CN108836161A - Human body automatic tracking cleaning device and corresponding clean method - Google Patents
Human body automatic tracking cleaning device and corresponding clean method Download PDFInfo
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- CN108836161A CN108836161A CN201810506702.5A CN201810506702A CN108836161A CN 108836161 A CN108836161 A CN 108836161A CN 201810506702 A CN201810506702 A CN 201810506702A CN 108836161 A CN108836161 A CN 108836161A
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- paper
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- roll paper
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K7/00—Body washing or cleaning implements
- A47K7/04—Mechanical washing or cleaning devices, hand or mechanically, i.e. power operated
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Abstract
The invention discloses a kind of human body automatic tracking cleaning device and corresponding clean methods, wherein control of the human body automatic tracking cleaning device based on automatic control system, including the paper feeding mechanism for roll paper to be arranged, perpendicular direction is installed under the control of automatic control system for fold to roll paper the paper cutting mechanism of cutting with roll paper paper；Further include automatic control system control backspin go at paper feeding mechanism take paper after for carrying out clean cleaning Wiping mechanism to human body, the cleaning Wiping mechanism is equipped with vision collecting machine, the image of the vision collecting mechanism acquisition passes to automatic control system, automatic control system automatically generates motion profile according to the image information of acquisition, and controls cleaning Wiping mechanism and clean according to the motion profile of generation.The configuration of the present invention is simple has stronger practicability, can be improved clean efficiency while nursing staff's labor intensity is effectively reduced.The present invention is suitable for intelligent closestool or the intelligent hospital bed of paralytic.
Description
Technical field
The invention belongs to nursing device fields, are related to a kind of automatic cleaning apparatus, and specifically a kind of human body follows automatically
Mark cleaning device, while the present invention also provides the clean methods of the human body automatic tracking cleaning device.
Background technique
With advances in technology with the continuous development of society, the nursing of people, which is realized, to be continuously improved.For injured sufferer
Or for the sufferer of total paralysis, due to that can not move freely, daily life can not take care of oneself, and need special caregiver
Member nurses it accordingly, guarantees that its physical function operates normally.For above-noted persons, due to can not freely live
Dynamic, the emphasis and difficult point of nursing are excretion processing, and are the physical strength that sufferer processing excretion consumes nursing staff very much, therefore existing
There is the workload for mitigating nursing staff in technology, there are the cleaning plants that some pairs of sufferers are cleared up automatically.But by
Needing the position wiped in sufferer is not a plane, such as buttocks or butt crack, has very deep gap, therefore existing dress
It sets and only the position for clearance of sufferer is simply rinsed or wiped, gap can not effectively be cleared up, caused existing
The cleaning effect of some automatic cleaning apparatus is poor, the serious infection that may also result in sufferer.
Summary of the invention
It is existing in the prior art above insufficient to solve, the present invention is intended to provide a kind of human body automatic tracking cleaning device
And corresponding clean method, it is more preferable to the cleaning effect of sufferer to enable.
To achieve the above object, the technical solution adopted in the present invention is as follows：A kind of human body automatic tracking cleaning device, base
In the control of automatic control system, including the paper feeding mechanism for roll paper to be arranged, the side of the paper feeding mechanism and roll paper paper
Perpendicular direction is installed under the control of automatic control system for fold to roll paper the paper cutting mechanism of cutting；Also wrap
Include the control backspin in automatic control system go at paper feeding mechanism take paper after for carrying out clean cleaning cleaning machine to human body
Structure, the cleaning Wiping mechanism are equipped with vision collecting mechanism, and the image of the vision collecting mechanism acquisition passes to automatic control
System processed, automatic control system automatically generate motion profile according to the image information of acquisition, and control cleaning Wiping mechanism according to
The motion profile of generation cleans.
As the restriction to present invention cleaning Wiping mechanism：The cleaning Wiping mechanism includes mounting seat, the installation
Pedestal is equipped with the support rod that can be slided along mounting seat length direction under the control of automatic control system, and the support rod is not
The one end for connecting mounting seat is equipped under control of the control system, using the tie point with support rod as the installation of centre swinging
Bar, one end that the mounting rod is not connected with support rod are equipped with and can overturn vertically along the horizontal plane under the control of automatic control system
Mounting base, a side of mounting base is equipped with the handgrip for grabbing roll paper, is installed on the one side opposite with handgrip
Vision collecting mechanism and spray head, the spray head connect the external water tank being arranged by pipeline.
It is further limited as to cleaning Wiping mechanism in the present invention：It is equipped with and slides along its length in the mounting seat
Road, the support rod are slidably set on slideway by the feed mechanism controlled by automatic control system；
Rotary joint between the support rod and mounting rod by being controlled by automatic control system）Connection.
As the restriction to paper feeding mechanism in the present invention：Paper feeding mechanism includes mounting plate, and the mounting plate is equipped with and is used for
Carry the shaft of roll paper, the supporting plate of shaft being arranged right below for accepting roll paper.
As the restriction to paper cutting mechanism in the present invention：The paper cutting mechanism includes using under the control of automatic control system
It is arranged in the acting surface of the paper folding board to give a discount to roll paper, the paper folding board perpendicular to the paper of roll paper, further includes that paper folding is complete
At the rear cutter sheared to roll paper.
The present invention also provides a kind of clean methods of human body automatic tracking cleaning device, are followed automatically based on above-mentioned human body
Mark cleaning device realizes that it includes the following steps successively carried out：
One, Visual Sampling：Visual Sampling mechanism carries out image sampling to part for clearance under the control of automatic control system,
It will be passed to automatic control system after the completion of sampling；
Two, track is generated：Automatic control system analyzes the image information of acquisition, motion profile is generated after analysis, automatically
Control system control cleaning Wiping mechanism carries out water cleaning according to the motion profile movement of generation；
Three, cleaning post-processing：After the completion of cleaning, automatic control system again by Visual Sampling mechanism to the position after cleaning into
Row Image Acquisition, and analyze whether cleaning result meets the requirements, four are entered step if meeting the requirements；If cleaning result is not
It meets the requirements, then repeats step 1 to step 2, until cleaning result meets the requirements；
Four, prepare roll paper：Automatic control system control paper cutting mechanism carries out paper folding first, after paper folding to certain quantity, automatically
Control system controls paper cutting mechanism and cuts off roll paper；
Five, roll paper is grabbed：Automatic control system control cleaning Wiping mechanism is mobile in place, and grabs the roll paper having had been prepared for,
Automatic control control system control cleaning Wiping mechanism is moved to by clean position after the completion of crawl, is wiped by the water of cleaning position
Mark；
Six, cleaning is completed：After the completion of wiping, automatic control system control cleaning Wiping mechanism abandons used roll paper, and enables
All resets.
As the restriction to method in the present invention：The step 4 includes the following steps successively carried out：
1）Automatic control system judges the exposure of sample photographs and clarity, if being unable to meet demand, regards again
Feel sampling, is entered step if meet demand（2）；
2）Qualified is adjusted using image degree of comparing, to shade in image and spot class image feature in user's physiology
Feature compares identification, removes user's surface characteristics, retains shade, spot class image feature；
3）To the linear track fitting of remaining feature, row motion profile section is generated；
4）Mechanism kinematic feature is wiped according to cleaning, move contrail fitting is controlled into cleaning cleaning machine at continuous motion profile lines
Structure carries out wiping cleaning according to motion profile.
Due to the adoption of the above technical solution, compared with prior art, the present invention acquired beneficial effect is：
The present invention is equipped with based on the paper feeding mechanism, paper cutting mechanism, cleaning Wiping mechanism for automatically controlling system's control, without external nursing
Personnel keep an eye on can be automatically performed take paper, cut paper, wiping overall process, high degree of automation is effectively reduced nursing staff's
Working strength, and the present invention is additionally provided with the vision collecting mechanism based on automatic control system control, can collect by cleaning section
The effective information of position, automatic control system can automatically generate path, control cleaning cleaning machine by acquired image information
Structure is cleaned according to the path of generation, effectively improves the effect of cleaning, guarantees the cleannes after the completion of cleaning.
Paper feeding mechanism of the invention, paper cutting mechanism, cleaning wiping mechanism structure are simple, easily realize, and the body of each mechanism
Product is smaller, and the overall structure after capable of enabling combination is small in size, is easily installed.
Clean method of the invention is simple, and before generating motion profile automatic control system for Visual Sampling mechanism
The image data of acquisition is analyzed and processed, and scar, mole etc. in removal interference information, such as user's skin effectively improve
The validity of the precision of detection and the motion profile being subsequently generated.
In conclusion the configuration of the present invention is simple, there is stronger practicability, while nursing staff's labor intensity is effectively reduced
It can be improved clean efficiency.
The present invention is suitable for intelligent closestool or the intelligent hospital bed of paralytic.
Detailed description of the invention
With reference to the accompanying drawing and specific embodiment makees more detailed description to the present invention；
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of paper feeding mechanism in the embodiment of the present invention 1；
Fig. 3 is use state diagram when 1 handgrip of the embodiment of the present invention is wiped using roll paper.
In figure：1, mounting seat；2, support rod；3, mounting rod；4, mounting base；5, handgrip；6, slideway；7, rotary joint；
8, mounting plate；9, shaft；10, supporting plate；11, paper folding board；12, cutter；13, tensioning wheel；14, sliding block.
Specific embodiment
1 human body automatic tracking cleaning device of embodiment
Control of the present embodiment based on automatic control system, specific structure is as shown in Figs. 1-2, including paper feeding mechanism, paper cutting mechanism,
Clean Wiping mechanism.
Wherein paper feeding mechanism is for being arranged roll paper, and structure is as shown in Fig. 2, include：Mounting plate 8, it is solid on the mounting plate 8
Equipped with the shaft 9 for carrying roll paper, i.e., the roll paper is directly set in shaft 9, and the mounting plate 8 in this implementation is
The plate body of square, the mounting plate 8 are fixedly arranged on corresponding position, such as wall or bowl side, and the shaft 9 is then located at
The center of the mounting plate 8 of square, and in the supporting plate 10 of shaft 9 being arranged right below for accepting roll paper, the roll paper
Free end can be folded under the effect of external force on supporting plate 10.
The paper cutting mechanism then includes paper folding board 11, and the paper folding board 11 is set on a bracket, and the bracket is being controlled automatically
Paper folding board 11 is driven to move back and forth along the direction perpendicular to roll paper paper under the control of system processed, and roll paper is under gravity
It is constantly sagging, and then the free end of roll paper can be given a discount by paper folding board 11, and the roll paper to have given a discount is then placed directly in support
On plate 10.Roll paper gives a discount after certain number of plies, and the present embodiment controls paper folding board 11 and carries out 3 discounting to the free end of roll paper, i.e.,
Falling within the roll paper on supporting plate 10 has four layers, is later cut off roll paper by the cutter 12 being arranged on bracket.
Plane blade in the prior art is used by cutter 12 in this present embodiment, therefore in order to enable cutting process more
It is smooth, tensioning wheel 13 is additionally provided on the mounting plate 8 of the paper feeding mechanism of the present embodiment, the tensioning wheel 13 is located at the lower section of shaft 9
And close to the orientation of paper cutting mechanism, roll paper is enabled just to be connected between shaft 9 and tensioning wheel 13, and the free end package of roll paper
Bearing up pulley 13, i.e. this shaft 9 and tensioning wheel 13 cooperate, and shaft 9 is enabled to have the function of driving shaft, and the cutter 12 of paper cutting mechanism is to open
Bearing up pulley 13 is that impetus cuts roll paper.
The cleaning Wiping mechanism includes mounting seat 1, and the mounting seat 1 is equipped with support rod 2, the support rod 2
It can be slided along 1 length direction of mounting seat under the control of automatic control system, the support rod 2 is not connected with mounting seat 1
One end is equipped with mounting rod 3, and the mounting rod 3 under control of the control system can be using the tie point with support rod 2 as center of circle water
Flat pendulum is dynamic, and one end that mounting rod 3 is not connected with support rod 2 is equipped with mounting base 4, control of the mounting base 4 in automatic control system
System is lower to be overturn vertically along the horizontal plane, and a side of the mounting base 4 and is grabbed equipped with the handgrip 5 for grabbing roll paper
It is installed with vision collecting mechanism on the opposite one side of hand 5, is additionally provided with spray head, the water that the spray head passes through pipeline and external setting
Case connection, and the inlet of pipeline is equipped with the water pump controlled based on automatic control system, it is for extracting water to spray head, i.e., logical
The water flow of certain pressure can be sprayed by crossing spray head.The vision collecting mechanism of the present embodiment uses camera in the prior art, and
The signal output end of camera connects automatic control system.
The present embodiment is equipped in the mounting seat 1 along its length in order to realize the effect of above-mentioned cleaning Wiping mechanism
Slideway 6, the support rod 2 pass through the feed mechanism that is controlled by automatic control system（Using in the present embodiment is electronic control
Sliding block 14）Slidably it is set on slideway 6；And the rotation between support rod 2 and mounting rod 3 by being controlled by automatic control system
Joint 7 connects, and the rotary joint 7 in the present embodiment uses rotary joint.In addition, in order to realize turning over vertically for mounting base 4
Turn, the mounting base 4 in the present embodiment is overturn by the rotation motor driving controlled based on automatic control system.
The working principle of the present embodiment is：User provides enabling signal, automatic control system by automatic control system
Control cleaning Wiping mechanism rotates the mounting base 4 for cleaning Wiping mechanism at this time to position for clearance equipped with vision collecting machine first
The side of structure and spray head is towards position for clearance, and due to vision collecting, mechanism is located above, and passes through vision collecting mechanism energy
Enough image of the acquisition with cleaning position, and acquired image is passed into automatic control system and is analyzed, automatically control system
System obtains operating path by analysis, and then controls cleaning Wiping mechanism and rushed along the operating path that automatic control system obtains
Wash down reason.
After the completion of cleaning, automatic control system controls paper cutting mechanism movement, and the free end of roll paper is enabled to fold on supporting plate 10
Four layers, then control the movement cutting roll paper of cutter 12, the mounting rod 3 and branch of the cleaning Wiping mechanism of automatic control system control later
Strut 2 is sent to designated position crawl roll paper according to arrow direction shown in FIG. 1, by handgrip 5（The present embodiment send handgrip 5
To the top of supporting plate 10, handgrip 5 grabs downward roll paper）, handgrip 5 by automatic control system controls its movement after grabbing toilet paper
To band clear position, handgrip 5 is still arranged downward at this time, and then the mounting base 4 for controlling cleaning Wiping mechanism is overturn vertically, and order is grabbed
The handgrip 5 for having roll paper upward, finally controls cleaning Wiping mechanism and is wiped as shown in Figure 3 i.e. to cleaned position
It can.After the completion of cleaning, automatic control system controls the overturning of handgrip 5 downward again, unclamps roll paper, roll paper is directly thrown into closestool etc.
In rubbish collecting device.
The clean method of 2 human body automatic tracking cleaning device of embodiment
The present embodiment realizes that it includes the following step successively carried out based on human body automatic tracking cleaning device described in embodiment 1
Suddenly：
One, Visual Sampling：Visual Sampling mechanism carries out image sampling to part for clearance under the control of automatic control system,
It will be passed to automatic control system after the completion of sampling；
Two, track is generated：Automatic control system analyzes the image information of acquisition, motion profile is generated after analysis, automatically
Control system control cleaning Wiping mechanism carries out water cleaning according to the motion profile movement of generation；
It include the following steps successively carried out in this step：
1）Automatic control system judges the exposure of sample photographs and clarity, if being unable to meet demand, regards again
Feel sampling, 2 are entered step if meet demand）；
2）Qualified is adjusted using image degree of comparing, to shade in image and spot class image feature in user's physiology
Feature compares identification, removes user's surface characteristics, retains shade, spot class image feature；It is controlled automatically in the present embodiment
Aspectual character figure when user is cleaned site anteseptic is previously stored in system processed, automatic control system can be to vision
Collecting mechanism acquired image is compared, therefore can remove the aspectual character that user carries, such as the wound of user
Scar, black mole etc.；
3）To the linear track fitting of remaining feature, row motion profile section is generated；
4）Mechanism kinematic feature is wiped according to cleaning, move contrail fitting is controlled into cleaning cleaning machine at continuous motion profile lines
Structure carries out wiping cleaning according to motion profile；
Three, cleaning post-processing：After the completion of cleaning, automatic control system again by Visual Sampling mechanism to the position after cleaning into
Row Image Acquisition, and analyze whether cleaning result meets the requirements, four are entered step if meeting the requirements；If cleaning result is not
It meets the requirements, then repeats step 1 to step 2, until cleaning result meets the requirements；
Four, prepare roll paper：Automatic control system control paper cutting mechanism carries out paper folding first, after paper folding to certain quantity, automatically
Control system controls paper cutting mechanism and cuts off roll paper；
Five, roll paper is grabbed：Automatic control system control cleaning Wiping mechanism is mobile in place, and grabs the roll paper having had been prepared for,
Automatic control control system control cleaning Wiping mechanism is moved to by clean position after the completion of crawl, is wiped by the water of cleaning position
Mark；
Six, cleaning is completed：After the completion of wiping, automatic control system control cleaning Wiping mechanism abandons used roll paper, and enables
All resets.
Claims (8)
1. a kind of human body automatic tracking cleaning device, the control based on automatic control system, it is characterised in that：Including for being arranged
The paper feeding mechanism of roll paper, the side of the paper feeding mechanism are installed with the perpendicular direction of roll paper paper in automatic control system
Control under for roll paper carry out fold cutting paper cutting mechanism；Further include automatic control system control backspin go to
It is used to carry out human body clean cleaning Wiping mechanism after taking paper at mechanism of paper, the cleaning Wiping mechanism is equipped with vision collecting
Mechanism, the image of vision collecting mechanism acquisition pass to automatic control system, and automatic control system is according to the image of acquisition
Automatic generation of information motion profile, and control cleaning Wiping mechanism and cleaned according to the motion profile of generation.
2. human body automatic tracking cleaning device according to claim 1, it is characterised in that：The cleaning Wiping mechanism includes
Mounting seat（1）, the mounting seat（1）Being equipped with can be along mounting seat under the control of automatic control system（1）Length side
To the support rod of sliding（2）, the support rod（2）Not connected mounting seat（1）One end be equipped under control of the control system,
With with support rod（2）Tie point be centre swinging mounting rod（3）, the mounting rod（3）Not connected support rod（2）One end
Equipped with the mounting base that can be overturn vertically along the horizontal plane under the control of automatic control system（4）, mounting base（4）A side
It is equipped with the handgrip for grabbing roll paper（5）, with handgrip（5）Vision collecting mechanism and spray are installed on opposite one side
Head, the spray head connect the external water tank being arranged by pipeline.
3. human body automatic tracking cleaning device according to claim 2, it is characterised in that：The mounting base（4）On along length
It spends direction and is equipped with slideway（6）, the support rod（2）Slideway is slidably set to by the feed mechanism controlled by automatic control system
（6）On；
The support rod（2）With mounting rod（3）Between pass through the rotary joint that is controlled by automatic control system（7）Connection.
4. human body automatic tracking cleaning device as claimed in any of claims 1 to 3, it is characterised in that：Paper feeding machine
Structure includes mounting plate（8）, the mounting plate（8）It is equipped with the shaft for carrying roll paper（9）, shaft（9）Be arranged right below
For accepting the supporting plate of roll paper（10）.
5. according to claim 1 or human body automatic tracking cleaning device described in any one of 3, it is characterised in that：It is described to cut
Mechanism of paper includes the paper folding board under the control of automatic control system for giving a discount to roll paper（11）, the paper folding board（11）
Acting surface be arranged perpendicular to the paper of roll paper, further include the cutter sheared to roll paper after the completion of paper folding（12）.
6. human body automatic tracking cleaning device according to claim 4, it is characterised in that：The paper cutting mechanism is included in certainly
Paper folding board under the control of autocontrol system for giving a discount to roll paper（11）, the paper folding board（11）Acting surface perpendicular to
The paper of roll paper is arranged, and further includes the cutter that paper folding after the completion shears roll paper（12）.
7. a kind of clean method of human body automatic tracking cleaning device, based on human body described in any one of claim 1-6
Automatic tracking cleaning device is realized, it is characterised in that：It includes the following steps successively carried out：
One, Visual Sampling：Visual Sampling mechanism carries out image sampling to part for clearance under the control of automatic control system,
It will be passed to automatic control system after the completion of sampling；
Two, track is generated：Automatic control system analyzes the image information of acquisition, motion profile is generated after analysis, automatically
Control system control cleaning Wiping mechanism carries out water cleaning according to the motion profile movement of generation；
Three, cleaning post-processing：After the completion of cleaning, automatic control system again by Visual Sampling mechanism to the position after cleaning into
Row Image Acquisition, and analyze whether cleaning result meets the requirements, four are entered step if meeting the requirements；If cleaning result is not
It meets the requirements, then repeats step 1 to step 2, until cleaning result meets the requirements；
Four, prepare roll paper：Automatic control system control paper cutting mechanism carries out paper folding first, after paper folding to certain quantity, automatically
Control system controls paper cutting mechanism and cuts off roll paper；
Five, roll paper is grabbed：Automatic control system control cleaning Wiping mechanism is mobile in place, and grabs the roll paper having had been prepared for,
Automatic control control system control cleaning Wiping mechanism is moved to by clean position after the completion of crawl, is wiped by the water of cleaning position
Mark；
Six, cleaning is completed：After the completion of wiping, automatic control system control cleaning Wiping mechanism abandons used roll paper, and enables
All resets.
8. the clean method of human body automatic tracking cleaning device according to claim 7, it is characterised in that：The step 2
Including the following steps successively carried out：
1）Automatic control system judges the exposure of sample photographs and clarity, if being unable to meet demand, regards again
Feel sampling, 2 are entered step if meet demand）；
2）Qualified is adjusted using image degree of comparing, to shade in image and spot class image feature and user's physiology
Feature compares identification, removes user's surface characteristics, retains shade, spot class image feature；
3）To the linear track fitting of remaining feature, row motion profile section is generated；
4）Mechanism kinematic feature is wiped according to cleaning, move contrail fitting is controlled into cleaning cleaning machine at continuous motion profile lines
Structure carries out wiping cleaning according to motion profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810506702.5A CN108836161A (en) | 2018-05-24 | 2018-05-24 | Human body automatic tracking cleaning device and corresponding clean method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810506702.5A CN108836161A (en) | 2018-05-24 | 2018-05-24 | Human body automatic tracking cleaning device and corresponding clean method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108836161A true CN108836161A (en) | 2018-11-20 |
Family
ID=64213272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810506702.5A Pending CN108836161A (en) | 2018-05-24 | 2018-05-24 | Human body automatic tracking cleaning device and corresponding clean method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108836161A (en) |
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| CN109620590A (en) * | 2019-02-19 | 2019-04-16 | 郑州爱丁宝机电科技有限公司 | Lifting leg type cleaning and nursing equipment |
| CN112741523A (en) * | 2021-01-18 | 2021-05-04 | 华南理工大学 | Bathing device and bathing method for old people |
| CN113995332A (en) * | 2021-12-02 | 2022-02-01 | 玉人超导石油设备有限公司 | Sanitary system after defecation |
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Application publication date: 20181120 |