CN107951650A - The intelligent defecate collection Clean Living robot and its method of work that automatic obstacle-avoiding actively tracks - Google Patents

Abstract

The intelligent defecate collection Clean Living robot and its method of work actively to track the present invention relates to a kind of automatic obstacle-avoiding, the intelligent defecate collection Clean Living robot which actively tracks include：Mobile platform, translation mechanism, lifting mechanism, defecate collection closestool, heating water tank, warm air dryer and water injector, the translation mechanism is removably set on the top of mobile platform, the lifting mechanism liftable is arranged on the top of translation mechanism, and the defecate collection closestool is fixed at the top of lifting mechanism；The water injector and warm air dryer are fixed at the side of the defecate collection closestool, and the heating water tank is connected with water injector for providing hot water to water injector, and defecate collection closestool is moved to the lower section of care bed excrement outlet by mobile platform during use.

Description

Intelligent cleaning robot with automatic obstacle avoidance and active tracking and its working method

technical field

The invention relates to the technical field of medical equipment, in particular to an intelligent toilet-collecting and body-cleaning robot for automatic obstacle avoidance and active tracking and a working method thereof.

Background technique

After entering the 21st century, China's aging population structure has become a social problem. The number of elderly people with weakened mobility due to various chronic diseases is increasing year by year. Some elderly people in society suffer from chronic diseases or dysfunction , the disabled, and postoperative patients need to stay in bed for a long time for treatment and rehabilitation. In order to reduce the labor intensity of the nursing staff, they mainly rely on the nursing bed. Get well soon. However, although current nursing beds can help patients to adjust multiple postures on the bed, for some special patients, such as patients with thigh fractures, pelvic fractures, paralyzed patients, elderly people who cannot take care of themselves, these special patients cannot Get out of bed and walk, therefore, they can only defecate on the hospital bed, this is not only a very difficult or even painful thing for patients, but also bears huge psychological pressure in the process of defecation, for nursing staff, not only The dirtiest and most tiring physical labor also bears enormous psychological pressure.

Present nursing bed is in order to solve this problem, and most of them are to open a defecation opening at the center of the bed, place a bedpan below the defecation opening, and after the patient urinates and defecates, the bedpan is cleaned. This method needs to place the bedpan just below the patient's buttocks. When the bed is designed, it is necessary to leave a certain space under the bed for the bedpan to be placed. Therefore, when the nurse is operating, due to the limited bed height and insufficient space under the bed, nursing care is required It is extremely inconvenient to operate the bedpan under the patient's buttocks only by squatting or even lying down. In addition, after the patient urinates and urinates, the nursing staff needs to take out the bedpan with urination and defecation from under the bed and clean it up. During the process of taking out the bedpan and cleaning it, it is very easy to dirty the bed or bed body, thereby affecting the environment of the patient's ward. When the patient defecates, the nursing staff should not only assist the patient to defecate, but also clean up and wipe in time after the patient defecates. Although this method solves the problem of patients urinating and defecating on the bed to a certain extent, the nursing staff must not only assist the patient to urinate and defecate, but also clean up the bedpan, bed body, bed, etc. in time, which virtually increases the The labor intensity of the nursing staff, especially in the middle of the night, when the nursing staff is exhausted, increases the difficulty of defecation and defecation of the patient.

Contents of the invention

The technical problem to be solved by the present invention is to provide a simple and reliable intelligent body cleaning robot that does not require human operation, has the function of collecting urine and feces, and can automatically avoid obstacles and actively trace and its working method.

In order to solve the above-mentioned technical problems, the intelligent toilet cleaning robot with automatic obstacle avoidance and active tracking provided by the present invention includes: a mobile chassis, a translation mechanism, a lifting mechanism, a toilet for collecting toilet, a heating water tank, a warm air drying device and The water spray device, the translation mechanism can be movably arranged on the top of the mobile chassis, the lifting mechanism can be lifted and lowered on the top of the translation mechanism, and the toilet is fixed on the top of the lifting mechanism; the water spray The heating device and the warm air drying device are fixed on one side of the toilet, and the heating water tank is connected with the water spray device to provide hot water for the water spray device. When in use, the mobile chassis moves the toilet to the nursing room. Below the defecation opening of the bed, the translation mechanism fine-tunes the position of the toilet, and the lifting mechanism lifts the toilet. After the defecation is completed, it is cleaned by the water spray device and dried by the warm air drying device.

Further, the intelligent toilet-collecting and body-cleaning robot also includes a water storage tank, and the water storage tank communicates with the heating water tank for supplying water to the heating water tank.

Further, the translation mechanism includes a traversing bottom plate, a vertical moving bottom plate, a lateral thrust device and a side thrust device, the bottom end of the traversing bottom plate is slidingly fitted with the upper end surface of the mobile chassis, and the lateral thrust One end of the device is in cooperation with the traversing bottom plate for driving the traversing bottom plate to move on the mobile chassis; One end of the side propulsion device is coupled with the longitudinal movement base plate for driving the longitudinal movement base plate to move on the transverse movement base plate, so as to realize the fine adjustment of the toilet.

Further, the intelligent toilet cleaning robot also includes an adjustable bracket for installing the water spray device and the warm air drying device, the top of the toilet is inclined, and the rear end of the toilet is provided with an open slot, which can The adjustment bracket is placed on the outside of the opening slot to realize the adjustment of the height of the water spray device and the warm air drying device, so as to adapt to different users.

Further, the water spray device is a double-hole water spray device to meet the needs of male and female patients.

Further, the lifting mechanism includes a lifting power device, a toilet mounting plate and a lifting mechanism, and the lifting mechanism includes a pair of left scissor-type movable brackets, a right scissor-type movable bracket, a left scissor-type movable bracket, a right scissor-type movable The middle part of the type movable bracket is hinged and matched by the central pin shaft to form an X-type lifting mechanism, and the two top angles of the X-type lifting mechanism are hingedly matched with the bottom end of the toilet installation plate; The vertical moving bottom plate is hingedly matched, the bottom corner of the other side of the X-type lifting mechanism is slidingly matched with the vertical moving bottom plate, and the lifting power device is in transmission cooperation with the bottom corner of the sliding side of the X-type lifting mechanism, which is used to drive the X-type lifting mechanism The vertical movement bottom plate slides to realize the lifting of the installation plate of the toilet.

Further, a rolling connecting rod is provided at the bottom corner of the sliding side of the X-type lifting mechanism, and rolling bearings are provided at both ends of the rolling connecting rod, and rolling grooves matched with the rolling bearings are symmetrically provided on the longitudinal moving bottom plate to reduce resistance and improve efficiency.

Further, the mobile chassis includes front wheels, rear wheels, a steering mechanism, a travel drive mechanism, an obstacle avoidance sensor, a tracking sensor, and a controller. The tracking sensor obtains the position information that the mobile chassis needs to reach the destination, and transmits it to The controller, after the controller calculates and plans the route, controls the steering mechanism and the driving structure to start, and the steering mechanism and the driving structure drive the front wheel and the rear wheel to approach the destination; the obstacle avoidance sensor is used to obtain the position information of the obstacle , and send it to the controller, which will calculate and correct the original planned route to realize automatic obstacle avoidance and active tracking.

Further, a disposable stool collection plastic bag is provided in the stool collection toilet, and a curing agent is contained in the disposable stool collection plastic bag, which can be cured after the user urinates and defecates, so as to facilitate subsequent collection and processing.

The working method of the above-mentioned intelligent body cleaning robot includes the following steps:

A. The tracking sensor of the intelligent toilet cleaning robot obtains the position of the defecation opening of the nursing bed and transmits it to the controller, which calculates and plans the route; the obstacle avoidance sensor obtains the position information of obstacles in the planned route , and send it to the controller, which will calculate and correct the planned route.

B. After the controller determines the planned route, it controls the steering mechanism and the walking drive structure to start, and the steering mechanism and the walking drive structure drive the front wheels and rear wheels to make the intelligent toilet cleaning robot leave the initial stop position and approach the destination; at the same time, the obstacle avoidance sensor Obtain the location information of unexpected obstacles in the planned route in real time, and send it to the controller, which will calculate and correct the planned route.

C. After the intelligent toilet collection and body cleaning robot moves to the defecation opening of the nursing bed, the horizontal thrust device and the side thrust device will act to fine-tune the positions of the horizontal and vertical base plates so that the toilet is placed at the defecation opening of the nursing bed. directly below the .

D. The action of the lifting power device drives the rolling link of the X-type lifting mechanism to move to lift the toilet installation plate and the toilet.

E. After the user urinates or defecates, the body is cleaned by the water spray device and the warm air drying device, and the excrement is collected and processed by the disposable defecation collection plastic bag and the curing agent.

F. The action of the lifting power device drives the rolling link of the X-type lifting mechanism to move in the opposite direction, so that the installation plate of the toilet and the toilet are lowered, and the tracking sensor obtains the initial stop position information of the intelligent toilet cleaning robot and transmits it To the controller, the controller calculates and plans the route; the obstacle avoidance sensor obtains the position information of the obstacles in the planned route, and sends it to the controller, and the controller calculates and corrects the planned route. After the controller determines the planned route Control the start of the steering mechanism and the walking drive structure, and the steering mechanism and the walking drive structure drive the front wheels and rear wheels to move the intelligent toilet cleaning robot away from the position of the defecation opening and move to the initial stop position. At the same time, the obstacle avoidance sensor acquires the plan in real time The location information of unexpected obstacles in the route is sent to the controller, which calculates and corrects the planned route.

The technical effect of the invention: (1) Compared with the prior art, the intelligent collection and cleaning robot for automatic obstacle avoidance and active tracking of the present invention adopts the cooperation of obstacle avoidance sensor, tracking sensor and controller to realize automatic obstacle avoidance and active tracking. Tracking; (2) The translation mechanism adopts the cooperation of the horizontal movement bottom plate and the vertical movement bottom plate to realize the fine adjustment of the position of the toilet; (3) The lifting mechanism adopts the left scissor type movable bracket and the right scissor type movable bracket to form an X-shaped lift Mechanism, the bottom end of the X-type lifting mechanism is equipped with a rolling bearing, which makes the lifting of the toilet bowl a translation drive, which reduces the power requirements of the lifting mechanism, and the lifting is more stable and easy to adjust. Compared with the direct lifting, the cost is lower and the lifespan (4) The double-hole water spray device is adopted, which can adapt to the different needs of male and female patients; (5) The water spray device and the warm air drying device are set on the adjustable bracket, which can be adjusted according to the user's adjustment of the water spray device. (6) Disposable stool collection plastic bag and solidifying agent are arranged in the stool collection toilet to facilitate subsequent collection and treatment of excrement.

Description of drawings

Below in conjunction with accompanying drawing, the present invention will be described in further detail:

Fig. 1 is a schematic diagram of the three-dimensional structure of the smart toilet-collecting and body-cleaning robot of the present invention;

Fig. 2 is a structural schematic diagram of the raised toilet of the intelligent toilet-collecting and body-cleaning robot of the present invention;

Fig. 3 is a top view of the smart toilet-collecting and body-cleaning robot of the present invention;

Fig. 4 is a schematic diagram of the moving range of the translation mechanism of the smart toilet-collecting and body-cleaning robot of the present invention;

Fig. 5 is a three-dimensional structural schematic diagram of the lifting mechanism of the smart toilet-collecting and body-cleaning robot of the present invention;

Fig. 6 and Fig. 7 are schematic diagrams of the use state of the intelligent toilet-collecting and body-cleaning robot of the present invention.

In the figure: toilet 1, warm air drying device 2, adjustable bracket 3, water storage tank 4, opening slot 5, mobile chassis 6, control box 7, rear wheel 8, translation mechanism 9, heating water tank 10, double Hole sprinkler 11, front wheel 12, X-type elevating mechanism 13, longitudinally moving base plate 14, side propulsion device 15, stool collecting toilet mounting plate 16, laterally moving base plate 18, transverse propulsion device 19, center pin shaft 20, Left scissor movable bracket 21, right scissor movable bracket 22, lifting power device 23, rolling groove 24, rolling connecting rod 25, rolling bearing 26, backboard 27, calf board 28, foot board 29, universal caster 30, nursing bed 33 , user 34 , motion track 35 , initial stop position 36 , robot 37 for collecting and cleaning the toilet.

Detailed ways

Embodiment 1 As shown in Fig. 1 to Fig. 2, the intelligent collection and cleaning robot for automatic obstacle avoidance and active tracking of this embodiment includes a mobile chassis 6, a translation mechanism 9, a lifting mechanism, a toilet 1, a heating Water tank 10, warm air drying device 2 and water spraying device 11.

The mobile chassis 6 includes front wheels 12, rear wheels 8, control box 7, steering mechanism placed in the mobile chassis 6, walking drive mechanism, obstacle avoidance sensor, tracking sensor, and a controller placed in the control box 7 , the front wheel 12 cooperates with the steering mechanism to realize the steering function, and the rear wheel 8 cooperates with the walking drive mechanism to realize the moving function. The tracking sensor is used to obtain the position information of the mobile chassis 6 that needs to reach the destination, and transmit it to the controller. After the controller calculates and plans the route, it controls the steering mechanism and the driving structure to start, and the steering mechanism and the driving structure drive the front wheel 12 and the rear wheel 8 to approach the destination; the obstacle avoidance sensor is used to obtain the position information of the obstacle, And send it to the controller, which will calculate and correct the original planned route to realize automatic obstacle avoidance and active tracking.

As shown in Fig. 3 and Fig. 4, translation mechanism 9 comprises traversing base plate 18, longitudinally moving base plate 14, lateral propelling force device 19 and side propelling force device 15, and the bottom end of traversing base plate 18 is provided with slide block, and mobile chassis 6 The upper end surface of the upper end surface is provided with a chute compatible with the slider along the transverse direction (in other embodiments, the traversing bottom plate 18 and the mobile chassis 6 can be slidably matched through guide rails, or slidably matched by rollers), so that the traversing bottom plate 18 Slidingly fit with the upper end surface of the mobile chassis 6, the tail end of the transverse thrust device 19 is hingedly matched with the upper end surface of the movable chassis 6 through the mounting lugs and pin shafts, and the front end of the transverse thrust unit 19 is also articulated with the transverse movement base plate 18. The mounting lugs and pin shafts are hingedly matched, and are used to drive the traverse base plate 18 to move laterally on the mobile chassis 6, that is, the X direction; the bottom end of the longitudinal base plate 14 is also provided with a slider, and the upper end surface of the traverse base plate 18 is longitudinally moved A chute is provided so that the bottom end of the longitudinally moving base plate 14 is slidingly matched with the upper end surface of the traversing base plate 18, and the tail end of the side thrust device 15 is hingedly matched with the upper end surface of the traversing base plate 18 through the mounting lug and the pin shaft. The front end of the propulsion device 15 is also hingedly matched with the vertical movement base plate 14 via mounting ears and pin shafts, and is used to drive the vertical movement base plate 14 to move longitudinally on the traverse base plate 18, that is, the Y direction.

As shown in Figure 5, the lifting mechanism includes a lifting power unit 23, a toilet mounting plate 16 and a lifting mechanism, and the lifting mechanism includes 2 groups of left scissor movable supports 21 and right scissor movable supports 22 arranged in pairs, The middle part of the scissor-type movable support 21 and the right scissor-type movable support 22 form the X-type elevating mechanism 13 after the central pin 20 is hinged and matched. The right scissor-type movable bracket 22 of the X-type lifting mechanism 13 is hingedly matched with the longitudinal movement base plate 14 through the mounting ear and the pin shaft, and the bottom angle of the left scissor-type movable bracket 21 of the X-type lifting mechanism 13 is provided with a rolling joint. Rod 25, the two ends of this rolling connecting rod 25 are provided with rolling bearing 26, and the rolling groove 24 that matches with rolling bearing 26 is arranged symmetrically on the longitudinal movement bottom plate 14, and rolling groove 24 is welded and fixed with longitudinal movement bottom plate 14, and rolling bearing 26 can roll and be arranged on the rolling slot 24, so that the bottom angle of the left scissor-type movable bracket 21 is slidingly matched with the longitudinal movement base plate 14, and the tail end of the lifting power unit 23 is hingedly matched with the longitudinal movement base plate 14 through the mounting ear and the pin shaft, and the lifting power unit 23 The tail end is hingedly matched with the rolling link 25, and is used to drive the X-shaped lifting mechanism 13 to slide on the vertically moving base plate 14.

The stool collection toilet 1 is fixedly arranged on the top of the stool collection toilet mounting plate 16, the top of the stool collection toilet 1 is inclined, the rear end of the stool collection toilet 1 is provided with an open slot 5, and the outside of the open slot 5 is provided with an adjustable support 3, and the warm air The drying device 2 and the water spraying device 11 are arranged on the adjustable support 3, the adjustable support 3 is divided into an upper support frame and a lower support frame, the lower support frame has bolt fixing holes, and the lower support frame has bolt moving holes, so that The overall height of the adjustable bracket 3 is regulated by bolts, so as to realize the adjustment of the height of the water spray device 11 and the warm air drying device 3, so as to adapt to different users.

The heating water tank 10 is fixedly arranged between the upper support frame and the lower support frame, and the heating water tank 10 is connected with the water spray device 11 for providing hot water to the water spray device 11. Below the defecation opening of the bed 33, the translation mechanism 9 fine-tunes the position of the toilet 1, and the lifting mechanism lifts the toilet 1. After defecation is completed, it is cleaned by the water spray device 11 and dried by the warm air drying device 3. .

Preferably, the intelligent toilet-collecting and body-cleaning robot also includes a water storage tank 4, which is fixedly arranged on the mobile chassis 6, and the water storage tank 4 is connected to the heating water tank 10 through pipelines for supplying water to the heating water tank 10.

Preferably, the water spray device 11 is a double-hole water spray device to meet the needs of male and female patients.

Preferably, a disposable stool collection plastic bag is arranged in the stool collection toilet 1, and a curing agent is housed in the disposable stool collection plastic bag, which can be cured after the user 34 urinates and defecates, so as to facilitate subsequent collection and processing.

Preferably, the lateral thrust device 19, the side thrust device 15, and the lifting power device 23 are one of electric cylinders, hydraulic cylinders or air cylinders.

Example 2

The working method of the above-mentioned intelligent body cleaning robot includes the following steps:

A. The tracking sensor of the intelligent toilet cleaning robot 37 obtains the position of the defecation opening of the nursing bed 33, and transmits it to the controller, and the controller calculates and plans the route; the obstacle avoidance sensor obtains the location of obstacles in the planned route The location information is sent to the controller, which calculates and corrects the planned route.

B. After the controller determines the planned route, it controls the steering mechanism and the walking drive structure to start, and the steering mechanism and the walking drive structure drive the front wheel 12 and the rear wheel 8 to move so that the intelligent toilet cleaning robot 37 leaves the initial stop position 36 and approaches the destination; At the same time, the obstacle avoidance sensor obtains the location information of unexpected obstacles in the planned route in real time, and transmits it to the controller, which calculates and corrects the planned route.

C. After the intelligent toilet collection robot 37 moves to the defecation opening of the nursing bed 33, the lateral thrust device 19 and the side thrust device 15 move to fine-tune the positions of the lateral movement base plate 18 and the vertical movement base plate 14, so that the toilet is collected 1 is placed directly below the nursing bed 33 defecation openings.

D. The action of the lifting power device 23 drives the rolling link 25 of the X-type lifting mechanism 13 to move, so as to lift the installation plate 16 and the toilet 1 for collecting toilet.

E. After the user 34 urinates or defecates, the water spray device 11 and the warm air drying device 2 are used to clean the body, and the excrement is collected and processed by the disposable defecation collection plastic bag and the curing agent.

F, the action of the lifting power device 23 drives the rolling link 25 of the X-type lifting mechanism 13 to move in the opposite direction, so that the installation plate 16 and the toilet 1 of the toilet are lowered, and the tracking sensor obtains the position of the intelligent robot 37 for collecting toilet The initial stop position 36 information is sent to the controller, which calculates and plans the route; the obstacle avoidance sensor obtains the position information of obstacles in the planned route, and sends it to the controller, which calculates and corrects the plan Route, after the controller determines the planned route, it controls the steering mechanism and the walking drive structure to start, and the steering mechanism and the walking drive structure drive the front wheel 12 and the rear wheel 8 to move so that the intelligent collection and body cleaning robot 37 leaves the defecation opening. The stop position 36 moves; at the same time, the obstacle avoidance sensor obtains the location information of sudden obstacles in the planned route in real time, and transmits it to the controller, which calculates and corrects the planned route. The motion trajectory 35 of the intelligent toilet cleaning robot 37 is shown in FIG. 6 .

As preferably, as shown in Figure 7, the rear portion of the nursing bed 33 in step A is provided with a reversible backboard 27, and the front part of the nursing bed 33 is provided with a reversible calf board 28 and a foot board 29, and the defecation opening is placed on the backboard Between 27 and calf plate 28, the four-corner universal caster 30 of nursing bed 33 makes user 34 can adopt sitting posture to carry out convenience.

The obstacle avoidance sensor is used for automatic obstacle avoidance, and the tracking sensor is used for active tracking. The Chinese patent announcement number is CN202331205U, and the patent name is a patent document for a laboratory automatic transport trolley, or the Chinese patent publication number is CN107244150A. The patent literature titled as an intelligent printing robot capable of automatic tracking, or the patent literature with the Chinese Patent Publication No. CN107020614A and the patent title as a kind of omnidirectional mobile transport robot are all recorded and will not be described in detail.

Apparently, the above-mentioned embodiments are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims (10)

1. A kind of 1. intelligent defecate collection Clean Living robot that automatic obstacle-avoiding actively tracks, it is characterised in that including：Mobile platform, put down Telephone-moving structure, lifting mechanism, defecate collection closestool, heating water tank, warm air dryer and water injector, the translation mechanism, which moves, to be set Put on the top of mobile platform, the lifting mechanism liftable is arranged on the top of translation mechanism, and the defecate collection closestool is fixed It is arranged on the top of lifting mechanism；The water injector and warm air dryer are fixed at the side of the defecate collection closestool, The heating water tank is connected with water injector for providing hot water to water injector, and mobile platform is by defecate collection closestool during use It is moved to the lower section of care bed excrement outlet.
2. 2. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 1 actively tracks, it is characterised in that also wrap Water tank is included, the water tank is connected with the heating water tank for supplying water to heating water tank.
3. 3. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 2 actively tracks, it is characterised in that described Translation mechanism include traverse floor, vertical shift bottom plate, it is horizontal promotion power apparatus and side promote power apparatus, the bottom of the traverse floor with The upper surface of the mobile platform is slidably matched, and one end of the horizontal promotion power apparatus is matched somebody with somebody with traverse floor transmission to be shared Moved in driving the traverse floor on the mobile platform；The bottom of the vertical shift bottom plate is upper with the traverse floor End face is slidably matched, and the side promotes one end of power apparatus and vertical shift bottom plate transmission to coordinate for driving the vertical shift bottom plate Moved in the traverse floor.
4. 4. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 3 actively tracks, it is characterised in that also wrap The adjustable support for installing the water injector and warm air dryer is included, the top of the defecate collection closestool is obliquely installed, The rear end of defecate collection closestool sets open slot, and adjustable support is placed in the outside of the open slot.
5. 5. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 4 actively tracks, it is characterised in that described Water injector is dual-hole water spray device.
6. 6. the intelligent defecate collection Clean Living robot that the automatic obstacle-avoiding according to one of claim 1-5 actively tracks, its feature exist In the lifting mechanism includes lifting power device, defecate collection closestool installing plate and elevating mechanism, which includes setting in pairs Left scissors movable support, the right scissors movable support put, left scissors movable support, the middle part of right scissors movable support are through centrepin Axis forms X-type elevating mechanism after hingedly coordinating, and two apex angles of X-type elevating mechanism are hingedly matched somebody with somebody with the defecate collection closestool installing plate bottom Close；The side base angle of X-type elevating mechanism hingedly coordinates with the vertical shift bottom plate, the opposite side base angle of X-type elevating mechanism with it is described Vertical shift bottom plate is slidably matched, and lifting power device slides the transmission of side base angle with X-type elevating mechanism and coordinates, for driving X-type to lift Mechanism is slided on vertical shift bottom plate.
7. 7. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 6 actively tracks, it is characterised in that described X-type elevating mechanism slides side base angle and sets roll rod, and the both ends of the roll rod set rolling bearing, on the vertical shift bottom plate It is symmetrical arranged and the matched rolling groove of the rolling bearing.
8. 8. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 7 actively tracks, it is characterised in that described Mobile platform includes front-wheel, trailing wheel, steering mechanism, hoofing part mechanism, avoidance sensor, tracking sensor, controller, follows Mark sensor obtains the positional information that mobile platform need to arrive at, and is sent to controller, is calculated by controller And steering mechanism and hoofing part structural priming are controlled after programme path, steering mechanism and hoofing part structure driving front-wheel, after Wheel action is with close to destination；Avoidance sensor is used for the positional information for knowing barrier, and is sent to controller, by controller Calculated and correct original programme path.
9. 9. the intelligent defecate collection Clean Living robot that automatic obstacle-avoiding according to claim 8 actively tracks, it is characterised in that described Disposable defecate collection polybag is set in defecate collection closestool, curing agent is housed in disposable defecate collection polybag.
10. 10. the method for work of intelligent defecate collection Clean Living robot according to claim 9, it is characterised in that include the following steps：

    A, the tracking sensor of intelligent defecate collection Clean Living robot obtains care bed excrement outlet present position, and is sent to controller, Calculate simultaneously programme path by controller；The positional information of barrier in institute's programme path is obtained by avoidance sensor, and is passed Send to controller, calculated by controller and correct programme path；

    B, controller controls steering mechanism and hoofing part structural priming, steering mechanism and hoofing part knot after determining programme path Structure driving front-wheel, trailing wheel act so that intelligent defecate collection Clean Living robot leaves initial dwell and is located proximate to destination；Avoidance at the same time Sensor obtains the positional information for the barrier that happens suddenly in programme path in real time, is sent to controller, is calculated simultaneously by controller Correct programme path；

    C, after intelligent defecate collection Clean Living robot is moved to care bed excrement outlet, horizontal promotion power apparatus and side motive force device action, The position of traverse floor, vertical shift bottom plate is finely adjusted so that defecate collection closestool is placed in the underface of care bed excrement outlet；

    D, the roll rod movement of lifting power device action driving X-type elevating mechanism, with lifting defecate collection closestool installing plate sum aggregate Just closestool；

    E, user's urine or stool after the completion of by water injector, warm air dryer carry out Clean Living, by disposable defecate collection plastics Bag, curing agent are collected excreta processing；

    F, lifting power device action driving X-type elevating mechanism roll rod reverse movement so that defecate collection closestool installing plate and Defecate collection closestool declines, and tracking sensor obtains intelligent defecate collection Clean Living robot initial stop place information, and is sent to controller, Calculate simultaneously programme path by controller；The positional information of barrier in institute's programme path is obtained by avoidance sensor, and is passed Send to controller, calculated by controller and correct programme path, controller determine to control after programme path steering mechanism and Hoofing part structural priming, steering mechanism and hoofing part structure driving front-wheel, trailing wheel action are so that intelligent defecate collection Clean Living machine People leaves excrement outlet present position, is moved to initial dwell position, while avoidance sensor obtains in programme path happen suddenly in real time The positional information of barrier, and controller is sent to, calculated by controller and correct programme path.