Control circuit structure of a nursing robot

Abstract

The present invention provides a control circuit structure of a nursing robot, including a host circuit and a working head circuit. The host circuit includes a control unit, a power supply circuit electrically connected to the control unit, a first drive circuit, a drying circuit, and a flushing circuit. The working head circuit includes: a control chip communicatively connected to the control unit, and a feces detection module and a gyroscope electrically connected to the control chip. The gyroscope can be used to detect whether the working head is tilted and feed back the information to the control chip. The control chip feeds back the information to the control unit, thereby preventing the flushing module from being driven to perform flushing when the working head is tilted, thereby preventing the flushing water from leaking and affecting user use.

Description

Technical field

[0001] The present invention relates to the technical field of nursing machines, and in particular to a control circuit structure of a nursing robot. [Background Technology]

[0002] In today's daily lives, people who cannot take care of themselves need help to take care of their urination and defecation. The traditional way of handling urination and defecation is to use urine bags and toilet bowls to collect urine and feces, and then the attendant will handle it and flush and wipe the person who cannot take care of themselves. This method requires the attendant to endure the odor and is relatively cumbersome. To this end, automatic care machines have appeared on the market to handle feces and flush the person who cannot take care of themselves, solving the disadvantages of traditional methods.

[0003] Existing automatic nursing machines primarily consist of a working head, a negative pressure source, a water tank, a drying module, a flushing module, and a sewage tank. The negative pressure source pumps excrement and other waste into the sewage tank, while the flushing module draws clean water to rinse the working head and the patient's lower body, and the drying module dries the waste. While these machines can meet basic needs, they lack a way to detect the position of the working head. This can lead to the flushing module continuing to flush even when the working head is tilted, potentially causing water leakage and impacting the user experience.

[0004] Therefore, the existing technology needs to be improved and developed. [Summary of the invention]

[0005] The purpose of the present invention is to provide a control circuit structure of a nursing robot, which is used to solve the problem that the existing automatic nursing machine still performs the flushing function when tilted, causing water leakage and affecting user use.

[0006] The technical solution of the present invention is as follows: a control circuit structure of a nursing robot, including a host circuit and a working head circuit;

[0007] The host circuit includes: a control unit, a power supply circuit electrically connected to the control unit for an external power supply and internal power supply, a first drive circuit electrically connected to the control unit for driving the vacuum cleaner motor, a drying circuit electrically connected to the control unit for driving the drying module, and a flushing circuit electrically connected to the control unit for driving the flushing module; the working head circuit includes: a control chip communicatively connected to the control unit, a feces detection module electrically connected to the control chip for detecting feces, and a gyroscope electrically connected to the control chip for detecting whether the working head is tilted.

[0008] Furthermore, the feces detection module includes a feces detection circuit and a urine detection circuit; the urine detection circuit includes: a first comparator connected to the control chip, and an electrode sensor electrically connected to the first comparator for detecting urine; the feces detection circuit includes: a second comparator connected to the control chip, and an infrared pair tube electrically connected to the second comparator for detecting feces.

[0009] Furthermore, the host circuit also includes a deodorization module electrically connected to the control unit for driving the deodorization unit to deodorize.

[0010] Furthermore, the host circuit also includes a sewage bucket detection module electrically connected to the control unit for detecting the sewage bucket.

[0011] Furthermore, the sewage bucket detection module includes: a first sensor for detecting whether a sewage bucket exists, a first water level sensor for detecting the water level of the sewage bucket, a second sensor for detecting the air pressure inside the sewage bucket, and a third comparator electrically connected to the first sensor, the first water level sensor, and the control unit respectively.

[0012] Furthermore, the host circuit also includes a clean water bucket detection module for detecting the clean water bucket.

[0013] Furthermore, the clean water bucket detection module includes: a third sensor for detecting whether the clean water bucket exists, a second water level sensor for detecting the water level of the water replenishment tank, and an amplifier electrically connected to the third sensor, the second water level sensor, and the control unit respectively.

[0014] Furthermore, the host circuit also includes a first Bluetooth interface electrically connected to the control unit for connecting to a first Bluetooth module, and the working head circuit also includes a second Bluetooth interface electrically connected to the control chip for connecting to a second Bluetooth module, wherein the first Bluetooth module is communicatively connected to the second Bluetooth module.

[0015] Furthermore, the host circuit also includes an exhaust module electrically connected to the control unit for driving the exhaust fan.

[0016] Furthermore, the gyroscope is an MPU6050 chip.

[0017] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention detects feces through a feces detection module and feeds back the detection information to the control chip, which then feeds back the feces information to the control unit, and the control unit drives the vacuum cleaner motor to work, thereby forming a negative pressure in the sewage bucket to achieve the absorption of urine or feces on the working head. When flushing is required, the control unit controls the flushing module through the flushing circuit to achieve flushing of the working head and the human body. After the flushing is completed, the drying module is controlled by the drying circuit to achieve drying of the human body. In addition, the present invention integrates a gyroscope in the working head circuit, which can be used to detect whether the working head is tilted and feed back the information to the control chip. The control chip feeds back the information to the control unit, thereby achieving the state where the flushing module is not driven to perform flushing when the working head is tilted, thereby preventing the flushing water from leaking out and affecting user use.

Brief Description of the Drawings

[0018] Figure 1 It is a three-dimensional diagram of the nursing machine of the present invention.

[0019] Figure 2 This is a diagram of the internal structure of the main unit of the nursing machine of the present invention with the outer shell removed.

[0020] Figure 3 This is a diagram of the internal structure of the nursing machine of the present invention with the outer shell removed from another perspective.

[0021] Figure 4 This is a schematic diagram of the cooperation between the clean water bucket and the clean water bucket mounting groove in the nursing machine of the present invention.

[0022] Figure 5 This is a principle block diagram of the host circuit of the present invention.

[0023] Figure 6 This is a principle block diagram of the working head circuit of the present invention.

[0024] Figure 7 2 is a circuit diagram of the power supply circuit of the present invention.

[0025] Figure 8 、 Figure 9 This is a circuit diagram of the voice module of the present invention.

[0026] Figure 10 This is a circuit diagram of the third docking port of the present invention.

[0027] Figure 11 This is a circuit diagram of the control unit and peripheral circuits of the present invention.

[0028] Figure 12 This is a circuit diagram of the first docking port of the present invention.

[0029] Figure 13 This is a circuit diagram of the upgrade interface of the present invention.

[0030] Figure 14 This is a circuit diagram of the first Bluetooth interface of the present invention.

[0031] Figure 15 This is a circuit diagram of the wireless communication interface of the present invention.

[0032] Figure 16 FIG. 4 is a circuit diagram of a third driving circuit of the present invention.

[0033] Figure 17 FIG. 4 is a circuit diagram of the second driving circuit of the present invention.

[0034] Figure 18 This is a circuit diagram of the touch screen interface of the present invention.

[0035] Figure 19 FIG. 4 is a circuit diagram of a fourth driving circuit of the present invention.

[0036] Figure 20 FIG. 4 is a circuit diagram of the exhaust fan module of the present invention.

[0037] Figure 21 FIG. 4 is a circuit diagram of a fifth driving circuit of the present invention.

[0038] Figure 22 2 is a circuit diagram of the positive pressure sensor and the negative pressure sensor of the present invention.

[0039] Figure 23 、 Figure 24 FIG. 4 is a circuit diagram of the second temperature sensor of the present invention.

[0040] Figure 25 This is a circuit diagram of the deodorizing module of the present invention.

[0041] Figure 26 Circuit diagram for powering the working head of the present invention.

[0042] Figure 27 This is a circuit diagram of the water outlet valve circuit, air valve circuit, and circulation valve circuit of the present invention.

[0043] Figure 28 、 Figure 29 This is a circuit diagram of the water purification bucket detection module of the present invention.

[0044] Figure 30 、 Figure 31 This is a circuit diagram of the sewage bucket detection module of the present invention.

[0045] Figure 32 This is a circuit diagram of the 4G upgrade port circuit and the motherboard burning circuit of the present invention.

[0046] Figure 33 This is a circuit diagram of the lighting control circuit and LED lamp of the present invention.

[0047] Figure 34 This is a circuit diagram of the wireless charging transmitter module of the present invention.

[0048] Figure 35 This is a circuit diagram of the wireless charging receiving module of the present invention.

[0049] Figure 36 、 Figure 37 2 is a circuit diagram of the urine detection circuit of the present invention.

[0050] Figure 38 、 Figure 39 FIG. 4 is a circuit diagram of a feces detection circuit of the present invention.

[0051] Figure 40 4 is a circuit diagram of the gyroscope of the present invention.

[0052] Figure 41 This is a circuit diagram of the control chip and its peripheral circuits of the present invention.

[0053] Figure 42 This is a circuit diagram of the second Bluetooth interface of the present invention.

[0054] Figure 43 This is a circuit diagram of the remote control interface of the present invention.

[0055] Figure 44 This is a circuit diagram of the AC output control board of the present invention. [Specific implementation method]

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0057] Please refer to the attached Figure 1-4 An embodiment of the present invention provides a nursing machine, which includes a host 101 and a working head 102 used in conjunction with the human buttocks.

[0058] The work head 102 is provided with a work head circuit board (not shown). The main unit 101 includes a main unit circuit board, a vacuum cleaner motor 113, a sewage bucket 106, a deodorizing unit 115, a drying module 119, a rinsing module, a first heater 109, a UV lamp sterilizer 109, an exhaust fan 120, a clean water bucket 105, and a clean water bucket mounting slot 111. The work head circuit board is connected to the main unit circuit board.

[0059] The sewage bucket 106 is connected to the working head 102 and the vacuum cleaner motor 113 respectively, and the host circuit board is connected to the vacuum cleaner motor 113. When the user urinates or defecates, the working head circuit board feeds back a signal, and the working head circuit board feeds back the signal to the host circuit board. The host circuit board drives the vacuum cleaner motor 113 to work, so that the sewage bucket 106 forms a negative pressure to absorb urine or feces on the working head 102.

[0060] The deodorizing unit 115 is connected to the vacuum cleaner motor 113. The deodorizing unit 115 includes negative ions 117 electrically connected to the host circuit board. After the feces are sucked out, the sewage bucket 106 needs to be deodorized. The vacuum cleaner motor 113 is then driven to work, and the odor in the sewage bucket 106 is sucked out by the vacuum cleaner motor 113 and then transmitted to the deodorizing unit 115. The host circuit board drives the negative ions to work and achieve deodorization.

[0061] The clean water tank 105 is used to store water and is installed in the clean water tank mounting slot 111. A water replenishment tank (not shown) is provided in the clean water tank mounting slot 111 and is located below the clean water tank 105. The water outlets of the clean water tank 105 and the replenishment tank are connected to the water diversion valve 121 via pipes. The water diversion valve 121 is connected to the water circulation pump 122 via pipes. The water circulation pump 122 is connected to the UV lamp sterilizer 109 via pipes. The UV lamp sterilizer 109 is connected to the first heater 109 via pipes. The outlet of the first heater 109 is connected to the water replenishment tank. The first heater 109, the water diversion valve 121, and the water circulation pump 122 are all electrically connected to the host circuit board. In this way, when the nursing machine is started, the water circulation pump 122 is started, and the water in the clean water bucket 105 and the water replenishment tank enters the ultraviolet lamp sterilizer 109 for disinfection through the water diversion valve 121 and the water circulation pump 122, and then enters the first heater 109 for heating and enters the water replenishment tank for storage.

[0062] The flushing module includes a high-pressure pump 112 electrically connected to the main circuit board. The working head 102 is connected to the water supply tank via a pipe. The high-pressure pump 112 is also connected to the pipe connecting the working head 102 and the water supply tank. When flushing is required, the main circuit board activates the high-pressure pump 112, which draws heated and sterilized water from the water supply tank and transfers it to the working head 102. Combined with the air pressure of the high-pressure pump 112, this flushes both the body and the working head 102.

[0063] The drying module 119 includes: a fan 116 and an air heater 108 (such as a PTC heating plate, etc.) electrically connected to the main circuit board. The two ends of the air heater 108 are respectively connected to the fan 116 and the working head 102. When drying is required, the main circuit board drives the fan 116 and the air heater 108 to work, and the fan 116 transmits the air heated by the air heater 108 to the working head 102 to dry the human body.

[0064] The exhaust fan 120 is connected to the host circuit board to exhaust the gas inside the device when the nursing machine is started.

[0065] To match the above structure, an embodiment of the present invention further provides a control circuit structure of a nursing robot.

[0066] Please refer to the attached Figure 5-44The control circuit structure of the nursing robot includes a host circuit and a working head circuit.

[0067] The host circuit includes a control unit 1 and a power supply circuit 24, a first drive circuit 20, a drying circuit 4, and a flushing circuit 3 electrically connected to the control unit 1. The power supply circuit 24 is used to connect to an external power source and supply power to the control unit 1, the first drive circuit 20, the drying circuit 4, and the flushing circuit 3. The first drive circuit 20 is electrically connected to the vacuum cleaner motor 113 for driving the vacuum cleaner motor 113. The drying circuit 4 is electrically connected to the drying module 119 for driving the drying module 119. The flushing circuit 3 is electrically connected to the flushing module for driving the flushing module. The working head circuit includes a control chip 27 in communication with the control unit 1, a feces detection module 38 electrically connected to the control chip 27 for detecting feces, and a gyroscope 33 electrically connected to the control chip 27 for detecting whether the working head 102 is tilted.

[0068] In this way, when the feces detection module 38 detects feces, it feeds back a signal to the control chip 27. The control chip 27 then feeds back the feces information to the control unit 1. The control unit 1 then drives the vacuum cleaner motor 113 to operate, thereby creating a negative pressure in the sewage bucket 106 to absorb urine or feces from the working head 102. When flushing is required, the control unit 1 controls the flushing module through the flushing circuit 3 to flush the working head 102 and the human body. After flushing is completed, the control unit 1 controls the drying module 119 through the drying circuit 4 to dry the human body. In addition, the present invention integrates a gyroscope 33 in the working head circuit. The gyroscope 33 can be used to detect whether the working head 102 is tilted and feed back the information to the control chip 27. The control chip 27 feeds back the information to the control unit 1, thereby preventing the flushing module from being driven to perform flushing when the working head 102 is tilted, thereby preventing the flushing water from leaking and affecting the user's use.

[0069] For details, please refer to the attached Figures 36-39 In this embodiment, the feces detection module 38 includes a feces detection circuit 34 and a urine detection circuit 35. The urine detection circuit 35 includes: Figure 36 U17) connected to the first comparator 351 (corresponding to Figure 37 U16), and an electrode sensor 352 (corresponding to U16) electrically connected to the first comparator 351 for detecting urine Figure 36 The stool detection circuit 34 includes: a second comparator 341 connected to the control chip 27 (corresponding to Figure 38 U5 and Figure 39 U9), and an infrared pair tube 342 (corresponding to the infrared pair tube 342) electrically connected to the second comparator 341 for detecting feces Figure 38 U8 and Figure 39U11). Thus, when the user urinates, the electrode sensor 352 can send a signal to the first comparator 351. The first comparator 351 performs comparison and then sends a feedback signal to the control chip 27, enabling the control unit 1 to control the operation of the vacuum cleaner motor 113. Similarly, when the user defecates, the infrared pair tube 342 can send a signal to the second comparator 341. The second comparator 341 performs comparison and then sends a feedback signal to the control chip 27, enabling the control unit 1 to control the operation of the vacuum cleaner motor 113.

[0070] It should be noted that urine contains strong electrolytes, which have strong conductivity. By comparing with the first comparator 351, it is possible to give a feedback signal to the control chip 27 only when there are strong electrolytes, so that the control unit 1 can control the vacuum cleaner motor 113 to work, and prevent ordinary water from causing the care machine to work, affecting the user experience.

[0071] In addition, refer to the attached Figure 41 The working head circuit also includes a programming interface 29 (corresponding to Figure 41 The program can be burned into the control chip 27 through the programming interface 29.

[0072] The working head circuit also includes a first temperature sensor 30 electrically connected to the control chip 27 for detecting the water temperature of the flushing module. The first temperature sensor 30 is arranged at the water outlet of the working head 102 for flushing the human body to prevent the flushing water temperature from being too high and affecting the user experience.

[0073] The gyroscope 33 is an MPU6050 chip, the control chip 27 is an STC15W4K16S4 chip, and the first comparator 351 and the second comparator 341 are L393 chips.

[0074] In this embodiment, the host circuit further includes a first Bluetooth interface 11 electrically connected to the control unit 1 for connecting to the first Bluetooth module. Figure 14 As shown, the working head circuit also includes a second Bluetooth interface 28 electrically connected to the control chip 27 for connecting to the second Bluetooth module, as shown in FIG. Figure 42 As shown, the first Bluetooth module is connected to the second Bluetooth module for communication. Data communication between the control chip 27 and the control unit 1 is achieved through the communication connection between the first Bluetooth module and the second Bluetooth module.

[0075] In one embodiment, the working head circuit includes a wireless charging transmitter module 37 and a wireless charging receiver module 36 for cooperating with the wireless charging transmitter module 37 to realize wireless charging. Specifically, the wireless charging transmitter module 37 is electrically connected to the power supply circuit 24, such as Figure 34 、 35 as well as Figure 26 As shown, this is used to power the working head circuit board.

[0076] In one embodiment, the host circuit further includes a deodorization module 10 electrically connected to the control unit 1 for driving the deodorization unit 115 to deodorize. Figure 25 When deodorizing, the control unit 1 drives the vacuum cleaner motor 113 to work, and drives the deodorizing unit 115 to work through the deodorizing module 10. The odor in the sewage bucket 106 is sucked by the vacuum cleaner motor 113 and then transmitted to the deodorizing unit 115 for deodorization.

[0077] In one embodiment, the flushing circuit 3 includes: a second drive circuit 19 electrically connected to the control unit 1, an air valve circuit 37, and a water outlet valve circuit 36. A positive pressure sensor 32 electrically connected to the control unit 1 for detecting flushing force is shown in the figure. Specifically, the second drive circuit 19 is connected to the high-pressure pump 112; the air valve circuit 37 is connected to the air valve, which is located at the air output end of the high-pressure pump 112 and is used to adjust the pressure of the air output from the high-pressure pump 112; the water outlet valve circuit 36 ​​is connected to the water outlet valve, which is located on the pipe connecting the high-pressure pump 112 to the working head 102; and the positive pressure sensor 32 is located on the flushing pipe connecting the high-pressure pump 112 and the working head 102. When flushing is required, the control unit 1 drives the high-pressure pump 112 via the second drive circuit 19 and controls the opening of the water outlet valve and air valve, thereby drawing water from the water supply tank, pressurizing it, and transferring the water to the working head 102 to flush the human body and the working head 102.

[0078] In one embodiment, the drying circuit 4 includes: a third driving circuit 18 electrically connected to the control unit 1 and used to drive the air heater 108 to heat the air, and a fourth driving circuit 17 electrically connected to the control unit 1 and used to drive the fan 116. Figure 16 、 19 The third driving circuit 18 is used to drive the air heater 108, and the fourth driving circuit 17 is used to drive the fan 116, so that the air heater 108 can be driven to heat the air during drying, and the hot air is transmitted to and output from the working head 102 through the fan 116 to achieve drying.

[0079] In one embodiment, the host circuit further includes a sewage bucket detection module 5 electrically connected to the control unit 1 for detecting the sewage bucket 106 .

[0080] Specifically, the sewage bucket detection module 5 includes: a first sensor 52 for detecting whether the sewage bucket 106 exists, a first water level sensor 53 for detecting the water level of the sewage bucket 106, a second sensor 54 for detecting the air pressure inside the sewage bucket 106, and a third comparator 51 electrically connected to the first sensor 52, the first water level sensor 53, and the control unit 1. Specifically, the first sensor 52 is set on the nursing machine corresponding to the position of the sewage bucket 106, the first water level sensor 53 is set on the sewage bucket 106, and the second sensor 54 is a negative pressure sensor and is electrically connected to the control unit 1. Figure 30 、 31 As shown. A first conductive spring (not shown) connected to the first water level sensor 53 is provided on the outside of the sewage bucket 106. A second conductive spring (not shown) is provided on the nursing machine at a position corresponding to the first conductive spring, which cooperates with the first conductive spring. Thus, when the sewage bucket 106 is placed in the nursing machine, the second conductive spring abuts against the first conductive spring, achieving electrical conduction. Thus, the presence of the sewage bucket 106 can be detected by the first sensor 52. If it is detected to be absent, a signal is output to the control unit 1 via comparison by the third comparator 51. This prevents the sewage bucket 106 from being removed. The control unit 1 also controls the operation of the vacuum cleaner motor 113. The water level in the sewage bucket 106 is fed back by the first water level sensor 53 to prevent the water level in the sewage bucket 106 from being too high and affecting its use. When used in conjunction with an indicator light or voice module 26, it can be used to remind the user to promptly empty the sewage and feces in the sewage bucket 106.

[0081] In one embodiment, the host circuit further includes a clean water bucket detection module 6 for detecting the clean water bucket 105 .

[0082] Specifically, the clean water bucket detection module 6 includes: a third sensor 62 for detecting whether the clean water bucket 105 exists, a second water level sensor 63 for detecting the water level in the water supply tank, and an amplifier 61 electrically connected to the third sensor 62, the second water level sensor 63, and the control unit 1. The third sensor 62 is set on the clean water bucket installation slot 111 and is set corresponding to the position of the clean water bucket 105. The second water level sensor 63 is set in the water supply tank. Figure 28 、 29As shown. In this way, the existence of the clean water bucket 105 can be detected by the second sensor 54. If it is detected that it does not exist, a signal is output to the control unit 1 after comparison by the amplifier 61 to prevent the clean water bucket 105 from being taken away. The control unit 1 also controls the water circulation pump 122 to work. The water level of the water replenishment tank is fed back through the second water level sensor 63, wherein there are two second water level sensors 63, which are respectively used to feed back the high and low water levels in the water replenishment tank to prevent the water level in the water replenishment tank from being too high. Moreover, when used in conjunction with the indicator light, it can remind the user to add water to the clean water bucket 105 in time to prevent the water in the water replenishment tank from being too low. The host circuit also includes a fifth drive circuit 43 and a circulation valve circuit 45 electrically connected to the control unit 1, as shown Figure 27 As shown, the fifth drive circuit 43 is electrically connected to the water circulation pump 122 for driving the water circulation pump 122 to work, and the circulation valve circuit 45 is electrically connected to the circulation valve (not shown in the figure). The circulation valve is arranged on the pipeline connecting the water circulation pump 122 and the ultraviolet lamp sterilizer 109, and is used to control the on and off of the water circulation.

[0083] In one embodiment, the host circuit further includes an exhaust module 8 electrically connected to the control unit 1 for driving the exhaust fan 120. Figure 20 As shown, the exhaust module 8 is electrically connected to the exhaust fan 120 , so that the control unit 1 drives the exhaust fan 120 through the exhaust module 8 to exhaust the gas inside the device.

[0084] In one embodiment, the host circuit further includes: a voice module 26 electrically connected to the control unit 1 for broadcasting voice, specifically, the voice module 26 includes a voice chip 261 electrically connected to the control unit 1 and a speaker 262 electrically connected to the voice chip 261, such as Figure 8 、 9 As shown, the water in the clean water bucket 105 enters the water supply tank through the water diversion valve 121, the water circulation pump 122, the ultraviolet lamp sterilizer 109, and the first heater 110. When there is no water to replenish the water supply tank, it means that the clean water bucket 105 is short of water. Therefore, the low water level information fed back by the second water level sensor 63 can remind the user through the voice module 26 that the water in the sewage bucket 106 is full or the water level in the water supply tank is too low and the clean water bucket 105 should be replenished.

[0085] In one embodiment, the host circuit further includes: a wireless communication interface 13 electrically connected to the control unit 1 for connecting to a wireless communication module, such as Figure 15 The wireless communication module is electrically connected via the wireless communication interface 13, and the wireless communication module is used to connect to a terminal such as a mobile phone, a computer, or the cloud, so as to realize the function of operating the nursing machine through a mobile phone. The wireless communication module can be one of 3G, 4G, 5G or WiFi modules, which is not limited here.

[0086] In one embodiment, the host circuit further includes: a touch screen interface 14 electrically connected to the control unit 1 for connecting to the touch screen 104, such as Figure 18 The touch screen interface 14 is electrically connected to the touch screen 104 to operate the nursing machine through the touch screen 104.

[0087] In one embodiment, the host circuit further includes: a first burning interface 12 (corresponding to a first burning interface 12) electrically connected to the control unit 1 for burning a program thereto. Figure 11 UART in), and an upgrade interface 15 electrically connected to the control unit 1 for upgrading it, such as Figure 11 、 13 The first burning interface 12 facilitates the host circuit board to burn the program to the control unit 1 before being installed in the nursing machine, and the upgrade interface 15 facilitates the host circuit board to burn the program to the control unit 1 after being installed in the nursing machine.

[0088] In one embodiment, the host circuit further includes a remote control interface 16 for connecting to a remote controller, such as Figure 43 The remote control interface 16 is connected to the remote control 118 through a wire, so that the flushing module, the vacuum cleaner motor 113, the deodorizing module 10, and the drying module 119 can be controlled separately by the remote control 118, which facilitates control and prevents the wireless key from being lost or accidentally taken away by someone, causing inconvenience in controlling the nursing machine to perform work.

[0089] In one embodiment, the host circuit further includes: a second temperature sensor 7 electrically connected to the control unit 1 for detecting the water temperature of the water supply tank, such as Figure 23 、 24 Specifically, the second temperature sensor 7 is provided in the water supply tank, and there are two second temperature sensors 7, which are spaced apart to detect the temperature of water at two different positions respectively, to prevent the water temperature near the heat cycle water inlet interface from being too high and affecting use.

[0090] In one embodiment, the host circuit further includes: a first temperature control switch 9 (corresponding to a temperature control switch 9) electrically connected to the control unit 1 for detecting the water temperature of the water supply tank. Figure 44 TSW4 in, such as Figure 44 Specifically, the first temperature control switch 9 is disposed in the water supply tank. The first temperature control switch 9 is a snap-action thermostat switch. The first temperature control switch 9 is disposed near the water outlet connected to the high-pressure pump 112. When the first temperature control switch 9 detects that the water temperature is too high, it is disconnected, thereby stopping the first heater 110 from heating and preventing the water from being overheated.

[0091] In one embodiment, the control circuit structure of the nursing robot of the present invention further includes a light board 2, on which are provided a plurality of LED lights 22 and a light control circuit 21 electrically connected to the control unit 1, and the light control circuit 21 is electrically connected to the LED lights 22 for controlling the LED lights 22. Figure 31 As shown, the color displayed by the LED light 22 can prompt the user the working status of the nursing machine or remind the user that the water level of the sewage bucket 106 is full, or remind the user that there is no water in the clean water bucket 105, etc., to serve as a reminder.

[0092] In one embodiment, the host circuit further includes: a first control circuit 39 electrically connected to the control unit 1 for driving the ultraviolet lamp sterilizer 109 and the first heater 108, such as Figure 44 As shown, the control unit 1 can control the operation of the ultraviolet lamp sterilizer 109 and the first heater 108 through the first control circuit 39 .

[0093] In one embodiment, the host circuit further includes: an ultraviolet lamp detection circuit 40 electrically connected to the control unit 1 for detecting the ultraviolet lamp sterilizer 109, such as Figure 44 As shown, the ultraviolet lamp detection circuit 40 is connected to the ultraviolet lamp sterilizer 109. When the ultraviolet lamp sterilizer 109 is powered on, the ultraviolet lamp detection circuit 40 feeds back a signal to the control unit 1 through the first optocoupler U1, so that the control unit 1 can control the operation of the ultraviolet lamp sterilizer 109.

[0094] In the above embodiment, the host circuit is integrated on the host circuit board, and the working head circuit is integrated on the working head circuit board. The host circuit board includes three components, namely the light board 2, the main control board, the USB board, and the AC output control board. The main control board is integrated with a first docking port CONT1, the AC output control board is integrated with a second docking port CONT2, and a third docking port LED_PCB1 for docking with the light board 2. The first docking port CONT1 is docked with the second docking port CONT2. The USB board is provided with a fourth docking port electrically connected to the upgrade interface, a 4G upgrade port circuit, and a mainboard burning circuit. The application program of the nursing machine can be upgraded through the 4G upgrade port circuit and the mainboard burning circuit.

[0095] Specifically, the control unit 1, the power supply circuit 24, the deodorization module 10, the flushing module, the drying module, the sewage bucket detection module 5, the clean water bucket detection module 6, the exhaust module 8, the voice module 26, the wireless communication interface 13, the touch screen interface 14, the first burning interface 12, the upgrade interface 15, the remote control interface 16, and the second temperature sensor 7 are integrated on the control board.

[0096] The UV lamp detection circuit 40, the first drive circuit 20, and the first control circuit 39 are all integrated into the AC output control board and electrically connected to the control unit 1 via the second docking port CONT2. Furthermore, the AC output control board is integrated with a zero-crossing detection circuit 41 electrically connected to the control unit 1 for detecting whether a power source is connected. The AC output control board is connected to an external AC power source via a triangular plug. The AC power is rectified by the rectifier power element in the zero-crossing detection circuit 41 and then fed back to the control unit 1 via the second optical coupler to indicate whether the AC power source is connected. Figure 44 As shown, it is convenient for the control unit 1 to control the operation of the nursing machine. And the power circuit 24 is electrically connected to the triangle plug through an adapter. The adapter can process the AC power from the triangle plug into 24V and transmit it to the power supply. The power circuit 24 processes the voltage to power other circuits.

[0097] The AC output control board also integrates a second temperature control switch TSW1. Figure 44 As shown, the second temperature control switch TSW1 is set at the position corresponding to the first heater 108, and is used to disconnect the heating of the first heater 108 after the first heater 108 is heated to a certain temperature when the first heater 108 is damaged. The first temperature control switch 9 is integrated into the AC output control board.

[0098] The above description is only an embodiment of the present invention. It should be pointed out that those skilled in the art can make improvements without departing from the creative concept of the present invention, but these improvements all fall within the scope of protection of the present invention.

Claims

1. A control circuit structure of a nursing robot, characterized in that: Including host circuit and working head circuit; The host circuit includes: a control unit, a power supply circuit electrically connected to the control unit for connecting to an external power source and supplying internal power, a first drive circuit electrically connected to the control unit for driving a vacuum cleaner motor, a drying circuit electrically connected to the control unit for driving a drying module, and a flushing circuit electrically connected to the control unit for driving a flushing module; the working head circuit includes: a control chip communicatively connected to the control unit, a feces detection module electrically connected to the control chip for detecting feces, and a gyroscope electrically connected to the control chip for detecting whether the working head is tilted. When the working head is tilted, the flushing module is not driven to perform a flushing operation to prevent flushing water from leaking; The feces detection module includes a urine detection circuit, which includes: a first comparator connected to the control chip, and an electrode sensor electrically connected to the first comparator for detecting urine. Through comparison by the first comparator, a feedback signal is sent to the control chip in the presence of strong electrolytes, so that the control unit controls the operation of the vacuum cleaner motor; The working head circuit also includes a first temperature sensor electrically connected to the control chip for detecting the water temperature of the flushing module. The first temperature sensor is arranged at the water outlet of the working head for flushing the human body to prevent the temperature of the flushing water from being too high. The host circuit further includes a clean water bucket detection module for detecting the clean water bucket; The clean water bucket is used to store water and is installed in the clean water bucket installation groove. A water supply groove is provided in the clean water bucket installation groove. The water supply groove is located below the clean water bucket. The water outlets of the clean water bucket and the water supply groove are connected to the water diversion valve through a pipeline. The water diversion valve is connected to a water circulation pump through a pipeline. The water circulation pump is connected to the ultraviolet lamp sterilizer through a pipeline. The ultraviolet lamp sterilizer is connected to the first heater through a pipeline. The outlet of the first heater is connected to the water supply groove. When the nursing machine is started, the water circulation pump is started, and the water in the clean water bucket and the water supply groove enters the ultraviolet lamp sterilizer through the water diversion valve and the water circulation pump for disinfection, and then enters the first heater for heating and enters the water supply groove for storage; The host circuit further includes a first temperature control switch electrically connected to the control unit for detecting the water temperature of the water supply tank. The first temperature control switch is disposed in the water supply tank and is a snap-type thermostat switch. When the first temperature control switch detects that the water temperature is too high, it is disconnected, thereby stopping the first heater from heating and preventing the water from being overheated. The host circuit also includes a second temperature sensor electrically connected to the control unit for detecting the water temperature of the water replenishment tank. The second temperature sensor is arranged in the water replenishment tank, and there are two second temperature sensors, which are arranged at intervals to detect the temperature of water at two different positions respectively to prevent the water temperature in the water storage chamber near the thermal cycle water inlet interface from being too high.

2. The control circuit structure of the nursing robot according to claim 1, characterized in that: The feces detection module also includes a feces detection circuit; the feces detection circuit includes: a second comparator connected to the control chip, and an infrared pair tube electrically connected to the second comparator for detecting feces.

3. The control circuit structure of the nursing robot according to claim 1 or 2, characterized in that: The host circuit also includes a deodorization module electrically connected to the control unit for driving the deodorization unit to deodorize.

4. The control circuit structure of the nursing robot according to claim 3, characterized in that: The host circuit further includes a sewage bucket detection module electrically connected to the control unit for detecting the sewage bucket.

5. The control circuit structure of the nursing robot according to claim 4, characterized in that: The sewage bucket detection module includes: a first sensor for detecting whether a sewage bucket exists, a first water level sensor for detecting the water level in the sewage bucket, a second sensor for detecting the air pressure inside the sewage bucket, and a third comparator electrically connected to the first sensor, the first water level sensor, and the control unit respectively.

6. The control circuit structure of the nursing robot according to claim 1, characterized in that: The clean water bucket detection module includes: a third sensor for detecting whether the clean water bucket exists, a second water level sensor for detecting the water level of the water replenishment tank, and an amplifier electrically connected to the third sensor, the second water level sensor, and the control unit respectively.

7. The control circuit structure of the nursing robot according to claim 6, characterized in that: The host circuit also includes a first Bluetooth interface electrically connected to the control unit for connecting to a first Bluetooth module, and the working head circuit also includes a second Bluetooth interface electrically connected to the control chip for connecting to a second Bluetooth module, wherein the first Bluetooth module is communicatively connected to the second Bluetooth module.

8. The control circuit structure of the nursing robot according to claim 7, characterized in that: The host circuit also includes an exhaust module electrically connected to the control unit for driving the exhaust fan.

9. The control circuit structure of the nursing robot according to claim 8, characterized in that: The gyroscope is an MPU6050 chip.

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