CN107374486A - A kind of moveable toilet seat robot of intelligent posture adjustment - Google Patents
A kind of moveable toilet seat robot of intelligent posture adjustment Download PDFInfo
- Publication number
- CN107374486A CN107374486A CN201710858527.1A CN201710858527A CN107374486A CN 107374486 A CN107374486 A CN 107374486A CN 201710858527 A CN201710858527 A CN 201710858527A CN 107374486 A CN107374486 A CN 107374486A
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- Prior art keywords
- robot
- seat
- seat ring
- potty
- user
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- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000005484 gravity Effects 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000009429 distress Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 24
- 239000002184 metal Substances 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 10
- 239000004917 carbon fiber Substances 0.000 claims description 10
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 206010042772 syncope Diseases 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
Classifications
-
- 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
- A47K17/00—Other equipment, e.g. separate apparatus for deodorising, disinfecting or cleaning devices without flushing for toilet bowls, seats or covers; Holders for toilet brushes
- A47K17/02—Body supports, other than seats, for closets, e.g. handles, back-rests, foot-rests; Accessories for closets, e.g. reading tables
- A47K17/026—Armrests mounted on or around the toilet
-
- 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
- A47K13/00—Seats or covers for all kinds of closets
- A47K13/24—Parts or details not covered in, or of interest apart from, groups A47K13/02 - A47K13/22, e.g. devices imparting a swinging or vibrating motion to the seats
- A47K13/28—Adjustably-mounted seats or covers
-
- 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
- A47K17/00—Other equipment, e.g. separate apparatus for deodorising, disinfecting or cleaning devices without flushing for toilet bowls, seats or covers; Holders for toilet brushes
- A47K2017/006—Defecation help for disabled persons
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Toilet Supplies (AREA)
- Non-Flushing Toilets (AREA)
Abstract
The invention provides a kind of intelligent moveable toilet seat robot of posture adjustment, and it can realize omnirange movement, the height by adjusting seat ring and inclination angle in indoor environment, and auxiliary user takes a seat and stood up；Simultaneously by the monitoring to user's center of gravity, the current state of user is judged, such as note abnormalities situation, dangerous distress signal is sent in time, and it can balance user center of gravity by adjusting the posture of seat ring and the orientation of toilet seat robot, fallen down so as to avoid user to be skidded off from toilet seat.
Description
Technical Field
The invention relates to a toilet assisting device, and belongs to the technical field of intelligent robots.
Background
The toilet problem often troubles the old, patients with functional loss of lower limbs, bedridden patients after operation or patients needing long-time transfusion. Except that the movement is inconvenient, the crowd is not easy to walk to a toilet, the actions of sitting on the toilet and getting up are not easy to complete due to insufficient lower limb strength, meanwhile, sudden syncope easily occurs in the toilet process due to weak physique, if corresponding monitoring and protection measures are not available, the crowd is often found out untimely, secondary damage is caused by falling from the toilet, and serious people even endanger life.
The invention patent application document CN 106236421A discloses an electric movable potty chair, wherein the rear side of the electric movable potty chair is provided with an upright post structure, a driving wheel and a steering wheel are arranged below an underframe of the electric movable potty chair, and the lifting of the chair along the upright post and the movement of the potty chair can be realized through a controller. However, the disclosed structure cannot realize the adjustment of the inclination angle posture of the chair seat, and the common differential wheel is used as a driving wheel, so that the toilet chair cannot move in any direction in a plane.
The invention patent CN 104337456B discloses a chair type intelligent auxiliary toilet seat and a control method thereof, which realizes the functions of forward and upward turning and backward and downward turning of a seat ring by controlling the movement of four telescopic rods arranged at the front and the back of the toilet seat. The disclosed toilet seat cannot move and needs to be matched with a fixed toilet for use; the adjusting mechanism of the seat ring only realizes the movement of two degrees of freedom of pitching and lifting, and only plays the roles of helping rising and sitting.
The invention patent CN 104783722B discloses an electric lifting power-assisted potty chair, which can realize the lifting and the inclination of the potty chair through a front electric lifting rod, a rear electric lifting rod and a lifting guide mechanism. The potty chair is also immobile, and the freedom of posture adjustment of the seat ring is limited, and only assistance can be provided for the user to sit and rise.
From this, need develop one kind can intelligent adjustment gesture and remove, can provide health monitoring and safety protection function's the auxiliary device like lavatory simultaneously.
Disclosure of Invention
In order to overcome the defects of the existing products, the invention provides an intelligent posture-adjusting mobile toilet robot which can realize all-directional movement in an indoor environment, assist a user to sit on and get up by adjusting the height and the inclination angle of a seat ring, judge the current state of the user by monitoring the gravity center of the user, send out a danger distress signal in time if an abnormal condition is found, and balance the gravity center of the user by adjusting the posture of the seat ring and the direction of the toilet robot, thereby avoiding the user from falling off the toilet.
The technical scheme of the invention is as follows:
a pedestal pan robot comprises a moving chassis, a seat support, a seat ring posture adjusting mechanism and a controller; wherein,
the moving chassis can enable the pedestal robot to move in all directions;
the seat support is fixed on the movable chassis and connected with the seat;
the seat ring posture adjusting mechanism is characterized in that the seat ring posture adjusting mechanism is connected with the seat support, and can assist a user to sit and stand up by adjusting the height and the inclination angle of the seat ring.
Further, toilet bowl robot still includes pressure sensor, and it can gather seat circle atress change condition to through the monitoring to user's focus, judge user's current state.
Further, the mobile chassis comprises an omnidirectional wheel, a driving motor, a bearing, a motor driver and a lower bottom plate; each omnidirectional wheel is connected with a driving motor through a bearing; the motor is electrically connected with the motor driver, and the motor driver is electrically connected with the controller.
Further, when abnormal conditions are found, the toilet robot can send out dangerous distress signals in time, and the gravity center of a user can be balanced by adjusting the posture of the seat ring and the position of the toilet robot.
Further, the seat support comprises a metal section, a carbon fiber pipe, an upper end plate and a linear guide mechanism;
one ends of the metal profiles and the carbon fiber tubes are fixedly connected with the movable chassis, and the other ends of the metal profiles and the carbon fiber tubes are connected with the upper end plate to form a closed supporting structure;
a linear guide mechanism is arranged on the metal section; the linear guide mechanism is composed of a guide rail and a guide rail sliding block.
Further, the seat ring posture adjusting structure consists of a motor and a driver thereof, a synchronous belt and a belt pulley, a lead screw and a lead screw nut, a hinge, a support rod, a seat ring, a plurality of pressure sensors and a seat ring posture sensor; the motor drives a lead screw connected with a synchronous belt wheel to rotate through synchronous belt transmission, a lead screw nut is fixedly connected with a guide rail sliding block through a connecting piece, the guide rail sliding block can move linearly along a guide rail, and the driver is electrically connected with the controller; the screw rod is connected with the movable chassis and the upper end plate of the seat support through bearings; one end of the support rod is connected with the screw nut through a hinge, and the other end of the support rod is connected with the hinge support through a hinge; the pressure sensor is arranged between the hinge support and the seat ring and is electrically connected with the controller; the seat ring attitude sensor is arranged on the lower plane of the seat ring and is electrically connected with the controller.
Furthermore, the seat comprises a toilet stool, armrests and a seat back which are respectively fixedly connected with the upper end plate of the seat support
Furthermore, the system also comprises a positioning navigation device which can create an indoor map, realize synchronous positioning, realize omnidirectional autonomous movement from a parking position to the side of a user and avoid moving and static obstacles.
Further, the positioning and navigation device comprises an ultrasonic sensor and/or an infrared sensor and a laser radar which are electrically connected with the controller.
Furthermore, the ultrasonic sensor and/or the infrared sensor are uniformly distributed below the shell of the toilet robot; the laser radar is placed at the front end of the upper end plate of the seat support.
Compared with the prior art, the invention has the following advantages:
1. the omnidirectional movement is particularly suitable for being applied to narrow indoor space.
2. Possess indoor map and establish and independently navigation function, can dodge dynamic and static barrier, realize indoor autonomic removal, convenience of customers is like the lavatory, alleviates nursing staff's work load.
3. Through the appearance mechanism is transferred to the seat circle, can take a seat and get up for the user and provide the helping hand to can be through pressure sensor's monitoring data, the monitoring user changes like the focus of lavatory process, thereby whether effective monitoring is suddenly faint like the lavatory person, and can be when sending dangerous distress signal, in time balance user's focus, avoid the user to fall from the seat, improve like the security that the lavatory person used.
Drawings
FIG. 1 is a schematic view of the intelligent adjustable movable toilet robot of the present invention.
FIG. 2 is a schematic structural view of the intelligent posture-adjusting movable toilet robot of the present invention.
FIG. 3 is a schematic illustration of the elevated, forward tilted attitude adjustment process of the race.
FIG. 4 is a schematic view of the races pitching or flipping from side to side in the horizontal plane.
The reference numerals in the figures have the following meanings:
1 moving chassis, 2 seat supports, 3 seat ring posture adjusting mechanisms, 4 seats, 5 omni-directional wheels, 6 driving motors, 7 lower bottom plates, 8 metal profiles, 9 carbon fiber tubes, 10 upper end plates, 11 linear guide mechanisms, 12 guide rails, 13 guide rail sliding blocks, 14 motors, 15 synchronous belts and belt wheels, 16 lead screws, 17 lead screw nuts, 18 hinges, 19 supporting rods, 20 seat rings, 21 pressure sensors, 22 seat ring posture sensors, 23 toilet bowls, 24 handrails, 25 seat backs, 26 ultrasonic and/or infrared sensors and 27 laser radars.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-2, the present invention provides an intelligent posture-adjusting movable toilet robot, comprising: the seat adjusting mechanism comprises a movable chassis 1, a seat support 2, a seat ring posture adjusting mechanism 3, a seat 4 and a controller. The seat support 2 is fixed on the movable chassis 1, and the seat ring posture adjusting mechanism 3 and the seat 4 are respectively connected with the seat support 2.
The movable chassis 1 consists of three or four omnidirectional wheels 5, a driving motor 6, a bearing, a motor driver and a lower bottom plate 7; each omnidirectional wheel is respectively connected with a driving motor 6 through a bearing; the driving motor is electrically connected with the motor driver, and the motor driver is electrically connected with the controller.
The seat support 2 consists of a metal section bar 8, a carbon fiber pipe 9, an upper end plate 10 and a linear guide mechanism 11; and one end of each of the metal section bars 8 and the carbon fiber tubes 9 is fixedly connected with the movable chassis 2, and the other end of each of the metal section bars and the carbon fiber tubes is connected with the upper end plate 10 to form a closed supporting structure. A linear guide mechanism 11 is arranged on the metal section 8; the linear guide mechanism 11 is composed of a guide rail 12 and a guide rail slide block 13.
The seat ring posture adjusting structure 3 consists of a motor 14 and a driver thereof, a synchronous belt and a belt pulley 15, a lead screw 16 and a lead screw nut 17, a hinge 18, a support rod 19, a seat ring 20, a plurality of pressure sensors 21 and a seat ring posture sensor 22; the motor 14 drives a lead screw 16 connected with a synchronous belt wheel to rotate through synchronous belt transmission, a lead screw nut 17 is fixedly connected with a guide rail sliding block 13 through a connecting piece, the guide rail sliding block 13 can move linearly along a guide rail 12, and the motor 14 is electrically connected with a driver and the controller; the lead screw 16 is connected with the movable chassis 1 and the upper end plate 10 of the seat support 2 through bearings; one end of the support rod 19 is connected with the screw nut 17 through a hinge, and the other end of the support rod is connected with the hinge support through a hinge 18; the pressure sensor 21 is arranged between the hinge support and the seat ring 20 and is electrically connected with the controller; the seat ring attitude sensor 22 is mounted on the lower plane of the seat ring and is electrically connected with the controller.
The seat 4 comprises a toilet 23, an armrest 24 and a chair back 25 which are respectively fixedly connected with the upper end plate 10 of the seat support 2; the armrest 24 may be flipped up or down.
The controller comprises a voice interaction module, a remote control module, a wireless communication module, a sensor signal processing module, a seat ring posture adjusting mechanism motion control module and a mobile chassis control module, wherein each module can be realized on the same hardware control board card by software or an independent hardware circuit board, and is communicated with the main controller in a wireless or wired communication mode.
The toilet robot also comprises an ultrasonic sensor and/or an infrared sensor 26 and a laser radar 27 which are electrically connected with the controller; the ultrasonic sensors and/or the infrared sensors 26 are uniformly distributed below the shell of the toilet robot; the laser radar 27 is placed at the front end of the upper end plate of the seat support.
When the user has like the lavatory demand, can summon through pronunciation or remote control the toilet bowl robot, the toilet bowl robot passes through ultrasonic sensor and/or infrared sensor 26, laser radar 27 and motor encoder's information can establish indoor map and realize synchronous positioning, realizes the autonomous movement of all-round from parking the position to user's side to can dodge dynamic, static barrier.
After the toilet robot reaches the designated position, the six support rods 19 are controlled to move to respective set heights under the control of the controller according to feedback data of the seat ring attitude sensor 22, so that the rising and forward-leaning attitude adjustment of the seat ring 20 is realized (as shown in fig. 3), after the hip of a user contacts the seat ring 20 and a sitting instruction is issued, the seat ring 20 is restored to the horizontal and descending actions by simultaneously controlling respective rising and descending actions of the six support rods according to the feedback data of the seat ring attitude sensor 22. After the user finishes using the toilet, the user can be provided with the standing-up assistance according to the reverse process of the process.
When a user suddenly syncope in the toilet process, the stress change condition of the seat ring 20 can be collected through the pressure sensor 21, the stress change of the seat ring 20 in the syncope process is different from the sitting posture adjustment of the user in a normal state, the pressure change of the seat ring 20 is sudden and large in amplitude, and the pressure change of the seat ring is slow and small in amplitude. The gravity center offset distance of a user is calculated through the controller according to the collected pressure change data, the lifting heights of the six support rods are controlled according to the feedback data of the seat ring attitude sensor 22, the seat ring is controlled to pitch around the horizontal plane or turn left and right (as shown in figure 4), or the moving chassis is controlled to move on the horizontal plane in a matching mode, the gravity center of the user is stably balanced within the supporting range of the seat, and the user is prevented from falling off the seat due to syncope. Meanwhile, optionally, the pedestal pan robot can send the abnormal state of the user to a preset guardian through the wireless communication module, and send out dangerous distress voice through the voice interaction module.
Claims (10)
1. A pedestal pan robot comprises a moving chassis, a seat support, a seat ring posture adjusting mechanism and a controller; wherein,
the moving chassis can enable the pedestal robot to move in all directions;
the seat support is fixed on the movable chassis and connected with the seat;
the seat ring posture adjusting mechanism is characterized in that the seat ring posture adjusting mechanism is connected with the seat support, and can assist a user to sit and stand up by adjusting the height and the inclination angle of the seat ring.
2. The toilet robot of claim 1, further comprising a pressure sensor capable of collecting the force variation of the seat ring, so as to determine the current state of the user by monitoring the gravity center of the user.
3. The potty robot of claim 1, wherein the mobile chassis includes an omni wheel, a drive motor, a bearing, a motor drive, and a lower plate; each omnidirectional wheel is connected with a driving motor through a bearing; the driving motor is electrically connected with the motor driver, and the motor driver is electrically connected with the controller.
4. The potty robot of claim 1, wherein the potty robot can send out a danger distress signal in time when an abnormal situation is found, and can balance the center of gravity of a user by adjusting the posture of the seat ring and the orientation of the potty robot.
5. The potty robot of claim 1, wherein the seat support comprises a metal profile, a carbon fiber tube, an upper end plate, a linear guide mechanism;
one ends of the metal profiles and the carbon fiber tubes are fixedly connected with the movable chassis, and the other ends of the metal profiles and the carbon fiber tubes are connected with the upper end plate to form a closed supporting structure;
a linear guide mechanism is arranged on the metal section; the linear guide mechanism is composed of a guide rail and a guide rail sliding block.
6. The toilet robot of claim 1, wherein the seat ring posture adjustment structure mainly comprises a motor and a driver thereof, a synchronous belt and a belt pulley, a lead screw and a lead screw nut, a hinge, a support rod, a seat ring, a plurality of pressure sensors and a seat ring posture sensor; the motor drives a lead screw connected with a synchronous belt wheel to rotate through synchronous belt transmission, a lead screw nut is fixedly connected with a guide rail sliding block through a connecting piece, the guide rail sliding block can move linearly along a guide rail, and the motor is electrically connected with the driver and the driver is electrically connected with the controller; the screw rod is connected with the movable chassis and the upper end plate of the seat support through bearings; one end of the support rod is connected with the screw nut through a hinge, and the other end of the support rod is connected with the hinge support through a hinge; the pressure sensor is arranged between the hinge support and the seat ring and is electrically connected with the controller; the seat ring attitude sensor is arranged on the lower plane of the seat ring and is electrically connected with the controller.
7. The potty robot of claim 1, wherein the seat comprises a toilet, armrests, and a seat back, each of which is fixedly connected to the upper end plate of the seat support.
8. The potty robot of claim 1, further comprising a positioning navigation device capable of creating an indoor map and performing synchronous positioning, performing omnidirectional autonomous movement from a parking location to a user's side, and avoiding moving and static obstacles.
9. The potty robot of claim 8, wherein the positioning navigation device comprises an ultrasonic sensor and/or an infrared sensor and a lidar electrically connected to the controller.
10. The potty robot of claim 9, wherein the ultrasonic sensors and/or infrared sensors are evenly distributed below a housing of the potty robot; the laser radar is placed at the front end of the upper end plate of the seat support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710858527.1A CN107374486A (en) | 2017-09-21 | 2017-09-21 | A kind of moveable toilet seat robot of intelligent posture adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710858527.1A CN107374486A (en) | 2017-09-21 | 2017-09-21 | A kind of moveable toilet seat robot of intelligent posture adjustment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107374486A true CN107374486A (en) | 2017-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710858527.1A Pending CN107374486A (en) | 2017-09-21 | 2017-09-21 | A kind of moveable toilet seat robot of intelligent posture adjustment |
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| Country | Link |
|---|---|
| CN (1) | CN107374486A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109106486A (en) * | 2018-07-24 | 2019-01-01 | 北京理工大学 | Side above formula seat robot and Intelligent seat robot |
| CN110261867A (en) * | 2018-03-12 | 2019-09-20 | 松下知识产权经营株式会社 | Tracking device and tracking |
| CN110623799A (en) * | 2019-09-20 | 2019-12-31 | 北京理工大学 | Control method and device of intelligent wheelchair |
| CN111255038A (en) * | 2018-11-30 | 2020-06-09 | 磐安县安达碳基材料有限公司 | Intelligent toilet bowl |
| CN111387862A (en) * | 2020-03-23 | 2020-07-10 | 西安文理学院 | Old-people-assisting potty chair and control method thereof |
| CN111973044A (en) * | 2019-05-22 | 2020-11-24 | 杜金莉 | Toilet mat control system and control method thereof |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
| WO2021213150A1 (en) * | 2020-04-20 | 2021-10-28 | 广州易风健康科技股份有限公司 | Weak current signal acquisition circuit, and seat and seat cover having same |
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| CN101332145A (en) * | 2008-07-18 | 2008-12-31 | 西安交通大学 | Friendly walking-aid robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110261867A (en) * | 2018-03-12 | 2019-09-20 | 松下知识产权经营株式会社 | Tracking device and tracking |
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| CN111255038A (en) * | 2018-11-30 | 2020-06-09 | 磐安县安达碳基材料有限公司 | Intelligent toilet bowl |
| CN111973044A (en) * | 2019-05-22 | 2020-11-24 | 杜金莉 | Toilet mat control system and control method thereof |
| CN110623799A (en) * | 2019-09-20 | 2019-12-31 | 北京理工大学 | Control method and device of intelligent wheelchair |
| CN111387862A (en) * | 2020-03-23 | 2020-07-10 | 西安文理学院 | Old-people-assisting potty chair and control method thereof |
| WO2021213150A1 (en) * | 2020-04-20 | 2021-10-28 | 广州易风健康科技股份有限公司 | Weak current signal acquisition circuit, and seat and seat cover having same |
| CN112274357A (en) * | 2020-10-28 | 2021-01-29 | 苏州工艺美术职业技术学院 | Household nursing robot |
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Application publication date: 20171124 |