CN112274357B

CN112274357B - Home care robot

Info

Publication number: CN112274357B
Application number: CN202011172335.3A
Authority: CN
Inventors: 韦文波; 陶琳; 陈进凤
Original assignee: Suzhou Art and Design Technology Institute
Current assignee: Dragon Totem Technology Hefei Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2022-06-24
Anticipated expiration: 2040-10-28
Also published as: CN112274357A

Abstract

The invention discloses a household nursing robot, which comprises an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged at two sides of the upper body, a bridge plate device positioned between the upper body and the lower body, a movable closestool positioned in the lower body and capable of being drawn out along the horizontal direction, and a main wheel arranged below the lower body, wherein the bridge plate device is provided with a bridge plate control device used for controlling the upper body to tilt forwards/backwards and controlling the humanoid arms to act. The multifunctional nursing bed can provide family nursing for bedridden patients or users with lower limb disabilities for a long time, realize the assistance of getting up, lying, turning over, assisting in toileting and massaging nursing, and can reduce the dependence of the old on nursing personnel.

Description

Household nursing robot

Technical Field

The present invention relates to a nursing robot.

Background

At present, with the aging problem of the population becoming more serious and the nursing problem of the elderly becoming more prominent, meanwhile, the health condition of the old people in China is poorer than that of the developed countries, the old people are influenced by factors such as the decline of limbs and organs and diseases, the limitation of physical movement is increased, the self-supporting capability is reduced and even the problems are still lost, and the like, are also highlighted in the group, the number of people who are difficult to get up and lie down and inconvenient to go to toilet and the like and cannot take care of themselves in the group is increased, correspondingly, the total amount and the demand of the elderly and nursing personnel on the nursing resources are increased day by day, but the children and the elders have to work in a double effort due to the pressure of economy, so that the care of the elders is inevitably neglected, particularly, for some people who can only lie in bed and cannot move about due to special reasons, the people need a product to accompany the people around the people so as to meet all the requirements of the people.

Disclosure of Invention

In view of this, it is desirable to provide a home care robot, which can provide home care for bedridden patients or users with lower limb disability for a long time, assist in getting up, lying, turning over, assisting in toileting, massaging and nursing, reduce dependence of the old on nursing staff, and enable the old to spend time on sickbed more safely and comfortably and with more dignity.

According to an object of the invention, a household care robot is proposed, characterized in that: the multifunctional toilet comprises an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged on two sides of the upper body, a bridge plate device positioned between the upper body and the lower body, a movable toilet bowl positioned in the lower body and capable of being pulled out along the horizontal direction, and a main wheel arranged below the lower body, wherein the bridge plate device is provided with a bridge plate control device used for controlling the upper body to incline forwards/backwards and controlling the humanoid arms to act.

Preferably, the human-like arm further comprises concave guide grooves positioned on two sides of the upper body and guide rails arranged in the concave guide grooves, and the human-like arm moves up and down along the vertical direction of the guide rails.

Preferably, the mobile toilet comprises a toilet cover, a garbage bag sealing device and universal wheels, wherein the garbage bag sealing device is positioned below the toilet cover, and the universal wheels are positioned at the bottom of the mobile toilet.

Preferably, a garbage bag sealing device is arranged in the movable closestool and comprises a barrel body, a garbage bag arranged in the barrel body and a sealing piece arranged on the inner side of the garbage bag sealing device.

Preferably, the closure is adjacent the top and bottom ends of the closure and comprises a plurality of retractable vanes.

Preferably, the sealing member comprises a first sealing member and a second sealing member, the distance from the first sealing member to the top end is 1/4-1/5 barrel height, and the distance from the second sealing member to the bottom end is 1/4-1/5 barrel height.

Preferably, the power device is positioned in the lower body behind the mobile toilet.

Preferably, the image pickup apparatus includes a control panel, and a face recognition module mounted on the control panel and configured to perform face recognition on the face image acquired by the image acquisition unit, wherein the face recognition module is matched with the features stored in the database and executes user operation information corresponding to the face image.

Preferably, the wireless microwave monitoring system further comprises an induction component and a wireless microwave monitoring system installed in the induction component, wherein the wireless microwave monitoring system comprises an analog video signal output by a user, a compressed digital signal processing module for converting the analog video signal into a digital microwave signal, a transmitting antenna for transmitting the microwave signal, and a receiving antenna for receiving the microwave signal.

Preferably, the system further comprises a natural language processing system, and the natural language processing system realizes intelligent dialogue and intelligent learning with the user.

Compared with the prior art, the multifunctional nursing bed can carry out family nursing for bedridden patients or users with lower limb disability for a long time, realize the purposes of assisting in getting up, lying down, turning over, assisting in toileting and massaging nursing, can reduce the dependence of the users on nursing personnel, and can more safely and comfortably spend time on sickbeds.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of the overall structure disclosed in the present invention;

FIG. 2 is an exploded view of the overall structure disclosed in the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 4 is an exploded view of the upper body of the disclosed invention;

FIG. 5 is a block diagram of the upper body of the present disclosure;

FIG. 6a is a diagram illustrating the operation of the sealing device of the garbage bag according to the present invention;

FIG. 6b is a diagram illustrating the operation of the sealing device of the garbage bag according to the present invention;

FIG. 6c is a view illustrating the operation of the sealing device of the garbage bag according to the present invention;

FIG. 6d is a view illustrating the operation of the sealing device for garbage bags according to the present invention;

FIG. 6e is a diagram illustrating the operation of the sealing device of the garbage bag according to the present invention;

FIG. 7a is a diagram illustrating the operation of the closure of the present disclosure;

FIG. 7b is a diagram illustrating the operation of the closure of the present disclosure;

fig. 7c is a diagram illustrating the operation of the closure of the present disclosure.

Detailed Description

The technical solution of the present invention will be clearly and completely described by the following detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, a household nursing robot includes an upper body 1, a lower body 2, a bridge plate device 3, and a movable toilet 4, wherein the upper body 1 is rotatably connected to the lower body 2 through the bridge plate device 3.

As shown in fig. 1-2, the upper body 1 includes concave guide grooves 17 located on both sides, the humanoid arm 16 is partially accommodated in the concave guide grooves 17, the upper cover 15, the first shell 13 and the second shell 14 form the upper body 1, the upper cover 15 is provided with the voice recognition acquisition device 11 and is located on the top side of the upper body, the first shell 13 is provided with the camera device 10 and is located on the front side of the upper body, the sensing component 12 is installed on the second shell 14, and the sensing component 12 is located on the rear side of the upper body. The concave guide grooves of the household nursing robot are positioned on the left side and the right side of the upper body, and the humanoid arms are folded and then are retracted into the concave guide grooves to form a whole.

As shown in fig. 2 to 4, the household care robot includes a pair of humanoid arms, the humanoid arm 16 can extend from the concave guide groove, a guide rail 161 is disposed in the concave guide groove, the humanoid arm 16 includes a rotation portion 162, the rotation portion 162 moves up and down along the vertical direction of the guide rail, the rotation portion 162 is clamped in the hole 160, the guide rail 161 has two clamping positions (1611, 1612), each clamping position slides, the height of the humanoid arm 16 is adjusted, when the rotation portion 162 is located at the lowest end of the guide rail, the length of the guide rail is preferably 20cm, the humanoid arm includes a large arm 163, an elbow joint 164, a small arm 165, a wrist joint 166 and a bionic palm 167, the wrist joint 166 rotates more than 300 degrees, and the palm can pick up objects.

When user (the old man of bed) need like the lavatory, the rotatory output of imitative humanoid arm of this domestic nursing robot, go up the body and move forward, the last body of this domestic nursing robot slopes forward, the user upper part of the body is held up to the bionic palm in the left side of imitative humanoid arm, the bionic palm in the right side holds up both legs (this domestic nursing robot includes imitative humanoid arm in a left side and the imitative humanoid arm in the right side), imitative humanoid arm is hard to drag the user to the bed edge, when this domestic nursing robot hold up the user, the robot moves back 40 ~ 50cm backward, move out the mobile toilet automatically.

When a user goes to the toilet, the small arm part 165, the wrist joint 166 and the bionic palm 167 of the humanoid arm are combined with the large arm 163 in a rotating mode and move into the inwards concave guide groove 17, or the bionic palm 167 rotates to massage and care the user.

When the user finishes like the lavatory, the bionic palm on the left side is placed under the armpit, and the bionic palm on the right side is placed under the knee, and it is internal to move the closestool and move into down, and domestic nursing robot's last body inclines forward and places the user on the bed.

Referring to fig. 1-5, the camera device 10 is mounted on the upper body 1, detects the height of a user, and the robot automatically adjusts the forward tilting angle, preferably, the height of the user is 150cm, and the forward tilting angle of the robot is 55 degrees; the height of a user is 160cm, and the forward inclination angle of the robot is 60 degrees; the height of the user is 170cm, and the forward inclination angle of the robot is 170 degrees, wherein the inclination angle is an angle formed by the upper body and the ground. When the household nursing robot is in a state of holding up a user, the angle between the upper body and the ground is 90 degrees; when the household nursing robot slowly holds the user, the angle between the upper body and the ground is 80 degrees; when the domestic nursing robot slowly embraced the user when removing the closestool state, the angle of going up body and ground was 90, and the succinct agility of molding accords with ergonomic design, improves user's comfort level.

But above-mentioned domestic nursing robot's bionical arm height-adjusting and nimble can hold up user (old man), supplementary standing up at any time, supplementary like the lavatory, both can accompany and can attend to the old man, alleviate children's pressure, go up the body and select for use the glass steel with lower body, the not flexible, corrosion resistance is strong, longe-lived.

Referring to fig. 1-7, the movable toilet 4 is disposed in the lower body 2 and can be drawn out along the horizontal direction, the movable toilet 4 includes a toilet cover, a garbage bag sealing device disposed under the toilet cover, and a universal wheel 42 disposed at the bottom of the movable toilet 4. A garbage bag sealing device is arranged in the movable closestool and comprises a closestool body 40, a garbage bag 41 arranged in the closestool body 40 and a sealing piece arranged on the inner side of the garbage bag sealing device, rails 41 are arranged on two sides of the movable closestool 4, and the movable closestool 4 is pulled out from the lower body along the rails 41 in the horizontal direction.

The sealing member includes 2 sealing members, first sealing member 43 and second sealing member 44, set up respectively on top and bottom, foretell top is for being close to the top, the bottom is for being close to the bottom, first sealing member is 1/4~1/5 staving high apart from the distance on top, the second sealing member is 1/4~1/5 staving high apart from the distance of bottom, the high preferred 21cm of staving, the sealing member includes a plurality of can rotate to the flexible rotatory blade 45 of centre of a circle, blade 45 makes the rubbish sack seal to the flexible rotation of centre of a circle.

Referring to fig. 6-7, when using the toilet, the sealing device for the garbage bag is started, the second sealing piece 44 starts to work to seal the lower opening of the garbage bag, after using the toilet, the second sealing piece 43 works, the blades 45 of the sealing piece stretch and rotate towards the circle center to seal the opening of the garbage bag, and the garbage bag is taken out by adjusting the angle through the humanoid arm.

The lower body is internally provided with a laser radar module for real-time positioning and navigation, the laser radar module comprises a scanning type sensor, the scanning type sensor can realize 360-degree all-dimensional scanning ranging detection on the surrounding environment, and the scanning type sensor is a non-contact laser ranging device so as to obtain a contour map of the surrounding environment.

Referring to fig. 1 to 5, the laser radar module controls the main wheel 22 installed below the lower body to move to a designated position. And the bridge plate device 3 is positioned between the upper body 1 and the lower body 2, is provided with a bridge plate control device for controlling the upper body to tilt forwards/backwards and controlling the action of the humanoid arm, and is electrically connected with the humanoid arm. The bridge plate device 3 comprises a movable part 31 and a base 32, the movable part 31 is fixedly connected with the upper body 1, the movable part 31 is movably connected with the base 32, preferably rotatably connected, the top of the lower body 2 comprises an annular and downward annular recess 21, and the movable part 31 drives the upper body 1 to move forwards/backwards along the annular recess.

Still include power device, power device are located the rear of this internal and closestool down, and power device electricity is connected speech recognition collection system, perception part, bridge plate controlling means, laser radar module, and power device is located down on the body, and power device is the energy storage battery.

The energy storage battery utilizes the equipment that wireless magnetoelectric induction charges, and equipment wear rate is low, and the range of application is wide, and the regional area of public charging is relative reduction, but the floor area share that reduces can not be too big, and technical content is high, and convenient operation can implement the conversion of long-distance radio energy relatively speaking, but the transmission distance of high-power wireless charging only limits within 5 meters, can not too far, convenient operation. The equipment that wireless magnetoelectric induction charges only need put one gently when not using, and the backlight lamp can flash 5 times fast and remind you to get into the charged state, has removed the trouble that still needs the plug wire from, can use 2 ~ 3 days under the normal mode, and if close RGB and be shaded can be longer.

Referring to fig. 1 to 5, a camera device 10 is arranged on the front side of the upper body, the camera device 10 includes a control panel and a face recognition module installed on the control panel, and is used for performing face recognition on a face image acquired by the image acquisition unit, matching the face image with features stored in the database, and executing user operation information corresponding to the face image if matching is successful, so that the camera device realizes 360-degree rotation and realizes real-time monitoring.

The intelligent learning system comprises a natural language understanding part and a natural language generating part, intelligent conversation and intelligent learning are achieved between the natural language processing system and a user, and the intelligent learning system comprises a micro-processing device and comprises an acquisition module, a processing module and an information exchange module.

The natural language understanding part is mainly used for helping a machine to better understand human languages, and comprises semantic understanding of basic lexical, syntax and the like and high-level understanding of requirements, chapters and emotional levels.

The natural language generation part, the main objective is to help the machine generate a language that people can understand, such as text generation, automatic abstract, etc.

The method realizes automatic text standardization, word segmentation, part-of-speech tagging, semantic disambiguation, pronunciation tagging and the like, eliminates uncertainty of natural language, provides guarantee for synthesizing natural smooth voice, and realizes intelligent conversation and intelligent learning.

The intelligent sensor is provided with a microprocessor which comprises an acquisition module, a processing module and an information exchange module and has the capabilities of acquiring, processing and exchanging information, the intelligent sensor stores detected various physical quantities through the acquisition module and processes data through the processing module according to instructions, so that new data are generated, information exchange is carried out through the information exchange module, data to be transmitted are judged and determined, abnormal data are abandoned, analysis and statistical calculation are completed, the acquired data wear the excretory sensor on the old person lying in bed, the intestinal peristalsis condition is monitored in real time, and when the old person goes to the toilet is predicted.

The sensing part of the household nursing robot is internally provided with a microwave wireless monitoring system which comprises a compressed digital signal processing module, a transmitting antenna and a receiving antenna, wherein the compressed digital signal processing module is used for outputting an analog video signal by a user, converting the video signal into a digital microwave signal, reducing the microwave signal into a low-frequency video signal through a processing module in a microwave receiver and playing the low-frequency video signal to the user, the processing module in the microwave receiver comprises a microwave de-spreading module and a reducing module, the compressed digital signal processing module is used for coding and compressing the digital microwave signal, converting a high-frequency digital signal into an analog signal through digital microwave channel modulation, transmitting the analog signal through the transmitting antenna, the microwave de-spreading comprises video decompression and is used for decompressing readable data, and the reducing module is used for reducing the digital video signal into the analog video signal, the analog video signal is a low frequency video signal.

The conversion module is a modem of a digital microwave signal channel, and the restoration module can also realize the functions of the conversion module through decoding software, such as video recording, playback, management, cradle head control, alarm control and the like.

The monitoring mode has the advantages of clear and smooth image transmission, no time delay, no compression loss, low investment cost, simple construction, installation and debugging, long transmission distance, very good anti-interference performance, clear and smooth image transmission and suitability for transmission in various severe environments.

The above-mentioned household care robot is specifically defined as follows: the upper body has a height of 60cm, a width of 25cm and a thickness of 25cm, and the lower body has a height of 33cm, a width of 40cm and a thickness of 60cm, the heights being measured in the Y direction, the widths being measured in the X direction and the thicknesses being measured in the Z direction.

Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A household care robot, characterized in that: comprises an upper body, a lower body, a camera device arranged on the upper body, a pair of humanoid arms arranged at two sides of the upper body, a bridge plate device positioned between the upper body and the lower body, a movable closestool positioned in the lower body and capable of being pulled out along the horizontal direction, concave guide grooves positioned at two sides of the upper body, guide rails arranged in the concave guide grooves, and a main wheel arranged below the lower body, wherein the bridge plate device is provided with a bridge plate control device used for controlling the upper body to incline forwards/backwards and controlling the action of the humanoid arms, the humanoid arms move up and down along the vertical direction of the guide rails, the movable closestool comprises a closestool cover, a garbage bag sealing device positioned below the closestool cover and a universal wheel positioned at the bottom of the movable closestool, and the garbage bag sealing device comprises a barrel body and a garbage bag arranged in the barrel body, and the sealing piece is arranged on the inner side of the garbage bag sealing device.

2. A home care robot as claimed in claim 1, wherein: the sealing piece is close to the top end and the bottom end of the garbage bag sealing device and comprises a plurality of telescopic blades.

3. A home care robot as claimed in claim 2, wherein: the sealing piece comprises a first sealing piece and a second sealing piece, the distance from the first sealing piece to the top end is 1/4-1/5 barrel height, and the distance from the second sealing piece to the bottom end is 1/4-1/5 barrel height.

4. A home care robot as claimed in claim 1, further comprising a power means located within the lower body behind and below the mobile toilet.

5. A home care robot as claimed in claim 1, wherein: the camera device comprises a control panel and a face recognition module which is arranged on the control panel and used for carrying out face recognition on the face image acquired by the image acquisition unit, wherein the face recognition module is matched with the features stored in the database and executes user operation information corresponding to the face image.

6. A home care robot as claimed in claim 1, wherein: the microwave wireless monitoring system comprises an analog video signal output by a user, a compressed digital signal processing module for converting the analog video signal into a digital microwave signal, a transmitting antenna for transmitting the microwave signal and a receiving antenna for receiving the microwave signal.

7. A home care robot as claimed in claim 1, wherein: the intelligent interactive intelligent learning system further comprises a natural language processing system, and the natural language processing system and a user realize intelligent conversation and intelligent learning.

8. A home care robot as claimed in claim 1, wherein: the bridge plate device comprises a movable part and a base, wherein the movable part is fixedly connected with the upper body, and the movable part is movably connected with the base.

9. A home care robot as claimed in claim 8, wherein: the top of the lower body comprises an annular and downward annular concave part, and the movable part drives the upper body to move forwards/backwards along the annular concave part.