CN117841016A - Pollution discharge method of nursing robot - Google Patents

Abstract

The application relates to a blowdown method of nursing robot, nursing robot include mobilizable robot body and set up in the bath controlgear of appointed blowdown district, robot body and bath control gear communication connection, blowdown method includes: the robot body moves to the side of the appointed sewage disposal area, the sewage disposal pipe of the robot body aims at the sewage disposal outlet of the appointed sewage disposal area, and excrement is poured into the sewage disposal outlet; the robot body sends a flushing instruction to the flushing control equipment; the flushing control device completes flushing according to the flushing instruction. The sewage disposal method can realize automatic sewage disposal after dumping the excrement, reduce nursing difficulty of nursing staff and ensure clean and sanitary of the appointed sewage disposal area.

Description

Pollution discharge method of nursing robot

Technical Field

The application relates to the technical field of nursing robots, in particular to a pollution discharge method of a nursing robot.

Background

With the development of technology, robots capable of intelligently nursing the urination and defecation of bedridden patients or disabled old people appear on the market at present, but some defects still exist. Some disabled persons have weak body and drastically reduced exercise capacity, and only move slightly for two or three steps, so that the nursing robot is required to be used in a room for excretion, and then excrement is dumped into a designated sewage disposal area (a toilet or a squat for sewage disposal).

However, the existing nursing robot cannot realize automatic sewage discharge, and how to flush and clean the excrement in the toilet or squat pit without the help of other nursing staff is a problem to be solved at present.

Disclosure of Invention

The application provides a blowdown method of nursing robot to solve the technical problem that nursing robot can't realize automatic blowdown.

In a first aspect, the present application provides a method of blowdown of a nursing robot, the nursing robot including a movable robot body and a flush control device disposed in a designated blowdown area, the robot body and the flush control device being in communication connection, the blowdown method comprising: the robot body moves to the side of the appointed sewage disposal area, the sewage disposal pipe of the robot body aims at the sewage disposal outlet of the appointed sewage disposal area, and excrement is poured into the sewage disposal outlet; the robot body sends a flushing instruction to the flushing control equipment; the flushing control device completes flushing according to the flushing instruction.

In one possible implementation, the flush control device sends a completion indication to the robot body after the flush is completed; if the robot body does not receive the completion instruction after the first time, the robot body sends the flushing instruction again.

In one possible implementation, the number of transmissions of the flush indication is counted; and if the number of times of transmission is greater than the first time number threshold, a first prompt is sent.

In one possible embodiment, the nursing robot further includes an image acquisition module, and the blowdown method further includes: collecting an image of a sewage outlet before sewage is discharged in a designated sewage discharging area as a target image through an image collecting module; after receiving the completion instruction, acquiring a drain outlet image after flushing the designated drain area as an image to be judged by an image acquisition module; and when the determined image is not matched with the target image, the robot body sends a flushing instruction again.

In one possible implementation, the number of transmissions of the flush indication is counted; and if the sending times are larger than a second time threshold and the image to be judged is not matched with the target image, sending a second prompt.

In one possible embodiment, the nursing robot further includes a sound collection module, and the blowdown method further includes: collecting flushing sound of a designated sewage disposal area through a sound collecting module; if the maximum amplitude of the flush sound is less than the amplitude threshold, the robot body again sends a flush indication.

In one possible implementation mode, the flushing control device comprises a shell, a driving motor arranged in the shell and an actuating mechanism in transmission connection with the driving motor, wherein the actuating end of the actuating mechanism faces to a flushing button of a designated sewage disposal area, and the flushing control device presses the flushing button according to flushing instructions so as to finish flushing.

In one possible embodiment, the actual current value of the drive motor during operation is acquired; if the actual current value is smaller than the current threshold value, the flushing control device presses the flushing key of the designated sewage disposal area again after the second time period, and the first time period is longer than the second time period.

In one possible implementation, the number of presses is counted; and if the pressing times are larger than a third time threshold value, a third prompt is sent out.

In one possible embodiment, the communication means between the robot body and the flush control device includes at least one of infrared communication, wiFi, bluetooth, 4G, and 5G.

Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:

according to the pollution discharge method of the nursing robot, the flushing control equipment is connected with the robot body in a communication mode, automatic pollution discharge after excrement dumping can be achieved, manual intervention operation is not needed, nursing difficulty of nursing staff is reduced, and meanwhile risk that the disabled old people get up to flush water and accidents happen is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

Fig. 1 is a flowchart of a pollution discharge method of a nursing robot provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a nursing robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a nursing robot according to another embodiment of the present disclosure;

fig. 4 is a schematic structural view of a flush control apparatus in the nursing robot shown in fig. 3.

Reference numerals illustrate:

1. a nursing robot; 11. a robot body; 111. an image acquisition module; 12. a flush control device; 121. a housing; 122. an actuator.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

In order to solve the technical problem that nursing robot can't realize automatic blowdown among the prior art, this application provides a nursing robot's blowdown method, can realize dumping automatic blowdown after the excrement, reduces nursing personnel's nursing degree of difficulty to can guarantee the clean health of appointed blowdown district.

As shown in fig. 1, for a sewage disposal method of a nursing robot provided in an embodiment of the present application, the nursing robot 1 includes a movable robot body 11 and a flushing control device 12 disposed on a designated sewage disposal area, the robot body 11 and the flushing control device 12 are in communication connection, and the sewage disposal method includes the following steps:

s1, the robot body 11 moves to the side of a designated sewage disposal area, a sewage disposal pipe of the robot body 11 is aligned with a sewage disposal outlet of the designated sewage disposal area (a toilet or a squat pit), and excrement is poured into the sewage disposal outlet.

And S3, the robot body 11 sends a flushing instruction to the flushing control equipment 12.

And S4, the flushing control device 12 finishes flushing according to the flushing instruction.

In some embodiments, as shown in fig. 2, the flush control device 12 may be an electrically powered flush device such as a smart toilet that may automatically flush and flush waste based on a flush indication.

Through the communication connection with the bath control device 12 and the robot body 11, can realize dumping the automatic blowdown behind the excrement, need not human intervention operation, reduced nursing personnel's the nursing degree of difficulty, also reduced simultaneously and lost the old man of ability and got up and wash water and take place unexpected risk.

In some embodiments, the blowdown method further comprises the steps of:

s5, the flush control device 12 transmits a completion instruction to the robot body 11 after the flush is completed.

S6, if the robot body 11 does not receive the completion instruction after the first time period t1, the robot body 11 sends the flushing instruction to the flushing control device 12 again.

Whether flushing is finished is judged by judging whether a finishing instruction is received or not, and if flushing is not finished, flushing can be carried out for a plurality of times so as to ensure the cleanness and sanitation of the designated sewage disposal area.

Further, the sewage disposal method further comprises the following steps: counting the number of times the robot body 11 transmits a flush instruction to the flush control device 12; if the number of times of transmission is larger than the first time threshold value, a first prompt is sent out, and fault alarm is carried out.

At this time, there is a possibility that the communication functions of the robot body 11 and the flush control device 12 fail, so that the number of flushes is excessive, and at this time, a first prompt is issued to remind the caretaker and the time repair.

In some embodiments, the care robot 1 further comprises an image acquisition module 111, the blowdown method further comprises the steps of:

s2, acquiring an image of a sewage outlet before sewage is discharged in a designated sewage area as a target image through an image acquisition module 111.

And S7, after receiving the completion instruction, acquiring a drain outlet image after flushing the designated drain area as an image to be judged through the image acquisition module 111.

S8, when the image to be determined does not match the target image, the robot body 11 transmits a flush instruction again to the flush control apparatus 12.

The image acquisition module 111 can adopt a CCD image sensor or a CMOS image sensor in the prior art, and obtains image data after image processing by adopting a machine vision technology; the image collection module 111 may be provided on the robot body 11, and the image collection module 111 is in a closed state when the robot body 11 is not moved to a designated sewage area in consideration of privacy of a user.

The method for analyzing the image histogram can judge whether the sewage outlet after flushing is clean or not, and if not, flushing is performed again until the sewage outlet is clean, so that the sanitation condition of the designated sewage outlet is ensured. The similarity value is calculated by comparing pixel data of the source image and candidate image to generate respective histogram data and then using a Pasteur coefficient (Bhattacharyya coefficient) algorithm. And when the similarity value is larger than the similarity threshold value, judging that the sewage outlet is flushed completely.

Further, the sewage disposal method further comprises the following steps: counting the number of times the robot body 11 transmits a flush instruction to the flush control device 12; and if the sending times are larger than a second time threshold and the image to be judged is not matched with the target image, sending a second prompt.

In the practical application scene, the problem that flushing is still not clean for many times may exist, and then a second prompt is sent at the moment to prompt a nursing staff to perform manual cleaning so as to avoid wasting water resources.

In some embodiments, the care robot 1 further comprises a sound collection module, and the blowdown method further comprises the steps of: collecting flushing sound of a designated sewage disposal area through a sound collecting module; if the maximum amplitude of the flushing sound is smaller than the amplitude threshold, the robot body 11 transmits a flushing instruction again to the flushing control device 12.

Specifically, the sound collection module may adopt a sound collection control system in the prior art, where the sound collection control system includes a sound sensor, a preamplifier and an analog-to-digital converter, where the sound sensor, the preamplifier and the analog-to-digital converter may be disposed on the flush control device 12, receive the sound wave vibration of the flush through the sound sensor, convert the sound wave vibration of the flush into an electrical signal by using the principle of electroacoustic effect, then the preamplifier enhances the electrical signal output by the sound sensor and transmits the enhanced electrical signal to the analog-to-digital converter, where the analog-to-digital converter performs a digital process to convert the electrical signal into a discrete digital signal, and finally may be drawn into an audio waveform chart. The maximum amplitude of the flushing process is calculated, and if the maximum amplitude of the flushing sound is smaller than the amplitude threshold value, which indicates that the amount of water flushed is insufficient, that is, the flushing is not completed normally, the robot body 11 sends a flushing instruction again to the flushing control device 12.

In some embodiments, as shown in fig. 3, the flush control device 12 includes a housing 121, a driving motor disposed inside the housing 121, and an actuating mechanism 122 in transmission connection with the driving motor, wherein an actuating end of the actuating mechanism 122 faces a flush button of a designated sewage disposal area, and the flush control device 12 presses the flush button according to a flush instruction to complete flushing.

Specifically, the toilet or squat is generally configured with a corresponding water tank and a flush button, the flush control device 12 is disposed on the flush button of the toilet or squat, and the flush control device 12 can complete one flush by pressing the flush button to flush excrement.

Further, the sewage disposal method further comprises the following steps:

collecting an actual current value when the driving motor works; if the actual current value is smaller than the current threshold value, the flushing control device 12 presses the flushing key of the designated sewage disposal area again after the second time period t2, and t1 is smaller than t2.

If sufficient water is in the water tank matched with the toilet or the squatting pot, the load of the execution end of the execution mechanism 122 is larger, the load of the driving motor is larger, the working current of the driving motor is higher, and if the water quantity in the water tank is insufficient, the load of the driving motor is smaller, and the working current of the driving motor is lower.

Therefore, if the actual current value is smaller than the current threshold value, this indicates that the water amount in the water tank is insufficient at this time, and the flushing is pressed again after waiting for a period of time t2.

Further, the sewage disposal method further comprises the following steps: counting the pressing times of the flushing key by the flushing control device 12; and if the pressing times are greater than a third time threshold, a third prompt is sent out, and fault alarm is carried out.

When the flushing button of the water tank is pressed for many times, the problem of the water storage function of the water tank is likely to occur, so that the water quantity of the water tank is insufficient, and a nursing staff is reminded to check the water tank by sending a third prompt.

Optionally, the communication means between the robot body 11 and the flush control device 12 includes at least one of infrared communication, wiFi, bluetooth, 4G, and 5G.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. 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 (10)

1. A method of blowdown of a nursing robot, the nursing robot (1) comprising a movable robot body (11) and a flush control device (12) arranged in a designated blowdown area, the robot body (11) and the flush control device (12) being in communication connection, characterized in that the blowdown method comprises:

the robot body (11) moves to the side of a designated sewage disposal area, a sewage disposal pipe of the robot body (11) is aligned with a sewage disposal outlet of the designated sewage disposal area, and excrement is poured into the sewage disposal outlet;

the robot body (11) sends a flushing instruction to the flushing control device (12);

the flush control device (12) completes flushing according to the flush indication.

2. A method for blowdown according to claim 1, wherein,

after the flushing is finished, the flushing control equipment (12) sends a finishing instruction to the robot body (11);

and if the robot body (11) does not receive the completion instruction after the first time period passes, the robot body (11) sends the flushing instruction again.

3. A method for blowdown according to claim 2, wherein,

counting the sending times of the flushing indication;

and if the number of times of transmission is greater than a first time number threshold, a first prompt is sent.

4. The method of blowdown according to claim 2, the care robot (1) further comprising an image acquisition module (111), characterized in that the method of blowdown further comprises:

collecting an image of a sewage outlet before sewage is discharged in the designated sewage discharging area as a target image through the image collecting module (111);

after receiving the completion instruction, acquiring a drain outlet image of the designated drain area after flushing through the image acquisition module (111) as an image to be judged;

and when the image to be judged is not matched with the target image, the robot body (11) sends the flushing instruction again.

5. A method for blowdown according to claim 4, wherein,

counting the sending times of the flushing indication;

and if the sending times are larger than a second time threshold and the image to be judged is still not matched with the target image, a second prompt is sent.

6. The method of blowdown according to claim 1, the care robot (1) further comprising a sound collection module, characterized in that the method of blowdown further comprises:

collecting flushing sound of the appointed sewage disposal area through the sound collecting module;

the robot body (11) sends the flushing instruction again if the maximum amplitude of the flushing sound is smaller than an amplitude threshold.

7. The blowdown method according to claim 2, characterized in that the flush control device (12) includes a housing (121), a driving motor disposed in the housing (121) and an actuator (122) drivingly connected to the driving motor, an actuating end of the actuator (122) faces a flush button of the designated blowdown area, and the flush control device (12) presses the flush button according to the flush instruction to finish flushing.

8. A method for blowdown according to claim 7, wherein,

collecting an actual current value of the driving motor during working;

and if the actual current value is smaller than the current threshold value, the flushing control equipment (12) presses the flushing key of the appointed sewage disposal area again after a second time period, wherein the first time period is smaller than the second time period.

9. A method for blowdown according to claim 8, wherein,

counting the pressing times;

and if the pressing times are larger than a third time threshold value, a third prompt is sent out.

10. The blowdown method of claim 1, wherein the communication means between the robot body (11) and the flush control device (12) includes at least one of infrared communication, wiFi, bluetooth, 4G and 5G.