifying the temperature sensitive areas based on the posture information and the position information and setting the corresponding water temperature pulse parameters can significantly improve the temperature comfort and effect of the local area operation driving.

[0112] Overall, the present application can realize more accurate water level control and temperature regulation, adapt to different target user body types, posture changes, and individual needs, and improve the individual adaptability and accuracy of the operation.

[0113] As an optional implementation, the generating, based on the first detection data and preset control scheme data, of the pulse control signal in the pulse generation module of the FPGA further includes:

[0114] Based on the target control position information, in combination with the vortex flow driving requirements for different target regions in the control scheme data, the jet angle pulse, jet intensity duty cycle and jet pulse mode of the vortex flow actuator are determined in the pulse generation module of the FPGA;

[0115] Based on the target control position information, in combination with the bubble driving requirements for different target regions in the control scheme data, the release pulse frequency, release intensity duty cycle and action range sequence of the bubble actuator are determined;

[0116] Based on the target control position information, in combination with the light therapy driving requirements for different target regions in the control scheme data, the light-emitting wavelength pulse, light-emitting pulse mode and irradiation area sequence of the light therapy actuator are determined.

[0117] In this application, the jet angle pulse, jet intensity duty cycle and jet pulse mode of the vortex flow actuator refer to the incident direction, force degree and pulse or continuous jetting mode parameters of the controlled vortex flow relative to the target control region. The release pulse frequency, release intensity duty cycle and action range of the bubble actuator refer to the time interval, single release amount and action coverage area of the controlled bubble generation and release. The light-emitting wavelength pulse, light-emitting pulse mode and irradiation area of the light therapy actuator refer to the light wave band, light-emitting mode (such as continuous / pulse) and light irradiation coverage position range of the controlled light therapy device output.

[0118] Different target control regions have different response characteristics to hydraulic driving, bubble driving and light therapy driving, for example, the shoulder may need stronger hydraulic impact, the waist is more suitable for gentle bubble surrounding, and the leg may need specific wavelength light therapy to promote circulation. Therefore, based on the target control position information, in combination with the driving requirements preset in the control scheme data for different regions, the pulse parameters of the corresponding vortex flow actuator, bubble actuator and light therapy actuator are respectively set to ensure that each driving method accurately covers in space, reasonably matches in intensity, and coordinates in time, thereby realizing individualized precise operation.

[0119] In specific implementation, when the FPGA generates the pulse control signal, it first identifies the key target regions requiring vortex flow driving, bubble driving and light therapy driving based on the target control position information, such as the shoulder, back, waist, leg, etc.

[0120] For the vortex flow actuator, the FPGA determines, in the pulse generation module, the jet angle pulse, jet intensity duty cycle and jet pulse mode based on the position, orientation and hydraulic driving requirements in the control scheme data of the target control region.

[0121] The executor jet angle pulse, such as vertical impact, oblique incidence; jet intensity duty cycle, such as high pressure impact, medium pressure surround; jet pulse mode, such as continuous jet, pulse jet.

[0122] For example, if the target control area is the shoulder, and the control scheme data requires local strong driving, the FPGA sets the vortex executor to operate at 45° oblique upward jetting, high-intensity continuous pulse mode, which is realized by the PWM generator to adjust the duty cycle.

[0123] For the bubble executor, the FPGA determines the release pulse frequency according to the area, depth of the target control area, and the bubble driving standard in the control scheme data, such as the number of releases per second; the release intensity duty cycle, that is, the amount of bubble release per unit time; the range sequence, such as local concentrated release or wide-area dispersed release.

[0124] For example, if the target control area is the waist, and the control scheme data requires mild surround driving, the bubble executor is set to low-frequency slow-release mode to form a slow-rising bubble flow around the waist, and the frequency is accurately controlled by the clock logic module of the FPGA.

[0125] For the light therapy executor, the FPGA determines the light wavelength pulse according to the depth requirement of the target control area and the light therapy standard in the control scheme data, such as near-infrared, red light, or blue light; light pulse mode, such as continuous driving or pulse driving; irradiation area sequence.

[0126] For example, if the target control area is the leg, and the control scheme data requires microcirculation improvement, the near-infrared light with a wavelength of 850nm is selected, and the pulse mode is used to irradiate the calf and ankle area, which is realized by the sequence generator of the FPGA.

[0127] After the above parameter setting is completed, the FPGA combines the pulse parameters of each execution unit to form a complete pulse control signal for specific driving operation in the subsequent execution stage.

[0128] In this way, the detailed pulse parameters of the vortex executor, bubble executor, and light therapy executor are set based on the target control position information, which can highly match the driving means of water power, bubbles, and light in spatial position, driving intensity, and driving mode to the target area requirements, and realize precise, differentiated, and personalized comprehensive operation. Overall, the present scheme can significantly improve the driving effect precision, pertinence, and target user comfort in the operation process, and adapt to the dynamic changes of different individuals, different parts, and different needs.

[0129] Referring to Figure 3A flowchart of a method for identifying target user target stimulation position information provided in the present application includes steps S301-S304, wherein:

[0130] S301: Based on the posture information, determine the overall orientation of the target user and the spatial partition of the body parts in the signal processing module of the FPGA;

[0131] S302: Based on the position information, determine the spatial offset and orientation offset of the target user as a whole inside the bathtub;

[0132] S303: In the calculation module of the FPGA, determine the relative spatial position of each key area of the target user's body surface in combination with the bathtub reference frame;

[0133] S304: Based on the preset key point template or target area database, match and identify the target control position information corresponding to the posture information and position information of the target user in the matching logic of the FPGA.

[0134] In the present application, the overall orientation refers to the main axis direction of the head-to-foot line of the target user in the bathtub reference frame. The spatial partition of the body parts refers to the division of the body surface into several logical areas based on the overall posture of the target user, such as head, upper limbs, torso, lower limbs, etc. The spatial offset refers to the horizontal and vertical displacement of the overall position of the target user relative to the bathtub reference origin, such as the center point of the bathtub. The orientation offset refers to the deflection angle of the orientation direction of the target user relative to the bathtub reference axis, such as the X-axis, Y-axis, and Z-axis. The key point template or target area database refers to the preset human standard anatomical point or body surface area information library, which is used to assist in matching and identifying the control target area in the actual detection result.

[0135] In addition, in the present application, each key area refers to a number of predefined skin areas on the body surface of the target user corresponding to different execution devices in the bathtub, such as eddy current actuators, bubble actuators, or light therapy actuators. These areas are based on the division of major bones or joint points in human anatomy, and also take into account the layout and functional requirements of the execution devices. For ease of description and implementation, they can be divided into the following categories, but are not limited to:

[0136] Head and neck area: including the top of the head, forehead, and both sides of the neck, corresponding to the region between the cervical vertebrae and the clavicle, used to position the soft bubbles or light therapy drive around the skull.

[0137] Shoulder and upper back area: extending from the end of the clavicle to the lower edge of the scapula, covering the acromion, scapula, and upper back muscle group, which can correspond to the execution device module that generates a larger water flow impact.

[0138] Chest and abdominal region: from the top of the sternum to the lower edge of the rib cage, and a certain range above the navel, for the chest and abdominal core muscle group to be driven by mild or moderate intensity bubbles or water flow.

[0139] Waist and lower back region: from the lower edge of the rib cage to the top of the pelvis, covering the lumbar spine segment, for targeted jet or heat-driven to focus on releasing waist pressure.

[0140] Hip and hip region: around the greater trochanter of the hip joint and the location of the gluteus maximus, suitable for wide water flow or bubble spray to promote optimization of the core and lower limb junction.

[0141] Thigh and calf region: from the hip joint to the knee joint, and from the knee joint to the ankle joint, respectively, subdivided into front and back, medial and lateral, which can correspond to different actuator angles to achieve different segmented muscle group driving.

[0142] Plantar and dorsal foot region: arch, heel and dorsal foot coverage for precise positioning of foot massage or bubble foot bath function modules.

[0143] The boundaries of each key area are usually automatically demarcated by key points such as the center of the head, the shoulder point, the hip joint, the center of the knee joint, the center of the ankle joint, or adaptively divided according to the depth image and skeleton detection results. In this way, FPGA can not only map the detected target user posture and position information to the standard coordinates of each key area, but also ensure that the pulse control signal accurately acts on the intended body surface part, thereby realizing personalized operation experience.

[0144] Since the target user may have various orientation and position changes in the bath, it is difficult to accurately infer the position of the key control area simply by static detection. Therefore, it is necessary to derive the overall orientation and body partition based on the posture information, and then derive the overall offset and orientation offset based on the position information.

[0145] By mapping the derivation results to the bath reference frame, the relative spatial positions of each key area on the body surface can be accurately located. Finally, based on the pre-set key point template or region database, the actual detected data is matched to accurately identify the target control position information, providing accurate support for subsequent pulse control signals.

[0146] In specific implementation, FPGA first extracts the main axis direction of the target user's torso based on the posture information in the signal processing module, such as the line connecting the head to the pelvis, to determine the overall orientation, such as along the length or width direction of the bath. This extraction can be realized by FPGA's DSP core or parallel logic circuit for efficient calculation.

[0147] Subsequently, the body surface is divided into a head region, a chest region, a waist region, a leg region, and the like, and each region can be divided in proportion to the length direction along the trunk main axis or adaptively determined based on the depth image skeleton key points. These division algorithms can be executed in the hardware acceleration module of the FPGA.

[0148] Based on the position information, the FPGA further calculates the three-dimensional space offset of the overall center of gravity of the target user relative to the bathtub reference point, such as the center of the bottom, including the displacement values in the front-back direction (X-axis), the left-right direction (Y-axis), and the up-down direction (Z-axis). At the same time, by comparing the current trunk main axis with the preset standard orientation of the bathtub, such as the angle between the positive direction of the X-axis of the bathtub, the orientation offset is calculated. These calculations can be quickly completed by the digital operation unit in the calculation module of the FPGA.

[0149] After obtaining the overall orientation, the spatial division, the spatial offset, and the orientation offset, the FPGA maps the spatial position of each logical division to the bathtub reference frame to generate a set of relative position coordinates of each key region of the body surface.

[0150] Finally, the FPGA calls the preset key point template or target region database stored in the internal RAM or LUT, matches the detected position data of each key region, such as the shoulder being located above the trunk and deviating to one side of the bathtub, the waist being located below a certain height in the center region, and the like, comprehensively judges whether each target control region meets the standard definition, and finally identifies the target control position information to which the pulse drive is to be applied. The matching process realizes hardware-level parallel comparison through the matching logic of the FPGA, improving real-time performance.

[0151] After the identification is completed, the target control position information is packaged into a standard data structure for direct reference by the subsequent pulse parameter setting module.

[0152] In this way, the overall orientation and spatial division are determined based on the posture information, the spatial offset and the orientation offset are derived in combination with the position information, the spatial positioning is performed in combination with the bathtub reference frame, and the control target recognition is realized based on the standard template matching, which can effectively cope with complex situations such as changes in the posture of the target user and different bathing postures, and ensure accurate positioning of the control region.

[0153] As an optional implementation, based on the pulse control signal, the output control module of the FPGA drives the eddy current actuator, the bubble actuator, and the light therapy actuator in linkage to perform operations on the target user, including:

[0154] According to the target control position information, the partition module of the FPGA determines the actuator activation partition corresponding to different regions of the body surface of the target user, and sets the pulse driving parameters of the corresponding eddy current actuator, bubble actuator, and light therapy actuator based on the partition.

[0155] In the same region, the vortex actuator and the bubble actuator are pulsed and activated synchronously under the control of the timing synchronization module of the FPGA to perform a composite driving operation.

[0156] Between different regions, the activation pulse timing of the vortex actuator, the bubble actuator or the light therapy actuator is set based on the control scheme data, and timing linkage control is performed in the linkage module of the FPGA.

[0157] In the present application, the actuator activation partition refers to dividing the interior of the bathtub into a plurality of independent or overlapping driving action regions based on target control position information, and each region corresponds to activating a specific vortex actuator, bubble actuator and / or light therapy actuator. Pulse synchronous activation refers to simultaneously starting multiple driving means in the same region to form a superimposed operation driving effect. Timing linkage control refers to coordinating the start-stop sequence and action time points of different actuators according to a preset timing strategy between different activation partitions.

[0158] Since the control regions of the target user's body surface are different and the driving needs are different, it is necessary to dynamically divide the actuator activation partition according to the target control position information, and independently set the actuator pulse driving parameters for each partition.

[0159] In the same region, vortex driving and bubble driving can form a synergistic effect, so pulse synchronous activation is needed to improve the local driving effect.

[0160] And between different partitions, in order to avoid mutual interference and ensure the rhythm and system of driving, it is necessary to set a reasonable activation pulse timing based on the control scheme data and perform timing linkage control to achieve an orderly and rhythmic whole-body operation experience.

[0161] In specific implementation, the FPGA first divides the interior space of the bathtub into a plurality of actuator activation partitions based on the target control position information in the partition module.

[0162] For example, the bathtub can be divided into shoulder and neck partitions, back partitions, waist partitions, leg partitions, etc. according to body surface parts, and each partition is associated with a group of vortex actuators, bubble actuators and light therapy actuators.

[0163] For each activation partition, the FPGA sets:

[0164] the jet angle pulse, the jet intensity duty cycle and the jet pulse mode of the vortex actuator;

[0165] the release pulse frequency, the release intensity duty cycle and the diffusion range sequence of the bubble actuator;

[0166] The light-emitting wavelength pulse, light-emitting pulse mode and irradiation region sequence of the phototherapy executor.

[0167] In the same region, for example, the back sub-region, if the control scheme data requires simultaneous hydraulic drive and bubble drive, the FPGA controls the corresponding vortex executor and bubble executor to be synchronously activated, and the vortex flow and bubble flow are superimposed in time to form a composite drive operation.

[0168] Between different regions, for example, the shoulder-neck sub-region and the waist sub-region, to avoid interference or excessive driving, the FPGA sets the activation sequence based on the control scheme data:

[0169] First, the vortex executor and the phototherapy executor of the shoulder-neck sub-region are started, and the operation lasts for a certain period of time;

[0170] Then, transition to the waist sub-region, and start the corresponding bubble executor and auxiliary phototherapy executor;

[0171] Buffer delay or cross-fade can be set to maintain the coherence and smooth transition of the overall operation rhythm.

[0172] The above-mentioned synchronous activation and timing linkage control strategy is automatically coordinated by the output control module in the FPGA in actual operation, realizing an efficient, dynamic and adaptive whole-body comprehensive operation process.

[0173] In this way, the executor activation sub-region is divided according to the target control position information, and the pulse parameters are set independently based on each sub-region, which can realize highly targeted local driving; by synchronously activating different types of execution units in the same region, the composite superposition effect is realized, and the operation driving depth and comfort are improved; by implementing timing linkage control between different sub-regions, driving overlap interference can be effectively prevented, the operation rhythm and system are maintained, and the overall coherence and adaptability of the operation experience are greatly improved.

[0174] As an optional implementation, the linkage driving of the vortex executor, the bubble executor and the phototherapy executor in the output control module of the FPGA based on the pulse control signal to perform operation on the target user further includes:

[0175] The fluid pressure signal of the vortex executor, the release frequency signal of the bubble executor and the light intensity or current signal of the phototherapy executor are collected in real time by the feedback acquisition module of the FPGA as execution feedback signals;

[0176] Based on the execution feedback signals, the local time-frequency feature change information is extracted by using wavelet transform for multi-scale decomposition in the DSP module of the FPGA;

[0177] Based on the execution feedback signal, Fourier transform is used in the DSP module of the FPGA for frequency spectrum analysis to extract the global frequency stability characteristics;

[0178] In response to detecting that the local scale energy amplitude changes exceed the preset energy anomaly threshold in the wavelet transform analysis, based on the detected energy amplitude change, relative to the reference energy amplitude under the normal state, the jet intensity duty cycle of the eddy current executor is dynamically reduced by a preset proportion, the release pulse frequency of the bubble executor is adjusted, or the light intensity of the light therapy executor is corrected;

[0179] In response to detecting that the frequency spectrum center frequency offset exceeds the preset frequency drift threshold in the Fourier transform analysis, based on the detected frequency offset, relative to the preset frequency standard value, the jet pulse frequency of the eddy current executor is adjusted by a preset proportion, the release frequency of the bubble executor is synchronized and optimized, or the light emission driving frequency of the light therapy executor is corrected.

[0180] In this application, the execution feedback signal refers to the monitoring data reflecting the working state of the eddy current executor, the bubble executor and the light therapy executor collected in real time during operation, including fluid pressure signal, bubble release frequency signal and light intensity or current signal. Wavelet transform refers to a multi-scale time-frequency analysis method for extracting local energy change characteristics in the signal. Fourier transform refers to a frequency domain analysis method for extracting the overall frequency spectrum structure characteristics of the signal. The energy anomaly threshold and the frequency drift threshold refer to the quantitative standards preset by the system for determining local energy anomalies and overall frequency stability decline.

[0181] During operation, the actual output state of each execution unit may deviate from the preset parameters due to mechanical fluctuations, environmental changes or user actions.

[0182] By collecting the execution feedback signal in real time, wavelet transform can detect energy changes at the local scale, which can be used to identify short-term disturbances or local anomalies.

[0183] Fourier transform can be used to extract overall frequency characteristics for monitoring the stability and drift trend of the overall system operation.

[0184] When an anomaly is detected, the pulse parameters of the eddy current executor, the bubble executor and the light therapy executor are dynamically adjusted based on the detection results, which can achieve rapid response and automatic compensation to the execution anomaly, thereby improving the stability and personalized adaptability of the operation.

[0185] Exemplarily, near the outlet of the vortex actuator, an array of MEMS micro pressure sensors is integrated, each actuator is configured with at least one high-sensitivity pressure sensor, the sampling frequency is set to 1000 Hz, which is used to detect the instantaneous pressure change of the jet water flow in real time; at the outlet of the bubble actuator, a micro sound sensor or a bubble release detection electrode array is arranged, the sampling frequency is set to 500 Hz, which is used to record the pulse sound signal or the charge change signal of the bubble release in real time and convert it into bubble release frequency data; inside the light therapy actuator, an internal light emitting diode (LED) current sampling unit is integrated, which samples the light emitting current at a period of 10 ms in real time, which is used to reflect the light emitting intensity stability of the light therapy actuator.

[0186] All the above-mentioned sensor signals are processed by an analog-to-digital conversion module (ADC) and then synchronously collected by a feedback collection module of the FPGA, and are uniformly subjected to low-pass filtering and normalization to form a standardized actuator feedback signal stream.

[0187] Subsequently, the FPGA performs five-layer wavelet decomposition on the normalized actuator feedback signal in the DSP module using Daubechies 4th order wavelet basis (Db4 wavelet), and obtains the detail coefficients and approximation coefficients at different scales. For the detail coefficients of each layer, the FPGA calculates the local energy index, i.e., the sum of squares of the detail coefficients at each scale, and compares it with the preset energy reference value set according to the factory calibration data of the device. If the local energy change amplitude exceeds the preset energy abnormal threshold at a certain scale, for example, ±20% of the reference energy, a local dynamic adjustment mechanism is triggered, which specifically includes reducing the jet duty cycle of the vortex actuator by 0.8-0.95 times, or adjusting the release pulse frequency of the bubble actuator, or correcting the light emitting intensity of the light therapy actuator according to the detected energy deviation.

[0188] Meanwhile, the FPGA performs frequency spectrum analysis on the collected actuator feedback signal in the DSP module based on fast Fourier transform, and extracts the main frequency component and its amplitude change. If the spectrum center frequency deviates more than ±2 Hz from the standard working frequency, for example, the vortex actuator is set to work at 20 Hz and the bubble actuator is set to work at 5 Hz, then the FPGA adjusts the jet pulse frequency, bubble release frequency or light therapy actuator driving frequency of the corresponding actuator according to the detected frequency deviation by a certain proportion, for example, 2% of the working frequency for every 1 Hz deviation.

[0189] In the whole process, the wavelet transform analysis and the Fourier transform analysis are executed in parallel in the independent real-time processing threads of the FPGA, and the processing delay is controlled within 100 ms, ensuring that the system can quickly and continuously respond to the changes in the execution state during operation, thereby improving the stability, accuracy and individualized adaptability of the overall control.

[0190] Thus, by collecting the execution feedback signal in real time during operation execution, and extracting local energy features and global frequency features based on wavelet transform and Fourier transform respectively, the application can quickly respond to local disturbance and overall stability decline problems;

[0191] Based on the preset threshold value judgment and dynamic adjustment of the eddy current, bubble and light therapy pulse parameters according to the change amount, the execution state is realized closed-loop adaptive control, improve the stability, accuracy and consistency of user experience of the system.

[0192] In an optional embodiment, in order to improve the response sensitivity of the key area in the execution feedback signal, the system constructs a signal processing process including mask generation, weight calculation, signal weighting, wavelet decomposition, feature screening and feature extraction on the FPGA platform based on the posture information, position information and target control part information of the target user, for realizing the local energy and frequency change feature extraction of the key area.

[0193] Specifically, the system first generates a target area mask in the mask generation module of the FPGA according to the current body posture information of the user, such as the forward and lateral inclination angles of the body, and the position state of the user in space, such as the spatial position data representing the center of gravity coordinates, and combines the preset target control part information, such as the operation target areas covering the shoulder, waist and leg, to generate the target area mask in the three-dimensional space. The mask is expressed in matrix form, and each matrix element represents a physical sub-area in the bath space. If the area contains the control target part, the element is assigned a value of 1, indicating that it needs to be paid attention to, otherwise it is assigned a value of 0, indicating that it is a non-key area. The mask generation process is dynamically completed by the lookup table resource or on-chip storage module in the FPGA, for example, the bath space is divided into a two-dimensional grid of 50 rows and 50 columns, and each grid element is binary labeled according to whether it contains the target control area.

[0194] After generating the mask, the system calculates the spatial importance weight in the weight calculation module based on the spatial distribution density of the target area and the priority of the control part. The spatial distribution density can be determined by the number of control points contained in the unit area, and the control priority is set by the control strategy, for example, the shoulder usually has a higher operation priority than the leg. The weight value range can be set between 0.5 and 1.5, and the higher the value, the more important the area. The calculation is performed by the digital operation unit in the FPGA in a parallel manner to ensure processing efficiency.

[0195] The system applies the calculated spatial weight to the normalized execution feedback signal. In the weighting processing module, the signal amplitude of each region is multiplied by the corresponding weight coefficient to generate a weighted execution feedback signal, so as to highlight the feature response of the key area in the subsequent signal processing process, while suppressing the interference signals generated by the non-key area.

[0196] For the weighted execution feedback signal, the system uses wavelet transform method in the transform module of FPGA, selects Daubechies fourth-order wavelet as the wavelet basis function, and performs five-layer multi-scale decomposition operation to extract the detail information and trend information under different time scales and frequency components. The transform calculation is realized through the digital signal processing unit in FPGA, which can meet the real-time requirement.

[0197] The system extracts the wavelet coefficient set corresponding to the high-weight region according to the spatial importance weight corresponding to each region in the screening logic module. For example, only the region coefficients with a weight greater than 1.2 are retained, and the region coefficients with a weight less than 0.8 are ignored, so as to enhance the analysis focus and suppress irrelevant noise. The screening operation is realized through the comparator array and logic gate circuit in FPGA.

[0198] The screened wavelet coefficient set is sent to the feature extraction module, and the system further analyzes the local energy change and frequency change pattern therein, extracts the feature vector with spatial and temporal focusing ability, and uses it to guide the dynamic adjustment of the control parameters of the eddy current actuator, the bubble actuator and the light therapy actuator, so as to realize fine control of the operation response.

[0199] Through the above processing flow, the system realizes dynamic construction of a spatial mask based on user posture, position and control target information, and performs signal weighting and wavelet decomposition analysis combined with spatial weight, so as to enhance the expression ability of key region features in the feedback signal. Further, by screening the wavelet coefficients of high-weight regions, more discriminative local energy and frequency features are extracted, which effectively improves the detection sensitivity of the system to abnormal changes and the adjustment accuracy of the feedback response, and enhances the individualization and adaptability of the overall operation control.

[0200] As an optional implementation, the second detection data includes action change data, environmental disturbance data and control displacement change data;

[0201] The execution of the second information detection by the feedback processing module of FPGA includes:

[0202] The detection module of FPGA detects the action change of the target user in the operation process to generate action change data;

[0203] The flow disturbance pattern change of the eddy current actuator, the release and diffusion change of the bubble actuator and the irradiation distribution change of the light therapy actuator caused by the action change are detected to generate environmental disturbance data;

[0204] Based on the action change data and the environmental disturbance data, the offset change of the target control position information in the bath reference frame is dynamically calculated in the calculation module of FPGA to generate control displacement change data;

[0205] The dynamically adjusting the pulse control signal based on the second detection data comprises:

[0206] Based on the second detection data, determining in a determination module of the FPGA whether the action change data, the environmental disturbance data and the control displacement change data respectively exceed corresponding preset change thresholds, to generate a determination result;

[0207] Based on the determination result, in an adjustment module of the FPGA, correcting the jet angle pulse and jet intensity of the vortex actuator, the release frequency and release direction of the bubble actuator, and the light emitting direction and irradiation area of the light therapy actuator, to adapt to the updated target control position information.

[0208] In the present application, the action change data refers to the posture information change data caused by the body action change actively or passively generated by the target user during operation. The environmental disturbance data refers to the data collected after the action change disturbs the flow state, bubble diffusion state and irradiation distribution state in the environment. The control displacement change data refers to the spatial offset data of the target control position information in the bathtub reference frame dynamically calculated based on the action change data and the environmental disturbance data.

[0209] During operation, since the target user may actively move, adjust posture and other actions, the position, posture and relative position of the controlled part in the bathtub may change, which may also cause disturbance to the flow pattern, bubble diffusion and irradiation area. If these changes are not detected and processed in time, the originally set pulse driving parameters will be invalid, which will further reduce the operation effect and even cause driving deviation.

[0210] Therefore, it is necessary to monitor the action change and environmental disturbance in real time, calculate the offset of the control target, and dynamically correct the pulse parameters of the vortex actuator, the bubble actuator and the light therapy actuator according to the determination result that the change exceeds the threshold, to continuously adapt to the change of the target control part and improve the continuity and adaptability of the operation process.

[0211] In specific implementation, the FPGA continuously monitors the action state of the target user through the infrared depth camera unit and the distributed pressure sensor array arranged inside the bathtub during operation.

[0212] Specifically, the infrared depth camera unit collects the 3D point cloud data of the target user's body surface at a frequency of 30 frames per second, and calculates the changes in the target user's torso tilt angle, limb movement range, and local rotation posture through real-time skeletal tracking algorithms; the pressure sensor array collects the changes in the support point pressure distribution every second, and calculates the trend of the target user's support state changes through the pressure centroid. The above data is integrated to generate motion change data, which is quantified into parameters such as pitch angle change, roll angle change, and center of gravity displacement. These algorithms can be implemented through hardware acceleration in the detection module of the FPGA.

[0213] At the same time, the FPGA monitors the changes in the flow velocity field and bubble diffusion pattern in real time through the micro flow sensor array distributed near the eddy current actuators and bubble actuator outlets.

[0214] For example, if the local disturbance amplitude of the actuator outlet flow velocity field is detected to increase by more than 20%, or the bubble diffusion radius is reduced by more than 15%, corresponding environmental disturbance data is generated, including flow velocity change and bubble diffusion area change.

[0215] The FPGA further dynamically calculates the offset change of the target control position information in the bath reference frame based on the motion change data and the environmental disturbance data in the calculation module, such as a 3 cm offset in the front-back direction of the shoulder area or a 2 cm offset in the left-right direction of the waist area, forming control displacement change data. This calculation can be efficiently performed by the digital logic circuit of the FPGA.

[0216] For the above-mentioned second detection data, the FPGA sets a preset change threshold, for example:

[0217] Motion change threshold: pitch angle or roll angle change exceeds 10°;

[0218] Environmental disturbance threshold: local flow rate change rate exceeds 25%;

[0219] Control displacement change threshold: spatial offset exceeds 2 cm.

[0220] If the detected change exceeds the corresponding threshold, a determination result is generated in the determination module, and dynamic adjustment of the pulse control signal is performed based on the determination result, specifically including:

[0221] Correcting the jet angle pulse and jet intensity duty cycle of the eddy current actuator; adjusting the release pulse frequency and release direction sequence of the bubble actuator; correcting the light-emitting direction pulse and irradiation area sequence of the light therapy actuator.

[0222] The above adjustment process is executed in real time by the internal closed-loop control module of the FPGA, with a maximum response delay of less than 300 ms, ensuring that the offset caused by motion changes can be quickly compensated, maintaining the continuity and accuracy of the operation drive to the target site.

[0223] In this way, by collecting and analyzing the action change data and the environmental disturbance data in real time, the offset change of the target control position information is dynamically calculated, and the pulse parameters of each execution unit are corrected in a timely manner according to the determination result of the change amount exceeding the standard, so that the application can effectively cope with the offset problem caused by the change of the target user's posture or environmental disturbance in the operation process, and improve the dynamic adaptability, driving accuracy and overall experience stability of the operation.

[0224] Based on the same inventive concept, the application also provides an FPGA-based wheelchair bath control circuit corresponding to the FPGA-based wheelchair bath control method. Since the principle of the system in the application solves the problem is similar to the above-mentioned FPGA-based wheelchair bath control method of the application, the implementation of the system can be referred to the implementation of the method, and the repeated parts will not be described here.

[0225] Referring to Figure 4 As shown in FIG. 1, a schematic diagram of an FPGA-based wheelchair bath control circuit provided by the application includes:

[0226] The signal acquisition module 10 performs first information detection to generate first detection data in response to the target user being in a preset position in the bath. The preset position is used to control the correct execution of pulse driving by the control circuit. The signal acquisition module 10 is integrated in the FPGA and includes an ADC interface and pulse synchronization logic for collecting sensor signals.

[0227] The pulse generation module 20 generates a pulse control signal based on the first detection data and preset control scheme data. The pulse control signal is used to define the driving parameters and timing linkage strategy of the eddy current actuator, the bubble actuator and the light therapy actuator. The driving parameters include the duty cycle, pulse frequency and sequence mode of the pulse width modulation signal. The pulse generation module 20 is integrated in the FPGA and includes a PWM generator and a logic unit.

[0228] The output control module 30 drives the eddy current actuator, the bubble actuator and the light therapy actuator in linkage based on the pulse control signal to perform operation on the target user. The linkage driving is achieved through pulse timing synchronization. The output control module 30 is integrated in the FPGA and includes I / O pins and timing control logic.

[0229] The feedback processing module 40 is used to perform second information detection to generate second detection data during the operation, and dynamically adjust the pulse control signal based on the second detection data. The adjustment includes real-time shaping of the duty cycle and frequency of the PWM pulse. The feedback processing module 40 is integrated in the FPGA and includes a DSP core and a feedback loop.

[0230] Those skilled in the art can realize the units and algorithm steps of each example described in connection with the embodiments disclosed in this application are capable of being implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the particular application and design constraints. Professionals can use different methods to implement the described functions for each particular application, but it should not be considered that the implementation goes beyond the scope of the present application.

Claims

1. A wheelchair bath control method based on FPGA, characterized in that, The application relates to a bathing device for a target user, comprising: in response to the target user being in a preset position in the bathtub, a first information detection is performed by a signal acquisition module of an FPGA to generate first detection data; wherein the preset position is used for controlling the circuit to correctly perform pulse driving; based on the first detection data and preset control scheme data, a pulse control signal is generated in a pulse generation module of the FPGA; the pulse control signal is used for defining driving parameters and time sequence linkage strategies of a vortex actuator, a bubble actuator and a light therapy actuator, wherein the driving parameters include a duty ratio, a pulse frequency and a sequence mode of a pulse width modulation signal; based on the pulse control signal, the vortex actuator, the bubble actuator and the light therapy actuator are driven in linkage in an output control module of the FPGA to perform operation on the target user, wherein the linkage driving is realized through pulse time sequence synchronization; in the process of operation, a second information detection is performed by a feedback processing module of the FPGA to generate second detection data, and the pulse control signal is dynamically adjusted based on the second detection data, wherein the adjustment includes real-time shaping of the duty ratio and the frequency of the PWM pulse.

2. The FPGA-based control method for a wheelchair bathtub according to claim 1, wherein, The first detection data includes posture information, position information and target control position information; the first information detection performed by the signal acquisition module of the FPGA in response to the target user being in the preset position in the bathtub to generate the first detection data includes: the posture information of the target user is detected by the signal acquisition module of the FPGA in the bathing device, and the posture information is used for determining the posture of the target user in the bathing device; based on the posture information, the position information of the target user relative to a reference system of the bathing device is detected by the signal processing module of the FPGA, and the position information is used for determining the front-back, left-right and up-down offset of the target user in the bathing device; based on the posture information and the position information, the target control position information of the target user is identified by the identification module of the FPGA, and the target control position information is used for representing the relative spatial position distribution of the key target part to be operated in the bathing device and guiding the pulse driving parameter setting of the vortex actuator, the bubble actuator and the light therapy actuator.

3. The FPGA-based control method for a wheelchair bathtub according to claim 2, wherein, The pulse control signal is generated in the pulse generation module of the FPGA based on the first detection data and the preset control scheme data, and the pulse control signal is used for defining the driving parameters and the time sequence linkage strategies of the vortex actuator, the bubble actuator and the light therapy actuator, wherein the driving parameters include the duty ratio, the pulse frequency and the sequence mode of the pulse width modulation signal; based on the posture information, the area distribution above and below the body surface of the target user is determined by the signal processing module of the FPGA, based on the position information, the spatial relationship between each area of the body surface of the target user and the space boundary of the bathing device and the expected water surface position is determined, the temperature sensitive area is identified, and the target water temperature pulse parameter is set by combining the temperature control standard in the control scheme data, so as to drive the heating actuator through the pulse sequence. ​ 4. The FPGA-based control method for a wheelchair bathtub according to claim 3, wherein, The generating, based on the first detection data and preset control scheme data, of a pulse control signal in a pulse generation module of the FPGA further includes: Based on the target control position information, in combination with the vortex drive requirements of different target parts in the control scheme data, the jet angle pulse, jet intensity duty cycle and jet pulse mode of the vortex actuator are determined in the pulse generation module of the FPGA; Based on the target control position information, in combination with the bubble drive requirements of different target parts in the control scheme data, the release pulse frequency, release intensity duty cycle and action range sequence of the bubble actuator are determined; Based on the target control position information, in combination with the light therapy drive requirements of different target parts in the control scheme data, the light-emitting wavelength pulse, light-emitting pulse mode and irradiation area sequence of the light therapy actuator are determined.

5. The FPGA-based control method for a wheelchair bathtub according to claim 2, wherein, The identifying, based on the posture information and position information, of target control position information of the target user in the recognition module of the FPGA includes: Based on the posture information, the overall orientation of the target user and the spatial partitioning of the body parts are determined in the signal processing module of the FPGA; Based on the position information, the spatial offset and orientation offset of the target user as a whole inside the bathtub are determined; In combination with the bathtub reference frame, the relative spatial positions of each key area of the target user's body surface are determined in the calculation module of the FPGA; Based on the preset key point template or target area database, the target control position information corresponding to the posture information and position information of the target user is matched and identified in the matching logic of the FPGA.

6. The FPGA-based control method for a wheelchair bathtub according to claim 4, wherein, The driving, based on the pulse control signal, of the vortex actuator, bubble actuator and light therapy actuator in the output control module of the FPGA to perform operations on the target user includes: According to the target control position information, the actuator activation partition corresponding to different areas of the target user's body surface is determined in the partition module of the FPGA, and the pulse driving parameters of the corresponding vortex actuator, bubble actuator and light therapy actuator are set based on the partition; In the same area, the vortex actuator and bubble actuator are controlled to be synchronously activated by the timing synchronization module of the FPGA, and composite driving operations are performed; Between different areas, the activation pulse timing of the actuators is set based on the control scheme data, and timing linkage control is performed in the linkage module of the FPGA.

7. The FPGA-based control method for a wheelchair bathtub according to claim 6, wherein, The driving, based on the pulse control signal, of the vortex actuator, bubble actuator and light therapy actuator in the output control module of the FPGA to perform operations on the target user further includes: The fluid pressure signal of the vortex actuator, the release frequency signal of the bubble actuator and the light intensity or current signal of the light therapy actuator are collected in real time by the feedback acquisition module of the FPGA as execution feedback signals; Based on the execution feedback signals, multi-scale decomposition is performed using wavelet transform in the DSP module of the FPGA to extract local time-frequency feature change information; Based on the execution feedback signals, frequency spectrum analysis is performed using Fourier transform in the DSP module of the FPGA to extract global frequency stability features; in response to detecting a local scale energy amplitude variation exceeding a preset energy anomaly threshold in the wavelet transform analysis, dynamically reducing a jet intensity duty cycle of the vortex actuator, adjusting a release pulse frequency of the bubble actuator, or correcting a light intensity of the phototherapy actuator by a preset proportion relative to a reference energy amplitude under a normal state based on the detected energy amplitude variation; in response to detecting a frequency center frequency shift exceeding a preset frequency drift threshold in the Fourier transform analysis, adjusting a jet pulse frequency of the vortex actuator, synchronously optimizing a release frequency of the bubble actuator, or correcting a light emission driving frequency of the phototherapy actuator by a preset proportion relative to a preset frequency standard value based on the detected frequency shift.

8. The FPGA-based control method for a wheelchair bathtub according to claim 7, wherein, The method comprises the following steps: Based on the posture information, position information and target control position information, a target area mask of the target user body surface area in the bath space is dynamically generated in the mask generation module of the FPGA; Based on the target area mask, the spatial distribution density or priority of the target control position information is combined to calculate the spatial importance weight of each area in the weight calculation module of the FPGA; The spatial importance weight is applied to the execution feedback signal, and local weighted processing is performed in the weighted processing module of the FPGA to obtain a weighted execution feedback signal; The weighted execution feedback signal is subjected to multi-scale decomposition using a preset wavelet basis function in the transform module of the FPGA to obtain wavelet coefficients of each scale; Based on the spatial importance weight, the wavelet coefficient set corresponding to the area with a weight greater than a preset weight threshold is screened out in the screening logic of the FPGA; Based on the screened wavelet coefficient set, local energy variation features and local frequency variation features are extracted in the feature extraction module of the FPGA for abnormality judgment and dynamic adjustment of pulse control parameters.

9. The FPGA-based control method for a wheelchair bathtub according to claim 8, wherein, The second detection data includes action change data, environmental disturbance data and control displacement change data; The second information detection performed by the feedback processing module of the FPGA includes: The action change of the target user in the operation process is detected by the detection module of the FPGA to generate action change data; The vortex actuator flow disturbance pattern change, the bubble actuator release diffusion change and the phototherapy actuator irradiation distribution change caused by the action change are detected to generate environmental disturbance data; Based on the action change data and environmental disturbance data, the offset change of the target control position information in the bath reference frame is dynamically calculated in the calculation module of the FPGA to generate control displacement change data; The dynamic adjustment of the pulse control signal based on the second detection data includes: Based on the second detection data, it is judged in the judgment module of the FPGA whether the action change data, environmental disturbance data and control displacement change data exceed the corresponding preset variation threshold, and a judgment result is generated. Based on the determination result, the jet angle pulse and intensity duty cycle of the vortex executor, the release pulse frequency and direction sequence of the bubble executor, and the light-emitting direction pulse and irradiation area sequence of the light therapy executor are corrected in the adjustment module of the FPGA to adapt to the updated target control position information.

10. An FPGA-based wheelchair bath control circuit, comprising: Comprise: A signal acquisition module that, in response to a target user being in a preset position in a bathtub, performs first information detection to generate first detection data; the preset position is used to control the correct execution of pulse driving by the control circuit; the signal acquisition module is integrated in the FPGA and comprises an ADC interface and pulse synchronization logic for collecting sensor signals; A pulse generation module that, based on the first detection data and preset control scheme data, generates pulse control signals; the pulse control signals are used to define the driving parameters and timing linkage strategy of the vortex executor, bubble executor, and light therapy executor, wherein the driving parameters include the duty cycle of the pulse width modulation signal, pulse frequency, and sequence mode; the pulse generation module is integrated in the FPGA and comprises a PWM generator and a logic unit; An output control module that, based on the pulse control signals, linkage drives the vortex executor, bubble executor, and light therapy executor to perform operations on the target user; the linkage driving is achieved through pulse timing synchronization; the output control module is integrated in the FPGA and comprises I / O pins and timing control logic; A feedback processing module that, in the process of operation, performs second information detection to generate second detection data and dynamically adjusts the pulse control signals based on the second detection data; the adjustment includes real-time shaping of the duty cycle and frequency of the PWM pulse; the feedback processing module is integrated in the FPGA and comprises a DSP core and a feedback loop.

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