Nursing system with post-defecation flushing device and control method thereof

Abstract

The present application relates to the technical field of medical care equipment, and discloses a care system with a post-defecation flushing device and a control method thereof, including a bed body, an opening and closing device, a leg-lifting device, a cleaning device and a control unit. When it is necessary to clean the excretion area of ​​the person being cared for, the caregiver opens the closure to expose the cleaning port, starts the leg-lifting driving member, lifts the legs of the person being cared for through the leg-lifting device, and then starts the water pump to transport water through the water supply pipe to the water outlet of the nozzle to spray out, flush the excretion area of ​​the person being cared for, and the waste water generated by the flushing is discharged through the cleaning port. It is convenient for the caregiver to clean the person being cared for after defecation, which is conducive to reducing the workload of the caregiver, alleviating the work pressure of the caregiver, and reducing the labor intensity of the caregiver.

Description

Technical Field

[0001] The present application relates to the field of medical care appliances, and in particular to a care system with a post-defecation flushing device and a control method thereof. Background Art

[0002] In the work of caring for patients and the elderly, patients or the elderly are unable to move and often need to stay in bed for a long time. Nursing staff often need to help patients or the elderly with excretion and clean up after excretion. These jobs have a large workload, heavy work pressure, and high labor intensity, and at the same time have a great impact on the physical and mental health of the service personnel and the service personnel. Therefore, there is an urgent need for a nursing device that can reduce the workload of nursing staff, relieve the work pressure of nursing staff, and reduce the labor intensity of nursing staff. Summary of the invention

[0003] The present application provides a nursing system with a post-defecation flushing device and a control method thereof, so as to solve the problem of high labor intensity of nursing staff.

[0004] The present application provides a nursing system with a post-defecation flushing device, comprising:

[0005] A bed body, which is used for the person being cared for to lie down, and the bed body has a through cleaning port;

[0006] An opening and closing device, comprising a closing member, the closing member being detachably or movably connected to the bed body and used for closing the cleaning port;

[0007] The leg-lifting device comprises a leg-lifting driving member and a supporting assembly, wherein the supporting assembly is movably arranged to support the legs of the person being cared for, and the leg-lifting driving member is used to drive the supporting assembly to move so as to drive the legs of the person being cared for to be lifted;

[0008] A cleaning device, comprising a nozzle, a water pump and a water supply pipe, wherein one end of the water supply pipe is used to receive water flowing in, and the other end is connected to the nozzle, the nozzle has a water spray port, and the water spray port is used to spray water to the part of the person being cared for that is stained with or has feces, and the water pump is connected to the water supply pipe, and is used to extract water and transport the water to the water spray port through the water supply pipe for spraying;

[0009] And a control unit, the control unit is electrically connected to the water pump, the control unit can control the start and stop of the water pump, the control unit is electrically connected to the leg lifting drive, the control unit can control the start and stop of the leg lifting drive.

[0010] As a further improvement of the nursing system, one side of the supporting component is hinged to the bed body, and the leg-lifting driving component is arranged on the bed body to drive the supporting component to rotate around the hinge between the supporting component and the bed body to drive the legs of the person being cared for to be lifted.

[0011] As a further improvement of the nursing system, the opening and closing device also includes an opening and closing drive, one side of the closing member is hinged to the bed body, the bed body has an open position and a closed position, when the closing member is in the open position, the cleaning port is opened, and when the closing member is in the closed position, the cleaning port is closed, the opening and closing drive can drive the closing member to rotate around one side of the closing member hinged to the bed body between the open position and the closed position, the control unit is electrically connected to the opening and closing drive, and the control unit can control the opening and closing drive to start and close.

[0012] As a further improvement of the nursing system, the opening and closing device also includes an opening and closing drive and a first rotating rod. The bed body has an open position and a closed position. When the closing member is in the open position, the cleaning port is opened. When the closing member is in the closed position, the cleaning port is closed. One end of the first rotating rod is hinged to the bed body, and the other end is hinged to the closing member. The end of the first rotating rod close to the bed body has an arc structure. The opening and closing drive can drive the end of the first rotating rod hinged to the bed body to rotate, and drive the closing member to move between the open position and the closed member.

[0013] As a further improvement of the nursing system, the opening and closing device also includes a second rotating rod, one end of which is hinged to the bed body and the other end is hinged to the closing piece, for limiting the closing piece from rotating around the hinge between it and the first rotating rod.

[0014] As a further improvement of the care system, the cleaning device also includes a water tank, a first heating element and a first temperature sensor. The water tank is used to store cleaning water. The water tank has a water inlet and a water outlet. One end of the water supply pipe is connected to the water outlet. The first heating element is arranged in the water tank for heating the water in the water tank. The first temperature sensor is arranged in the water tank for sensing the water temperature in the water tank and sending a first temperature signal.

[0015] As a further improvement of the nursing system, it also includes a drying device, which includes a drying box, a fan, an air supply pipe, an air supply head, a lifting mechanism, a second heating element and a second temperature sensor. The drying box has an air supply port, and the second heating element is arranged in the drying box to heat the air in the drying box. One end of the air supply pipe is connected to the air supply port, and the other end is connected to the air supply head. The air supply head has an air outlet, and the air outlet is used to blow air to the excretion part of the cared person. The fan is connected to the air supply pipe to extract the air in the drying box and transport the air to the air supply head through the air supply pipe for spraying. The lifting mechanism can drive the air supply head to rise and fall. The second temperature sensor is arranged in the drying box to sense the air temperature in the drying box and send a second temperature signal.

[0016] As a further improvement of the nursing system, it also includes a bracket and a slide rail, the slide rail is arranged at the bottom of the bed body and extends along the length direction of the bed body, the bracket is slidably connected to the slide rail, and is used to carry the dirt collecting device, the slide rail has a receiving position and a away position, when the bracket moves to the receiving position, the dirt collecting device on the bracket is located below the cleaning port, and when the bracket moves to the away position, the dirt collecting device on the bracket leaves the bottom of the cleaning port;

[0017] A slide groove is provided on the side of the bracket close to the closing piece, and a slider is provided on the side of the closing piece in contact with the bracket. The slider is slidably connected to the slide groove, and the closing piece can drive the slider to slide on the slide groove and drive the bracket to slide on the slide rail. When the closing piece rotates to the open position, it drives the bracket to move to the receiving position. When the closing piece rotates to the closed position, it drives the bracket to move to the away position.

[0018] As a further improvement of the nursing system, it also includes a mechanical arm assembly, which includes a first rotating arm, a second rotating arm, a first rotating arm driving member and a second rotating arm driving member, one end of the first rotating arm is rotatably connected to the upper part of the bracket close to the closure part, and the other end is rotatably connected to the second rotating arm, and the end of the second rotating arm away from the first rotating arm is connected to the nozzle part, the first rotating arm driving member is used to drive the first rotating arm to rotate around the hinge between the first rotating arm and the bracket, and the second rotating arm driving member is used to drive the second rotating arm to rotate around the hinge between the first rotating arm and the first rotating arm.

[0019] As a further improvement of the nursing system, it also includes a ranging and positioning unit, which is installed on the mechanical arm assembly or the nozzle component. The ranging and positioning unit can emit light and sound ranging and positioning information to realize the positioning of the nozzle component.

[0020] As a further improvement of the nursing system, it also includes a bracket, a slide rail and a bracket driving component. The slide rail is arranged at the bottom of the bed and extends along the length direction of the bed. The bracket is slidably connected to the slide rail and is used to carry a dirt collecting device. The slide rail has a receiving position and a away position. When the bracket moves to the receiving position, the dirt collecting device on the bracket is located below the cleaning port. When the bracket moves to the away position, the dirt collecting device on the bracket leaves the bottom of the cleaning port and does not overlap with the movement path of the closure. The bracket driving component is used to drive the bracket to move between the receiving position and the away position.

[0021] As a further improvement of the nursing system, it also includes a sewage collecting device, which is used to be arranged below the cleaning port to collect waste water discharged from the cleaning port.

[0022] As a further improvement of the care system, the sewage collection device includes a collecting basin, a drain and a sewage bucket. One end of the drain is connected to the bottom of the collecting basin, and the other end is connected to the top of the collecting bucket. The sewage collected in the collecting basin can flow into the sewage bucket through the drain.

[0023] As a further improvement of the nursing system, it also includes a camera, which is used to collect image information of the coordinates of the parts being cleaned and the cleaning effect of the nursing staff.

[0024] As a further improvement of the nursing system, the control unit includes a hand controller, one side of the hand controller has a control button panel, and the other side has a hook, and the hand controller is a wired hand controller or a wireless hand controller.

[0025] As a further improvement of the nursing system, it also includes a back-lifting device, which includes a back-lifting board and a back-lifting driving component. The back-lifting board is used to support the head to the back of the person being cared for, and the side of the back-lifting board close to the closing component is hinged to the bed body, and the back-lifting driving component is used to drive the back-lifting board to rotate around the hinge between it and the bed body to lift or flatten the patient's back.

[0026] The present application provides a control method for a nursing system, wherein the nursing system includes a control unit, a bed, an opening and closing device, a dirt collecting device, a leg lifting device, a cleaning device, a mechanical arm assembly, a hand controller, and a back lifting device. The control method is applied to the nursing system, including:

[0027] Steps for leveling the back: Check whether the back plate is raised. If the back plate is raised, drive the back plate to level it through the back driving member;

[0028] Leg lifting step: After the back flattening step is completed, the leg lifting driving member drives the supporting assembly to rotate clockwise to lift the legs of the person being cared for;

[0029] Opening step: the opening and closing driving member drives the closing member to rotate toward the opening position to open the cleaning port;

[0030] Washing and drying steps: the first rotating arm driving member drives the first rotating arm to rotate, and the second rotating arm driving member drives the second rotating arm to rotate, so as to drive the nozzle member to aim at the excretion part of the nursing person, then start the water pump, and transport the water in the water tank to the water outlet of the nozzle member through the water supply pipe to spray out, so as to clean the excretion part of the nursing person, and then start the fan, and transport the air in the drying box to the air outlet of the nozzle member through the air supply pipe to spray out, so as to dry the excretion part of the nursing person. After the drying work is completed, the first rotating arm driving member drives the first rotating arm to rotate, and the second rotating arm driving member drives the second rotating arm to rotate, so as to realize the reset of the mechanical arm assembly and the nozzle;

[0031] Resetting step of the opening and closing device: After the mechanical arm assembly is reset, the opening and closing driving member drives the closing member to rotate to the closed position to close the cleaning port;

[0032] And the leg lifting device resetting step: the leg lifting driving member drives the supporting assembly to rotate counterclockwise to flatten the legs of the person being cared for.

[0033] As a further improvement of the control method, the nursing system further includes a camera computing device, which is electrically connected to the control unit. The rinsing and drying steps are completed by the automatic mode of the control unit. After pressing the "automatic rinsing" button of the hand controller, the control unit enters the automatic mode. The control unit first detects whether the closure moves to the open position. After confirming that the closure moves to the position, the camera computing device starts working and sends the collected excrement coordinates and cleaning degree information of the nursing person to the control unit.

[0034] The control unit determines the spatial coordinates of the part to be flushed by analyzing the received information, and converts the coordinates into vector coordinate values, and controls the robot arm assembly to move to the specified position based on the information, and drives the nozzle part on the robot arm to align with the dirt. After the robot arm assembly moves into place, the control unit controls the water pump to transport the water in the water tank to the nozzle part for spraying to clean the dirt. During the water spraying, the control unit monitors the flushing effect in real time through the camera. After the control unit confirms that one place is flushed clean by analyzing the picture, it moves to the next place for flushing. After the control unit confirms that all the dirt is flushed clean by analyzing the picture, it controls the water pump to turn off, and then controls the drying device to work to dry the excretion part of the care recipient. After the drying work is completed, the control unit controls the robot arm assembly to reset.

[0035] As a further improvement of the control method, the nursing system also includes a ranging and positioning unit, and the rinsing and drying steps are completed through the manual mode of the control unit. In the manual mode, the movement of the robotic arm assembly is controlled by the hand controller to aim at the dirt in the excretion area of ​​the care recipient. After the nozzle component is aimed at the dirt in the excretion area of ​​the care recipient, the "rinse" button of the hand controller is pressed to control the nozzle component to spray water to rinse the dirt. After the dirt in one place is cleaned, the movement of the robotic arm assembly is controlled by the hand controller to drive the nozzle component to move to the next place and clean the dirt there. After all the dirt is rinsed, the "dry" button of the hand controller is pressed to dry the excretion area of ​​the care recipient, and then the robotic arm assembly is reset by the hand controller.

[0036] As a further improvement of the control method, a self-checking step is further included, in which the control unit performs the following checks:

[0037] Whether the water level in the water tank is higher than the preset water level value, if yes, the test is passed, if no, the flushing operation is terminated and an alarm is sounded;

[0038] Whether the water temperature in the water tank is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded;

[0039] Whether the air temperature in the drying box is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded;

[0040] Whether the lifting plate of the lifting device is flat, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is given;

[0041] Whether the supporting assembly of the leg lifting device is lifted to the predetermined height, if so, the test is passed; if not, the flushing operation is terminated and an alarm is given.

[0042] Beneficial effects of this application:

[0043] The present application provides a nursing system with a post-defecation flushing device and a control method thereof, comprising a bed body, an opening and closing device, a leg-lifting device, a cleaning device and a control unit. When the excretion area of ​​the person being cared for needs to be cleaned, the nursing staff opens the closure to expose the cleaning port, starts the leg-lifting driving member, lifts the legs of the person being cared for through the leg-lifting device, and then starts the water pump to transport water through the water supply pipe to the water outlet of the nozzle to spray out, flush the excretion area of ​​the person being cared for, and the waste water generated by the flushing is discharged through the cleaning port. It is convenient for nursing staff to clean the person being cared for after defecation, which is conducive to reducing the workload of nursing staff, alleviating the work pressure of nursing staff, and reducing the labor intensity of nursing staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a structural schematic diagram of a nursing system when a nursing person lies flat in one embodiment of the present application;

[0045] Figure 2 This is a structural schematic diagram of a nursing system when a leg lifting device is working in one embodiment of the present application;

[0046] Figure 3 This is a structural schematic diagram of the nursing system when the closure is opened in one embodiment of the present application;

[0047] Figure 4 This is a structural schematic diagram of a nursing system from one perspective when the mechanical arm assembly is flipped up in one embodiment of the present application;

[0048] Figure 5 This is a structural schematic diagram of the nursing system from another perspective when the robotic arm assembly is flipped up in one embodiment of the present application;

[0049] Figure 6This is a structural schematic diagram of a nursing system in another embodiment of the present application;

[0050] Figure 7 This is a schematic diagram of the structure of a mechanical arm assembly and a nozzle component in one embodiment of the present application;

[0051] Figure 8 This is a schematic diagram of the structure of a nozzle component in one embodiment of the present application;

[0052] Fig. 9 This is a schematic diagram of the structure of a cleaning device and a drying device in one embodiment of the present application;

[0053] Fig.10 This is a schematic diagram of the structure of a sewage collection device in one embodiment of the present application;

[0054] Fig.11 This is a schematic diagram of the structure of a hand controller in one embodiment of the present application;

[0055] Fig.12 This is a structural diagram of a nursing system in a third embodiment of the present application;

[0056] Fig.13 Attached to this application Fig.12 Enlarged view of the opening and closing device in the middle.

[0057] Reference numerals:

[0058] 100, bed body; 200, opening and closing device; 210, closing member; 220, opening and closing driving member; 230, first rotating rod; 240, second rotating rod; 300, sewage collecting device; 310, collecting basin; 320, drainer; 330, sewage bucket; 400, leg lifting device; 410, leg lifting driving member; 420, supporting assembly; 500, cleaning device; 510, water inlet; 520, water outlet; 530, nozzle member; 531, water outlet; 532, air outlet vent; 540, indicator light; 550, switch button; 560, display screen; 600, drying device; 610, air outlet; 620, air supply head; 630, lifting mechanism; 700, mechanical arm assembly; 710, first rotating arm; 720, second rotating arm; 730, first rotating arm driving member; 740, second rotating arm driving member; 800, bracket; 810, slide groove; 900, slide rail; 1000, bracket driving member; 1100, hand controller; 1200, camera. DETAILED DESCRIPTION

[0059] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings, wherein similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can effortlessly recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0060] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0061] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0062] This embodiment provides a care system with a post-defecation flushing device.

[0063] Please refer to Figure 1-5 The nursing system includes a bed body 100, an opening and closing device 200, a dirt collecting device 300, a leg lifting device 400, a cleaning device 500 and a control unit.

[0064] The bed body 100 is used for the nursing person to lie down, and the bed body 100 has a through cleaning port.

[0065] The opening and closing device 200 includes a closing member 210 , which is detachably or movably connected to the bed body 100 and is used to close the cleaning port.

[0066] The sewage collecting device 300 is used to be arranged below the cleaning port to collect waste water discharged from the cleaning port. It should be noted that the sewage collecting device 300 is not necessary. In other embodiments, a special sewage collecting device 300 may not be arranged, but sewage may be collected by ordinary containers such as basins and buckets. In some cases, even if a container is not placed below the cleaning port to collect sewage, the post-defecation cleaning care work can be implemented.

[0067] The leg lifting device 400 includes a leg lifting driving member 410 and a supporting assembly 420. The supporting assembly 420 is movably arranged to support the legs of the person being cared for. The leg lifting driving member 410 is used to drive the supporting assembly 420 to move so as to lift the legs of the person being cared for.

[0068] Combination Figure 8 and 9 The cleaning device 500 includes a nozzle 530, a water tank (not shown in the figure), a water pump (not shown in the figure) and a water supply pipe (not shown in the figure). The water tank is used to store cleaning water. The water tank has a water inlet 510 and a water outlet 520. One end of the water supply pipe is connected to the water outlet 520, and the other end is connected to the nozzle 530. The nozzle 530 has a water spray port 531, and the water spray port 531 is used to spray water to the excretion part of the nursing person. The water pump is connected to the water supply pipe, and is used to extract water in the water tank and transport the water to the water spray port 531 through the water supply pipe for spraying. It should be noted that in some other implementations, the water tank is not necessary, and the water supply pipe can also be directly connected to the water source.

[0069] The control unit is electrically connected to the water pump, and the control unit can control the start and stop of the water pump. The control unit is electrically connected to the leg-lifting driving component 410, and the control unit can control the start and stop of the leg-lifting driving component 410.

[0070] When the excretion part of the care recipient needs to be cleaned, the caregiver opens the sealing member 210 to expose the cleaning port, starts the leg-lifting driving member 410, lifts the legs of the care recipient through the leg-lifting device 400, and then starts the water pump to transport the water in the water tank through the water supply pipe to the water spraying port 531 of the spray head to spray out, so as to wash the excretion part of the care recipient, and the waste water generated by the washing flows into the sewage collecting device 300 through the cleaning port. It is convenient for the caregiver to clean the care recipient after defecation, which is conducive to reducing the workload of the caregiver, relieving the work pressure of the caregiver, and reducing the labor intensity of the caregiver.

[0071] Please refer to Figure 1-5 In one embodiment, one side of the supporting component assembly 420 is hinged to the bed body, and the leg-lifting driving component 410 is disposed on the bed body 100, and is used to drive the supporting component 420 to rotate around the hinge between the supporting component 420 and the bed body 100, so as to drive the legs of the person being cared for to be lifted.

[0072] In other embodiments, the supporting assembly 420 may also be slidably arranged, and the supporting assembly 420 may slide in the vertical direction to drive the legs of the person being cared for to be lifted.

[0073] Please refer to Figure 1-5In one embodiment, the support assembly 420 includes a transmission rod and a support member, one end of the transmission rod is hinged to the bed body 100, and the other end is connected to the support member, and the support member is used to support the legs of the person being cared for. The leg-lifting drive member 410 includes a first electric push rod, one end of the first electric push rod is hinged to the side of the bed body 100, and the other end is hinged to the transmission rod. When the output end of the first electric push rod is extended and retracted, it can drive the transmission rod to rotate around the end of the first electric push rod that is hinged to the bed body 100.

[0074] In other embodiments, a motor, a hydraulic cylinder or a pneumatic cylinder may be used to replace the first electric push rod.

[0075] Please refer to Figure 6 In one embodiment, the opening and closing device 200 further includes an opening and closing driving member 220, one side of the closing member 210 is hinged to the bed body 100, and the bed body 100 has an open position and a closed position. When the closing member 210 is in the open position, the cleaning port is opened, and when the closing member 210 is in the closed position, the cleaning port is closed. The opening and closing driving member 220 can drive the closing member 210 to rotate between the open position and the closed position around the side hinged to the bed body 100, and the control unit is electrically connected to the opening and closing driving member 220, and the control unit can control the opening and closing driving member 220 to start and close. When the cleaning port needs to be opened or closed, the opening and closing driving member 220 drives the closing member 210 to rotate around the side hinged to the bed body 100, so as to realize the switching of the closing member 210 between the open position and the closed position.

[0076] Please refer to Figure 6 In one embodiment, the opening and closing drive member 220 includes a second electric push rod, a support plate is fixedly provided on the legs of the bed body 100, one end of the second electric push rod is hinged to the support plate, and the other end is hinged to the bottom of the closing member 210. When the output end of the second electric push rod is extended and retracted, it can drive the closing member 210 to rotate around the side where it is hinged to the bed body 100. When the closing member 210 moves to the closed position, the electric push rod can support the closing member 210, so that the closing member 210 can play a bearing role for the person being cared for.

[0077] In other embodiments, a motor, a hydraulic cylinder or a pneumatic cylinder may be used to replace the second electric push rod.

[0078] Please refer to Fig.12 and 13In another embodiment, the opening and closing device 200 also includes an opening and closing drive member (not shown in the figure) and a first rotating rod 230. The bed body has an open position and a closed position. When the closing member is in the open position, the cleaning port is opened. When the closing member is in the closed position, the cleaning port is closed. One end of the first rotating rod 230 is hinged to the bed body 100, and the other end is hinged to the closing member 210. The opening and closing drive member can drive the end of the first rotating rod 230 hinged to the bed body 100 to rotate, and drive the closing member 210 to move between the open position and the closed position. The end of the first rotating rod 230 close to the bed body has an arc structure, which is used to change the direction of transmission of the first rotating rod force 230.

[0079] When the cleaning port needs to be opened or closed, the first rotating rod 230 can be driven to rotate at one end hinged to the bed 100 by an opening and closing driving member (which can be a motor, etc.), thereby driving the closing member 210 to move between the opening position and the closing position. Fig.12 and 13 The advantage of using the first rotating rod force 230 is that the movement path of the closure 210 does not pass under the cleaning port, and the dirt collecting device 300 can be directly fixedly installed under the cleaning port, unlike other embodiments in which the dirt collecting device 300 needs to be movably arranged to make room for the movement of the closure 210.

[0080] Please refer to Fig.12 and 13 The opening and closing device 200 also includes a second rotating rod 240, one end of which is hinged to the bed body 100, and the other end is hinged to the closing member 210, which is used to limit the closing member 210 from rotating around the hinge between it and the first rotating rod 230.

[0081] In another embodiment, the closing member 210 is slidably connected to the bed body 100 , and the cleaning port is opened or closed by sliding the closing member 210 .

[0082] In another embodiment, the closure member 210 is detachably connected to the bed 100. When the cleaning port needs to be closed, the closure member 210 is installed on the bed 100 to close the cleaning port. When the cleaning port needs to be opened, the closure member 210 can be removed from the bed 100 to open the cleaning port.

[0083] Please refer to Figure 4 and 8 In one embodiment, the cleaning device 500 further includes a first heating element (not shown in the figure) and a first temperature sensor (not shown in the figure). The first heating element is disposed in the water tank to heat the water in the water tank. The first temperature sensor is disposed in the water tank to sense the water temperature in the water tank and send a first temperature signal. The water in the water tank is heated by the first heating element, and the water temperature in the water tank is measured by the first temperature sensor.

[0084] Specifically, the first heating element can be a heating plate, a heating tube or other suitable heater. In actual use, the water temperature in the water tank can be controlled to be the same or close to the body temperature of the human body, so that the experience of the caregiver during flushing is more comfortable.

[0085] Please refer to Figure 4 , 8 and 9. In one embodiment, the nursing system further includes a drying device 600, which includes a drying box (not shown in the figure), a fan (not shown in the figure), an air supply pipe (not shown in the figure), a second heating element (not shown in the figure) and a second temperature sensor (not shown in the figure). The drying box has an air supply port 610. The second heating element is arranged in the drying box for heating the air in the drying box. One end of the air supply pipe is connected to the air supply port 610, and the other end is connected to the nozzle member 530. The nozzle member 530 has an air outlet 532 adjacent to the water spray port 531. The air outlet 532 is used to blow air to the excretion part of the person being cared for. The fan is connected to the air supply pipe for extracting the air in the drying box and transporting the air to the air outlet 532 through the air supply pipe for spraying. The second temperature sensor is arranged in the drying box for sensing the air temperature in the drying box and sending a second temperature signal.

[0086] When the flushing work is completed, the fan is started to transport the air in the drying box through the air supply pipe to the air outlet 532 for spraying to dry the washed part. The air outlet 532 and the water outlet 520 are integrated on the same nozzle part 530, so that after spraying water, when the water outlet 520 is aimed at the washed part, the air outlet 532 is also aimed at the washed part at the same time. After the water outlet 520 finishes spraying water, the air outlet 532 does not need to be re-aligned or only needs to be slightly adjusted to carry out the drying work, thereby improving the work efficiency.

[0087] The air in the drying box is heated by the second heating element, and the air temperature in the drying box is measured by the second temperature sensor. Specifically, the first heating element can be a heating plate, a heating tube or other suitable heaters.

[0088] Please refer to Figure 6In another embodiment, the nursing system further includes a drying device 600, which includes a drying box (not shown in the figure), a fan (not shown in the figure), an air supply pipe (not shown in the figure), an air supply head 620, a lifting mechanism 630, a second heating element (not shown in the figure) and a second temperature sensor (not shown in the figure). The drying box has an air supply port 610, and the second heating element is arranged in the drying box for heating the air in the drying box. One end of the air supply pipe is connected to the air supply port 610, and the other end is connected to the air supply head 620. The air supply head 620 has an air outlet 532, and the air outlet 532 is used to blow air to the excretion part of the nursing person. The fan is connected to the air supply pipe for extracting the air in the drying box and transporting the air to the air supply head 620 through the air supply pipe for spraying. The lifting mechanism 630 can drive the air supply head 620 to rise and fall. The second temperature sensor is arranged in the drying box for sensing the air temperature in the drying box and sending a second temperature signal.

[0089] The drying device 600 has an independent air outlet. When drying is required, the lifting mechanism 630 drives the air supply head 620 to rise so that the air supply head 620 faces the washing part to perform drying. When the drying is completed, the lifting mechanism 630 drives the air supply head 620 to descend to the initial position. Specifically, the lifting mechanism 630 can be implemented by an electric push rod, a cylinder or other suitable linear lifting modules.

[0090] Please refer to Figure 4 , 8 9. In one embodiment, the cleaning device 500 and the drying device 600 are integrated into a "water spray-drying integrated device". The top of the "water spray-drying integrated device" is provided with a water inlet 510, a water outlet 520 and an air outlet 610, and its side wall is provided with an indicator light 540, a switch button 550 and a display screen 560. The display screen 560 can be used to display the liquid level, water temperature, wind temperature, etc. A water level sensor can be set in the water tank to measure the liquid level of the water tank.

[0091] Please refer to Figure 1-5 In one embodiment, the nursing system also includes a bracket 800 and a slide rail 900. The slide rail 900 is arranged at the bottom of the bed 100 and extends along the length direction of the bed 100. The bracket 800 is slidably connected to the slide rail 900 and is used to carry the dirt collecting device 300. The slide rail 900 has a receiving position and a remote position. When the bracket 800 moves to the receiving position, the dirt collecting device 300 on the bracket 800 is located below the cleaning port. When the bracket 800 moves to the remote position, the dirt collecting device 300 on the bracket 800 leaves the bottom of the cleaning port.

[0092] A slide groove 810 is provided on one side of the bracket 800 close to the closing member 210, and a slider is provided on the side where the closing member 210 contacts the bracket 800. The slider is slidably connected to the slide groove 810, and the closing member 210 can drive the slider to slide on the slide groove 810, and drive the bracket 800 to slide on the slide rail 900. When the closing member 210 rotates to the open position, it drives the bracket 800 to move to the receiving position, and when the closing member 210 rotates to the closed position, it drives the bracket 800 to move to the away position. Specifically, the slide groove 810 can extend in the vertical direction.

[0093] When flushing is required, the opening and closing drive 220 drives the closing member 210 to rotate toward the open position, and the closing member 210 can drive the slider to slide on the slide groove 810, and drive the bracket 800 to slide on the slide rail 900. When the closing member 210 rotates to the open position, it drives the bracket 800 to move to the receiving position, so that the sewage collecting device 300 on the bracket 800 can receive the waste water generated by flushing. After the flushing and drying work is completed, the opening and closing drive 220 drives the closing member 210 to rotate from the closed position, and drives the bracket 800 to slide toward the away position, so that the bracket 800 will not hinder the rotation of the closing member 210.

[0094] Please refer to Figure 6 In another embodiment, it also includes a bracket 800, a slide rail 900 and a bracket 800 driving member. The slide rail 900 is set at the bottom of the bed 100 and extends along the length direction of the bed 100. The bracket 800 is slidably connected to the slide rail 900 and is used to carry the dirt collecting device 300. The slide rail 900 has a receiving position and a remote position. When the bracket 800 moves to the receiving position, the dirt collecting device 300 on the bracket 800 is located below the cleaning port. When the bracket 800 moves to the remote position, the dirt collecting device 300 on the bracket 800 leaves the bottom of the cleaning port and does not overlap with the movement path of the closure 210. The bracket 800 driving member is used to drive the bracket 800 to move between the receiving position and the remote position.

[0095] When flushing is required, the opening and closing driving member 220 drives the closing member 210 to rotate toward the opening position. When the closing member 210 rotates to the opening position, the bracket 800 driving member drives the bracket 800 to move to the receiving position, so that the dirt collecting device 300 on the bracket 800 can receive the waste water generated by flushing. After the flushing and drying work is completed, the bracket 800 driving member first drives the bracket 800 to move to the away position, so that the bracket 800 and the dirt collecting device 300 do not overlap with the movement path of the closing member 210, and then the opening and closing driving member 220 drives the closing member 210 to rotate toward the closing position.

[0096] Please refer to Figure 5 and 7In one embodiment, it also includes a mechanical arm assembly 700, which includes a first rotating arm 710, a second rotating arm 720, a first rotating arm driving member 730 and a second rotating arm driving member 740. One end of the first rotating arm 710 is rotatably connected to the upper part of the bracket 800 close to the closure member 210, and the other end is rotatably connected to the second rotating arm 720. The end of the second rotating arm 720 away from the first rotating arm 710 is connected to the nozzle member 530. The first rotating arm driving member 730 is used to drive the first rotating arm 710 to rotate around the hinge between it and the bracket 800, and the second rotating arm driving member 740 is used to drive the second rotating arm 720 to rotate around the hinge between it and the first rotating arm 710. When flushing is required, the first arm driving member 730 drives the first arm 710 to rotate around the hinge with the bracket 800 to adjust the height and tilt angle of the spray head 530, and the second arm driving member 740 drives the second arm 720 to rotate around the hinge with the first arm 710 to adjust the pitch angle of the spray head 530, so that the spray head 530 can be aligned with the part to be flushed. When the mechanical arm assembly 700 is not needed, the second arm driving member 740 drives the second arm 720 to rotate so that the second arm 720 and the first arm 710 are in a straight line, and the first arm driving member 730 drives the first arm 710 to rotate so that the first arm 710 fits the bracket 800. At this time, the mechanical arm assembly 700 is in a folded state, which reduces the occupied space and does not hinder the movement of the bracket 800 and the closure member 210.

[0097] Please refer to Figure 7 In one embodiment, the first arm driving component 730 and the second arm driving component 740 can be a steering gear.

[0098] Please refer to Figure 5 In one embodiment, the nursing system further includes a laser positioning unit (not shown in the figure), which is installed on the mechanical arm assembly 700 or the nozzle, and can emit a positioning laser to realize the positioning of the nozzle component 530. The staff can realize the alignment of the nozzle component 530 by observing the position of the laser irradiation.

[0099] Please refer to Figure 5 and 10 In one embodiment, the sewage collecting device 300 includes a collection basin 310, a drain 320 and a sewage bucket 330. One end of the drain 320 is connected to the bottom of the collection basin 310, and the other end is connected to the top of the collection bucket. The sewage collected by the collection basin 310 can flow into the sewage bucket 330 through the drain 320. The wastewater generated by flushing is first collected by the collection basin 310, and then flows into the sewage bucket 330 through the drain 320.

[0100] Specifically, the sewage bucket 330 and the drain 320 may be detachably connected, so that the staff can remove the sewage bucket 330 from the drain 320 and pour out the waste water.

[0101] Please refer to Figure 4 In one embodiment, the nursing system further includes a camera 1200, which is used to collect image information of the excretion site of the nursing person. The nursing system has an image acquisition unit, which is used to collect image information of the excretion site of the nursing person. The camera 1200 is a main component of the image acquisition unit. The camera 1200 can be installed on the edge of the bed, the side of the closure 210 facing the flushing site, the nozzle part 530 or the mechanical arm assembly 700. The number of cameras 1200 can be set according to actual needs.

[0102] Please refer to Figure 5 and 11 In one embodiment, the control unit includes a hand controller 1100, one side of the hand controller 1100 has a control keypad, and the other side has a hook, and the hand controller 1100 is a wired hand controller 1100 or a wireless hand controller 1100. The staff can use the hand controller 1100 to control the electric device of the nursing system, and when not in use, the hand controller 1100 can be hung on the edge of the bed through the hook.

[0103] In one embodiment, the nursing system also includes a back-lifting device (not shown in the figure), which includes a back-lifting board and a back-lifting driving member. The back-lifting board is used to support the head to the back of the person being cared for, and the side of the back-lifting board close to the closing member 210 is hinged to the bed body 100, and the back-lifting driving member is used to drive the back-lifting board to rotate around the hinge between it and the bed body 100 to lift or flatten the patient's back.

[0104] When the back of the person being cared for needs to be lifted, the back-lifting driving member drives the back-lifting plate to rotate counterclockwise so that the back-lifting plate and the bed body 100 form a suitable inclination angle. When the back of the person being cared for needs to be laid flat, the back-lifting driving member drives the back-lifting plate to rotate clockwise so that the back-lifting plate and the bed body 100 are parallel. In actual use, when the leg-lifting device 400 needs to be used to lift the legs of the person being cared for, the back of the person being cared for needs to be laid flat first to prevent the person being cared for from being injured.

[0105] Specifically, the lifting drive member may be an electric push rod, a cylinder, a hydraulic cylinder or other suitable drive members.

[0106] On the other hand, please refer to Figure 1-11This embodiment also provides a control method for a nursing system, which is applied to a nursing system with a post-defecation flushing device. The nursing system includes a control unit, a bed body 100, an opening and closing device 200, a dirt collecting device 300, a leg lifting device 400, a cleaning device 500, a mechanical arm assembly 700, a hand controller 1100 and a back lifting device.

[0107] The control method includes:

[0108] Steps for leveling the back: Check whether the back plate is raised. If the back plate is raised, drive the back plate to level it through the back driving member;

[0109] Leg lifting step: After finishing the step of flattening the back, the leg lifting driving member 410 drives the supporting assembly 420 to rotate clockwise to lift the legs of the person being cared for;

[0110] Opening step: the opening and closing driving member 220 drives the closing member 210 to rotate toward the opening position to open the cleaning port;

[0111] Washing and drying steps: the first rotating arm driving member 730 drives the first rotating arm 710 to rotate, and the second rotating arm driving member 740 drives the second rotating arm 720 to rotate, so as to drive the nozzle member 530 to aim at the excretion part of the nursing person, then start the water pump, and transport the water in the water tank to the water outlet 531 of the nozzle member 530 through the water supply pipe to spray out, so as to clean the excretion part of the nursing person, and then start the fan, and transport the air in the drying box to the air outlet 532 of the nozzle through the air supply pipe to spray out, so as to dry the excretion part of the nursing person. After the drying work is completed, the first rotating arm driving member 730 drives the first rotating arm 710 to rotate, and the second rotating arm driving member 740 drives the second rotating arm 720 to rotate, so as to realize the reset of the mechanical arm assembly 700 and the nozzle member 530;

[0112] The opening and closing device 200 reset step: After the mechanical arm assembly 700 is reset, the opening and closing driving member 220 drives the closing member 210 to rotate toward the closed position to close the cleaning port;

[0113] And the resetting step of the leg-lifting device 400: the leg-lifting driving member 410 drives the supporting assembly 420 to rotate counterclockwise to flatten the legs of the person being cared for.

[0114] The nursing system further includes a camera computing device 1200, which is electrically connected to the control unit. The rinsing and drying steps can be completed through the automatic mode of the control unit. After pressing the "automatic rinsing" button of the hand controller 1100, the control unit enters the automatic mode. The control unit first detects whether the closure member 210 moves to the open position. After confirming that the closure member 210 moves to the position, the camera computing device 1200 starts working and sends the collected information of the excretion position of the nursing person to the control unit.

[0115] The control unit determines the spatial coordinates of the part to be flushed by analyzing the received information image, and converts the coordinates into vector coordinate values, and controls the robot arm assembly 700 to move to the specified position accordingly, driving the nozzle component 530 on the robot arm to align with the dirt. After the robot arm assembly 700 moves into place, the control unit controls the water pump to transport the water in the water tank to the nozzle component 530 for spraying to clean the dirt. During the water spraying, the control unit monitors the flushing effect in real time through the camera computing device 1200. After the control unit confirms that one place is flushed clean by analyzing the information, it moves to the next place for flushing. After the control unit confirms that all the dirt has been flushed clean by analyzing the image, it controls the water pump to close, and then controls the drying device 600 to work to dry the excretion part of the care recipient. After the drying work is completed, the control unit controls the robot arm assembly 700 to reset.

[0116] In the process of automatic washing, the imaging computing device recognizes the spatial coordinates of an object through one or more images, which is a mature technology in the field of computer vision, and the specific implementation principle will not be elaborated here.

[0117] "Resetting the robot arm assembly 700" means that the robot arm assembly 700 moves to a folded state. Specifically, when the robot arm assembly 700 is not needed, the second rotating arm driving member 740 drives the second rotating arm 720 to rotate so that the second rotating arm and the first rotating arm 710 are in a straight line, and the first rotating arm driving member 730 drives the first rotating arm 710 to rotate so that the first rotating arm 710 fits with the bracket 800. At this time, the robot arm assembly 700 is in a folded state, which reduces the occupied space and does not hinder the movement of the bracket 800 and the closing member 210.

[0118] The rinsing and drying steps can also be completed through the manual mode of the control unit. In the manual mode, the movement of the robotic arm assembly 700 is controlled by the hand controller 1100. It is judged by observation whether the nozzle component 530 is aimed at the dirt in the excretion area of ​​the care recipient. After the nozzle component 530 is aimed at the dirt in the excretion area of ​​the care recipient, the "rinsing" button of the hand controller 1100 is pressed to control the nozzle component 530 to spray water to rinse the dirt. After the dirt in one place is cleaned, the movement of the robotic arm assembly 700 is controlled by the hand controller 1100 to drive the nozzle component 530 to move to the next place and clean the dirt there. After all the dirt is rinsed, the "drying" button of the hand controller 1100 is pressed to dry the excretion area of ​​the care recipient, and then the robotic arm assembly 700 is reset by controlling the hand controller 1100.

[0119] It also includes a self-test step, in which the control unit performs the following tests:

[0120] Whether the water level in the water tank is higher than the preset water level value, if yes, the test is passed, if no, the flushing operation is terminated and an alarm is sounded;

[0121] Whether the water temperature in the water tank is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded;

[0122] Whether the air temperature in the drying box is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded;

[0123] Whether the lifting plate of the lifting device is flat, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is given;

[0124] Whether the supporting assembly 420 of the leg lifting device 400 is lifted to a predetermined height, if so, the test is passed, if not, the flushing operation is terminated and an alarm is issued.

[0125] Specifically, a water level sensor is provided in the water tank, and the leg-lifting device 400 and the back-lifting device both include a travel switch or a position sensor. The control unit obtains the water level of the water tank through the water level sensor, obtains the water temperature of the water tank through the first temperature sensor, obtains the air temperature of the drying box through the second temperature sensor, and obtains the motion state of the back-lifting device and the leg-lifting device 400 through the travel switch or the position sensor. The predetermined range of the water temperature in the water tank, the predetermined range of the air temperature in the drying box, the back-lifting angle of the back-lifting device, and the leg-lifting height of the leg-lifting device 400 can be flexibly adjusted according to actual needs and user experience.

[0126] In one embodiment, the opening and closing device 200 includes a travel switch or a position sensor. In the self-check step, the control unit detects whether the closing member 210 moves to the open position. If so, the test passes. If not, the flushing operation is terminated and an alarm is issued.

[0127] The above contents are further detailed descriptions of the present application in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, several simple deductions or substitutions can be made without departing from the inventive concept of the present application.

Claims

1. A nursing system with a post-defecation flushing device, characterized in that: include: A bed body, which is used for the person being cared for to lie down, and the bed body has a through cleaning port; An opening and closing device, comprising a closing member, the closing member being detachably or movably connected to the bed body and used for closing the cleaning port; The leg-lifting device comprises a leg-lifting driving member and a supporting assembly, wherein the supporting assembly is used to support the legs of the person being cared for, and the leg-lifting driving member is used to drive the supporting assembly to move so as to drive the legs of the person being cared for to be lifted; A cleaning device, comprising a nozzle, a water pump and a water supply pipe, wherein one end of the water supply pipe is used to receive water flowing in, and the other end is connected to the nozzle, the nozzle has a water spray port, and the water spray port is used to spray water to the part of the person being cared for that is stained with or has feces, and the water pump is connected to the water supply pipe, and is used to extract water and transport the water to the water spray port through the water supply pipe for spraying; and a control unit, the control unit being electrically connected to the water pump, the control unit being capable of controlling the water pump to start and stop, the control unit being electrically connected to the leg-lifting drive, the control unit being capable of controlling the leg-lifting drive to start and stop; The opening and closing device further comprises an opening and closing driving member, one side of the closing member is hinged to the bed body, the bed body has an open position and a closed position, when the closing member is in the open position, the cleaning port is opened, when the closing member is in the closed position, the cleaning port is closed, the opening and closing driving member can drive the closing member to rotate around the side hinged to the bed body between the open position and the closed position, the control unit is electrically connected to the opening and closing driving member, and the control unit can control the opening and closing driving member to start and close; Alternatively, the opening and closing device further comprises an opening and closing driving member and a first rotating rod, the bed body has an open position and a closed position, when the closed member is in the open position, the cleaning port is opened, and when the closed member is in the closed position, the cleaning port is closed, one end of the first rotating rod is hinged to the bed body, and the other end is hinged to the closed member, one end of the first rotating rod close to the bed body has an arc structure, the opening and closing driving member can drive the end of the first rotating rod hinged to the bed body to rotate, and drive the closed member to move between the open position and the closed member; The opening and closing device further comprises a second rotating rod, one end of which is hinged to the bed body, and the other end of which is hinged to the closing member, and is used to restrict the closing member from rotating around the hinge between the second rotating rod and the first rotating rod; It also includes a bracket and a slide rail, wherein the slide rail is arranged at the bottom of the bed and extends along the length direction of the bed, the bracket is slidably connected to the slide rail and is used to carry the dirt collecting device, the slide rail has a receiving position and a moving away position, when the bracket moves to the receiving position, the dirt collecting device on the bracket is located below the cleaning port, and when the bracket moves to the moving away position, the dirt collecting device on the bracket leaves the bottom of the cleaning port; A slide groove is provided on one side of the bracket close to the closing member, and a slider is provided on the side of the closing member contacting the bracket. The slider is slidably connected to the slide groove, and the closing member can drive the slider to slide on the slide groove and drive the bracket to slide on the slide rail. When the closing member rotates to the open position, the bracket is driven to move to the receiving position, and when the closing member rotates to the closed position, the bracket is driven to move to the away position. It also includes a mechanical arm assembly, the mechanical arm assembly includes a first rotating arm, a second rotating arm, a first rotating arm driving member and a second rotating arm driving member, one end of the first rotating arm is rotatably connected to the upper part of the bracket close to the closing member, and the other end is rotatably connected to the second rotating arm, and one end of the second rotating arm away from the first rotating arm is connected to the spray head member, the first rotating arm driving member is used to drive the first rotating arm to rotate around the hinge between the first rotating arm and the bracket, and the second rotating arm driving member is used to drive the second rotating arm to rotate around the hinge between the first rotating arm and the first rotating arm; Alternatively, it also includes a bracket, a slide rail and a bracket driving component, the slide rail is arranged at the bottom of the bed and extends along the length direction of the bed, the bracket is slidably connected to the slide rail, and is used to carry a dirt collecting device, the slide rail has a receiving position and a away position, when the bracket moves to the receiving position, the dirt collecting device on the bracket is located below the cleaning port, when the bracket moves to the away position, the dirt collecting device on the bracket leaves the bottom of the cleaning port and does not overlap with the movement path of the closure, and the bracket driving component is used to drive the bracket to move between the receiving position and the away position.

2. The nursing system according to claim 1, characterized in that One side of the supporting assembly is hinged to the bed body, and the leg-lifting driving member is arranged on the bed body and is used to drive the supporting assembly to rotate around the hinge between the supporting assembly and the bed body to drive the legs of the person being cared for to be lifted.

3. The nursing system according to claim 1, characterized in that The cleaning device also includes a water tank, a first heating element and a first temperature sensor. The water tank is used to store cleaning water. The water tank has a water inlet and a water outlet. One end of the water supply pipe is connected to the water outlet. The first heating element is arranged in the water tank to heat the water in the water tank. The first temperature sensor is arranged in the water tank to sense the water temperature in the water tank and send a first temperature signal.

4. The nursing system according to claim 3, characterized in that: It also includes a drying device, which includes a drying box, a fan, an air supply pipe, a second heating element and a second temperature sensor. The drying box has an air supply port. The second heating element is arranged in the drying box and is used to heat the air in the drying box. One end of the air supply pipe is connected to the air supply port, and the other end is connected to the nozzle element. The nozzle element has an air outlet adjacent to the water nozzle. The air outlet is used to blow air to the excretion part of the care recipient. The fan is connected to the air supply pipe and is used to extract the air in the drying box and transport the air to the air outlet through the air supply pipe for spraying. The second temperature sensor is arranged in the drying box and is used to sense the air temperature in the drying box and send a second temperature signal.

5. The nursing system according to claim 3, characterized in that: It also includes a drying device, which includes a drying box, a fan, an air supply pipe, an air supply head, a lifting mechanism, a second heating element and a second temperature sensor. The drying box has an air supply port. The second heating element is arranged in the drying box and is used to heat the air in the drying box. One end of the air supply pipe is connected with the air supply port, and the other end is connected with the air supply head. The air supply head has an air outlet, and the air outlet is used to blow air to the excretion part of the care person. The fan is connected with the air supply pipe and is used to extract the air in the drying box and transport the air to the air supply head through the air supply pipe for spraying. The lifting mechanism can drive the air supply head to rise and fall. The second temperature sensor is arranged in the drying box and is used to sense the air temperature in the drying box and send a second temperature signal.

6. The nursing system according to claim 1, characterized in that: It also includes a distance measurement and positioning unit, which is installed on the mechanical arm assembly or the nozzle component. The distance measurement and positioning unit can emit light and sound distance measurement signals to achieve the positioning of the nozzle component.

7. The nursing system according to any one of claims 1 to 6, characterized in that: It also includes a sewage collecting device, which is used to be arranged below the cleaning port to collect waste water discharged from the cleaning port.

8. The nursing system according to claim 7, characterized in that The sewage collecting device comprises a collecting basin, a drain and a sewage bucket, one end of the drain is connected to the bottom of the collecting basin, and the other end is connected to the top of the collecting bucket, and the sewage collected in the collecting basin can flow into the sewage bucket through the drain.

9. The nursing system according to any one of claims 1 to 6, characterized in that: It also includes a camera and computing device, which is used to collect image information of the excretion area of ​​the care recipient, calculate the location of the excrement, determine whether the cleaning is thorough, and send relevant location and control information to various relevant units.

10. The nursing system according to any one of claims 1 to 6, characterized in that: The control unit comprises a hand controller, one side of the hand controller is provided with a control key panel, and the other side of the hand controller is provided with a hook, and the hand controller is selected to be a wired hand controller or a wireless hand controller.

11. The nursing system according to any one of claims 1 to 6, characterized in that: It also includes a back-lifting device, which includes a back-lifting board and a back-lifting driving component. The back-lifting board is used to support the head to the back of the person being cared for, and the side of the back-lifting board close to the closing component is hinged to the bed body, and the back-lifting driving component is used to drive the back-lifting board to rotate around the hinge between the back-lifting board and the bed body to lift or flatten the patient's back.

12. A control method for a nursing system, characterized in that: The nursing system according to any one of claims 1 to 11 comprises a camera computing device, a control unit, a bed, an opening and closing device, a dirt collecting device, a leg lifting device, a cleaning device, a mechanical arm assembly, a hand controller and a back lifting device. The control method is applied to the nursing system, comprising: Steps for leveling the back: Check whether the back plate is raised. If the back plate is raised, drive the back plate to level it through the back driving member; Leg lifting step: After the back flattening step is completed, the leg lifting driving member drives the supporting assembly to rotate clockwise to lift the legs of the person being cared for; Opening step: the opening and closing driving member drives the closing member to rotate toward the opening position to open the cleaning port; Washing and drying steps: the first rotating arm driving member drives the first rotating arm to rotate, and the second rotating arm driving member drives the second rotating arm to rotate, and drives the nozzle member to aim at the excrement part of the nursing person according to the received signal, and then starts the water pump to transport the water in the water tank through the water supply pipe to the water spray port of the nozzle member for spraying out, which is used to clean the excretion part of the nursing person, and then starts the fan to transport the air in the drying box through the air supply pipe to the air outlet of the nozzle member for spraying out, which is used to dry the excretion part of the nursing person. After the drying work is completed, the first rotating arm driving member drives the first rotating arm to rotate, and the second rotating arm driving member drives the second rotating arm to rotate, so as to realize the reset of the mechanical arm assembly and the nozzle member; Resetting step of the opening and closing device: After the mechanical arm assembly is reset, the opening and closing driving member drives the closing member to rotate to the closed position to close the cleaning port; And the leg lifting device resetting step: the leg lifting driving member drives the supporting assembly to rotate counterclockwise to flatten the legs of the person being cared for.

13. The control method according to claim 12, characterized in that: The nursing system further includes a camera computing device, which is electrically connected to the control unit. The rinsing and drying steps are completed by the automatic mode of the control unit. After pressing the "automatic rinsing" button of the hand controller, the control unit enters the automatic mode. The control unit first detects whether the closure moves to the open position. After confirming that the closure moves to the open position, the camera starts working and sends the collected pictures of the excretion part of the nursing person to the control unit; The control unit determines the spatial coordinates of the part to be flushed by analyzing the received pictures and calculation information, and converts the coordinates into vector coordinate values, and controls the robot arm assembly to move to the specified position accordingly, driving the nozzle part on the robot arm to align with the dirt. After the robot arm assembly moves into place, the control unit controls the water pump to transport the water in the water tank to the nozzle part for spraying to clean the dirt. During the water spraying, the control unit monitors the flushing effect in real time through the camera. After the control unit confirms that one place is flushed clean by analyzing the picture, it moves to the next place for flushing. After the control unit confirms that all the dirt is flushed clean by analyzing the picture, it controls the water pump to close, and then controls the drying device to work to dry the excretion part of the care recipient. After the drying work is completed, the control unit controls the robot arm assembly to reset.

14. The control method according to claim 12, characterized in that: The nursing system also includes a light positioning unit, and the rinsing and drying steps are completed through a manual mode of the control unit. In the manual mode, the movement of the mechanical arm assembly is controlled by a hand controller, and by observing the light spots emitted by the light positioning unit, it is determined whether the nozzle component is aimed at the dirt near the excretion area of ​​the care recipient. After the nozzle component is aimed at the dirt near the excretion area of ​​the care recipient, the "rinsing" button of the hand controller is pressed to control the nozzle component to spray water to rinse the dirt. After the dirt in one place is cleaned, the movement of the mechanical arm assembly is controlled by the hand controller to drive the nozzle component to move to the next place and clean the dirt there. After all the dirt is cleaned, the "drying" button of the hand controller is pressed to dry the excretion area of ​​the care recipient, and then the mechanical arm assembly is reset by controlling the hand controller.

15. The control method according to any one of claims 12 to 14, characterized in that: It also includes a self-test step, in which the control unit performs the following tests: Whether the water level in the water tank is higher than the preset water level value, if yes, the test is passed, if no, the flushing operation is terminated and an alarm is sounded; Whether the water temperature in the water tank is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded; Whether the air temperature in the drying box is within the predetermined temperature range, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is sounded; Whether the lifting plate of the lifting device is flat, if yes, the test is passed, if not, the flushing operation is terminated and an alarm is given; Whether the supporting assembly of the leg lifting device is lifted to the predetermined height, if so, the test is passed; if not, the flushing operation is terminated and an alarm is given.

Images