Adaptive control method and system for a massage bath tub nozzle

Abstract

The application discloses a self-adaptive control method and system for a massage bathtub nozzle, and the method comprises the following steps: acquiring sensing data in a massage bathtub area and working data of the nozzle; according to the working data, predicting expected force information of a massage object based on a prediction algorithm; according to the sensing data, identifying actual force information of the massage object based on a motion analysis algorithm; determining a working control instruction of the nozzle according to the difference between the expected force state and the actual force state; and the working control instruction is used to indicate water outlet of the nozzle so that the actual force information is closer to the expected force information. It can be seen that the application can realize real-time force perception and dynamic water flow control in the massage process, improve massage comfort and accuracy, and provide users with a more comfortable and intelligent bathtub massage experience.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to an adaptive control method and system for a massage bathtub nozzle. Background Technology

[0002] With the rapid popularization of smart massage bathtubs in the high-end bathroom and health and wellness sectors, users are increasingly valuing the enhancement of massage comfort and effects through precise water flow control. However, since most massage bathtubs control the water flow output from the nozzles using preset massage modes, the pressure perception and massage effect are difficult to match the expected pressure information due to differences in user body shape and other physical conditions. Therefore, achieving dynamic perception of the pressure information of the massaged object and optimizing nozzle operating commands to avoid discomfort has become a key technical issue. Existing technologies typically acquire sensor data from the massage bathtub area or nozzle operating data, control the water flow using a fixed intensity mode or simple timed adjustment, and run massage programs based on preset parameters to meet basic massage needs. However, existing solutions lack predictive analysis of the expected pressure information of the massaged object, real-time identification of the actual pressure information, and dynamic control command calculation driven by the difference between the two. This makes it difficult to achieve adaptive water flow adjustment during the massage process. Commonly used static or empirical control strategies cannot adapt to different user body shapes and real-time conditions, resulting in insufficient massage comfort and precision. Inappropriate water flow intensity can easily cause user discomfort or poor massage effects, limiting the personalized experience and practical value of smart massage bathtubs. It is evident that existing technologies have shortcomings that urgently need to be addressed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an adaptive control method and system for a massage bathtub nozzle, which can realize real-time force sensing and dynamic water flow control during the massage process, improve massage comfort and accuracy, and provide users with a more comfortable and intelligent bathtub massage experience.

[0004] To address the aforementioned technical problems, the first aspect of this invention discloses an adaptive control method for a massage bathtub nozzle, the method comprising: Acquire sensor data and nozzle operating data within the whirlpool area; Based on the working data, and using a prediction algorithm, the expected force information of the massage object is predicted; Based on the sensor data and a motion analysis algorithm, the actual force information of the massage object is identified. The operating control command of the nozzle is determined based on the difference between the expected stress state and the actual stress state; the operating control command is used to instruct the nozzle to discharge water so that the actual stress information is closer to the expected stress information.

[0005] As an optional implementation, in the first aspect of the invention, predicting the expected force information of the massage object based on the working data and a prediction algorithm includes: Based on the sensor data, the distance parameter between the nozzle and the massage object is determined; the sensor data includes at least one of image data, water flow monitoring data, infrared ranging data, and sound data. Based on the working data and the distance parameter, the pressure at the outlet end of the nozzle is calculated; the working data includes at least one of output water pressure data, water flow direction data, and output water flow rate data. Based on the water outlet pressure, the expected force information of the massage object is predicted.

[0006] As an optional implementation, in the first aspect of the invention, determining the distance parameter between the nozzle and the massage object based on the sensing data includes: The sensor data is input into the trained human object recognition model to obtain the output human object location; the human object recognition model is trained using a training dataset that includes multiple training sensor data and corresponding human object location annotations. Determine the nozzle position corresponding to the nozzle; Calculate the distance between the nozzle position and the human object position to obtain the distance parameter.

[0007] As an optional implementation, in the first aspect of the invention, calculating the outlet pressure corresponding to the nozzle based on the working data and the distance parameter includes: A pre-established mathematical model of pressure variation corresponding to the nozzle is determined; the mathematical model of pressure variation defines the mathematical relationship between the outlet pressure and the working data and distance; the mathematical model of pressure variation is obtained by multinomial fitting calculation based on multiple training datasets of historical pressure data corresponding to the nozzle and corresponding working data labels and distance labels; Based on the pressure change mathematical model, the outlet pressure corresponding to the nozzle is calculated according to the working data and the distance parameter.

[0008] As an optional implementation, in a first aspect of the invention, predicting the expected force information of the massage object based on the water outlet pressure includes: Calculate the relative orientation information between the nozzle position and the human object position; Based on the relative orientation information and the distance parameter, a force prediction model corresponding to the parameter is matched from a plurality of preset candidate force prediction models; the force prediction model is trained by a training dataset including multiple training water outlet pressure data with the same relative orientation information and the distance parameter as the corresponding massage object force information annotation; The pressure at the water outlet is input into the force prediction model to obtain the expected force information of the massage object; the expected force information includes the expected skin pain sensation, the expected skin force area, and the expected skin force direction.

[0009] As an optional implementation, in the first aspect of the present invention, the step of identifying the actual force information of the massage object based on the sensing data and a motion analysis algorithm includes: The data portion corresponding to each historical time point in the sensor data is input into the human motion recognition model to obtain the recognized human motion corresponding to each data portion. Based on the changes in the identified human body movements at adjacent historical time points, the movement change information of multiple parts of the massage object is determined; The location with the greatest change in the motion change information is identified as the force-bearing location; the degree of change is calculated based on a preset degree calculation rule. Based on the change information of the action at the force-bearing location, and based on the preset correspondence between the change information and the force information, the actual force information corresponding to the force-bearing location is determined; the actual force information includes actual skin pain sensation, actual skin force-bearing area, and actual skin force direction.

[0010] As an optional implementation, in the first aspect of the invention, the step of calculating and determining the movement change information of multiple parts of the massage object based on the changes between the identified human movements at adjacent historical time points includes: For each preset part of the massage object, determine the corresponding action coordinate point of that part in each of the identified human body actions; Calculate the coordinate distance and relative direction between the action coordinates of any two adjacent historical time points; Calculate the standard deviation of all the coordinate distances to obtain the distance variation parameter; The set of changing directions is obtained by counting the number of occurrences of all the relative directions of the coordinates and ranking the directions in the first preset position. The distance change parameters and the change direction set are used to determine the motion change information corresponding to that part.

[0011] As an optional implementation, in the first aspect of the invention, determining the operating control command of the nozzle based on the difference between the expected stress state and the actual stress state includes: The expected stress state and the actual stress state are vectorized respectively to obtain the corresponding expected state vector and actual state vector. Calculate the vector distance between the predicted state vector and the actual state vector; Based on the preset correspondence between vector distance and working variation parameters, the variation working parameters corresponding to the vector distance are determined; the variation working parameters include at least one of water outlet direction parameters, water outlet pressure parameters, and water outlet flow rate parameters. The operating control command corresponding to the changed operating parameters is generated and sent to the control device of the nozzle.

[0012] A second aspect of this invention discloses an adaptive control system for a massage bathtub nozzle, the system comprising: The acquisition module is used to acquire sensor data and nozzle operating data within the whirlpool bath area; The prediction module is used to predict the expected force information of the massage object based on the working data and a prediction algorithm. The identification module is used to identify the actual force information of the massage object based on the sensor data and a motion analysis algorithm. The control module is used to calculate and determine the working control command of the nozzle based on the difference between the expected stress state and the actual stress state; the working control command is used to instruct the nozzle to discharge water so that the actual stress information is closer to the expected stress information.

[0013] As an optional implementation, in a second aspect of the invention, the specific method by which the prediction module predicts the expected force information of the massage object based on the working data and a prediction algorithm includes: Based on the sensor data, the distance parameter between the nozzle and the massage object is determined; the sensor data includes at least one of image data, water flow monitoring data, infrared ranging data, and sound data. Based on the working data and the distance parameter, the pressure at the outlet end of the nozzle is calculated; the working data includes at least one of output water pressure data, water flow direction data, and output water flow rate data. Based on the water outlet pressure, the expected force information of the massage object is predicted.

[0014] As an optional implementation, in a second aspect of the invention, the prediction module determines the specific method by which it determines the distance parameter between the nozzle and the massage object based on the sensing data, including: The sensor data is input into the trained human object recognition model to obtain the output human object location; the human object recognition model is trained using a training dataset that includes multiple training sensor data and corresponding human object location annotations. Determine the nozzle position corresponding to the nozzle; Calculate the distance between the nozzle position and the human object position to obtain the distance parameter.

[0015] As an optional implementation, in a second aspect of the invention, the specific method by which the prediction module calculates the outlet pressure corresponding to the nozzle based on the working data and the distance parameter includes: A pre-established mathematical model of pressure variation corresponding to the nozzle is determined; the mathematical model of pressure variation defines the mathematical relationship between the outlet pressure and the working data and distance; the mathematical model of pressure variation is obtained by multinomial fitting calculation based on multiple training datasets of historical pressure data corresponding to the nozzle and corresponding working data labels and distance labels; Based on the pressure change mathematical model, the outlet pressure corresponding to the nozzle is calculated according to the working data and the distance parameter.

[0016] As an optional implementation, in a second aspect of the invention, the specific method by which the prediction module predicts the expected force information of the massage object based on the water outlet pressure includes: Calculate the relative orientation information between the nozzle position and the human object position; Based on the relative orientation information and the distance parameter, a force prediction model corresponding to the parameter is matched from a plurality of preset candidate force prediction models; the force prediction model is trained by a training dataset including multiple training water outlet pressure data with the same relative orientation information and the distance parameter as the corresponding massage object force information annotation; The pressure at the water outlet is input into the force prediction model to obtain the expected force information of the massage object; the expected force information includes the expected skin pain sensation, the expected skin force area, and the expected skin force direction.

[0017] As an optional implementation, in a second aspect of the invention, the specific method by which the identification module identifies the actual force information of the massage object based on the sensing data and a motion analysis algorithm includes: The data portion corresponding to each historical time point in the sensor data is input into the human motion recognition model to obtain the recognized human motion corresponding to each data portion. Based on the changes in the identified human body movements at adjacent historical time points, the movement change information of multiple parts of the massage object is determined; The location with the greatest change in the motion change information is identified as the force-bearing location; the degree of change is calculated based on a preset degree calculation rule. Based on the change information of the action at the force-bearing location, and based on the preset correspondence between the change information and the force information, the actual force information corresponding to the force-bearing location is determined; the actual force information includes actual skin pain sensation, actual skin force-bearing area, and actual skin force direction.

[0018] As an optional implementation, in a second aspect of the invention, the specific method by which the identification module calculates and determines the movement change information of multiple parts of the massage object based on the changes between the identified human movements at adjacent historical time points includes: For each preset part of the massage object, determine the corresponding action coordinate point of that part in each of the identified human body actions; Calculate the coordinate distance and relative direction between the action coordinates of any two adjacent historical time points; Calculate the standard deviation of all the coordinate distances to obtain the distance variation parameter; The set of changing directions is obtained by counting the number of occurrences of all the relative directions of the coordinates and ranking the directions in the first preset position. The distance change parameters and the change direction set are used to determine the motion change information corresponding to that part.

[0019] As an optional implementation, in a second aspect of the invention, the control module calculates and determines the specific method of the nozzle's operating control command based on the difference between the expected stress state and the actual stress state, including: The expected stress state and the actual stress state are vectorized respectively to obtain the corresponding expected state vector and actual state vector. Calculate the vector distance between the predicted state vector and the actual state vector; Based on the preset correspondence between vector distance and working variation parameters, the variation working parameters corresponding to the vector distance are determined; the variation working parameters include at least one of water outlet direction parameters, water outlet pressure parameters, and water outlet flow rate parameters. The operating control command corresponding to the changed operating parameters is generated and sent to the control device of the nozzle.

[0020] A third aspect of the present invention discloses another adaptive control system for a massage bathtub nozzle, the system comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the adaptive control method for the massage bath nozzle disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the adaptive control method for a massage bathtub nozzle disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: This invention acquires sensor data and nozzle operating data within the massage bathtub area, predicts the expected force information of the massage object based on a prediction algorithm, identifies the actual force information based on the sensor data, and calculates the nozzle operating control command based on the difference between the two. This enables real-time force perception and dynamic water flow control during the massage process, improving massage comfort and accuracy, and providing users with a more comfortable and intelligent bathtub massage experience. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating an adaptive control method for a massage bathtub nozzle disclosed in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the structure of an adaptive control system for a massage bathtub nozzle disclosed in an embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram of another adaptive control system for a massage bathtub nozzle disclosed in an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] This invention discloses an adaptive control method and system for a massage bathtub nozzle. By acquiring sensor data within the massage bathtub area and nozzle operating data, a predictive algorithm is used to predict the expected force information on the massage object. The actual force information is identified based on the sensor data, and the difference between the two is used to calculate the nozzle's operating control command. This enables real-time force perception and dynamic water flow control during the massage process, improving massage comfort and accuracy, and providing users with a more comfortable and intelligent bathtub massage experience. Detailed descriptions follow.

[0031] Example 1 Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating an adaptive control method for a massage bathtub nozzle disclosed in an embodiment of the present invention. Figure 1 The described adaptive control method for the massage bathtub nozzles can be applied to data processing systems / data processing devices / data processing servers (wherein, the server includes a local processing server or a cloud processing server). For example... Figure 1 As shown, the adaptive control method for the massage bathtub nozzles may include the following operations: 101. Acquire sensor data and nozzle operating data within the whirlpool bath area.

[0032] Optionally, the massage bathtub area can be the water space inside a smart home spa bathtub with multiple independently adjustable nozzles, the interactive area of ​​a multifunctional spa bed for medical rehabilitation institutions, or a hot spring spa chamber with a multi-nozzle matrix; the present invention does not limit it.

[0033] 102. Based on the work data and the prediction algorithm, predict the expected force information of the massage object.

[0034] Optionally, the prediction algorithm can be a jet attenuation deduction algorithm based on the Navier-Stokes equations of fluid dynamics, a pressure fitting network based on backpropagation neural network (BPNN), or a response surface prediction algorithm based on radial basis function (RBF). This invention does not limit the algorithm.

[0035] 103. Based on sensor data and motion analysis algorithms, identify the actual force information of the massage object.

[0036] Optionally, the motion analysis algorithm can be a deep learning-based dynamic human skeleton keypoint topology analysis algorithm, an optical flow-based local skin deformation displacement analysis network, or a motion intensity evaluation logic based on a spatiotemporal graph convolutional network (ST-GCN). This invention does not limit the algorithm.

[0037] 104. Calculate and determine the working control command of the nozzle based on the difference between the expected stress state and the actual stress state.

[0038] Optionally, the operation control command is used to instruct the nozzle to dispense water so that the actual force information is closer to the expected force information.

[0039] As can be seen, the above-described embodiments of the invention acquire sensor data and nozzle operating data within the massage bathtub area, predict the expected force information of the massage object based on a prediction algorithm, identify the actual force information based on the sensor data, and calculate the nozzle operating control command based on the difference between the two. This enables real-time force perception and dynamic water flow control during the massage process, improving massage comfort and accuracy, and providing users with a more comfortable and intelligent bathtub massage experience.

[0040] As an optional embodiment, the step above, predicting the expected force information of the massage object based on the working data and a prediction algorithm, includes: Based on the sensor data, determine the distance parameter between the nozzle and the massage object; Calculate the outlet pressure corresponding to the nozzle based on the working data and distance parameters; Based on the water outlet pressure, predict the expected force information on the massage subject.

[0041] Optionally, the sensing data includes at least one of image data, water flow monitoring data, infrared ranging data, and sound data.

[0042] Optionally, the image data, water flow monitoring data, infrared ranging data, and sound data can be depth image flow acquired by a waterproof underwater RGB-D camera arranged on the bathtub wall, flow velocity waveform acquired by a pipeline Doppler ultrasonic flow meter, distance matrix reported by a multi-point infrared time-of-flight (ToF) ranging array, and water cavitation and impact audio signals captured by a high-sensitivity hydrophone. This invention does not limit the scope of the data.

[0043] Optionally, the working data includes at least one of the following: output water pressure data, water flow direction data, and output water flow rate data.

[0044] Optionally, the output water pressure data, water flow direction data, and output water flow rate data can be the instantaneous static pressure at the pump outlet collected by the electronic pressure sensor, the nozzle dual-axis deflection angle fed back by the nozzle stepper motor encoder, and the number of liters of water output per minute calculated by the opening degree of the proportional solenoid valve. This invention does not limit these parameters.

[0045] As can be seen, through the above optional embodiments, by determining the distance parameter between the nozzle and the massage object based on the sensor data, calculating the water outlet pressure by combining the working data, and predicting the expected force information of the massage object, the water outlet pressure based on distance and working data can be accurately predicted, thereby improving the accuracy of the calculation of the expected force information and reducing the risk of force prediction deviation caused by not considering distance changes.

[0046] As an optional embodiment, the step of determining the distance parameter between the nozzle and the massage object based on the sensing data in the above steps includes: The sensor data is input into the trained human object recognition model to obtain the output human object location; Determine the nozzle position corresponding to the nozzle; Calculate the distance between the nozzle position and the human object position to obtain the distance parameter.

[0047] Optionally, the human object recognition model is trained using a training dataset that includes multiple training sensor data and corresponding human object location annotations.

[0048] Optionally, the human object recognition model can be an underwater target detection network based on convolutional neural networks (CNN), a pixel-level semantic segmentation model based on lightweight MobileNet, or a PointNet network based on three-dimensional point cloud data segmentation. This invention does not limit the model.

[0049] Optionally, the position of the human body object can be a coordinate point vector representing a specific centroid of the massage object's body in a three-dimensional Euclidean coordinate system, or the coordinates of the center point of a three-dimensional bounding box that encloses the outer contour of the human body. This invention does not limit the position of the human body object.

[0050] Optionally, the nozzle position can be the initial coordinates of the three-dimensional geometric center of the nozzle fixed by the bathtub at the factory, or the real-time endpoint spatial position after correction based on the current displacement of the nozzle telescopic electric cylinder. This invention does not limit the position.

[0051] As can be seen, through the above optional embodiments, by inputting sensor data into the trained human object recognition model to obtain the position of the human object, determining the nozzle position and calculating the distance between the two to obtain the distance parameter, the relative position of the nozzle and the human body based on visual recognition is accurately calculated, improving the reliability and real-time performance of the distance parameter and reducing the risk of distance measurement error caused by dynamic changes in the human body position.

[0052] As an optional embodiment, the step above, calculating the outlet pressure corresponding to the nozzle based on the working data and distance parameters, includes: Determine the pre-established mathematical model of pressure change corresponding to the nozzle; Based on the mathematical model of pressure change, the pressure at the outlet of the nozzle is calculated according to the working data and distance parameters.

[0053] Optionally, the pressure change mathematical model defines the mathematical relationship between the outlet pressure and the working data and distance.

[0054] Optionally, the pressure change mathematical model is obtained by multinomial fitting calculation based on a training dataset of multiple historical pressure data corresponding to the nozzle and corresponding working data labels and distance labels.

[0055] Optionally, the mathematical model of pressure change can be expressed as a high-order multivariate nonlinear regression equation of the outlet pressure with respect to the initial water pressure of the nozzle, the output flow rate, and the propagation distance.

[0056] As can be seen, through the above optional embodiments, by determining the mathematical model of pressure change corresponding to the nozzle, the pressure at the outlet end is calculated based on working data and distance parameters, realizing dynamic pressure calculation based on historical data fitting, improving the scientificity and adaptability of outlet pressure prediction, and reducing the risk of pressure calculation deviation caused by fixed empirical formulas.

[0057] As an optional embodiment, the step of predicting the expected force information of the massage object based on the water outlet pressure in the above steps includes: Calculate the relative orientation information between the nozzle position and the human object position; Based on relative orientation information and distance parameters, the force prediction model corresponding to the parameters is matched from multiple preset candidate force prediction models; The pressure at the water outlet is input into the force prediction model to obtain the expected force information of the massage object.

[0058] Optionally, the relative orientation information can be a two-dimensional angle vector composed of the spatial azimuth and elevation angles of the nozzle pointing towards the target point on the human body; this invention does not impose any limitations on this.

[0059] Optionally, the candidate force prediction model can be a skin fluid impedance regression neural network established for different anatomical parts of the human body (such as the back, waist, and legs), or a rigid body contact mechanics evaluator segmented for different body types. This invention does not limit the model.

[0060] Optionally, the force prediction model is trained using a training dataset that includes multiple training water outlet pressure data with the same relative orientation information and distance parameters, and corresponding force information annotations of the massage object.

[0061] Optional, the expected force information includes expected skin pain, expected skin force area, and expected skin force direction.

[0062] Optionally, the predicted skin pain can be a continuous scalar prediction value of Myers pain rating (VAS score) established based on human trials, or a normalized probability score of nonlinear pain warning based on the division of neural tolerance limits; the present invention does not limit this.

[0063] As can be seen, through the above optional embodiments, by calculating the relative orientation information between the nozzle position and the human object position, matching the force prediction model according to the relative orientation and distance, and inputting the water outlet pressure into the model to obtain the expected force information, adaptive force prediction based on orientation and distance is realized, improving the pertinence and accuracy of the expected force information, and reducing the risk of force direction deviation caused by ignoring orientation.

[0064] As an optional embodiment, the step above, identifying the actual force information of the massage object based on the sensor data and a motion analysis algorithm, includes: The data portion corresponding to each historical time point in the sensor data is input into the human motion recognition model to obtain the human motion recognition corresponding to each data portion. Based on the changes in human body movements identified at adjacent historical time points, the movement change information of multiple parts of the massage subject is determined. Identify the part of the body where the change in motion information is greatest, and determine it as the location of force application; Based on the motion change information of the force-bearing location, and based on the preset correspondence between the change information and the force information, the actual force information corresponding to the force-bearing location is determined.

[0065] Optionally, the human motion recognition model can be a Long Short-Term Memory (LSTM) temporal classification model, a motion recognition network based on the Transformer architecture, or a 3D convolutional neural network (3D-CNN) deployed at the edge. This invention does not limit the model.

[0066] Optionally, the degree of change is calculated based on a preset degree calculation rule to obtain the action change information.

[0067] Optionally, the degree of change can be obtained by weighted summation and averaging of the quantified values ​​corresponding to different changes in the action change information, or by directly inputting the action change information into a trained change degree prediction model for prediction output.

[0068] Optionally, actual force information includes actual skin pain sensation, actual skin force area, and actual skin force direction.

[0069] Optionally, the location of the force can be the core area of ​​the human muscle group or bone that is currently subjected to the impact of the water flow, such as the area of ​​the anterior muscular muscle, the local skeletal point of the erector spinae muscle, or the surface area of ​​the gastrocnemius muscle. This invention does not limit this.

[0070] As can be seen, through the above optional embodiments, human motion recognition model is obtained by inputting the data portion of each historical time point in the sensing data, determining the motion change information of multiple parts based on the changes of adjacent motions, and determining the part with the greatest degree of change as the force position. The actual force information is determined based on the motion change information, realizing accurate identification of actual force based on the temporal changes of motion, improving the dynamism and accuracy of force information calculation, and reducing the risk of force assessment distortion caused by static motion analysis.

[0071] As an optional embodiment, the step described above, calculating and determining the movement change information of multiple parts of the massage object based on the changes in human body movements identified at adjacent historical time points, includes: For each preset part of the massage object, determine the corresponding action coordinate point of that part in each human body movement recognition; Calculate the coordinate distance and relative direction between the action coordinates of any two adjacent historical time points; Calculate the standard deviation of all coordinate distances to obtain the distance variation parameter; The set of changing directions is obtained by counting the frequency of all relative coordinate directions and ranking the directions that appear first in a preset position. The distance change parameters and the change direction are combined to determine the motion change information corresponding to that part.

[0072] Optionally, the motion coordinate point can be a real-time spatial vector of a specific joint point (such as the center point of the shoulder joint or knee joint) in the three-dimensional skeletal key point topology network of the human body, and this invention does not limit it.

[0073] Optionally, the preset position can be a high-frequency abnormal shaking direction that appears in the top 2 or top 3 positions or accounts for more than 35% of the frequency. This invention does not limit this.

[0074] As can be seen, through the above optional embodiments, by determining the action coordinate point for each preset part, calculating the coordinate distance and relative direction of adjacent time points, and obtaining the distance change parameters and change direction set as action change information, the quantitative extraction of action features based on coordinate time sequence changes is realized, improving the precision and comparability of action change information expression, and reducing the risk of insufficient change information caused by simple action type judgment.

[0075] As an optional embodiment, the step described above, calculating and determining the nozzle's operating control command based on the difference between the expected and actual stress states, includes: The expected stress state and the actual stress state are vectorized respectively to obtain the corresponding expected state vector and actual state vector; Calculate the vector distance between the predicted state vector and the actual state vector; Based on the preset correspondence between vector distance and working variation parameters, the variation working parameters corresponding to the vector distance are determined; optionally, the variation working parameters include at least one of the following: water outlet direction parameter, water outlet pressure parameter, and water outlet flow rate parameter. Generate working control commands corresponding to the changes in working parameters and send them to the nozzle control device.

[0076] Optionally, the vector distance can be the Euclidean distance calculated in the manifold space of the force state, the Mahalanobis distance reflecting the correlation of multidimensional perception, or the Kullback-Leibler divergence that evaluates the difference in probability distributions. This invention does not limit the method.

[0077] Optionally, the operating control command can be a pulse width modulation (PWM) speed control signal that directly acts on the high-pressure water pump frequency converter, a CANopen bus travel message used to drive the stepper motor, or a 0-10V analog control voltage signal that adjusts the digital electronic proportional pressure reducing valve. This invention does not limit the specific command.

[0078] Optionally, the control device can be a central microcontroller unit (MCU) built into the bathtub, an embedded main control board based on ARM architecture, or a distributed vehicle-grade CAN bus execution unit; the present invention does not limit the type of device.

[0079] As can be seen, through the above optional embodiments, by vectorizing the expected force state and the actual force state to obtain a vector, calculating the vector distance and determining the changing working parameters according to the correspondence, generating working control commands and sending them to the nozzle control device, the nozzle working parameters can be dynamically adjusted based on vector differences, improving the control effect of the actual force approaching the expected force, and reducing the risk of fluctuations in massage experience caused by inaccurate difference calculations.

[0080] Example 2 Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of an adaptive control system for a massage bathtub nozzle disclosed in an embodiment of the present invention. Figure 2 The described adaptive control system for the massage bathtub nozzles can be applied to data processing systems / data processing devices / data processing servers (wherein, the server includes a local processing server or a cloud processing server). For example... Figure 2 As shown, the adaptive control system for the massage bathtub nozzles may include: The acquisition module 201 is used to acquire sensor data and nozzle operating data within the area of ​​the whirlpool bathtub.

[0081] The prediction module 202 is used to predict the expected force information of the massage object based on the working data and the prediction algorithm.

[0082] The identification module 203 is used to identify the actual force information of the massage object based on the sensor data and the motion analysis algorithm.

[0083] The control module 204 is used to calculate and determine the working control command of the nozzle based on the difference between the expected stress state and the actual stress state.

[0084] Optionally, the operation control command is used to instruct the nozzle to dispense water so that the actual force information is closer to the expected force information.

[0085] As can be seen, the above-described embodiments of the invention acquire sensor data and nozzle operating data within the massage bathtub area, predict the expected force information of the massage object based on a prediction algorithm, identify the actual force information based on the sensor data, and calculate the nozzle operating control command based on the difference between the two. This enables real-time force perception and dynamic water flow control during the massage process, improving massage comfort and accuracy, and providing users with a more comfortable and intelligent bathtub massage experience.

[0086] As an optional embodiment, the prediction module predicts the expected force information of the massage object based on the working data and a prediction algorithm in the following specific ways: Based on the sensor data, the distance parameter between the nozzle and the massage object is determined; optionally, the sensor data includes at least one of image data, water flow monitoring data, infrared ranging data, and sound data. Calculate the outlet pressure corresponding to the nozzle based on the working data and distance parameters; optionally, the working data includes at least one of the following: output water pressure data, water flow direction data, and output water flow rate data. Based on the water outlet pressure, predict the expected force information on the massage subject.

[0087] As can be seen, through the above optional embodiments, by determining the distance parameter between the nozzle and the massage object based on the sensor data, calculating the water outlet pressure by combining the working data, and predicting the expected force information of the massage object, the water outlet pressure based on distance and working data can be accurately predicted, thereby improving the accuracy of the calculation of the expected force information and reducing the risk of force prediction deviation caused by not considering distance changes.

[0088] As an optional embodiment, the prediction module determines the specific method by which it determines the distance parameter between the nozzle and the massage object based on the sensing data, including: The sensor data is input into the trained human object recognition model to obtain the output human object location; optionally, the human object recognition model is trained using a training dataset that includes multiple training sensor data and corresponding human object location annotations. Determine the nozzle position corresponding to the nozzle; Calculate the distance between the nozzle position and the human object position to obtain the distance parameter.

[0089] As can be seen, through the above optional embodiments, by inputting sensor data into the trained human object recognition model to obtain the position of the human object, determining the nozzle position and calculating the distance between the two to obtain the distance parameter, the relative position of the nozzle and the human body based on visual recognition is accurately calculated, improving the reliability and real-time performance of the distance parameter and reducing the risk of distance measurement error caused by dynamic changes in the human body position.

[0090] As an optional embodiment, the prediction module calculates the specific method of the outlet pressure corresponding to the nozzle based on the working data and distance parameters, including: Determine the pre-established mathematical model of pressure change corresponding to the nozzle; optionally, the mathematical model of pressure change defines the mathematical relationship between the outlet pressure and the working data and distance; the mathematical model of pressure change is obtained by multinomial fitting calculation based on multiple historical pressure data corresponding to the nozzle and training datasets with corresponding working data annotations and distance annotations; Based on the mathematical model of pressure change, the pressure at the outlet of the nozzle is calculated according to the working data and distance parameters.

[0091] As can be seen, through the above optional embodiments, by determining the mathematical model of pressure change corresponding to the nozzle, the pressure at the outlet end is calculated based on working data and distance parameters, realizing dynamic pressure calculation based on historical data fitting, improving the scientificity and adaptability of outlet pressure prediction, and reducing the risk of pressure calculation deviation caused by fixed empirical formulas.

[0092] As an optional embodiment, the prediction module predicts the expected force information of the massage object based on the water outlet pressure in the following specific ways: Calculate the relative orientation information between the nozzle position and the human object position; Based on relative orientation information and distance parameters, the force prediction model corresponding to the parameters is matched among multiple preset candidate force prediction models; optionally, the force prediction model is trained by a training dataset that includes multiple training water outlet pressure data with the same relative orientation information and distance parameters and corresponding massage object force information annotations. The pressure at the water outlet is input into the force prediction model to obtain the expected force information of the massage object; the expected force information includes the expected skin pain sensation, the expected skin force area, and the expected skin force direction.

[0093] As can be seen, through the above optional embodiments, by calculating the relative orientation information between the nozzle position and the human object position, matching the force prediction model according to the relative orientation and distance, and inputting the water outlet pressure into the model to obtain the expected force information, adaptive force prediction based on orientation and distance is realized, improving the pertinence and accuracy of the expected force information, and reducing the risk of force direction deviation caused by ignoring orientation.

[0094] As an optional embodiment, the identification module identifies the specific method by which it identifies the actual force information of the massage object based on sensor data and a motion analysis algorithm, including: The data portion corresponding to each historical time point in the sensor data is input into the human motion recognition model to obtain the human motion recognition corresponding to each data portion. Based on the changes in human body movements identified at adjacent historical time points, the movement change information of multiple parts of the massage subject is determined. The location with the greatest change in motion information is identified as the force-bearing location; optionally, the degree of change is calculated based on a preset degree calculation rule. Based on the motion change information of the force-bearing location, and based on the preset correspondence between the change information and the force information, the actual force information corresponding to the force-bearing location is determined; the actual force information includes actual skin pain, actual skin force-bearing area, and actual skin force direction.

[0095] As can be seen, through the above optional embodiments, human motion recognition model is obtained by inputting the data portion of each historical time point in the sensing data, determining the motion change information of multiple parts based on the changes of adjacent motions, and determining the part with the greatest degree of change as the force position. The actual force information is determined based on the motion change information, realizing accurate identification of actual force based on the temporal changes of motion, improving the dynamism and accuracy of force information calculation, and reducing the risk of force assessment distortion caused by static motion analysis.

[0096] As an optional embodiment, the recognition module calculates and determines the specific method of motion change information for multiple parts of the massage object based on the changes in human motion at adjacent historical time points, including: For each preset part of the massage object, determine the corresponding action coordinate point of that part in each human body movement recognition; Calculate the coordinate distance and relative direction between the action coordinates of any two adjacent historical time points; Calculate the standard deviation of all coordinate distances to obtain the distance variation parameter; The set of changing directions is obtained by counting the frequency of all relative coordinate directions and ranking the directions that appear first in a preset position. The distance change parameters and the change direction are combined to determine the motion change information corresponding to that part.

[0097] As can be seen, through the above optional embodiments, by determining the action coordinate point for each preset part, calculating the coordinate distance and relative direction of adjacent time points, and obtaining the distance change parameters and change direction set as action change information, the quantitative extraction of action features based on coordinate time sequence changes is realized, improving the precision and comparability of action change information expression, and reducing the risk of insufficient change information caused by simple action type judgment.

[0098] As an optional embodiment, the control module calculates and determines the specific method of the nozzle's operating control command based on the difference between the expected stress state and the actual stress state, including: The expected stress state and the actual stress state are vectorized respectively to obtain the corresponding expected state vector and actual state vector; Calculate the vector distance between the predicted state vector and the actual state vector; Based on the preset correspondence between vector distance and working variation parameters, the variation working parameters corresponding to the vector distance are determined; optionally, the variation working parameters include at least one of the following: water outlet direction parameter, water outlet pressure parameter, and water outlet flow rate parameter. Generate working control commands corresponding to the changes in working parameters and send them to the nozzle control device.

[0099] As can be seen, through the above optional embodiments, by vectorizing the expected force state and the actual force state to obtain a vector, calculating the vector distance and determining the changing working parameters according to the correspondence, generating working control commands and sending them to the nozzle control device, the nozzle working parameters can be dynamically adjusted based on vector differences, improving the control effect of the actual force approaching the expected force, and reducing the risk of fluctuations in massage experience caused by inaccurate difference calculations.

[0100] Example 3 Please see Figure 3 , Figure 3 This is another adaptive control system for a massage bathtub nozzle disclosed in the embodiments of the present invention. Figure 3 The described adaptive control system for the massage bathtub nozzles is applied in a data processing system / data processing device / data processing server (wherein, the server includes a local processing server or a cloud processing server). For example... Figure 3 As shown, the adaptive control system for the massage bathtub nozzles may include: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute the steps of the adaptive control method for the massage bathtub nozzles described in Embodiment 1.

[0101] Example 4 This invention discloses a computer read storage medium that stores a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps of the adaptive control method for a massage bathtub nozzle described in Embodiment 1.

[0102] Example 5 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the adaptive control method for a massage bathtub nozzle described in Embodiment 1.

[0103] The foregoing has described specific embodiments of this specification; other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than those shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily have to follow the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0104] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0105] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0106] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0111] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0112] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0113] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0114] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0115] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0116] Finally, it should be noted that the adaptive control method and system for a massage bathtub nozzle disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive control method for a massage bathtub nozzle, characterized in that, The method includes: Acquire sensor data and nozzle operating data within the whirlpool area; Based on the working data, and using a prediction algorithm, the expected force information of the massage object is predicted; Based on the sensor data and a motion analysis algorithm, the actual force information of the massage object is identified. The operating control command of the nozzle is determined based on the difference between the expected stress state and the actual stress state; the operating control command is used to instruct the nozzle to discharge water so that the actual stress information is closer to the expected stress information.

2. The adaptive control method for the nozzle of a massage bathtub according to claim 1, characterized in that, The step of predicting the expected force information of the massage object based on the working data and a prediction algorithm includes: Based on the sensor data, the distance parameter between the nozzle and the massage object is determined; the sensor data includes at least one of image data, water flow monitoring data, infrared ranging data, and sound data. Based on the working data and the distance parameter, the pressure at the outlet end of the nozzle is calculated; the working data includes at least one of output water pressure data, water flow direction data, and output water flow rate data. Based on the water outlet pressure, the expected force information of the massage object is predicted.

3. The adaptive control method for the nozzle of a massage bathtub according to claim 2, characterized in that, Determining the distance parameter between the nozzle and the massage object based on the sensing data includes: The sensor data is input into the trained human object recognition model to obtain the output human object location; the human object recognition model is trained using a training dataset that includes multiple training sensor data and corresponding human object location annotations. Determine the nozzle position corresponding to the nozzle; Calculate the distance between the nozzle position and the human object position to obtain the distance parameter.

4. The adaptive control method for the nozzle of a massage bathtub according to claim 2, characterized in that, The step of calculating the outlet pressure of the nozzle based on the working data and the distance parameter includes: A pre-established mathematical model of pressure variation corresponding to the nozzle is determined; the mathematical model of pressure variation defines the mathematical relationship between the outlet pressure and the working data and distance; the mathematical model of pressure variation is obtained by multinomial fitting calculation based on multiple training datasets of historical pressure data corresponding to the nozzle and corresponding working data labels and distance labels; Based on the pressure change mathematical model, the outlet pressure corresponding to the nozzle is calculated according to the working data and the distance parameter.

5. The adaptive control method for the nozzle of a massage bathtub according to claim 3, characterized in that, The step of predicting the expected force information of the massage object based on the water outlet pressure includes: Calculate the relative orientation information between the nozzle position and the human object position; Based on the relative orientation information and the distance parameter, a force prediction model corresponding to the parameter is matched from a plurality of preset candidate force prediction models; the force prediction model is trained by a training dataset including multiple training water outlet pressure data with the same relative orientation information and the distance parameter as the corresponding massage object force information annotation; The pressure at the water outlet is input into the force prediction model to obtain the expected force information of the massage object; the expected force information includes the expected skin pain sensation, the expected skin force area, and the expected skin force direction.

6. The adaptive control method for the nozzle of a massage bathtub according to claim 1, characterized in that, The step of identifying the actual force information of the massage object based on the sensor data and a motion analysis algorithm includes: The data portion corresponding to each historical time point in the sensor data is input into the human motion recognition model to obtain the recognized human motion corresponding to each data portion. Based on the changes in the identified human body movements at adjacent historical time points, the movement change information of multiple parts of the massage object is determined; The location with the greatest change in the motion change information is identified as the force-bearing location; the degree of change is calculated based on a preset degree calculation rule. Based on the change information of the action at the force-bearing location, and based on the preset correspondence between the change information and the force information, the actual force information corresponding to the force-bearing location is determined; the actual force information includes actual skin pain sensation, actual skin force-bearing area, and actual skin force direction.

7. The adaptive control method for the nozzle of a massage bathtub according to claim 6, characterized in that, The step of calculating and determining the movement change information of multiple parts of the massage object based on the changes in the identified human movements at adjacent historical time points includes: For each preset part of the massage object, determine the corresponding action coordinate point of that part in each of the identified human body actions; Calculate the coordinate distance and relative direction between the action coordinates of any two adjacent historical time points; Calculate the standard deviation of all the coordinate distances to obtain the distance variation parameter; The set of changing directions is obtained by counting the number of occurrences of all the relative directions of the coordinates and ranking the directions in the first preset position. The distance change parameters and the change direction set are used to determine the motion change information corresponding to that part.

8. The adaptive control method for the nozzle of a massage bathtub according to claim 1, characterized in that, The step of calculating and determining the nozzle's operating control command based on the difference between the expected stress state and the actual stress state includes: The expected stress state and the actual stress state are vectorized respectively to obtain the corresponding expected state vector and actual state vector. Calculate the vector distance between the predicted state vector and the actual state vector; Based on the preset correspondence between vector distance and working variation parameters, the variation working parameters corresponding to the vector distance are determined; the variation working parameters include at least one of water outlet direction parameters, water outlet pressure parameters, and water outlet flow rate parameters. The operating control command corresponding to the changed operating parameters is generated and sent to the control device of the nozzle.

9. An adaptive control system for a massage bathtub nozzle, characterized in that, The system includes: The acquisition module is used to acquire sensor data and nozzle operating data within the whirlpool bath area; The prediction module is used to predict the expected force information of the massage object based on the working data and a prediction algorithm. The identification module is used to identify the actual force information of the massage object based on the sensor data and a motion analysis algorithm. The control module is used to calculate and determine the working control command of the nozzle based on the difference between the expected stress state and the actual stress state; the working control command is used to instruct the nozzle to discharge water so that the actual stress information is closer to the expected stress information.

10. An adaptive control system for a massage bathtub nozzle, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the adaptive control method for the massage bath nozzle as described in any one of claims 1-8.

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