Automatic bathing system and method for old people

Abstract

The invention provides an automatic bathing system and method for old people, and relates to the field of old people nursing, and the system comprises a barrier-free cabin entering and dynamic positioning module, a self-adaptive package cleaning module, a closed-loop fumigation maintenance module, a synchronous shaping and drying module, a resource closed-loop regeneration module and an intelligent cabin leaving auxiliary module. By means of the positioning unit and the rotary table unit, controllable water flow is sprayed through Helmholtz resonance nozzles, centripetal vortexes are formed to push the wheelchair to rotate naturally, the mechanical jamming risk caused by traditional motor driving is avoided, mechanical forced fixing is avoided in the whole process, floating adjustment is achieved only through hydraulic power and the rotary table, and the wheelchair can be adjusted more stably. The discomfort of a wheelchair user is reduced, and convenience and comfort are improved when the old take a bath.

Description

Technical Field

[0001] The present invention relates to the field of elderly care, and more particularly, to an automatic bathing system and method for the elderly. Background Art

[0002] Currently, the elderly with limited mobility or disabled persons face many difficulties when taking a bath, especially the bathing problem of wheelchair users is particularly prominent. Traditional bathing equipment usually requires the assistance of caregivers, which not only consumes manpower. After the wheelchair enters the shower area, it is necessary to manually adjust the position to ensure thorough cleaning. However, the space of ordinary shower rooms is limited, and it is troublesome to turn and fix the wheelchair, and there is a risk of displacement or tipping due to the slippery ground.

[0003] Therefore, we have made improvements in this regard and proposed an automatic bathing system and method for the elderly. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that it is inconvenient for the current elderly or disabled persons to take a bath.

[0005] In order to achieve the above-mentioned invention purpose, the present invention provides the following automatic bathing system and method for the elderly to improve the above problems.

[0006] Specifically, this application is as follows: An automatic bathing system for the elderly, comprising: A barrier-free entry cabin and dynamic positioning module, which establishes a physical passage for wheelchair entry and realizes contactless positioning through hydraulic power; An adaptive wrapping and cleaning module, which realizes bionic wrapping of the human body and coordinated hydraulic mechanical fluctuation cleaning; A closed-loop fumigation and maintenance module, which completes controllable steam penetration and recovery in a closed space; A synchronous shaping and drying module, which realizes millimeter-level synchronization of airbag contraction and body surface drying; A resource closed-loop regeneration module, which performs three-level cyclic regeneration of water, heat energy, and air; An intelligent off-cabin assistance module, which provides off-cabin support and system self-maintenance; The barrier-free entry cabin and dynamic positioning module, the adaptive wrapping and cleaning module, the closed-loop fumigation and maintenance module, the synchronous shaping and drying module, the synchronous shaping and drying module, the resource closed-loop regeneration module, and the intelligent off-cabin assistance module are sequentially connected in series to form an automated bathing workflow.

[0007] As a preferred technical solution of this application, the barrier-free entry cabin and dynamic positioning module includes: An arc sliding door unit: configured with a 2.5-meter-wide arc double-track sliding door, the door body is inlaid with a flexible capacitive film with a thickness of 0.5 mm, and automatically opens to 90 - 140° when the wheelchair approaches to 1 - 2 m, and immediately rebounds when encountering a resistance > 5 N during closing; Turntable unit: The surface of the carbon fiber turntable is etched with micron-level hydrophilic grooves, and a magnetorheological fluid bearing is provided at the bottom. After the hatch is closed, the bearing is unlocked and an activation liquid is sprayed to reduce the contact angle to 5°. Positioning unit: 48 groups of Helmholtz resonance nozzles with a diameter of 3 mm are annularly distributed 5 cm below the turntable. They spray a water flow with an inclination angle of 15° and a velocity of 0.8 m / s to form a centripetal vortex. The nozzle angle is dynamically adjusted by ±30° and the flow velocity is adjusted from 0.5 - 1.2 m / s through a six-axis force sensor. When the three-axis torque difference < 2 N·m, it is determined that the positioning is completed.

[0008] As a preferred technical solution of this application, the adaptive wrapping and cleaning module includes: Wheelchair sealing unit: A shape memory alloy skeleton is nested in a silica gel airbag, with an inflation expansion rate of 250 - 500%. According to the positioning data, it rises within 0.5 seconds and is inflated in zones with 0.05 - 0.15 MPa to fill the gaps of the wheelchair, and the leakage rate < 0.1 L / min; Airbag control unit: 32 independent airbags are embedded with a piezoelectric ceramic fiber network with a response of 1 - 100 Hz. The body contour is detected through a capacitance induction layer, and the airbags are inflated to 0.08 ± 0.001 MPa at intervals of 5 cm on the back and 10 cm at the joints; Dynamic water film unit: 5000 conical micropores are provided on the inner wall of the airbag to connect to a piezoelectric pump. According to the wrapping data, a partitioned cleaning program is loaded. On the back, a water flow pulse of 2 Hz / 80 kPa and an airbag fluctuation of 0.8 cm / 0.5 Hz are executed, and the wastewater flows into the turntable recovery port through a diversion trough.

[0009] As a preferred technical solution of this application, the closed-loop fumigation and maintenance module includes: Microporous steam injection unit: Reuse the airbag micropores to inject steam at 42 ± 0.5 °C with an opening degree of 100% for the torso (25 L / min) and 60% for the limbs (15 L / min); Steam concentration maintenance unit: Monitor the temperature and humidity through an optical fiber sensor network. When the humidity deviation > 3%RH, adjust the steam valve opening by ±5%, and when the temperature deviation > 0.5 °C, adjust the flash evaporator power by ±200 W; Steam recovery unit: Start a -10 kPa negative pressure recovery 1 minute before the end of fumigation, and achieve a comprehensive recovery rate of ≥92% through a liquid nitrogen cold trap and molecular sieve.

[0010] As a preferred technical solution of this application, the synchronous shaping and drying module includes: Airbag collaborative contraction unit: Contract in zones in the order of limbs → torso at a speed of v = 0.2S + 0.3 cm / s (S is the exposed area dm 2 ), and the phase difference between adjacent airbags < 0.5 seconds; Flow shaping unit: Calculate the skin normal vector according to the contraction position to adjust the air outlet angle by ±15°, with an initial wind speed of 1.2 - 2.0 m / s, and dynamically adjust it to 0.5 - 3 m / s according to the water content decrease rate; Drying efficiency monitoring unit: The terahertz wave array generates a water content thermal map every 0.5 seconds, identifies water-containing areas > 15% and marks them as air flow intensification areas, and triggers the secondary contraction of the airbag by 1 cm when the water content difference at the joint folds > 8%;

[0011] As a preferred technical solution of this application, the resource closed-loop regeneration module includes: Water cycle regeneration unit: Ultrasonic cavitation tank (20 kHz / 500 W) → Graphene photocatalytic reactor (365 nm UV) → Bionic renal tubular membrane (pore size 0.5 nm) to treat wastewater and condensate. When COD > 200 mg / L, the ultrasonic power is increased to 800 W, and the produced water TOC < 5 ppm; Thermal cycle regeneration unit: Phase change heat storage tank (nano-clay / paraffin composite phase change material) nested with a heat pipe heat exchanger (efficiency 82%), recover the waste heat of the 38°C exhaust air and store it in the 42°C melting point material, and preheat the flushing water from 20°C to 35°C; Air regeneration unit: Rotary dehumidifier (dew point -40°C) + UV photocatalytic net + HEPA14 filter to treat fresh air, use the exhaust air to drive the Venturi effect to reduce energy consumption by 40%, and increase the ventilation rate to 45 times / hour when CO2 > 800 ppm.

[0012] As a preferred technical solution of this application, the intelligent off-cabin assistance module includes: Air flotation friction reduction unit: The turntable surface is provided with micropores with a pore diameter of 90 - 150 μm, and 0.8 MPa nitrogen is sprayed to form a 10 μm air film, which is determined to take effect when the wheelchair thrust < 15 N; Air flow navigation unit: The side wall of the cabin door is provided with a linear air outlet 0.9 - 1.5 m long. Predict the wheelchair trajectory through a binocular vision sensor, and generate a 0.8 m / s directional air belt (width = wheelchair + 20 cm) 0.5 m in front of the path; Off-cabin self-cleaning unit: After the wheelchair leaves, start 20 ppm ozone fumigation and 265 nm deep UV irradiation (intensity 100 mW / cm 2 ) for 50 - 80 seconds, and reset the system after passing the ATP bioluminescence detection.

[0013] An automatic bathing method for the elderly, comprising the following steps: S1. Hydraulic guidance for barrier-free entry into the cabin and dynamic positioning: Detect the wheelchair approach signal through an infrared sensor, and control the arc sliding door to open 90 - 140°; After the cabin door is closed, activate the magnetorheological fluid bearing to make the turntable float freely, and spray the hydrophilic coating activation liquid to reduce the contact angle to below 5°; Inject a centripetal vortex water flow (initial flow velocity 0.8 m / s) through an annular array nozzle, dynamically adjust the nozzle angle by ±30° and the flow velocity from 0.5 - 1.2 m / s based on a six-axis force sensor, and complete positioning when the three-axis torque difference < 2 N·m; S2. Bionic wrapping and collaborative cleaning: Inflate the shape memory alloy airbag to 0.05 - 0.15 MPa to seal the wheelchair gap, and control the leakage rate to < 0.1 L / min; Wrap the human body with 32 piezoelectric ceramic fiber airbags at a back spacing of 5 cm and a joint spacing of 10 cm, and apply a 0.5 Hz fluctuating signal to generate a mechanical rubbing with an amplitude of 0.8 cm; Inject pulsed water flow through 5000 conical micropores in a graded manner (2 Hz / 80 kPa at the back, 10 Hz / 20 kPa at the joints), and divert the wastewater to the central recovery port; S3. Closed-loop resource regeneration and leaving the cabin: Inject steam at 42 ± 0.5 °C during the fumigation stage, and recover ≥ 92% of the steam through a liquid nitrogen cold trap and molecular sieve; During the drying stage, shrink the airbag at a speed of v = 0.2S + 0.3 cm / s (S is the exposed area), monitor the moisture content with a terahertz wave array and dynamically adjust the wind speed from 0.5 - 3 m / s; When the wheelchair leaves the cabin, inject 0.8 MPa nitrogen through the turntable to form a 10 - μm air film, and generate a 0.8 m / s directional wind belt for navigation with binocular vision.

[0014] As a preferred technical solution of this application, the collaborative cleaning in step S2 further includes: The silica gel bumps generate secondary vibrations of 0.1 - 0.3 mm under the impact of the water flow; The wastewater is treated through three - level processes of ultrasonic cavitation (20 kHz / 800 W), graphene photocatalytic oxidation, and bionic renal tubular membrane (pore size 0.5 nm), and the produced water with a TOC < 5 ppm is reused; Recover the 38 °C exhaust heat through a phase - change heat storage tank (nano - clay / paraffin composite material), and preheat the flushing water from 20 °C to 35 °C.

[0015] As a preferred technical solution of this application, the closed - loop resource regeneration in step S3 further includes: Start 60 - second ozone fumigation at 20 ppm and deep ultraviolet irradiation at 265 nm (300 mJ / cm 2 dose) after leaving the cabin, and confirm that the pathogen inactivation rate > 99.9% through ATP bioluminescence detection; Maintain a slightly positive pressure in the cabin (+15 Pa), use the exhaust air to drive the Venturi effect to reduce the new air delivery energy consumption by 40%, and increase the ventilation rate to 45 times per hour when the CO2 concentration > 800 ppm.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of this application: 1. Through the positioning unit and turntable unit, the controllable water flow is sprayed by the Helmholtz resonance nozzle to form a centripetal vortex to drive the wheelchair to rotate naturally, avoiding the risk of mechanical jamming caused by traditional motor drive. There is no mechanical forced fixation throughout the process, and it only relies on hydraulic power and turntable floating adjustment to reduce the discomfort of wheelchair users, improve the convenience and comfort of the elderly when taking a bath, and solve the problem of inconvenience in bathing for the elderly or disabled in the existing technology; 2. The airbag control unit and dynamic water film unit are set up to achieve adaptive fit to the human body curve after the airbag is inflated, and the package spacing is dynamically adjusted through capacitive sensing (5cm for the back / 10cm for the joints) to avoid pressure on sensitive parts. The pulsed water flow (2-10Hz adjustable) and the airbag fluctuation (0.2-0.8cm amplitude) work together to simulate the rubbing effect of human hands. The silicone convex points enhance physical friction to ensure that the wrinkled parts are cleaned without dead corners, solving the problem of poor cleaning effect caused by incomplete cleaning coverage of the robotic arm and uneven water flow impact in the prior art; 3. Through the microporous steam injection unit and steam recovery unit, the reused airbag microporous network sprays 5μm steam particles, and the trunk and limbs are divided into temperature and humidity control zones (42±0.5℃ / 95%RH) to avoid local overscalding or insufficient humidity. Negative pressure recovery is started before the end of fumigation. The cold trap and molecular sieve secondary condensation make the steam recovery rate>92%. The condensed water is directly collected into the purification system for recycling. The steam concentration PID is dynamically adjusted to avoid the defects of high energy consumption and large humidity fluctuations in traditional sauna rooms, and solve the problems of serious waste of steam bathing resources and inaccurate temperature and humidity control in the existing technology. 4. Through the airbag coordinated contraction unit and wind shaping unit, the airbag can be contracted in the order of "limbs → trunk", and the contraction speed is dynamically matched with the exposed area (v=0.2S+0.3 cm / s), ensuring that the drying process is not delayed. The terahertz wave scans the moisture content of the body surface in real time, and the high humidity area triggers local airflow enhancement (wind speed 3m / s), which improves the drying efficiency by 40%. The laminar warm air (38℃) always flows vertically on the skin surface, avoiding the uneven cold and heat caused by traditional hot air blowing, and solving the problem of incomplete drying and residual water stains in the existing technology that can easily cause cold or slipping; 5. Through the provided water cycle regeneration unit and heat cycle regeneration unit, three - stage water treatment of ultrasonic cavitation + photocatalysis + bionic membrane is achieved, enabling the COD removal rate of wastewater to be > 95%, the produced water purity to reach medical standards (TOC < 5 ppm), the waste heat of the exhaust air to be temporarily stored in the phase - change heat storage tank, preheating the flushing water to 35°C, increasing the heat energy utilization rate by 85%, using the Venturi effect to drive fresh air with the exhaust air, reducing the air supply energy consumption by 40%, and solving the problems of unidirectional consumption of water resources and heat energy and high operating costs in the existing bathing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the system flow chart of the automatic bathing system for the elderly provided by this application; Figure 2 It is the system flow chart of the barrier - free entry into the cabin and dynamic positioning module in the automatic bathing system for the elderly provided by this application; Figure 3 It is the system flow chart of the adaptive wrapping and cleaning module in the automatic bathing system for the elderly provided by this application; Figure 4 It is the system flow chart of the closed - loop fumigation and maintenance module in the automatic bathing system for the elderly provided by this application; Figure 5 It is the system flow chart of the synchronous shaping and drying module in the automatic bathing system for the elderly provided by this application; Figure 6 It is the system flow chart of the resource closed - loop regeneration module in the automatic bathing system for the elderly provided by this application; Figure 7 It is the system flow chart of the intelligent cabin - leaving assistance module in the automatic bathing system for the elderly provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings.

[0020] It should be noted that, without conflict, the embodiments and the features and technical solutions in the embodiments of the present invention can be combined with each other.

[0021] It should be noted that similar reference numerals and letters refer to similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] Embodiment 1 Please refer to Figure 1 , an automatic bathing system for the elderly, which includes: A barrier-free entry and dynamic positioning module, which establishes a physical passage for the wheelchair to enter the cabin and realizes contactless precise positioning through water power; An adaptive wrapping and cleaning module, which realizes bionic wrapping of the human body and completes deep cleaning in coordination with water pressure and mechanical fluctuations; A closed-loop fumigation and maintenance module, which realizes controllable steam penetration and efficient recovery in a closed airbag space; A synchronous shaping and drying module, which realizes millimeter-level spatial synchronization between the airbag contraction process and body surface drying; A resource closed-loop regeneration module, which is used to realize three-level cyclic regeneration of water, heat energy, and air; An intelligent off-cabin assistance module, which is used for off-cabin support and system self-maintenance; The barrier-free entry and dynamic positioning module, the adaptive wrapping and cleaning module, the closed-loop fumigation and maintenance module, the synchronous shaping and drying module, the synchronous shaping and drying module, the resource closed-loop regeneration module, and the intelligent off-cabin assistance module are connected in series in sequence to form an automated bathing workflow.

[0023] Furthermore, as Figure 1 and Figure 2 shown, the barrier-free entry and dynamic positioning module includes: An arc sliding door unit, a 2.5-meter-wide arc double-track sliding door, the door body is inlaid with a flexible capacitive film (thickness 0.5mm) to monitor the contact pressure in real time; when the wheelchair approaches within 1 - 2m, the door automatically opens to the maximum angle (90 - 140°); it closes after a 3-second delay after the wheelchair completely enters, and immediately rebounds if it encounters an obstacle (pressure > 5N); the door closing signal triggers the turntable unit to start; the door frame pressure data is shared with the main control system to prevent pinching; A turntable unit, the surface of the carbon fiber turntable (load-bearing 300kg) is etched with micron-level hydrophilic grooves, and a magnetorheological fluid bearing is installed at the bottom; after the cabin door is closed, the bearing releases the magnetic lock and enters a free floating state; the surface of the turntable is sprayed with a hydrophilic coating activation liquid (contact angle reduced to 5°) to reduce the friction coefficient to 0.15; the turntable unit receives the water flow thrust instruction from the positioning unit; the turntable rotation angle data is transmitted to the wheelchair sealing unit in real time; Positioning unit, 48 sets of Helmholtz resonance nozzles (diameter 3mm), annularly distributed 5 cm below the edge of the turntable. In the initial stage, a water flow with an injection angle of 15° (flow velocity 0.8 m / s) is sprayed to form a centripetal eddy current. The force on the wheelchair is detected by a six-axis force sensor at the bottom of the turntable, and the nozzle angle (±30°) and flow velocity (0.5 - 1.2 m / s) are dynamically adjusted. When the three-axis torque difference < 2 N·m, it is determined that the positioning is completed, and the positioning completion signal activates the wheelchair sealing unit of the adaptive wrapping and cleaning module.

[0024] Furthermore, as Figure 1 and Figure 3 shown, the adaptive wrapping and cleaning module includes: Wheelchair sealing unit, with a shape memory alloy skeleton (NiTiNol alloy) nested in a silicone airbag, and an inflation expansion rate of 250 - 500%; it rises from the turntable within 0.5 seconds after receiving the positioning completion signal, scans the gaps between the wheelchair wheels through a laser rangefinder (accuracy 0.1 - 0.5 mm), controls the zonal inflation of the airbag (pressure 0.05 - 0.15 MPa) to fill the gaps, and the pressure sensor confirms the sealing effectiveness (leakage rate < 0.1 L / min). After the sealing is completed, a start signal is sent to the airbag control unit; the wheelchair sealing unit determines the position of the wheelchair relying on the positioning data of the positioning unit; Airbag control unit, 32 independent airbags, each embedded with a piezoelectric ceramic fiber network (response frequency 1 - 100 Hz); it closes in on the human body after popping out from the bulkhead, detects the body contour through a capacitance induction layer (spacing 1 cm), sets the initial wrapping spacing according to the human body zones (5 cm for the back / 10 cm for joints), inflates to the working pressure of 0.08 MPa (error ±1 kPa), and outputs the wrapping shape data to the dynamic water film unit to guide the water flow parameters; the airbag control unit receives the completion signal from the wheelchair sealing unit; Dynamic water film unit, with 5000 conical micropores (inlet 0.3 mm / outlet 0.1 mm) integrated on the inner wall of the airbag, connected to a multi-stage piezoelectric pump; loads the cleaning program according to the airbag wrapping data (such as the back program: water flow pulse 2 Hz / 80 kPa + airbag fluctuation 0.8 cm / 0.5 Hz), and the silicone bump generates secondary vibration (amplitude 0.1 - 0.3 mm) under the impact of the water flow. The wastewater flows into the central recovery port of the turntable through the airbag diversion groove; the dynamic water film unit reads the human body zone data of the airbag unit in real time; the wastewater flow data is shared with the water circulation and regeneration unit.

[0025] Furthermore, as Figure 1 and Figure 4 shown, the closed-loop fumigation and maintenance module includes: Micro-porous steam injection unit, which calls the wrapping partition data of the airbag control unit; after receiving the cleaning completion signal, it switches the steam valve and controls the steam flux according to the airbag partition: the micro-porous opening degree of the trunk is 100% (steam flow rate 25 L / min), the opening degree of the limbs is 60% (15 L / min), the steam temperature is PID controlled (set value 42 ± 0.5 °C), and the steam flow rate data is synchronized to the steam concentration maintenance unit; Steam concentration maintenance unit, which receives the real-time flow rate of the steam injection unit, compares the set value (42 °C / 95% RH) with the measured value in real time. When the humidity deviation > 3% RH, it adjusts the opening degree of the steam valve (step 5%). When the temperature deviation > 0.5 °C, it adjusts the power of the flash evaporator (±200 W). The control command is fed back to the steam generator, and when the limit is exceeded, an alarm triggers the steam recovery unit; Steam recovery unit, which is triggered by the over-limit signal of the concentration maintenance unit or the timer. It starts pre-recovery (-10 kPa negative pressure) 1 minute before the fumigation ends. The residual steam is quickly liquefied through the cold trap (recovery rate 85%), and the residual gaseous water is captured by the molecular sieve (secondary recovery rate 7%). The condensed water is transported to the water circulation regeneration unit.

[0026] Further, as Figure 1 and Figure 5 shown, the synchronous shaping and drying module includes: Airbag cooperative contraction unit, which contracts by partition in the order of "limbs → trunk". The contraction speed formula is: v = 0.2S + 0.3 (cm / s) (S is the exposed area, unit dm 2 ), dynamically adjusts the contraction phase difference between adjacent airbags (maximum delay 0.5 seconds) to avoid water accumulation at skin folds, and outputs the real-time contraction position data to the flowing air shaping unit; Flowing air shaping unit, which receives the moisture content data of the drying efficiency monitoring unit, calculates the normal vector of the newly exposed skin according to the data of the airbag cooperative contraction unit, adjusts the air outlet angle (±15°), the initial wind speed is 1.2 m / s (limbs) - 2.0 m / s (trunk), and adjusts dynamically according to the moisture content decrease rate: when the rate < 0.5% / s, the wind speed is increased to the upper limit of 3 m / s; when the moisture content < 10%, the wind speed is decreased to 0.5 m / s; the air temperature data is shared with the thermal circulation regeneration unit; Drying efficiency monitoring unit, which identifies high humidity areas with moisture content > 15% and marks them as air flow strengthening areas. When the moisture content difference at joint folds > 8%, it triggers local secondary contraction of the airbag (extra contraction 1 cm). The moisture content data drives the wind speed adjustment of the flowing air shaping unit, and the abnormal water accumulation signal is fed back to the airbag contraction unit.

[0027] Example 2 The automatic bathing system for the elderly provided in Example 1 is further optimized. Specifically, as Figure 1 and Figure 6As shown, the resource closed-loop regeneration module includes: A water cycle regeneration unit, which contains an ultrasonic cavitation tank, (20kHz / 500W) → a graphene photocatalytic reactor, (365nm UV) → a bionic renal tubular membrane (pore size 0.5nm), receives the wastewater volume data of the dynamic water film unit. The water cycle regeneration unit receives the condensed water from the steam recovery unit, processes and filters the mixed sewage from the dynamic water film unit and the steam recovery unit, and monitors the COD value in real time. If it is > 200mg / L, the ultrasonic power is increased to 800W, and the produced water has a TOC < 5ppm and a conductivity < 10μS / cm. Then, the pure water is transported to the water storage tanks of the adaptive wrapping cleaning module and the closed-loop fumigation and maintenance module; A heat cycle regeneration unit, which contains a phase change heat storage tank (nano-clay / paraffin composite material, melting point 42°C) nested with a heat pipe heat exchanger (efficiency 82%). The heat cycle regeneration unit receives the exhaust gas temperature data of the flow shaping unit, recovers the waste heat of the exhaust air from the flow shaping unit (initial temperature 38°C), raises it to 45°C through the heat pipe and stores it in the phase change material. When the adaptive wrapping cleaning module needs to heat the flushing water, the heat is released to preheat the water temperature from 20°C to 35°C. The thermal energy conversion efficiency: 1m 3 The exhaust air can recover 120kJ of thermal energy; the preheating instruction comes from the dynamic water film unit; An air regeneration unit, which contains a dehumidifier (dew point -40°C), a UV photocatalytic net (TiO2 coating), and a HEPA14 filter, maintains a slightly positive pressure in the cabin (+15Pa). The fresh air volume is calculated according to the air change rate of 30 times per hour. It uses the exhaust air of the flow shaping unit to drive the Venturi effect, reducing the fresh air transportation energy consumption by 40%. When the CO2 concentration > 800ppm, the air change rate is automatically increased to 45 times per hour, and the processed fresh air is transported to the flow shaping unit.

[0028] Furthermore, as Figure 1 、 Figure 7 shown, the intelligent off-cabin assistance module includes: An air-floating friction reduction unit, with several micropores (pore size 90 - 150μm) on the surface of the turntable, connected to a high-pressure air pump (0.8MPa). The air-floating friction reduction unit receives the drying completion signal from the synchronous shaping and drying module and starts after drying is completed. It sprays nitrogen to form a 10μm thick air film. Through the detection of the turntable torque sensor, when the wheelchair thrust < 15N, it is determined that the air film takes effect, and the air pressure is maintained until the wheelchair drives away from the edge of the turntable. The air film state data is shared with the airflow navigation unit; Airflow navigation unit, linear air outlet on the side wall of the cabin door (length 0.9 - 1.5 m), equipped with a vision sensor (accuracy ±2 mm), calls the wheelchair size data of the positioning unit, predicts the three-dimensional movement trajectory of the wheelchair, predicts the position in the next 3 seconds, generates a directional wind belt with a speed of 0.8 m / s at 0.5 m in front of the predicted path (width = wheelchair + 20 cm), adjusts the length of the wind belt (1 - 2 m) according to the real-time speed of the wheelchair, and triggers the delayed start of the out-of-cabin self-cleaning unit when navigation is abnormal; Out-of-cabin self-cleaning unit, with an ozone generator (output 10 g / h) + deep ultraviolet LED lamp (wavelength 265 nm, intensity 100 mW / cm 2 ), the out-of-cabin self-cleaning unit receives the out-of-cabin confirmation signal from the airflow navigation unit, closes the cabin door after the wheelchair leaves, starts ozone fumigation for 50 - 80 seconds (concentration 20 ppm), and the ultraviolet lamp simultaneously irradiates the surface of the airbag (irradiation dose 300 mJ / cm 2 ), self-checks the pathogen inactivation rate (ATP bioluminescence detection), enters the standby state after passing the standard, and the disinfection completion signal resets the arc sliding door unit.

[0029] Example 3 Automatic bathing method for the elderly, which includes the following steps: Step 1, hydraulically guided barrier-free entry into the cabin and dynamic positioning: Detect the wheelchair approaching within the range of 1 - 2 m through an infrared sensor, and control the arc double-track sliding door to open to 90 - 140°; The flexible capacitive film on the door body monitors the contact pressure in real time. If it is > 5 N, it will immediately rebound to prevent pinching; After the cabin door is closed, unlock the magnetorheological fluid bearing, and the turntable enters the free floating state; Spray the hydrophilic coating activating liquid (containing nano-SiO2 particles) to reduce the contact angle of the turntable surface to 5°; 48 groups of Helmholtz resonance nozzles spray water flow at an inclination angle of 15° (initial flow rate 0.8 m / s) to form a centripetal vortex; The six-axis force sensor monitors the force on the wheelchair in real time, and dynamically adjusts the nozzle angle (±30°) and flow rate (0.5 - 1.2 m / s); When the three-axis torque difference < 2 N·m, it is determined that the positioning is completed, and the position of the turntable is locked.

[0030] Step 2, bionic wrapping and collaborative cleaning: The shape memory alloy skeleton airbag rises within 0.5 seconds, and the laser rangefinder scans the wheel hub gap (accuracy 0.1 mm); Inflate in zones (0.05 - 0.15 MPa) to fill the gaps, ensuring that the leakage rate < 0.1 L / min; Multiple airbags pop out from the cabin wall, and the capacitive induction layer detects the body contour, and inflates to 0.08 MPa according to a back spacing of 5 cm and a joint of 10 cm; A piezoelectric ceramic fiber mesh is loaded with a 0.5 Hz fluctuating signal to generate mechanical kneading with an amplitude of 0.8 cm; A pulsed water flow is sprayed through 5000 conical micropores for classification: Back: Deep cleaning at 2 Hz / 80 kPa; Joints: Gentle rinsing at 10 Hz / 20 kPa; The silicone bumps generate a secondary vibration of 0.3 mm under the impact of the water flow, enhancing the decontamination effect; The wastewater flows into the central recovery port through the diversion trough.

[0031] Step 3, closed-loop steam fumigation and curing: A reusable airbag injects saturated steam at 42 ± 0.5 °C. The flow rate for the trunk is 25 L / min, and for the limbs is 15 L / min; The fiber optic sensor network monitors in real time. When the humidity deviation > 3%RH, the valve opening is adjusted by ±5%.

[0032] A -10 kPa negative pressure suction is started 1 minute before the end of the fumigation; The steam is condensed by a liquid nitrogen cold trap (-196 °C), and the residual water vapor is adsorbed by molecular sieves. The comprehensive recovery rate ≥ 92%.

[0033] Step 4, synchronous shaping and drying: In the order of limbs → trunk, it is deflated in segments at a speed of v = 0.2S + 0.3 cm / s (S is the exposed area in dm 2 ); A laser displacement sensor monitors the contraction path (accuracy ±0.1 mm), and the phase difference between adjacent areas < 0.5 seconds; The terahertz wave array generates a moisture content thermal map every 0.5 seconds; The angle of the conical air knife is adjusted according to the skin normal vector (±15°), and the initial wind speed is 1.2 - 2.0 m / s; When the moisture content decrease rate < 0.5% / s, the wind speed is increased to 3 m / s.

[0034] Step 5, resource closed-loop regeneration: The mixed wastewater undergoes demulsification by ultrasonic cavitation (20 kHz / 800 W) → graphene photocatalytic oxidation → biomimetic renal tubular membrane filtration; The conductivity of the produced water < 10 μS / cm and the TOC < 5 ppm, then it is recycled; The waste heat of the 38 °C exhaust air is heated to 45 °C by a heat pipe heat exchanger and stored in a phase change material (nano-clay / paraffin composite); The heat is released when preheating the rinsing water, raising the water temperature from 20 °C to 35 °C.

[0035] Step 6, air-assisted leaving the cabin and self-maintenance: 108 micropores with a diameter of 100 μm on the turntable surface eject nitrogen gas at 0.8 MPa to form a gas film with a thickness of 10 μm; Binocular vision predicts the wheelchair trajectory and generates a directional wind belt with a speed of 0.8 m / s to guide the wheelchair to drive away (path error < 5 cm); Start ozone fumigation at 20 ppm for 60 seconds + deep ultraviolet irradiation at 265 nm (300 mJ / cm 2 Dose); After ATP bioluminescence detection confirms that the pathogen inactivation rate > 99.9%, reset the system.

[0036] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Obviously, the above-described embodiments are only part of the embodiments of the present invention, rather than all embodiments. The accompanying drawings show the preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structure directly or indirectly using the content of the specification and drawings of the present invention in other related technical fields is equally within the scope of the patent protection of the present invention.

Claims

1. Automatic bathing system for the elderly, characterized in that, Including: Barrier-free entry into the cabin and dynamic positioning module, establishing a physical passage for wheelchair entry into the cabin and achieving contactless positioning through hydraulics; Adaptive wrapping and cleaning module, realizing bionic human body wrapping and coordinated water pressure mechanical wave cleaning; Closed-loop fumigation and maintenance module, completing controllable steam penetration and recovery in a closed space; Synchronous shaping and drying module, realizing millimeter-level synchronization of airbag contraction and body surface drying; Resource closed-loop regeneration module, performing three-level cyclic regeneration of water, heat energy, and air; Intelligent assistance module for leaving the cabin, providing support for leaving the cabin and system self-maintenance; The barrier-free entry into the cabin and dynamic positioning module, adaptive wrapping and cleaning module, closed-loop fumigation and maintenance module, synchronous shaping and drying module, synchronous shaping and drying module, resource closed-loop regeneration module, and intelligent assistance module for leaving the cabin are connected in series in sequence to form an automated bathing workflow.

2. The automatic bathing system for the elderly according to claim 1, wherein The barrier-free entry into the cabin and dynamic positioning module includes: Arc sliding door unit: Configured with a 2.5-meter-wide arc double-track sliding door, the door body is inlaid with a flexible capacitive film with a thickness of 0.5 mm, automatically opening to 90 - 140° when the wheelchair approaches within 1 - 2 m, and immediately rebounding when encountering a resistance > 5 N during closing; Turntable unit: The surface of the carbon fiber turntable is etched with micron-level hydrophilic grooves, and a magnetorheological fluid bearing is provided at the bottom. After closing the cabin door, the bearing is unlocked and an activation liquid is sprayed to reduce the contact angle to 5°; Positioning unit: 48 groups of Helmholtz resonance nozzles with a diameter of 3 mm are annularly distributed 5 cm below the turntable, spraying a water flow with an inclination angle of 15° and a velocity of 0.8 m / s to form a centripetal vortex. The nozzle angle is dynamically adjusted by ±30° and the flow velocity is adjusted to 0.5 - 1.2 m / s through a six-axis force sensor. When the three-axis torque difference < 2 N·m, it is determined that the positioning is completed.

3. The automatic bathing system for the elderly according to claim 1, characterized in that, The adaptive wrapping and cleaning module includes: Wheelchair sealing unit: A shape memory alloy skeleton is nested with a silica gel airbag, with an inflation expansion rate of 250 - 500%. It rises within 0.5 seconds according to the positioning data and is inflated in zones to 0.05 - 0.15 MPa to fill the wheelchair gap, with a leakage rate < 0.1 L / min; Airbag control unit: 32 independent airbags are embedded with a piezoelectric ceramic fiber network with a response of 1 - 100 Hz. The body contour is detected through a capacitance sensing layer, and the airbags are inflated to 0.08 ± 0.001 MPa at intervals of 5 cm for the back and 10 cm for joints; Dynamic water film unit: 5000 conical micropores are provided on the inner wall of the airbag and connected to a piezoelectric pump. According to the wrapping data, a partitioned cleaning program is loaded, with a 2 Hz / 80 kPa water flow pulse + 0.8 cm / 0.5 Hz airbag fluctuation executed on the back. The wastewater flows into the turntable recovery port through a diversion groove.

4. The automatic bathing system for the elderly according to claim 1, characterized in that, The closed-loop fumigation and maintenance module includes: Microporous steam injection unit: Reusing the airbag micropores, injecting steam at 42 ± 0.5 °C with an opening degree of 100% for the torso (25 L / min) and 60% for the limbs (15 L / min); Steam concentration maintenance unit: Monitoring the temperature and humidity through an optical fiber sensor network. When the humidity deviation > 3%RH, adjusting the steam valve opening by ±5%, and when the temperature deviation > 0.5 °C, adjusting the flash evaporator power by ±200 W; Steam recovery unit: Starting a -10 kPa negative pressure recovery 1 minute before the end of fumigation, achieving a comprehensive recovery rate ≥ 92% through a liquid nitrogen cold trap and molecular sieve.

5. The automatic bathing system for the elderly according to claim 1, characterized in that The synchronous shaping and drying module includes: Airbag co - contraction unit: Contract in zones in the order of limbs → torso at a speed of v = 0.2S + 0.3 cm / s (S is the exposed area in dm 2 ), with adjacent airbags having a phase difference of < 0.5 seconds; Flow wind shaping unit: Calculate the skin normal vector according to the contraction position to adjust the air outlet angle by ±15°, with an initial wind speed of 1.2 - 2.0 m / s, and dynamically adjust it to 0.5 - 3 m / s according to the water content decrease rate; Drying efficiency monitoring unit: The terahertz wave array generates a water content thermal map every 0.5 seconds, identifies water-containing areas > 15% and marks them as airflow intensification areas, and triggers the secondary contraction of the airbag by 1 cm when the water content difference at the joint folds > 8%; 6. The automatic bathing system for the elderly according to claim 5, characterized in that, The resource closed-loop regeneration module includes: Water cycle regeneration unit: Ultrasonic cavitation tank (20 kHz / 500 W) → Graphene photocatalytic reactor (365 nm UV) → Bionic renal tubular membrane (pore size 0.5 nm) to treat wastewater and condensate. When COD > 200 mg / L, the ultrasonic power is increased to 800 W, and the produced water TOC < 5 ppm; Thermal cycle regeneration unit: Phase change heat storage tank (nano-clay / paraffin composite phase change material) nested with a heat pipe heat exchanger (efficiency 82%), recover the waste heat of the 38°C exhaust air and store it in the 42°C melting point material, and preheat the flushing water from 20°C to 35°C; Air regeneration unit: Rotary dehumidifier (dew point -40°C) + Ultraviolet photocatalytic net + HEPA14 filter to treat fresh air, use the exhaust air to drive the Venturi effect to reduce energy consumption by 40%, and increase the air change rate to 45 times / hour when CO2 > 800 ppm; 7. The automatic bathing system for the elderly according to claim 6, wherein, The intelligent off-cabin assistance module includes: Air flotation friction reduction unit: The turntable surface is provided with micropores with a pore diameter of 90 - 150 μm, and 0.8 MPa nitrogen is sprayed to form a 10 μm air film, which is determined to take effect when the wheelchair thrust < 15 N; Airflow navigation unit: The side wall of the cabin door is provided with a 0.9 - 1.5 m long linear air outlet, predict the wheelchair trajectory through a binocular vision sensor, and generate a 0.8 m / s directional air belt (width = wheelchair + 20 cm) 0.5 m in front of the path; Off-cabin self-cleaning unit: After the wheelchair leaves, start 20 ppm ozone fumigation and 265 nm deep ultraviolet irradiation (intensity 100 mW / cm 2 ) for 50 - 80 seconds, and reset the system after passing the ATP bioluminescence detection.

8. Automatic bathing method for the elderly, using the automatic bathing system for the elderly as described in claim 1, characterized in that, Including the following steps: S1. Hydraulic guidance for barrier-free entry into the cabin and dynamic positioning: Detect the wheelchair approach signal through an infrared sensor, and control the arc sliding door to open 90 - 140°; After the cabin door is closed, activate the magnetorheological fluid bearing to make the turntable float freely, and spray the hydrophilic coating activation liquid to reduce the contact angle to less than 5°; Spray a centripetal vortex water flow (initial flow rate 0.8 m / s) through an annular array nozzle, dynamically adjust the nozzle angle by ±30° and the flow rate to 0.5 - 1.2 m / s based on a six-axis force sensor, and complete the positioning when the three-axis torque difference < 2 N·m; S2. Bionic wrapping and collaborative cleaning: The shape memory alloy airbag is inflated to 0.05 - 0.15 MPa to seal the wheelchair gap, and the leakage rate is controlled to < 0.1 L / min; 32 piezoelectric ceramic fiber airbags wrap the human body at a back spacing of 5 cm and joints of 10 cm, and load a 0.5 Hz fluctuation signal to generate a 0.8 cm amplitude mechanical rubbing; Spray pulsed water flow through 5000 conical micropores in a graded manner (2 Hz / 80 kPa on the back, 10 Hz / 20 kPa at the joints), and the wastewater is diverted to the central recovery port; S3. Closed-loop resource regeneration and off-cabin: Inject steam at 42 ± 0.5°C during the fumigation stage, and achieve a steam recovery rate of ≥ 92% through a liquid nitrogen cold trap and molecular sieve; During the drying stage, the airbag is contracted at a speed of v = 0.2S + 0.3 cm / s (where S is the exposed area), the terahertz wave array monitors the moisture content, and the wind speed is dynamically adjusted to 0.5 - 3 m / s; When the wheelchair leaves the cabin, the turntable sprays nitrogen at 0.8 MPa to form a 10-μm air film, and binocular vision generates a 0.8-m / s directional wind belt for navigation.

9. The automatic bathing method for the elderly according to claim 8, wherein The collaborative cleaning in step S2 further includes: The silica gel bumps generate secondary vibrations of 0.1 - 0.3 mm under the impact of water flow; The wastewater is treated through three levels: ultrasonic cavitation (20 kHz / 800 W), graphene photocatalytic oxidation, and bionic renal tubular membrane (pore size 0.5 nm). After the produced water has a TOC < 5 ppm, it is reused; The waste heat of the 38°C exhaust air is recovered through a phase change heat storage tank (nano-clay / paraffin composite material), and the preheated flushing water is raised from 20°C to 35°C.

10. The automatic bathing method for the elderly according to claim 9, characterized in that, The closed-loop resource regeneration in step S3 further includes: Start 60-second 20 ppm ozone fumigation and 265 nm deep ultraviolet irradiation (300 mJ / cm 2 dose) after leaving the cabin, and confirm that the pathogen inactivation rate > 99.9% through ATP bioluminescence detection; Maintain a slightly positive pressure in the cabin (+15 Pa), use the exhaust air to drive the Venturi effect to reduce the energy consumption of fresh air transportation by 40%, and when the CO2 concentration > 800 ppm, the ventilation rate is increased to 45 times per hour.

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