CN214807314U - Control circuit structure of nursing robot - Google Patents

Abstract

The utility model provides a control circuit structure of nursing robot, including host computer circuit and working head circuit. The host circuit comprises a control unit, a power supply circuit, a first drive circuit, a drying circuit and a flushing circuit, wherein the control unit is electrically connected with the control unit. The working head circuit comprises: a control chip in communication connection with the control unit, and a stool detection module and a gyroscope electrically connected with the control chip. The gyroscope can be used for detecting whether the working head is inclined and feeding back the information to the control chip, and the control chip feeds back the information to the control unit, so that the working head is not driven to flush the water module to prevent the flushed water from leaking out and affecting the use of a user when the working head is inclined.

Description

Control circuit structure of nursing robot

[ technical field ] A method for producing a semiconductor device

The utility model belongs to the technical field of the technique of nursing machine and specifically relates to a control circuit structure of nursing robot is related to.

[ background of the invention ]

In the existing daily life, people who cannot take care of the life need to be helped, and the people who cannot take care of the life need to take care of defecation and the like. The traditional mode of handling stool and urine adopts urine bag and faecium pan to accept stool and urine, and is handled by the person of waiving and washes and wipe etc. to the person who can not manage oneself again, and this mode, to the person of waiving, need endure its smell etc. and handle comparatively loaded down with trivial details, has appeared automatic nursing machine on this market for handle excrement and wash etc. to the person who can not manage oneself, the traditional drawback of solution.

The existing automatic nursing machine mainly comprises a working head, a negative pressure source, a water tank, a drying module, a flushing module, a sewage tank and the like, wherein excrement and the like are pumped into the sewage tank by the negative pressure source, clear water is pumped by the flushing module to flush the working head and the lower body of a patient, and drying is realized by the drying module. Although current automatic nursing machine can satisfy people's basic demand, current automatic nursing machine does not possess the position to the working head and detects, leads to the working head easily when the slope, washes the module and still washes the function, leads to water to spill easily, influences user's use and experiences the sense.

Accordingly, the prior art is in need of improvement and development.

[ Utility model ] content

An object of the utility model is to provide a control circuit structure of nursing robot for solve current automatic nursing machine and still wash the problem that the function leads to the hourglass to influence the user to use when the slope.

The technical scheme of the utility model as follows: a control circuit structure of a nursing robot comprises a host circuit and a working head circuit;

the host circuit includes: the control unit is electrically connected with a power circuit which is used for connecting an external power supply and supplying power to the inside, a first driving circuit which is electrically connected with the control unit and is used for driving a motor of the dust collector, a drying circuit which is electrically connected with the control unit and is used for driving the drying module, and a washing circuit which is electrically connected with the control unit and is used for driving the washing module; the working head circuit comprises: the control chip is in communication connection with the control unit, the excrement detection module is electrically connected with the control chip and used for detecting excrement, and the gyroscope is electrically connected with the control chip and used for detecting whether the working head is inclined or not.

Further, the excrement detection module comprises an excrement detection circuit and a urine detection circuit; the urine detection circuit includes: the first comparator is connected with the control chip, and the electrode sensor is electrically connected with the first comparator and used for detecting urine; the stool detection circuit includes: the second comparator is connected with the control chip, and the infrared pair tube is electrically connected with the second comparator and used for detecting the excrement.

Further, the host circuit further comprises a deodorization module electrically connected with the control unit and used for driving the deodorization unit to deodorize.

Further, the host circuit further comprises a slop pail detection module electrically connected with the control unit for detecting a slop pail.

Further, the slop pail detection module includes: the device comprises a first sensor for detecting whether the slop pail exists, a first water level sensor for detecting the water level of the slop pail, a second sensor for detecting the air pressure in the slop pail, and a third comparator electrically connected with the first sensor, the first water level sensor and the control unit respectively.

Furthermore, the host circuit further comprises a purified water bucket detection module for detecting the purified water bucket.

Further, the clean water bucket detection module comprises: the water purifying device comprises a third sensor for detecting whether the purified water bucket exists, a second water level sensor for detecting the water level of the water supplementing tank, and an amplifier which is electrically connected with the third sensor, the second water level sensor and the control unit respectively.

Furthermore, the host circuit further comprises a first Bluetooth interface electrically connected with the control unit and used for connecting a first Bluetooth module, and the working head circuit further comprises a second Bluetooth interface electrically connected with the control chip and used for connecting a second Bluetooth module, wherein the first Bluetooth module is in communication connection with the second Bluetooth module.

Further, the host circuit further comprises an exhaust module electrically connected with the control unit and used for driving the exhaust fan.

Further, the gyroscope is a chip of an MPU6050 model.

The beneficial effects of the utility model reside in that: compared with the prior art, the utility model discloses an excrement and urine detection module detects excrement and urine to detect information feedback and give control chip, control chip then gives the control unit feedback excrement and urine information, and the control unit then drives dust catcher motor work, with this lets the slop pail form the negative pressure, with urine or excrement and urine on the realization absorption working head. When the washing is needed, the control unit controls the washing module to work through the washing circuit to wash the working head and the human body, and after the washing is completed, the drying module is controlled to work through the drying circuit to dry the human body. Additionally, the utility model discloses working head circuit integration has the gyroscope, can be used to detect whether the working head inclines and feeds back to control chip through the gyroscope, and control chip has and feeds back this information to the control unit to this realizes that the working head when the slope, does not drive the bath module and washes work, prevents that the water that washes from leaking out, influences the user and uses.

[ description of the drawings ]

Fig. 1 is a perspective view of the nursing machine of the present invention.

Fig. 2 is an internal structure view of the main frame of the nursing machine for removing the outer shell.

Fig. 3 is an internal structure view of the nursing machine with the host machine removing the shell from another view angle.

Fig. 4 is a schematic view of the water purifying bucket and the water purifying bucket mounting groove in the nursing machine of the present invention.

Fig. 5 is a schematic block diagram of the host circuit of the present invention.

Fig. 6 is a schematic block diagram of the working head circuit of the present invention.

Fig. 7 is a circuit diagram of the power supply circuit of the present invention.

Fig. 8 and 9 are circuit diagrams of the voice module of the present invention.

Fig. 10 is a circuit diagram of a third docking port of the present invention.

Fig. 11 is a circuit diagram of the control unit and the peripheral circuit according to the present invention.

Fig. 12 is a circuit diagram of a first docking port according to the present invention.

Fig. 13 is a circuit diagram of the upgrade interface of the present invention.

Fig. 14 is a circuit diagram of a first bluetooth interface of the present invention.

Fig. 15 is a circuit diagram of the wireless communication interface of the present invention.

Fig. 16 is a circuit diagram of a third driving circuit according to the present invention.

Fig. 17 is a circuit diagram of a second driving circuit according to the present invention.

Fig. 18 is a circuit diagram of the touch screen interface of the present invention.

Fig. 19 is a circuit diagram of a fourth driving circuit according to the present invention.

Fig. 20 is a circuit diagram of the exhaust fan module of the present invention.

Fig. 21 is a circuit diagram of a fifth driving circuit according to the present invention.

Fig. 22 is a circuit diagram of the positive pressure sensor and the negative pressure sensor according to the present invention.

Fig. 23 and 24 are circuit diagrams of the second temperature sensor according to the present invention.

Fig. 25 is a circuit diagram of the deodorization module of the present invention.

Fig. 26 is a circuit diagram of the present invention for supplying power to the working head.

Fig. 27 is a circuit diagram of the outlet valve circuit, the air valve circuit and the circulating valve circuit according to the present invention.

Fig. 28 and 29 are circuit diagrams of the purified water bucket detection module of the present invention.

Fig. 30 and 31 are circuit diagrams of the slop pail detecting module of the present invention.

Fig. 32 is a circuit diagram of the 4G upgrade port circuit and the motherboard burning circuit of the present invention.

Fig. 33 is a circuit diagram of the light control circuit and the LED lamp of the present invention.

Fig. 34 is a circuit diagram of the wireless charging transmitting module of the present invention.

Fig. 35 is a circuit diagram of the wireless charging receiving module of the present invention.

Fig. 36 and 37 are circuit diagrams of the urine detection circuit of the present invention.

Fig. 38 and 39 are circuit diagrams of the stool detection circuit of the present invention.

Fig. 40 is a circuit diagram of the gyroscope of the present invention.

Fig. 41 is a circuit diagram of the control chip and its peripheral circuit according to the present invention.

Fig. 42 is a circuit diagram of a second bluetooth interface of the present invention.

Fig. 43 is a circuit diagram of the remote control interface of the present invention.

Fig. 44 is a circuit diagram of the AC output control board of the present invention.

[ detailed description ] embodiments

The present invention will be further described with reference to the accompanying drawings and embodiments.

Referring to fig. 1-4, an embodiment of the present invention provides a nursing machine, which includes a main machine 101 and a working head 102 for cooperating with the buttocks of a human body.

The working head 102 is provided with a working head circuit board (not shown), and the main machine 101 includes a main machine circuit board, a cleaner motor 113, a slop pail 106, a deodorization unit 115, a drying module 119, a washing module, a first heater 109, an ultraviolet lamp sterilizer 109, an exhaust fan 120, a clean water pail 105, and a clean water pail mounting groove 111. The working head circuit board is connected with the host circuit board.

The slop pail 106 is respectively connected with the working head 102 and the dust collector motor 113, the main machine circuit board is connected with the dust collector motor 113, when a user urinates or defecates, the working head circuit board feeds back a signal, the working head circuit board feeds back the signal to the main machine circuit board, the main machine circuit board drives the dust collector motor 113 to work, and the slop pail 106 forms negative pressure so as to suck urine or excrement on the working head 102.

The deodorization unit 115 is connected with the dust collector motor 113, the deodorization unit 115 comprises negative ions 117 electrically connected with the host circuit board, when excrement is sucked and the sewage bucket 106 needs to be deodorized, the dust collector motor 113 is continuously driven to work, odor of the sewage bucket 106 is conveyed to the deodorization unit 115 after being sucked by the dust collector motor 113, and the host circuit board drives the negative ions to work to realize deodorization.

The water purification bucket 105 is used for storing water and is installed in the water purification bucket installation groove 111, a water replenishing groove (not shown in the figure) is arranged in the water purification bucket installation groove 111, the water replenishing groove is located below the water purification bucket 105, water outlets of the water purification bucket 105 and the water replenishing groove are connected with the water diversion valve 121 through a pipeline, the water diversion valve 121 is connected with the water circulating pump 122 through a pipeline, the water circulating pump 122 is connected with the ultraviolet lamp sterilizer 109 through a pipeline, the ultraviolet lamp sterilizer 109 is connected with the first heater 109 through a pipeline, and an outlet of the first heater 109 is connected with the water replenishing groove. The first heater 109, the shunt valve 121 and the water circulation pump 122 are all electrically connected to the host circuit board. Therefore, when the nursing machine is started, the water circulating pump 122 is started, and the water in the purified water barrel 105 and the water replenishing tank enters the ultraviolet lamp sterilizer 109 through the shunt valve 121 and the water circulating pump 122 for sterilization, and then enters the first heater 109 for heating and enters the water replenishing tank for storage.

The flushing module comprises a high-pressure pump 112 electrically connected with the host circuit board, the working head 102 is connected with the water supplementing groove through a pipeline, and the high-pressure pump 112 is connected to the pipeline connecting the working head 102 and the water supplementing groove through a pipeline. When the washing is needed, the host circuit board drives the high-pressure pump 112 to work, the heated and sterilized water is taken from the water supplementing groove and is transmitted to the working head 102, and the washing for the human body and the working head 102 is realized by matching with the air pressure of the high-pressure pump 112.

The drying module 119 includes: the fan 116 and the air heater 108 (such as a PTC heating sheet) are electrically connected with the host circuit board, two ends of the air heater 108 are respectively connected with the fan 116 and the working head 102, when drying is needed, the host circuit board drives the fan 116 and the air heater 108 to work, and the fan 116 transmits air heated by the air heater 108 to the working head 102, so that drying of a human body is achieved.

The exhaust fan 120 is connected with the host circuit board, so that the internal gas of the nursing machine can be exhausted when the nursing machine is started.

In order to match the above structure, the embodiment of the utility model provides a control circuit structure of nursing robot is still provided.

Referring to fig. 5-44, the control circuit structure of the nursing robot includes a host circuit and a working head circuit.

The host circuit comprises a control unit 1, and a power supply circuit 24, a first driving circuit 20, a drying circuit 4 and a washing circuit 3 which are electrically connected with the control unit 1. The power circuit 24 is used for externally connecting a power supply and supplying power to the control unit 1, the first driving circuit 20, the drying circuit 4 and the washing circuit 3, the first driving circuit 20 is electrically connected with the dust collector motor 113 and used for driving the dust collector motor 113, the drying circuit 4 is electrically connected with the drying module 119 and used for driving the drying module 119 to work, and the washing circuit 3 is electrically connected with the washing module and used for driving the washing module to work. The working head circuit comprises: the control unit comprises a control chip 27 connected with the control unit 1 in a communication mode, a feces detection module 38 electrically connected with the control chip 27 and used for detecting feces, and a gyroscope 33 electrically connected with the control chip 27 and used for detecting whether the working head 102 is inclined or not.

Thus, when the stool detection module 38 detects the stool, a signal is fed back to the control chip 27, the control chip 27 feeds back stool information to the control unit 1, and the control unit 1 drives the dust collector motor 113 to work, so that the sewage bucket 106 forms negative pressure to suck urine or stool on the working head 102. When the washing is needed, the control unit 1 controls the washing module to work through the washing circuit 3 to wash the working head 102 and the human body, and after the washing is completed, the control unit 1 controls the drying module 119 to work through the drying circuit 4 to dry the human body. Additionally, the utility model discloses working head circuit integration has gyroscope 33, can be used to detect whether the working head 102 slopes and feed back to control chip 27 through gyroscope 33, and control chip 27 has and feeds back this information to control unit 1 to this realizes that working head 102 does not drive the washing module and washes work when the slope, prevents that the water that washes from leaking out, influences the user and uses.

Specifically, referring to fig. 36-39, in the present embodiment, the stool detection module 38 includes a stool detection circuit 34 and a urine detection circuit 35. The urination detection circuit 35 includes: a first comparator 351 (corresponding to U16 of fig. 37) connected to the control chip 27 (corresponding to U17 of fig. 36), and an electrode sensor 352 (corresponding to J3 of fig. 36) electrically connected to the first comparator 351 for detecting urine. The stool detection circuit 34 includes: a second comparator 341 (corresponding to U5 of fig. 38 and U9 of fig. 39) connected to the control chip 27, and an infrared pair tube 342 (corresponding to U8 of fig. 38 and U11 of fig. 39) electrically connected to the second comparator 341 for detecting feces. Thus, when the user urinates, the electrode sensor 352 can provide a signal to the first comparator 351, and the first comparator 351 compares the signal and feeds back the signal to the control chip 27, so that the control unit 1 can control the operation of the dust collector motor 113. Similarly, when the user defecates, the infrared pair transistor 342 can provide a signal to the second comparator 341, and the second comparator 341 compares the signal and feeds back the signal to the control chip 27, so that the control unit 1 controls the operation of the vacuum cleaner motor 113.

It should be noted that the urine has strong electrolyte, and the strong electrolyte has stronger electric conductivity, compares through first comparator 351, can realize just giving control chip 27 feedback signal under the circumstances that has strong electrolyte, realizes that control unit 1 controls the work of dust catcher motor 113, prevents that ordinary water also lets the nursing machine work, influences the user and uses experience and feel.

In addition, referring to fig. 41, the working head circuit further includes a programming interface 29 (corresponding to J5 of fig. 41) electrically connected to the control chip 27, and the programming interface 29 can burn programs to the control chip 27.

The working head circuit further comprises a first temperature sensor 30 electrically connected with the control chip 27 and used for detecting the temperature of the water of the flushing module, wherein the first temperature sensor 30 is arranged at a water outlet of the working head 102 for flushing a human body, so that the phenomenon that the temperature of flushing water is too high and the use experience of a user is influenced is prevented.

The gyroscope 33 is a chip of MPU6050 type, the control chip 27 is a chip of STC15W4K16S4 type, and the first comparator 351 and the second comparator 341 are chips of L393 type.

In this embodiment, the host circuit further includes a first bluetooth interface 11 electrically connected to the control unit 1 for connecting to a first bluetooth module, as shown in fig. 14, and the working head circuit further includes a second bluetooth interface 28 electrically connected to the control chip 27 for connecting to a second bluetooth module, as shown in fig. 42, wherein the first bluetooth module is in communication connection with the second bluetooth module. The first bluetooth module is in communication connection with the second bluetooth module, so that the control chip 27 is in data communication with the control unit 1.

In an embodiment, the working head circuit includes a wireless charging transmitting module 37 and a wireless charging receiving module 36 for implementing wireless charging by matching with the wireless charging transmitting module 37, specifically, the wireless charging transmitting module 37 is electrically connected to the power circuit 24, as shown in fig. 34, 35 and 26, so as to implement power supply to the working head circuit board.

In one embodiment, the host circuit further comprises a deodorization module 10 electrically connected to the control unit 1 for driving the deodorization unit 115 to perform deodorization, as shown in fig. 25. When deodorizing, the control unit 1 drives the dust collector motor 113 to work, and drives the deodorizing unit 115 to deodorize through the deodorizing module 10, and the odor of the slop tub 106 is sucked by the driving dust collector motor 113 and then transmitted to the deodorizing unit 115, and is deodorized through the deodorizing unit 115.

In an embodiment, the flushing circuit 3 comprises: a second driving circuit 19, an air valve circuit 37 and a water outlet valve circuit 36 electrically connected with the control unit 1, and a positive pressure sensor 32 electrically connected with the control unit 1 for detecting flushing force, as shown in the figure. Specifically, the second driving circuit 19 is connected to the high-pressure pump 112, the air valve circuit 37 is connected to an air valve, the air valve is located at the air output end of the high-pressure pump 112 and used for adjusting the pressure of the air output by the high-pressure pump 112, the water outlet valve circuit 36 is connected to a water outlet valve, the water outlet valve is arranged on a pipeline connecting the high-pressure pump 112 and the working head 102, and the positive pressure sensor 32 is arranged on a connecting flushing pipeline between the high-pressure pump 112 and the working head 102. When the human body needs to be washed, the control unit 1 drives the high-pressure pump 112 to work through the second driving circuit 19, controls the water outlet valve and the air valve to be opened, realizes that the water supplementing groove takes water and pressurizes, transmits the water to the working head 102, and realizes that the human body and the working head 102 are washed.

In one embodiment, the drying circuit 4 includes: a third driving circuit 18 electrically connected to the control unit 1 for driving the air heater 108 to heat the air, and a fourth driving circuit 17 electrically connected to the control unit 1 for driving the fan 116, as shown in fig. 16 and 19. The third driving circuit 18 is used for driving the air heater 108, and the fourth driving circuit 17 is used for driving the fan 116, so that the air heater 108 can be driven to heat air during drying, and the hot air is transmitted to and output from the working head 102 through the fan 116 to achieve drying.

In an embodiment, the host circuitry further comprises a slop pail detection module 5 electrically connected to the control unit 1 for detecting the slop pail 106.

Specifically, the slop pail detecting module 5 includes: a first sensor 52 for detecting the presence of the slop pail 106, a first water level sensor 53 for detecting the water level of the slop pail 106, a second sensor 54 for detecting the air pressure inside the slop pail 106, and a third comparator 51 electrically connected to the first sensor 52, the first water level sensor 53, and the control unit 1, respectively. Specifically, the first sensor 52 is disposed on the nursing machine corresponding to the position of the slop pail 106, the first water level sensor 53 is disposed on the slop pail 106, and the second sensor 54 is a negative pressure sensor and is electrically connected to the control unit 1, as shown in fig. 30 and 31. A first conductive elastic sheet (not shown) connected with the first water level sensor 53 is arranged on the outer side of the slop pail 106, and a second conductive elastic sheet (not shown) matched with the first conductive elastic sheet is arranged at a position of the nursing machine corresponding to the first conductive sheet, so that when the slop pail 106 is arranged in the nursing machine, the second conductive elastic sheet is abutted against the first conductive elastic sheet, and the electric conduction is realized. Thus, the first sensor 52 can detect whether the slop pail 106 is present, and if the slop pail 106 is not present, the third comparator 51 outputs a signal to the control unit 1 for comparison, so that the control unit 1 can control the vacuum cleaner motor 113 to operate after the slop pail 106 is prevented from being removed. The water level of the slop pail 106 is fed back by the first water level sensor 53, preventing the water level in the slop pail 106 from being too high to affect use. When the indicator light or the voice module 26 is matched, the alarm can be used for reminding a user of timely dumping sewage and excrement in the sewage bucket 106.

In one embodiment, the host circuit further includes a fresh water bucket detection module 6 for detecting a fresh water bucket 105.

Specifically, the purified water bucket detection module 6 includes: a third sensor 62 for detecting whether the purified water bucket 105 exists, a second water level sensor 63 for detecting the water level of the replenishing tank, and an amplifier 61 electrically connected to the third sensor 62, the second water level sensor 63, and the control unit 1, respectively. The third sensor 62 is disposed on the purified water bucket installation groove 111 and corresponding to the purified water bucket 105, and the second water level sensor 63 is disposed in the water replenishing tank, as shown in fig. 28 and 29. Therefore, the second sensor 54 can detect whether the purified water bucket 105 exists, and if the purified water bucket 105 does not exist, the amplifier 61 compares the detected purified water bucket with the detected purified water bucket and outputs a signal to the control unit 1, so that the control unit 1 also controls the water circulating pump 122 to work after the purified water bucket 105 is prevented from being taken away. The water level of the water replenishing tank is fed back through the second water level sensors 63, wherein the number of the second water level sensors 63 is two, and the two second water level sensors are respectively used for feeding back the high and low water levels in the water replenishing tank to prevent the water level in the water replenishing tank from being too high. And, when the cooperation pilot lamp is used, can remind the user in time to add water for water purification bucket 105, prevent that the water in the moisturizing groove is crossed lowly. The host circuit further includes a fifth driving circuit 43 and a circulating valve circuit 45 electrically connected to the control unit 1, as shown in fig. 27, the fifth driving circuit 43 is electrically connected to the water circulating pump 122 for driving the water circulating pump 122 to work, the circulating valve circuit 45 is electrically connected to a circulating valve (not shown in the figure), and the circulating valve is disposed on a pipeline connecting the water circulating pump 122 and the ultraviolet lamp sterilizer 109 for controlling the on-off of the water circulation.

In one embodiment, the host circuit further includes an exhaust module 8 electrically connected to the control unit 1 for driving the exhaust fan 120, as shown in fig. 20, the exhaust module 8 is electrically connected to the exhaust fan 120, so that the control unit 1 drives the exhaust fan 120 through the exhaust module 8 to exhaust the gas inside the device.

In an embodiment, the host circuitry further comprises: the voice module 26 electrically connected to the control unit 1 is used for broadcasting voice, and specifically, the voice module 26 includes a voice chip 261 electrically connected to the control unit 1 and a speaker 262 electrically connected to the voice chip 261, as shown in fig. 8 and 9. Because the water in the purified water bucket 105 enters the water replenishing tank through the shunt valve 121, the water circulating pump 122, the ultraviolet lamp sterilizer 109 and the first heater 110, when no water is replenished to the water replenishing tank, the purified water bucket 105 is lack of water, and therefore, the low water level information fed back by the second water level sensor 63 can remind a user that the water in the sewage bucket 106 is full or the water in the water replenishing tank is low and the water in the purified water bucket 105 should be replenished through the voice module 26.

In an embodiment, the host circuitry further comprises: a wireless communication interface 13 for connecting a wireless communication module is electrically connected with the control unit 1, as shown in fig. 15. The wireless communication interface 13 is used for connecting a wireless communication module which is used for being connected with a mobile phone, a computer and other terminals or a cloud end, so that the function of operating the nursing machine through the mobile phone is realized, wherein the wireless communication module can be one of 3G, 4G, 5G or WiFi modules, and is not limited herein.

In an embodiment, the host circuitry further comprises: the touch screen interface 14 for connecting the touch screen 104 is electrically connected to the control unit 1, as shown in fig. 18. The touch screen interface 14 is electrically connected with the touch screen 104, so that the nursing machine can be operated through the touch screen 104.

In an embodiment, the host circuitry further comprises: a first burning interface 12 (corresponding to UART in fig. 11) electrically connected to the control unit 1 for performing a burning procedure thereon, and an upgrade interface 15 electrically connected to the control unit 1 for upgrading the same, as shown in fig. 11 and 13. The first burning interface 12 is used for facilitating the burning of the program of the host circuit board to the control unit 1 before the host circuit board is installed in the nursing machine, and the upgrading interface 15 is used for facilitating the burning of the program of the host circuit board to the control unit 1 after the host circuit board is installed in the nursing machine.

In one embodiment, the host circuitry further comprises a remote control interface 16 for connecting a remote control, as shown in FIG. 43. The remote control interface 16 is connected with the remote controller 118 through a wire, so that the washing module, the dust collector motor 113, the deodorization module 10 and the drying module 119 can be respectively controlled to work through the remote controller 118, the control is convenient, and inconvenience in controlling the nursing machine to execute work caused by wireless easy loss or careless taking away along with people and the like is prevented.

In an embodiment, the host circuitry further comprises: a second temperature sensor 7 for detecting the temperature of the makeup tank water is electrically connected to the control unit 1, as shown in fig. 23 and 24. Specifically, second temperature sensor 7 sets up in the moisturizing groove, and second temperature sensor 7 has two, and the interval sets up, detects the temperature of two different positions water respectively, prevents that the temperature that the water storage chamber is close to the thermal cycle interface of intaking is too high, influences the use.

In an embodiment, the host circuitry further comprises: a first temperature control switch 9 (corresponding to TSW4 in fig. 44) for detecting the temperature of the makeup tank water is electrically connected to the control unit 1, as shown in fig. 44. Specifically, the first temperature control switch 9 is arranged in the water replenishing tank, the first temperature control switch 9 is a kick type temperature controller switch, the first temperature control switch 9 is arranged close to a water outlet connected with the high-pressure pump 112, and the first temperature control switch 9 is turned off when detecting that the temperature of the water is too high, so that the first heater 110 is stopped from heating, and the water is prevented from being overheated.

In an embodiment, the utility model discloses nursing robot's control circuit structure still includes lamp plate 2, is provided with a plurality of LED lamps 22 on the lamp plate 2 and the light control circuit 21 of being connected with the control unit 1 electricity, and light control circuit 21 is connected with LED lamp 22 electricity and is used for controlling LED lamp 22, as shown in fig. 31, the colour that shows through LED lamp 22 can indicate user nursing machine's operating condition or remind user slop pail 106 water level to have been full, also or remind user pure water pail 105 to have water etc. play the warning effect.

In an embodiment, the host circuitry further comprises: the first control circuit 39 is electrically connected to the control unit 1 for driving the ultraviolet lamp sterilizer 109 and the first heater 108, as shown in fig. 44, and the control unit 1 controls the operation of the ultraviolet lamp sterilizer 109 and the first heater 108 by the first control circuit 39.

In an embodiment, the host circuitry further comprises: the ultraviolet lamp detection circuit 40 is electrically connected with the control unit 1 and used for detecting the ultraviolet lamp sterilizer 109, as shown in fig. 44, the ultraviolet lamp detection circuit 40 is connected with the ultraviolet lamp sterilizer 109, when the ultraviolet lamp sterilizer 109 is powered on and works, the ultraviolet lamp detection circuit 40 feeds back signals to the control unit 1 through the first optical coupler U1, and the control unit 1 can conveniently control the ultraviolet lamp sterilizer 109 to work.

In the above embodiments, the host circuit is integrated on the host circuit board, and the working head circuit is integrated on the working head circuit board. The host computer circuit board contains three, is lamp plate 2, main control board, USB board and AC output control board respectively. The main control board is integrated with a first docking port CONT1, the AC output control board is integrated with a second docking port CONT2 and a third docking port LED _ PCB1 for docking with the lamp panel 2, and the first docking port CONT1 is docked with the second docking port CONT 2. The USB board is provided with a fourth butt joint port electrically connected with the upgrading interface, a 4G upgrading port circuit and a mainboard burning circuit, and the application program of the nursing machine can be upgraded through the 4G upgrading port circuit and the mainboard burning circuit.

Specifically, the control unit 1, the power circuit 24, the deodorization module 10, the flushing module, the drying module, the slop pail detection module 5, the purified water pail detection module 6, the exhaust module 8, the voice module 26, the wireless communication interface 13, the touch screen interface 14, the first burning interface 12, the upgrading interface 15, the remote control interface 16, and the second temperature sensor 7 are integrated on the control board.

The uv lamp detection circuit 40, the first drive circuit 20, and the first control circuit 39 are all integrated on the AC output control board, and are electrically connected to the control unit 1 through the second docking port CONT 2. And the AC output control panel is integrated with a zero-crossing detection circuit 41 which is electrically connected with the control unit 1 and used for detecting whether a power supply is connected or not, the AC output control panel is externally connected with alternating current through a triangular plug, and the alternating current is rectified by a rectifying power part in the zero-crossing detection circuit 41 and then fed back to the control unit 1 through a second optical coupler to judge whether the alternating current is connected or not, as shown in figure 44, the control unit 1 can conveniently control the nursing machine to work. And power supply circuit 24 is connected with the triangle plug electricity through the adapter, and the adapter can be processed into 24V transmission from the external alternating current of triangle plug and is given the power, and power supply circuit 24 handles voltage and gives other circuit power supply.

A second temperature control switch TSW1 is further integrated on the AC output control board, as shown in fig. 44, the second temperature control switch TSW1 is disposed corresponding to the position of the first heater 108, and is used for switching off the heating of the first heater 108 after the first heater 108 is heated to a certain temperature when the first heater 108 is damaged, wherein the first temperature control switch 9 is integrated on the AC output control board.

The above embodiments of the present invention are only described, and it should be noted that, for those skilled in the art, modifications can be made without departing from the inventive concept, but these all fall into the protection scope of the present invention.

Claims (10)

1. A control circuit structure of a nursing robot is characterized by comprising a host circuit and a working head circuit;

the host circuit includes: the control unit is electrically connected with a power circuit which is used for connecting an external power supply and supplying power to the inside, a first driving circuit which is electrically connected with the control unit and is used for driving a motor of the dust collector, a drying circuit which is electrically connected with the control unit and is used for driving the drying module, and a washing circuit which is electrically connected with the control unit and is used for driving the washing module; the working head circuit comprises: the control chip is in communication connection with the control unit, the excrement detection circuit is electrically connected with the control chip and used for detecting excrement, the urine detection circuit is electrically connected with the control chip and used for detecting urine, and the gyroscope is electrically connected with the control chip and used for detecting whether the working head is inclined or not.

2. The control circuit structure of a nursing robot according to claim 1, wherein the urine detection circuit includes: the first comparator is connected with the control chip, and the electrode sensor is electrically connected with the first comparator and used for detecting urine; the stool detection circuit includes: the second comparator is connected with the control chip, and the infrared pair tube is electrically connected with the second comparator and used for detecting the excrement.

3. The control circuit structure of a nursing robot according to claim 1 or 2, characterized in that the host circuit further comprises a deodorizing module electrically connected with the control unit for driving the deodorizing unit to deodorize.

4. The control circuit arrangement of claim 3, wherein the host circuit further comprises a slop pail test module electrically connected to the control unit for testing the slop pail.

5. The control circuit structure of a nursing robot according to claim 4, wherein the slop pail detecting module includes: the device comprises a first sensor for detecting whether the slop pail exists, a first water level sensor for detecting the water level of the slop pail, a second sensor for detecting the air pressure in the slop pail, and a third comparator electrically connected with the first sensor, the first water level sensor and the control unit respectively.

6. The control circuit configuration of a nursing robot according to claim 5, wherein the host circuit further comprises a purified water bucket detection module for detecting a purified water bucket.

7. The control circuit structure of a nursing robot according to claim 6, wherein said clean water bucket detecting module comprises: the water purifying device comprises a third sensor for detecting whether the purified water bucket exists, a second water level sensor for detecting the water level of the water supplementing tank, and an amplifier which is electrically connected with the third sensor, the second water level sensor and the control unit respectively.

8. The control circuit structure of a nursing robot as recited in claim 7, wherein the host circuit further comprises a first bluetooth interface electrically connected with the control unit for connecting to a first bluetooth module, the working head circuit further comprises a second bluetooth interface electrically connected with the control chip for connecting to a second bluetooth module, and the first bluetooth module is in communication connection with the second bluetooth module.

9. The control circuit structure of a nursing robot according to claim 8, wherein the host circuit further comprises an exhaust module electrically connected with the control unit for driving an exhaust fan.

10. The control circuit structure of a nursing robot as recited in claim 9, wherein said gyroscope is a MPU6050 model chip.

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