An intelligent nursing robot and its control method

Abstract

The present invention belongs to the technical field of nursing robots, and in particular relates to an intelligent nursing robot and its control method, including a toilet component, a moving component, a positioning component, and a remote control device. The moving component is arranged on the bottom surface of the toilet component and is used for the movement of the toilet component. The positioning component is installed on the armrest component and is used for the positioning movement of the toilet component. The remote control device is provided with a start key and a standby key. By adopting a remote control method, the moving component drives the toilet component to the side of the person to be nursed, avoiding the person to be nursed with inconvenient mobility from going to the toilet in the bathroom and preventing the situation of falling during the journey. At the same time, the toilet component automatically moves under the drive of the moving component. Therefore, even if the guardian is not around, it is convenient for the person to be nursed with inconvenient mobility to use the toilet, improving the convenience. And by adopting the positioning component, the accuracy of the movement of the toilet component driven by the moving component is effectively improved, ensuring the positioning movement of the toilet component.

Description

Technical Field

[0001] The present invention belongs to the technical field of nursing robots, and particularly relates to an intelligent nursing robot and a control method thereof. Background Art

[0002] A nursing robot is a robot that provides nursing services for the disabled. With the development of the current era, the problem of population aging is becoming increasingly prominent, and the high number of disabled people will be the main burden on countries around the world. The main difficulty faced at present is the daily care of the elderly and the disabled. Since nursing staff cannot be by the side of the person to be nursed all the time, when the person to be nursed needs to use the toilet, they have to go there by themselves, which easily leads to accidents such as falling midway.

[0003] Although the nursing toilets disclosed in Chinese patent application numbers CN202122004225.2, CN202221846587.4, and CN201910055107.9 can move, which is convenient for nursing staff to move the toilet to the side of the person to be nursed, thereby reducing the work intensity of the nursing staff. However, there are many inconveniences when the nursing staff is not around. Even when the nursing staff is around, it is very inconvenient to push the toilet to the side of the person to be nursed, and there is room for improvement. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent nursing robot and a control method thereof for the above-mentioned existing technical problems, achieving the effect that the nursing robot can move to the side of the person to be nursed by itself without the need for nursing staff, so as to further reduce the work of the nursing staff.

[0005] In view of this, the present invention provides an intelligent nursing robot, including:

[0006] A toilet assembly, on which an armrest assembly is provided;

[0007] A moving assembly, which is arranged on the bottom surface of the toilet assembly and is used for the movement of the toilet assembly;

[0008] A positioning assembly, which is installed on the armrest assembly and is used for the positioning movement of the toilet assembly;

[0009] A remote control device, on which a start key and a standby key are provided.

[0010] In this technical solution, by adopting a remote control method and driving the toilet assembly to the side of the person to be cared for through the moving component, it is possible to avoid the person to be cared for with limited mobility from going to the toilet in the bathroom and prevent the situation of falling midway. At the same time, the toilet assembly automatically moves under the drive of the moving component. Therefore, even when the caregiver is not around, it is convenient for the person to be cared for with limited mobility to use the toilet, improving convenience. And by using the positioning component, the accuracy of the movement of the toilet assembly driven by the moving component is effectively improved, ensuring the positioning movement of the toilet assembly.

[0011] In the above technical solution, further, the toilet assembly includes:

[0012] A base, the base is installed on the moving component, and a footrest part is provided on the front side, and a placement cavity is opened on the rear side;

[0013] A toilet bowl body, the toilet bowl body is installed on the base between the footrest part and the placement cavity, and a toilet cover is installed above it, and a discharge port is opened on the bottom wall;

[0014] A sewage box, the sewage box is arranged in the placement cavity, and an inlet communicating with the discharge port is opened on the side, and the height is set lower than the discharge port;

[0015] A water tank, the water tank is installed in the placement cavity, and is located above the sewage box, and a temperature control device is installed in the water tank;

[0016] A flushing device, the flushing device is installed on the inner wall of the toilet bowl body close to the placement cavity side, and is provided with a disinfection device;

[0017] A drying device, the drying device is installed on the inner wall of the toilet bowl body close to the placement cavity side, and is located on the side of the flushing device;

[0018] Among them, a driving device for the flushing device to extend or retract is also provided at the top of the placement cavity, and a cleaning key is provided on the armrest assembly.

[0019] In this technical solution, by opening a placement cavity at the rear side of the base of the nursing robot, it is convenient to place the sewage box and the water tank inside. The sewage box is convenient for collecting and treating the feces after the person to be cared for uses the toilet, and the temperature control device, flushing device, disinfection device and drying device are convenient for cleaning, sterilizing and drying after using the toilet, improving the use comfort.

[0020] In the above technical solution, further, the moving component includes:

[0021] A housing, an installation groove adapted to the housing is opened on the bottom surface of the base, and the housing is embedded in the installation groove;

[0022] A bottom shell, the bottom shell is installed on the bottom surface of the housing;

[0023] Drive wheels: There are two drive wheels, which are respectively installed on the bottom shell. The bottom shell is provided with first slot holes corresponding to the drive wheels, and the bottom ends of the drive wheels extend out of the first slot holes.

[0024] Drive motors: There are two drive motors, which are respectively installed on the bottom shell and are respectively used to drive the two drive wheels.

[0025] Among them, the two drive wheels are coaxially arranged.

[0026] In this technical solution, by adopting two drive wheels and corresponding drive motors, it is convenient for the moving component (i.e., the toilet component) to move forward, turn, and rotate in place. Specifically, when the rotation directions and speeds of the two drive wheels are the same, the moving component moves forward or backward; when the rotation directions of the two drive wheels are the same but the speeds are different, the moving component turns left or right; when the rotation directions of the two drive wheels are different and the rotation speeds are the same, the moving component rotates in place, improving the convenience of moving control and the convenience, accuracy, and precision of moving positioning of the moving component.

[0027] In the above technical solution, further, the moving component further includes:

[0028] Universal wheels: There are four universal wheels, which are respectively located at the four corners of the bottom shell.

[0029] Among them, the bottom shell is provided with second slot holes corresponding to the universal wheels, and the bottom ends of the universal wheels extend out of the second slot holes.

[0030] In this technical solution, by setting the universal wheels, the movement of the moving component is improved, especially the stability when the moving component makes a turn and rotates in place.

[0031] In the above technical solution, further, the positioning component includes:

[0032] Scanning terminal: The scanning terminal is installed on the armrest component, and a scanning module, an analysis module, and a feedback module are arranged inside.

[0033] Instruction stickers: There are multiple instruction stickers, which are installed on the set route and are used to indicate the movement of the moving component on the set route.

[0034] Control host: The control host is installed in the placement cavity and is used to receive the instructions obtained by the scanning terminal from the instruction stickers, analyze the instructions, and then drive the drive motors.

[0035] Among them, the scanning module is used to scan and obtain the information on the instruction stickers, the analysis module is used to analyze the information on the instruction stickers, and the feedback module is used to feedback the analyzed information to the control host.

[0036] In this technical solution, the information recorded on the instruction sticker is obtained through the scanning terminal, parsed and then transmitted to the control host, which drives the driving motor to execute, ensuring good control effect and effectively ensuring that the moving component can move along the set route, reducing the possibility of bumping during the movement of the moving component.

[0037] In the above technical solution, further, it further includes:

[0038] An avoidance component, which is installed in the base and is used to avoid obstacles when the moving component moves on the set route and return to the set route;

[0039] Among them, the avoidance component includes:

[0040] A sensor, which is installed on the side of the base and is used to sense whether there are obstacles around the moving component;

[0041] A ranging device, which is installed on the bottom shell and is used to detect the deviation distance of the moving component on the set route and return to the set route based on this.

[0042] In this technical solution, by setting the avoidance component, it is possible to avoid bumping during the movement of the moving component. Although the moving component moves along the set route, there will inevitably be some obstacles on the set route. Therefore, through the induction of the sensors on the side surfaces around the base, the possibility of the moving component bumping can be avoided, improving the traveling safety. At the same time, the ranging device is adopted to facilitate the moving component to return to the set route in time after avoiding obstacles, thereby improving the precise effect of positioning and movement, preventing deviation and affecting the moving component from reaching the side of the person to be cared for.

[0043] In the above technical solution, further, the ranging device includes:

[0044] A roller, which is installed on the bottom shell, and a third slot corresponding to the roller is opened on the bottom shell, and the bottom end of the roller extends out of the third slot;

[0045] A counting device, which is installed on the roller and is used to record the number of turns of the roller and feed it back to the control host.

[0046] In this technical solution, by adopting the roller and the counting device, it is convenient to measure the distance deviated from the set route and return to the set route based on this value, improving the stability of the moving accuracy of the moving component.

[0047] In the above technical solution, further, the ranging device further includes:

[0048] A bracket, which is installed on the bottom shell;

[0049] The support plate is connected to the roller by a bearing at one end and is hinged to the bracket at the other end;

[0050] The anti-slip structure is installed between the bracket and the support plate and is used for preventing slipping when the roller measures the distance.

[0051] In this technical solution, by setting the bracket and the support plate, the stability of the roller is improved, and the anti-slip structure is adopted, so that the roller can closely adhere to the ground to prevent slipping, thereby improving the accurate measurement of the distance deviating from the set route and ensuring the stability of the measurement.

[0052] In the above technical solution, further, the anti-slip structure includes:

[0053] The first pillar is installed on the surface of the bracket;

[0054] The second pillar is installed at the hinge connection between the support plate and the bracket;

[0055] The third pillar is installed on the support plate;

[0056] The strip, grooves are provided on the surfaces of the first pillar, the second pillar and the third pillar, the strip is embedded in the grooves, and the strip is S-shaped and elastic;

[0057] The counterbore is provided on the bottom surface of the bracket;

[0058] The ejector post, one end of the ejector post is hinged to the support plate and the other end extends into the counterbore;

[0059] The spring, the spring is installed in the counterbore, and both ends are respectively abutted against the counterbore and the ejector post;

[0060] Wherein, the support plate is inclined, and the strip and the spring are both in a compressed state.

[0061] In this technical solution, through the first pillar, the second pillar, the third pillar and the S-shaped strip, a downward rotating force is generated on the inclined support plate at the hinge connection between the support plate and the bracket, so as to promote the roller to closely adhere to the ground under the action of the support plate to prevent slipping. The setting of the counterbore, the ejector post and the spring generates a downward pressing force on the support plate, further promoting the roller to closely adhere to the ground under the action of the support plate, further achieving an anti-slip effect and ensuring the accurate measurement of the distance deviating from the set route.

[0062] In the above technical solution, further, the control method includes the following steps:

[0063] S1: When the caregiver presses the start key, the control host receives the signal and starts each component;

[0064] S2: The scanning terminal scans, obtains, analyzes and feeds back the information in the indicating sticker to the control host. After the control host receives the fed-back information and analyzes it, it controls the moving component to move forward a distance X according to the information in the indicating sticker;

[0065] S3: The sensor senses whether there is an obstacle in front of the movement:

[0066] If there is no obstacle, repeat S2 - S3 until the set position is reached. The control host controls the moving component to stop moving and locks the driving wheels, and enters S4;

[0067] If there is an obstacle:

[0068] S31: The control host controls the moving component to stop moving forward, records the distance X1 that has been moved since the information fed back by the previous scanning terminal, and at the same time controls the moving component to rotate 90° and then stop;

[0069] S32: The control host controls the moving component to move forward until the sensor on the side of the base detects no obstacle, records the forward distance Y, and at the same time controls the moving component to rotate 90° and then stop;

[0070] S33: The control host controls the moving component to move forward until the sensor on the side of the base detects no obstacle, and records the forward distance X2, and at the same time controls the moving component to rotate 90° and then stop;

[0071] S34: The control host controls the moving component to move forward a distance Y, and then controls the moving component to rotate 90° and stop;

[0072] S35: The control host controls the moving component to move forward a distance X3 = X - X1 - X2, and then repeats S2 - S3 until the set position is reached. The control host controls the moving component to stop moving and locks the driving wheels, and enters S4;

[0073] S4: The control host controls the toilet lid to open;

[0074] S5: Wait for the caregiver to press the cleaning button on the armrest component, and the driving device drives the flushing device to extend for cleaning;

[0075] S6: Wait for the caregiver to press the standby button. The control host controls the toilet lid to close and controls the moving component to return to the standby point;

[0076] Among them, the rotation directions of the moving component in S31 and S32 and the rotation directions of the moving component in S33 and S34 are opposite. The rotation directions of the moving component in S31 and S34 and the rotation directions of the moving component in S32 and S33 are the same, and the method for the moving component to return to the standby point in S6 is the same as that in S2 - S3.

[0077] In this technical solution, the caregiver only needs to press the start button, and the nursing robot can automatically come to the side of the caregiver (or the bedside). During the automatic movement, if an obstacle is encountered, it can deviate, bypass the obstacle and return to the set route, thus ensuring accurate movement to the side of the caregiver. After the caregiver uses the toilet, press the cleaning button, and then clean, disinfect and dry the caregiver and the toilet. After the caregiver presses the standby button, the nursing robot automatically returns to the standby point, effectively solving the problem that people with inconvenient mobility are not convenient to use the toilet, and at the same time, there is no need for the caregiver to be around all the time, reducing the work intensity of the caregiver.

[0078] The beneficial effects of the present invention are as follows:

[0079] 1. By using a remote control method, the driving mobile component automatically brings the toilet component to the side of the caregiver, avoiding the caregiver with inconvenient mobility from going to the toilet in the bathroom and preventing the situation of falling midway. Even if the caregiver is not around, it is convenient for the caregiver with inconvenient mobility to use the toilet, improving convenience. By using the positioning component, the accuracy of the movement of the toilet component driven by the mobile component is improved, ensuring that the toilet component can accurately come to the side of the caregiver (or the bedside).

[0080] 2. The scanning terminal obtains the information recorded on the instruction sticker, analyzes it and transmits it to the control host, and the control host drives the driving motor to execute, ensuring good control effect, and can ensure that the mobile component can move along the set route, reducing the possibility of collision during the movement of the mobile component.

[0081] 3. The avoidance component can prevent the mobile component from colliding during the movement. Although the mobile component moves through the set route, there will inevitably be some obstacles on the set route. Through the induction of the sensors on the four side surfaces of the base, the possibility of the mobile component colliding is avoided, improving the traveling safety. At the same time, a ranging device is used to facilitate the mobile component to return to the set route in time after avoiding the obstacle, improving the accuracy of positioning movement, preventing deviation and affecting the mobile component from reaching the side of the caregiver (or the bedside). BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 is the schematic structural diagram of the first perspective of the present invention;

[0083] Figure 2 is the schematic structural diagram of the second perspective of the present invention;

[0084] Figure 3 is the cross-sectional view of the present invention;

[0085] Figure 4 is the cross-sectional view of the mobile component of the present invention at the ranging device;

[0086] Figure 5 is the enlarged view of part A in the present invention Figure 4 in the present invention;

[0087] Figure 6 is the schematic diagram when the present invention is applied;

[0088] Figure 7 is the flow chart of the control method when the present invention avoids interference;

[0089] The markings in the figure are as follows: 1, toilet assembly; 10, base; 100, footrest part; 101, placement cavity; 11, toilet bowl body; 12, toilet lid; 13, discharge port; 14, sewage tank; 15, water tank; 16, flushing device; 17, drying device; 18, driving device; 2, armrest assembly; 20, cleaning key; 21, front support foot; 22, rear support foot; 220, fixing part; 221, telescopic part; 23, backrest; 3, moving assembly; 30, housing; 31, installation groove; 32, bottom shell; 33, driving wheel; 34, first slot hole; 35, driving motor; 36, universal wheel; 37, second slot hole; 4, positioning assembly; 40, scanning terminal; 41, instruction sticker; 5, remote control device; 60, sensor; 61, roller; 62, third slot hole; 63, counting device; 630, proximity switch sensor; 631, induction plate; 64, bracket; 65, support plate; 66, anti-slip structure; 660, first support pillar; 661, second support pillar; 662, third support pillar; 663, clamping strip; 664, counterbore; 665, ejector pin; 666, spring. Specific embodiments

[0090] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0091] Embodiment 1:

[0092] This embodiment provides an intelligent nursing robot, including:

[0093] A toilet assembly 1, on which an armrest assembly 2 is provided;

[0094] A moving assembly 3, which is arranged on the bottom surface of the toilet assembly 1 and is used for the movement of the toilet assembly 1;

[0095] A positioning assembly 4, which is installed on the armrest assembly 2 and is used for the positioning movement of the toilet assembly 1;

[0096] The remote control device 5 is provided with a start key and a standby key on it.

[0097] Among them, the specific structure of the remote control device 5 is the prior art, and preferably uses infrared wireless signal transmission. At the same time, a receiving module for receiving infrared wireless signals is also provided on the armrest assembly 2.

[0098] At the same time, the armrest assembly 2 is adjustable, specifically including front feet 21 located on both sides of the toilet assembly 1, and rear feet 22 located on both sides of the toilet assembly 1 and cross - arranged with the front feet 21. A backrest 23 is connected between the rear sides of the two front feet 21. The two rear feet 22 are telescopic structures, including a fixed part 220 and a telescopic part 221. The telescopic part 221 is driven to extend or retract by an electric telescopic rod. The positioning component 4 is installed on the backrest 23, and the cleaning key 20 is located on the telescopic part 221.

[0099] It can be seen from this embodiment that by adopting a remote control method and driving the toilet assembly 1 to the side of the person to be cared for through the moving component 3, it is possible to avoid the person to be cared for with inconvenient mobility from going to the toilet in the bathroom, preventing the situation of falling midway. At the same time, the toilet assembly 1 automatically moves under the drive of the moving component 3. Therefore, even when the caregiver is not around, it is convenient for the person to be cared for with inconvenient mobility to use the toilet, improving convenience. And by adopting the positioning component 4, the accuracy of the movement of the toilet assembly 1 driven by the moving component 3 is effectively improved, ensuring the positioning movement of the toilet assembly 1.

[0100] Embodiment 2:

[0101] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above - mentioned embodiment, it also has the following technical features. The toilet assembly 1 includes:

[0102] A base 10, the base 10 is installed on the moving component 3, and a footrest 100 is provided on the front side, and a placement cavity 101 is opened on the rear side;

[0103] A toilet bowl 11, the toilet bowl 11 is installed on the base 10 between the footrest 100 and the placement cavity 101, and a toilet lid 12 is installed above it, and a discharge port 13 is opened on the bottom wall;

[0104] A sewage tank 14, the sewage tank 14 is arranged in the placement cavity 101, and an inlet communicating with the discharge port 13 is opened on the side, and the height is set lower than the discharge port 13;

[0105] A water tank 15, the water tank 15 is installed in the placement cavity 101, and is located above the sewage tank 14, and a temperature control device is installed in the water tank 15;

[0106] A flushing device 16, the flushing device 16 is installed on the inner wall of the toilet bowl 11 close to the placement cavity 101 side, and is provided with a disinfection device;

[0107] The drying device 17 is installed on the inner wall of the toilet bowl 11 on the side close to the placement cavity 101 and is located on the side of the flushing device 16;

[0108] Among them, a driving device 18 for the flushing device 16 to extend or retract is further provided at the top of the placement cavity 101, and a cleaning key 20 is provided on the armrest assembly 2;

[0109] Meanwhile, the temperature control device preferably adopts an electric heater (i.e., an electric heating tube), and a thermometer for detecting the water temperature is also provided in the water tank 15. The electric heater is automatically started after the temperature drops and is turned off after reaching the set temperature;

[0110] The disinfection device preferably adopts an ultraviolet disinfection lamp, that is, it is turned on immediately after the flushing device 16 extends by the driving device 18 and is turned off immediately after retracting;

[0111] The flushing device 16 is communicated with the water tank 15 through a water pipe, and a micro water pump is also provided therebetween. The driving device 18 preferably adopts an electric telescopic rod;

[0112] The drying device 17 preferably adopts air drying, which specifically includes a blower and an electric heating wire arranged at the air outlet of the blower;

[0113] The sewage discharge tank 14 is also provided with a sewage discharge port, and the sewage discharge port is connected with a micro sewage pump (preferably a reciprocating pump). Specifically, the caregiver discharges and cleans the sewage discharge tank 14 regularly every day to ensure the continuous use of the nursing robot.

[0114] As can be seen from this embodiment, by opening the placement cavity 101 at the rear side of the base 10 of the nursing robot, it is convenient to place the sewage discharge tank 14 and the water tank 15 inside. The sewage discharge tank 14 is convenient for collecting and treating the feces after the person to be nursed uses the toilet, and the temperature control device, the flushing device 16, the disinfection device and the drying device 17 are convenient for cleaning, sterilizing and drying after using the toilet, improving the use comfort.

[0115] Embodiment 3:

[0116] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiment, it also has the following technical features. The moving component 3 includes:

[0117] A housing 30, an installation groove 31 adapted to the housing 30 is opened on the bottom surface of the base 10, and the housing 30 is embedded in the installation groove 31;

[0118] A bottom shell 32, and the bottom shell 32 is installed on the bottom surface of the housing 30;

[0119] Drive wheels 33, there are two drive wheels 33, which are respectively installed on the bottom shell 32, and the bottom shell 32 is provided with first slot holes 34 corresponding to the drive wheels 33, and the bottom ends of the drive wheels 33 extend out of the first slot holes 34;

[0120] Drive motors 35, there are two drive motors 35, which are respectively installed on the bottom shell 32, and are respectively used to drive the two drive wheels 33;

[0121] Among them, the two drive wheels 33 are coaxially arranged and preferably arranged in the middle of the bottom shell 32; and the drive wheels 33 are preferably sleeved with rubber sleeves to increase the friction with the ground and prevent slipping, and the drive motors 35 preferably adopt servo motors with power-off self-locking.

[0122] It can be seen from this embodiment that by adopting two drive wheels 33 and the corresponding drive motors 35, it is convenient for the moving assembly 3 (i.e., the toilet assembly 1) to move forward, turn and rotate in place. Specifically, when the rotation directions and speeds of the two drive wheels 33 are the same, the moving assembly 3 moves forward or backward; when the rotation directions of the two drive wheels 33 are the same and the speeds are different, the moving assembly 3 turns left or right; when the rotation directions of the two drive wheels 33 are different and the rotation speeds are the same, the moving assembly 3 rotates in place; improving the convenience of moving control and the convenience, accuracy and precision of moving positioning of the moving assembly 3.

[0123] Embodiment 4:

[0124] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiments, it also has the following technical features. The moving assembly 3 further includes:

[0125] Universal wheels 36, there are four universal wheels 36, and they are respectively located at the four corners of the bottom shell 32;

[0126] Among them, the bottom shell 32 is provided with second slot holes 37 corresponding to the universal wheels 36, and the bottom ends of the universal wheels 36 extend out of the second slot holes 37.

[0127] It can be seen from this embodiment that by setting the universal wheels 36, the movement of the moving assembly 3 is improved, especially the stability when the moving assembly 3 turns and rotates in place.

[0128] Embodiment 5:

[0129] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiments, it also has the following technical features. The positioning assembly 4 includes:

[0130] Scanning terminal 40, the scanning terminal 40 is installed on the armrest assembly 2, and is internally provided with a scanning module, an analysis module, and a feedback module;

[0131] Instruction stickers 41, there are multiple instruction stickers 41, which are installed on a set route and are used to indicate the movement of the moving component 3 on the set route;

[0132] Control host, the control host is installed in the placement cavity 101 and is used to receive the instructions obtained by the scanning terminal 40 from the instruction stickers 41, and after parsing the instructions, drive the drive motor 35;

[0133] Among them, the scanning module is used to scan and obtain the information on the instruction sticker 41, the parsing module is used to parse the information on the instruction sticker 41, and the feedback module is used to feedback the parsed information to the control host;

[0134] At the same time, there are also indicator strips corresponding to the set route pasted on the ground, so as to subjectively and effectively reduce the obstacles on the set route in daily life. The instructions on the instruction sticker 41 are preferably recorded in the form of two-dimensional codes and at least include one operation instruction, specifically: forward distance L1; backward distance L2; turn left by K1°; turn right by K2°. And the set route is two, one is from the standby point to the side of the person to be cared for (bedside), and the other is vice versa. The two set routes do not overlap or intersect. And both the start key and the standby key carry operation instructions, that is, when the start key is pressed, the moving component 3 moves forward by a distance of L3 and reaches below the first instruction sticker 41 on the way to the side of the person to be cared for. When the standby key is pressed, the moving component 3 moves forward by a distance of L4 and reaches below the first instruction sticker 41 on the way to the standby point.

[0135] It can be seen from this embodiment that the information recorded on the instruction sticker 41 is obtained through the scanning terminal 40, parsed and then transmitted to the control host, and the control host drives the drive motor 35 to execute, ensuring a good control effect and effectively ensuring that the moving component 3 can move along the set route, reducing the possibility of collision during the movement of the moving component 3.

[0136] Embodiment 6:

[0137] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiments, it also has the following technical features, and further includes:

[0138] Avoidance component, the avoidance component is installed in the base 10 and is used to avoid obstacles when the moving component 3 moves on the set route and return to the set route;

[0139] Among them, the avoidance component includes:

[0140] Sensor 60, the sensor 60 is installed on the side of the base 10 and is used to sense whether there are obstacles around the moving component 3;

[0141] The ranging device is installed on the bottom shell 32 and is used to detect the deviation distance of the moving component 3 on the set route and return to the set route based on this;

[0142] Meanwhile, the sensor 60 preferably adopts an infrared sensor 60.

[0143] It can be seen from this embodiment that by setting the avoidance component, it is possible to avoid the moving component 3 from being bumped during movement. Although the moving component 3 moves along the set route, there will inevitably be some obstacles on the set route. Therefore, through the induction of the sensors 60 on the four side surfaces of the base 10, the possibility of the moving component 3 being bumped can be avoided, improving the traveling safety. At the same time, by using the ranging device, it is convenient for the moving component 3 to return to the set route in time after avoiding obstacles, thereby improving the accurate effect of positioning and movement, preventing deviation, and affecting the moving component 3 from reaching the side of the person to be cared for.

[0144] Embodiment 7:

[0145] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiments, it also has the following technical features. The ranging device includes:

[0146] The roller 61 is installed on the bottom shell 32, and a third slot 62 corresponding to the roller 61 is opened on the bottom shell 32, and the bottom end of the roller 61 extends out of the third slot 62;

[0147] The counting device 63 is installed on the roller 61 and is used to record the number of turns of the roller 61 and feedback it to the control host;

[0148] Among them, the ranging device is preferably two, located on the front and rear sides of the driving wheel 33 along the forward direction; the roller 61 is preferably sleeved with a rubber sleeve to increase the friction with the ground and prevent slipping. The counting device 63 preferably adopts a proximity switch sensor 630 and an induction plate 631 for triggering. The induction plate 631 is preferably multiple and is arranged at equal intervals in the circumferential direction on the axial surface of the roller 61. Specifically, after the moving component 3 travels a certain distance, this distance = the number of acquired inductions ÷ the number of induction plates 631 × the circumference of the roller 61.

[0149] It can be seen from this embodiment that by using the roller 61 and the counting device 63, it is convenient to measure the distance deviated from the set route and return to the set route based on this value, improving the stability of the movement accuracy of the moving component 3; at the same time, by using two ranging devices and taking the larger value of the ranging results, the data deviation caused by the slipping of the roller 61 can be effectively reduced, improving the accuracy of the ranging results.

[0150] Embodiment 8:

[0151] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiment, it also has the following technical features. The ranging device further includes:

[0152] A bracket 64, and the bracket 64 is installed on the bottom shell 32;

[0153] A support plate 65, one end of the support plate 65 is connected to the roller 61 through a bearing, and the other end is hingedly connected to the bracket 64;

[0154] An anti-slip structure 66, the anti-slip structure 66 is installed between the bracket 64 and the support plate 65 and is used to prevent the roller 61 from slipping during ranging.

[0155] It can be seen from this embodiment that by setting the bracket 64 and the support plate 65, the stability of the roller 61 is improved, and the anti-slip structure 66 is adopted, so that the roller 61 can closely adhere to the ground to prevent slipping, thereby improving the accurate measurement of the distance deviating from the set route and ensuring the stability of the measurement.

[0156] Embodiment 9:

[0157] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiment, it also has the following technical features. The anti-slip structure 66 includes:

[0158] A first pillar 660, and the first pillar 660 is installed on the surface of the bracket 64;

[0159] A second pillar 661, and the second pillar 661 is installed at the hinge connection between the support plate 65 and the bracket 64;

[0160] A third pillar 662, and the third pillar 662 is installed on the support plate 65;

[0161] A clamping strip 663, grooves are formed on the surfaces of the first pillar 660, the second pillar 661 and the third pillar 662, the clamping strip 663 is embedded in the grooves, and the clamping strip 663 is in an S shape and has elasticity;

[0162] A counterbore 664, and the counterbore 664 is formed on the bottom surface of the bracket 64;

[0163] A top pillar 665, one end of the top pillar 665 is hingedly connected to the support plate 65, and the other end extends into the counterbore 664;

[0164] A spring 666, the spring 666 is installed in the counterbore 664, and both ends thereof are respectively abutted against the counterbore 664 and the top pillar 665;

[0165] Among them, the support plate 65 is inclined, and both the clamping strip 663 and the spring 666 are in a compressed state.

[0166] As can be seen from this embodiment, through the first support column 660, the second support column 661, the third support column 662 and the S-shaped clamping strip 663, a downward rotating force is generated on the hinged joint of the support plate 65 and the bracket 64 for the inclined support plate 65, thereby prompting the roller 61 to closely adhere to the ground under the action of the support plate 65 to prevent slipping. The arrangement of the counterbore 664, the ejector post 665 and the spring 666 generates a downward pressing force on the support plate 65, further prompting the roller 61 to closely adhere to the ground under the action of the support plate 65, further achieving an anti-slip effect and ensuring accurate measurement of the distance deviating from the set route.

[0167] Embodiment 10:

[0168] This embodiment provides an intelligent nursing robot. In addition to including the technical solutions of the above embodiments, it also has the following technical features. The control method includes the following steps:

[0169] S1: The person to be cared for presses the start button through the remote control device 5, and the control host receives the signal and starts each component;

[0170] S2: The scanning terminal 40 scans, analyzes and feeds back the information in the indicating sticker to the control host. After the control host receives the fed-back information and analyzes it, it controls the moving component 3 to move forward a distance X according to the information in the indicating sticker;

[0171] S3: The sensor 60 senses whether there are obstacles in front of the movement:

[0172] If there are no obstacles, repeat S2 - S3 until the set position is reached. The control host controls the moving component 3 to stop moving and locks the drive wheel 33, and enters S4;

[0173] If there are obstacles:

[0174] S31: The control host controls the moving component 3 to stop moving forward, records the distance X1 that has been moved since the information fed back by the previous scanning terminal 40, and at the same time controls the moving component 3 to rotate 90° and then stop;

[0175] S32: The control host controls the moving component 3 to move forward until the sensor 60 on the side of the base 10 detects no obstacles, records the forward distance Y, and at the same time controls the moving component 3 to rotate 90° and then stop;

[0176] S33: The control host controls the moving component 3 to move forward until the sensor 60 on the side of the base 10 detects no obstacles, and records the forward distance X2, and at the same time controls the moving component 3 to rotate 90° and then stop;

[0177] S34: The control host controls the moving component 3 to move forward a distance Y, and then controls the moving component 3 to rotate 90° and stop;

[0178] S35: After the control host controls the moving component 3 to advance a distance of X3 = X - X1 - X2, repeat S2 - S3 until the set position is reached. Then, the control host controls the moving component 3 to stop moving, locks the driving wheel 33, and enters S4;

[0179] S4: The control host controls the toilet lid 12 to open;

[0180] S5: When the caregiver presses the cleaning key 20 on the armrest component 2, the driving device 18 drives the flushing device 16 to extend for cleaning;

[0181] S6: When the caregiver presses the standby key, the control host controls the toilet lid 12 to close and controls the moving component 3 to return to the standby point;

[0182] Among them, the rotation directions of the moving component 3 in S31 and S32 and the rotation directions of the moving component 3 in S33 and S34 are respectively opposite, the rotation directions of the moving component 3 in S31 and S34 and the rotation directions of the moving component 3 in S32 and S33 are respectively the same, and the method for the moving component 3 to return to the standby point in S6 is the same as that in S2 - S3; and specifically preferably, the rotation direction of the moving component 3 in S31 and S34 is clockwise, and the rotation direction of the moving component 3 in S32 and S33 is counterclockwise;

[0183] At the same time, there are also two actual situations when avoiding obstacles, specifically:

[0184] One: The obstacle is located below the instruction sticker 41, that is, it will cause the situation of X1 + X2 > X. At this time, the control host calculates that the forward distance X3 is negative. Therefore, the remote control device 5 is provided with a manual operation module, and the armrest component 2 is provided with an alarm device. When X1 + X2 > X is encountered, the control host activates the alarm device. After the caregiver manually adjusts the nursing robot to move to the position below the next instruction sticker, the alarm device is turned off;

[0185] Two: In the above S32, S33, and S34, the sensor 60 on the front side of the base 10 detects the presence of an obstacle:

[0186] ① When in the above S32, the sensor 60 on the front side of the base 10 detects an obstacle, the control host records Y1 at this time, controls the moving component 3 to rotate counterclockwise by 90°, retreats a distance of X1′, and records it. Then, controls the moving component 3 to rotate clockwise by 90°, advances a distance of Y2, and records it. At the same time, controls the moving component 3 to rotate counterclockwise by 90° and then stop, and enters S33. And at this time, X3 = X - (X1 + (-X1′) + X2). When X3 is negative at this time, manual operation is performed;

[0187] ②When in the above S33, the sensor 60 on the front side of the base 10 detects an obstacle. The control host records X2 at this time, controls the moving component 3 to rotate clockwise by 90°, advances a distance Y3, and records it. At the same time, controls the moving component 3 to rotate counterclockwise by 90°, advances a distance X2′, and records it. At the same time, controls the moving component 3 to stop after rotating counterclockwise by 90°, enters S34, and at this time X3 = X - (X1 + X2 + X2′). When X3 is negative at this time, perform manual operation;

[0188] ③When in the above S34, the sensor 60 on the front side of the base 10 detects an obstacle. The control host records Y4 at this time, controls the moving component 3 to rotate clockwise by 90°, advances a distance X3′, and records it. At the same time, controls the moving component 3 to rotate counterclockwise by 90°, advances a distance Y5, and records it. At the same time, controls the moving component 3 to stop after rotating counterclockwise by 60°, enters S35, and at this time X3 = X - (X1 + X2 + X3′). If X3 is negative at this time, perform manual operation;

[0189] The above X is the distance quantity required to travel according to the instruction. X1, X1′, X2, X2′, and X3′ are all the actual travel distances along the set route direction. X3 is the difference between the sum of the actual travel distances along the set route direction and the distance quantity required to travel according to the instruction.

[0190] It can be seen from this embodiment that the caregiver only needs to press the start key, and the nursing robot can automatically come to the side of the caregiver (or the bedside). And during the automatic movement process, if it encounters an obstacle, it can deviate, bypass the obstacle and return to the set route, so as to ensure accurate movement to the side of the caregiver. Then, after the caregiver uses the toilet, press the cleaning key 20, and then clean, disinfect and dry the caregiver and the toilet. And after the caregiver presses the standby key, the nursing robot automatically returns to the standby point, thus effectively solving the problem that it is inconvenient for people with limited mobility to use the toilet, and at the same time, it does not require the caregiver to be around all the time, reducing the work intensity of the caregiver.

[0191] The embodiments of the present application are described above in conjunction with the accompanying drawings. Without conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above specific embodiments. The above specific embodiments are only illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all belong to the protection scope of the present application.

Claims

1. An intelligent nursing robot, characterized in that, Comprising: A toilet component (1), on which an armrest component (2) is provided; A moving component (3), which is arranged on the bottom surface of the toilet component (1) and is used for the movement of the toilet component (1); A positioning component (4), which is installed on the armrest component (2) and is used for the positioning movement of the toilet component (1); A remote control device (5), on which a start key and a standby key are provided; The toilet component (1) includes a base (10), the base (10) is installed on the moving component (3), and a footrest part (100) is provided on the front side, and a placement cavity (101) is opened on the rear side; The moving component (3) includes: A housing (30), an installation groove (31) adapted to the housing (30) is opened on the bottom surface of the base (10), and the housing (30) is embedded in the installation groove (31); A bottom shell (32), which is installed on the bottom surface of the housing (30); The positioning component (4) includes: A scanning terminal (40), which is installed on the armrest component (2) and internally provided with a scanning module, an analysis module, and a feedback module; Instruction stickers (41), there are multiple instruction stickers (41), which are installed on a set route and are used to indicate the movement of the moving component (3) on the set route; A control host, which is installed in the placement cavity (101) and is used to receive the instructions obtained by the scanning terminal (40) from the instruction stickers (41), and after analyzing the instructions, drive the driving motor (35); Wherein, the scanning module is used to scan and obtain the information on the instruction sticker (41), the analysis module is used to analyze the information on the instruction sticker (41), and the feedback module is used to feedback the analyzed information to the control host; An avoidance component, which is installed in the base (10) and is used to avoid obstacles when the moving component (3) moves on the set route and return to the set route; Wherein, the avoidance component includes: An inductor (60), which is installed on the side surface of the base (10) and is used to sense whether there are obstacles around the moving component (3); A distance measuring device, which is installed on the bottom shell (32) and is used to detect the deviation distance of the moving component (3) on the set route and return to the set route based on this; The distance measuring device includes: A roller (61), the roller (61) is installed on the bottom shell (32), and a third slot hole (62) corresponding to the roller (61) is opened on the bottom shell (32), and the bottom end of the roller (61) extends out of the third slot hole (62); A counting device (63), which is installed on the roller (61) and is used to record the number of turns of the roller (61) and feedback it to the control host; A bracket (64), which is installed on the bottom shell (32); A support plate (65), one end of the support plate (65) is connected to the roller (61) by a bearing, and the other end is hinged to the bracket (64); Anti-slip structure (66), the anti-slip structure (66) is installed between the bracket (64) and the support plate (65), and is used for preventing slipping during the distance measurement of the roller (61); The anti-slip structure (66) includes: The first pillar (660), the first pillar (660) is installed on the surface of the bracket (64); The second pillar (661), the second pillar (661) is installed at the hinge connection between the support plate (65) and the bracket (64); The third pillar (662), the third pillar (662) is installed on the support plate (65); The clamping strip (663), grooves are opened on the surfaces of the first pillar (660), the second pillar (661) and the third pillar (662), the clamping strip (663) is embedded in the grooves, and the clamping strip (663) is in an S shape and has elasticity; The counterbore (664), the counterbore (664) is opened on the bottom surface of the bracket (64); The top pillar (665), one end of the top pillar (665) is hinged to the support plate (65), and the other end extends into the counterbore (664); The spring (666), the spring (666) is installed in the counterbore (664), and the two ends are respectively abutted against the counterbore (664) and the top pillar (665); Wherein, the support plate (65) is inclined, and both the clamping strip (663) and the spring (666) are in a compressed state.

2. The intelligent nursing robot according to claim 1, wherein The toilet assembly (1) includes: The toilet bowl body (11), the toilet bowl body (11) is installed on the base (10) between the footrest part (100) and the placement cavity (101), a toilet cover (12) is installed above it, and a discharge port (13) is opened on the bottom wall; The sewage disposal tank (14), the sewage disposal tank (14) is arranged in the placement cavity (101), an inlet communicating with the discharge port (13) is opened on the side, and the height is set lower than the discharge port (13); The water tank (15), the water tank (15) is installed in the placement cavity (101), and is located above the sewage disposal tank (14), and a temperature control device is installed in the water tank (15); The flushing device (16), the flushing device (16) is installed on the inner wall of the toilet bowl body (11) close to the placement cavity (101) side, and is provided with a disinfection device; The drying device (17), the drying device (17) is installed on the inner wall of the toilet bowl body (11) close to the placement cavity (101) side, and is located on the side of the flushing device (16); Wherein, a driving device (18) for the flushing device (16) to extend or retract is further provided at the top of the placement cavity (101), and a cleaning key (20) is provided on the armrest assembly (2).

3. The intelligent nursing robot according to claim 2, characterized in that The moving assembly (3) includes: The driving wheels (33), there are two driving wheels (33), which are respectively installed on the bottom shell (32), and a first slot hole (34) corresponding to the driving wheels (33) is opened on the bottom shell (32), and the bottom ends of the driving wheels (33) extend out of the first slot hole (34); The driving motors (35), there are two driving motors (35), which are respectively installed on the bottom shell (32), and are respectively used to drive the two driving wheels (33); Wherein, the two driving wheels (33) are coaxially arranged.

4. The intelligent nursing robot according to claim 3, wherein The mobile component (3) further comprises: Universal wheels (36), wherein there are four universal wheels (36) and they are respectively located at four corners of the bottom shell (32); The bottom shell (32) is provided with a second slotted hole (37) corresponding to the universal wheel (36), and the bottom end of the universal wheel (36) extends out of the second slotted hole (37).

5. The intelligent nursing robot according to any one of claims 1-4, characterized in that, The control method comprises the following steps: S1: When the nursing staff presses the start button, the control host receives the signal and starts each component; S2: the scanning terminal (40) scans, obtains, analyzes and feeds back the information in the indicator sticker to the control host. After receiving and analyzing the fed-back information, the control host controls the moving component (3) to move forward a distance X according to the information in the indicator sticker. S3: The sensor (60) senses whether there is an obstacle in front of the vehicle: If there is no obstacle, repeat S2-S3 until the set position is reached, the control host controls the moving component (3) to stop moving and lock the driving wheel (33), and enters S4; If there is an obstacle: S31: the control host controls the moving component (3) to stop moving forward, and records the distance X1 that has been moved since the information fed back by the last scanning terminal (40), and controls the moving component (3) to rotate 90° and then stop; S32: The control host controls the moving component (3) to move forward until the sensor (60) on the side of the base (10) detects that there is no obstacle, records the forward distance Y, and controls the moving component (3) to rotate 90° and then stop; S33: the control host controls the moving component (3) to move forward until the sensor (60) on the side of the base (10) detects that there is no obstacle, and records the forward distance X2, and at the same time controls the moving component (3) to rotate 90° and then stop; S34: After the host computer controls the moving component (3) to move forward a distance Y, the moving component (3) is controlled to rotate 90° and then stop; S35: After the control host controls the moving component (3) to move forward a distance X3=X-X1-X2, S2-S3 are repeated until the set position is reached, the control host controls the moving component (3) to stop moving, locks the driving wheel (33), and enters S4; S4: The control host controls the toilet lid (12) to open; S5: When the caregiver presses the cleaning key (20) on the armrest assembly (2), the driving device (18) drives the flushing device (16) to extend for cleaning; S6: When the nursing staff presses the standby button, the control host controls the toilet lid (12) to close and controls the moving component (3) to return to the standby point; The rotation directions of the moving components (3) in S31 and S32 and the rotation directions of the moving components (3) in S33 and S34 are opposite to each other, the rotation directions of the moving components (3) in S31 and S34 and the rotation directions of the moving components (3) in S32 and S33 are the same, and the method for the moving component (3) to return to the standby point in S6 is the same as that in S2-S3.

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