WO2018113175A1 - 智能护理系统 - Google Patents

智能护理系统 Download PDF

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Publication number
WO2018113175A1
WO2018113175A1 PCT/CN2017/084486 CN2017084486W WO2018113175A1 WO 2018113175 A1 WO2018113175 A1 WO 2018113175A1 CN 2017084486 W CN2017084486 W CN 2017084486W WO 2018113175 A1 WO2018113175 A1 WO 2018113175A1
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WO
WIPO (PCT)
Prior art keywords
function module
walking
user
care system
transfer function
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Application number
PCT/CN2017/084486
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English (en)
French (fr)
Inventor
韩征和
林冠
丁秋时
Original Assignee
北京益康生活智能科技有限公司
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Application filed by 北京益康生活智能科技有限公司 filed Critical 北京益康生活智能科技有限公司
Priority to EP17882730.9A priority Critical patent/EP3560473A4/en
Publication of WO2018113175A1 publication Critical patent/WO2018113175A1/zh

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    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
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Definitions

  • Embodiments of the present invention relate to an intelligent care system.
  • the embodiment of the invention provides an intelligent nursing system, which can enable the care recipient to complete at least one nursing activity in daily life without the assistance of the nursing staff.
  • At least one embodiment of the present invention provides a smart care system including: a walking transfer function module; and at least one of a bed function module, a toilet function module, a bath function module, a seat function module, and a rehabilitation exercise function module or Several combinations.
  • Each of the functional modules includes a docking connector. When two or more functional modules work in cooperation, the functional modules are configured to be connected through a docking connector.
  • At least one embodiment of the present invention also provides another smart care system, comprising: a care function module comprising at least one of a bed function module, a toilet function module, a bath function module, a seat function module, and a rehabilitation motion function module And a combination of several; and a walking function module configured to be moveable to the care function module.
  • the care function module and the walking function module both include a butt joint, the care function module and the docking joint included in the walking function module
  • the rooms are configured to be rigidly connectable.
  • FIG. 1 is a schematic structural diagram of a smart care system module according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an active space layout of an intelligent nursing system according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a walking transfer function module of a smart care system in a folded state according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a walking transfer function module of a smart care system in a manned walking state according to an embodiment of the present invention
  • FIG. 5 is a side view of the walking transfer function module of the smart care system in an auxiliary standing state according to an embodiment of the present invention
  • FIG. 6 is a top view of a walking transfer function module of an intelligent nursing system in an auxiliary standing state according to an embodiment of the present invention
  • FIG. 7(a) and 7(b) are schematic diagrams showing a multi-stage lifting system of a smart care system walking transfer function module according to an embodiment of the present invention
  • FIGS. 8(a) and 8(b) are schematic diagrams showing a mechanism of a driven wheel track change mechanism of a walking and transferring function module of an intelligent nursing system according to an embodiment of the present invention
  • FIG. 9 is a schematic structural diagram of an autonomous navigation system, a wireless data connector, an obstacle avoidance sensor, a voice interaction system, and a total control chip on a mounting board of a smart care system walking transfer function module according to an embodiment of the present invention
  • FIG. 10 is a schematic structural diagram of a toilet function module of an intelligent nursing system according to an embodiment of the present invention.
  • FIG. 11 is a top plan view of a bed function module of an intelligent care system according to an embodiment of the present invention.
  • FIG. 12 is a side view of a bed function module of an intelligent care system according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a bed function module of a smart care system when a user is in a semi-lying state according to an embodiment of the present invention
  • FIG. 14 is a diagram of a bed function module of a smart care system according to an embodiment of the present invention. Schematic diagram when in a sitting position;
  • FIG. 15 is a schematic diagram of a bed function module of a smart care system when a user performs a leg rehabilitation exercise according to an embodiment of the present invention
  • FIG. 16 is a schematic diagram of a tray of a bed function module of a smart care system in a raised state according to an embodiment of the present invention
  • FIG. 17(a) to 17(e) are schematic diagrams showing the overall function of the bed function module of the smart care system in two mutually perpendicular directions according to an embodiment of the present invention
  • FIG. 18 is a schematic diagram of a bath function module of a smart care system according to an embodiment of the present invention.
  • 19(a) and 19(b) are schematic diagrams of a docking joint of a smart care system before and after docking according to an embodiment of the present invention
  • FIG. 20 is a schematic diagram of a seat function module of an intelligent care system according to an embodiment of the present invention.
  • 21 is a schematic diagram of a rehabilitation exercise function module of a smart care system according to an embodiment of the present invention.
  • FIG. 22 is a schematic structural diagram of another smart care system according to an embodiment of the present invention.
  • the main problem facing daily care in a certain age group is: due to aging, the mobility of the legs and feet is reduced, and it is impossible to complete free activities between daily necessities such as beds, toilets, bathtubs, sofas, etc. .
  • the wheelchair can function as a movement between different event venues, such as moving from bedroom to toilet, when the care recipient needs to move between wheelchairs or other items, such as moving from bed to wheelchair and from wheelchair to toilet At the time, it is difficult to rely on the user to complete the action. This is because the user can move relative to the bed or the toilet during the movement, which makes the movement process very dangerous and difficult for the elderly, so it must be assisted by the caregiver.
  • the embodiment of the invention provides an intelligent nursing system, which can assist the elderly or the inconvenient person to better realize self-care daily life under the condition of unattended care, including posture change, walking, washing, urination, bathing and rehabilitation exercise. Wait.
  • the system comprises a walking transfer function module, a bed function module, a toilet function module, a bath function module, a seat function module, a washing function module and a rehabilitation motion function module (for example, composed of these modules), and the walking transfer function module is configured to be Move to any of the remaining function modules.
  • these functional modules may each perform a task separately, or the walking transfer function module may cooperate with any other one or more functional modules.
  • Each functional module in the system is provided with a butt joint.
  • the corresponding functional modules are connected by a docking joint, and the use is performed.
  • the user can move between the functional modules by himself (for example, the user relies on his upper limb), or the user can move between the functional modules with the aid of the functional module, for example, the user moves from the bed function module to the walking transfer function.
  • the movement is realized by the interaction of the bed function module and the walking transfer function module.
  • "moving between each functional module” means moving from the position where the walking transfer function module is located to the position of the other function module or from the position of the other function module to the position of the walking transfer function module.
  • the connection of the butt joint has sufficient mechanical strength to ensure the required stiffness of the functional module combination.
  • the docking connector can realize the data transmission function between the function modules after being connected. In other embodiments of the invention, the docking connector may also not transmit data after connection.
  • each of the bed function module, the toilet function module, the bath function module, the seat function module, and the rehabilitation motion function module includes a butt joint (hereinafter referred to as a "second butt joint"
  • the mating joint included with the walking transfer function module (hereinafter referred to as “first butt joint") is configured to be rigidly connectable. Due to the rigid connection between the butt joints, when one of the butt joints is displaced, the other butt joint connected to the butt joint will not be displaced relative to the butt joint, by fixing the two butt joints respectively
  • the function module can make no relative displacement between the two functional modules, thus ensuring safe and smooth movement of the user.
  • FIG. 1 is a schematic diagram of a module structure of a smart care system according to an embodiment of the present invention, where an arrow indicates a moving direction of the user.
  • the user can move between the walking transfer function module and the bed function module, the bath function module, the toilet function module or other functional modules (such as the seat function module or the rehabilitation motion function module), and simultaneously realize the movement of the walking transfer function module.
  • Daily life such as toilets, bathing, indoor activities.
  • the two functional modules are rigidly connected through the docking joints to ensure safe and smooth movement of the user.
  • the smart care system includes a walking transfer function module and other multiple nursing function modules having a nursing function as an example; in other embodiments of the present invention, the smart nursing system includes a walking transfer function.
  • the nursing function modules such as the bed function module, the toilet function module, the bath function module, the seat function module, and the rehabilitation motion function module may also be included.
  • FIG. 2 is a schematic diagram showing the spatial layout of an intelligent nursing system according to an embodiment of the present invention.
  • the serial numbers in the figure are: 1, charging stand, 2, seat function module (such as sofa function module), 3, second butt joint, 4, walking transfer function module, 401, first butt joint, 5, toilet function Module, 6, bed function module, 7, bath function module, 8, wash function module.
  • the active space R1 represents a functional area in which the walking transfer function module 4 performs its own actions.
  • the active spaces R2 to R5 represent functional areas that the user needs to move between the walking transfer function module 4 and other functional modules.
  • the activity space R6 represents a functional area in which the user does not need to move between the function modules in daily life.
  • the travel transfer function module 4 is moved to the vicinity of the wash function module 8. Since the user does not need to move between the two function modules, the brake can be performed after the brake function of the travel function module 4 is braked.
  • each functional module has a working voltage of no more than 36V during use by the user.
  • the walking transfer function module can transport the user to a designated destination, and the walking transfer function module is further configured to help the user transfer from one function module to another function.
  • the walking transfer function module On the module (for example, transferring the user from one functional module to another); for example, the walking transfer function module is also configured to help the user to achieve a transition between sitting and standing; for example, walking transfer function Modules can also be used with other devices, such as cars. When used with other devices, the corresponding butt joints can be installed on other devices as needed.
  • the walking transfer function module is configured to have an unmanned state and a manned state; for example, the walking transfer function module is configured to also have a collapsed state and/or a state in which the user is assisted to stand.
  • FIG. 3 shows a walking transition of a smart care system according to an embodiment of the present invention.
  • Schematic diagram of the functional module in a folded (eg fully folded) state an example of a non-loaded state
  • the numbers in the figure are: 400, lighting system, 401, first butt joint, 402, driven wheel, 403, drive Wheel, 403a, electromagnetic brake system, 404, chassis, 405, multi-stage lifting system (also known as sectional lifting mechanism), 406, seat cushion, 407, backrest.
  • the first docking connector 401 included in the walking transfer function module is disposed at one side or below or other position of the walking transfer function module, and the walking transfer function module is connected to other functional modules through the first docking connector 401.
  • the drive wheel 403 can be driven by a single wheel drive or two wheels independently.
  • the drive wheel 403 has an electromagnetic brake system 403a.
  • the walking transfer function module includes a traveling mechanism (walking platform) for realizing a mobile function and a riding mechanism (riding platform) for realizing a human carrying function.
  • the running mechanism includes a chassis 404, a drive wheel 403, a driven wheel 402, and a driven wheel slide (not shown in FIG. 3).
  • the drive wheel 403 is mounted on the chassis 404, and the driven wheel 402 is coupled to the chassis 404 via the driven wheel slide.
  • the ride mechanism includes a multi-stage lift system 405, a seat cushion 406, an armrest (not shown in FIG. 3), a backrest 407 and a foot pedal (not shown in FIG. 3).
  • the multi-stage lift mechanism 405 is disposed on the chassis 403, and the seat cushion 406 Mounted above the multi-segment lift system 405, the backrest 407 is placed over the seat cushion 406 (eg, the backrest 407 can be placed over the seat cushion 406 in a folded configuration, or the backrest 407 can also be non-folded), the armrests and foot pedals are configured
  • the armrests are located on either side of the ride mechanism
  • the footrest is located on the front side of the chassis 404 and above the upper surface of the chassis 404.
  • the front side of the ride mechanism of the travel transfer function module is also equipped with a lighting system 400.
  • an unmanned state e.g, a folded state
  • the armrest and foot pedal are folded inside the walking transfer function module, and the backrest is folded over the seat cushion.
  • the walking transfer function module is configured to perform a movement without a person, such as automatic charging.
  • the walking transfer function module is battery driven and configured to activate an automatic charging procedure, such as moving as shown in FIG. 2, when the smart care system detects that the battery's power has dropped below a certain threshold.
  • the charging stand 1 is located for charging.
  • FIG. 4 is a schematic diagram of a walking transfer function module of a smart care system in a manned walking state according to an embodiment of the present invention.
  • the numbers in the figure are: 407, backrest, 408, right handrail, 409, foot pedal, 410, driven wheel slide, 402, driven wheel.
  • the backrest 407, the armrest (such as the right armrest 408 and/or the left armrest) and the foot pedal 409 are in an open state and are respectively at their respective functional positions.
  • the left and right armrests can be independently opened or folded according to different requirements.
  • the driven wheel 402 connected to the driven wheel slide 410 also protrudes from the lower side of the chassis to expand the driven wheel track, thereby ensuring the stability of the walking transfer function module.
  • FIG. 5 and FIG. 6 are side and top views of the walking transfer function module of the smart care system in an auxiliary standing state according to an embodiment of the present invention.
  • the serial numbers in the figure are: 406, cushion, 411, cushion support rod, 412, cushion plate, 413, left handrail, 414, cushion plate, 408a, joystick.
  • the riding mechanism included in the walking transfer function module further includes a seat pad 412.
  • the foot pedal 409 When the walking transfer function module is in the auxiliary standing state, the foot pedal 409 is retracted, and under the coordinated operation of the multi-stage lifting system 405, When the seat cushion 406 is raised upward, it protrudes obliquely upward, and the cushion plate 412 on both sides of the front end of the cushion is folded downward to narrow the front end of the seat cushion, so that the user can change from the sitting posture to the sitting posture, thereby facilitating the user to stand.
  • the driven wheel 402 can extend or can be retracted below the chassis.
  • FIG. 7( a ) and FIG. 7( b ) are schematic diagrams of a multi-stage lifting system of a smart care system walking transfer function module according to an embodiment of the present invention.
  • the serial number in the figure is: 415, lifting column, 416, oblique support frame, 417, guide rail, 418, seat cushion bottom plate, 419, slider, 420, push rod, 421, support frame.
  • the multi-stage lifting system can be lifted continuously or continuously or non-continuously but adjustably.
  • the multi-stage lifting system includes a seat support bar 411, a support frame 421, a lifting column 415 that can be raised and lowered in a vertical direction, and an oblique upward lifting mechanism that can be raised and lowered in an oblique direction.
  • the oblique upward lifting mechanism includes The diagonal support frame 416, the guide rail 417, the slider 419 and the push rod 420, wherein the slider 419 and the seat cushion support rod 411 are connected.
  • the support frame 421 and the oblique upward lifting mechanism can be lifted and lowered in the vertical direction (for example, continuously adjustable lifting) under the driving of the lifting column 415, and the armrests 408 and 413 and the backrest are connected to the supporting frame 421 and can be driven by the lifting column 415. Lower and lower the cushion at the same time.
  • the push rod 420 is configured to push the slider 419 to move obliquely upward along the guide rail 417 while driving the seat cushion 406 to move obliquely upward, thereby achieving the function of assisting the user to stand.
  • the lifting column 415 can also simultaneously raise and lower the armrest and the backrest to move the walking function module to the position where the user is most suitable for standing.
  • Figure b (b) shows the distance that the oblique upward lifting mechanism can extend forward, this distance and the oblique direction
  • the size of the upper lifting mechanism is related, and h is the height of the seat cushion from the ground during the lifting process.
  • the minimum distance of the upper surface of the seat cushion from the ground is not more than 400 mm, and the ratio of the maximum distance to the ground distance from the ground is not more than 2.5.
  • the ride mechanism can also be configured to be convertible into a transport mechanism for transporting the user, and as a transport platform, the seat cushion and armrests included in the ride mechanism can be converted into transport robots to transport the user and allow the user to walk Move the function module to move between other modules.
  • the number of driven wheels is variable, and can vary from one to many, and the specific number is installed according to actual needs.
  • the number of driven wheels can be four.
  • the driven wheel track may be changed during the movement of the walking transfer function module.
  • the running gear may include a driven wheel track changing mechanism.
  • FIG. 8 is a schematic diagram of a driven wheel track changing mechanism of a smart care system walking transfer function module according to an embodiment of the present invention.
  • the serial numbers in the figure are: 422, turntable, 423, slider, 424, connecting rod.
  • the figure shows a track change mechanism when the running mechanism has four driven wheels.
  • the driven wheel track changing mechanism includes a driven wheel slide 410, a slider 423, a link 424, a turntable 422, and a motor 425.
  • the driven wheel 402 is fixed on the driven wheel slide 410, and the driven wheel slide 410 passes through the link. 424 is connected to the turntable 422.
  • the turntable 422 is rotated by the motor 425 to rotate around the central axis of the turntable 422 (as indicated by the circle in the center of the turntable), and the driven wheel slide 410 is pushed or contracted in the direction of the slider 423 by the link 424 to change.
  • Drive wheel track For example, when the turntable 422 rotates counterclockwise around the central axis of the turntable 422 under the driving of the motor 425, the driven wheel slide 410 is pushed by the connecting rod 424 to extend outside the chassis 404 along the direction of the slider 423, and the driven wheel 402 is driven to the same direction.
  • the outer movement when the turntable 422 rotates clockwise, drives the driven wheel slide 410 to contract toward the inner side of the turntable 422 along the slider 423, and simultaneously drives the driven wheel 402 to move inward, thereby realizing the function of changing the track of the driven wheel.
  • the driven wheel 402 protrudes out of the chassis 422, thereby ensuring the stability of the movement of the walking transfer function module.
  • the walking mode of the walking transfer function module includes manual control and/or automatic control.
  • the walking transfer function module is controlled in a manual control mode using, for example, a joystick 408a as shown in FIG. 6, and the joystick 408a is mounted on one side armrest (eg, mounted on the right side armrest 408, as shown in FIG. 6). .
  • path guidance is implemented by an autonomous navigation system installed on the travel transfer function module; wireless data transmission is installed on the travel transfer function module.
  • the transmission interface can be executed by means of wireless remote control;
  • the travel transfer function module is equipped with an obstacle avoidance sensor, which can realize the obstacle stop or bypass function;
  • the travel transfer function module is equipped with a voice interaction system, which can be docked and/or Or voice prompting before or after the action, the voice interaction system has voice recognition and voice positioning function, and the user's position can be determined according to the voice information sent by the user.
  • the voice interaction system can The user's voice signal is accepted and recognized, and the location of the user is determined.
  • the autonomous navigation system guides the walking transfer function module to the user's location, and then transfers the user to the walking function module.
  • the walking transfer function module further includes a total control chip, a mounting plate is arranged above the chassis, an autonomous navigation system, a wireless data transmission connector, an obstacle avoidance sensor, a voice interaction system, and a total control chip are mounted on the mounting board, a joystick, and autonomous navigation.
  • the system, the wireless data transmission connector, the obstacle avoidance sensor, and the voice interaction system are respectively connected to the total control chip.
  • the autonomous navigation system may be magnetic navigation, laser navigation or inertial navigation.
  • FIG. 10 is a schematic structural diagram of a toilet function module of an intelligent nursing system according to an embodiment of the present invention.
  • the serial numbers in the figure are: 3, the second butt joint, 501, toilet, 502, toilet seat height cushion, 503, toilet handrail, 504, seat lift slider, 505, lifting rail, 506, auxiliary pants Device, 507, cleaning and drying equipment (such as smart cleaning toilet lid or smart cleaning toilet seat).
  • the toilet function module includes a toilet bowl 501, a secondary height seat cushion 502, a smart cleaning toilet seat 507, a toilet handrail 503, an auxiliary pants removal device (for example, an automatic pants removal mechanism) 506, and a butt joint 3.
  • the docking joint 3 is attached to the side of the toilet 501, and can be connected to the walking transfer function module.
  • a sub-high cushion 502 is installed above the toilet 501.
  • the auxiliary height cushion 502 can adjust the hip height of the user when the toilet is in use.
  • the toilet auxiliary height cushion 502 can be moved up and down along the lifting rail 505 by the cushion lifting slider 504, thereby Adjust the height of the auxiliary height cushion to make it easier for the elderly to stand behind.
  • the auxiliary height cushion 502 also has a washer heating function.
  • An armrest 503 is disposed on both sides of the toilet 501, and the armrest 503 can be folded and raised.
  • An auxiliary pants removal device 506 is disposed beside the toilet bowl 501.
  • the main structure of the auxiliary pants removal device 506 includes auxiliary pants removing robot arms 5060 respectively disposed on both sides of the toilet bowl 501.
  • the auxiliary de-pushing robot arm has a connecting buckle 5060a at the end, which can be connected with the user's waistband.
  • the auxiliary movement of the de-pushing robot arm 5060 can be made along the sides of the toilet 501, so that the end of the auxiliary de-pushing robot arm 5060 can be along the user's thigh. Move up or down to complete the pants or pants.
  • the movement direction, movement speed and movement distance of the auxiliary pants-removing robot arm 5060 can be set in advance, The movement of the auxiliary pants removal robot arm 5060 can be manually controlled.
  • the auxiliary depilation robot arm 5060 is provided with a tension sensing device 5060b. When the pulling force exceeds a certain value, the auxiliary depilation robot arm 5060 stops moving.
  • the toilet is equipped with a washing and drying device 507, such as a smart cleaning toilet lid, configured to assist the user in post-cleaning and drying.
  • the process of transferring the walking transfer function module and the toilet function module to transfer the user from the walking transfer function module to the toilet function module is as follows:
  • the walking transfer function module is close to the toilet function module and is connected to the toilet through the docking joint;
  • the user can sit up on his own and the upper limbs can basically function.
  • the walking transfer function module is close to the handrail on the side of the toilet and the function module of the toilet is close to the armrest on the side of the walking transfer function module;
  • the user translates from the walking transfer function module to the toilet seat cushion
  • the user leaves the toilet seat under the assistance of the handrail, and completes the wearing action with the help of the auxiliary pants removal device, and then translates from the toilet to the seat of the walking transfer function module;
  • the seat of the walking transfer function module returns to a height suitable for walking
  • the walking transfer function module is separated from the toilet function module and goes to the next destination.
  • the walking transfer function module is close to the armrest on the side of the toilet and the handrail of the toilet close to the side of the walking transfer function module;
  • the walking transfer function module extends two mechanical arms, one mechanical arm is on the back of the user, and the protective rail extends around the chest and the underarm to form protection, and the other mechanical arm is in the lower limb part of the user. Lift up and transfer to the top of the toilet;
  • the mechanical arm behind the user cooperates with the front guardrail to take up the main weight of the user, and at the same time cooperate with the mechanical arm supporting the lower limb to make the upper body close to the vertical state, and the auxiliary pants removal device is finished.
  • the robot arm places the user on the toilet;
  • the walking transfer function module extends two mechanical arms, and the user is lifted according to the method described in the foregoing steps, and the auxiliary pants-removing device completes the wearing of the pants, and the robot arm puts the user into the walking transfer function module.
  • the auxiliary pants-removing device completes the wearing of the pants, and the robot arm puts the user into the walking transfer function module.
  • the seat of the walking transfer function module returns to a height suitable for walking
  • the walking transfer function module is separated from the toilet function module and goes to the next destination.
  • the bed function module is a combined structure, which mainly includes a bed surface, a pallet, an armrest, a baffle, and a butt joint.
  • the pallet is installed in the middle of the bed surface
  • the handrails are located on both sides of the bed surface
  • the baffles are located at the ends of the bed surface
  • the handrails and the baffles can be adjusted in height and can be lowered below the plane of the bed surface.
  • FIG. 11 and FIG. 12 are a top view and a side view of a bed function module of a smart care system according to an embodiment of the present invention.
  • the serial numbers in the figure are: 3, the second butt joint, 601, 604, 609 and 611 are the side armrests of the bed function module, 602 and 610 are the end flaps of the bed, 603 is the bed surface, 605, 606, 607 And 608 are lift pallets, 612 and 613 are auxiliary support rods, and 614 is a lift column.
  • the second butt joint 3 mounted on the side can be connected to other functional modules, for example to the walking transfer function module.
  • the side armrests 601, 604, 609 and 611 mainly serve to protect the user from falling, and also have a lifting function to facilitate the user to move between the bed and other objects, for example, the user is in the bed function module and Move between other functional modules.
  • the lifting pallets 605, 606, 607 and 608 can lift the user up and allow the user's body to leave the bed 603 to facilitate the transfer of the user.
  • the lifting column 614 can control the bed surface 603 to move up and down.
  • the end of the bed function module is provided with control buttons 600a at both ends, and the control button 600a can control the movement of the components of the bed function module; and/or the bed function module is further provided with a data transmission connector 600b, which can be combined with the smart device ( For example, a smartphone is connected so that the movement of the bed function module can be remotely controlled.
  • a smart device For example, a smartphone is connected so that the movement of the bed function module can be remotely controlled.
  • the bed surface is spliced, including the back panel, the hip panel, and the leg panel.
  • the height and angle of the different components of the bed 603 the user can be changed between lying, lying, and sitting.
  • the height of the bed surface can be adjusted.
  • FIG. 13 is a schematic diagram of a bed function module of an intelligent nursing system according to an embodiment of the present invention. Schematic diagram of when the person is in a semi-lying state.
  • 615 is a back plate, and the back plate 615 can be rotated and stopped at any angle, so that the user can change from a flat lay to a semi-lying posture, which is convenient for the user to sit up and move.
  • the bed function module has a massage and rehabilitation function, and the portion of the bed surface on which the user's legs are placed (ie, the leg plate) can be continuously oscillated to drive the lower limbs of the care receiver.
  • FIG. 14 is a schematic diagram of a bed function module of a smart care system when a user is in a sitting state according to an embodiment of the present invention.
  • 615 is a back plate
  • 656 is a hip plate
  • 616 is a leg plate (for example, a calf plate).
  • the leg plate can be continuously oscillated up and down to assist the user in performing leg rehabilitation exercises.
  • FIG. 15 is a schematic diagram of a bed function module of a smart care system when a user performs a leg rehabilitation exercise according to an embodiment of the present invention.
  • the number 617 is a roller and the 618 is a cam mechanism.
  • the movement of the cam mechanism 618 installed under the bed causes the roller 617 in contact with the cam mechanism 618 to drive the leg plate 616 to continuously swing up and down around the fixed end of the leg plate, thereby achieving The rehabilitation function of the active user's legs.
  • the trays 605-608 are placed side by side, respectively, under the back, buttocks, and legs of the user in a lying state, and at least a portion of the tray function module can be raised and lowered to lift the user up, in the user and A certain distance is formed between the bed surfaces to facilitate the transfer to the user.
  • FIG. 16 is a schematic diagram of a tray of a bed function module of a smart care system in a raised state according to an embodiment of the present invention.
  • the side rails 601 and 611 of the bed are lowered below the bed surface, and the pallets 605, 606, 607 and 608 are raised from the bed surface to leave the user's body away from the bed surface, thereby facilitating the robot of the walking transfer function module to perform the user on the bed. Transfer.
  • the bed function module has two rotational axes that are 90 degrees apart from each other, one of which is parallel to the body direction when the user is lying down, the other axis is perpendicular to the body direction when the user is lying down, the bed surface 603 and the two rotational axes Between the rotation mechanisms, the bed surface 603 can be rotated integrally around the two axes of rotation.
  • FIGS. 17(a)-(e) are schematic diagrams showing the overall function of the bed function module of the smart care system in two mutually perpendicular directions according to an embodiment of the present invention.
  • the serial numbers in the figure are: 619, push rod, 620 connecting rod, 621 hinged terminal, 622 connecting rod, 623 push rod, 624 hinged terminal.
  • Figure 17 (a) shows two mutually perpendicular X and Y axes on the bed.
  • 17(b) and 17(c) are schematic diagrams of the rotation of the bed surface about the X-axis.
  • the hinge terminal 621 is a fixed terminal (an example of a rotating mechanism), that is, its position is fixed, and the push rod 619 pushes the link 620 to move, thereby pushing the bed.
  • 17(d) and 17(e) are schematic views of the rotation of the bed surface about the Y axis, and the push rod 623 pushes the link 622 to move, thereby pushing the bed surface 603 to rotate about the hinge terminal 624 (another example of the rotating mechanism).
  • the walking transfer function module is close to the bed function module and is connected to the bed function module through the docking joint;
  • the walking transfer function module is placed close to the armrest of the bed function module and the arm function module is placed close to the armrest on the side of the walking transfer function module;
  • the user translates from the bed function module to the sitting position of the walking transfer function module
  • the walking transfer function module is lifted close to the armrest of the bed function module, and if necessary, the guardrail can be lowered in front of the user;
  • the seat of the walking transfer function module returns to a height suitable for walking
  • the walking transfer function module is separated from the bed function module and goes to the destination.
  • Some of the pallets of the bed are raised so that there is a certain space between the user and the bed surface for the robot arm to be inserted;
  • the arm of the walking transfer function module is inserted under the user, the user is lifted, and the user is transferred to the top of the walking transfer function module, and placed in the seat in a sitting position.
  • a protective mechanism such as a guardrail
  • the walking transfer function module is lifted by the armrest of the bed, and if necessary, the guardrail can be lowered in front of the user;
  • the seat of the walking transfer function module returns to a height suitable for walking
  • the walking transfer function module is separated from the bed function module and goes to the destination.
  • the bathing function of the bathing function module is a sitting bath, and the main structure thereof includes a sitting bathing table, a shower device, a drying device, and a butt joint.
  • the sitting bathing table can descale the parts that the user touches the surface of the bathing table by means of vibration, friction, etc.; the armrests of the sitting bathing table are installed with armrests, and the armrests can be raised or lowered, for example, the armrests are used after being put down.
  • the guardrail is formed in front of the body (in other embodiments, the guardrail may not be formed after the armrest is lowered); the shower device (such as a shower head) and the drying device are installed above the sitting bathing table, and the shower device can adjust the water flow speed and the water volume.
  • the size of the drying device can adjust the airflow temperature and air volume; the side of the sitting bathing station is equipped with a butt joint, which can be connected with other functional modules.
  • FIG. 18 is a schematic diagram of a bath function module of a smart care system according to an embodiment of the present invention.
  • the serial numbers in the figure are: 3, second butt joint, 701, protective armrest, 702 protective armrest, 703 shower, 704 drying equipment, 705 sitting bath.
  • the second butt joint 3 can be docked with the walking transfer function module.
  • the sitting bathing station 705 can clean the back of the user and the lower thigh by vibration or rotary brush cleaning.
  • the drying device 704 assists the user in surface wiping and drying by blowing.
  • the shower device 703 can adjust the speed of the water flow and the amount of water, and atomize the water stream.
  • the drying device 704 can adjust the airflow temperature and the air volume, and can perform the wind and wind direction adjustment.
  • the bath function module is installed with a control button 700, which can remotely control the movement of the walking transfer function module, so that the walking function module automatically runs to the position where the bath function module is located, and the walking function module can be released from the bath function module. Docked state, run to other locations.
  • the walking transfer function module is close to the bathing function module and is connected to the sitting bathing table through the butt joint.
  • Adjusting the height of the walking transfer function module is the same as the height of the sitting bathing table
  • the user can sit up on his own and the upper limbs can basically function.
  • the walking transfer function module is placed close to the armrest on the side of the sitting bathing table;
  • the user shifts from the walking transfer function module to the sitting bathing table, and the walking transfer function module moves to the outside of the bathroom;
  • the armrests on both sides of the bath function module are lowered to form a guardrail in front of the user's body;
  • the walking transfer function module is close to the bathing function module and is connected to the sitting bathing table through the butt joint;
  • the armrests on both sides of the bath function module are raised, and the user transfers from the sitting bathing table to the walking transfer function module;
  • the walking transfer function module is lifted close to the armrest on the side of the sitting bathing table, and if necessary, the guardrail can be lowered in front of the user;
  • the returning function module returns to a height suitable for walking
  • the walking transfer function module is separated from the bath function module and goes to the next destination.
  • the walking transfer function module is placed close to the armrest on the side of the sitting bathing table;
  • the walking transfer function module extends two mechanical arms, one mechanical arm is on the back of the user, and the protective rail extends around the chest and the underarm to form protection, and the other mechanical arm is in the lower limb part of the user. Lift up, transfer to the sitting bathing table, and move the transfer function module to the outside of the bathroom;
  • the armrests on both sides of the bath function module are lowered to form a guardrail in front of the user's body;
  • the user issues an instruction, and the walking transfer function module is connected to the sitting bathing table through the butt joint when approaching the bathing function module;
  • the armrests on both sides of the bath function module are raised, and the walking transfer function module extends two robot arms, and moves the user to the seat of the walking transfer function module according to the foregoing steps;
  • the walking transfer function module is lifted close to the armrest on the side of the sitting bathing table, and if necessary, the guardrail can be lowered in front of the user;
  • the returning function module returns to a height suitable for walking
  • the walking transfer function module is separated from the bath function module and goes to the next destination.
  • the butt joint includes a first butt joint and a second butt joint, and the first butt joint and the second butt joint may be respectively installed on two functional modules, or one of the butt joints may be installed.
  • a fixed butt joint for example, an object mounted on a fixed position such as a floor or a wall
  • another butt joint is mounted on the functional module to achieve two through the docking between the first butt joint and the second butt joint.
  • the mechanical docking between the functional modules for example, can also be achieved by the docking between the two connectors to achieve mechanical docking and data transmission between the two functional modules.
  • FIG. 19(a) and 19(b) are schematic diagrams of a docking joint of a smart care system before and after docking according to an embodiment of the present invention.
  • the serial number in the figure is: 31, data signal and electrical signal connection female port, 32, mechanical locking mechanism, 33, mechanical locking mechanism, 34, positioning sensor, 35, electromagnetic connection mechanism, 36, mechanical guiding mechanism, 37, positioning
  • the sensor, 38, the data signal and the electrical signal are connected to the male port, 39, the mechanical guiding mechanism.
  • the first butt joint 401 and the second butt joint 3 each include a mechanical guiding mechanism (see 36 and 39) and a positioning sensor (see 37 and 34).
  • One of the first butt joint 401 and the second butt joint 3 further includes an electromagnetic connection mechanism 35 and a data signal and an electrical signal connection male port 38, and the other of the first butt joint 401 and the second butt joint 3 further includes a mechanical lock
  • the tensioning mechanisms 32 and 33 and the data signals and electrical signals are connected to the female port 31.
  • 35, 36, 37, 38 constitute a first butt joint 401
  • 31, 32, 33, 34, 39 constitute a second butt joint 3 as shown in Figures 19 (a) and 19 (b);
  • 35 36, 37, 38 constitute a second butt joint 3, 31, 32, 33, 34, 39 constitute a first butt joint 401.
  • the combination of the butt joint includes a butt guide, a rigid link, and a data transfer device, the docking guide, the rigid link, and the data transfer device respectively including different components on the first butt joint and the second butt joint.
  • the docking guide includes a mechanical guiding mechanism (see 36 and 39) and a positioning sensor (see 37 and 34) on the first butt joint 401 and the second butt joint 3.
  • the docking guiding device adjusts the docking position by remotely guiding the two function modules that need to be docked by the positioning sensor, and adjusts the position error between the two docking function modules at a close distance by the mechanical guiding mechanism.
  • the rigid connection device includes electricity on one of the first butt joint 401 and the second butt joint 3 Magnetic coupling mechanism 35, and mechanical locking mechanisms 32 and 33 on the other of the first butt joint 401 and the second butt joint 3.
  • the rigid connecting device can realize the rigid connection between the two butt joint modules by means of the electromagnetic connecting mechanism, and is strengthened by the mechanical locking mechanism, the mechanical locking mechanism can be automatically locked, or the locking can be manually controlled.
  • the data transmission device includes a data signal and an electrical signal connected to the male port 38 and the female port 31.
  • the data transmission signal and the electrical signal connection of the data transmission device are completed in the process of docking the first butt joint and the second butt joint to form a data transmission channel between the two functional modules.
  • the docking orientation is first determined by the positioning sensors 34 and 37, thereby guiding the two functional modules to approach from mutually parallel directions.
  • the first butt joint 401 continues to move with the walking transfer function module under the guidance of the mechanical guiding mechanism until it moves to the set docking position.
  • the data signal and the electrical signal connection male port 38 and the female port 31 are connected to each other, the electromagnetic connecting mechanism 35 is activated, the mechanical locking mechanisms 32 and 33 complete the mechanical locking, and the detecting system detects that the docking is completed, indicating that the docking process ends.
  • the function module complex can perform the next task.
  • Embodiments of the present invention provide a seat function module.
  • the seat function module includes a seat 20 and a butt joint 3 connected to the seat 20.
  • the seat 20 can be a sofa, chair, or other type of seat.
  • the seat function module can be connected to the walking transfer function module or other function module through the docking connector 3.
  • the docking connector 3 can refer to the related description in Embodiment 5, and the repeated description will not be repeated.
  • the seat function module can also include an armrest that is configured to be lifted or can form a guardrail.
  • the manner of moving the user between the walking function module and the seat function module refer to the related description in the embodiment 2-4, and the repeated description is omitted.
  • the rehabilitation exercise function module includes a hip board 856, a leg board 816, a roller 817, a cam 818, and a butt joint 3.
  • the cam 818 moves the leg plate 816 through the roller 817 during rotation so that the leg plate 816 can swing about the junction of the leg plate 816 and the hip plate 856 to assist the user when the user sits on the hip plate 856.
  • the cam 818 can be secured below the hip plate 856.
  • the rehabilitation exercise function module may further include a back plate 815 through Adjusting the tilt angle of the back panel 815 allows the user to switch between sitting, upper body lying, or upper half lying down.
  • the rehabilitation motor function module can be connected to the walking transfer function module or other function module via the docking connector 3.
  • the docking connector 3 can refer to the related description in Embodiment 5, and the repeated description will not be repeated.
  • the rehabilitation motor function module may further include an armrest configured to be movable up or down or may form a guardrail.
  • the manner of the user moving between the walking transfer function module and the rehabilitation motion function module refer to the related description in the embodiment 2-4, and the repeated description is omitted.
  • the smart care system includes a care function module and a walking function module 4.
  • the care function module includes a bed function module 6, a toilet function module 5,
  • the combination of at least one or several of the bath function module 7, the seat function module 2 and the rehabilitation motor function module 9, the walk function module 4 is configured to carry the user and can be moved to the care function module.
  • both the walking function module 4 and the care function module include a butt joint (see 401 and 3 in FIG.
  • the walking function module 4 and the care function module include a butt joint that can be rigidly connected, That is, when the butt joint is rigidly coupled, when one of the butt joints is displaced, the other butt joint connected to the butt joint is not displaced relative to the butt joint.
  • the relative displacement between the functional modules can be prevented, so that the user can ensure safe and stable operation. mobile.
  • the walking function module 4 can also be configured to move the user from the position where the walking function module is located to the position where the nursing function module is located, or from the position where the nursing function module is located to the position where the walking function module is located.
  • the walking function module 4 can include a robotic arm.
  • the walking function module in the embodiment of the present invention refer to the description of the walking transfer function module in the above embodiment.
  • the nursing function module and the docking connector in the embodiment of the present invention can refer to the related description in the above embodiment, and the repetition is not performed. Narration.
  • the embodiment of the present invention can realize the function of performing at least one care on the daily life of the elderly or the inconvenient person under the condition of unattended care.
  • the beneficial effects of the embodiments of the present invention include: (1)
  • the embodiment of the present invention adopts a modular design concept, and is aimed at the main activities of the elderly or people with reduced mobility in unattended conditions, such as toilet, bathing, rehabilitation.
  • Transport Motivation, etc. gives specific implementation plans, and provides feasible technical means for helping the elderly or people with reduced mobility to realize self-care in daily life, so that the increasingly serious problem of old-age care is free from the high dependence on nursing staff; (2) the present invention
  • the function of each module used in the embodiment can independently realize the respective functions, and the modules can also be rigidly connected through the docking joint to realize the cooperative work.
  • the intelligent nursing system of the embodiment of the invention is convenient and efficient and realizes various items in the home life. The comprehensive coverage of daily life, for the special needs of different groups of people, only need to add the corresponding functional modules; (3) the way of connecting the different functional modules through the docking joints to ensure the user between different functional modules Safety and comfort when moving.

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Abstract

一种智能护理系统，包括床功能模块（6）、坐便器功能模块（5）、洗浴功能模块（7）、坐具功能模块（2）和康复运动功能模块（9）中的至少一个或几个的组合，以及行走转移功能模块（4）；各个功能模块均包括对接接头（3，401），行走转移功能模块（4）和其他功能模块之间被配置为可通过对接接头（3，401）实现连接；使用者可通过行走转移功能模块（4）实现移动，并可在行走转移功能模块（4）和其它功能模块之间实现转移，该行走转移功能模块（4）还具有升降能力以帮助使用者实现在行走转移功能模块（4）和其它功能模块之间的转移。该智能护理系统使老年人或行动不便者能自主完成日常生活中的至少一项护理活动，无需护理人员。

Description

智能护理系统 技术领域
本发明实施例涉及一种智能护理系统。
背景技术
随着人口老龄化问题的加剧，中国正快速步入老龄社会。老龄社会面临的首要问题就是如何照顾比例不断增加的老年人。一方面，现代社会的快节奏使传统的依靠子女抚养老人的模式难以维持，同时由于独生子女政策及生育观念的改变造成的少子化趋势也加重了新时期年轻家庭的养老困境；另一方面，虽然把老人送到养老院养老或者雇佣家政服务人员居家养老已经是较为普遍的社会现象，但养老院流水式的服务无法保证每位老人能够有尊严的生活，同时由于劳动力人口的减少，也没有足够的护理人员能够保证老人进行居家养老。因此，依靠现代科技实现智能养老护理是解决养老难题的主要方向。
发明内容
本发明实施例提供了一种智能护理系统，本发明实施例可以使被护理者在没有护理人员协助的条件下完成日常生活中的至少一项护理活动。
本发明的至少一个实施例提供一种智能护理系统，其包括：行走转移功能模块；以及床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的至少一种或几种的组合。所述的各个功能模块均包括对接接头，由两个或两个以上的功能模块协同作业时，所述功能模块之间被配置为可通过对接接头实现连接。
本发明的至少一个实施例还提供另一种智能护理系统，其包括：护理功能模块，其包括床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的至少一种或几种的组合；以及行走功能模块，其被配置为可移向所述护理功能模块。所述护理功能模块和所述行走功能模块都包括对接接头，所述护理功能模块和所述行走功能模块包括的对接接头之 间被配置为可刚性连接。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例的附图作简单地介绍，显而易见地，下面描述中的附图仅仅涉及本发明的一些实施例，而非对本发明的限制。
图1为本发明实施例提供的一种智能护理系统模块构成示意图；
图2为本发明实施例提供的一种智能护理系统的活动空间布局示意图；
图3为本发明实施例提供的一种智能护理系统的行走转移功能模块在折叠状态下的示意图；
图4为本发明实施例提供的一种智能护理系统的行走转移功能模块在载人行走状态下的示意图；
图5为本发明实施例提供的一种智能护理系统的行走转移功能模块在辅助站立状态下的侧视图；
图6为本发明实施例提供的一种智能护理系统的行走转移功能模块在辅助站立状态下的俯视图；
图7(a)和图7(b)所示为本发明实施例提供的一种智能护理系统行走转移功能模块的多段式升降系统示意图；
图8(a)和图8(b)所示为本发明实施例提供的一种智能护理系统行走转移功能模块的从动轮轮距改变机构示意图；
图9为本发明实施例提供的一种智能护理系统行走转移功能模块的安装板上的自主导航系统、无线数据接头、避障传感器、语音交互系统与总控制芯片的结构示意图；
图10为本发明实施例提供的一种智能护理系统的坐便器功能模块结构示意图；
图11为本发明实施例提供的一种智能护理系统的床功能模块的俯视图；
图12为本发明实施例提供的一种智能护理系统的床功能模块的侧视图；
图13为本发明实施例提供的一种智能护理系统的床功能模块在使用者处于半躺状态下时的示意图；
图14为本发明实施例提供的一种智能护理系统的床功能模块在使用者 处于坐姿状态下时的示意图；
图15为本发明实施例提供的一种智能护理系统的床功能模块在使用者进行腿部康复运动时的示意图；
图16为本发明实施例提供的一种智能护理系统的床功能模块的托板处于升起状态下的示意图；
图17(a)至图17(e)为本发明实施例提供的一种智能护理系统的床功能模块在两个相互垂直方向整体转动的示意图；
图18为本发明实施例提供的一种智能护理系统的洗浴功能模块的示意图；
图19(a)和图19(b)为本发明实施例提供的一种智能护理系统的对接接头对接前后的示意图；
图20为本发明实施例提供的一种智能护理系统的坐具功能模块的示意图；
图21为本发明实施例提供的一种智能护理系统的康复运动功能模块的示意图；
图22为本发明实施例提供的另一种智能护理系统的模块结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。 “上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
对于需要进行护理的老人来说，在一定年龄段，日常护理面临的主要问题是：由于衰老导致腿脚行动能力下降，无法完成在床、坐便器、浴缸、沙发等日常生活用品之间的自由活动。虽然轮椅可以起到在不同活动场地之间的移动功能，例如从卧室移动到厕所，但当被护理者需要在轮椅或其它物品之间移动，如从床上移动至轮椅以及从轮椅移动至坐便器时，却很难依靠使用者自行完成动作。这是因为使用者在移动过程中，轮椅会与床或者坐便器等产生相对位移，这使得移动过程对老人来说是非常危险也难以实现的，所以必须依靠护理人员的协助才能完成。而对于失去行动能力卧床的老人，则需依靠护理者以搬运的方式实现老人日常生活中必须的移动。同时，对于因各种原因造成腿脚行动不便或者失能的残障人士，也面临同样的护理需求。
目前，国内外尚没有针对老人或行动不便者进行全方位日常生活护理的系统见诸报道。常见的设计和发明主要集中于护理病床或轮椅。护理病床或轮椅只能起到部分减轻护理人员劳动的作用，被护理者的日常生活起居仍需要大量的人工护理。例如，针对解决被护理人员的大小便问题，许多设计采用在床或轮椅上设置排便孔，一方面这种设计不能完成使被护理者自主排便的功能，另一方面大部分人对于护理的需求是在保持现有生活习惯的基础上有尊严地生活。而在床或者轮椅上完成大小便动作，显然不能满足这个要求。我们希望通过一种智能护理系统，能够让老人或行动不便者，能够独立而有尊严地生活，为未来全社会面临的养老难题提供一个更优的解决方案。
本发明实施例提出了一种智能护理系统，能够在无人看护条件下辅助老年人或行动不方便者更好地实现自理日常生活，包括体位变换、行走、盥洗、大小便、洗浴和康复运动等。该系统包括行走转移功能模块、床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块、盥洗功能模块和康复运动功能模块等(例如由这些模块组成)，行走转移功能模块被配置为可移向其余功能模块中的任一个。在该智能护理系统中，可以是这些功能模块各自单独执行任务，也可以是行走转移功能模块与其他任何一个或多个功能模块协同作业。该系统中的各个功能模块均设置有对接接头，在由两个或两个以上的功能模块协同作业时，相应的功能模块之间通过对接接头实现连接，使用 者可以自行(例如，使用者依靠自己的上肢)移动于各功能模块之间，或者使用者可以在功能模块辅助下移动于各功能模块之间，例如使用者从床功能模块移动到行走转移功能模块时，通过床功能模块和行走转移功能模块的共同作用实现移动。这里的“移动于各功能模块之间”是指，从行走转移功能模块所在位置移动到其它功能模块所在位置或者从其它功能模块所在位置移动到行走转移功能模块所在位置。对接接头的连接具有足够的力学强度以保证功能模块联合体所需的刚度。例如，对接接头在连接后可以实现功能模块之间的数据传输功能。在本发明的其它实施例中，对接接头在连接后也可以不进行数据传输。
例如，在本发明的至少一个实施例中，床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的每一个包括的对接接头(以下称为“第二对接接头”)与行走转移功能模块包括的对接接头(以下称为“第一对接接头”)被配置为可刚性连接。由于对接接头之间为刚性连接，当其中一个对接接头产生位移时，与该对接接头相连的另一对接接头不会相对于该对接接头产生位移，通过将这两个对接接头分别固定在各自所在的功能模块上，可以使这两个功能模块之间不产生相对位移，因此可以保证使用者实现安全平稳的移动。
如图1所示为本发明实施例提供的智能护理系统的模块构成示意图，图中箭头表示使用者的移动方向。使用者可以在行走转移功能模块与床功能模块、洗浴功能模块、坐便器功能模块或者其他功能模块(例如坐具功能模块或康复运动功能模块等)之间移动，同时通过行走转移功能模块的移动实现了如厕、洗浴、室内活动等日常的生活起居。使用者需要在行走转移功能模块和以上任意一个功能模块之间移动时，这两个功能模块之间通过对接接头实现刚性连接，以保证使用者实现安全平稳的移动。
需要说明的是，图1中以智能护理系统包括行走转移功能模块以及其它多个具有护理功能的护理功能模块为例进行说明；在本发明的其它实施例中，智能护理系统在包括行走转移功能模块的基础上，还可以包括床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块等护理功能模块中的至少一种或几种的组合。
如图2所示为本发明实施例提供的一种智能护理系统的空间布局示意 图。图中各序号分别是：1、充电座，2、坐具功能模块(例如沙发功能模块)，3、第二对接接头，4、行走转移功能模块，401、第一对接接头，5、坐便器功能模块，6、床功能模块，7、洗浴功能模块，8、盥洗功能模块。
在本发明实施例中，不同的功能模块分布于不同的活动空间内，行走转移功能模块4搬运使用者以使使用者在不同的活动空间内移动。活动空间R1代表行走转移功能模块4自行完成动作的功能区域。在检测到需要进行充电时，行走转移功能模块4运动至活动空间R1，利用充电座1完成自动充电。活动空间R2至R5代表使用者需要在行走转移功能模块4和其他功能模块之间移动的功能区域。行走转移功能模块4在运动至坐便器功能模块5、床功能模块6、洗浴功能模块8和坐具功能模块2中的任一个附近后，通过第二对接接头3和第一对接接头401的连接，实现两个功能模块之间的刚性连接，连接完成后，使用者既可以自主在两个功能模块之间移动，也可以依靠行走转移功能模块4的搬运功能实现移动。活动空间R6代表日常生活中使用者无需在功能模块之间移动的功能区域。行走转移功能模块4运动至盥洗功能模块8附近，由于使用者无需在两个功能模块之间移动，所以通过行走功能模块4自带的刹车装置刹车后，即可进行洗漱等。
例如，在本发明的以上任一实施例中，各功能模块在使用者使用过程中，其各部件工作电压不超过36V。
实施例1
在本发明实施例提供的智能护理系统中，例如，行走转移功能模块可以将使用者运送到指定的目的地，行走转移功能模块还被配置为能够帮助使用者从一个功能模块转移到另一个功能模块上(例如，将使用者从一个功能模块转移到另一个功能模块上)；例如，行走转移功能模块还被配置为能够帮助使用者实现坐姿和站姿之间的转换；例如，行走转移功能模块也可以与其他装置连用，如汽车等。在与其他装置连用时，根据需要可以在其他装置上安装相应的对接接头。
例如，行走转移功能模块被配置为可以具有非载人状态和载人状态；例如，行走转移功能模块被配置为还具有折叠状态和/或辅助使用者站立的状态。
例如，如图3所示为本发明实施例提供的一种智能护理系统的行走转移 功能模块在折叠(例如完全折叠)状态(非载人状态的一个示例)下的示意图，图中各序号分别为：400、照明系统，401、第一对接接头，402、从动轮，403、驱动轮，403a、电磁刹车系统，404、底盘，405、多段式升降系统(也称为分段式升降机构)，406、坐垫，407、靠背。
例如，行走转移功能模块包括的第一对接接头401设置于行走转移功能模块的一侧或下方或者其它位置，行走转移功能模块通过该第一对接接头401与其他功能模块连接。
例如，驱动轮403可以采用单轮驱动或两轮独立驱动。例如，该驱动轮403具有电磁刹车系统403a。
例如，行走转移功能模块包括用于实现移动功能的行走机构(行走平台)和用于实现载人功能的乘坐机构(乘坐平台)。行走机构包括底盘404、驱动轮403、从动轮402以及从动轮滑轨(图3中未示出)，驱动轮403安装在底盘404上，从动轮402通过从动轮滑轨和底盘404相连接。乘坐机构包括多段式升降系统405、坐垫406、扶手(图3中未示出)、靠背407和脚踏板(图3中未示出)，多段式升降机构405设置于底盘403上面，坐垫406安装在多段式升降系统405上方，靠背407放置在坐垫406上方(例如，靠背407可以呈折叠状态放置在坐垫406上方，或者靠背407也可以为非折叠式的)，扶手和脚踏板被配置为可以折叠或展开，在展开状态下，扶手位于乘坐机构两侧，脚踏板位于底盘404前侧且高于底盘404上表面。例如，行走转移功能模块的乘坐机构前侧还安装有照明系统400。
例如，在非载人状态(例如折叠状态)下，扶手和脚踏板被折叠至行走转移功能模块内部，靠背被折叠至坐垫上方。
例如，在非载人状态(例如折叠状态)下，行走转移功能模块被配置为可以进行无需载人的移动，如进行自动充电。例如，行走转移功能模块采用电池驱动并且被配置为当智能护理系统检测到该电池的电量下降至低于某一阈值时，行走转移功能模块可以启动自动充电程序，例如运动至如图2所示的充电座1所在位置，以进行充电。
如图4所示为本发明实施例提供的一种智能护理系统的行走转移功能模块在载人行走状态下的示意图。图中各序号分别为：407、靠背，408、右侧扶手，409、脚踏板，410、从动轮滑轨，402、从动轮。例如，在载人行走状 态下时(例如，当使用者从其他功能模块移动到行走转移功能模块上后并以坐姿状态乘坐时)，靠背407、扶手(例如右侧扶手408和/或左侧扶手)和脚踏板409处于打开状态并且分别处在各自的功能位置处。需要说明的是，左右两个扶手可根据需求不同，分别独立处于打开或折叠状态。例如，在载人行走状态下时，连接在从动轮滑轨410上的从动轮402也会从底盘下伸出，以扩大从动轮轮距，从而保证行走转移功能模块的稳定性。
如图5和图6所示为本发明实施例提供的一种智能护理系统的行走转移功能模块在辅助站立状态下的侧视图和俯视图。图中各序号分别是：406、坐垫，411、坐垫支撑杆，412、坐垫小板，413、左侧扶手，414、坐垫小板，408a、操纵手柄。例如，行走转移功能模块包括的乘坐机构还包括坐垫小板412，在所述行走转移功能模块处于辅助站立状态下工作时，脚踏板409收起，在多段式升降系统405的协调运作下，坐垫406向上升高的同时向斜上方伸出，坐垫前端两侧坐垫小板412向下折叠，使坐垫前端变窄，以使使用者由坐姿转变为骑坐姿势，从而方便使用者站立。例如，在行走转移功能模块辅助使用者站立的过程中，从动轮402可以伸出，也可以收缩至底盘下方。
如图7(a)和图7(b)所示为本发明实施例提供的一种智能护理系统行走转移功能模块的多段式升降系统示意图。图中序号为：415、升降柱，416、斜支撑架，417、导轨，418、坐垫底板，419、滑块，420、推杆，421、支撑架。例如，该多段式升降系统可以连续可调地进行升降或者非连续但可调地进行升降。例如，如图所示，该多段式升降系统包括坐垫支撑杆411、支撑架421、可以在竖直方向升降的升降柱415和可以在斜向上方向升降的斜向上升降机构，斜向上升降机构包括斜支撑架416、导轨417、滑块419和推杆420，其中滑块419和坐垫支撑杆411相连接。支撑架421和斜向上升降机构在升降柱415的带动下可以在竖直方向升降(例如连续可调地升降)，扶手408和413以及靠背都和支撑架421相连并且可以在升降柱415的带动下和坐垫同时升高或者降低。推杆420被配置为推动滑块419沿导轨417向斜上方运动的同时带动坐垫406向斜上方运动，从而实现辅助使用者站立的功能。例如，在推杆420运动的同时，升降柱415也可以同时带动扶手和靠背进行升降，使行走功能模块运动至最适宜使用者站立的位置。
图7(b)中b表示斜向上升降机构可以向前伸出的距离，这个距离与斜向 上升降机构的尺寸有关，h表示坐垫在升降过程中距离地面的高度。例如，本发明实施例中，坐垫的上表面距离地面的最小距离不大于400mm，距离地面的最大距离和最小距离的比值不大于2.5。
例如，乘坐机构还可以被配置为可转变为用于转运使用者的转运机构，并且作为转运平台时，乘坐机构包括的坐垫和扶手可以变换为转运机械手，以运送使用者并且使使用者在行走转移功能模块与其他模块之间移动。
例如，从动轮的数量不定，可以从一个到多个不等，具体数量根据实际需要进行安装。例如，从动轮的数量可以为4个。例如，在行走机构包括多个从动轮的情况下，从动轮轮距可以在行走转移功能模块移动的过程中改变。
例如，行走机构可以包括从动轮轮距改变机构。例如，如图8(a)和图8(b)所示为本发明实施例提供的一种智能护理系统行走转移功能模块的从动轮轮距改变机构示意图。图中序号为：422、转盘，423、滑块，424、连杆。图中所示为一种行走机构具有4个从动轮时的轮距改变机构。例如，该从动轮轮距改变机构包括从动轮滑轨410、滑块423、连杆424、转盘422和电机425，从动轮402固定在从动轮滑轨410上，从动轮滑轨410通过连杆424和转盘422相连接。转盘422在电机425的带动下绕转盘422的中心轴(如图中转盘中心的圆圈所示)转动时，通过连杆424推动从动轮滑轨410沿着滑块423方向收缩或伸出来以改变从动轮轮距。例如，转盘422在电机425的带动下绕转盘422的中心轴逆时针转动时，通过连杆424推动从动轮滑轨410沿着滑块423方向向底盘404外侧伸出，同时带动从动轮402向外运动，在转盘422顺时针转动时，则带动从动轮滑轨410沿着滑块423向转盘422内侧收缩，同时带动从动轮402向内运动，从而实现了改变从动轮轮距的功能。在行走转移功能模块载人移动的过程中，从动轮402向底盘422外伸出，从而可以保证行走转移功能模块移动的稳定性。
例如，行走转移功能模块的行走方式包括手动控制和/或自动控制。
例如，行走转移功能模块在手动控制方式下采用例如图6所示的操纵手柄408a来控制，操纵手柄408a安装在一侧扶手上(例如，安装在右侧扶手408上，如图6所示)。
例如，如图9所示，在自动控制方式下，通过安装在行走转移功能模块上的自主导航系统来实现路径引导；行走转移功能模块上安装有无线数据传 输接口，可以通过无线遥控控制的方式执行命令；行走转移功能模块装有避障传感器，可以实现遇到障碍物停止或绕行功能；行走转移功能模块装有语音交互系统，能在对接和/或搬运等动作开始前或结束后进行语音提示，语音交互系统具有语音识别和语音定位功能，可根据使用者发出的语音信息确定使用者的位置，当使用者发出声音指令后，语音交互系统可以接受和识别使用者的声音信号，并确定使用者所在的位置，由自主导航系统引导行走转移功能模块运行至使用者所在位置处，然后将使用者转移至行走功能模块上。
例如，行走转移功能模块还包括总控制芯片，底盘上方设有安装板，自主导航系统、无线数据传输接头、避障传感器、语音交互系统和总控制芯片安装在安装板上，操纵手柄、自主导航系统、无线数据传输接头、避障传感器和语音交互系统分别与总控制芯片连接。
例如，所述的自主导航系统可以为磁导航、激光导航或惯性导航等。
实施例2
如图10为本发明实施例提供的一种智能护理系统的坐便器功能模块结构示意图。图中各序号分别为：3、第二对接接头，501、坐便器，502、坐便器辅高坐垫，503、坐便器扶手，504、坐垫升降滑块，505、升降导轨，506、辅助脱裤装置，507、清洗和烘干设备(例如智能清洁马桶盖或智能清洁马桶垫)。坐便器功能模块包括坐便器501、辅高坐垫502、智能清洁马桶盖507、坐便器扶手503、辅助脱裤装置(例如自动脱裤机构)506以及对接接头3。例如，坐便器501侧边安装有对接接头3，可以和行走转移功能模块连接。坐便器501上方安装有辅高坐垫502，辅高坐垫502可以调整使用者如厕时臀部高度，例如坐便器辅高坐垫502可以在坐垫升降滑块504的带动下沿升降导轨505上下移动，从而调整辅高坐垫高度，以方便老人便后站立。例如，辅高坐垫502还具有垫圈加热功能。坐便器501两侧设置有扶手503，扶手503可以折叠和升降。坐便器501旁边设置有辅助脱裤装置506，辅助脱裤装置506的主体结构包括分别设置在坐便器501两侧的辅助脱裤机械手臂5060。辅助脱裤机械手臂端部有连接扣5060a，可与使用者裤腰连接，通过坐便器501两侧辅助脱裤机械手臂5060的协调运动，可以使辅助脱裤机械手臂5060端部沿着使用者大腿方向向上或者向下运动，完成脱裤或穿裤动作。辅助脱裤机械手臂5060的运动方向、运动速度、运动距离可以事先设定，也 可以手动控制辅助脱裤机械手臂5060的运动。所述辅助脱裤机械手臂5060上装有拉力传感设备5060b，当拉力超过一定值时，辅助脱裤机械手臂5060停止运动。同时，坐便器装有的清洗和烘干设备507，例如智能清洁马桶盖，被配置为帮助使用者进行便后清洗和烘干。
行走转移功能模块与坐便器功能模块协调工作把使用者从行走转移功能模块转移到坐便器功能模块上的过程如下：
1、使用者发出指令；
2、行走转移功能模块接近坐便器功能模块并通过对接接头与坐便器连接；
3、调整行走转移功能模块座位高度与坐便器坐垫高度一致。
后续步骤按使用者状况分两种转移方法：
(一)使用者能够自行坐起，上肢基本能发挥作用
1、行走转移功能模块靠近坐便器一侧的扶手和坐便器功能模块靠近行走转移功能模块一侧的扶手收起；
2、使用者从行走转移功能模块平移到坐便器坐垫上；
3、坐便器靠近行走转移功能模块一侧的扶手抬起，使用者在扶手的辅助下臀部离开坐便器坐垫，辅助脱裤装置完成脱裤动作；
4、坐便器使用结束后，使用者在扶手的辅助下臀部离开坐便器坐垫，并在辅助脱裤装置帮助下完成穿裤动作，然后从坐便器平移到行走转移功能模块的座位上；
5、行走转移功能模块的座位回到适合行走的高度；
6、行走转移功能模块与坐便器功能模块分离，走向下一个目的地。
(二)使用者不能自行坐起，上肢功能不足
1、行走转移功能模块靠近坐便器一侧的扶手和坐便器靠近行走转移功能模块一侧的扶手收起；
2、行走转移功能模块伸出两个机械臂，一个机械臂在使用者背部，同时伸出护栏环绕使用者胸前和腋下形成保护，另一机械臂在使用者的下肢部位，将使用者抱起，转移到坐便器的上方；
3、在使用者背后的机械臂与前面的护栏配合，承担起使用者主要的重量，同时与支撑下肢的机械臂配合，使上半身呈接近竖直状态，辅助脱裤装置完 成脱裤动作，机械臂将使用者放到坐便器上；
4、坐便器使用结束，行走转移功能模块伸出两个机械臂，按前述步骤描述的方式将使用者抱起，辅助脱裤装置完成穿裤动作，机械臂将使用者放到行走转移功能模块的座位上；
5、行走转移功能模块的座位回到适合行走的高度；
6、行走转移功能模块与坐便器功能模块分离，走向下一个目的地。
以上每一步动作的执行，有必要的话都可以通过使用者与装置之间的人机互动实现。
实施例3
例如，在本发明实施例中，床功能模块为组合式结构，主要包括床面、托板、扶手、挡板和对接接头。托板安装在床面中间，扶手位于床面两侧，挡板位于床面的首尾两端，扶手和挡板均可以调整高度并且可下降至床面所在平面下方。
如图11和图12为本发明实施例提供的一种智能护理系统的床功能模块的俯视图和侧视图。图中个各序号分别为：3、第二对接接头，601、604、609和611是床功能模块侧边扶手，602和610为床两端挡板，603为床面，605、606、607和608为升降托板，612和613为辅助支撑杆，614为升降柱。安装在侧边的第二对接接头3可以和其它功能模块进行连接，例如与行走转移功能模块连接。侧边扶手601、604、609和611主要起到保护使用者、防止跌落的作用，同时还具有升降功能，以方便使用者在床和其他物体之间移动，例如方便使用者在床功能模块和其他功能模块之间移动。升降托板605、606、607和608可以把使用者托起，使使用者身体离开床面603，以方便对使用者进行转移。升降柱614可以控制床面603进行升降。例如，床功能模块首尾两端端部设有控制按钮600a，控制按钮600a可以控制床功能模块各部件的运动；和/或，床功能模块还设有数据传输接头600b，其可以与智能设备(例如智能手机)相连，从而可以远程控制床功能模块的运动。
例如，床面为拼接式，包括背部板、臀部板和腿部板，通过调整床面603不同部件的高度和角度，可使使用者在平躺、半躺和坐姿等姿势之间变换。例如，床面的高度可以调整。
如图13为本发明实施例提供的一种智能护理系统的床功能模块在使用 者处于半躺状态下时的示意图。图中615为背部板，背部板615可以进行转动，并在任意角度处停止，使使用者可以由平躺转换为半躺的姿势，方便使用者坐起和移动。
例如，床功能模块具有按摩和康复运动功能，床面用于放置使用者腿部的部分(即腿部板)可以连续摆动，以带动被护理人员的下肢运动。
如图14为本发明实施例提供的一种智能护理系统的床功能模块在使用者处于坐姿状态下时的示意图。图中615为背部板，656为臀部板，616为腿部板(例如小腿板)。其中腿部板可以连续上下摆动，辅助使用者进行腿部康复运动。
如图15为本发明实施例提供的一种智能护理系统的床功能模块在使用者进行腿部康复运动时的示意图。图中序号617为滚轮，618为凸轮机构。当使用者在床上处于坐姿位置时，通过安装在床下方的凸轮机构618的运动，从而使与凸轮机构618接触的滚轮617带动腿部板616作围绕腿部板固定端的连续上下摆动，从而达到活动使用者腿部的康复运动功能。
例如，托板605-608并排放置，分别位于使用者处于平躺状态下的背部、臀部、腿部下方，床功能模块的至少部分托板可以升降，以将使用者抬起，在使用者与床面之间形成一定间距，从而方便对使用者进行转移。
如图16为本发明实施例提供的一种智能护理系统的床功能模块的托板处于升起状态下的示意图。图中床侧边扶手601和611下降至床面以下，托板605、606、607和608从床面升起，使使用者身体离开床面，从而方便行走转移功能模块的机械手对使用者进行转移。
例如，床功能模块具有两个互成90度的转动轴，其中一个轴与使用者平躺时身体方向平行，另一个轴与使用者平躺时身体方向垂直，床面603和两个转动轴之间通过转动机构连接，床面603可以整体绕这两个转动轴旋转。
如图17(a)-(e)为本发明实施例提供的一种智能护理系统的床功能模块在两个相互垂直方向整体转动的示意图。图中序号为：619、推杆，620连杆，621铰接端子，622连杆，623推杆，624铰接端子。图17(a)中画出了在床面上两个相互垂直的X轴和Y轴。17(b)和17(c)为床面绕X轴转动的示意图，铰接端子621为固定端子(转动机构的一个示例)，即其位置固定，推杆619推动连杆620运动，从而推动床面603绕铰接端子621转动， 从而实现了床面绕X轴的转动。图17(d)和17(e)为床面绕Y轴转动的示意图，推杆623推动连杆622运动，从而推动床面603绕铰接端子624(转动机构的另一示例)转动，从而实现床面绕Y轴的转动。
床功能模块和行走转移功能模块协调工作把使用者从床上转移到行走转移功能模块上的过程如下：
1、使用者发出指令；
2、行走转移功能模块接近床功能模块并通对接接头与床功能模块对接；
3、调整行走转移功能模块坐垫高度与床面高度一致，以保证使用者顺利从床功能模块转移到行走转移功能模块上；
后续步骤根据使用者的情况而有不同的方案：
(一)对于能够坐起，而且上肢基本能发挥作用的使用者
1、行走转移功能模块靠近床功能模块的扶手和床功能模块靠近行走转移功能模块一侧的扶手放下；
2、使用者自行坐起，或者床面由平躺状态改为半躺状态，辅助使用者坐起；
3、使用者从床功能模块平移到行走转移功能模块的坐位上；
4、行走转移功能模块靠近床功能模块的扶手抬起，有必要的话可在使用者前方放下护栏；
5、行走转移功能模块的坐位回到适合行走的高度；
6、行走转移功能模块与床功能模块分离，走向目的地。
(二)对于不能自行坐起，上肢功能不足的使用者
1、床的部分托板升起，使使用者与床面之间有一定的空间，以便机械臂插入；
2、行走转移功能模块的机械臂插入到使用者的下方，将使用者抬起，并将使用者转移到行走转移功能模块的上方，以坐姿安放在座位上。在此过程中，有必要时，要加上保护机构(如护栏)以保证安全和使用者的舒适度与安全感；
3、行走转移功能模块靠床的扶手抬起，有必要的话可在使用者前方放下护栏；
4、行走转移功能模块的坐位回到适合行走的高度；
5、行走转移功能模块与床功能模块分离，走向目的地。
以上每一步动作的执行，有必要的话都可以通过使用者与装置之间的人机互动实现。
实施例4
例如，在本发明实施例中，洗浴功能模块的洗浴方式为坐式洗浴，其主要结构包括坐式洗浴台、淋浴装置、烘干设备和对接接头。坐式洗浴台可以通过例如震动、摩擦等方式对使用者和洗浴台表面接触的部位进行除垢；坐式洗浴台两侧安装有扶手，扶手可以升起或放下，例如，扶手放下后在使用者身体前方形成护栏(在其他实施例中，扶手被放下后也可以不形成护栏)；淋浴装置(例如淋浴喷头)和烘干设备安装在坐式洗浴台上方，淋浴装置可以调整水流速度和水量的大小，烘干装置可以调整气流温度和风量大小；坐式洗浴台侧面安装有对接接头，可以和其他功能模块进行连接。
如图18为本发明实施例提供的一种智能护理系统的洗浴功能模块示意图。图中各序号为：3、第二对接接头，701、防护扶手，702防护扶手，703淋浴装置，704烘干设备，705坐式洗浴台。第二对接接头3可以和行走转移功能模块对接。洗浴时，使用者坐在坐式洗浴台705上，两侧的防护扶手701和702放下，在使用者身体前方形成护栏。坐式洗浴台705斜上方的淋浴装置703喷水进行淋浴。淋浴的同时，坐式洗浴台705可以通过震动或者旋转式毛刷清洗的方式，对使用者背部和大腿下方进行清洗。清洗完成后，烘干装置704通过吹风的方式辅助使用者进行表面擦拭和干燥。淋浴装置703可以调整水流速度和水量的大小，并进行水流雾化。烘干装置704可以调整气流温度和风量大小，同时可以进行搅风和风向调整。
例如，洗浴功能模块安装有控制按钮700，其可以远程控制行走转移功能模块的移动，使行走功能模块自动运行至洗浴功能模块所在位置处完成对接，并且可以让行走功能模块解除与洗浴功能模块的对接状态，运行至其它位置。
行走转移功能模块与洗浴功能模块协调工作把使用者从行走转移功能模块转移到洗浴功能模块上的过程如下：
1、使用者发出指令；
2、行走转移功能模块接近洗浴功能模块并通过对接接头与坐式洗浴台连 接；
3、调整行走转移功能模块坐位高度与坐式洗浴台高度一致；
后续步骤按使用者状况分两种转移方法：
(一)使用者能够自行坐起，上肢基本能发挥作用
1、行走转移功能模块靠近坐式洗浴台一侧的扶手放下；
2、使用者从行走转移功能模块平移到坐式洗浴台上，行走转移功能模块移动至浴室外；
3、洗浴功能模块两侧的扶手放下，在使用者身体前方形成护栏；
4、洗浴完成后，使用者发出指令，行走转移功能模块接近洗浴功能模块并通过对接接头与坐式洗浴台连接；
5、洗浴功能模块两侧的扶手升起，使用者从坐式洗浴台转移到行走转移功能模块上；
6、行走转移功能模块靠近坐式洗浴台一侧的扶手抬起，有必要的话可在使用者前方放下护栏；
7、行走转移功能模块的回到适合行走的高度；
8、行走转移功能模块与洗浴功能模块分离，走向下一个目的地。
(二)使用者不能自行坐起，上肢功能不足
1、行走转移功能模块靠近坐式洗浴台一侧的扶手放下；
2、行走转移功能模块伸出两个机械臂，一个机械臂在使用者背部，同时伸出护栏环绕使用者胸前和腋下形成保护，另一机械臂在使用者的下肢部位，将使用者抱起，转移到坐式洗浴台上，行走转移功能模块移动至浴室外；
3、洗浴功能模块两侧的扶手放下，在使用者身体前方形成护栏；
4、洗浴完成后，使用者发出指令，行走转移功能模块接近洗浴功能模块时并通过对接接头与坐式洗浴台连接；
5、洗浴功能模块两侧的扶手升起，行走转移功能模块伸出两个机械臂，按前述步骤将使用者移动至行走转移功能模块的座位上；
6、行走转移功能模块靠近坐式洗浴台一侧的扶手抬起，有必要的话可在使用者前方放下护栏；
7、行走转移功能模块的回到适合行走的高度；
8、行走转移功能模块与洗浴功能模块分离，走向下一个目的地。
以上每一步动作的执行，有必要的话都可以通过使用者与装置之间的人机互动实现。
实施例5
例如，在本发明实施例中，对接接头包括第一对接接头和第二对接接头，第一对接接头和第二对接接头可以分别安装在两个功能模块上，也可以是其中一个对接接头为安装位置固定的对接接头(例如被安装在地面、墙面等固定位置的物体上)且另一个对接接头被安装在功能模块上，通过第一对接接头和第二对接接头之间的对接来实现两个功能模块之间的机械对接，例如，也可以通过两个接头之间的对接来实现两个功能模块之间的机械对接和数据传输。
如图19(a)和图19(b)为本发明实施例提供的一种智能护理系统的对接接头对接前后的示意图。图中序号为：31、数据信号和电信号连接母口，32、机械锁紧机构，33、机械锁紧机构，34、定位传感器，35、电磁连接机构，36、机械引导机构，37、定位传感器，38、数据信号和电信号连接公口，39、机械引导机构。例如，如图19(a)所示，第一对接接头401和第二对接接头3均包括机械引导机构(参见36和39)和定位传感器(参见37和34)。第一对接接头401和第二对接接头3中的一个还包括电磁连接机构35以及数据信号和电信号连接公口38，第一对接接头401和第二对接接头3中的另一个还包括机械锁紧机构32和33以及数据信号和电信号连接母口31。例如，35、36、37、38构成第一对接接头401，31、32、33、34、39构成第二对接接头3，如图19(a)和图19(b)所示；或者，35、36、37、38构成第二对接接头3，31、32、33、34、39构成第一对接接头401。
对接接头的组合体包括对接引导装置、刚性连接装置和数据传输装置，对接引导装置、刚性连接装置和数据传输装置分别包括第一对接接头和第二对接接头上的不同部件。
对接引导装置包括第一对接接头401和第二对接接头3上的机械引导机构(参见36和39)以及定位传感器(参见37和34)。对接引导装置依靠定位传感器在远距离引导两个需要对接的功能模块调整对接方位，并依靠机械引导机构在近距离处调整两个对接功能模块之间的位置误差。
刚性连接装置包括第一对接接头401和第二对接接头3中的一个上的电 磁连接机构35、以及第一对接接头401和第二对接接头3中的另一个上的机械锁紧机构32和33。刚性连接装置可以依靠电磁连接机构实现两个对接接头模块之间的刚性连接，并由机械锁紧机构进行连接加强，机械锁紧机构可以自动锁紧，也可以手动控制锁紧。
数据传输装置包括数据信号和电信号连接公口38和母口31。数据传输装置的数据传信号和电信号连接公口和母口在第一对接接头和第二对接接头对接的过程中完成连接配合，形成两个功能模块之间的数据传输通道。
第一对接接头401和第二对接接头3进行对接时，首先由定位传感器34和37确定对接方位，从而引导两个功能模块从相互平行的方向靠近。当距离接近到一定位置使两个机械引导机构36和39接触后，第一对接接头401随行走转移功能模块在机械引导机构的引导下继续运动，直至运动到设定的对接位置。此时，数据信号和电信号连接公口38和母口31相互连接完成，电磁连接机构35启动，机械锁紧机构32和33完成机械锁紧，检测系统检测到对接完成，则表示对接过程结束，功能模块联合体可以进行下一任务。
实施例6
本发明实施例提供一种坐具功能模块。例如，如图20所示，该坐具功能模块包括坐具20以及与该坐具20连接的对接接头3。例如，该坐具20可以为沙发、椅子或其它类型的坐具。
该坐具功能模块可以通过对接接头3与行走转移功能模块或其它功能模块连接。例如，对接接头3可以参照实施例5中的相关描述，重复之处不再赘述。例如，该坐具功能模块还可以包括扶手，扶手被配置为可以升降或可以形成护栏。使用者在行走转移功能模块与坐具功能模块之间的移动方式可参考实施例2-4中的相关描述，重复之处不再赘述。
实施例7
本发明实施例提供一种康复运动功能模块。例如，如图21所示，该康复运动功能模块包括臀部板856、腿部板816、滚轮817、凸轮818以及对接接头3。凸轮818在转动过程中通过滚轮817带动腿部板816运动，使得腿部板816可以围绕腿部板816与臀部板856的连接处摆动，以在使用者坐在臀部板856上时辅助使用者进行腿部康复运动。例如，凸轮818可以固定在臀部板856的下方。例如，该康复运动功能模块还可以包括背部板815，通过 调整背部板815的倾斜角度，可以使使用者实现坐姿、上半身平躺或上半身半躺状态之间的转换。
该康复运动功能模块可以通过对接接头3与行走转移功能模块或其它功能模块连接。例如，对接接头3可以参照实施例5中的相关描述，重复之处不再赘述。例如，该康复运动功能模块还可以包括扶手，扶手被配置为可以升降或可以形成护栏。使用者在行走转移功能模块与康复运动功能模块之间的移动方式可参考实施例2-4中的相关描述，重复之处不再赘述。
实施例8
本发明的至少一个实施例提供另一种智能护理系统，如图22所示，该智能护理系统包括护理功能模块和行走功能模块4，护理功能模块包括床功能模块6、坐便器功能模块5、洗浴功能模块7、坐具功能模块2和康复运动功能模块9中的至少一种或几种的组合，行走功能模块4被配置为可以承载使用者并且可以移向护理功能模块。在该智能护理系统中，行走功能模块4和护理功能模块都包括对接接头(参见图22中的401和3)，并且行走功能模块4和护理功能模块包括的对接接头之间可以刚性连接，也就是说，在对接接头之间刚性连接时，当其中一个对接接头产生位移时，与该对接接头相连的另一对接接头不会相对于该对接接头产生位移。
在本发明实施例中，通过将对接接头分别固定在各自所在的功能模块上并且对接接头之间采用刚性连接，可以使这功能模块之间不产生相对位移，因此可以保证使用者实现安全平稳的移动。
例如，行走功能模块4还可以被配置为可以将使用者从行走功能模块所在位置移动到护理功能模块所在位置，或者从护理功能模块所在位置移动到行走功能模块所在位置。例如，行走功能模块4可以包括机械手臂。
本发明实施例中的行走功能模块可参照以上实施例中的行走转移功能模块的描述，本发明实施例中的护理功能模块以及对接接头可参照以上实施例中的相关描述，重复之处不做赘述。
基于上述的技术方案，本发明实施例可以实现在无人看护的条件下，对老人或行动不便者的日常生活进行至少一项护理的功能。具体地，本发明实施例的有益效果包括：(1)本发明实施例采用模块化的设计理念，针对无人看护条件下老人或行动不便者日常生活的主要活动，如如厕、洗浴、康复运 动等，给出了具体的实现方案，为帮助老人或行动不便者实现日常生活的自理提供了可行的技术手段，使日益严重的养老问题摆脱了对护理人员的高度依赖；(2)本发明实施例采用的各模块功能既可独立实现各自的功能，模块之间也可通过对接接头进行刚性连接从而实现协同工作，本发明实施例的智能护理系统便捷高效且实现了对居家生活中各项日常生活的全面覆盖，针对不同人群的特殊需求，只需要增加相应的功能模块即可；(3)不同功能模块之间通过对接接头实现刚性连接的方式，保证了使用者在不同功能模块之间移动时的安全性和舒适性。
以上所述仅是本发明的示范性实施方式，而非用于限制本发明的保护范围，本发明的保护范围由所附的权利要求确定。
本申请要求于2016年12月23日递交的中国专利申请第201611204964.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。

Claims (36)

  1. 一种智能护理系统，包括：
    行走转移功能模块；以及
    床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的至少一种或几种的组合，
    其中，所述的各个功能模块均包括对接接头，由两个或两个以上的功能模块协同作业时，所述功能模块之间被配置为可通过对接接头实现连接。
  2. 根据权利要求1所述的智能护理系统，其中，所述床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的每一个包括的对接接头与所述行走转移功能模块包括的对接接头被配置为可刚性连接。
  3. 根据权利要求1或2所述的智能护理系统，其中，所述对接接头被配置为连接后可以实现所述功能模块之间的数据传输。
  4. 根据权利要求1-3中任一项所述的智能护理系统，其中，不同的功能模块分布于不同的活动空间内，所述行走转移功能模块被配置为可搬运使用者在不同的活动空间内移动。
  5. 根据权利要求1-4中任一项所述的智能护理系统，其中，
    所述的行走转移功能模块被配置为可以将使用者运送到指定的目的地，而且所述行走转移功能模块被配置为能够帮助使用者从一个功能模块转移到另一个功能模块上。
  6. 根据权利要求5所述的智能护理系统，其中，
    所述行走转移功能模块还被配置为能够帮助使用者实现坐姿和站姿之间的转换；和/或，
    所述行走转移功能模块被配置为与汽车连用。
  7. 根据权利要求1-6中任一项所述的智能护理系统，其中，所述的行走转移功能模块包括行走机构和乘坐机构，所述乘坐机构包括多段式升降系统、坐垫、扶手、靠背和脚踏板，所述行走机构包括底盘、驱动轮、从动轮以及从动轮滑轨，所述驱动轮安装在所述底盘上，所述从动轮通过所述从动轮滑轨和所述底盘相连接，所述底盘上面是所述多段式升降系统，所述坐垫安装 在所述多段式升降系统上方，所述靠背放置在所述坐垫上方，所述扶手和脚踏板被配置为可以折叠或展开，在所述扶手和所述脚踏板都展开的状态下，所述扶手位于所述乘坐机构两侧，所述脚踏板位于所述底盘前侧且高于所述底盘上表面。
  8. 根据权利要求7所述的智能护理系统，其中，所述多段式升降系统包括坐垫支撑杆、支撑架、可以在竖直方向升降的升降柱和可以在斜向上方向升降的斜向上升降机构，所述斜向上升降机构包括斜支撑架、导轨、滑块和推杆，所述滑块和所述坐垫支撑杆相连接，所述支撑架和所述斜向上升降机构被配置为在所述升降柱的带动下可以在竖直方向升降，所述扶手以及所述靠背都和所述支撑架相连并且可以在所述升降柱的带动下和所述坐垫同时升高或者降低，所述推杆被配置为可推动所述滑块沿所述导轨向斜上方运动同时带动所述坐垫向斜上方运动，从而实现辅助使用者站立的功能。
  9. 根据权利要求7或8所述的智能护理系统，其中，所述坐垫在运动过程中上表面距离地面的最小距离不大于400mm，距离地面的最大距离和最小距离的比值不大于2.5。
  10. 根据权利要求7-9中任一项所述的智能护理系统，其中，所述驱动轮为单轮驱动或两轮独立驱动，和/或所述驱动轮包括电磁刹车系统。
  11. 根据权利要求7-10中任一项所述的智能护理系统，其中，所述行走机构包括多个从动轮，所述从动轮轮距被配置为可以在所述行走转移功能模块移动过程中改变。
  12. 根据权利要求11所述的智能护理系统，其中，所述行走机构还包括从动轮轮距改变机构，所述的从动轮轮距改变机构包括所述从动轮滑轨、滑块、连杆、转盘和电机，所述从动轮固定在所述从动轮滑轨上，所述从动轮滑轨通过所述连杆与所述转盘相连接，所述转盘在所述电机的带动下绕中心轴转动时，通过所述连杆推动所述从动轮滑轨沿着所述滑块方向收缩或伸出来改变所述从动轮轮距。
  13. 根据权利要求7-12中任一项所述的智能护理系统，其中，所述的行走转移功能模块在非载人状态下，所述扶手和脚踏板被配置为可折叠至所述行走转移功能模块内部，所述靠背被配置为可折叠至所述坐垫上方；所述行走转移功能模块在载人行走状态下工作时，所述靠背、扶手和脚踏板被配置 为可处于打开状态，分别处在各自的功能位置处。
  14. 根据权利要求13所述的智能护理系统，其中，所述行走转移功能模块被配置为可以进行无需载人的移动，所述行走转移功能模块采用电池驱动并且被配置为当所述智能护理系统检测到电量下降至低于阈值时所述行走转移功能模块启动自动充电程序。
  15. 根据权利要求13或14所述的智能护理系统，其中，在所述行走转移功能模块在载人行走状态下工作时，所述从动轮被配置为从所述底盘下伸出，以扩大从动轮轮距。
  16. 根据权利要求13-15中任一项所述的智能护理系统，其中，所述乘坐机构还包括坐垫小板，所述行走转移功能模块在辅助站立状态下工作时，所述脚踏板收起，在所述多段式升降系统的协调运作下，所述坐垫向上升高的同时向斜上方伸出，所述坐垫前端两侧的所述坐垫小板向下折叠，使所述坐垫前端变窄，以使使用者由坐姿转变为骑坐姿势。
  17. 根据权利要求7-16中任一项所述的智能护理系统，其中，所述的行走转移功能模块的行走方式包括手动控制和/或自动控制；
    所述行走转移功能模块包括操纵手柄并且被配置为在所述手动控制方式下采用所述操纵手柄来控制，所述操纵手柄安装在一侧扶手上；
    所述行走转移功能模块被配置为在所述自动控制方式下，通过安装在行走转移功能模块上的自主导航系统来实现路径引导，所述行走转移功能模块上安装有无线数据传输接口以实现通过无线遥控控制的方式执行命令，所述行走转移功能模块装有避障传感器以实现遇到障碍物停止或绕行功能，所述行走转移功能模块装有语音交互系统以能在对接和/或搬运动作开始前或结束后进行语音提示，所述语音交互系统具有语音识别和语音定位功能，可根据使用者发出的语音信息确定使用者的位置。
  18. 根据权利要求17所述的智能护理系统，其中，所述行走转移功能模块还包括总控制芯片，所述底盘上方设有安装板，所述自主导航系统、无线数据传输接头、避障传感器、语音交互系统和总控制芯片安装在所述安装板上，所述操纵手柄、自主导航系统、无线数据传输接头、避障传感器和语音交互系统分别与总控制芯片连接。
  19. 根据权利要求7-18中任一项所述的智能护理系统，其中，所述行走 转移功能模块的乘坐机构前侧还安装有照明系统，和/或所述的自主导航系统可以为磁导航、激光导航或惯性导航。
  20. 根据权利要求1-19中任一项所述的智能护理系统，其中，所述的床功能模块包括床面、托板、扶手和挡板，所述托板安装在所述床面中间，所述扶手位于所述床面两侧，所述挡板位于所述床面的首尾两端，所述的扶手和挡板均被配置为可以调整高度并且可下降至床面所在平面下方。
  21. 根据权利要求20所述的智能护理系统，其中，所述床面为拼接式，包括背部板、臀部板和腿部板，所述床面的不同部件被配置为高度和角度可调整，并且所述床面被配置为可使使用者在平躺、半躺和坐姿这些姿势之间变换。
  22. 根据权利要求20或21所述的智能护理系统，其中，所述床面被配置为高度可以调整。
  23. 根据权利要求20-22中任一项所述的智能护理系统，其中，所述床功能模块包括多个并排放置的托板，所述多个托板被配置为分别位于使用者处于平躺状态下的背部、臀部、腿部下方，所述床功能模块的至少部分托板被配置为可以升降。
  24. 根据权利要求20-23中任一项所述的智能护理系统，其中，
    所述床功能模块首尾两端端部设有控制按钮，所述控制按钮被配置为可以控制床功能模块各部件的运动；和/或，
    所述床功能模块还设置有数据传输接口，所述数据传输接口被配置为可以与智能设备相连，以远程控制床功能模块的运动。
  25. 根据权利要求20-24中任一项所述的智能护理系统，其中，所述的床功能模块包括两个互成90度的转动轴，其中一个轴被配置为与使用者平躺时身体方向平行，另一个轴被配置为与使用者平躺时身体方向垂直，所述床面和所述两个转动轴之间通过转动机构连接，所述床面被配置为可以整体绕所述两个转动轴旋转。
  26. 根据权利要求1-25中任一项所述的智能护理系统，其中，所述的坐便器功能模块包括坐便器、辅高坐垫、清洗和烘干设备、坐便器扶手、辅助脱裤装置，
    所述坐便器上方安装有所述辅高坐垫，所述辅高坐垫被配置为可以调整 使用者如厕时臀部高度，
    所述坐便器两侧设置有所述坐便器扶手，所述坐便器扶手被配置为可以折叠和升降，
    所述坐便器旁边设置有所述辅助脱裤装置，所述辅助脱裤装置的主体结构包括分别设置在所述坐便器两侧的辅助脱裤机械手臂，所述辅助脱裤机械手臂的端部被配置为可与使用者的裤腰连接并拖动裤腰沿着大腿方向向下或者向上运动，以完成脱裤或穿裤动作，
    所述清洗和烘干设备被配置为可以帮助使用者进行便后清洗和烘干。
  27. 根据权利要求26所述的智能护理系统，其中，
    所述辅高坐垫还具有垫圈加热功能；和/或，
    所述辅助脱裤装置还包括设置于所述辅助脱裤机械手臂上的拉力传感设备，所述辅助脱裤机械手臂被配置为当所述拉力传感设备的拉力超过一定值时停止运动。
  28. 根据权利要求1-27中任一项所述的智能护理系统，其中，所述的洗浴功能模块的洗浴方式为坐式洗浴，包括坐式洗浴台、淋浴装置和烘干设备，
    所述坐式洗浴台被配置为可以对使用者和洗浴台表面接触的部位进行除垢，所述坐式洗浴台两侧安装有扶手，所述扶手被配置为可以升起或放下，
    所述淋浴装置和烘干设备安装在坐式洗浴台上方，所述淋浴装置被配置为可以调整水流速度和水量的大小，
    所述烘干装置被配置为可以调整气流温度和风量大小。
  29. 根据权利要求28所述的智能护理系统，其中，所述洗浴功能模块安装有控制按钮，所述控制按钮被配置为可以远程控制所述行走转移功能模块的移动，使所述行走功能模块自动运行至所述洗浴功能模块所在位置处并且完成对接。
  30. 根据权利要求28或29所述的智能护理系统，其中，所述扶手被配置为在被放下后在使用者身体前方形成护栏。
  31. 根据权利要求1-30中任一项所述的智能护理系统，其中，
    所述的对接接头包括第一对接接头和第二对接接头，所述第一对接接头和所述第二对接接头分别被安装在两个功能模块上，或者所述第一对接接头和所述第二对接接头中的一个为安装位置固定的对接接头且另一个被安装在 功能模块上；并且
    由所述的第一对接接头和第二对接接头之间的对接来实现两个功能模块之间的机械对接。
  32. 根据权利要求31所述的智能护理系统，其中，所述的对接接头包括对接引导装置、刚性连接装置和数据传输装置，
    所述第一对接接头和第二对接接头均包括机械引导机构和定位传感器，所述第一对接接头和第二对接接头中的一个还包括电磁连接机构以及数据信号和电信号连接公口，所述第一对接接头和第二对接接头中的另一个还包括机械锁紧机构以及数据信号和电信号连接母口，
    所述对接引导装置包括于所述第一对接接头和第二对接接头都包括的所述机械引导机构以及定位传感器，
    所述刚性连接装置包括所述的电磁连接机构和所述机械锁紧机构，
    所述数据传输装置包括所述数据信号和电信号连接公口和所述数据信号和电信号母口。
  33. 根据权利要求1-32中任一项所述的智能护理系统，其中，所述的各功能模块在使用者使用过程中，其各部件的工作电压不超过36V。
  34. 根据权利要求1-33中任一项所述的智能护理系统，其中，所述康复运动功能模块包括臀部板、腿部板、滚轮和凸轮，所述凸轮被配置为在转动过程中通过所述滚轮带动所述腿部板运动，使得所述腿部板围绕所述腿部板与所述臀部板的连接处摆动。
  35. 一种智能护理系统，包括：
    护理功能模块，其包括床功能模块、坐便器功能模块、洗浴功能模块、坐具功能模块和康复运动功能模块中的至少一种或几种的组合；以及
    行走功能模块，其被配置为可移向所述护理功能模块，
    其中，所述护理功能模块和所述行走功能模块都包括对接接头，所述护理功能模块和所述行走功能模块包括的对接接头之间被配置为可刚性连接。
  36. 根据权利要求35所述的智能护理系统，其中，所述行走功能模块还被配置为可将使用者从行走功能模块所在位置移动到护理功能模块所在位置，或者从护理功能模块所在位置移动到行走功能模块所在位置。
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