CN112336240A - Toilet assisting system and operation method thereof - Google Patents
Toilet assisting system and operation method thereof Download PDFInfo
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- CN112336240A CN112336240A CN202011382917.4A CN202011382917A CN112336240A CN 112336240 A CN112336240 A CN 112336240A CN 202011382917 A CN202011382917 A CN 202011382917A CN 112336240 A CN112336240 A CN 112336240A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 6
- 238000013459 approach Methods 0.000 claims description 22
- 230000009471 action Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
- 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
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
- E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
- E03D11/06—Bowls with downwardly-extending flanges for the sake of flushing
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
- E03D11/13—Parts or details of bowls; Special adaptations of pipe joints or couplings for use with bowls, e.g. provisions in bowl construction preventing backflow of waste-water from the bowl in the flushing pipe or cistern, provisions for a secondary flushing, for noise-reducing
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
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- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Epidemiology (AREA)
- Non-Flushing Toilets (AREA)
Abstract
The invention relates to medical equipment, in particular to a toilet auxiliary system and an operation method thereof, which can effectively assist weak users to smoothly use a toilet. The toileting assistance system includes: a movable wheel frame and a pair of marks arranged on the toilet bowl at the left and right sides of the front and rear axes of the toilet bowl, wherein the wheel frame comprises: two wheeled front legs disposed at a front side of the wheel frame and two wheeled rear legs disposed at a rear side of the wheel frame; an auxiliary sitting and standing mechanism; a seat ring including a central through hole and connected to an output of the auxiliary seating mechanism; the left optical sensor and the right optical sensor are arranged towards the rear side, symmetrically arranged on the left side and the right side of the front axis and the rear axis of the wheel carrier and have the same height with the ground; a control system comprising a central controller, and a user manipulator; wherein the wheel carriage is movable onto the toilet bowl according to the positioning of the pair of marks by the left and right optical sensors such that the seat is aligned with a toilet seat of the toilet bowl from above.
Description
Technical Field
The invention relates to a medical instrument, in particular to a toilet auxiliary system and an operation method thereof.
Background
At present, the aging problem becomes a common problem in China and even all over the world, and the number of the old aged over 60 years in China exceeds 2 hundred million. For most of the old people, along with aging of the body, the mobility of the lower limbs can be weakened firstly, so that the leg strength is insufficient, the mobility is inconvenient, the legs are difficult to smoothly go to and fro in a toilet, the sitting and the rising on a toilet bowl are difficult in the toilet process, even nursing staff is required to assist, the high risk of sprain and fall is caused, and the physical and mental injuries of the old people are possibly caused.
Disclosure of Invention
According to the embodiment of the invention, the toileting auxiliary system and the operation method thereof are provided, which can effectively assist weak users to successfully use the toilet bowl for toileting.
According to an embodiment of one aspect of the present invention, there is provided a toileting assistance system comprising: a movable wheel frame and a pair of marks arranged on the toilet bowl at the left and right sides of the front and rear axes of the toilet bowl, wherein the wheel frame comprises:
two wheeled front legs disposed at a front side of the wheel frame and two wheeled rear legs disposed at a rear side of the wheel frame;
an auxiliary sitting and standing mechanism;
a seat ring including a central through hole and connected to an output of the auxiliary seating mechanism;
the left optical sensor and the right optical sensor are arranged towards the rear side, symmetrically arranged on the left side and the right side of the front axis and the rear axis of the wheel carrier and have the same height with the ground;
a control system comprising a central controller, and a user manipulator;
wherein the wheel carriage is movable onto the toilet bowl according to the positioning of the pair of marks by the left and right optical sensors such that the seat is aligned with a toilet seat of the toilet bowl from above.
Preferably, in any embodiment of the present invention,
the pair-wise mark includes: a pair of circular marks of the same size.
Preferably, in any embodiment of the present invention,
two marks of the pair of marks are arranged in the same plane.
Preferably, in any embodiment of the present invention,
the pair-wise mark includes: a first pair of marks provided on a leading edge of a toilet seat of the toilet bowl; and a second pair of marks provided on a front surface of a tank of the toilet.
Preferably, in any embodiment of the present invention, further comprising:
a collision avoidance sensor disposed horizontally toward the rear side between the left and right optical sensors.
According to an embodiment of another aspect of the present invention, there is provided a method for operating a toileting assistance system as described above, comprising the steps of:
determining a position of the wheel carriage relative to the toilet bowl based on a first pair of marks disposed on a leading edge of the toilet bowl detected by the left and right optical sensors;
determining a straight or curved approach path based on a midpoint connecting line between the midpoint between the left and right optical sensors and the midpoint between the first pair of marks, and moving the wheel carrier to the front or lateral front of the toilet bowl along the determined approach path under the guidance of the left and right optical sensors;
adjusting the posture of the wheel carrier to be opposite to the toilet bowl;
determining a lateral deviation of a fore-aft axis of the wheel frame relative to a toilet bowl fore-aft axis and adjusting a pose of the wheel frame when the lateral deviation exceeds a lateral deviation threshold such that the lateral deviation is less than the lateral deviation threshold;
moving the wheel carriage towards the toilet bowl with the seat aligned above a toilet seat of the toilet bowl.
Preferably, in any embodiment of the present invention,
the first pair of marks includes: a pair of circular marks of the same size.
Preferably, in any embodiment of the present invention,
the two marks of the first pair of marks are arranged in the same plane.
Preferably, in any embodiment of the present invention,
said determining said lateral deviation comprises: the lateral deviation is determined based on a second pair of marks disposed on a front surface of a tank of the toilet bowl detected by the left and right optical sensors.
Preferably, in any embodiment of the present invention, further comprising:
determining the approach path based on the midpoints-connection line after the wheel carriage travels into an alignment area in front of the toilet bowl.
The toilet auxiliary system and the operation method thereof provided by the embodiment of the invention can effectively assist weak users to smoothly use the toilet.
Drawings
FIG. 1 is a schematic diagram of a potty assist system according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. 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.
According to the embodiment of the invention, the toileting auxiliary system and the operation method thereof are provided, which can effectively assist weak users to successfully use the toilet bowl for toileting.
According to an embodiment of one aspect of the present invention, there is provided a toileting assistance system comprising: a movable wheel frame and a pair of marks arranged on the toilet bowl at the left and right sides of the front and rear axes of the toilet bowl, wherein the wheel frame comprises:
two wheeled front legs disposed at a front side of the wheel frame and two wheeled rear legs disposed at a rear side of the wheel frame;
an auxiliary sitting and standing mechanism;
a seat ring including a central through hole and connected to an output of the auxiliary seating mechanism;
the left optical sensor and the right optical sensor are arranged towards the rear side, symmetrically arranged on the left side and the right side of the front axis and the rear axis of the wheel carrier and have the same height with the ground;
a control system comprising a central controller, and a user manipulator;
wherein the wheel carriage is movable onto the toilet bowl according to the positioning of the pair of marks by the left and right optical sensors such that the seat is aligned with a toilet seat of the toilet bowl from above.
Thus, by using the binocular measuring and positioning system composed of the left and right optical sensors, the position of the toilet bowl relative to the movable wheel frame (or referred to as a toilet auxiliary device) can be known based on the paired marks provided at the target position (for example, the toilet bowl) according to the binocular measuring technique, so that the movable wheel frame mounted with the left and right optical sensors is guided to move (approach) to the near place (front or side front) of the toilet bowl in a suitable manner, and finally to the toilet bowl (for example, the movable wheel frame covers the toilet seat from above), and the toilet seat is aligned to the toilet seat from above, thereby facilitating the smooth toilet use of the user sitting on the toilet seat of the movable wheel frame.
Therefore, the toileting auxiliary system provided by the embodiment of the invention can effectively assist weak users to smoothly use the toilet bowl for toileting.
In one embodiment, optionally, the pair of marks provided on the toilet bowl are symmetrically arranged on the left and right sides of the toilet bowl front-rear axis with respect to the toilet bowl front-rear axis. In this way, symmetrically arranged pairs of marks may simplify computations and improve efficiency. It will be appreciated that the pair of marks is a pair of two marks that are spaced apart (non-overlapping).
However, in other embodiments, the pair of markings provided on the toilet may alternatively be arranged asymmetrically with respect to the toilet fore-aft axis, if desired. In this case, however, data compensation processing may be required.
Preferably, in any embodiment of the present invention, the pair of marks comprises: a pair of circular marks of the same size. Thus, the calculation can be simplified and the efficiency can be improved. It will be appreciated that the selection of circular shaped marks enables excellent subdivision accuracy, facilitating high accuracy positioning of a target location (e.g. a toilet bowl) when binocular surveying positioning is employed.
In one embodiment, the pairs are optionally labeled as semi-circular, or non-circular (e.g., rectangular).
In one embodiment, the pair of markers may optionally be three-dimensional markers, such as spheres. In this case, the binocular measurement positioning system (including the left and right optical sensors) observes a spherical mark, whether it is a direct or diagonal spherical mark, with no or little image distortion due to viewing angle skew, which is somewhat superior to a two-dimensional mark (e.g., a circular mark).
Preferably, in any embodiment of the invention, two marks of the pair of marks are arranged in the same plane. Thus, for a binocular measurement positioning system (including left and right optical sensors), when an observation mark (e.g., a circular mark) is positioned by calculating a distance from a mark center (e.g., a circle center), two-dimensional marks in the same plane are beneficial to simplifying calculation, improving efficiency and improving measurement accuracy.
In one embodiment, optionally, two of the pair of marks are disposed on a curved surface.
In one embodiment, optionally, a first pair of the pair of markings is provided on a curved surface on a leading edge of a toilet seat of the toilet bowl (disposed horizontally substantially forward). In this case, the pair of marks can be more firmly attached to the toilet bowl and not easily damaged or come off.
In one embodiment, optionally, two markers of the pair of markers are spherical markers disposed on a curved surface. As described above, the image distortion of the spherical mark is small, and thus it can be recognized even if it is disposed on a curved surface.
In one embodiment, optionally, the pair of indicia at least partially includes enhanced retroreflective portions, such as specular retroreflective portions.
Preferably, in any embodiment of the present invention, the pair of marks comprises: a first pair of marks provided on a leading edge of a toilet seat of the toilet bowl; and a second pair of marks provided on a front surface of a tank of the toilet. Thus, the binocular measuring and positioning system (including the left and right optical sensors) moves (approaches) to the close part (front or side front) of the toilet bowl in a proper manner through the first pair of marks, and can finely adjust the posture and the position of the movable wheel frame through the second pair of marks (for example, the lateral deviation between the front and rear axes of the movable wheel frame and the front and rear axes of the toilet bowl is smaller than a preset threshold value so as to ensure that the movable wheel frame is accurately opposite to the toilet bowl and can move to the upper part of the toilet bowl in a straight line), and finally, the movable wheel frame is moved to the toilet bowl, so that the toilet seat is aligned to the toilet seat from the upper.
In one embodiment, optionally, additionally or alternatively to the second pair of markings, a pair of distance measuring sensors (e.g. laser sensors) may be provided, symmetrically arranged on the left and right sides of the fore-aft axis of the wheel carriage and arranged horizontally (i.e. inwardly) towards the fore-aft axis of the wheel carriage. Thus, when the movable wheel frame moves back to the upper part of the toilet bowl, the distance between the two distance measuring sensors which are horizontally shot inwards can be respectively measured and the distance between the two distance measuring sensors and the left and right outer side walls of the toilet bowl, the lateral deviation of the front and rear axes of the wheel frame relative to the front and rear axes of the toilet bowl can be obtained by comparing the two measured distances, if the lateral deviation is less than a preset threshold value, the front and rear axes of the movable wheel frame and the toilet bowl are approximately superposed, therefore, the movable wheel frame can be considered to be exactly opposite to the toilet bowl, the movable wheel frame can move back and go straight until the seat ring is; otherwise, the attitude or position of the movable wheel carrier needs to be adjusted until the lateral deviation is less than a predetermined threshold.
In one embodiment, the pair of ranging sensors may be optionally disposed on the inner sides of the two wheeled rear legs of the wheel frame, respectively.
In one embodiment, the wheeled front leg optionally includes a front foot having a universal wheel.
In one embodiment, the wheeled rear leg optionally includes a rear foot having a drive wheel.
Preferably, in any embodiment of the present invention, further comprising:
a collision avoidance sensor disposed horizontally toward the rear side between the left and right optical sensors.
Thus, when the movable wheel frame moves back and forth in a straight line in alignment with the toilet bowl, the collision avoidance sensor can prevent the movable wheel frame from colliding backward against the toilet bowl (e.g., a tank thereof), thereby ensuring that the movable wheel frame is properly stopped at an accurate position above the toilet bowl seat.
In one embodiment, optionally, the pre-crash sensor comprises a laser sensor.
In one embodiment, optionally, additionally or alternatively to the collision avoidance sensor, a buffer structure is provided between the rear side of the wheel carriage and the front surface of the toilet bowl (e.g. its water tank) or the front surface of the wall. Thus, when the movable wheel frame moves back and forth in a straight line in alignment with the toilet bowl, the external impact to which the movable wheel frame may be subjected (such as uncontrolled impact on the toilet bowl or a wall) can be mitigated, thereby reducing the risk of damage.
In one embodiment, optionally, an interface is provided between the rear side of the wheel carriage and the front surface of the toilet bowl (e.g. its tank) or the front surface of the wall. Therefore, when the movable wheel frame is aligned with the toilet and retreats to move straight to the right position, the movable wheel frame can be locked in place through the butt joint structure, and the risk caused by accidental sliding of the movable wheel frame is avoided.
In one embodiment, optionally, further comprising: and the pair of far infrared light sources are arranged on the wheel frame towards the rear side and are respectively arranged at the sides of the left optical sensor and the right optical sensor. The far infrared light source is arranged beside the left optical sensor and the right optical sensor and emits light towards the plane of the paired marks for supplementary illumination, so that the marks are fully reflected and can be identified and observed by the left optical sensor and the right optical sensor, and the far infrared light source is particularly favorable in the environment with darker light.
In one embodiment, the angle of the left and right optical sensors is optionally adjustable.
In one embodiment, the horizontal position of the left and right optical sensors is optionally adjustable.
In one embodiment, the height of the left and right optical sensors is optionally adjustable.
In one embodiment, optionally, the left and right optical sensors are mounted on the wheel carriage respectively through adjustment seats.
In one embodiment, optionally, the adjustment seats of the left and right optical sensors are actuated synchronously.
In one embodiment, optionally, left and right armrests are provided on the left and right sides of the seat ring, respectively.
In one embodiment, optionally, the user manipulator is provided on at least one of the left and right armrests.
In one embodiment, optionally, a cross bar is disposed between the left and right armrests. In this way, the user can grasp the crossbar to aid in action when desired.
In one embodiment, optionally, a cross-bar between the left and right armrests is movably disposed. In this way, the bar may extend between the left and right armrests when in use, and may be stowed away when not in use without impeding the user's forward movement from between the left and right armrests.
In one embodiment, optionally, a cross-bar between the left and right armrests is movably disposed. In this way, the bar may extend between the left and right armrests when in use, and may be stowed away when not in use without impeding the user's forward movement from between the left and right armrests.
In one embodiment, the bar is optionally collapsed and unfolded by folding or telescoping.
In one embodiment, optionally, a backrest is provided at the rear side of the seat ring. In this way, the user can lean on when needed, rather than just against the toilet tank.
In one embodiment, optionally, the angle of the backrest is adjustable.
In one embodiment, optionally, the fore-aft position of the backrest is adjustable.
In one embodiment, the auxiliary sitting mechanism optionally comprises left and right lifting mechanisms respectively located on the left and right sides of the fore-aft axis of the wheel carriage, and the output ends of the left and right lifting mechanisms are respectively connected to the left and right portions of the seat ring, so that lifting of the seat ring can be implemented in balance to assist in supporting the user sitting on the seat ring to sit and stand (e.g., to assist the user in changing between sitting and standing positions).
In one embodiment, optionally, the output ends of the left and right lift mechanisms are integrally formed with the left and right portions of the seat ring, respectively.
In one embodiment, the output ends of the left and right lifting mechanisms are optionally connected to or integrated with left and right handrails disposed on the left and right sides of the wheel frame, respectively.
In one embodiment, optionally, the output ends of the left and right lift mechanisms are supported below the left and right portions of the seat ring, respectively, and left and right armrests disposed on the left and right sides of the seat ring are attached above the left and right portions of the seat ring, respectively.
In one embodiment, the left and right lift mechanisms are optionally raised and lowered along a linear or curvilinear path. In this way, the user's sitting and rising movements before and after toilet access can be adaptively supported as desired.
In one embodiment, the left and right lift mechanisms are optionally raised and lowered along a curved path to partially invert the seat. In this way, the user's sitting and rising movements before and after using the toilet can be adaptively supported as desired.
In one embodiment, optionally, the left and right lifting mechanisms comprise lifting rails.
In one embodiment, optionally, the left and right lifting mechanisms comprise worm and gear arrangements.
In one embodiment, optionally, the left and right lifting mechanisms comprise a threaded arrangement.
In one embodiment, optionally, the left and right lifting mechanisms comprise a gear structure.
In one embodiment, optionally, the toileting assistance system further comprises: the intelligent closestool ring is arranged on a closestool seat of the closestool.
According to an embodiment of another aspect of the present invention, there is provided a method for operating a toileting assistance system as described above, comprising the steps of:
determining a position of the wheel carriage relative to the toilet bowl based on a first pair of marks disposed on a leading edge of the toilet bowl detected by the left and right optical sensors;
determining a straight or curved approach path based on a midpoint connecting line between the midpoint between the left and right optical sensors and the midpoint between the first pair of marks, and moving the wheel carrier to the front or lateral front of the toilet bowl along the determined approach path under the guidance of the left and right optical sensors;
adjusting the posture of the wheel carrier to be opposite to the toilet bowl;
determining a lateral deviation of a fore-aft axis of the wheel frame relative to a toilet bowl fore-aft axis and adjusting a pose of the wheel frame when the lateral deviation exceeds a lateral deviation threshold such that the lateral deviation is less than the lateral deviation threshold;
moving the wheel carriage towards the toilet bowl with the seat aligned above a toilet seat of the toilet bowl.
In this way, with the binocular measuring and positioning system composed of the left and right optical sensors, the position (e.g., lateral distance, vertical distance, angle, etc.) of the toilet bowl relative to the movable wheel frame (or referred to as a toilet bowl assist device) can be known based on the paired marks provided at the target position (e.g., toilet bowl) according to the binocular measuring technique, thereby guiding the movable wheel frame mounted with the left and right optical sensors to move (approach) to the vicinity (front or side front) of the toilet bowl in a suitable manner, then adjusting the posture of the wheel frame to face the toilet bowl at the rear side, and finally moving backward to the toilet bowl (e.g., making the movable wheel frame cover the toilet bowl seat from above) so that the toilet seat is aligned to the toilet seat from above for the user sitting on the toilet.
Here, the approach path is determined based on the midpoint connecting line between the movable wheel carrier and the first pair of marks on the toilet bowl. For example, if the angle between the midpoint connecting line and the front and rear axes of the toilet bowl is small (for example, 45 degrees or less, preferably 30 degrees or less), it means that the inclination of the movable wheel carrier relative to the toilet bowl is small, at this time, a straight approach path can be taken, and after the movable wheel carrier rapidly reaches the vicinity (front or lateral front) of the toilet bowl at the same inclination angle, the posture of the wheel carrier can be conveniently adjusted (for example, by the horizontal rotation of the movable wheel carrier) to be opposite to the toilet bowl; otherwise, if the angle between the midpoint connecting line and the front and rear axes of the toilet bowl is large (for example, greater than 45 degrees), which indicates that the inclination of the movable wheel carrier relative to the toilet bowl is large, then if a straight approaching path is taken, it may be difficult or take more time in the subsequent "adjusting the posture of the wheel carrier to face the toilet bowl", in this case, a curved approaching path may be taken, and the inclination angle of the movable wheel carrier relative to the toilet bowl is continuously reduced in the process of approaching the toilet bowl, so that the movable wheel carrier has a proper and reduced inclination angle when reaching the near (front or lateral front) of the toilet bowl, which is beneficial to conveniently adjusting the posture of the wheel carrier (for example, through the horizontal rotation of the movable wheel carrier) to face the toilet bowl.
After the wheel frame faces the toilet bowl, the posture and the position can be finely adjusted, for example, the lateral deviation of the front and rear axes of the movable wheel frame and the front and rear axes of the toilet bowl is smaller than a predetermined threshold value to ensure that the movable wheel frame faces the toilet bowl accurately, and when the lateral deviation is sufficiently small, the front and rear axes of the movable wheel frame and the toilet bowl are approximately coincident, so that the movable wheel frame and the toilet bowl can be considered to face the toilet bowl accurately. Finally, the movable wheel carrier can be retracted straight until the seat is aligned with the toilet seat from above (i.e., the wheel carrier covers the toilet seat), facilitating the smooth toilet use for the user sitting on the seat of the movable wheel carrier.
When the user uses the movable wheel frame (or the auxiliary toilet device), the manipulator arranged on the armrest can be operated to execute required actions, such as advancing, retreating, butting, departing and the like.
Therefore, the operation method of the toilet auxiliary system provided by the embodiment of the invention can effectively assist weak users to smoothly use the toilet.
Preferably, in any embodiment of the present invention, the first pair of marks comprises: a pair of circular marks of the same size. In this way, the calculation can be simplified and efficiency can be improved. It will be appreciated that the selection of circular shaped marks enables excellent subdivision accuracy, facilitating high accuracy positioning of a target location (e.g. a toilet bowl) when binocular surveying positioning is employed.
Preferably, in any embodiment of the invention, both marks of the first pair of marks are arranged in the same plane. Thus, for a binocular measurement positioning system (comprising a left optical sensor and a right optical sensor), when an observation mark (such as a circular mark) is positioned by calculating the distance from a mark center (such as a circle center), two-dimensional marks in the same plane are beneficial to simplifying calculation, improving efficiency and improving measurement accuracy.
Preferably, in any embodiment of the present invention, the determining the lateral deviation comprises: the lateral deviation is determined based on a second pair of marks disposed on a front surface of a tank of the toilet bowl detected by the left and right optical sensors. Thus, the binocular measuring and positioning system (comprising the left and right optical sensors) moves (approaches) to the close part (front or side front) of the toilet bowl in a proper mode through the first pair of marks, and can finely adjust the posture and the position of the movable wheel frame through the second pair of marks (for example, the lateral deviation between the front and rear axes of the movable wheel frame and the front and rear axes of the toilet bowl is smaller than a preset threshold value so as to ensure that the movable wheel frame is accurately opposite to the toilet bowl and can move to the position above the toilet bowl in a straight line), and finally the movable wheel frame is moved to the toilet bowl, so that the toilet seat is aligned to the toilet seat from the.
Preferably, in any embodiment of the present invention, further comprising:
determining the approach path based on the midpoints-connection line after the wheel carriage travels into an alignment area in front of the toilet bowl.
In this way, a suitable approach path can be determined according to the position of the movable wheel carrier (i.e. relative to the toilet bowl) to accurately and quickly achieve the seating of the movable wheel carrier on the toilet bowl seat.
In one embodiment, optionally, the alignment area in front of the toilet bowl may be: a sector defined by two rays diverging at an angle α to the pan fore-aft axis, centered on the midpoint between the first pair of marks on the pan front edge, wherein the angle α may be 50 degrees, preferably 40 degrees, for example 30 degrees. If the movable wheel carrier enters into the alignment area, the angle between the midpoint connecting line and the front and rear axes of the toilet bowl is smaller (can be considered to be smaller than alpha), which means that the inclination of the movable wheel carrier relative to the toilet bowl is smaller, at this time, a straight approach path can be adopted, and after the movable wheel carrier rapidly moves (for example, can be realized based on a first pair of marks arranged on the front edge of the toilet bowl) to the close part (front or side front) of the toilet bowl at the same inclination angle, the posture of the movable wheel carrier can be conveniently adjusted (for example, can be realized by horizontally rotating the movable wheel carrier).
In one embodiment, optionally, if the binocular measuring and positioning system (including left and right optical sensors) detects that the movable wheel carriage is outside this alignment area, the angle between the midpoint line and the toilet bowl fore-aft axis is large (which can be considered to be greater than α), indicating that the tilt of the movable wheel carriage relative to the toilet bowl is large, in which case it may be difficult or take more time to subsequently "adjust the attitude of the wheel carriage to face the toilet bowl" if a straight approach path is taken, in which case a curved approach path may be taken, the tilt angle of the movable wheel carriage relative to the toilet bowl is continuously reduced during approach of the toilet bowl (which may be implemented, for example, based on a first pair of marks provided on the toilet bowl leading edge) so that the movable wheel carriage has a suitably reduced tilt angle (less than α) when it reaches the near (front or side-front) toilet bowl, it is advantageous to conveniently adjust the posture of the movable wheel carrier thereafter (for example, by horizontally rotating the movable wheel carrier) to face the toilet bowl.
In another embodiment, optionally, if the binocular measuring positioning system (including the left and right optical sensors) detects that the movable wheel carriage is outside of this alignment area, the greater angle between the midpoint line and the front and rear axes of the toilet bowl (which may be considered greater than a) indicates a greater deflection of the movable wheel carriage relative to the toilet bowl, at which point it may be difficult or take more time to subsequently "adjust the posture of the wheel carriage to face the toilet bowl" if a straight approach path is taken, in this case, a specific intermediate position within the alignment area (e.g., disposed on the toilet bowl front-rear axis) may be set as a target, the movable truck is moved to an intermediate position within the alignment area (rather than directly toward the toilet bowl) with a reduced skew angle (less than a), thereby facilitating convenient adjustment of the attitude of the wheel frame thereafter (e.g., by horizontal rotation of the movable wheel frame) to face the toilet bowl.
In one embodiment, in the above case, optionally, if said intermediate position within the alignment area is farther from the toilet bowl, the movable wheel carriage can be moved further towards the toilet bowl (for example, it can be realized on the basis of a first pair of marks provided on the front edge of the toilet bowl, for example, it can be moved along the toilet bowl fore-and-aft axis) until the toilet bowl is close (in front or in lateral front) in order to move to the front or in lateral front of the toilet bowl through a two-step approach path. Since the movable wheel frame has entered into the alignment area for adjusting the posture to face the toilet bowl in the first movement, it is always in the alignment area in the second movement thereafter, thereby facilitating the convenient adjustment of the posture of the wheel frame thereafter (for example, by the horizontal rotation of the movable wheel frame) to face the toilet bowl when the movable wheel frame reaches the vicinity (front or lateral front) of the toilet bowl.
In one embodiment, the movement of the movable wheel carrier towards said intermediate position may optionally be performed perpendicular to the toilet bowl front-to-rear axis.
In one embodiment, optionally, the distance of the center connecting line does not exceed 2 meters, thereby ensuring high measurement positioning accuracy.
In one embodiment, optionally, a display screen is disposed on the movable wheel carriage, and images observed by the binocular measuring and positioning system including the left and right optical sensors can be presented (e.g., synchronously displayed) on the display screen for viewing by the user, so as to facilitate the reference operation of the user.
In one embodiment, optionally, when the key image is presented to the user through the display screen, a prompt message is sent out simultaneously to remind the user of the key image. In this way, the user can perform, adjust, or switch operation actions in time according to the actual situation, such as performing detection imaging of a mark, adjusting a travel path, switching between manual operation and automatic operation, and the like.
In one embodiment, the prompting message optionally includes a prompt window that pops up on the display screen, a prompting message that is highlighted (e.g., larger, red, or flashing text or images).
In one embodiment, the alert message may optionally include an alert sound, such as a particular ring tone or an anthropomorphic voice.
In one embodiment, the user is optionally prompted when the movable wheel carriage enters an alignment area in front of the toilet bowl.
In one embodiment, optionally, the ground within the alignment area may have a particular optical pattern (e.g., color, pattern, reflective properties, etc.) to facilitate recognition when the movable wheel carriage enters the alignment area.
In one embodiment, optionally, the ray boundaries defining the alignment area may have a particular optical pattern (e.g., color, pattern, reflective properties, etc.) to facilitate identification when the movable wheel carriage enters the alignment area.
FIG. 1 is a schematic diagram of a potty assist system according to an embodiment of the present invention.
In the embodiment shown in fig. 1, there is seen a toileting assistance system comprising: a movable wheel carriage 100, and paired marks 901, 902 arranged on the toilet bowl 900 on the left and right sides of the front and rear axis of the toilet bowl, the wheel carriage comprising:
two wheeled front legs 101 disposed on the front side (lower side in fig. 1) of the wheel frame and two wheeled rear legs 102 disposed on the rear side (upper side in fig. 1) of the wheel frame;
an auxiliary sitting and standing mechanism;
a seat ring 330 comprising a central through hole and connected to the output of the auxiliary seating mechanism;
left and right optical sensors 501, 502 which are disposed toward the rear side and symmetrically disposed on the left and right sides of the front and rear axis of the wheel frame and have the same height as the ground;
a control system comprising a central controller, and a user manipulator;
wherein the wheel carriage is movable onto the toilet bowl according to the positioning of the pair of marks by the left and right optical sensors such that the seat is aligned with a toilet seat of the toilet bowl from above.
The toilet auxiliary system and the operation method thereof provided by the embodiment of the invention can effectively assist weak users to smoothly use the toilet.
It should be understood that the orientations described herein, such as front, back, left, right, upper, lower, inner, outer, etc., are relative positional expressions, which are used to describe relative positional relationships between the respective related components or portions, and are not used to limit the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
In the description of the various elements herein, the juxtaposition of the plural features connected by "and/or" means that one or more (or one or more) of these plural features are included. For example, by "a first element and/or a second element" is meant: one or more of the first and second elements, i.e., only the first element, or only the second element, or both the first and second elements (both present).
The various embodiments provided in this invention can be combined with each other as desired, e.g., features of any two, three or more embodiments can be combined with each other to form new embodiments of the invention, which are also within the scope of the invention and cannot be implemented unless otherwise indicated or technically contradicted by context.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A toileting assistance system, comprising: a movable wheel frame and a pair of marks arranged on the toilet bowl at the left and right sides of the front and rear axes of the toilet bowl, wherein the wheel frame comprises:
two wheeled front legs disposed at a front side of the wheel frame and two wheeled rear legs disposed at a rear side of the wheel frame;
an auxiliary sitting and standing mechanism;
a seat ring including a central through hole and connected to an output of the auxiliary seating mechanism;
the left optical sensor and the right optical sensor are arranged towards the rear side, symmetrically arranged on the left side and the right side of the front axis and the rear axis of the wheel carrier and have the same height with the ground;
a control system comprising a central controller, and a user manipulator;
wherein the wheel carriage is movable onto the toilet bowl according to the positioning of the pair of marks by the left and right optical sensors such that the seat is aligned with a toilet seat of the toilet bowl from above.
2. The toileting assistance system of claim 1,
the pair-wise mark includes: a pair of circular marks of the same size.
3. The toileting assistance system of claim 1,
two marks of the pair of marks are arranged in the same plane.
4. The toileting assistance system of claim 1,
the pair-wise mark includes: a first pair of marks provided on a leading edge of a toilet seat of the toilet bowl; and a second pair of marks provided on a front surface of a tank of the toilet.
5. The toileting assistance system of claim 1, further comprising:
a collision avoidance sensor disposed horizontally toward the rear side between the left and right optical sensors.
6. A method of operating a toileting assistance system according to claim 1 comprising the steps of:
determining a position of the wheel carriage relative to the toilet bowl based on a first pair of marks disposed on a leading edge of the toilet bowl detected by the left and right optical sensors;
determining a straight or curved approach path based on a midpoint connecting line between the midpoint between the left and right optical sensors and the midpoint between the first pair of marks, and moving the wheel carrier to the front or lateral front of the toilet bowl along the determined approach path under the guidance of the left and right optical sensors;
adjusting the posture of the wheel carrier to be opposite to the toilet bowl;
determining a lateral deviation of a fore-aft axis of the wheel frame relative to a toilet bowl fore-aft axis and adjusting a pose of the wheel frame when the lateral deviation exceeds a lateral deviation threshold such that the lateral deviation is less than the lateral deviation threshold;
moving the wheel carriage towards the toilet bowl with the seat aligned above a toilet seat of the toilet bowl.
7. The method of claim 6,
the first pair of marks includes: a pair of circular marks of the same size.
8. The method of claim 6,
the two marks of the first pair of marks are arranged in the same plane.
9. The method of claim 6,
said determining said lateral deviation comprises: the lateral deviation is determined based on a second pair of marks disposed on a front surface of a tank of the toilet bowl detected by the left and right optical sensors.
10. The method of claim 6, further comprising:
determining the approach path based on the midpoints-connection line after the wheel carriage travels into an alignment area in front of the toilet bowl.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011382917.4A CN112336240A (en) | 2020-12-01 | 2020-12-01 | Toilet assisting system and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011382917.4A CN112336240A (en) | 2020-12-01 | 2020-12-01 | Toilet assisting system and operation method thereof |
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| CN112336240A true CN112336240A (en) | 2021-02-09 |
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Application publication date: 20210209 |