Intelligent closestool system with soft robot cleaning hand

Abstract

The invention discloses an intelligent closestool system with a soft robot cleaning hand. The intelligent closestool system comprises a closestool device, a guide rail guiding movement unit, a vision unit and a control system. A mechanical cleaning arm is arranged on the guide rail guiding movement unit; the mechanical cleaning arm is connected with a soft robot cleaning hand; an electronic driving module is arranged in the control system; the soft robot cleaning hand comprises fingers, a palm and a tendon transmission unit. A water tank, a piezoelectric transducer and an ultrasonic vibration generator connected with the piezoelectric transducer are arranged on the palm; the water tank is connected with a water conveying unit and a water spraying cleaning unit; the water spraying cleaning unit comprises a cover plate which covers the water tank and is provided with a nozzle; sensors connected with the water conveying unit, the ultrasonic vibration generator and the tendon transmission unit are distributed on the fingers; the tendon transmission unit comprises a linear driving unit and an artificial tendon connected with the linear driving unit. Through collaborative cleaning of multiple units and data processing based on sensor driving, the problem that the current service automation capability is insufficient is solved.

Description

Technical Field

[0001] The present invention relates to the fields of robotics, assistive technology and personal hygiene automation, and in particular to an intelligent toilet system with a soft robot cleaning hand. Background Art

[0002] In modern society, with people's increasing concern for quality of life and personal hygiene, the intelligent and automated development of sanitary ware has become an inevitable trend. Intelligent sanitary facilities, especially smart toilets, are gradually replacing traditional equipment and becoming an ideal choice for homes, hospitals, hotels, and public places. Smart toilets not only provide basic defecation functions but also incorporate advanced technologies such as cleaning, deodorization, seat heating, automatic flushing, and health monitoring to meet users' multi-dimensional needs for comfort, convenience, and health. Particularly popular features include anal cleansing, female-specific cleansing, and deep cleansing after bowel movements, which greatly enhance the toilet experience and demonstrate the integration of humanization and technology.

[0003] As technology advances, improving personal quality of life increasingly relies on its integration. Advances in sensors, robotics, communications, computers, and information technology are making it possible to provide the services needed in the home healthcare sector. Personal hygiene, especially anal hygiene, plays a vital role in maintaining health and cleanliness. Anal cleansing is a crucial hygienic practice after bowel movements, and the methods used vary across cultures and regions.

[0004] In Western countries, toilet paper is commonly used for cleaning, which can easily lead to infection. In contrast, in Japan, electric bidets (with water jet functions) are widely used for anal cleansing, which can promote hand hygiene and provide local comfort. However, excessive use may cause anal itching or anal incontinence. In other cultures, rags, sand, leaves (including seaweed), the left hand, corn cobs or sticks may be used for cleaning due to cost reasons. However, due to the shape of the anus, thorough cleaning can be challenging, especially the skin folds around the anus. If not cleaned properly, residual feces may cause itching, urinary tract infections, hemorrhoids and other skin problems.

[0005] In view of this, there is an urgent need to develop an intelligent cleaning device with a flexible execution structure, dynamic control capabilities and high adaptability, which can dynamically adjust the cleaning path and contact pressure according to the user's actual sitting posture and anal position, improve cleaning efficiency and comfort, and realize automatic, precise and comprehensive anal cleaning operations. Summary of the Invention

[0006] Purpose of the invention: In response to the shortcomings of the existing technology, the present invention proposes an intelligent toilet system with a soft robot cleaning hand. The toilet system integrates a soft robot cleaning execution unit, a drive control system and a sensor perception module. It dynamically adjusts the cleaning path and contact pressure according to the user's actual sitting posture and anal position, thereby effectively improving cleaning efficiency and comfort. The system adopts a cleaning hand composed of a multi-degree-of-freedom actuating structure and flexible materials, which has human motion characteristics. While ensuring safety, it improves the cleaning coverage and fit. At the same time, through collaborative cleaning of multiple units and sensor-driven data processing, it solves the problem of insufficient service automation capabilities in the current situation.

[0007] Technical solution: The intelligent toilet system with a soft robotic cleaning arm of the present invention includes a toilet device, a guide rail guided motion unit, a visual unit and a control system; a mechanical cleaning arm is installed on the guide rail guided motion unit; one end of the mechanical cleaning arm is connected to the soft robotic cleaning arm; and the control system has an electronic drive module.

[0008] The soft robotic cleaning hand includes fingers, a palm and a tendon transmission unit; the palm is provided with a water tank, a piezoelectric transducer, and an ultrasonic vibration generator connected to the piezoelectric transducer; the piezoelectric transducer is connected to the electronic drive module; the water tank is connected to a water delivery unit and a water spray cleaning unit, and the water spray cleaning unit is a cover with a nozzle covering the water tank.

[0009] Sensors connected to the water delivery unit, ultrasonic vibration generator and tendon transmission unit are distributed on the fingers. When the sensors are subjected to contact pressure from the toilet, they send signals to the control system to open and close the water delivery unit, start the ultrasonic vibration generator and control the tendon transmission unit to open and close the fingers.

[0010] The tendon transmission unit includes a linear drive unit and an artificial tendon connected to the linear drive unit; the linear drive unit includes a gear mechanism, a lead screw, a lead screw nut, a linear guide rod, an initial support plate, an end support plate and a collision sensor; the linear guide rod passes through the lead screw nut, and the lead screw is supported by radial bearings fixed on the initial support plate and the end support plate; a drive cable unit is connected to the lead screw nut, and a cable support and a collision sensor are provided on the end support plate; the cable support is fixed to the other end of the drive cable unit; the gear mechanism drives the lead screw nut to move linearly through the lead screw.

[0011] The guide rail guided motion unit includes a fixed base, a ball screw, an optical axis, a slider, a flange, a coupling, a stabilizing bearing, and a stepper motor that drives the slider to move; the slider is connected to a fixed base for mounting a mechanical cleaning arm.

[0012] The mechanical cleaning arm includes a first servo motor and a second servo motor connected to a fixed base. There is a mounting bracket on the output shaft of the first servo motor and the second servo motor. An arm support unit is provided on the mounting bracket. One end of the arm support unit is connected to a rotation drive unit and a vertical drive unit. The vertical drive unit is connected to a soft robotic cleaning hand.

[0013] The rotary drive unit is connected with the rotary bearing and the third servo motor.

[0014] The vertical driving unit is connected to a fourth servo motor, and the fourth servo motor is connected to a rotating shaft.

[0015] The drive cable unit includes a first actuating cable and a second actuating cable, one end of the first actuating cable and the second actuating cable are connected to the lead screw nut, and the other end of the first actuating cable and the second actuating cable are connected to the cable support.

[0016] The control system's robotic cleaning unit captures data on the toilet system's targets through RGB and depth images, transmits the data to a cloud server for detection and positioning, and controls the soft robotic arm for cleaning.

[0017] The water delivery unit comprises a liquid storage tank with an electric pump, a hose is connected between the liquid storage tank and the water tank, and a pulse valve is connected between the electric pump and the hose.

[0018] Force-sensitive resistor sensors are distributed on the fingers of the soft robot cleaning hand. The force-sensitive resistor sensors control the water pump of the water delivery unit, the ultrasonic vibration generator, and the start-up of the linear drive unit, and detect the contact pressure at the same time.

[0019] The soft robot cleaning hand is embedded with electronic skin, which controls the toilet system and cloud server to extract and process data.

[0020] Working Principle: The intelligent toilet system of this invention is equipped with a mechanical cleaning arm and a soft robotic cleaning hand made of flexible material to assist in post-defecation cleansing. The mechanical cleaning arm is used to clean areas such as the anus and genitals. The soft robotic cleaning hand is designed with flexible materials and artificial tendons to mimic the movements of a human hand. The soft robotic cleaning hand is equipped with an ultrasonic vibration cleaning unit, a water delivery unit, a water spray cleaning unit, and a tendon transmission unit. The ultrasonic vibration cleaning unit and the water spray cleaning unit are integrated into the soft robotic cleaning hand and work together to provide comprehensive cleaning. The ultrasonic vibration cleaning unit consists of a high-frequency ultrasonic vibration element. This element generates cavitation and microbubbles through ultrasonic vibrations in a water tank, enhancing the cleaning effect. The water tank is located inside the palm and is equipped with a series of nozzles for cleaning the anus. The combination of ultrasonic vibration and water spray ensures efficient removal of feces from the anus while being gentle and comfortable. A control system regulates the water level in the water tank and the operation of the ultrasonic vibration cleaning unit to ensure precise timing and intensity of the cleaning process. The system monitors water temperature, flow rate, and ultrasonic vibration frequency parameters to adjust according to the user's specific needs. Sensors in the system detect the position of the anus and the completion of fecal removal, automatically triggering cleaning.

[0021] The artificial tendon of the present invention is integrated into the soft robotic cleaning hand, extending along the fingers to enhance cleaning capabilities. The artificial tendon is connected to the motor via a lead screw and nut mechanism, and a cable loop system that automatically adjusts for cleaning generates the necessary tension and enhances cable travel.

[0022] The soft robotic cleaning hand is also equipped with flexible pressure sensors FSR402 mounted on three fingers. The flexible pressure sensors are coated with silicone rubber to prevent the pressure sensors from being affected by water. These tactile sensors play a key role in activating and adjusting the cleaning mechanism. When the pressure sensor comes into contact with the anus, three signals are sent to the main controller of the control system: the first triggers the water pump to automatically shut down the water supply system after 20 seconds; the second signal is used to start the ultrasonic vibration generator; and the third signal is used to control the linear actuator responsible for finger movement (bending to open and close the fingers). At the same time, the pressure sensor also continuously monitors the contact pressure applied to ensure that appropriate pressure is maintained during contact with the anus to avoid discomfort or injury.

[0023] The smart toilet system uses a depth camera that captures images from various angles, comprehensively collecting data on the location of dirt around the anus, assisting the hand robot in cleaning hard-to-reach areas of feces. After collecting data on the location of anal dirt, the depth camera sends this information to a cloud server for processing and storage. This processed data is then transmitted to the robot and hand for collaborative cleaning, ensuring efficient coordination between the soft hand and the robot.

[0024] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0025] (1) The intelligent toilet system integrated with a mechanical cleaning arm of the present invention is used to assist patients or elderly people in cleaning after defecation. The mechanical cleaning arm of the present invention has three degrees of freedom, is made of high-quality materials, operates smoothly, and is used for anal cleaning, thereby reducing direct contact with human waste and reducing the risk of contamination.

[0026] (2) The present invention integrates a five-fingered soft robotic cleaning hand that can autonomously clean the anus after defecation. The ultrasonic vibration generator and water spray cleaning unit are integrated into the soft robotic cleaning hand to optimize the anal cleaning process. The water spray cleaning unit works synergistically by generating high-frequency vibrations and spraying water to achieve thorough and efficient cleaning. Through high-frequency vibrations and water spray, feces are gently and effectively removed.

[0027] (3) The soft robotic cleaning hand in this invention is a soft structure made of thermoplastic polyurethane (TPU), with integrated sensors providing precise feedback and artificial cables or tendons controlling finger movements. This soft robotic cleaning hand mimics the movements of a human hand and efficiently interacts with soft or sensitive body parts.

[0028] (4) The present invention adopts a tendon tensioning structure designed with a linear drive, which facilitates finger extension and flexion for anal cleaning, reduces patients' dependence on external assistance, improves their ability to live independently and maintains their dignity.

[0029] (5) The intelligent toilet system of the present invention is suitable for all people, including those with limited mobility during injury or recovery from illness. Its automated cleaning function reduces the need for direct human intervention, helps maintain good hygiene, and thus promotes a faster recovery process, while effectively reducing psychological burden and stress.

[0030] (6) The present invention significantly improves the overall efficiency of automated anal cleaning through the coordinated operation of a camera sensor, a mechanical cleaning arm, and a data collection and control system. The camera sensor detects the completion of fecal removal, and the mechanical cleaning arm efficiently performs the cleaning task, reducing user involvement. The control system regulates water flow and cleaning time, reducing water and resource consumption.

[0031] (7) The soft robotic cleaning hand of the present invention is made of flexible materials and incorporates ultrasonic vibrations, which improves user comfort compared to traditional cleaning methods. The soft material conforms to the user's body, reducing discomfort or irritation, while the ultrasonic vibrations loosen feces without applying excessive pressure, making it particularly suitable for individuals with sensitive skin or limited mobility, improving user comfort.

[0032] (8) The present invention reduces costs by sharing the hardware resources and task processing of the camera sensor, mechanical cleaning arm and control system. The efficient integration reduces the use of components and reduces production and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of the intelligent toilet system with a soft robot cleaning hand of the present invention;

[0034] Figure 2 Schematic diagram of the internal components of the guide rail guide mechanism of the mechanical cleaning arm of the present invention;

[0035] Figure 3 This is a schematic diagram of the mechanical cleaning arm structure of the soft robot cleaning hand of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of the soft robot cleaning hand of the present invention;

[0037] in, Figure 4 a is a general structural diagram of the soft robot cleaning hand of the present invention;

[0038] Figure 4 b is a schematic diagram of the disassembly of the structure of the soft robot cleaning hand of the present invention;

[0039] Figure 5 Schematic diagram of the structure of the linear actuator in the present invention when tightening and releasing the finger;

[0040] Figure 6 This is a schematic diagram of the structure of the soft robot cleaning hand, water delivery unit and water spray cleaning unit of the present invention;

[0041] Figure 7 This is a control system flow chart of the intelligent toilet system of the present invention.

[0042] Figure 8 This is a flow chart of the cleaning control process of the intelligent toilet system of the present invention. DETAILED DESCRIPTION

[0043] Figures 1 to 8 Center: Intelligent toilet device ITD 1; rail-guided motion unit LRGM 2; robotic cleaning arm RCR 3; soft robotic cleaning hand SRH 4; linear actuator 5; depth camera 6; control system CSB 7; toilet seat 101; toilet seat recess 102.

[0044] Stepper motor 201; flange 202; coupling 203; stabilizing bearing 204; ball screw 205; slider 206; bearing seat 207; fixed base 208; optical axis 209.

[0045] Fixed base 301; first servo motor 302A, second servo motor 302B, third servo motor 302C, fourth servo motor 302D; robot arm mounting bracket 303.

[0046] Robot arm support unit 304; robot arm rotating flange bearing connection 305; support structure plate 306 for fixing the servo motor with the robot arm; rotating shaft 307; aluminum frame 308 for supporting the elbow robot; soft robot cleaning hand 4.

[0047] The soft robotic cleaning hand 4 includes a palm cover 401 , a water spray cleaning unit SWC 402 , an artificial tendon hole 403 , soft fingers 404 , an index finger 405 , a middle finger 406 , a pinky finger 407 , a ring finger 408 , a thumb 409 , a hand water inlet 410 , and a wrist strap ring 411 .

[0048] Water tank 414; support structure plate 415 for water tank 414; water inlet hole 416 in the hand; ultrasonic transducer support plate 417; wire 418; piezoelectric transducer 419.

[0049] Drive 500, motor 510; motor plate 515; gear mechanism 520; initial support plate 522; screw bearing 525; screw / lead screw 530; first linear guide rod 535A, second linear guide rod 535B; screw nuts 538A-538B; cable tensioning pulleys 540A-540B; first actuating cable 541a, second actuating cable 541b; shaft (pulley and bearing) 542a; cable end support 543; end support plate 544; base support plate 545; Bowden cable and wire 550; detachable connector 555; liquid storage tank FRT 670.

[0050] Robot cleaning arm initialization 701; data collection 702; data transmission 703; data processing 704; data storage 705; robot cleaning arm access data 706; target position 707; soft robot cleaning hand 708.

[0051] like Figure 1 As shown, the intelligent toilet system of the present invention is equipped with a mechanical cleaning arm and a soft robotic cleaning hand, which uses ultrasonic vibrations and water sprays to clean the anus after defecation. The intelligent toilet system includes a toilet device 1, a mechanical cleaning arm (RCR) 3 mounted on a guide rail motion unit 2, a machine vision unit 6, and a control system 7. The mechanical cleaning arm is mounted with a soft robotic cleaning hand (SRH) 4. The soft robotic cleaning hand is connected to an ultrasonic vibration cleaning unit 419, a water spray cleaning unit, and a linear actuator 5 for tensioning and releasing the corresponding fingers. The ultrasonic vibration unit removes residual feces through high-frequency vibration, while the water spray cleaning unit thoroughly rinses the cleaning area.

[0052] The three fingers 404 of the soft robotic cleaning hand are equipped with sensors 422 and covered with silicone rubber for waterproof protection. These sensors control the activation of the water pump 660, ultrasonic vibration generator 630, and the linear actuators for finger movement. They also monitor contact pressure in real time to ensure safety during the cleaning process.

[0053] In this embodiment, the machine vision unit 6 uses a depth camera 6 to detect feces remaining around the anus. The machine vision unit 6 is connected to a cloud server, which processes data 704 and stores data 705. A cloud control algorithm 706 coordinates the operation of the toilet system, processes the data collected by the depth camera, and directs the mechanical cleaning arm to perform the corresponding cleaning action 707.

[0054] like Figure 2 As shown, the guide rail guided motion unit RGM is a component of the linear motion system, which moves the mechanical cleaning arm RCR 3 with the soft robot left and right to clean the feces around the anus. The guide rail guided motion unit 2 is made of high-rigidity steel and other composite materials to improve corrosion resistance and reduce weight. The guide rail guided motion unit includes a fixed base 208, a ball screw 205, two optical axes 209, a slider 206, a flange 202, a coupling 203, a stabilizing bearing 204 and a longitudinal drive stepper motor 201. The slider 206 is connected to a fixed base 301, on which the mechanical cleaning arm 3 is mounted. The slider 206 is driven by the stepper motor 201, and the slider 206 transmits the movement of the longitudinal moving mechanism to the mechanical cleaning arm 3, so that the mechanical cleaning arm 3 moves in the X-axis direction to help the soft robot cleaning hand 4 clean the anus.

[0055] like Figure 3 As shown, the robotic cleaning arm has three degrees of freedom (DOF) and is driven by four Dynamixel servo motors, a first servo motor 302A, a second servo motor 302B, a third servo motor 302C, and a fourth servo motor 302D.

[0056] The fixed base 301 of the robotic cleaning arm is connected to the slider 206 on the guide rail guide mechanism 2, allowing the robotic cleaning arm 3 to move horizontally or slide forward and backward. The robotic cleaning arm includes a mounting bracket 303, an arm support unit 304, a soft robotic cleaning hand 4, a support structure plate 306, a vertical drive unit 308b, and a rotational drive unit 305a.

[0057] The rotational drive unit 305a is connected to the bearing assembly 305. Two support structure plates 306 are used to fix the third servo motor 302C and the fourth servo motor 302D. The rotational drive unit 305a, driven by the third servo motor 302C, rotates the soft robotic cleaning hand at different angles to clean inclined areas. The vertical drive unit 308b includes a fourth servo motor 302D, which drives the rotation axis 307 to move the aluminum frame support 308 vertically, allowing the elbow of the soft robotic cleaning hand to rise and fall, thereby cleaning the buttocks and anus.

[0058] Before the cleaning operation begins, the robotic cleaning arm 3 is positioned parallel to the guide rail mechanism 2. At the start of the cleaning process, the first servo motor 302A and the second servo motor 302B are activated, moving the robotic cleaning arm 3 from its parallel position to a perpendicular position on the guide rail mechanism 2. After the robot enters the toilet, it passes through the slot 102 on the side of the toilet seat 101. The vertical rotation drive unit 308b, driven by a servo motor, allows the robotic cleaning arm 3 to insert into the slot 102. Once the robot enters the toilet, the vertical drive unit 308b rotates the servo motor 302D, driving the aluminum frame support 308 up and down, thereby moving the soft hand 4 vertically. After the cleaning operation is completed, the control system unit 7 controls the vertical drive unit 308b to release the robotic cleaning arm from contact with the toilet seat and then controls the guide rail drive unit 2 to return the robot to its original position. The robotic cleaning arm support unit 304 allows for multi-axis motion, allowing the robotic cleaning arm to move forward, backward, left, right, and up and down. Furthermore, the robotic cleaning arm can rotate axially, enhancing flexibility and precision during the cleaning process.

[0059] In this embodiment, the first servo motor 302A, the second servo motor 302B, the third servo motor 302C, and the fourth servo motor 302D are Dynamixel servo motors.

[0060] like Figure 4 As shown, the soft robotic cleaning hand SR-Hand 4 is used for cleaning after defecation. Made of flexible materials and artificial tendons 550, the soft robotic cleaning hand mimics the movements of a human hand and provides thorough cleaning of sensitive areas such as the anus.

[0061] The soft robotic cleaning hand SR-Hand consists of five soft fingers 404, including the index finger 405, the middle finger 406, the pinky finger 407, the ring finger 408, and the thumb 409. Made of the flexible soft material TPU, the fingers are capable of gently cleaning the anus and are equipped with three units: an ultrasonic vibration cleaning unit 419, a water jet cleaning unit SWC402, and a linear actuator LAT 5 for tensioning and releasing the corresponding fingers. Figure 5 shown.

[0062] After defecation, a robotic cleaning arm equipped with a soft robotic cleaning hand extends and moves to the fecal area around the patient's anus, using a camera sensor 6 to detect residual feces. The soft robotic cleaning hand 4 is equipped with flexible pressure sensors (FSR402) 422 mounted on three fingers and coated with silicone rubber to protect the sensors from water. When the flexible pressure sensor contacts the anus, three signals 680 are sent to the main controller of the control system: the first triggers the water pump to automatically shut off the water supply after 20 seconds; the second signal is used to start the ultrasonic vibration generator 419; and the third signal is used to control the linear actuator of the driver 5 responsible for bending the fingers to open and close the fingers. The flexible pressure sensor also continuously monitors the applied contact pressure to ensure that pressure is maintained during contact with the anus to avoid discomfort or injury.

[0063] The soft robotic cleaning hand consists of fingers, a palm, and a tendon transmission unit, which includes artificial tendons. The artificial tendons in the soft robotic cleaning hand 4 are used to precisely and gently clean the anus after defecation. The artificial tendons control finger movements, mimicking hand movements. The artificial tendons are arranged along the sides of the fingers and thumb, ensuring balanced and coordinated movement, allowing the soft robotic cleaning hand to adapt to the user's body shape. The artificial tendons work in conjunction with the water jet cleaning unit and the ultrasonic cleaning unit to remove feces and dirt from the skin.

[0064] The palm 401 is the central part of the soft robot cleaning hand and serves as the base for the fingers and thumb. Figure 4 As shown in a, the palm is divided into three layers. The first layer is a cover plate 402 with a nozzle and holes, which is located inside the palm. The number of nozzle holes increases near the center of the palm. The cover plate 402 covers the water tank 414. Figure 6 As shown, the second layer (middle layer) includes a water tank 414, a supporting structure plate 415 and a water inlet hole 416 in the hand. Figure 3 and Figure 4 As shown, the third layer includes a piezoelectric transducer 419 embedded in the ultrasonic transducer support plate 417 and connected to the ultrasonic vibration generator 630, which converts electrical energy into ultrasonic vibrations. Ultrasonic vibrations cause water molecules to move rapidly and become disturbed. This disturbance creates tiny bubbles in the water, which burst when they come into contact with the skin or anus, generating force. The electronic drive module is located in the control system box 7. The electronic drive module is electrically connected to the piezoelectric transducer 419 via wires 610, and the connected wires extend into the soft robot cleaning hand. The water tank is connected to a water delivery unit and a water spray cleaning unit.

[0065] like Figure 6As shown, the water spray cleaning unit includes a nozzle located in the palm cover, and a metal plate 415 in the hand is connected to an ultrasonic vibration generator 419. The metal plate 415 acts as a vibration element, evenly distributing the vibration into the water tank. The ultrasonic vibration cleaning unit generates tiny bubbles in the water through cavitation. When these bubbles burst, they produce tiny shock waves, which help remove dirt around the anus without causing damage. The water delivery unit includes a liquid storage tank 670 and a gear pump 660. The water tank 414 is used for flushing the anus, and a continuous water flow is provided by the gear pump 660 in the liquid storage tank 670. The water is filtered and delivered through a hose 620 connected to the soft robotic cleaning hand 4.

[0066] like Figure 5 As shown, linear actuator 500 is used to tension, bend, open, and close the fingers for fecal cleaning. Linear actuator 500 is secured by a lead screw 530 and a rectangular lead screw nut 538, combined with a cable ring securing system 542, to prevent slack in first and second actuation cables 541a, 541b. The output force of linear actuator 500 is transmitted through first and second actuation cables 541a, 541b, generating a tensile force.

[0067] The gear mechanism 520 is located between the initial support plate 522 and the motor plate 515. The linear movement of the rectangular lead screw nut 538 changes the displacement of the first and second actuating cables 541a, 541b, maximizing their movement and helping to distribute the force of the first and second actuating cables 541a, 541b. On one side of the motor 510, the lead screw 530 is supported by radial bearings fixed within the initial support plate 522. On the other side of the terminal support plate 544, the lead screw 530 is supported by radial bearings. A linear guide rod 535 enables the lead screw nut 538 to move linearly as the lead screw 530 rotates. The terminal support plate 544 provides mounting support for the cable terminal support 543. The cable terminal support 543 is also used for installing a Bowden cable.

[0068] A collision sensor detects the end position of the lead screw nut 538. Furthermore, the linear guide rod 538 has a cable channel 542 containing a rotating shaft with bearings for securing the cable ends 541a-541b. During operation, the two linear guide rods 538a and 538b work in opposite directions, tightening, bending, and opening and closing the fingers to clean feces.

[0069] like Figure 6As shown, the cleaning system also includes a device 600 for generating a liquid flow. The device includes a liquid storage tank 680 and an electric pump 660 connected to the liquid storage tank 680. The electric pump 660 is preferably a self-priming pump. The device 670 preferably includes a pulse valve 650. The pulse valve 650 is connected to the electric pump 660. A section of flexible pipe 620 is connected to the pulse valve 650. The electric pump 660 extracts liquid from the storage tank 680, pressurizes the liquid through the pulse valve 650, and then delivers the liquid to the hose 620. The power of the electric pump 660 is provided by a rechargeable battery (not shown), a 120V, 60Hz power socket or other power source. The pump 660 is turned on and off by a switch 640. Alternatively, the pump 660 is electrically connected to the switch in the control box 630a, thereby allowing the pump 660 and the ultrasonic vibration generator 630 in the control box to be turned on simultaneously by a single switch. In this embodiment, the electric pump 660 adopts a gear pump WGP.

[0070] like Figure 7 As shown in the figure, the control system of the smart toilet is designed to coordinate the robot's cleaning operations to ensure reliable and efficient anal cleaning. The control logic system of the smart toilet collects data through cameras and processes, stores, and shares the data through cloud servers.

[0071] First, the soft robotic cleaning hand 701 navigates to the smart toilet and captures fecal data around the anus via RGB 702 and depth images. These images 703 are then transmitted to a cloud server 704 via a wide area network using HTTP. The cloud server detects and locates the feces and stores the results in a database 706. The cloud server then shares this data with the robot 708, enabling the robotic hand to navigate to the target location of the feces and clean the anus using the soft robotic hand 4. This control logic system facilitates coordination between the robot and the soft hand.

[0072] like Figure 8 As shown, the sensor system of the smart toilet is designed to coordinate the cleaning operations performed by the robot to ensure reliable and efficient anal cleaning. The soft robotic cleaning hand embedded with the electronic skin E-skin extracts and processes data through the sensor control system and cloud server. When the electronic skin E-skin comes into contact with human skin, pressure, temperature and texture sensing data are generated. These sensing data are transmitted to the cloud server and compared with the preset reference model. If the received sensing data matches or is highly similar to the reference model, the control system will consider the interaction successful. If there is a significant difference between the sensing data and the reference model, the control system will generate correction feedback and send the feedback to the soft robotic cleaning hand to adjust the movement, pressure or cleaning mode in real time to ensure the safety, comfort and cleaning effect of the operation.

Claims

1. An intelligent toilet system with a soft robotic cleaning hand, characterized by: It includes a toilet device, a guide rail motion unit, a visual unit and a control system; a mechanical cleaning arm is installed on the guide rail motion unit; one end of the mechanical cleaning arm is connected to a soft robot cleaning hand; the control system has an electronic drive module; The soft robotic cleaning hand includes fingers, a palm, and a tendon transmission unit; the palm is provided with a water tank, a piezoelectric transducer, and an ultrasonic vibration generator connected to the piezoelectric transducer; the piezoelectric transducer is connected to the electronic drive module; the water tank is connected to a water delivery unit and a water spray cleaning unit, and the water spray cleaning unit includes a cover plate with a nozzle covering the water tank; The fingers are provided with sensors connected to the water delivery unit, ultrasonic vibration generator and tendon transmission unit. When the sensors are subjected to contact pressure from the toilet, they send signals to the control system to open and close the water delivery unit, start the ultrasonic vibration generator and control the tendon transmission unit to open and close the fingers. The tendon transmission unit includes a linear drive unit and an artificial tendon connected to the linear drive unit; the linear drive unit includes a gear mechanism, a lead screw, a lead screw nut, a linear guide rod, an initial support plate, an end support plate and a collision sensor; the linear guide rod passes through the lead screw nut, and the lead screw is supported by radial bearings fixed on the initial support plate and the end support plate; a drive cable unit is connected to the lead screw nut, and a cable support and a collision sensor are provided on the end support plate; the cable support is fixed to the other end of the drive cable unit; the gear mechanism drives the lead screw nut to move linearly through the lead screw.

2. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The guide rail guided motion unit includes a fixed base, a ball screw, an optical axis, a slider, a flange, a coupling, a stabilizing bearing, and a stepping motor for driving the slider to move; the slider is connected to a fixed base for mounting a mechanical cleaning arm.

3. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The mechanical cleaning arm includes a first servo motor and a second servo motor connected to a fixed base. There is a mounting bracket on the output shaft of the first servo motor and the second servo motor. An arm support unit is provided on the mounting bracket. One end of the arm support unit is connected to a rotation drive unit and a vertical drive unit. The vertical drive unit is connected to a soft robot cleaning hand.

4. The intelligent toilet system with a soft robotic cleaning hand according to claim 3, characterized in that: The rotary drive unit is connected to a rotary bearing and a third servo motor.

5. The intelligent toilet system with a soft robotic cleaning hand according to claim 3, characterized in that: The vertical driving unit is connected to a fourth servo motor, and one end of the fourth servo motor is connected to a rotating shaft.

6. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The drive cable unit includes a first actuating cable and a second actuating cable, one end of the first actuating cable and the second actuating cable are connected to the lead screw nut, and the other end is connected to the cable support.

7. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The robotic cleaning unit of the control system captures data on the targets of the toilet system through RGB and depth images, transmits the data to a cloud server for detection and positioning, and controls the soft robotic cleaning hand to perform cleaning.

8. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The water delivery unit comprises a liquid storage tank with an electric pump, a hose is connected between the liquid storage tank and the water tank, and a pulse valve is connected between the electric pump and the hose.

9. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: Force-sensitive resistor sensors are distributed on the fingers of the soft robot cleaning hand. The force-sensitive resistor sensors control the start-up of the water pump, ultrasonic vibration generator and linear drive unit of the water delivery unit, and detect contact pressure at the same time.

10. The intelligent toilet system with a soft robotic cleaning hand according to claim 1, characterized in that: The soft robot cleaning hand is embedded with electronic skin, which controls the toilet system and cloud server to extract and process data.

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