An automatic nursing device and a method for recognizing urination and defecation thereof

Abstract

The application discloses an automatic nursing device and a method for identifying urine and stool, a cover-pant assembly, a back end of the cover-pant assembly is provided with a cover-pant buckle, and the cover-pant assembly is internally provided with a cover-pant air bag; a lying toilet comprises a shell, a microprocessor board and a thermal imaging sensor, an infrared sensor and a liquid detection sensor arranged in the shell, and each sensor realizes urine and stool information data collection through a module interface; the hose assembly comprises a clean water pipe, an air pipe, a warm air pipe joint and a sewage pipe, the air pipe is communicated with the cover-pant air bag; a host computer, the host computer is internally provided with a control board and a wireless power supply module, the thermal imaging module is electrically connected with the control board, and the wireless power supply module is used for power supply of the thermal imaging module and the control board; through the participation of the thermal imaging sensor, the infrared sensor, the liquid detection sensor and the flush spray head, the recognition success rate, the robustness and the accuracy of urine and stool can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of nursing robot technology, and in particular to an automatic nursing device and its method for recognizing urine and feces. Background Technology

[0002] The current toilet care robots on the market rely solely on electrode sensors and infrared sensors to detect urine and feces. Theoretically, when the excrement is pure urine, only the contact electrode is triggered, thus identifying it as urine and proceeding with appropriate processing. Conversely, when the excrement is pure dry feces, only the infrared sensor is triggered, identifying it as feces and proceeding with appropriate processing. However, users typically urinate alongside feces, which this sensor solution cannot distinguish. Furthermore, since users' urine is generally consistently acidic or alkaline, the electrodes are easily corroded, significantly increasing the risk of urine detection failure. In practical use, because infrared sensors work by allowing light to penetrate plastic, surface wear over time can reduce sensor robustness, leading to failure to trigger or false triggering. Based on its single urine and feces detection, the corresponding processing procedures are relatively simple: triggering feces activates the vacuum cleaner for feces processing, while triggering urine initiates cleaning. Summary of the Invention

[0003] In view of the shortcomings or deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an automatic care device and a method for recognizing urine and feces.

[0004] To solve the above-mentioned technical problems, this application provides the following technical solution: An automated care device includes: A trouser assembly, wherein the rear end of the trouser assembly is provided with a trouser buckle, and the trouser assembly contains a trouser airbag; A commode device includes a housing, a microprocessor board, and a thermal imaging sensor, an infrared sensor, and a liquid detection sensor disposed within the housing. Each sensor collects urination and defecation information data through a module interface and transmits the data to the microprocessor board. The hose assembly includes: a water purification pipe, an air pipe, a warm air pipe connector, and a sewage pipe. The air pipe is connected to the trouser airbag. An air inlet is provided at the rear of the toilet, and the air inlet is connected to the warm air pipe connector. The sewage pipe is connected to the sewage outlet provided on the toilet, and the water purification pipe is connected to the flushing nozzle. The host computer includes a control board and a wireless power supply module. The thermal imaging module is electrically connected to the control board, and the wireless power supply module is used to power the thermal imaging module and the control board. Furthermore, the trouser assembly includes: a trouser base, a trouser air tube, an air nozzle, and trouser fabric. The trouser buckle is disposed at the rear end of the trouser base. One end of the trouser air tube is connected to the air nozzle, and the other end is connected to the trouser airbag. The trouser fabric is installed on the trouser base, and the trouser airbag is disposed on the trouser fabric.

[0005] Furthermore, a connection port is provided at the connection between the trouser fabric and the trouser base, and the trouser airbag is arranged around the connection.

[0006] Furthermore, the front end of the housing is provided with a toilet seat, one side of which is provided with a first infrared mounting groove and the other side of which is provided with a second infrared mounting groove. An infrared emitting sensor is installed in the first infrared mounting groove and an infrared receiving sensor is installed in the second infrared mounting groove.

[0007] Furthermore, the bottom of the toilet seat is provided with a fixing groove, in which a liquid detection sensor is installed.

[0008] Furthermore, the outer front end of the toilet seat is also provided with an infrared-transmitting shell.

[0009] Furthermore, the front of the toilet seat is also provided with a flushing nozzle, which is connected to the water purification pipe through a water distribution pipe.

[0010] Furthermore, the upper part of the shell is configured as an arc-shaped structure, and the trouser tube is configured as an arc shape with a curvature similar to that of the arc-shaped structure.

[0011] Furthermore, the end of the air nozzle is connected to the air tube.

[0012] A method for recognizing urine and feces in an automated care device, used in the aforementioned automated care device, comprising: When the user wears the device, it first monitors the device through an infrared sensor and a liquid detection sensor. When either sensor detects a signal, it is assumed that urine or feces have occurred, which triggers thermal imaging. When only the liquid sensor detects liquid, it can be identified as urine using data from the thermal imaging sensor; When the infrared sensor detects a solid, since there may be a mixture of liquid and solid, the main unit will control the flushing nozzle at the bottom of the toilet to flush with a small amount of cold water for 1 to 2 seconds. Then, the thermal imaging sensor will be used to identify the inside of the toilet. Since there is a temperature difference between the flushing water temperature and the urine temperature, the influence of urine on the thermal imaging sensor can be effectively eliminated, thereby identifying the shape of the solid.

[0013] Compared with existing technologies, this application has the following technical advantages: In this application, the toilet seat is detachably connected to the trouser assembly via the trouser buckle, facilitating quick assembly of the trouser assembly and the toilet seat. The toilet seat includes a thermal imaging module, a control board, and a wireless power supply module. During use, it can collect user's urination and defecation image data. Simultaneously using infrared images, it can effectively prevent user privacy leaks. The data collected by the thermal imaging module is transmitted to a cloud server via a wireless network on the motherboard. Using relevant algorithms to analyze and process the data, it can effectively distinguish between the user's urination and defecation and the form of feces. Through the multi-sensor fusion recognition function of thermal imaging sensors, infrared sensors, liquid detection sensors, etc., and the participation of the flushing nozzle, the success rate, robustness, and accuracy of urination and defecation recognition can be effectively improved. Attached Figure Description

[0014] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 : A schematic diagram of the structure of an automatic care device according to an embodiment of this application; Figure 2 : A schematic diagram of the structure of an automatic care device according to an embodiment of this application; Figure 3 : An exploded structural diagram of an automatic care device according to an embodiment of this application; Figure 4 : A partial structural schematic diagram of a toilet according to an embodiment of this application; Figure 5 : A partial structural schematic diagram of a toilet according to an embodiment of this application; Figure 6 : A partial structural schematic diagram of a toilet according to an embodiment of this application; Figure 7 : An exploded structural diagram of a trouser assembly and a toilet according to an embodiment of this application. Detailed Implementation

[0015] 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, and 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.

[0016] If the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0017] like Figures 1 to 3 As shown in this embodiment, an automatic care device and its method for recognizing urine and feces include: The pant assembly has a pant buckle at the rear end; the pant assembly has a pant airbag 13 inside, and the pant airbag 13 on the pant assembly 1 fits tightly to the human body; The commode 2 includes a housing, a microprocessor board, and a thermal imaging sensor 29, an infrared sensor, and a liquid detection sensor 10 disposed within the housing. Each sensor collects urination and defecation data via a module interface and transmits the data to the microprocessor board. The commode 2 is detachably connected to the trouser assembly via a trouser buckle. The commode 2 contains an airway assembly and a ventilation assembly. The airway assembly is connected to an air tube 22, which is connected to the trouser airbag 13 for inflating the airbag. When worn by the user, the trouser airbag 13 inflates and fits snugly against the body, facilitating urination and defecation. The toilet is leak-proof during rinsing and drying. The toilet 2 includes a thermal imaging module 29, a control board 5, and a wireless power supply module 6. The thermal imaging module 29 is electrically connected to the control board 5, and the wireless power supply module 6 powers both the thermal imaging module 29 and the control board 5. During use, it can collect images of the user's urine and feces. Using an infrared sensor, it effectively prevents user privacy leaks. The data collected by the thermal imaging module 29 is transmitted to a cloud server via a wireless network on the motherboard. Relevant algorithms are used to analyze and process the data, effectively distinguishing between the user's urine and feces and the form of stool.

[0018] The hose assembly 3 has an air inlet at the rear of the toilet bowl 2. The air inlet is connected to the hose assembly 3 through a sealing gasket. The hose assembly 3 is connected to the rear end of the toilet bowl 2. One end of the hose assembly 3 is connected to the toilet bowl 2, and the other end of the hose assembly 3 is connected to the main unit assembly 7, forming a complete internal circulation circuit. The above connection helps to ensure the sealing of the connection and avoid air leakage. The sewage pipe 34 is connected to the sewage outlet on the toilet bowl 2 via a sealing gasket. This connection helps to ensure the sealing of the connection and avoid water leakage.

[0019] Furthermore, such as Figure 4 and Figure 5 As shown in this embodiment, the toilet 2 has a seat 23 at its front end.

[0020] Furthermore, in this embodiment, the front outer side of the toilet seat 23 is also provided with an infrared-transmitting shell 25; after long-term use, the infrared-transmitting shell 25 will wear down to some extent, but due to the participation of the thermal imaging sensor 29, the success rate and accuracy of urine and feces recognition can be effectively improved. When only urine is present, the thermal imaging image is a relatively uniform solid color pattern.

[0021] Furthermore, in this embodiment, the upper end of the toilet 2 is provided with an upper air outlet 271 and a lower air outlet 272, and the upper air outlet 271 is connected to the air inlet of the trousers.

[0022] Furthermore, in this embodiment, the toilet 2 is provided with a spray head assembly, which is connected to a cleaning nozzle hose. The cleaning nozzle hose is connected to a cleaning nozzle manifold. The front of the toilet seat 23 is also provided with a flushing nozzle 284, which is connected to the water purification pipe 32 through a water distribution pipe.

[0023] Furthermore, in this embodiment, the upper part of the shell is configured as an arc-shaped structure, and the trouser air pipe 22 is configured as an arc shape with a curvature similar to that of the arc-shaped structure.

[0024] Furthermore, in this embodiment, the lower part of the housing is provided with a mounting groove, and the thermal imaging module 29 is provided in the mounting groove. The thermal imaging module 29 is disposed above the sewage outlet.

[0025] Furthermore, in this embodiment, the commode 2 is equipped with a detection module for detecting urination and defecation information; When the detection module detects urination and defecation information, the cleaning module installed in the host 7 sends heated warm water through the hose assembly 3 into the commode 2 for cleaning. The hose assembly 3 discharges the waste into the sewage treatment module for treatment. The fan module dries the patient through the warm air pipe 32. The deodorization module decomposes the ozone in the sewage treatment module.

[0026] Preferably, in this embodiment, the toilet bowl 2 is further provided with a cleaning nozzle, a blower, and a waste / water extraction guide, all of which are connected to the hose assembly.

[0027] Furthermore, in this embodiment, the hose assembly 3 includes an air pipe 31, at least two clean water pipes 32, a sewage pipe 34, and an air supply pipe 33. One end of the clean water pipe 23 is connected to the cleaning nozzle, and the other end is connected to the cleaning module. One end of the sewage pipe 22 is connected to the waste / water extraction guide port 16, and the other end is connected to the sewage treatment module. One end of the air pipe 21 is connected to the air outlet, and the other end is connected to the air guide pipe of the blower module.

[0028] After a period of use, the toilet 2 and the hose assembly 3 may become clogged with dirt or develop an odor. The toilet 2 and the hose assembly 3 should be cleaned. If cleaning is difficult or the odor is hard to remove, they should be replaced.

[0029] Preferably, such as Figure 6 and Figure 7 As shown, in this embodiment, the housing is provided with an upper cleaning nozzle 281, which is connected to an upper cleaning nozzle hose, and the upper cleaning nozzle hose is connected to an upper cleaning nozzle manifold; a lower cleaning nozzle 282 is provided below the upper cleaning nozzle 281, which is connected to a lower cleaning nozzle hose, and the lower cleaning nozzle hose is connected to a lower cleaning nozzle manifold; a flushing nozzle 284 is also provided at the front end of the toilet bowl 25; an air supply channel 283 is also provided between the upper cleaning nozzle 281 and the lower cleaning nozzle 282; air is blown from the trouser outlet to the toilet bowl 23, which can assist the flushing nozzle 284 in pushing urine and feces. When dealing with waste, the flushing nozzle 284 is mainly used to push the waste to the sewage outlet of the toilet bowl, and then it is drawn away by the air duct + negative pressure. The positive pressure air from the air supply duct, combined with the negative pressure of the toilet bowl 23, has a greater pressure difference, which can more efficiently push urine and feces from the toilet bowl to the sewage outlet of the toilet bowl 23.

[0030] Preferably, in this embodiment, the front end of the housing is provided with a toilet seat 23. One side of the toilet seat 23 is provided with a first infrared mounting groove, and the other side is provided with a second infrared mounting groove. An infrared emitting sensor 91 is installed in the first infrared mounting groove, and an infrared receiving sensor 92 is installed in the second infrared mounting groove. First, the infrared emitting sensor 91 and the infrared receiving sensor 92 are used for monitoring. When either one detects a signal, it is considered that urine or feces has occurred, which triggers thermal imaging. The flushing nozzle at the bottom of the toilet seat will spray out a small amount of cold water to flush away the urine. Then, the thermal imaging sensor 29 is used to identify urine and feces. First, the thermal imaging sensor 29 identifies the highest temperature. Then, a small amount of water is flushed. After flushing, the thermal imaging sensor 29 identifies the highest temperature again. If the highest temperature drops significantly and there is no obvious heat source after flushing, the signal just detected is considered to be urine. If the highest temperature does not drop significantly and there is a shaped heat source in the image of the thermal imaging sensor 29, the signal just detected is considered to be feces. Since the water temperature from the flushing nozzle is only about 25 degrees Celsius, which is significantly different from the urine temperature of about 36 degrees Celsius, the influence of urine on the thermal imaging sensor can be effectively removed, thereby identifying the shape of solid objects. At the same time, machine learning can be used to improve the ability to identify and distinguish different shapes of feces.

[0031] A method for recognizing urine and feces in an automated care device, applicable to the aforementioned automated care device, comprising: When the user wears it, it is first monitored by infrared sensor and liquid detection sensor 10. When either of them detects a signal, it is assumed that urine or feces have occurred, thus triggering thermal imaging. When only the liquid sensor detects 10 units of liquid, the data from the thermal imaging sensor 29 can be used to identify it as urine; When the infrared sensor detects a solid, since there may be a mixture of liquid and solid, the main unit will control the flushing nozzle at the bottom of the toilet to flush with a small amount of cold water for 1 to 2 seconds. Then, the thermal imaging sensor will be used to identify the inside of the toilet. Since there is a temperature difference between the flushing water and the urine, the influence of urine on the thermal imaging sensor can be effectively eliminated, thereby identifying the shape of the solid.

[0032] Compared with the prior art, this application has the following technical effects: In this application, the commode is detachably connected to the trouser assembly via the trouser buckle, facilitating quick assembly of the trouser assembly and the commode. The commode includes a thermal imaging module, a control board, and a wireless power supply module. During use, it can collect images of the user's urine and feces, and the use of infrared images effectively prevents user privacy leaks. The data collected by the thermal imaging module is transmitted to a cloud server via a wireless network on the motherboard. Using relevant algorithms to analyze and process the data, it can effectively distinguish between the form of urine and feces. Through the multi-sensor fusion recognition function of thermal imaging sensors, infrared sensors, liquid detection sensors, etc., and the participation of the flushing nozzle, the success rate, robustness, and accuracy of urine and feces recognition can be effectively improved.

[0033] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. The preferred embodiments have been described in detail. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the claims of this application.

Claims

1. An automatic care device, characterized in that, include: A trouser assembly, wherein the rear end of the trouser assembly is provided with a trouser buckle, and the trouser assembly contains a trouser airbag; A commode device includes a housing, a microprocessor board, and a thermal imaging sensor, an infrared sensor, and a liquid detection sensor disposed within the housing. Each sensor collects urination and defecation information data through a module interface and transmits the data to the microprocessor board. The hose assembly includes: a water purification pipe, an air pipe, a warm air pipe connector, and a sewage pipe. The air pipe is connected to the trouser airbag. An air inlet is provided at the rear of the toilet, and the air inlet is connected to the warm air pipe connector. The sewage pipe is connected to the sewage outlet provided on the toilet, and the water purification pipe is connected to the flushing nozzle. The host computer includes a control board and a wireless power supply module. The thermal imaging module is electrically connected to the control board, and the wireless power supply module is used to power the thermal imaging module and the control board.

2. The automatic nursing device according to claim 1, characterized in that, The overcoat assembly includes: an overcoat base, an overcoat air tube, an air nozzle, and overcoat fabric. The overcoat buckle is located at the rear end of the overcoat base. One end of the overcoat air tube is connected to the air nozzle, and the other end is connected to the overcoat airbag. The overcoat fabric is installed on the overcoat base, and the overcoat airbag is located on the overcoat fabric.

3. The automatic nursing device according to claim 2, characterized in that, The trouser fabric is provided with a connection port at the connection point with the trouser base, and the trouser airbag is arranged around the connection.

4. The automatic nursing device according to claim 3, characterized in that, The front end of the housing is provided with a toilet seat. One side of the toilet seat is provided with a first infrared mounting groove, and the other side is provided with a second infrared mounting groove. An infrared emitting sensor is installed in the first infrared mounting groove, and an infrared receiving sensor is installed in the second infrared mounting groove.

5. The automatic nursing device according to claim 4, characterized in that, The bottom of the toilet seat is also provided with a fixing groove, in which a liquid detection sensor is installed.

6. The automatic care device according to claim 5, characterized in that, The front outer side of the toilet seat is also provided with an infrared-transmitting shell.

7. The automatic care device according to claim 6, characterized in that, The front of the toilet seat is also provided with a flushing nozzle, which is connected to the water purification pipe through a water distribution pipe.

8. The automatic care device according to claim 7, characterized in that, The upper part of the shell is configured as an arc-shaped structure, and the trouser tube is configured as an arc shape with a curvature similar to that of the arc-shaped structure.

9. The automatic care device according to claim 8, characterized in that, The end of the air nozzle is connected to the air tube.

10. A method for recognizing urination and defecation in an automatic care device, applicable to the automatic care device as described in any one of claims 1 to 9, characterized in that, include: When the user wears the device, it first monitors the device through an infrared sensor and a liquid detection sensor. When either sensor detects a signal, it is assumed that urine or feces have occurred, which triggers thermal imaging. When only the liquid sensor detects liquid, it can be identified as urine using data from the thermal imaging sensor; When the infrared sensor detects a solid, since there may be a mixture of liquid and solid, the main unit will control the flushing nozzle at the bottom of the toilet to flush with a small amount of cold water for 1 to 2 seconds. Then, the thermal imaging sensor will be used to identify the inside of the toilet. Since there is a temperature difference between the flushing water and the urine, the influence of urine on the thermal imaging sensor can be effectively eliminated, thereby identifying the shape of the solid.

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