CN112274357B - A home care robot - Google Patents

Abstract

The invention discloses a home care robot, comprising an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged on both sides of the upper body, and a pair of humanoid arms arranged on the upper body and the upper body. A bridge plate device between the lower bodies, a movable toilet located in the lower body and can be drawn out in a horizontal direction, and a main wheel installed under the lower body, wherein the bridge plate device is provided for controlling the upper body A bridge plate control device for tilting the body forward/backward and controlling the action of the humanoid arm. The invention can provide long-term home care for bedridden patients or users with lower limb incapacitation, realizes assisting in getting up and turning over, assisting in going to the toilet, massage and nursing, and can reduce the dependence of the elderly on nursing staff.

Description

A home care robot

technical field

The invention relates to a nursing robot.

Background technique

At present, with the increasingly serious problem of population aging, the problem of nursing care for the elderly has become increasingly prominent. At the same time, the health status of the elderly in my country is also worse than that in developed countries. The elderly are affected by factors such as the decline of limbs and organs, and patients. , the limitation of physical movement, the decline of self-reliance and even loss of self-reliance are also prominent in this group. The number of people who cannot take care of themselves, such as difficulty in getting up and down, inconvenience in toileting, etc., will increase. Correspondingly, the elderly The total amount and demand for nursing resources of people and their caregivers are also increasing, and the children of the elderly have to work harder due to economic pressure, and it is inevitable that they neglect to take care of the elderly, especially some who can only lie down for special reasons. For people who cannot move in bed, they need a product to accompany them instead of people to meet their various needs.

SUMMARY OF THE INVENTION

In view of this, it is necessary to provide a home care robot, which can provide home care for bedridden patients or users with lower extremity incapacitation for a long time, realize assisted standing, turn over, assist in toileting, massage nursing, can reduce the dependence of the elderly on nursing staff, and more. Spend your sick bed time in safety, comfort and with more dignity.

According to the purpose of the invention, a home care robot is proposed, which is characterized by comprising an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged on both sides of the upper body, A bridge plate device between the upper body and the lower body, a movable toilet located in the lower body and can be drawn out in a horizontal direction, and a main wheel installed under the lower body, wherein the bridge plate device is provided with a The bridge control device is used to control the forward/backward inclination of the upper body and control the action of the humanoid arm.

Preferably, it also includes concave guide grooves located on both sides of the upper body, and a guide rail arranged in the concave guide groove, and the humanoid arm moves up and down along the vertical direction of the guide rail.

Preferably, the mobile toilet includes a toilet cover, a garbage bag sealing device located under the toilet cover, and a universal wheel located at the bottom of the mobile toilet.

Preferably, a garbage bag sealing device is provided in the mobile toilet, and the garbage bag sealing device includes a barrel body, a garbage bag placed in the barrel body, and a sealing member installed inside the garbage bag sealing device.

Preferably, the closure member is adjacent to the top and bottom ends of the garbage bag closure device, and includes a plurality of retractable blades.

Preferably, the sealing member includes a first sealing member and a second sealing member, the distance between the first sealing member and the top end is 1/4 to 1/5 of the height of the barrel, and the distance between the second sealing member and the bottom end is 1/4. 4 to 1/5 the height of the barrel.

Preferably, it also includes a power device located behind the moving toilet and in the lower body.

Preferably, the camera device includes a control board, a face recognition module installed on the control board for performing face recognition on the face image acquired by the image acquisition unit, and the face recognition module is stored in a database The feature matching in the face image is performed, and the user operation information corresponding to the face image is executed.

Preferably, it also includes an induction component, and a microwave wireless monitoring system installed in the induction component. The microwave wireless monitoring system includes an analog video signal output by a user, and converts the analog video signal into a digital microwave signal. A compressed digital signal processing module, a transmitting antenna for transmitting the microwave signal, and a receiving antenna for receiving the microwave signal.

Preferably, a natural language processing system is also included, and the natural language processing system realizes intelligent dialogue and intelligent learning with the user.

Compared with the prior art, the present invention can provide long-term home care for bedridden patients or users with incapacitated lower extremities, realize assisting in getting up and turning over, assisting in going to the toilet, and massage nursing, which can reduce the user's dependence on nursing staff, and is safer and more comfortable. Sick time.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a perspective view of the overall structure disclosed in the present invention;

2 is an exploded view of the overall structure disclosed in the present invention;

Fig. 3 is the A-A sectional view of Fig. 1;

4 is an exploded view of the upper body disclosed by the present invention;

Fig. 5 is the structure diagram of the upper body disclosed by the present invention;

Figure 6a is a working state diagram of the garbage bag sealing device disclosed in the present invention;

Figure 6b is a working state diagram of the garbage bag sealing device disclosed in the present invention;

Figure 6c is a working state diagram of the garbage bag sealing device disclosed in the present invention;

6d is a working state diagram of the garbage bag sealing device disclosed in the present invention;

Figure 6e is a working state diagram of the garbage bag sealing device disclosed in the present invention;

Fig. 7a is the working state diagram of the sealing member disclosed by the present invention;

Fig. 7b is a working state diagram of the sealing member disclosed in the present invention;

Fig. 7c is a working state diagram of the sealing member disclosed in the present invention.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below through specific embodiments. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

1 to 5, a home care robot includes an upper body 1, a lower body 2, a bridge device 3, and a mobile toilet 4. The upper body 1 and the lower body 2 are rotatably connected through the bridge device 3.

Among them, as shown in Figures 1-2, the upper body 1 includes concave guide grooves 17 on both sides, the humanoid arm 16 is partially accommodated in the concave guide groove 17, the upper cover 15, the first casing 13, the first The two casings 14 form the upper body 1 , the upper cover 15 is provided with a voice recognition acquisition device 11 and is located on the top side of the upper body, the first casing 13 is provided with a camera device 10 and is located on the front side of the upper body, the sensing component 12 Installed on the second housing 14, the induction part 12 is located on the rear side of the upper body. The concave guide grooves of the above-mentioned home care robot are located on the left and right sides of the upper body, and the humanoid arms are closed and retracted into the concave guide grooves to make them a whole.

As shown in FIGS. 2 to 4 , the above-mentioned home care robot includes a pair of humanoid arms. The humanoid arms 16 can protrude from the concave guide groove, and a guide rail 161 is arranged in the concave guide groove. The humanoid arm 16 includes The rotating part 162, the rotating part 162 moves up and down along the vertical direction of the guide rail, the rotating part 162 is inserted into the hole 160, and the guide rail 161 has two clamping positions (1611, 1612), each sliding a clamping position, the humanoid arm 16 adjusts one Height, when the rotating part 162 is located at the lowest end of the guide rail, the length of the guide rail is preferably 20cm, the humanoid arm includes a large arm 163, an elbow joint 164, a forearm 165, a wrist joint 166 and a bionic palm 167, the wrist joint 166 With more than 300° rotation, the palm can pick up items.

When the user (bedridden elderly) needs to go to the toilet, the humanoid arm of the home care robot rotates and outputs, the upper body moves forward, the upper body of the home care robot tilts forward, and the left bionic palm of the humanoid arm supports the user Upper body, the right bionic palm holds up the legs (the home care robot includes a left humanoid arm and a right humanoid arm), and the humanoid arm drags the user to the edge of the bed. Move back 40-50cm and automatically remove the mobile toilet.

When the user goes to the toilet, the forearm 165, the wrist joint 166 and the bionic palm 167 of the humanoid arm rotate and merge with the big arm 163 and move into the concave guide groove 17, or the bionic palm 167 rotates to massage and care for the user.

When the user finishes using the toilet, the left bionic palm is placed under the armpit, the right bionic palm is placed under the knee, the toilet is moved into the lower body, and the upper body of the home care robot is tilted forward to place the user on the bed.

1 to 5, the camera device 10 installed on the upper body 1, the camera device detects the height of the user, and the robot automatically adjusts the angle of the forward inclination. When the height is 160cm, the angle of the robot's forward inclination is 60°; the user's height is 170cm, and the angle of the robot's forward inclination is 170°. The above-mentioned inclination angle is the angle formed by the upper body and the ground. When the home care robot is in the state of picking up the user, the angle between the upper body and the ground is 90°; when the home care robot is slowly picking up the user, the angle between the upper body and the ground is 80°; When the user is slowly carried to the mobile toilet, the angle between the upper body and the ground is 90°, the shape is simple and flexible, and the ergonomic design is in line with the user's comfort.

The bionic arm of the above-mentioned home care robot can be adjusted in height and is flexible. It can pick up the user (the elderly) at any time, assist in turning over, and assist in going to the toilet. It can not only accompany and take care of the elderly, but also reduce the pressure of children. The upper body and the lower body are made of fiberglass. , Not easy to bend, strong corrosion resistance, long life.

1 to 7 , the mobile toilet 4 is located in the lower body 2 and can be drawn out in the horizontal direction. The mobile toilet 4 includes a toilet cover, a garbage bag sealing device under the toilet cover, and a universal pan located at the bottom of the mobile toilet 4 Wheel 42. A garbage bag sealing device is provided in the mobile toilet, including a barrel body 40, a garbage bag 41 placed in the barrel body 40, a sealing member installed on the inner side of the garbage bag sealing device, and rails 41 are provided on both sides of the mobile toilet 4 to move the toilet. The toilet 4 is drawn out from the lower body in the horizontal direction along the rail 41 .

The sealing member includes two sealing members, the first sealing member 43 and the second sealing member 44 are respectively arranged at the top end and the bottom end, the above-mentioned top end is close to the top end, the bottom end is close to the bottom end, and the distance between the first sealing member and the top end is is 1/4-1/5 of the height of the barrel, the distance between the second sealing member and the bottom end is 1/4-1/5 of the height of the barrel, the height of the barrel is preferably 21cm, and the sealing member includes a plurality of rotatable The vane 45 that retracts and rotates toward the center of the circle, and the vane 45 extends and rotates toward the center of the circle to seal the mouth of the garbage bag.

6 to 7 , when going to the toilet, start the garbage bag sealing device, and the second sealing member 44 starts to work to seal the lower mouth of the garbage bag. After going to the toilet, the second sealing member 43 works, and the blades 45 of the sealing member move toward the center of the circle. The telescopic rotation seals the mouth of the garbage bag, and the humanoid arm adjusts the angle to take out the garbage bag.

The lower body is equipped with a lidar module for real-time positioning and navigation. The lidar module includes a scanning sensor. The scanning sensor can realize 360° omnidirectional scanning and ranging detection of the surrounding environment. It is a non-contact laser ranging. Thereby a contour map of the surrounding environment is obtained.

Referring to Figures 1 to 5, the main wheel 22 is installed under the lower body, and the lidar module controls the main wheel to move to a designated position. The bridge plate device 3 and between the upper body 1 and the lower body 2, the bridge plate device is provided with a bridge plate control device for controlling the forward/backward inclination of the upper body and controlling the action of the humanoid arm, and the bridge plate control device Electrically connected to the humanoid arm. The bridge device 3 includes a movable part 31 and a base 32. The movable part 31 is fixedly connected with the upper body 1; The downward annular concave portion 21 and the movable portion 31 drive the upper body 1 to move forward/backward along the annular concave portion.

It also includes a power device. The power device is located in the lower body and behind the toilet. The power device is electrically connected to the voice recognition acquisition device, the sensing component, the bridge board control device, and the laser radar module. The power device is located on the lower body. The power device is an energy storage battery. .

The energy storage battery uses the wireless magnetic induction charging equipment, the equipment wear rate is low, the application range is wide, the area of the public charging area is relatively reduced, but the reduced area share is not too large, the technical content is high, and the operation is convenient. Relatively long-distance wireless energy conversion can be implemented, but the transmission distance of high-power wireless charging is only limited to within 5 meters, not too far, and the operation is convenient. The wireless magnetic induction charging device only needs to be gently put when not in use, the backlight will flash 5 times quickly to remind you that you have entered the charging state, eliminating the need to plug in the cable, and it can be used for 2 to 3 days in normal mode. , it will be longer if the RGB backlight is turned off.

Referring to Figures 1 to 5, a camera device 10 is provided on the front side of the upper body. The camera device 10 includes a control board and a face recognition module installed on the control board, which is used to perform face recognition on the face image acquired by the image acquisition unit. The identification is matched with the features stored in the database. If the matching is successful, the user operation information corresponding to the face image is executed, and the camera device realizes 360-degree rotation to realize real-time monitoring.

It also includes a natural language processing system and a smart sensor. The natural language processing system includes a natural language understanding part and a natural language generation part. The natural language processing system realizes intelligent dialogue and intelligent learning with users. The intelligent sensor includes a microprocessor device, including a collection module. , processing module, exchange information module.

The main goal of the natural language understanding part is to help machines better understand human language, including basic lexical, syntactic and other semantic understanding, as well as high-level understanding of needs, texts, and emotions.

The main goal of the natural language generation part is to help machines generate languages that people can understand, such as text generation, automatic summarization, etc.

Realize automatic text normalization, word segmentation, part-of-speech tagging, semantic disambiguation, pronunciation tagging, etc., eliminate the uncertainty of natural language, provide guarantee for synthesizing natural and fluent speech, and realize intelligent dialogue and intelligent learning.

The intelligent sensor has a microprocessor, which includes an acquisition module, a processing module, and an information exchange module, and has the ability to collect, process, and exchange information. The intelligent sensor stores various physical quantities detected through the acquisition module and follows the instructions. The data is processed through the processing module to generate new data, and the information exchange module conducts information exchange, and judges and decides the data that should be transmitted, discards abnormal data, completes analysis and statistical calculation, collects data, and wears excretory sensors on the bedridden elderly. Monitor bowel movements and predict when to go to the toilet.

The sensing part of the above-mentioned home care robot is provided with a microwave wireless monitoring system, including a compressed digital signal processing module for outputting an analog video signal by the user, converting the video signal into a digital microwave signal, a transmitting antenna for transmitting the microwave signal, and a receiving The microwave signal receiving antenna, through the processing module inside the microwave receiver, restores the microwave signal to a low-frequency video signal and plays it to the user. The module first encodes and compresses the digital microwave signal, modulates the high-frequency digital signal into an analog signal through the digital microwave channel, and transmits it through the transmitting antenna. The module is to restore the digital video signal to the analog video signal, and the analog video signal is a low-frequency video signal.

Among them, the conversion module is a modem of the digital microwave signal channel, and the restoration module can also realize its functions through decoding software, such as recording, playback, management, PTZ control, alarm control and other functions.

This monitoring method transmits images clearly and smoothly, without delay, without compression loss, low investment cost, simple construction, installation and debugging, long transmission distance, very good anti-interference, clear and smooth transmission images, and is suitable for transmission in various harsh environments.

The above-mentioned home care robot is specifically limited as follows: the height of the upper body is 60cm, the width is 25cm, and the thickness is 25cm, the height of the lower body is 33cm, the width is 40cm, and the thickness is 60cm, the above-mentioned height is measured along the Y direction, and the width is Measured along the X direction, the thickness is measured along the Z direction.

Compared with the prior art, the present invention can provide long-term home care for bedridden patients or users with incapacitated lower extremities, realize assisting in getting up and turning over, assisting in going to the toilet, and massage nursing, which can reduce the user's dependence on nursing staff, and is safer and more comfortable. Sick time.

Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A household care robot, characterized in that: comprises an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged at two sides of the upper body, a bridge plate device positioned between the upper body and the lower body, a movable closestool positioned in the lower body and capable of being pulled out along the horizontal direction, concave guide grooves positioned at two sides of the upper body, guide rails arranged in the concave guide grooves, and a main wheel arranged below the lower body, wherein the bridge plate device is provided with a bridge plate control device used for controlling the upper body to incline forwards/backwards and controlling the action of the humanoid arms, the humanoid arms move up and down along the vertical direction of the guide rails, the movable closestool comprises a closestool cover, a garbage bag sealing device positioned below the closestool cover and a universal wheel positioned at the bottom of the movable closestool, and the garbage bag sealing device comprises a barrel body and a garbage bag arranged in the barrel body, and the sealing piece is arranged on the inner side of the garbage bag sealing device.

2. A home care robot as claimed in claim 1, wherein: the sealing piece is close to the top end and the bottom end of the garbage bag sealing device and comprises a plurality of telescopic blades.

3. A home care robot as claimed in claim 2, wherein: the sealing piece comprises a first sealing piece and a second sealing piece, the distance from the first sealing piece to the top end is 1/4-1/5 barrel height, and the distance from the second sealing piece to the bottom end is 1/4-1/5 barrel height.

4. A home care robot as claimed in claim 1, further comprising a power means located within the lower body behind and below the mobile toilet.

5. A home care robot as claimed in claim 1, wherein: the camera device comprises a control panel and a face recognition module which is arranged on the control panel and used for carrying out face recognition on the face image acquired by the image acquisition unit, wherein the face recognition module is matched with the features stored in the database and executes user operation information corresponding to the face image.

6. A home care robot as claimed in claim 1, wherein: the microwave wireless monitoring system comprises an analog video signal output by a user, a compressed digital signal processing module for converting the analog video signal into a digital microwave signal, a transmitting antenna for transmitting the microwave signal and a receiving antenna for receiving the microwave signal.

7. A home care robot as claimed in claim 1, wherein: the intelligent interactive intelligent learning system further comprises a natural language processing system, and the natural language processing system and a user realize intelligent conversation and intelligent learning.

8. A home care robot as claimed in claim 1, wherein: the bridge plate device comprises a movable part and a base, wherein the movable part is fixedly connected with the upper body, and the movable part is movably connected with the base.

9. A home care robot as claimed in claim 8, wherein: the top of the lower body comprises an annular and downward annular concave part, and the movable part drives the upper body to move forwards/backwards along the annular concave part.

Images