Care robot, method for purging the same, and care robot system
By automatically identifying and adjusting the direction of the sewage pipe through the nursing robot, the problem of the heavy burden of manual cleaning of toilets by nursing staff has been solved, realizing automated sewage discharge and reducing the workload and cleaning difficulty of nursing staff.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN TOPBAND CO LTD
- Filing Date
- 2024-06-18
- Publication Date
- 2026-06-05
Smart Images
Figure CN118617436B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of nursing robot technology, and in particular to a nursing robot and its sewage disposal method and nursing robot system. Background Technology
[0002] Some disabled individuals are physically weak and their mobility has declined sharply, allowing them to only move two or three steps. Therefore, they need to use a toilet in their room to defecate, and then clean and wipe themselves or have caregivers clean and wipe them.
[0003] Current care methods require the commode to be kept in the elderly person's room at all times, or for caregivers to carry it to the room or other locations when needed. After use, the waste from the care robot must be manually emptied into the toilet or squat toilet at home, which is inconvenient. When manually emptying the waste, improper control of the pouring force and angle can cause the waste to spill onto the edge or outside the intended disposal area (toilet or squat toilet), further increasing the cleaning burden on caregivers. Summary of the Invention
[0004] This application provides a nursing robot and its sewage disposal method, as well as a nursing robot system, to solve the technical problem that the need for manual cleaning of toilet seats leads to an excessive burden on caregivers.
[0005] In a first aspect, this application provides a sewage discharge method for a nursing robot. The nursing robot includes a robot body and a sewage discharge pipe disposed on the robot body. The sewage discharge method includes: setting a first feature of a target sewage discharge object, the target sewage discharge object having a designated sewage discharge area; establishing a target sewage discharge position for the robot body; if a sewage discharge signal is obtained, controlling the robot body to move to the target sewage discharge position and obtaining a second feature of the object to be identified; matching the second feature of the object to be identified with the first feature of the target sewage discharge object; if the second feature of the object to be identified and the first feature of the target sewage discharge object are successfully matched, controlling the sewage discharge end of the sewage discharge pipe of the robot body to face the successfully matched object to be identified, so that the sewage is discharged into the designated sewage discharge area.
[0006] In one possible implementation, setting the first feature of the target sewage discharge object includes: collecting first data, which includes initial image information of the target sewage discharge object; removing irrelevant or duplicate data from the first data to obtain second data; and calibrating the second data to obtain the first feature of the target sewage discharge object.
[0007] In one possible implementation, it further includes: real-time acquisition of first image information of the sewage discharge end of the sewage pipe and second image information of the designated sewage discharge area of the target object after successful matching; if the first image information and the second image information satisfy a preset positional relationship, it is determined that the sewage discharge end of the sewage pipe is aligned with the designated sewage discharge area of the target sewage object, and the sewage pipe is controlled to discharge sewage into the designated sewage discharge area.
[0008] In one possible implementation, the target sewage object has a designated sewage outlet, and the sewage discharge method further includes: controlling the sewage outlet end of the robot body's sewage pipe to face the designated sewage outlet.
[0009] In one possible implementation, setting the first feature of the target sewage discharge object further includes: collecting third data, the third data including depth information of the target sewage discharge object; and preprocessing the third data to obtain the first feature of the target sewage discharge object.
[0010] In one possible implementation, the method further includes: calculating the height difference between the end of the sewage pipe and the bottom center of the designated sewage area, and the horizontal distance L between the end of the sewage pipe and the edge of the designated sewage area, based on the depth information of the target sewage object; obtaining the initial discharge velocity of the sewage pipe and / or the discharge angle of the sewage pipe; calculating the time it takes for the sewage to be discharged into the designated sewage area and the horizontal distance l from which the sewage flows out during that time; and setting l < L, adjusting the initial discharge velocity of the sewage pipe and / or the discharge angle of the sewage pipe.
[0011] In one possible implementation, the method further includes: acquiring the robot's location information and the user's home environment information; creating a home environment map using the location information and environment information; controlling the robot to move to a designated sewage discharge area; and marking the target sewage discharge location on the home environment map.
[0012] In one possible implementation, the method further includes: establishing a target sewage discharge pose and controlling the robot body to move to the target sewage discharge pose.
[0013] In one possible implementation, controlling the robot body to move to the target sewage discharge pose includes: acquiring a first pose of the robot body; calculating the Euclidean distance between the first pose and the target sewage discharge pose and the heading difference between the first pose and the target sewage discharge pose; if the Euclidean distance is less than a distance threshold and the heading difference is less than a heading difference threshold, determining that the robot body has reached the target sewage discharge pose.
[0014] In one possible implementation, multiple target sewage discharge locations are set, and the sewage discharge method further includes: acquiring a sewage discharge signal and a second position of the robot body, wherein the sewage discharge signal is one of the selected target sewage discharge locations; if the second position does not match the target sewage discharge location, the robot body adjusts the second position according to the target sewage discharge location until the target sewage discharge location is reached.
[0015] In one possible implementation, multiple target sewage discharge locations are set as the first target sewage discharge location, the second target sewage discharge location, ..., the Nth target sewage discharge location in order of priority, where N≥2. The sewage discharge method further includes: if it is detected that a user leaves the robot body and the departure time is greater than a time threshold, the robot body autonomously moves to the first target sewage discharge location to discharge sewage.
[0016] In one possible implementation, the method further includes: planning the shortest movement path between the second position of the robot body and multiple target sewage discharge positions; calculating the movement time of the robot body to each of the multiple designated sewage discharge areas; and controlling the robot body to move to the target sewage discharge position with the shortest movement time to discharge sewage.
[0017] Secondly, this application also provides a nursing robot for implementing the sewage discharge method described above. The nursing robot includes a robot body, on which are provided: a feature setting module for setting a first feature of a target sewage discharge object, the target sewage discharge object having a designated sewage discharge area; a position establishment module for establishing a target sewage discharge position of the robot body; an acquisition module for acquiring a sewage discharge signal; a movement module connected to the position establishment module and the acquisition module for controlling the robot body to move to the target sewage discharge position; a matching module connected to the feature setting module and the movement module for acquiring a second feature of an object to be identified and matching the second feature of the object to be identified with the first feature of the target sewage discharge object; and an adjustment module connected to the matching module, the adjustment module including a sewage discharge pipe disposed on the robot body for controlling the sewage discharge end of the sewage discharge pipe to face the successfully matched object to be identified, so that the sewage is discharged within the designated sewage discharge area.
[0018] In one possible implementation, the robot body is also equipped with a sewage tank, one end of a sewage pipe is connected to the outlet of the sewage tank, and the sewage pipe can be folded and stored on the robot body.
[0019] Thirdly, this application provides a nursing robot system, including a base station and a nursing robot as described above, wherein the base station is detachably connected to the robot body for charging the robot body.
[0020] The technical solutions provided in this application have the following advantages compared with the prior art:
[0021] This application provides a nursing robot and its sewage discharge method and system. After creating a target sewage discharge location, the nursing robot can automatically go to the target sewage discharge location to discharge sewage. By adjusting the sewage discharge end of the robot body's sewage discharge pipe to face the designated sewage discharge area of the target sewage object, the sewage can be discharged into the designated sewage discharge area. The entire sewage discharge process does not require the participation of nursing staff, which greatly reduces the burden on nursing staff and improves the user's comfort. Attached Figure Description
[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0025] Figure 1 A flowchart illustrating the sewage discharge method of the nursing robot provided in this application embodiment;
[0026] Figure 2 A comparative diagram of the depth information of the target sewage object (toilet) obtained by the robot body, where (a) is a physical image of the target sewage object and (b) is a depth information image of the target sewage object;
[0027] Figure 3 A schematic diagram showing the robot's main body's sewage pipe discharging sewage into a designated sewage area;
[0028] Figure 4 This is a structural block diagram of the robot body in the nursing robot provided in the embodiments of this application;
[0029] Figure 5 for Figure 4 The diagram shows the structure of the robot body;
[0030] Figure 6 This is a schematic diagram of the structure of the nursing robot system provided in the embodiments of this application, wherein the robot body and the base station are in a charging separated state.
[0031] Explanation of reference numerals in the attached figures:
[0032] 100. Nursing robot system;
[0033] 1. Robot body; 11. Feature setting module; 12. Position establishment module; 13. Acquisition module; 14. Movement module; 15. Matching module; 16. Adjustment module; 17. Sewage tank; 2. Base station;
[0034] 200. Designated sewage discharge area; 300. Designated sewage discharge outlet. Detailed Implementation
[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0036] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.
[0037] To address the technical problem of excessive burden on caregivers due to the need for manual cleaning of toilet seats in existing technologies, this application provides a care robot and its sewage discharge method and system, which can achieve automatic alignment and sewage discharge between the sewage discharge end of the sewage pipe and the target sewage object, greatly reducing the burden on caregivers and improving user comfort.
[0038] like Figure 1 As shown in the figure, this application provides a sewage discharge method for a nursing robot. The nursing robot includes a robot body 1 and a sewage discharge pipe disposed on the robot body 1. The sewage discharge method includes the following steps:
[0039] S1. Set the first characteristic of the target sewage discharge object, the target sewage discharge object has a designated sewage discharge area 200;
[0040] S2. Establish the target sewage discharge location for robot body 1;
[0041] S3. If a sewage discharge signal is obtained, control the robot body 1 to move to the target sewage discharge location and obtain the second feature of the object to be identified;
[0042] S4. Match the second feature of the object to be identified with the first feature of the target sewage discharge object;
[0043] S5. If the second feature of the object to be identified matches the first feature of the target sewage object, then the object to be identified is the preset target sewage object. Control the sewage discharge end of the sewage pipe of the robot body 1 to face the matched object to be identified, so that the sewage is discharged into the designated sewage area 200.
[0044] It should be noted that the target waste disposal object can be a toilet or squat toilet in the home. The first feature of the target waste disposal object can be preset by the developers for the care robot, or it can be set by the user. Specifically, the process of setting the first feature of the target waste disposal object and matching it with the second feature of the object to be identified can be as follows: The care robot acquires image or depth information of the target waste disposal object, extracts features, performs extensive data training, builds a recognition model, and then matches the second feature of the object to be identified with the first feature of the target waste disposal object to correctly identify the target waste disposal object (as described below). Alternatively, the process can be as follows: During the first use, the user moves the care robot to the toilet or squat toilet and uses infrared remote control or buttons to control the robot to collect image or depth information of the target waste disposal object on-site. The care robot then extracts features, builds a recognition model, and matches the second feature of the object to be identified with the first feature of the target waste disposal object to correctly identify the target waste disposal object. Understandably, after creating the target sewage discharge location, when needed, robot body 1 can automatically travel to the area required by the user for facilitating the user's waste disposal. After use, robot body 1 can automatically return to the target sewage discharge location. By matching the second feature of the object to be identified with the first feature of the target sewage discharge object, robot body 1 can automatically identify the target sewage discharge object. This is achieved by adjusting the sewage discharge end of robot body 1's discharge pipe towards the designated sewage discharge area 200 of the target sewage discharge object (e.g., ...). Figure 2 As shown, it can discharge sewage into a designated sewage discharge area of 200, thereby achieving automatic alignment and discharge between the sewage discharge end of the sewage pipe and the target sewage object. The entire sewage discharge process does not require the participation of nursing staff, which greatly reduces the burden on nursing staff and improves the user's comfort.
[0045] Step S2 further includes the following steps:
[0046] Obtain the location information of the robot body 1 and the environmental information of the user's home.
[0047] A home environment map is created using location and environmental information.
[0048] Specifically, the robot body 1 can achieve home environment perception and robot localization and navigation using methods such as laser SLAM, VSLAM, and inertial navigation. For example, using SLAM (simultaneous localization and mapping), the robot body 1 uses its internal sensors (encoders, IMUs, etc.) and external sensors (laser sensors or vision sensors) to locate itself, and then incrementally constructs a home environment map based on the environmental information acquired by the external sensors. The working principle and process of the robot body 1's localization and navigation and home environment map construction described above can be found in existing technologies and are not the focus of this application; therefore, they will not be elaborated upon.
[0049] The robot body 1 can be controlled to move to the target sewage discharge location via infrared remote control or buttons, or it can be pushed to the target sewage discharge location to mark the target sewage discharge location on the home environment map. At this point, the target sewage discharge location of the robot body 1 has been established.
[0050] Of course, the heading of robot body 1 can also be adjusted to confirm the target sewage discharge heading corresponding to robot body 1, thereby establishing the target sewage discharge pose (x). a y a Ф a This allows the robot body 1 to easily adjust the orientation of its sewage pipe relative to the designated sewage discharge area 200. It is worth mentioning that the target sewage discharge location can also be determined by attaching markers such as QR codes to the target sewage discharge object, and then the robot can use its positioning module to recognize the QR codes for precise location perception.
[0051] In some embodiments, step S1 may further include the following steps:
[0052] Collect the first data, which includes image information of the target pollutant discharge object;
[0053] After removing irrelevant or duplicate data from the first set of data, the second set of data is obtained.
[0054] The second data is calibrated to obtain the first characteristic of the target pollutant.
[0055] Specifically, after the robot body 1 moves to the target sewage discharge location, there may be objects at the target sewage discharge location that look similar to the target sewage discharge object, such as buckets or basins. The robot body 1 collects images of the area around the target sewage discharge location as objects to be identified. By matching the second feature of the object to be identified with the first feature of the target sewage discharge object, the robot body 1 can correctly identify the target sewage discharge object, so that the sewage pipe of the robot body 1 can be correctly aligned with the designated sewage discharge area 200 of the target sewage discharge object.
[0056] In some embodiments, the method further includes: acquiring first image information of the discharge end of the sewage pipe and second image information of the designated sewage area 200 of the target object after successful matching in real time; if the first image information and the second image information satisfy a preset positional relationship, determining that the discharge end of the sewage pipe is aligned with the designated sewage area 200 of the target sewage object, and controlling the sewage pipe to discharge sewage into the designated sewage area 200.
[0057] Specifically, in the process of controlling the discharge end of the sewage pipe to face the sewage area, it is necessary to match the positional relationship between the discharge end of the sewage pipe and the designated sewage area 200 of the target sewage object in real time. When the discharge end of the sewage pipe is located within the designated sewage area 200 of the target sewage object, it can be determined that the discharge end of the sewage pipe is aligned with the designated sewage area 200 of the target sewage object, so that the discharge end of the sewage pipe of the robot body 1 can be correctly aligned with the designated sewage area 200 of the target sewage object.
[0058] In some embodiments, the target sewage object has a designated sewage outlet 300, and the sewage discharge method further includes: controlling the sewage outlet end of the sewage pipe of the robot body 1 to face the designated sewage outlet 300. By adjusting the orientation of the sewage pipe of the robot body 1 relative to the designated sewage outlet 300, the possibility of sewage splashing out of the designated sewage discharge area 200 is further reduced, thereby reducing the cleaning burden on caregivers.
[0059] In some embodiments, step S1 may further include the following steps:
[0060] Collect third-party data, which includes depth information of the target pollutant, i.e., contour information;
[0061] The third data is preprocessed to obtain the first characteristics of the target pollutant.
[0062] Specifically, after the robot moves to the target sewage discharge location, there may be objects with similar outlines to the target sewage discharge object, such as buckets or basins. The robot collects depth information around the target sewage discharge location as the object to be identified. By matching the second feature of the object to be identified with the first feature of the target sewage discharge object, the robot can correctly identify the target sewage discharge object, so that the robot's sewage pipe can be correctly aligned with the designated sewage discharge area of the target sewage discharge object.
[0063] In some embodiments, the following steps are also included:
[0064] Calculate the height difference between the end of the sewage pipe and the bottom center of the designated sewage area 200, as well as the horizontal distance L between the end of the sewage pipe and the edge of the designated sewage area 200, based on the depth information of the target sewage object.
[0065] Obtain the initial discharge velocity of the sewage pipe and / or the discharge angle of the sewage pipe;
[0066] Calculate the time it takes for the sewage to reach the designated sewage discharge area 200 and the horizontal distance l that the sewage flows out during that time;
[0067] Let l < L, and adjust the initial discharge velocity of the sewage pipe and / or the discharge angle of the sewage pipe.
[0068] To facilitate explanation and understanding, let's take flushing waste into a toilet as an example. Figure 3 The diagram shows the robot body 1's drain pipe discharging wastewater into the designated wastewater area of the toilet. Point O is the top center point of the designated wastewater area, point O1 is the point projected from the top center point of the designated wastewater area onto the bottom plane, which can be denoted as the bottom center point, and point A is the point on the edge of the toilet furthest from the top center point. Therefore, based on the depth information, the coordinates of point O are (x0, y0, z0), the coordinates of point O1 are (x0, y1, z1), and the coordinates of point A are (x2, y2, z2).
[0069] Calculate the height difference H between the end of the sewage pipe and the bottom center of the designated sewage area, and the horizontal distance L between the end of the sewage pipe and the edge of the designated sewage area, based on the depth information. H = z0 - z1, L = x2 - x0.
[0070] To obtain the initial discharge velocity v of the sewage pipe and / or the discharge angle θ of the sewage pipe (the angle between the unfolded sewage pipe and the horizontal plane), we have: the initial horizontal velocity of the sewage is v. x =vcosθ, the initial vertical velocity of the sewage is v y =vsinθ.
[0071] From H = v y t+gt 2 / 2 can be used to calculate the time t it takes for sewage to be discharged into the toilet, and to calculate the horizontal distance l that the sewage flows out during that time t, where l = vcosθt.
[0072] Let l < L, adjust the initial discharge velocity v of the drain pipe and / or the discharge angle θ of the drain pipe to ensure that sewage does not discharge to the edge of the toilet or outside.
[0073] By adjusting the initial discharge velocity and / or discharge angle of the sewage pipe of the robot body 1, sewage can be discharged within the designated sewage discharge area, and the sewage will not splash onto the edge of the toilet or squat toilet or be discharged outside the toilet or squat toilet.
[0074] Since different users have different family situations, some families have multiple bathrooms, so multiple target sewage discharge locations can be set to meet the users' sewage discharge needs.
[0075] In some embodiments, the sewage discharge method further includes: establishing a target sewage discharge pose (x a y a Ф a The robot body 1 is controlled to move to the target sewage discharge position.
[0076] Further steps include the following:
[0077] S31. Obtain the first pose (x, y, Ф) of robot body 1.
[0078] S32. Calculate the Euclidean distance d between the first pose of robot body 1 and the target sewage discharge pose, and the heading difference ΔФ between the first pose of robot body 1 and the target sewage discharge pose.
[0079] The formula for calculating Euclidean distance is:
[0080]
[0081] The formula for calculating the heading difference is:
[0082] ΔФ=Ф-Ф a .
[0083] S33. If the Euclidean distance is less than the distance threshold and the heading difference is less than the heading difference threshold, determine that robot body 1 has reached the target sewage discharge pose (x). a y a Ф a ).
[0084] As mentioned earlier, the pose of robot body 1 includes its position and heading. For ease of explanation and understanding, we use (x, y) to represent the position of robot body 1, Ф to represent its heading, and denoted as (x, y) as the target sewage discharge location. a y a The target sewage discharge position can be denoted as (x). a y a Ф a The robot body 1 can move via a motion module, allowing it to change positions and reach the target sewage discharge location (x). a y a After that, the robot body 1 will rotate in place, and its heading will change, reaching the target heading Ф. a After stopping, the pose of the robot body 1 at this time is the target sewage discharge pose, thereby improving the positioning accuracy and sewage discharge efficiency of the nursing robot.
[0085] In some embodiments, multiple target sewage discharge locations are provided, and the j-th target sewage discharge location can be denoted as (x aj y ajThe sewage discharge method also includes: acquiring a sewage discharge signal and a second position of the robot body 1, wherein the sewage discharge signal is one of the target sewage discharge positions selected by the user; if the second position does not match the target sewage discharge position, the robot body 1 adjusts the second position according to the target sewage discharge position until the target sewage discharge position is reached.
[0086] In some embodiments, multiple target sewage discharge locations are set in descending order of priority as the first target sewage discharge location, the second target sewage discharge location, ..., the Nth target sewage discharge location, where N≥2; if it is detected that a user leaves the robot body 11 and the departure time t is greater than a time threshold t... m The robot body 1 can autonomously move to the first target sewage discharge location to discharge sewage.
[0087] In some embodiments, the shortest movement path between the second position of the robot body 1 and multiple target sewage discharge positions is planned; the movement time of the robot body 1 to multiple designated sewage discharge areas is calculated; and the robot body 1 is controlled to move to the target sewage discharge position with the shortest movement time to discharge sewage, so as to save the power consumption of the robot body 1.
[0088] like Figures 4 to 5 As shown in the illustration, this application provides a nursing robot for implementing the aforementioned sewage discharge method. The nursing robot includes a robot body 1, on which are mounted a feature setting module 11, a position establishment module 12, an acquisition module 13, a movement module 14, a matching module 15, and an adjustment module 16. The feature setting module 11 is used to set a first feature of the target sewage discharge object, which has a designated sewage discharge area. The position establishment module 12 is used to establish the target sewage discharge position of the robot body 1. The acquisition module 13 is used to acquire a sewage discharge signal. The movement module 14 is connected to the position establishment module 12 and the acquisition module 13, and is used to control the robot body 1 to move to the target sewage discharge position. The matching module 15 is connected to the feature setting module 11 and the movement module 14, and is used to acquire a second feature of the object to be identified and match the second feature of the object to be identified with the first feature of the target sewage discharge object. The adjustment module 16 is connected to the matching module 15 and includes a sewage discharge pipe mounted on the robot body 1, used to control the sewage discharge end of the sewage discharge pipe to face the successfully matched object to be identified, so that the sewage is discharged within the designated sewage discharge area 200.
[0089] The working principle and process of the nursing robot provided in this application are the same as those described in the previous embodiments, and will not be repeated here.
[0090] Optionally, the robot body 1 is also equipped with a positioning module and a map generation module. The positioning module is used to obtain the positioning information of the robot body 1 and the environmental information of the user's home. Specifically, the robot's positioning module may include LiDAR, camera, odometer, IMU, etc. The map generation module is connected to the positioning module to create a map of the home environment.
[0091] The robot body 1 is also equipped with a sewage tank 17, and one end of a sewage pipe is connected to the outlet of the sewage tank 17. The sewage pipe can be folded and stored on the robot body 1. When sewage needs to be discharged, the sewage pipe extends and faces the designated sewage area to prevent sewage from splashing out of the designated sewage outlet during the sewage discharge process, thereby reducing the cleaning burden on caregivers. At the same time, the angle θ between the sewage pipe and the horizontal direction can be adjusted by the adjustment module to prevent sewage from splashing onto the edge of the toilet or squat toilet.
[0092] like Figure 6 As shown, this application also provides a nursing robot system 100, including a base station 2 and a nursing robot as described above. The base station 2 is detachably connected to the robot body 1 and is used to charge the robot body 1.
[0093] The working principle and process of the nursing robot system provided in this application are the same as those described in the previous embodiments, and will not be repeated here.
[0094] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0096] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.
[0097] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.
Claims
1. A method for discharging wastewater from a nursing robot, the nursing robot comprising a robot body (1) and a wastewater pipe disposed on the robot body (1), characterized in that, The sewage discharge method includes: The first characteristic of the target sewage discharge object is set, wherein the target sewage discharge object has a designated sewage discharge area (200); Establish the target sewage discharge location of the robot body (1); If a sewage discharge signal is obtained, the robot body (1) is controlled to move to the target sewage discharge location and the second feature of the object to be identified is obtained; Match the second feature of the object to be identified with the first feature of the target sewage discharge object; If the second feature of the object to be identified matches the first feature of the target sewage object, the sewage discharge end of the sewage pipe of the robot body (1) is controlled to face the matched object to be identified, so that the sewage is discharged into the designated sewage area (200). The first feature of the target sewage discharge object further includes: collecting third data, the third data including depth information of the target sewage discharge object; preprocessing the third data to obtain the first feature of the target sewage discharge object; The sewage discharge method also includes: The height difference between the end of the sewage pipe and the bottom center of the designated sewage area (200) and the horizontal distance L between the end of the sewage pipe and the edge of the designated sewage area (200) are calculated based on the depth information of the target sewage object. Obtain the initial discharge velocity of the sewage pipe and / or the discharge angle of the sewage pipe; Calculate the time it takes for the sewage to reach the designated sewage discharge area (200) and the horizontal distance l from which the sewage flows out during that time; Let l < L, and adjust the initial discharge velocity of the drain pipe and / or the discharge angle of the drain pipe.
2. The sewage discharge method according to claim 1, characterized in that, The first characteristic of the target sewage discharge object includes: Collect first data, which includes initial image information of the target sewage discharge object; After removing irrelevant or duplicate data from the first data, the second data is obtained; The second data is calibrated to obtain the first characteristic of the target pollutant.
3. The sewage discharge method according to claim 1, characterized in that, Also includes: The first image information of the sewage discharge end of the sewage pipe and the second image information of the designated sewage discharge area (200) of the object to be identified after successful matching are collected in real time. If the first image information and the second image information satisfy a preset positional relationship, it is determined that the sewage discharge end of the sewage pipe is aligned with the designated sewage discharge area (200) of the target sewage discharge object, and the sewage pipe is controlled to discharge sewage into the designated sewage discharge area (200).
4. The sewage discharge method according to claim 1, characterized in that, The target sewage object has a designated sewage outlet (300), and the sewage discharge method further includes: controlling the sewage outlet end of the sewage pipe of the robot body (1) to face the designated sewage outlet (300).
5. The sewage discharge method according to claim 1, characterized in that, Also includes: Obtain the positioning information of the robot body (1) and the environmental information of the user's home; A home environment map is created using the location information and the environmental information; Control the robot body (1) to move to the target sewage discharge location; Mark the target sewage discharge location on the home environment map.
6. The sewage discharge method according to claim 1, characterized in that, Also includes: Establish the target sewage discharge pose and control the robot body (1) to move to the target sewage discharge pose.
7. The sewage discharge method according to claim 6, characterized in that, The control of the robot body (1) to move to the target sewage discharge position includes: Obtain the first pose of the robot body (1); Calculate the Euclidean distance between the first pose and the target sewage discharge pose, as well as the heading difference between the first pose and the target sewage discharge pose; If the Euclidean distance is less than the distance threshold and the heading difference is less than the heading difference threshold, it is determined that the robot body (1) has reached the target sewage discharge pose.
8. The sewage discharge method according to claim 1, characterized in that, Multiple target sewage discharge locations are set, and the sewage discharge method further includes: Obtain a sewage discharge signal and a second position of the robot body (1), wherein the sewage discharge signal is one of the selected target sewage discharge positions; If the second position does not match the target sewage discharge position, the robot body (1) adjusts the second position according to the target sewage discharge position until the target sewage discharge position is reached.
9. The sewage discharge method according to claim 8, characterized in that, The multiple target sewage discharge locations are designated as the first target sewage discharge location, the second target sewage discharge location, ..., the Nth target sewage discharge location, with N≥2, according to their priority. The sewage discharge method further includes: If it is detected that the user leaves the robot body (1) and the time of departure is greater than the time threshold, the robot body (1) will autonomously move to the first target sewage discharge location to discharge sewage.
10. The sewage discharge method according to claim 8, characterized in that, Also includes: Plan the shortest movement path between the second position of the robot body (1) and the plurality of target sewage discharge positions; Calculate the movement time of the robot body (1) to each of the multiple designated sewage discharge areas (200); Control the robot body (1) to move to the target sewage discharge position with the shortest movement time to discharge sewage.
11. A nursing robot for implementing the sewage discharge method as described in any one of claims 1 to 10, characterized in that, The nursing robot (100) includes a robot body (1), on which are provided: The feature setting module (11) is used to set the first feature of the target sewage discharge object, wherein the target sewage discharge object has a designated sewage discharge area (200); Location establishment module (12) is used to establish the target sewage discharge location of the robot body (1); Acquisition module (13) is used to acquire sewage discharge signals; The moving module (14), connected to the position establishment module (12) and the acquisition module (13), is used to control the robot body (1) to move to the target sewage discharge position; A matching module (15), connected to the feature setting module (11) and the moving module (14), is used to acquire the second feature of the object to be identified and match the second feature of the object to be identified with the first feature of the target sewage object; and an adjustment module (16), connected to the matching module (15), the adjustment module (16) including a sewage pipe disposed on the robot body (1), is used to control the sewage discharge end of the sewage pipe to face the object to be identified after successful matching, so that sewage is discharged into the designated sewage discharge area (200).
12. The nursing robot according to claim 11, characterized in that, The robot body (1) is also equipped with a sewage tank (17), one end of the sewage pipe is connected to the outlet of the sewage tank (17), and the sewage pipe can be folded and stored on the robot body (1).
13. A nursing robot system, characterized in that, Includes a base station (2) and a nursing robot as described in any one of claims 11 to 12, wherein the base station (2) is detachably connected to the robot body (1) for charging the robot body (1).