WO2021120128A1 - 一种智能马桶机器人及其使用方法、系统 - Google Patents

一种智能马桶机器人及其使用方法、系统 Download PDF

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Publication number
WO2021120128A1
WO2021120128A1 PCT/CN2019/126756 CN2019126756W WO2021120128A1 WO 2021120128 A1 WO2021120128 A1 WO 2021120128A1 CN 2019126756 W CN2019126756 W CN 2019126756W WO 2021120128 A1 WO2021120128 A1 WO 2021120128A1
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Prior art keywords
toilet
robot
intelligent
user
intelligent toilet
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PCT/CN2019/126756
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English (en)
French (fr)
Inventor
曹庆恒
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曹庆恒
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Priority to PCT/CN2019/126756 priority Critical patent/WO2021120128A1/zh
Publication of WO2021120128A1 publication Critical patent/WO2021120128A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
    • A47K11/00—Closets without flushing; Urinals without flushing; Chamber pots; Chairs with toilet conveniences or specially adapted for use with toilets
    • A47K11/02—Dry closets, e.g. incinerator closets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G9/00—Bed-pans, urinals or other sanitary devices for bed-ridden persons; Cleaning devices therefor, e.g. combined with toilet-urinals
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Definitions

  • the present invention relates to the technical field of smart home, in particular to a smart toilet robot and a method and system for using the same.
  • the toilet In daily life, the toilet is a necessity. If you need to go to the toilet, you can only go to the bathroom. For ordinary people, it will not cause any inconvenience, but for patients with limited mobility, they cannot go to the toilet alone. If the bedpan is used to solve the problem, the nursing staff will also need the help of cleaning and even helping to use, resulting in user experience very bad.
  • an intelligent toilet robot that can be used by different users, such as patients, children, etc., to use toilets in different places such as beds, bedsides, wheelchairs, etc. Seats, etc., and automatically move the toilet after use to the toilet for cleaning, which greatly facilitates the user's need to use the toilet, greatly improves the user experience, reduces the workload of the nursing staff, and improves the nursing efficiency.
  • the main purpose of the present invention is to provide an intelligent toilet robot and its use method and system, so that users with inconvenient mobility can conveniently use the toilet in different places, and automatically move the toilet after use to the toilet for cleaning, making it inconvenient to move
  • the patient can also be convenient alone, which greatly facilitates the patient's need to use the toilet, greatly improves the user experience, reduces the workload of the nursing staff, and improves the nursing efficiency.
  • the present invention provides an intelligent toilet robot, including a processor and an automatic moving device connected to the processor, a multifunctional toilet device, a user interaction device, and a battery device.
  • the processor is used to control the smart toilet robot
  • the automatic moving device is used to drive the intelligent toilet robot to move
  • the multifunctional toilet device is used to be used by the user for excretion
  • the user interaction device is used to interact with the user
  • the battery device is used for power supply.
  • the processor plans an appropriate route to control the movement of the automatic moving device
  • the automatic moving device includes: a wheel set, a braking device, a driving device, a sensor, and an anti-collision device
  • the wheel set is located at the bottom of the automatic moving device and is used to carry the smart toilet robot to move
  • the braking device is located inside or at the bottom of the automatic moving device and is used for braking
  • the driving device is located in the automatic
  • the inside of the mobile device is used to drive the wheel set
  • the sensor is located inside or on the outer surface of the automatic moving device and is used to obtain road condition information
  • the anti-collision device is located around the automatic moving device and is used to reduce impact force.
  • the intelligent toilet robot further includes a data transmission module, and the processor obtains a map through the data transmission module, and plans an appropriate route according to the map and road condition information.
  • the intelligent toilet robot further includes a positioning device, and the processor obtains the position information and direction information of the starting point and the end point through the positioning device, and plans according to the position information, direction information and road condition information The right route.
  • the multifunctional toilet device includes a toilet body, and the toilet body includes a bucket body, a seat cushion, a lid, a toilet bag, a disinfection device, a flushing device, a drying device, a deodorizing device, At least one component of the heating device and the filming device.
  • the multifunctional toilet device includes a toilet body and a toilet cover, and the toilet cover includes a cushion, a cover, a toilet bag, a disinfection device, a washing device, a drying device, a deodorizing device, At least one component of the heating device and the filming device.
  • the toilet body is replaceable.
  • the multifunctional toilet device further includes a translation device, and the translation device is used to translate the toilet body.
  • the multifunctional toilet device further includes a lifting device, and the lifting device is used to adjust the height of the toilet body.
  • the multifunctional toilet device further includes an automatic cleaning device, and the automatic cleaning device includes a water inlet pipe and a sewage pipe, and the water inlet pipe and the sewage pipe are respectively connected with the toilet body.
  • the user interaction device is preferably a button/touch screen/image recognition device/voice recognition device/mobile phone/operation panel/smart glasses.
  • the present invention also provides a method for using the intelligent toilet robot, the method including:
  • the smart toilet robot After the user finishes the excretion, the smart toilet robot automatically goes to the cleaning location;
  • the smart toilet robot After reaching the flushing location, the smart toilet robot performs cleaning.
  • the method for using the smart toilet robot as described above further includes the step that the user needs to pay before using the smart toilet robot.
  • the present invention also provides an intelligent toilet robot system, including a management device, one or more intelligent toilet robots, and one or more pagers;
  • the user makes a use call through the pager
  • the management device After the management device receives the use call, it arranges an idle smart toilet robot to automatically go to the user;
  • the smart toilet robot After the user uses it, the smart toilet robot automatically goes to the cleaning location for cleaning.
  • the intelligent toilet robot and its use method and system of the present invention include a processor and an automatic moving device connected with the processor, a multifunctional toilet device, a user interaction device and a battery device.
  • a processor and an automatic moving device connected with the processor, a multifunctional toilet device, a user interaction device and a battery device.
  • Figure 1 is a schematic diagram of an intelligent toilet robot of the present invention.
  • Fig. 2 is a schematic diagram of the automatic moving device of the present invention.
  • Figure 3 is a schematic diagram of the multifunctional toilet device of the present invention.
  • Fig. 4 is a schematic diagram of a user using the intelligent toilet robot of the present invention on a hospital bed.
  • Fig. 5 is a flow chart of a method for using an intelligent toilet robot according to the present invention.
  • Fig. 6 is a schematic diagram of a system of an intelligent toilet robot of the present invention
  • FIG. 1 is a schematic diagram of an intelligent toilet robot of the present invention.
  • an intelligent toilet robot of the present invention includes a processor and an automatic moving device 11, a multifunctional toilet device 12, a user interaction device 13, and a battery device 14 connected to the processor, respectively.
  • the processor is used to control the entire intelligent toilet robot.
  • the processor can be located in any position of the intelligent toilet robot suitable for placing the processor, and is preferably located inside the automatic moving device 11.
  • the automatic moving device 11 is used to drive the intelligent toilet robot to move.
  • Fig. 2 is a schematic diagram of the automatic moving device of the present invention.
  • the automatic moving device 11 includes: a wheel set 111, a braking device 115, a driving device 112, a sensor 113 and an anti-collision device 114.
  • the wheel set 111 is located at the bottom of the automatic moving device 11 and is used to carry the smart toilet robot to move.
  • the braking device 115 is located inside or at the bottom of the automatic moving device 11 for braking.
  • the driving device 112 is located inside the automatic moving device 11 and is used to drive the wheel set 111; the sensor 113 is located inside or on the outer surface of the automatic moving device 11 to obtain road condition information; the anti-collision device 114 is located around the automatic moving device 11 to reduce impact Force.
  • the wheel set 111 includes multiple wheels to ensure the flexible and stable movement of the smart toilet robot.
  • the wheel set 111 preferably includes 4 wheels.
  • the driving device 112 is preferably a motor and a corresponding driving bearing, and is powered by the battery device 14 to drive the wheel set 111 to forward, reverse, accelerate, decelerate, turn left, turn right, and so on.
  • the sensor 113 can be an infrared sensor, a camera, a laser sensor, etc., to obtain road condition information in real time. The number of the sensor 113 can be one or more, and it can be flexibly set according to needs.
  • the anti-collision device 114 may be an anti-collision board, an anti-collision pad, or an anti-collision strip, or the like.
  • the braking device 115 can complete the forced deceleration or stop movement of the intelligent toilet robot by braking the wheel set 111, or it can complete the forced deceleration or stop movement of the intelligent toilet robot by braking the bearing, and it can be a drum brake or It can be a disc brake, one brake, or multiple brakes.
  • the intelligent toilet robot of the present invention can automatically move to the cleaning location for cleaning after the user uses it.
  • the processor plans an appropriate route and controls the movement of the automatic moving device 11, so that the intelligent toilet robot automatically moves to the cleaning location.
  • the intelligent toilet robot may also include a data transmission module, and the processor obtains a map through the data transmission module, and plans an appropriate route according to the map and road condition information.
  • the smart toilet robot may also include a positioning device. The processor obtains the position information and direction information of the starting point and the end point through the positioning device, and plans an appropriate route according to the position information, direction information, and road condition information.
  • the data transmission mode of the data transmission module can be a data line mode, a wired network, a wireless transmission mode, a radio frequency identification mode, a magnetic card reading and writing mode, a mobile hard disk mode, an NFC mode, a barcode mode, a two-dimensional code mode, etc.
  • Wireless transmission methods include: infrared, bluetooth, wifi, microwave, visible light wave, telecommunication wireless network, ultrasonic/sonic wave, radio and other methods.
  • the positioning device can be a GPS positioning device, Beidou positioning device, GLONASS positioning device, Galileo positioning device, other wireless positioning device, laser positioning device, etc.
  • the automatic moving device 11 may also include a door opening device to ensure that the smart toilet robot smoothly passes through the closed door in the moving route.
  • the automatic moving device 11 may also include an up and down stairs device to implement the smart toilet robot up and down the stairs.
  • the multifunctional toilet device 12 is used by the user for excretion.
  • Figure 3 is a schematic diagram of the multifunctional toilet device of the present invention.
  • the multifunctional toilet device 12 includes a toilet body 121, which is used for user convenience.
  • the toilet body 121 may also provide a variety of additional functions to enhance user experience.
  • the toilet body 121 may include a seat cushion, a lid, a toilet bag, a disinfection device, a flushing device, a drying device, a deodorizing device, a heating device, and a covering device to provide additional functions.
  • It may also be a multifunctional toilet device 12 including a toilet body 121 And the toilet lid, the toilet lid provides additional functions.
  • the toilet lid 122 may include a seat cushion, a lid, a toilet bag, a disinfecting device, a washing device, a drying device, a deodorizing device, a heating device, and a covering device.
  • a cushion can be included to improve user comfort;
  • a cover can be included to prevent spills and odors;
  • a stool bag can be included to store user excrement for easy replacement and pollution prevention;
  • a disinfection device can be included for disinfection;
  • the odor device is used to deodorize; it can also include a flushing device, which automatically flushes the user's relevant parts after the user uses the smart toilet robot.
  • the cleaning mode and the water flow massage mode can be selected according to the user’s gender; it can also include a drying device to automatically flush The user’s buttocks are dried afterwards; a heating device can also be included to heat the cushion or flushing water; it can also be included as a cushion cover film to improve hygiene. It can also provide other additional functions that can enhance the user experience and enhance the user experience.
  • the toilet body 121 is replaceable. That is, the dirty toilet body 121 can be replaced with a clean one to maintain cleanliness. It can also be replaced with different sizes, different shapes, and different functions according to the gender, age, height and weight of the user to meet different users. need. It is also possible to configure different interfaces on the toilet body according to the user's gender and body type to facilitate the user's use and prevent the leakage of odors.
  • the multifunctional toilet device 12 may also include a translation device 123 and a lifting device 124, so that the user can be conveniently on the bed.
  • the translation device 123 is used to translate the toilet body 121
  • the lifting device 124 is used to adjust the height of the toilet body 121.
  • the smart toilet robot makes the height of the toilet body 121 flush with the hospital bed through the lifting device 124, and then translates the toilet body 121 to a position suitable for the user through the translation device 123, and the user can lie on the hospital bed for convenience. . If the hospital bed has a defecation opening, the intelligent toilet robot of the present invention can directly enter under the hospital bed and automatically move below the defecation opening.
  • the multifunctional toilet device 12 may also include a toilet body anti-collision device.
  • a toilet body anti-collision device When the toilet body 121 is in translation or lifting, when it hits or is about to hit a person or object, the toilet body 121 can stop moving to prevent collisions. People or crashed objects.
  • the anti-collision device of the toilet body can be an anti-collision radar, an anti-collision pressure sensor, an infrared sensor, and so on.
  • the multifunctional toilet device 12 may further include an automatic cleaning device 122.
  • the automatic cleaning device 122 includes a water inlet pipe 131 and a sewage pipe 132, and the water inlet pipe 131 and the sewage pipe 132 are respectively connected to the toilet body 121. Both the water inlet pipe 131 and the sewage pipe 132 can extend out of the automatic cleaning device 122.
  • the water inlet pipe 131 is connected to the water outlet
  • the sewage pipe 132 extends to the sewage outlet
  • the water outlet switch may be inductive or touch type.
  • the water outlet switch When the water inlet pipe 131 is connected to the water outlet, the water outlet switch is turned on.
  • the intelligent toilet robot can move to a precise position suitable for the water inlet pipe 131 to connect to the water outlet through precise route planning, or it can first move to the approximate position, and then obtain the road condition information through the sensor 113, and then move to the suitable water inlet pipe 131 to connect to the outlet. The precise location of the nozzle.
  • the intelligent toilet robot of the present invention can also replace the automatic cleaning device by manual cleaning. After the intelligent toilet robot automatically goes to the cleaning location, it is manually cleaned.
  • the intelligent toilet robot of the present invention can also complete the functions of automatic cleaning, disinfection, changing the toilet bag, adding water, charging, etc. through an external robot processing device. Different functions can be performed by different robot processing devices, or one robot processing device can perform multiple functions. The completion of various functions by the robot processing device can reduce the complexity of the intelligent toilet robot and increase the convenience of use.
  • the intelligent toilet robot of the present invention can also include a sampling device for automatically extracting samples of excrement; it can also include a weighing/volume device for automatically measuring the weight/volume of excrement; it can also include an analysis device for automatic analysis Medical parameters of excrement and so on.
  • the user interaction device 13 is used to interact with the user.
  • the user interaction device 13 is a touch screen, which is located on the side of the toilet main body 121, and the user can control the toilet main body 121 to disinfect, heat, rinse, and dry through the touch screen.
  • the user interaction device is preferably a button, a touch screen, an image recognition device, a voice recognition device, a mobile phone, an operation panel, smart glasses, or a combination thereof.
  • the user interaction device 13 may also include a voice recognition device.
  • the user can use voice to operate the smart toilet robot. After the voice recognition device recognizes the user's voice instruction, the processor controls the smart toilet robot corresponding to the user's instruction.
  • the user can also operate the smart toilet robot through the mobile phone software or the operation panel.
  • the operation panel can be separated from the smart toilet robot, which is convenient for users to operate.
  • the operation panel can also be Braille, which is convenient for blind people to use the smart toilet robot.
  • the battery device 14 is used for power supply.
  • the battery device 14 is rechargeable, the battery device 14 includes a charging interface, and the charging interface is used to charge the battery device 14.
  • the battery device 14 When the battery device 14 is low in power, the battery device 14 notifies the processor, and the processor controls the smart toilet robot to move to the charging location to automatically charge it, or manually charge it, or charge it by a robot processing device.
  • Fig. 5 is a flowchart of a method for using a smart toilet robot according to a second embodiment of the present invention.
  • the intelligent toilet robot is the intelligent toilet robot according to the first embodiment of the present invention, and the description of the aforementioned intelligent toilet robot can be referred to, which will not be repeated here.
  • the method of using the smart toilet robot includes the following steps:
  • S1 The user uses the smart toilet robot to excrete
  • the intelligent toilet robot of the present invention may be a public device used in public places, and users need to pay for it.
  • the method of using the smart toilet robot also includes the steps that the user needs to pay before using the smart toilet robot. Users can pay by scanning the QR code on the smart toilet robot through their mobile phones; they can also pay through mobile phone software; they can also pay through relevant accounts after identifying the user ID/medical insurance card/hospital number/nursing home number.
  • the payment for the use of the smart toilet robot can be pay-per-use, or pay-by-time, pre-paid, or billed and then settled.
  • Fig. 6 is a schematic diagram of a system of a smart toilet robot according to a third embodiment of the present invention.
  • the intelligent toilet robot is the intelligent toilet robot according to the first embodiment of the present invention. You can refer to the description of the aforementioned intelligent toilet robot, which will not be repeated here.
  • the intelligent toilet robot system includes a management device 3, one or more intelligent toilet robots 1, and one or more pagers 2; the user makes a use call through the pager 2; after the management device 3 receives the use call, an idle one is arranged
  • the smart toilet robot 1 automatically goes to the user's place; after the user uses it, the smart toilet robot 1 automatically goes to the cleaning location for cleaning.
  • the intelligent toilet robot system of the present invention is suitable for places where intelligent toilet robots can be shared, such as hospitals, nursing homes, etc., and can centrally manage multiple intelligent toilet robots, centralize route planning, and improve use efficiency.
  • a system with several intelligent toilet robots serves several patients in multiple wards of a hospital, and each patient has a pager beside the bed.
  • the pager sends out a use call;
  • the management device receives the use call After that, the specific location of the patient is obtained, and the idle smart toilet robot closest to the patient is arranged to automatically go to the patient. After the patient uses it, the smart toilet robot automatically goes to the cleaning location for cleaning.
  • Using the intelligent toilet robot system of the present invention can improve the utilization efficiency of the intelligent toilet robot and reduce the cost.
  • the intelligent toilet robot and its use method and system of the present invention include a processor and an automatic moving device connected with the processor, a multifunctional toilet device, a user interaction device and a battery device.
  • a processor and an automatic moving device connected with the processor, a multifunctional toilet device, a user interaction device and a battery device.

Abstract

一种智能马桶机器人及其使用方法、系统，包括处理器及分别与处理器连接的自动移动装置(11)、多功能马桶装置(12)、用户交互装置(13)和电池装置(14)。通过上述智能马桶机器人及其使用方法、系统，使移动不便的用户可以在床上方便的使用马桶，且自动将使用后的马桶移动到厕所清洗，使行动不便的病人也可以独自方便，大大方便了病人使用马桶的需要，大幅提高了用户体验感，降低了护理人员的工作量，提高了护理效率。

Description

一种智能马桶机器人及其使用方法、系统 技术领域
本发明涉及智能家居技术领域，特别是涉及一种智能马桶机器人及其使用方法、系统。
背景技术
日常生活中，马桶是必需品，需要上厕所的话只能去卫生间。对于普通人来说，并不会带来什么不便，但是对于行动不便的病人来说，无法独自去厕所，如果在病床上使用便盆解决，也需要护理人员的帮助清洗甚至帮助使用，导致用户体验非常差。
随着人工智能技术的不断发展，产品智能化程度不断提高，迫切需要一种可供智能化马桶机器人，可供不同用户例如病人、儿童等，在不同地点使用马桶例如床上、床边、轮椅、座椅等，并且自动将使用后的马桶移动到厕所清洗，大大方便了用户使用马桶的需要，大幅提高了用户体验感，降低了护理人员的工作量，提高了护理效率。
技术问题
本发明的主要目的是：提供一种智能马桶机器人及其使用方法、系统，使移动不便的用户可以在不同地点方便的使用马桶，且自动将使用后的马桶移动到厕所清洗，使行动不便的病人也可以独自方便，大大方便了病人使用马桶的需要，大幅提高了用户体验感，降低了护理人员的工作量，提高了护理效率。
技术解决方案
为实现上述目的，本发明提供了一种智能马桶机器人，包括处理器及分别与处理器连接的自动移动装置、多功能马桶装置、用户交互装置和电池装置，
所述处理器，用于控制所述智能马桶机器人；
所述自动移动装置，用于驱动所述智能马桶机器人移动；
所述多功能马桶装置，用于被用户使用进行排泄；
所述用户交互装置，用于与用户进行交互；
所述电池装置，用于供电。
如上所述的一种智能马桶机器人，所述处理器规划合适的路线，控制所述自动移动装置移动，所述自动移动装置包括：车轮组、制动装置、驱动装置、 传感器、防撞装置，所述车轮组位于所述自动移动装置底部，用于承载所述智能马桶机器人移动；所述制动装置位于所述自动移动装置内部或底部，用于制动；所述驱动装置位于所述自动移动装置内部，用于驱动所述车轮组；所述传感器位于所述自动移动装置内部或外表面，用于获取路况信息；所述防撞装置位于所述自动移动装置四周，用于减轻撞击作用力。
如上所述的一种智能马桶机器人，所述智能马桶机器人还包括数据传输模块，所述处理器通过所述数据传输模块获取地图，根据地图和路况信息规划合适的路线。
如上所述的一种智能马桶机器人，所述智能马桶机器人还包括定位装置，所述处理器通过所述定位装置获取起点和终点的位置信息和方向信息，根据位置信息、方向信息和路况信息规划合适的路线。
如上所述的一种智能马桶机器人，所述多功能马桶装置包括马桶本体，所述马桶本体包括桶身、坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置中的至少一个部件。
如上所述的一种智能马桶机器人，所述多功能马桶装置包括马桶本体和马桶盖，所述马桶盖包括坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置中的至少一个部件。
如上所述的一种智能马桶机器人，所述马桶本体是可更换的。
如上所述的一种智能马桶机器人，所述多功能马桶装置还包括平移装置，所述平移装置用于将所述马桶本体进行平移。
如上所述的一种智能马桶机器人，所述多功能马桶装置还包括升降装置，所述升降装置用于调整所述马桶本体的高度。
如上所述的一种智能马桶机器人，所述多功能马桶装置还包括自动清洁装置，所述自动清洁装置包括入水管和排污管，所述入水管和排污管分别与所述马桶本体连接。
如上所述的一种智能马桶机器人，所述用户交互装置优选为按键/触摸屏/图像识别装置/声音识别装置/手机/操作面板/智能眼镜。
本发明还提供一种智能马桶机器人的使用方法，所述方法包括：
用户使用智能马桶机器人排泄；
用户排泄完之后，智能马桶机器人自动前往清洗地点；
达到冲洗地点后，智能马桶机器人进行清洗。
如上所述的一种智能马桶机器人的使用方法，所述方法还包括用户使用智能马桶机器人前需要付费的步骤。
本发明还提供一种智能马桶机器人的系统，包括管理装置、一台或以上智能马桶机器人、一台或以上呼叫器；
用户通过呼叫器发出使用呼叫；
管理装置收到使用呼叫后，安排一台空闲的智能马桶机器人自动前往用户处；
用户使用后，智能马桶机器人自动前往清洗地点进行清洗。
有益效果
本发明的一种智能马桶机器人及其使用方法、系统，包括处理器及分别与处理器连接的自动移动装置、多功能马桶装置、用户交互装置和电池装置。通过本发明的一种智能马桶机器人及其使用方法、系统，使移动不便的用户可以在不同地点方便的使用马桶，且自动将使用后的马桶移动到厕所清洗，使行动不便的病人也可以独自方便，大大方便了病人使用马桶的需要，大幅提高了用户体验感，降低了护理人员的工作量，提高了护理效率。
附图说明
图1为本发明一种智能马桶机器人的示意图。
图2为本发明自动移动装置的示意图。
图3为本发明多功能马桶装置的示意图。
图4为用户在病床上使用本发明智能马桶机器人的示意图。
图5为本发明一种智能马桶机器人使用方法的流程图。
图6本发明一种智能马桶机器人的系统的示意图
本发明的最佳实施方式
为进一步阐述本发明达成预定目的所采取的技术手段及功效，以下结合附图及实施例，对本发明的具体实施方式，详细说明如下。
本发明第一实施例参阅图1。图1是本发明一种智能马桶机器人的示意图。如图所示，本发明的一种智能马桶机器人包括处理器及分别与处理器连接的自动 移动装置11、多功能马桶装置12、用户交互装置13和电池装置14。
处理器，用于控制整个智能马桶机器人。在本发明中，处理器可以位于智能马桶机器人的任何适合放置处理器的位置，优选位于自动移动装置11内部。
自动移动装置11，用于驱动智能马桶机器人移动。图2为本发明自动移动装置的示意图。如图2所示，自动移动装置11包括：车轮组111、制动装置115、驱动装置112、传感器113和防撞装置114。车轮组111位于自动移动装置11底部，用于承载智能马桶机器人移动。制动装置115位于自动移动装置11内部或底部，用于制动。驱动装置112位于自动移动装置11内部，用于驱动车轮组111；传感器113位于自动移动装置11内部或外表面，用于获取路况信息；防撞装置114位于自动移动装置11四周，用于减轻撞击作用力。
在本发明中，车轮组111包括多个车轮来保证智能马桶机器人灵活平稳的移动，在本实施例中，车轮组111优选包括4个车轮。驱动装置112优选为马达和相应的驱动轴承，通过电池装置14供电，可以驱动车轮组111前进、后退、加速、减速、左转、右转等等。传感器113可以为红外传感器，摄像头，激光传感器等，实时获取路况信息，传感器113的数量可以是一个，也可以是多个，根据需要灵活设置。防撞装置114可以是防撞板、防撞垫或者防撞条等等。制动装置115可以是通过对车轮组111制动来完成智能马桶机器人的强制减速或停止移动，也可以通过对轴承制动来完成智能马桶机器人的强制减速或停止移动，可以是鼓式制动器也可以是盘式制动器，可以是一个制动器，也可以是多个制动器。
本发明的智能马桶机器人在用户使用后可以自动地移动到清洗地点进行清洗，通过处理器规划合适的路线，控制自动移动装置11移动，从而使智能马桶机器人自动地移动到清洗地点。智能马桶机器人还可以包括数据传输模块，处理器通过数据传输模块获取地图，根据地图和路况信息规划合适的路线。此外，智能马桶机器人还可以包括定位装置，处理器通过定位装置获取起点和终点的位置信息和方向信息，根据位置信息、方向信息和路况信息规划合适的路线。
在本发明中，数据传输模块的数据传输方式可以是数据线方式、有线网络、无线传输方式、射频识别方式、磁卡读写方式、移动硬盘方式、NFC方式、条形码方式、二维码方式等。无线传输方式包括：红外、蓝牙、wifi、微波、可见光波、电信无线网络、超声波/声波、无线电等方式。定位装置可以是GPS定 位装置、北斗定位装置、GLONASS定位装置、伽利略定位装置、其他无线定位装置、激光定位装置等。
在智能马桶机器人移动的过程中，可以随时根据实时路况信息重新规划路线，使得在路况发生变化使得现有路线不能到达指定地点时，仍可以通过重新规划路线来得到正确的路线从而到达指定地点。同时，在移动过程中，也可以根据实时路况来规避障碍、避免撞击等。自动移动装置11还可以包括开门装置，保证智能马桶机器人顺利通过移动路线中关闭的门。自动移动装置11也可以包括上下楼梯装置来实现智能马桶机器人上下楼。
在本发明中，多功能马桶装置12，用于被用户使用进行排泄。图3为本发明多功能马桶装置的示意图。如图3所示，多功能马桶装置12包括马桶本体121，马桶本体121用于用户方便。马桶本体121还可以提供多种附加功能，增强用户体验。马桶本体121可以包括坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置来提供附加功能，也可以是多功能马桶装置12包括马桶本体121和马桶盖，由马桶盖来提供附加功能，马桶盖122可以包括坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置。例如：可以包括坐垫提高用户使用舒适性；可以包括盖子防止洒出及气味；可以包括储便袋用于储存用户排泄物，便于更换和防止污染；可以包括消毒装置用于消毒；还可以包括除臭装置用于除臭；还可以包括冲洗装置，在用户使用智能马桶机器人方便后，自动冲洗用户相关部位，可以根据用户性别选择清洗模式及水流按摩模式；还可以包括烘干装置，在自动冲洗用户的臀部后进行烘干；还可以包括加热装置，对坐垫或冲洗的水进行加热；还可以包括套膜装置为坐垫套膜，提高卫生程度。还可以提供其他可以增强用户体验的附加功能，增强用户体验感。
在本发明中，马桶本体121是可更换的。即可以将用脏的马桶本体121更换为干净的来保持清洁性，也可以根据使用者性别、年龄、身高体重的不同，更换不同尺寸、不同形状、不同功能的马桶本体121来满足用户的不同需要。也可以是根据用户性别、体型，在马桶本体上配置不同的接口，方便用户使用以及防止气味外泄。
多功能马桶装置12还可以包括平移装置123和升降装置124，使用户在 床上就可以方便。平移装置123用于将马桶本体121进行平移，升降装置124用于调整马桶本体121的高度。如图4所示，智能马桶机器人通过升降装置124使马桶本体121的高度与病床齐平，再通过平移装置123将马桶本体121平移至适合用户使用的位置，用户就可以躺在病床上方便了。如果病床带有排便口，本发明的智能马桶机器人可以直接进入病床下，自动移动至排便口下方，同时通过升降装置124调节马桶本体121的高度与病床齐平，方便用户躺在病床上方便。多功能马桶装置12还可以包括马桶本体防撞装置，当马桶本体121在平移或升降的过程中，在撞到或将要撞到人或物体的时候，能够使马桶本体121停止移动，防止撞伤人或撞坏物品。马桶本体防撞装置可以是防撞雷达、防撞压力传感器或红外传感器等等。
多功能马桶装置12还可以包括自动清洁装置122，自动清洁装置122包括入水管131和排污管132，入水管131和排污管132分别与马桶本体121连接。入水管131和排污管132都可以伸出自动清洁装置122。当智能马桶机器人移动至清洗地点后，入水管131连接出水口，排污管132伸至排污口，水从出水口经入水管131进入马桶本体121，清洗马桶本体121，经排污管132流出到排污口，完成清洗。在本发明中，出水口开关可以是感应式的，也可以是触碰式的，当入水管131连接出水口后，出水口开关打开。智能马桶机器人可以通过精确的路线规划，移动到适合入水管131连接出水口的精确位置，也可以是先移动到大概的位置，再通过传感器113获取路况信息，再移动到适合入水管131连接出水口的精确位置。
本发明的一种智能马桶机器人也可以通过人工清洗的方式取代自动清洁装置，智能马桶机器人自动前往清洗地点后，由人工进行清洗。
本发明的一种智能马桶机器人还可以通过外置的机器人处理装置来完成自动清洗、消毒、更换储便袋、加水、充电等功能。可以是不同的功能分别由不同的机器人处理装置来完成，也可以是一个机器人处理装置可以完成多个功能。通过机器人处理装置来完成各种功能可以降低智能马桶机器人的复杂度，增加使用的便利性。
本发明的一种智能马桶机器人还可以包括取样装置用于自动提取排泄物的样本；还可以包括称重/体积装置用于自动测量排泄物的重量/体积；还可以包 括分析装置用于自动分析排泄物的医学参数等等。
用户交互装置13，用于与用户进行交互。在本实施例中，用户交互装置13为触摸屏，位于马桶本体121一侧，用户可以通过触摸屏控制马桶本体121消毒、加热、冲洗、烘干。在本发明中，用户交互装置优选为按键、触摸屏、图像识别装置、声音识别装置、手机、操作面板、智能眼镜或者是它们的组合。例如：用户交互装置13还可以包括声音识别装置，用户可以用语音操作智能马桶机器人，声音识别装置识别用户的语音指令后，通过处理器控制智能马桶机器人相应用户的指令。用户还可以通过手机软件或者操作面板来操作智能马桶机器人，操作面板可以与智能马桶机器人分离，方便用户操作，操作面板还可以是盲文的，方便盲人使用智能马桶机器人。
电池装置14，用于供电。在本发明中，电池装置14为可充电的，电池装置14包括充电接口，充电接口用于为电池装置14充电。当电池装置14电量不足时，电池装置14通知处理器，处理器控制智能马桶机器人移动至充电地点自动充电，或者由人工为其充电，或者由机器人处理装置为其充电。
本发明的实施方式
图5为本发明第二实施例一种智能马桶机器人使用方法的流程图。所述智能马桶机器人为本发明第一实施例的智能马桶机器人，可以参照前述智能马桶机器人的说明，在此不再赘述。智能马桶机器人的使用方法包括如下步骤：
S1：用户使用智能马桶机器人排泄；
S2：用户排泄完之后，智能马桶机器人自动前往清洗地点；
S3：达到冲洗地点后，智能马桶机器人进行清洗。
本发明的智能马桶机器人可以是用于公共场所的公用设备，用户需要付费使用。智能马桶机器人的使用方法还包括用户使用智能马桶机器人前需要付费的步骤。用户可以是通过手机扫描智能马桶机器人上的二维码付费；也可以通过手机软件付费；也可以通过关联用户身份证/医保卡/住院号/养老院号等身份识别后通过相关的账户进行付费。智能马桶机器人使用付费可以是按次付费，也可以是按时间付费，可以是预付费，也可以是先计费再结算。
图6为本发明第三实施例一种智能马桶机器人的系统的示意图。所述智能马桶机器人为本发明第一实施例的智能马桶机器人，可以参照前述智能马桶机 器人的说明，在此不再赘述。智能马桶机器人系统，包括管理装置3、一台或以上智能马桶机器人1、一台或以上呼叫器2；用户通过呼叫器2发出使用呼叫；管理装置3收到使用呼叫后，安排一台空闲的智能马桶机器人1自动前往用户处；用户使用后，智能马桶机器人1自动前往清洗地点进行清洗。
本发明智能马桶机器人的系统适用于医院、养老院等可以共享智能马桶机器人的场所，可以对多台智能马桶机器人进行集中管理，集中路线规划，提高使用效率。例如：具有数台智能马桶机器人的系统服务于医院多个病房的若干病人，每个病人的病床边有一台呼叫器，病人想方便时，通过呼叫器发出使用呼叫；管理装置收到使用呼叫后，得到病人的具体位置，安排离病人最近的空闲的智能马桶机器人自动前往病人处，病人使用后，智能马桶机器人自动前往清洗地点进行清洗。
使用本发明的智能马桶机器人系统，可以提高智能马桶机器人的利用效率，降低成本。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
工业实用性
本发明的一种智能马桶机器人及其使用方法、系统，包括处理器及分别与处理器连接的自动移动装置、多功能马桶装置、用户交互装置和电池装置。通过本发明的一种智能马桶机器人及其使用方法、系统，使移动不便的用户可以在床上方便的使用马桶，且自动将使用后的马桶移动到厕所清洗，使行动不便的病人也可以独自方便，大大方便了病人使用马桶的需要，大幅提高了用户体验感，降低了护理人员的工作量，提高了护理效率。
序列表自由内容
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修 改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种智能马桶机器人，其特征在于，包括处理器及分别与处理器连接的自动移动装置、多功能马桶装置、用户交互装置和电池装置，
    所述处理器，用于控制所述智能马桶机器人；
    所述自动移动装置，用于驱动所述智能马桶机器人移动；
    所述多功能马桶装置，用于被用户使用进行排泄；
    所述用户交互装置，用于与用户进行交互；
    所述电池装置，用于供电。
  2. 根据权利要求1所述的一种智能马桶机器人，其特征在于：所述处理器规划合适的路线，控制所述自动移动装置移动，所述自动移动装置包括：车轮组、制动装置、驱动装置、传感器、防撞装置，所述车轮组位于所述自动移动装置底部，用于承载所述智能马桶机器人移动；所述制动装置位于所述自动移动装置内部或底部，用于制动；所述驱动装置位于所述自动移动装置内部，用于驱动所述车轮组；所述传感器位于所述自动移动装置内部或外表面，用于获取路况信息；所述防撞装置位于所述自动移动装置四周，用于减轻撞击作用力。
  3. 根据权利要求2所述的一种智能马桶机器人，其特征在于：所述智能马桶机器人还包括数据传输模块，所述处理器通过所述数据传输模块获取地图，根据地图和路况信息规划合适的路线。
  4. 根据权利要求2所述的一种智能马桶机器人，其特征在于：所述智能马桶机器人还包括定位装置，所述处理器通过所述定位装置获取起点和终点的位置信息和方向信息，根据位置信息、方向信息和路况信息规划合适的路线。
  5. 根据权利要求1所述的一种智能马桶机器人，其特征在于：所述多功能马桶装置包括马桶本体，所述马桶本体包括坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置中的至少一个部件。
  6. 根据权利要求1所述的一种智能马桶机器人，其特征在于：所述多功能马桶装置包括马桶本体和马桶盖，所述马桶盖包括坐垫、盖子、储便袋、消毒装置、冲洗装置、烘干装置、除臭装置、加热装置和套膜装置中的至少一个部件。
  7. 根据权利要求5或6所述的一种智能马桶机器人，其特征在于：所述马桶本体是可更换的。
  8. 根据权利要求5或6所述的一种智能马桶机器人，其特征在于：所述多功能马桶装置还包括平移装置，所述平移装置用于将所述马桶本体进行平移。
  9. 根据权利要求5或6所述的一种智能马桶机器人，其特征在于：所述多功能马桶装置还包括升降装置，所述升降装置用于调整所述马桶本体的高度。
  10. 根据权利要求5或6所述的一种智能马桶机器人，其特征在于：所述多功能马桶装置还包括自动清洁装置，所述自动清洁装置包括入水管和排污管，所述入水管和排污管分别与所述马桶本体连接。
  11. 根据权利要求1所述的一种智能马桶机器人，其特征在于：所述用户交互装置优选为按键/触摸屏/图像识别装置/声音识别装置/手机/操作面板/智能眼镜。
  12. 一种如权利要求1所述的智能马桶机器人的使用方法，其特征在于，所述方法包括：用户使用智能马桶机器人排泄；
    用户排泄完之后，智能马桶机器人自动前往清洗地点；
    达到冲洗地点后，智能马桶机器人进行清洗。
  13. 根据权利要求12所述的一种智能马桶机器人的使用方法，其特征在于：所述方法还包括用户使用智能马桶机器人前需要付费的步骤。
  14. 一种智能马桶机器人的系统，其特征在于：包括管理装置、一台或以上如权利要求1所述的智能马桶机器人、一台或以上呼叫器；
    用户通过呼叫器发出使用呼叫；
    管理装置收到使用呼叫后，安排一台空闲的智能马桶机器人自动前往用户处；
    用户使用后，智能马桶机器人自动前往清洗地点进行清洗。
PCT/CN2019/126756 2019-12-19 2019-12-19 一种智能马桶机器人及其使用方法、系统 WO2021120128A1 (zh)

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