CN116898313A - Intelligent nursing robot and control method thereof - Google Patents

Abstract

The application belongs to the technical field of nursing robots, and particularly relates to an intelligent nursing robot and a control method thereof.

Description

An intelligent nursing robot and its control method

Technical field

The invention belongs to the technical field of nursing robots, and in particular relates to an intelligent nursing robot and a control method thereof.

Background technique

Nursing robots are robots that provide nursing services to the sick and disabled. The daily care of the elderly and disabled people is the main difficulty currently faced, and the nursing staff cannot always be beside the person to be cared for, and the person to be cared for needs to When going to the toilet, you need to go by yourself, which makes it easy for accidents such as falls to occur.

For example, the nursing toilets disclosed in Chinese patent application numbers CN202122004225.2, CN202221846587.4, and CN201910055107.9 can be moved, making it easier for the nursing staff to move the toilet to the person to be cared for, thus reducing the work intensity of the nursing staff. However, when There are many inconveniences when the caregiver is not around, and even if the caregiver is around, it is very inconvenient to move the toilet to the person to be cared for and needs to be improved.

Contents of the invention

The purpose of the present invention is to provide an intelligent nursing robot and its control method in view of the above-mentioned technical problems, so that the nursing robot can move to the person to be cared for without the need for nursing staff, thereby further reducing the work of the nursing staff.

In view of this, the present invention provides an intelligent nursing robot, including:

Toilet assembly, the toilet assembly is provided with an armrest assembly;

The moving component is arranged on the bottom surface of the toilet component and is used to move the toilet component;

Positioning component, the positioning component is installed on the armrest component and used for positioning and movement of the toilet component;

Remote control device, the remote control device is provided with a start button and a standby button.

In this technical solution, remote control is used and the moving component is used to drive the toilet assembly to the nursing staff. This prevents the nursing staff with limited mobility from going to the bathroom to use the toilet and prevents falls in the process. At the same time, the toilet component is moving. It moves automatically under the drive of the component, so even if the caregiver is not around, it can be convenient for the caregiver with limited mobility to go to the toilet, improving convenience, and using a positioning component, which effectively improves the accuracy of the movement of the toilet component driven by the mobile component. Ensure the positioning and movement of toilet components.

In the above technical solution, further, the toilet assembly includes:

The base is installed on the mobile component, and has a footrest on the front side and a placement cavity on the back side;

Toilet cylinder, the toilet cylinder is installed on the base between the foot pedal and the placement cavity, with a toilet lid installed above, and a drain outlet on the bottom wall;

The sewage discharge box is located in the housing cavity, and has an inlet connected to the discharge port on the side, and the height is lower than the discharge port;

The water tank is installed in the housing cavity and above the sewage tank, and a temperature control device is installed in the water tank;

A flushing device is installed on the inner wall of the toilet cylinder close to the side of the placement cavity, and is equipped with a disinfection device;

The drying device is installed on the inner wall of the toilet cylinder close to the side of the placement cavity and is located on the side of the flushing device;

Among them, the top of the placement cavity is also provided with a driving device for extending or retracting the flushing device, and a cleaning key is provided on the armrest assembly.

In this technical solution, a placement cavity is opened on the rear side of the base of the nursing robot to facilitate the placement of the sewage tank and water tank inside. The sewage tank is convenient for collecting and processing the feces of the nursing staff after using the toilet, and the temperature control device, The flushing device, disinfection device and drying device facilitate cleaning, sterilization and drying after using the toilet, improving the comfort of use.

In the above technical solution, further, the mobile components include:

Shell, the bottom surface of the base is provided with an installation slot that matches the shell, and the shell is embedded in the installation slot;

The bottom shell is installed on the bottom surface of the shell;

There are two driving wheels, and they are respectively installed on the bottom shell, and the bottom shell is provided with a first slot corresponding to the driving wheel, and the bottom end of the driving wheel protrudes from the first slot;

There are two drive motors, each of which is installed on the bottom shell and used to drive the two drive wheels;

Among them, the two driving wheels are coaxially arranged.

In this technical solution, by using two driving wheels and corresponding driving motors, it is convenient for the mobile component (i.e. toilet component) to move forward, turn and rotate on the spot. Specifically, when the rotation direction and speed of the two driving wheels are in phase, At the same time, the mobile component moves forward or backward; when the two drive wheels rotate in the same direction but at different speeds, the mobile component turns left or right; when the two drive wheels rotate in different directions and at the same speed, the mobile component rotates in place; improve Convenient movement control of mobile components and convenient and accurate mobile positioning.

In the above technical solution, further, the mobile component also includes:

Universal wheels, there are four universal wheels, and they are located at the four corners of the bottom shell;

The bottom shell is provided with a second slot corresponding to the universal wheel, and the bottom end of the universal wheel protrudes from the second slot.

In this technical solution, universal wheels are provided to improve the movement of the mobile component, especially the stability of the mobile component when turning and rotating.

In the above technical solution, further, the positioning component includes:

Scanning terminal, the scanning terminal is installed on the handrail assembly, and has a scanning module, an analysis module, and a feedback module inside;

There are multiple instruction stickers, which are installed on the set route and used to instruct the mobile component to move on the set route;

The control host is installed in the placement cavity and is used to receive the instructions obtained by the scanning terminal from the instruction sticker, analyze the instructions and then drive the drive motor;

Among them, the scanning module is used to scan and obtain the information on the instruction sticker, the parsing module is used to parse the information on the instruction sticker, and the feedback module is used to feed back the parsed information to the control host.

In this technical solution, the information recorded on the instruction sticker is obtained by scanning the terminal, and is analyzed and transmitted to the control host. The control host drives the drive motor to execute, ensuring better control effects, and effectively ensuring that the mobile components can move along the device. Move along a certain route to reduce the possibility of collisions during the movement of the moving components.

In the above technical solution, further, it also includes:

The avoidance component is installed in the base and is used to avoid obstacles when the mobile component moves on the set route and return to the set route;

Among them, avoidance components include:

Sensor, the sensor is installed on the side of the base and is used to sense whether there are obstacles around the mobile component;

The distance measuring device is installed on the bottom case and is used to detect the deviation distance of the mobile component on the set route, and use this to return to the set route.

In this technical solution, by setting up the avoidance component, the collision of the mobile component during movement can be avoided. Although the mobile component moves through the set route, there will inevitably be some obstructions on the set route. Therefore, through the base The sensors on the surrounding sides can avoid the possibility of collision of the mobile components and improve the safety of travel. At the same time, a distance measuring device is used to facilitate the mobile components to return to the set route in time after avoiding obstacles, thereby improving positioning. The precise effect of movement prevents deviation and prevents the moving components from reaching the caregiver.

In the above technical solution, further, the distance measuring device includes:

The roller is installed on the bottom shell, and the bottom shell is provided with a third slot corresponding to the roller, and the third slot extends from the bottom end of the roller;

Counting device, the counting device is installed on the roller and is used to record the number of turns of the roller and feed it back to the control host.

In this technical solution, by using rollers and counting devices, it is easy to measure the distance deviating from the set route, and use this value to return to the set route, thereby improving the stability of the moving accuracy of the mobile component.

In the above technical solution, further, the distance measuring device further includes:

Bracket, the bracket is installed on the bottom shell;

Support plate, one end of the support plate is connected with the bearing between the rollers, and the other end is hingedly connected with the bracket;

Anti-skid structure, the anti-skid structure is installed between the bracket and the support plate, and is used to prevent the roller from slipping when measuring distance.

In this technical solution, the stability of the rollers is improved by setting brackets and support plates, and an anti-skid structure is adopted, so that the rollers can stay close to the ground to prevent slipping, thereby improving the accuracy of measuring the distance deviating from the set route and ensuring the accuracy of the measurement. stability.

In the above technical solution, further, the anti-skid structure includes:

The first pillar is installed on the surface of the bracket;

The second pillar is installed at the hinged connection between the support plate and the bracket;

The third pillar is mounted on the support plate;

The clip strips have clip slots on the surface of the first pillar, the second pillar and the third pillar, and the clip strips are embedded in the card slots, and the clip strips are S-shaped and elastic;

Counterbore, the counterbore is opened on the bottom of the bracket;

Top column, one end of the top column is hingedly connected to the support plate, and the other end extends into the countersunk hole;

Spring, the spring is installed in the countersunk hole, and its two ends are in contact with the countersunk hole and the top column respectively;

Among them, the support plate is arranged at an angle, and the clips and springs are both in a compressed state.

In this technical solution, through the first pillar, the second pillar, the third pillar and the S-shaped clip, a downward rotation force is exerted on the hinged joint between the support plate and the bracket to exert a downward rotation force on the inclined support plate, and then The rollers are urged to be close to the ground under the action of the support plate to prevent slipping, and the settings of the counterbore, top post and spring exert a downward force on the support plate, which further promotes the roller to be able to be close to the ground under the action of the support plate. Close to the ground, it further has an anti-slip effect and ensures accurate measurement of the distance deviating from the set route.

In the above technical solution, further, the control method includes the following steps:

S1: The caregiver presses the start button to control the host to receive the signal and start each component;

S2: The scanning terminal scans to acquire, parses and feeds back the information in the indication sticker to the control host. After the control host receives and parses the feedback information, it controls the mobile component to advance a distance X according to the information in the indication sticker;

S3: The sensor senses whether there are obstacles ahead:

If there are no obstacles, repeat S2-S3 until the set position is reached. The control host controls the mobile component to stop moving and lock the driving wheel, and enters S4;

If there are obstacles:

(1) The control host controls the mobile component to stop moving forward, and records the distance X1 that has moved since the information fed back by the previous scanning terminal, and at the same time controls the mobile component to rotate 90° and then stop;

(2) Control the host to control the moving component to advance until the sensor on the side of the base detects no obstacles, record the advancing distance Y, and control the moving component to rotate 90° and then stop;

(3) Control the host to control the moving component to advance until the sensor on the side of the base detects no obstacles, and records the advancing distance X2, and at the same time controls the moving component to rotate 90° and then stop;

(4) After the control host controls the moving component to advance the distance Y, it controls the moving component to rotate 90° and then stop;

(5) After the control host controls the moving component to advance distance X3 =

S4: The control host controls the opening of the toilet seat;

S5: The nursing staff presses the cleaning button on the armrest assembly, and the driving device drives the flushing device to extend for cleaning;

S6: The nursing staff presses the standby button, and the control host controls the toilet seat to close, and controls the mobile component to return to the standby point;

Among them, the rotation directions of the mobile components in (1) and (2) and the rotation directions of the mobile components in (3) and (4) are all opposite, and the rotation directions of the mobile components in (1) and (4) and (4) are opposite. The rotation directions of the mobile components in 2) and (3) are the same, and the method of returning the mobile component to the standby point in S6 is the same as S2-S3.

In this technical solution, the caregiver only needs to press the start button, and the care robot can automatically come to the caregiver (or bedside), and during the automatic movement, if it encounters obstacles, it can deviate. , bypassing obstacles and returning to the set route to ensure accurate movement to the caregiver. After the caregiver goes to the toilet, press the clean button to clean and disinfect the caregiver and the toilet. and drying, and after the caregiver presses the standby button, the care robot automatically returns to the standby point, thereby effectively solving the problem of inconvenience for people with mobility issues to use the toilet. At the same time, the caregiver does not need to be around at all times, reducing the burden of the caregiver. Intensity of work.

The beneficial effects of the present invention are:

1. Using remote control, the mobile component is driven to automatically bring the toilet component to the nursing staff, preventing the nursing staff with limited mobility from going to the bathroom to use the toilet, preventing falls midway, and making it easier for the nursing staff to move even if the nursing staff is not around. It is inconvenient for the nursing staff to use the toilet to improve convenience, and the use of positioning components improves the accuracy of the movement of the toilet component driven by the moving component, ensuring that the toilet component can accurately come to the nursing staff (or bedside) .

2. Scan the terminal to obtain the information recorded on the instruction sticker, analyze it and transmit it to the control host. The control host drives the motor to execute, ensuring better control effects and ensuring that the mobile components can move along the set route and reduce movement. The possibility of collision during component movement.

3. The avoidance component can prevent the mobile component from colliding during the movement. Although the mobile component moves through the set route, some obstructions will inevitably appear on the set route. Through the induction of the sensors on the sides of the base, It avoids the possibility of collision of the mobile components and improves the safety of travel. At the same time, the distance measuring device is used to facilitate the mobile components to return to the set route in time after avoiding obstacles, improve the precise effect of positioning and movement, and prevent deviation and affect the movement. The components arrive at the patient's side (or bedside).

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention from a first perspective;

Figure 2 is a schematic structural diagram of the present invention from a second perspective;

Figure 3 is a cross-sectional view of the present invention;

Figure 4 is a cross-sectional view of the mobile component of the present invention located at the distance measuring device;

Figure 5 is an enlarged view of position A in Figure 4 of the present invention;

Figure 6 is a schematic diagram of the application of the present invention;

Figure 7 is a flow chart of the control method during avoidance according to the present invention;

The marks in the figure are as follows: 1. Toilet assembly; 10. Base; 100. Foot pedal; 101. Installation cavity; 11. Toilet cylinder; 12. Toilet lid; 13. Drainage outlet; 14. Sewage tank; 15. Water tank ; 16. Washing device; 17. Drying device; 18. Driving device; 2. Armrest assembly; 20. Cleaning key; 21. Front feet; 22. Rear feet; 220. Fixed part; 221. Telescopic part; 23. Backrest 3. Moving component; 30. Housing; 31. Installation slot; 32. Bottom case; 33. Driving wheel; 34. First slot; 35. Driving motor; 36. Universal wheel; 37. Second slot hole; 4. Positioning component; 40. Scanning terminal; 41. Command sticker; 5. Remote control device; 60. Sensor; 61. Roller; 62. Third slot; 63. Counting device; 630. Proximity switch sensor; 631 , induction plate; 64, bracket; 65, support plate; 66, anti-skid structure; 660, first pillar; 661, second pillar; 662, third pillar; 663, clip; 664, countersunk hole; 665, top Column; 666, spring.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of this application.

Example 1:

This embodiment provides an intelligent nursing robot, including:

Toilet assembly 1, the toilet assembly 1 is provided with an armrest assembly 2;

The moving component 3 is provided on the bottom surface of the toilet component 1 and is used to move the toilet component 1;

Positioning assembly 4, the positioning assembly 4 is installed on the armrest assembly 2 and is used for positioning and moving the toilet assembly 1;

Remote control device 5, the remote control device 5 is provided with a start button and a standby button;

Among them, the specific structure of the remote control device 5 is based on existing technology, and preferably uses infrared wireless signal transmission. At the same time, the armrest assembly 2 is also provided with a receiving module for receiving infrared wireless signals;

At the same time, the armrest assembly 2 is adjustable and specifically includes front legs 21 located on both sides of the toilet assembly 1, rear legs 22 located on both sides of the toilet assembly 1 and intersecting the front legs 21, and between the rear sides of the two front legs 21 The backrest 23 is connected, and the two rear legs 22 are telescopic structures, including a fixed part 220 and a telescopic part 221, and the telescopic part 221 is driven by an electric telescopic rod to extend or retract, and the positioning assembly 4 is installed on the backrest 23 , the cleaning key 20 is located at the telescopic part 221.

It can be seen from this embodiment that by using remote control and driving the toilet assembly 1 through the mobile component 3 to come to the nursing staff, the nursing staff with limited mobility can avoid going to the bathroom to use the toilet, and prevent falls midway. At the same time, the toilet The component 1 moves automatically driven by the mobile component 3, so even if the caregiver is not around, it can facilitate the disabled caregiver to go to the toilet, improving convenience, and the use of the positioning component 4 effectively improves the positioning of the toilet component 1 in the mobile component 3 The accuracy of the movement under the drive ensures the positioning movement of the toilet assembly 1.

Example 2:

This embodiment provides an intelligent nursing robot, which in addition to the technical solutions of the above embodiments, also has the following technical features. The toilet assembly 1 includes:

The base 10 is installed on the mobile component 3, and has a footrest 100 on the front side and a placement cavity 101 on the back side;

Toilet cylinder 11 is installed on the base 10 between the footrest 100 and the placement cavity 101, with a toilet lid 12 installed above, and a drain port 13 on the bottom wall;

The sewage box 14 is located in the placement cavity 101, and has an inlet connected to the discharge port 13 on the side, and the height is lower than the discharge port 13;

Water tank 15, the water tank 15 is installed in the placement cavity 101 and is located above the sewage tank 14, and a temperature control device is installed in the water tank 15;

The flushing device 16 is installed on the inner wall of the toilet cylinder 11 near the placement cavity 101, and is provided with a disinfection device;

Drying device 17, the drying device 17 is installed on the inner wall of the toilet cylinder 11 near the placement cavity 101, and is located on the side of the flushing device 16;

Among them, the top of the placement cavity 101 is also provided with a driving device 18 for extending or retracting the flushing device 16, and a cleaning key 20 is provided on the armrest assembly 2;

At the same time, the temperature control device preferably uses an electric heater (i.e., an electric heating tube), and the water tank 15 is also equipped with a thermometer for detecting the water temperature, and automatically starts the electric heater after the temperature drops, and turns off the electric heater after reaching the set temperature. heater;

The disinfection device preferably uses an ultraviolet disinfection lamp, that is, it opens immediately after the flushing device 16 is extended from the driving device 18, and then closes after it is retracted;

The flushing device 16 and the water tank 15 are connected through a water pipe, and a micro water pump is provided between them, and the driving device 18 preferably uses an electric telescopic rod;

The drying device 17 preferably adopts air drying, and specifically includes a fan and an electric heating wire arranged at the air outlet of the fan;

The sewage box 14 is also provided with a sewage outlet, and the sewage outlet is connected to a micro sewage pump (preferably a reciprocating pump). Specifically, the nursing staff regularly drains and cleans the sewage box 14 every day to ensure the continuous use of the nursing robot.

It can be seen from this embodiment that by opening the placement cavity 101 on the rear side of the base 10 of the nursing robot, it is convenient to place the sewage tank 14 and the water tank 15 inside, and the sewage tank 14 is convenient for collecting and processing the feces of the nursing staff after using the toilet. , and the temperature control device, flushing device 16, disinfection device and drying device 17 facilitate cleaning, sterilization and drying after using the toilet, improving the comfort of use.

Example 3:

This embodiment provides an intelligent nursing robot. In addition to the technical solutions of the above embodiments, it also has the following technical features. The mobile component 3 includes:

The bottom surface of the shell 30 and the base 10 is provided with a mounting slot 31 that matches the shell 30, and the shell 30 is embedded in the mounting slot 31;

The bottom shell 32 is installed on the bottom surface of the housing 30;

There are two driving wheels 33, and they are respectively installed on the bottom shell 32, and the bottom shell 32 is provided with a first slot 34 corresponding to the driving wheel 33, and the bottom end of the driving wheel 33 extends out of the first slot 34. slot 34;

There are two drive motors 35, which are respectively installed on the bottom case 32 and used to drive the two drive wheels 33;

Among them, the two driving wheels 33 are coaxially arranged and preferably located in the middle of the bottom shell 32; and the driving wheels 33 are preferably covered with rubber sleeves to increase friction with the ground to prevent slipping, and the driving motor 35 is preferably equipped with a rubber sleeve. Servo motor with self-locking when power off.

It can be seen from this embodiment that by using two driving wheels 33 and the corresponding driving motor 35, it is convenient for the mobile assembly 3 (ie, the toilet assembly 1) to move forward, turn, and rotate on the spot. Specifically, when the two driving wheels 33 When the rotation direction and speed are the same, the mobile component 3 moves forward or backward; when the two drive wheels 33 rotate in the same direction but at different speeds, the mobile component 3 turns left or right; when the two drive wheels 33 rotate in different directions, the rotation speed At the same time, the mobile component 3 rotates on the spot; thereby improving the convenience of movement control of the mobile component 3 and the convenience and accuracy of mobile positioning.

Example 4:

This embodiment provides an intelligent nursing robot. In addition to the technical solutions of the above embodiments, it also has the following technical features. The mobile component 3 also includes:

Universal wheels 36, there are four universal wheels 36, and they are respectively located at the four corners of the bottom shell 32;

The bottom shell 32 is provided with a second slot 37 corresponding to the universal wheel 36 , and the bottom end of the universal wheel 36 extends out of the second slot 37 .

It can be seen from this embodiment that by providing the universal wheel 36, the movement of the mobile component 3 is improved, especially the stability of the mobile component 3 when turning and rotating.

Example 5:

This embodiment provides an intelligent nursing robot. In addition to the technical solutions of the above embodiments, it also has the following technical features. The positioning component 4 includes:

Scanning terminal 40, the scanning terminal 40 is installed on the armrest assembly 2, and is equipped with a scanning module, an analysis module, and a feedback module inside;

Instruction stickers 41, there are multiple instruction stickers 41, installed on the set route, and used to instruct the mobile component 3 to move on the set route;

The control host is installed in the placement cavity 101 and is used to receive the instructions obtained by the scanning terminal 40 from the instruction sticker 41, and to drive the drive motor 35 after parsing the instructions;

Among them, the scanning module is used to scan and obtain the information on the instruction sticker 41, the parsing module is used to parse the information on the instruction sticker 41, and the feedback module is used to feed back the parsed information to the control host;

At the same time, there are instruction strips on the ground corresponding to the set route, thereby subjectively effectively reducing obstacles on the set route in daily life, and the instructions on the instruction sticker 41 are preferably recorded using QR codes. , and contains at least one operation instruction, which can be as follows: forward distance L1; backward distance L2; turn K1° to the left; turn K2° to the right; and there are two set routes, one from the standby point to the standby point. Next to the nursing staff (beside the bed), the other is the other way around. The two set routes do not overlap or intersect; and both the start button and the standby button have operating instructions, that is, when the start button is pressed, the moving component 3 advances the distance L3, and the line Go to the bottom of the first instruction sticker 41 that goes to the side of the nursing staff, press the standby button, move the component 3 forward the distance L4, and go to the bottom of the first instruction sticker 41 that goes to the standby point.

It can be seen from this embodiment that the information recorded on the instruction sticker 41 is obtained through the scanning terminal 40 and is parsed and transmitted to the control host. The control host drives the drive motor 35 for execution, ensuring better control effects and effectively ensuring the movement of components. 3 can move along the set route, reducing the possibility of collision during the movement of the mobile component 3.

Example 6:

This embodiment provides an intelligent nursing robot, which in addition to the technical solutions of the above embodiments, also has the following technical features, including:

The avoidance component is installed in the base 10 and is used to avoid obstacles when the mobile component 3 moves on the set route and return to the set route;

Among them, avoidance components include:

Sensor 60, the sensor 60 is installed on the side of the base 10, and is used to sense whether there are obstacles around the mobile component 3;

The distance measuring device is installed on the bottom shell 32 and is used to detect the deviation distance of the mobile component 3 on the set route, and use it to return to the set route;

At the same time, the sensor 60 preferably adopts an infrared sensor 60 .

It can be seen from this embodiment that by setting the avoidance component, the mobile component 3 can be prevented from colliding during the movement. Although the mobile component 3 moves through the set route, there will inevitably be some obstructions on the set route. Therefore, through the induction of the sensors 60 on the sides of the base 10, the possibility of collision of the mobile component 3 is avoided, and the safety of traveling is improved. At the same time, a distance measuring device is used to facilitate the mobile component 3 to return to the setting in time after avoiding obstacles. on the route, thereby improving the precise effect of positioning and movement, preventing deviation and affecting the mobile component 3 from reaching the nursing staff.

Example 7:

This embodiment provides an intelligent nursing robot. In addition to the technical solutions of the above embodiments, it also has the following technical features. The ranging device includes:

Roller 61, the roller 61 is installed on the bottom shell 32, and the bottom shell 32 is provided with a third slot 62 corresponding to the roller 61, and the third slot 62 extends from the bottom end of the roller 61;

Counting device 63, the counting device 63 is installed on the roller 61 and is used to record the number of turns of the roller 61 and feed it back to the control host;

Among them, there are preferably two distance measuring devices, respectively located at the front and rear sides of the driving wheel 33 along the forward direction; the roller 61 is preferably covered with a rubber sleeve to increase friction with the ground and prevent slipping, and the counting device 63 It is preferable to use the proximity switch sensor 630 and the induction plate 631 for triggering, and the induction plate 631 is preferably multiple, and the circumference is equally spaced on the axial surface of the roller 61. Specifically, after the moving assembly 3 travels for a certain distance, this section Distance = number of inductions obtained ÷ number of induction plates 631 × circumference of the roller 61.

It can be seen from this embodiment that by using the roller 61 and the counting device 63, it is easy to measure the distance deviating from the set route, and use this value to return to the set route, thereby improving the stability of the movement accuracy of the mobile component 3; at the same time, using Between the two distance measuring devices, the distance measurement result takes the larger value, thereby effectively reducing the data deviation caused by the slippage of the roller 61 and improving the accuracy of the distance measurement results.

Example 8:

This embodiment provides an intelligent nursing robot. In addition to the technical solution of the above embodiment, it also has the following technical features. The ranging device also includes:

Bracket 64, bracket 64 is installed on the bottom shell 32;

Support plate 65, one end of the support plate 65 is bearing-connected to the roller 61, and the other end is hinge-connected to the bracket 64;

The anti-skid structure 66 is installed between the bracket 64 and the support plate 65 and is used to prevent the roller 61 from slipping when measuring distance.

It can be seen from this embodiment that by arranging the bracket 64 and the support plate 65, the stability of the roller 61 is improved, and the anti-skid structure 66 is adopted, so that the roller 61 can be close to the ground to prevent slipping, thereby improving the accuracy of deviation from the set route distance. Accurate measurement to ensure measurement stability.

Example 9:

This embodiment provides an intelligent nursing robot. In addition to the technical solutions of the above embodiments, it also has the following technical features. The anti-skid structure 66 includes:

The first pillar 660 is installed on the surface of the bracket 64;

The second pillar 661 is installed at the hinged connection between the support plate 65 and the bracket 64;

The third pillar 662 is installed on the support plate 65;

The clamping strip 663 has clamping slots on the surface of the first pillar 660, the second pillar 661 and the third pillar 662. The clamping strip 663 is embedded in the clamping slot, and the clamping strip 663 is S-shaped and elastic;

Counterbore 664 is provided on the bottom surface of bracket 64;

Top post 665, one end of the top post 665 is hingedly connected to the support plate 65, and the other end extends into the countersunk hole 664;

Spring 666 is installed in the counterbore 664, and its two ends are in contact with the counterbore 664 and the top column 665 respectively;

Among them, the support plate 65 is arranged at an angle, and the clamping strip 663 and the spring 666 are both in a compressed state.

It can be seen from this embodiment that through the first pillar 660 , the second pillar 661 , the third pillar 662 and the S-shaped clip 663 , the support plate 65 is tilted at the hinge joint between the support plate 65 and the bracket 64 . The force of downward rotation urges the roller 61 to be close to the ground under the action of the support plate 65 to prevent slipping. The counterbore 664, the top post 665 and the spring 666 are arranged to press down the support plate 65. force, which further promotes the roller 61 to be close to the ground under the action of the support plate 65, further achieving an anti-slip effect and ensuring accurate measurement of the distance deviating from the set route.

Example 10:

This embodiment provides an intelligent nursing robot, which in addition to the technical solutions of the above embodiments, also has the following technical features. The control method includes the following steps:

S1: The caregiver presses the start button through the remote control device 5 to control the host to receive the signal and start each component;

S2: The scanning terminal 40 scans, acquires, parses and feeds back the information in the instruction sticker to the control host. After the control host receives and analyzes the feedback information, it controls the mobile component 3 to advance the distance X according to the information in the instruction sticker;

S3: The sensor 60 senses whether there are obstacles ahead:

If there are no obstacles, repeat S2-S3 until the set position is reached. The control host controls the moving component 3 to stop moving and lock the driving wheel 33, and enters S4;

If there are obstacles:

(1) The control host controls the mobile component 3 to stop moving forward, and records the distance X1 that has moved since the information fed back by the previous scanning terminal 40, and at the same time controls the mobile component 3 to rotate 90° and then stop;

(2) The control host controls the moving component 3 to advance until the sensor 60 on the side of the base 10 detects that there is no obstacle, records the advancing distance Y, and at the same time controls the moving component 3 to rotate 90° and then stop;

(3) The control host controls the moving component 3 to advance until the sensor 60 on the side of the base 10 detects that there is no obstacle, and records the advancing distance X2, and at the same time controls the moving component 3 to rotate 90° and then stop;

(4) After the control host controls the moving component 3 to advance the distance Y, it controls the moving component 3 to rotate 90° and then stop;

(5) After the control host controls the moving component 3 to advance distance X3 =

S4: The control host controls the opening of the toilet seat 12;

S5: The caregiver presses the cleaning button 20 on the armrest assembly 2, and the driving device 18 drives the flushing device 16 to extend for cleaning;

S6: The nursing staff presses the standby button, and the control host controls the toilet seat 12 to close, and controls the mobile component 3 to return to the standby point;

Among them, the rotation directions of the mobile component 3 in (1) and (2) and the rotation directions of the mobile component 3 in (3) and (4) are opposite respectively, and the rotation directions of the mobile component 3 in (1) and (4) are opposite. The direction and the rotation direction of the mobile component 3 in (2) and (3) are respectively the same, and the method of returning the mobile component 3 to the standby point in S6 is the same as that in S2-S3; and specifically preferably the mobile component in (1) and (4) The rotation direction of 3 is clockwise, and the rotation direction of the moving component 3 in (2) and (3) is counterclockwise;

At the same time, there are two actual situations when avoiding obstacles, specifically:

1: The obstacle is located below the instruction sticker 41, which will lead to the situation of device, when encountering

2: In the above (2), (3) and (4), the sensor 60 on the front side of the base 10 detects an obstacle:

① When in the above (2), the sensor 60 on the front side of the base 10 detects an obstacle, and controls the host to record Y1 at this time, and controls the mobile component 3 to rotate 90° counterclockwise, retreat distance X1′, and record, and then Control the moving component 3 to rotate 90° clockwise and advance the distance Y2, and record it. At the same time, control the moving component 3 to rotate 90° counterclockwise and stop, entering (3), and at this time X3 = X-(X1+(-X1′)+ X2), when X3 is a negative number, manual operation is performed;

② When in the above (3), the sensor 60 on the front side of the base 10 detects an obstacle, and the control host records X2 at this time, and controls the mobile component 3 to rotate 90° clockwise, advance the distance Y3, and record it, while controlling The moving component 3 rotates 90° counterclockwise and advances the distance X2′, and records it. At the same time, the moving component 3 is controlled to rotate 90° counterclockwise and then stops, entering (4), and at this time X3=X-(X1+X2+X2′) , when X3 is negative at this time, manual operation is performed;

③When in the above (4), the sensor 60 on the front side of the base 10 detects an obstacle, and the control host records Y4 at this time, and controls the mobile component 3 to rotate 90° clockwise, advance distance X3′, and record, at the same time Control the moving component 3 to rotate 90° counterclockwise and advance the distance Y5, and record it. At the same time, control the moving component 3 to rotate 60° counterclockwise and then stop. Enter (5), and at this time, X3=X-(X1+X2+X3′ ), if X3 is negative at this time, manual operation will be performed;

The above X is the distance that needs to be traveled according to the instruction. X1, X1′, X2, X2′ and X3′ are all the actual distance traveled along the set route. The difference in the amount of distance the command travels.

It can be seen from this embodiment that the caregiver only needs to press the start button, and the care robot can automatically come to the caregiver (or bedside), and during the automatic movement, if it encounters obstacles, it can Deviate, bypass obstacles and return to the set route to ensure accurate movement to the nursing staff. After the nursing staff goes to the toilet, press the cleaning button 20 to clean the nursing staff and the toilet. , disinfect and dry, and after the caregiver presses the standby button, the care robot automatically returns to the standby point, thereby effectively solving the problem of inconvenient toilet use for people with limited mobility, and at the same time, the caregiver does not need to be around at all times, reducing the need for care. Work intensity of personnel.

The embodiments of the present application are described above in conjunction with the accompanying drawings. The embodiments and features in the embodiments can be combined with each other without conflict. The present application is not limited to the above-mentioned specific implementations. The above-mentioned specific embodiments are only illustrative and not restrictive. Under the inspiration of this application, those of ordinary skill in the art can also make other modifications without departing from the purpose of this application and the scope protected by the claims. Many forms fall within the protection of this application.

Claims (10)

1. An intelligent care robot, characterized by comprising:

the toilet bowl comprises a toilet bowl assembly (1), wherein the toilet bowl assembly (1) is provided with a handrail assembly (2);

the moving assembly (3) is arranged on the bottom surface of the toilet assembly (1) and is used for moving the toilet assembly (1);

a positioning assembly (4), the positioning assembly (4) being mounted on the armrest assembly (2) and being used for positioning movement of the toilet assembly (1);

and the remote control device (5) is provided with a start key and a standby key.

2. The intelligent care robot according to claim 1, characterized in that the toilet assembly (1) comprises:

the base (10), the base (10) is installed on the movable assembly (3), the front side is provided with a pedal part (100), and the rear side is provided with a placement cavity (101);

the toilet comprises a toilet bowl body (11), wherein the toilet bowl body (11) is arranged on a base (10) between a pedal part (100) and a placement cavity (101), a toilet cover (12) is arranged above the toilet bowl body, and a drain opening (13) is formed in the bottom wall of the toilet bowl body;

the sewage draining box (14) is arranged in the arranging cavity (101), an inlet communicated with the draining port (13) is formed in the side face of the sewage draining box (14), and the sewage draining box is arranged lower than the draining port (13);

the water tank (15) is arranged in the arranging cavity (101) and is positioned above the sewage draining box (14), and a temperature control device is arranged in the water tank (15);

a flushing device (16), wherein the flushing device (16) is arranged on the inner wall of one side of the toilet bowl (11) close to the placement cavity (101) and is provided with a disinfection device;

a drying device (17), wherein the drying device (17) is arranged on the inner wall of one side of the toilet bowl (11) close to the placement cavity (101) and is positioned at the side surface of the flushing device (16);

wherein, the top of the placement cavity (101) is also provided with a driving device (18) for extending or retracting the flushing device (16), and a cleaning key (20) is arranged on the handrail component (2).

3. The intelligent care robot according to claim 2, characterized in that the moving assembly (3) comprises:

the base comprises a shell (30), wherein a mounting groove (31) matched with the shell (30) is formed in the bottom surface of the base (10), and the shell (30) is embedded in the mounting groove (31);

a bottom shell (32), wherein the bottom shell (32) is arranged on the bottom surface of the shell (30);

the two driving wheels (33) are respectively arranged on the bottom shell (32), the bottom shell (32) is provided with first slotted holes (34) which are arranged corresponding to the driving wheels (33), and the bottom ends of the driving wheels (33) extend out of the first slotted holes (34);

the driving motors (35), the driving motors (35) are two, are respectively arranged on the bottom shell (32), and are respectively used for driving the two driving wheels (33);

wherein the two drive wheels (33) are coaxially arranged.

4. A smart care robot according to claim 3, characterized in that the moving assembly (3) further comprises:

the universal wheels (36) are four, and are respectively positioned at four corners of the bottom shell (32);

the bottom shell (32) is provided with a second slotted hole (37) which is arranged corresponding to the universal wheel (36), and the bottom end of the universal wheel (36) extends out of the second slotted hole (37).

5. The intelligent care robot according to claim 2, characterized in that the positioning assembly (4) comprises:

the scanning terminal (40) is arranged on the handrail component (2), and a scanning module, an analysis module and a feedback module are arranged in the scanning terminal (40);

a plurality of instruction stickers (41), wherein the instruction stickers (41) are arranged on a set route and used for instructing the moving component (3) to move on the set route;

the control host is arranged in the arranging cavity (101) and is used for receiving the instruction acquired by the scanning terminal (40) from the instruction sticker (41) and driving the driving motor (35) after analyzing the instruction;

the scanning module is used for scanning and acquiring information on the instruction sticker (41), the analyzing module is used for analyzing the information on the instruction sticker (41), and the feedback module is used for feeding the analyzed information back to the control host.

6. The intelligent care robot of claim 3, further comprising:

the avoidance assembly is arranged in the base (10) and is used for avoiding the obstacle when the moving assembly (3) moves on a set route and returning to the set route;

wherein dodge the subassembly and include:

the inductor (60) is arranged on the side surface of the base (10) and is used for inducing whether barriers exist around the moving assembly (3);

and the distance measuring device is arranged on the bottom shell (32) and is used for detecting the deviation distance of the moving assembly (3) on a set route and returning to the set route.

7. The intelligent care robot of claim 6, wherein the ranging device comprises:

the roller (61) is arranged on the bottom shell (32), a third slot hole (62) which is arranged corresponding to the roller (61) is formed in the bottom shell (32), and the bottom end of the roller (61) extends out of the third slot hole (62);

and the counting device (63) is arranged on the roller (61) and is used for recording the rotating circle number of the roller (61) and feeding back the rotating circle number to the control host.

8. The intelligent care robot of claim 7, wherein the ranging device further comprises:

a bracket (64), the bracket (64) being mounted on the bottom shell (32);

the support plate (65), one end of the support plate (65) is connected with the roller (61) through a bearing, and the other end of the support plate is hinged with the bracket (64);

and the anti-slip structure (66) is arranged between the bracket (64) and the supporting plate (65) and is used for slipping during distance measurement of the roller (61).

9. The intelligent care robot of claim 8, wherein the slip prevention structure (66) comprises:

a first strut (660), the first strut (660) being mounted to a surface of the bracket (64);

a second strut (661), the second strut (661) being mounted at the hinge connection of the support plate (65) and the bracket (64);

a third strut (662), the third strut (662) being mounted on a support plate (65);

the clamping strips (663) are respectively arranged on the surfaces of the first support column (660), the second support column (661) and the third support column (662), the clamping strips (663) are embedded into the clamping grooves, and the clamping strips (663) are S-shaped and have elasticity;

the counter bore (664) is formed in the bottom surface of the bracket (64);

the top column (665), one end of the top column (665) is hinged with the supporting plate (65), and the other end of the top column stretches into the counter bore (664);

the spring (666) is arranged in the counter bore (664), and two ends of the spring (666) are respectively abutted against the counter bore (664) and the jacking column (665);

wherein, backup pad (65) slope sets up, and card strip (663) and spring (666) are in the pressurized state.

10. The intelligent care robot according to any one of claims 1 to 9, wherein the control method comprises the steps of:

s1: when a nursing staff presses a start key, the control host receives signals and starts all components;

s2: the scanning terminal (40) scans, acquires, analyzes and feeds back information in the indication sticker to the control host, and after the control host receives the analysis of the fed-back information, the control mobile component (3) advances by a distance X according to the information in the indication sticker;

s3: the sensor (60) senses whether an obstacle exists in front of the travel:

if no obstacle exists, repeating the steps S2-S3 until the set position is reached, controlling the moving assembly (3) to stop moving the locking driving wheel (33) by the control host, and entering the step S4;

if there is an obstacle:

the control host controls the moving assembly (3) to stop advancing, records the distance X1 which is moved from the information fed back by the last scanning terminal (40), and simultaneously controls the moving assembly (3) to rotate for 90 degrees and then stop;

secondly, the control host controls the moving assembly (3) to advance until an inductor (60) at the side surface of the base (10) detects no obstacle, the advancing distance Y is recorded, and meanwhile, the moving assembly (3) is controlled to stop after rotating for 90 degrees;

the control host controls the moving assembly (3) to advance until an inductor (60) at the side surface of the base (10) detects no obstacle, records the advancing distance X2 and simultaneously controls the moving assembly (3) to stop after rotating by 90 degrees;

fourthly, after the control host controls the moving assembly (3) to advance by a distance Y, the control host controls the moving assembly (3) to rotate by 90 degrees and then stop;

(V) after the control host controls the moving assembly (3) to advance by the distance X3=X-X1-X2, repeating S2-S3 until reaching the set position, controlling the moving assembly (3) to stop moving the locking driving wheel (33) by the control host, and entering S4;

s4: the control host controls the toilet cover (12) to be opened;

s5: the cleaning key (20) on the armrest assembly (2) is pressed by a nursing staff, and the driving device (18) drives the flushing device (16) to extend out for cleaning;

s6: when a nursing staff presses a standby key, the control host controls the toilet cover (12) to be closed and controls the movable assembly (3) to return to a standby point;

the rotation directions of the moving component (3) in the first and the second and the rotation direction of the moving component (3) in the third and the fourth are opposite, the rotation directions of the moving component (3) in the first and the fourth and the rotation direction of the moving component (3) in the second and the third are the same, and the method for returning the moving component (3) to the standby point in the S6 is the same as that of the S2-S3.