WO2021174474A1 - 一种马桶式尿便检测机器人及其物联网系统 - Google Patents

一种马桶式尿便检测机器人及其物联网系统 Download PDF

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Publication number
WO2021174474A1
WO2021174474A1 PCT/CN2020/077883 CN2020077883W WO2021174474A1 WO 2021174474 A1 WO2021174474 A1 WO 2021174474A1 CN 2020077883 W CN2020077883 W CN 2020077883W WO 2021174474 A1 WO2021174474 A1 WO 2021174474A1
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module
urine
detection
stool
toilet
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PCT/CN2020/077883
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English (en)
French (fr)
Inventor
王忠堂
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厦门波耐模型设计有限责任公司
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Priority to CN202080000536.7A priority Critical patent/CN111699387B/zh
Priority to PCT/CN2020/077883 priority patent/WO2021174474A1/zh
Priority to US17/909,435 priority patent/US20230129932A1/en
Publication of WO2021174474A1 publication Critical patent/WO2021174474A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/0045—Devices for taking samples of body liquids
    • A61B10/007—Devices for taking samples of body liquids for taking urine samples
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/0038—Devices for taking faeces samples; Faecal examination devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1128—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using image analysis
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
    • E03D11/025—Combined with wash-basins, urinals, flushing devices for chamber-pots, bed-pans, or the like
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
    • E03D11/04—Bowls of flat shape with only slightly inclined bottom ; Squat-type closets
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • E03D11/02—Water-closet bowls ; Bowls with a double odour seal optionally with provisions for a good siphonic action; siphons as part of the bowl
    • E03D11/11—Bowls combined with a reservoir, e.g. containing apparatus for disinfecting or for disintegrating
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D5/00—Special constructions of flushing devices, e.g. closed flushing system
    • E03D5/01—Special constructions of flushing devices, e.g. closed flushing system using flushing pumps
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D7/00—Wheeled lavatories
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/483—Physical analysis of biological material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/483—Physical analysis of biological material
    • G01N33/487—Physical analysis of biological material of liquid biological material
    • G01N33/493—Physical analysis of biological material of liquid biological material urine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • the invention relates to the field of in vitro medical detection, in particular to a toilet-type urine and stool detection robot and a urine and stool detection robot Internet of Things system
  • urodynamic examination is to clarify the pathophysiological changes of urinary dysfunction diseases by understanding the function and mechanism of urinary tract urination. Routine urodynamic examinations need to go to the special examination room of the hospital for examination, because it is an invasive examination.
  • An invasive examination An invasive examination.
  • anyone who has done urodynamic examination knows that not only the examination process is long, but also the pain will be unbearable.
  • stool color, shape, traits, and defecation dynamics are an important part of the assessment of digestive system health. However, there are no effective and objective monitoring measures.
  • the invention provides a toilet-type urine and stool detection robot and a urine and stool detection robot Internet of Things system, which solves the defects of the existing urine and stool detection technology, improves the convenience of urine and stool detection through the improvement of the urine and stool detection structure, and improves the user's product Use experience, and realize the autonomous migration of the inspection equipment, while monitoring the user's urination and defecation behavior and dynamic characteristics, as well as urine and feces composition.
  • an embodiment of the present invention provides a toilet-type urine and stool detection robot, including:
  • Intelligent migration module interactive system module, height adjustment module, user identification module, toilet structure module, urine general recognition and detection module, odor detection module, urine composition detection module, stool general recognition detection module, stool composition detection module, cleaning Washing module, waste processing module, wireless communication module, central data processing module, data security module, battery and charging module, equipment maintenance module;
  • the intelligent mobility module is a four-wheeled robot device installed at the bottom of the toilet structure module, which is an intelligent autonomous mobility carrier that autonomously avoids obstacles and optimizes the movement route in a specific environment by executing a route planning algorithm and based on user instructions. Arrive at the location of the scheduled service operation;
  • the interaction system module integrates a multi-channel interaction mode, the interaction mode includes at least one of voice, touch screen, eye expression, expression, iris, palm print, handwriting, gait, gesture, lip reading, face, DNA, and idea Human characteristics, and the interaction system module is used to integrate with mobile smart terminals, smart wearable devices, sensing chips implanted in the body, and groupware information to achieve human-computer interaction and interaction between devices;
  • the height adjustment module includes a base support device arranged on the side of the toilet structure module, a plurality of support plates, and a base leg composed of a plurality of first intelligent controllable screw lifting devices;
  • the user identity recognition module includes a biometric recognition module and a paired device recognition module.
  • the biometric recognition module includes a face recognition module, a fingerprint recognition module, a voice recognition module, a gait recognition module, a DNA recognition module, and an IC card recognition module
  • the pairing device identification module includes at least one of a pairing identification module of a smart terminal, a pairing identification module of a smart wearable device, and a pairing identification module of a sensing chip implanted in the body;
  • the toilet structure module is arranged on the upper part of the intelligent migration module, and it is composed of a toilet main body structure, a seat ring, a cover plate, a backrest, a spray bath device, a water tank, a water inlet pipe, and a drain pipe, wherein the toilet main body
  • the structure of the holding tank is divided into a urine holding tank at the front end and a stool holding tank at the middle and rear ends.
  • a scale line is arranged on the pool wall of the pool, and a touch screen, a deodorizing device, an odor detection module, a wireless communication module, a central data processing module, an interactive system module, a user identification module, and a data security module are arranged on the backboard;
  • the toilet structure module adopts two systems, a squatting pan and a toilet, wherein the squatting pan system is based on the toilet system and a set of foot pedals are added, and the foot pedals are arranged on both sides of the toilet body structure. On the side, the height of the foot pedal is adjusted by the second intelligent controllable screw lifting device to realize the functional structure of the squatting pan;
  • the urine general recognition and detection module is arranged on the urine holding tank, and the urine general recognition and detection module includes at least one LED lamp for providing illumination, and at least one camera for collecting urine image data.
  • the camera is provided with an antireflection film for blocking direct contact between the camera and urine; the urine general recognition and detection module can collect image and video data without dead ends, and combine the image and video data analysis algorithm to obtain a single urination time course, Urinary kinetic characteristics, urine volume, color, turbidity data;
  • the stool general recognition and detection module is provided on the stool holding tank, and the stool general recognition detection module includes at least three LED lights for providing illumination and at least three cameras for collecting stool image data; the stool general The recognition and detection module collects image and video data without blind spots, and combines image and video data analysis algorithms to obtain defecation time course, defecation dynamics characteristics, morphological changes around the anus during defecation, stool volume, shape, traits, and color data;
  • the odor detection module includes a urine gas path and a fecal gas path for detecting various volatile organic compounds, ammonia, and hydrogen sulfide, and a number of gas detection sensors integrated in the urine gas path and the fecal gas path, and gas Chromatograph, ionization deodorizing device; the odor detection module activates the urine gas path and the feces gas path to continuously detect the odor components of urine and feces;
  • the urine component detection module includes a urine sample diversion pipe, a urine sample test paper detection chamber, a urine sample flow analysis detection chamber, a urine sample gene detection chamber; the urine sample test paper detection chamber Including a urine test paper storage box, a urine test paper transfer device, a temperature control device, a urine sample tank, a urine test paper image scanning camera device, a waste test paper storage box; the urine sample flow analysis detection chamber It includes a urine sample centrifugal concentration device, a urine sediment negative pressure sampling device, and a flow cytometry device; the gene detection chamber includes a gene chip storage box, a gene chip transfer device, a sample preparation device, a test kit, and a reagent sample adding device , Temperature control device, gene chip hybridization reaction device, signal detection device, waste gene chip storage box;
  • the stool component detection module includes a stool container arranged in the stool holding tank, an electronic weighing device, a connecting shaft, and a motor are arranged at the lower part of the stool container, a mixing and stirring device is arranged in the stool container, and the stool container is A filter screen, a fecal filtrate storage tank, a second electromagnetic valve, and a fecal filtrate drainage pipe are arranged at the bottom, and a fecal filtrate test strip test chamber, a fecal filtrate gene detection chamber, and a fecal filtrate flow detection are arranged in the surrounding space of the stool container.
  • the analysis chamber, the water inlet pipe, and the first electromagnetic valve are arranged in the stool holding tank, an electronic weighing device, a connecting shaft, and a motor are arranged at the lower part of the stool container, a mixing and stirring device is arranged in the stool container, and the stool container is A filter screen, a fecal filtrate storage tank, a second electromagnetic valve, and a fecal filtrate
  • the stool filtrate test paper detection chamber includes a stool filtrate test paper storage box, a stool filtrate test paper transfer device, a temperature control device, a stool filtrate sample tank, and a stool filtrate test paper image scan Device;
  • the fecal filtrate sample flow analysis detection chamber includes a fecal filtrate drainage pipe, a flow cytometry detection device;
  • the cleaning and flushing system module includes a water inlet pipe, a pump, a third electromagnetic valve, a pipe connected to a urine holding tank, a pipe connected to a stool holding tank, a pipe connected to a urine component detection module, a pipe connected to a stool component detection module, Drainage pipe
  • the waste processing module includes an odor processing device, a waste detection test paper storage box, and a waste gene chip storage box;
  • the central data processing module includes a data storage device and a data processing device.
  • the data processing device performs technical processing on the collected data to compare the collected data with the normal reference values of the population and the values previously detected by the users, through statistical analysis and Combining the user’s living habits, disease family history, past disease history, symptoms, and other examination results, as well as third-party intelligent medical system and artificial medical system data, to evaluate the health of the user’s urinary system, digestive system and other systems to provide medical decision-making Basis;
  • the technical processing includes two schemes. One is to upload data to a cloud server to provide calculations, analysis, and decision-making. All data is published to the public chain and sent to the user side at the same time. The second is to apply localized data capabilities, which are free With CPU, GPU, NPU to process data, provide calculation, analysis, decision-making, all data is released to the industry private chain, and sent to the user side via wireless or wired transmission;
  • the data security module uses blockchain technology to create a user data center to store and distribute user data; the connection of the user data, connected IoT data, public cloud or private cloud is entirely based on user-authorized blockchain intelligence
  • the contract writes user data into the block in real time, and is authorized by the user to publish it to the blockchain of the public cloud or private cloud to realize the security isolation of user data, so that third-party users can be authorized to read the data;
  • the equipment maintenance module includes an equipment failure self-checking system, a failure self-repairing system, a failure information sending system, and a residual quantity monitoring device for consumables.
  • the user identification module adopts blockchain technology for real-name authentication, the user signs a smart contract, creates a personal private key and a personal public key, the user inputs the biometric identification information, and the blockchain network passes the verification public key.
  • the key certificate chain verifies the identity of the user.
  • the camera is provided with a video digital optical microscope with intelligent focal length adjustment, a polarized light source, and a fluorescent excitation light source for acquiring image data of parasites, eggs, blood, and sloughed tissues in feces.
  • the odor detection module can also share a set of gas detection sensors and gas chromatographs in the process of urine gas detection and fecal gas detection;
  • the urine gas path is first activated to detect urine odor components, and then the fecal gas path is activated to detect fecal odor components.
  • the gene detection objects of the gene detection chamber include tumor cell DNA, circulating tumor cell DNA, circulating tumor cell RNA, tumor cell exosomes, protein markers, and bacterial, fungal, viral DNA and RNA. .
  • the first electromagnetic valve is used to control the water inlet pipe for diluting the feces, and the amount of water added is determined by a preset algorithm according to the total volume and morphological data of the feces; wherein, the algorithm includes: the more the feces are, the more diluted The more water, the drier and harder the feces, the more dilution water added, the thinner and softer the feces, and the less dilution water added.
  • the shape of the toilet structure module can be customized according to user requirements
  • An armrest structure is provided on the main structure of the toilet.
  • At least one expansion slot is reserved on both the urine component detection module and the stool component detection module, and the expansion slot includes a circuit, a water circuit, a gas circuit, a sample transmission channel, a data interface, and a space structure.
  • the intelligent migration module has a detachable structure, so that the toilet-type urine detection robot without the intelligent migration module becomes a portable toilet-type urine detection robot.
  • the portable toilet-type urine and stool detection robot can be directly placed in the urinal of a conventional toilet for urine and stool detection.
  • the portable toilet-type urine and stool detection robot can also only retain the urine component detection module and the stool component detection module to make a portable handheld device and use it in combination with a conventional toilet to implement urine and defecation. Composition testing.
  • the urine component detection module and the stool component detection module share a test paper detection chamber, a flow analysis detection chamber, and a gene detection chamber to simplify and reduce the size of the portable handheld device.
  • the invention also provides a toilet-type urine and stool detection robot Internet of Things system, which includes:
  • the Internet of Things system includes a mobile intelligent terminal, a cloud server, an emergency management support system, a medical support system, a logistics system, and an intelligent access control , At least one of the nursing robots;
  • the application process of the toilet-type urine and stool detection robot IoT system includes:
  • the planned route and transportation method refers to the robot route planning after responding to user needs, through (a) the robot goes to the user’s reserved location by itself, (b) the robot takes transportation, including but not limited to cars, airplanes, UAV door-to-door service, rail transit, arrive at the user's reserved location, (c) sent by the third-party logistics system.
  • the toilet-type urine and stool detection robot IoT system randomly selects and combines the odor detection module, the urine general identification detection module, and the toilet based on user needs and requests sent by the user through the interactive system module.
  • the urine component detection module, the stool general identification detection module, and the stool component detection module realize the user's personalized detection requirements.
  • the beneficial effects of the embodiments of the present invention are: by designing a portable toilet-type urine and stool detection robot, the inspection equipment can be autonomously moved, while monitoring the user's urination and defecation behavior and dynamic characteristics, as well as urine and fecal components, is Users provide urination, defecation behavior monitoring and urine and stool component testing, early screening of urinary system and digestive system diseases, and equipment maintenance, data processing, and medical support through the Internet of Things system.
  • FIG. 1 is a schematic structural diagram of a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a retractable structure adopted by a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a height adjustment module adopted by a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • FIG. 4A is a schematic diagram of a toilet structural module adopted by a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • 4B is a schematic diagram of the toilet main body of the toilet structure module adopted by the toilet-type urine and stool detection robot provided by the embodiment of the present invention.
  • FIG. 5A is a schematic diagram of a squatting pedal adopted by a toilet-type urine detection robot provided by an embodiment of the present invention
  • 5B is a schematic diagram of the screw lifting device of the squatting pedal adopted by the toilet-type urine detection robot provided by the embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a urine general recognition and detection module of a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a stool general recognition and detection module of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an odor detection module of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • FIG. 9A is a schematic structural diagram of a urine component detection module of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • 9B is a schematic structural diagram of a urine sample test paper detection chamber of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • 9C is a schematic structural diagram of a urine sample flow analysis detection chamber of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • 9D is a schematic structural diagram of a gene detection chamber structure of a toilet-type urine and stool detection robot provided by an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a stool component detection module of a toilet-type urine and stool detection robot provided by an embodiment of the present invention
  • FIG. 11 is a schematic diagram of the composition of a toilet-type urine and stool detection robot IoT system provided by an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a toilet-type urine and stool detection robot provided by an embodiment of the present invention without an intelligent migration module;
  • FIG. 13 is a schematic structural diagram of a toilet-type urine and stool detection robot provided by an embodiment of the present invention without an intelligent migration module and a toilet structure module;
  • Urine test paper image scanning device 81. Liquid inlet of diversion pipe; 82. Temperature control device; 83. Urine sample tank; 84. Urine test paper; 85. Urine test paper storage box; 86 1. Urine testing room; 87. New test paper; 88. Waste test paper; 89. Waste test paper storage box;
  • Waste gene chip storage box 101. New gene chip; 102. Chip in reaction; 103. Chip in test; 104. Chip in test; 105. Waste chip; 106. Liquid inlet of gene detection chamber; 107 , The liquid outlet of the genetic testing chamber; 108, the stool component detection module; 109, the stool container;
  • the urine and feces detection device can be combined with the toilet to solve the dirty and odor problem that occurs during the detection of urine and feces.
  • the inventor of the present invention has conducted research on this and found that there are still shortcomings, including:
  • Urine and stool tests usually require more than three consecutive tests, requiring multiple visits to the hospital, which is time-consuming and labor-intensive;
  • the preferred embodiment of the present invention provides a toilet-type urine and defecation detection robot and a urine and defecation detection robot Internet of Things system to realize the autonomous migration of inspection equipment and simultaneously monitor the user's urination and defecation behavior and dynamic characteristics , As well as urine and fecal components, with the help of the Internet of Things system to obtain equipment function monitoring, consumable supplementation, and provide health and medical services.
  • Figure 1 shows the overall structure of a convenient toilet-type urine and stool detection robot.
  • the urine and stool detection robot can be designed as a portable toilet, including an intelligent migration module 15, an interactive system module 32, a height adjustment module 19, and user identity recognition.
  • Module 28 toilet structure module 13, urine general identification and detection module 11, urine odor detection module 33, urine composition detection module 51, stool general recognition detection module 14, stool odor detection module 25, stool composition detection module 108, cleaning Flushing module, waste processing module 21, wireless communication module 30, central data processing module 24, data security module, battery and charging module 20, equipment maintenance module.
  • the intelligent migration module 15 is a four-wheeled mobile robot device installed at the bottom of the urine and stool detection robot, including a roller-skating mobile base installed with driving wheels 18.
  • the intelligent migration module 15 is used as an intelligent autonomous mobile carrier, and executes a route planning algorithm based on the server.
  • the detector 16 perceives the immediate change information of the surrounding environment.
  • the detector 16 includes visual sensors, laser radar, and ultrasonic radar. With the help of GPS/Beidou navigation 17, it can autonomously avoid obstacles and re-optimize the moving route. Arrived at the location of the scheduled service operation.
  • the intelligent mobility module 15 responds to user needs. After route planning, short-distance routes, such as inside hospitals, communities, and neighboring communities, use intelligent autonomous mobile carriers to go to the user's reserved location on their own; although the route is short, the road conditions are complicated, such as steps and ravines. , The road is rugged, and the intelligent autonomous mobile carrier is manually carried or assisted to reach the end user; the route is long, and the intelligent autonomous mobile carrier is used to take transportation, such as cars, airplanes, drones, rail transit, etc., to provide door-to-door services to reach the user's reserved location , You can also entrust a third-party logistics system to deliver to end users.
  • the urine and stool detection robot also includes an interactive system module 32 and a user identification module 28; the interactive system module 32 performs human-computer interaction with smart devices, and at least includes a touch screen; wherein the interactive system module 32 integrates multiple channels Interactive methods, including voice, touch screen, eye expression, expression, iris, palm print, handwriting, gait, gesture, lip reading, face, DNA, ideas and other human features, as well as mobile smart terminals, smart wearable devices, and implants in the body
  • the sensory chip and groupware information fusion meets the usage habits of different types of users and the communication standards of the Internet of Things system equipment, and realizes human-computer interaction and inter-device interaction.
  • the present invention gradually evolves through intelligent training, can autonomously perceive user needs, and can complete urine and stool detection without interacting with the user through human biological characteristics.
  • the urine and stool detection robot includes an intelligent migration module 15 and a toilet structure module 13 arranged on the intelligent migration module 15.
  • the toilet structure module 13 is provided with a urine holding tank 12 and a feces holding tank 10;
  • the intelligent mobility module 15 is an intelligent autonomous mobility carrier, which, by executing a route planning algorithm, autonomously avoids obstacles in a specific environment based on user instructions, optimizes the movement route, and arrives at a predetermined service operation location.
  • a urine and stool detection device which is set on the toilet structure module 13 and is signal-connected to the central data processing device, and is integrated with a urine general recognition detection module 11, which is used to obtain user urination behavior characteristic information and urine general morphological characteristic information.
  • Stool general recognition and detection module 14 used to obtain user defecation behavior characteristic information, information about the situation around the anus, and general stool morphological characteristic information, odor detection module 33 used to obtain urine odor component information and stool odor component information, used to obtain Urine composition detection module 51 for urine composition information, stool composition detection module 108 for obtaining stool composition information, stool weighing detection module for detection and acquisition of weight data of stool holding tank 10, and detection and acquisition of stool filtrate information Fecal filtrate detection module.
  • the side of the toilet structure module 13 is provided with a support device with a base, which is composed of base legs composed of a number of support plates and a number of first intelligent controllable screw lifting devices. Human-computer interaction, within a certain range, adjust the height of the device to realize the user's comfortable squatting or sitting urination and defecation.
  • the roller skating mobile base includes a height adjustment module 19, which is composed of a number of support plates 35, a lifting drive motor, and a number of screw lifting devices controlled by the lifting drive motor.
  • the toilet structure module 13 is supported on the screw rod lifting device through the support plate 35 which can be moved up and down, and the lifting drive motor is electrically connected to the base controller.
  • the screw lifting device is composed of a cross bar driving component 36, a right upright post 37 of the screw device, a left upright post 39 of the screw device, and a leg 38 of the screw device.
  • user identity recognition adopts two methods: biometric recognition and paired device recognition.
  • the user s face, fingerprint, voice, gait, and DNA information are collected, with the help of integrating conventional face recognition, fingerprint recognition, and voice recognition.
  • Gait recognition, DNA recognition algorithm the user chooses any of the above biological characteristics, and can realize user biological recognition based on the biometric information at the time of registration;
  • matching device recognition includes mobile smart terminals, smart wearable devices, and implanted in vivo sensing chips.
  • the link is identified by pairing with the wireless communication device.
  • the user’s medical identification device, special two-dimensional code or barcode, or medical staff’s instructions can also replace the user’s identification step; in the family, the guardian can also replace the end user in other ways Complete the identification, or without going through the identification step, you can complete the urine and stool test.
  • User identification uses blockchain technology for real-name authentication. The user signs a smart contract, creates a personal private key and a personal public key, sends the personal public key, biometric information, and ID information to the blockchain network, generates blocks, and obtains The public key certificate chain, the user enters biometric information, and the blockchain network verifies the user's identity by verifying the public key certificate chain.
  • the toilet structure module 13 includes a urine and stool detection toilet.
  • the urine and stool detection toilet consists of a toilet body 40 and a seat 41, a cover plate, and ergonomics installed on the toilet body 40.
  • the toilet body 40 is provided with a toilet holding tank, the urine holding tank 12 is located at the front end of the toilet holding tank, and the wall of the urine holding tank 12 is engraved with a scale line, and the fecal holding tank 10 is located at the rear end of the toilet holding tank;
  • the toilet structure module 13 is designed as a toilet-type structure. , A cover plate, a backrest plate, a spray bath device 42, a water tank 43, and a water inlet and drainage pipe 23.
  • the ergonomic backrest 27 as shown in FIG. 2 or FIG. 4A is rotatably installed on the toilet body through a hinge device 34, and has the function of a cover plate.
  • the accommodating tank of the toilet body 40 is divided into a urine holding tank 12 at the front end and a fecal holding tank 10 at the middle and rear ends, respectively. It contains the user's urine and feces, and as shown in FIG. A touch screen 31, a deodorizing device 29, an odor detection module 33, a wireless communication module 30, a central data processing module 24, an interactive system module, a user identification module 28, and a data security module are respectively arranged on the backrest.
  • squatting pedals can be designed on both sides of the toilet body 40, and the squatting pedals are controlled by the screw lifting device to perform lifting motion.
  • the user can adopt the squatting toilet system or the toilet system by adjusting the height when using the toilet.
  • the squatting pan system is based on the toilet system.
  • a set of foot pedals (left pedal 44 and right pedal 45) are added.
  • the intelligent controllable screw lifting device 46 adjusts the height of the foot pedal to realize the squatting toilet standard structure.
  • the second intelligent controllable screw lifting device 46 is composed of a supporting leg 48, a supporting column 49 and a driving component 47.
  • the user chooses the toilet system, he can also activate the second intelligent controllable screw lifting device 46 to raise the foot pedal to an appropriate height, so as to promote smooth defecation and reduce constipation.
  • the shape, material, color and pattern of the toilet structure can also be customized according to the individual needs of users.
  • the toilet structure can also be equipped with armrests and other external equipment to further improve comfort.
  • the general recognition function module includes a urine general recognition and detection module 11 and a stool general recognition and detection module 14, wherein, as shown in FIG.
  • the liquid general recognition and detection module 11 is arranged on the urine holding tank 12, the urine general recognition and detection module 11 includes at least one LED lamp 61 for providing illumination, and the camera device 62 adopts at least one camera for collecting urine image data,
  • the camera is equipped with an anti-reflection film to block the direct contact between the camera and urine, which can collect the image and video data of the user during use without dead corners.
  • the image and video data are released to the cloud server or the central data processing module 24 through the wireless communication module 30.
  • Specific image and video data algorithms are used to identify and analyze, measure the start and end time of a single urination, continuously monitor the speed and acceleration of urine flow during urination, and changes in urine fluid morphology, and continuously monitor urine by monitoring the scale line of the urine holding tank 12 Volume changes, urine color, urine turbidity, abnormal particles such as urinary stones and other data, so as to obtain the user's urination behavior characteristics and urine general morphological characteristics.
  • the stool general recognition and detection module 14 is arranged on the upper part of the stool holding tank 10, and at least three LED lights 64 (LED lights 1, LED lights 2, and LED lights 3) are provided to provide illumination without dead angles, and at least three cameras 65 (camera 1, camera 2, camera 3) distributed configuration, so as to achieve no dead angle collection of image and video data, the image and video data is released to the cloud server or central data processing module 24 through the wireless communication module 30, using specific image and video data Algorithm for identification and analysis, measuring defecation preparation, start and end time, continuous monitoring of speed and acceleration during defecation, changes in stool morphology, changes in morphology around the anus during defecation, such as rectal prolapse, anal fissure, anal bleeding, hemorrhoids And the morphological change characteristics, stool shape, traits, and color data of hemorrhoids, the volume changes of stool are continuously monitored through continuous three-dimensional image modeling, so as to obtain the user's defecation behavior characteristics, the situation around
  • the camera selected in the present invention includes a video digital optical microscope with intelligent focal length adjustment, a polarized light source, and a fluorescent excitation light source to identify parasites, eggs, fresh or old blood, sloughed tissue, and urine and stool in the stool. Fluorescence-labeled components in.
  • the odor detection module 33 includes a urine gas path 67, a fecal gas path 68, a gas chromatograph 50, and an ionization deodorizing device integrated in the module housing structure 66;
  • the urine gas path is correspondingly arranged above the side wall of the urine holding tank 12, and the urine gas path is provided with a first air collection device, and the urine gas path includes a first branch gas path connected to the outlet of the first air collection device ,
  • the second branch gas path, the first branch gas path is provided with an ammonia sensor 69, a hydrogen sulfide sensor 70, a polycyclic aromatic hydrocarbon sensor 71 and a volatile organic compound sensor 72, and the second branch gas path is connected to a gas chromatograph 50 for detecting urine Components in liquid volatile gases;
  • the fecal air path is correspondingly arranged above the side wall of the fecal holding tank 10, and the fecal air path is provided with a second air collecting device, and the fecal air path includes a third branch air path and a fourth branch communicating with the outlet of the second air collecting device.
  • the gas path, the third branch gas path is provided with an ammonia sensor 69, a hydrogen sulfide sensor 70, a polycyclic aromatic hydrocarbon sensor 71 and a volatile organic compound sensor 72, and the fourth branch gas path is connected to a gas chromatograph 50 for detecting volatile gas in stool Element;
  • the exhaust gas of the urine gas path 67 and the fecal gas path 68 is harmlessly treated by the ionization deodorizing device, and the treated gas is discharged through the exhaust gas outlet 26.
  • the urine gas path 67 and the fecal gas path 68 can also share a set of gas detection sensors and gas chromatograph 50, which are set to activate the urine gas path 67 first to detect urine odor components. After the urine odor detection is completed, the fecal gas path 68 is activated to detect the odor components of the feces.
  • the urine component detection module 51 includes a urine sample diversion tube, a urine sample test paper detection chamber 52, a urine sample flow analysis detection chamber 53, and urine Sample gene detection chamber 54;
  • the urine sample test paper detection chamber 52 includes a urine test paper storage box, a urine test paper transfer device, a temperature control device, a urine sample tank, a urine test paper image scanning camera device, and a waste test paper storage box;
  • the urine sample flow analysis detection chamber 53 includes a urine sample centrifugal concentration device, a urine sediment negative pressure sampling device, and a flow cytometry detection device;
  • the urine sample gene detection chamber 54 includes a gene chip storage box, a gene chip transfer device, a sample preparation device, a detection kit, a reagent sample addition device, a temperature control device, a gene chip hybridization reaction device, a signal detection device, and waste gene chip storage box.
  • the urine component detection module 51 includes a urine sample diversion tube, a urine sample test paper detection chamber 52, a urine sample flow analysis detection chamber 53, a urine sample gene Detection chamber 54.
  • the urine sample diversion pipeline starts from the bottom wall of the urine holding tank 12, and the liquid passes through the urine inlet 58, the water inlet 59, passes through the third electromagnetic valve 57, and the pump device 56, which is divided into three branch diversion pipelines, one of which The branch diversion pipe is connected with the urine sample test paper detection chamber 52, one branch pipe is connected with the urine sample flow analysis detection chamber 53, and one branch pipe is connected with the urine sample gene detection chamber 54.
  • the liquid Finally, it flows out from the waste liquid outlet 60.
  • the urine sample test paper detection chamber 52 includes a urine test paper storage box, a urine test paper transport device, a constant temperature device, a urine sample tank, and a urine test paper image scanning device 80, which is activated During the test, the urine sample enters the urine sample tank 83 through the liquid inlet 81 of the diversion pipe, the temperature control device 82 is activated, and locally reaches the optimal temperature required by the urine test paper.
  • the urine test paper 84 is tested from the urine
  • the test paper storage box 85 is ejected, and the urine test paper transfer device of the urine test room 86 moves the new test paper 87 into the urine sample tank 83, invades the urine sample, and then the urine test paper transfer device removes the urine.
  • the urine sample flow analysis detection chamber 53 includes a flow analysis instrument 91, which is integrated with a urine sample centrifugal concentration device, a urine sediment negative pressure sampling device, and a flow cytometry detection device.
  • the urine sample centrifugal concentration device When the test is started, 5ml-20ml of urine sample enters the urine sample centrifugal concentration device through the inlet 92 of the diversion pipe, centrifuges, and drains the concentrated urine through the pipe to the flow cytometry device, and collects the formed component data in the urine sediment ,
  • the data is released to the cloud server or the central data processing module 24 through the wireless communication module 30, and the specific image and video data algorithm is used to identify and analyze the formed components in the urine.
  • the formed components include red blood cells, white blood cells, and epithelial cells. Cells, tumor cells, casts, bacteria, fungi, and finally the urine sample flows out from the liquid outlet 93 of the diversion tube.
  • the stool component detection module 108 includes a stool container 109 arranged in the stool holding tank 10.
  • the lower part of the stool container 109 is provided with an electronic weighing device 112, a connecting shaft 113, and a motor 114.
  • the container 109 is equipped with a mixing and stirring device 111, and the bottom of the stool container 109 is provided with a filter screen 110, a stool filtrate storage tank 116, a second electromagnetic valve 115, a stool filtrate drainage pipe, a water inlet 117, and a waste liquid port 118;
  • a stool filtrate test strip test chamber 119, a stool filtrate gene detection chamber 120, a stool filtrate flow detection and analysis chamber 121, an inlet pipe, and a first electromagnetic valve are arranged in the space around the stool container 109;
  • the stool filtrate test paper detection chamber 119 includes a stool filtrate test paper storage box, a stool filtrate test paper transfer device, a temperature control device, a stool filtrate sample tank, and a stool filtrate test paper image scanning device;
  • the fecal filtrate sample flow analysis detection chamber includes a fecal filtrate drainage pipe and a flow cytometry detection device.
  • the stool component detection module includes a stool container set in the stool holding tank 10, an electronic weighing device 112, a connecting shaft 113, and a motor 114 are arranged at the lower part of the stool container; Water pipes, spray water device 122, first electromagnetic valve; mixing and stirring device 111, preferably a magnetic stirring rod, is installed in the stool container 109; a filter 110, a stool filtrate storage tank 116, a second electromagnetic valve, and stool filtrate are arranged at the bottom of the stool container Drainage pipe, stool filtrate test strip test chamber 119, stool filtrate gene detection chamber 120, stool filtrate flow detection analysis chamber 121; stool filtrate test paper detection chamber 119 including stool filtrate test paper storage box, stool filtrate test test paper Conveying device, temperature control device, stool filtrate sample tank, stool filtrate detection test paper image scanning device; stool filtrate sample flow analysis detection chamber 121 includes a stool filtrate drainage pipe, flow cell detection device.
  • the electronic weighing device in the lower part of the stool container 109 continuously detects the weight of the stool; at the end of the defecation, the first electromagnetic valve controls the inlet pipe for diluting the stool, and determines the spray according to the total volume and morphological data of the stool.
  • the amount of water sprayed by the water device on the feces that is: the more feces, the more dilution water is added; judging from the shape of the feces, the drier and harder the feces, the more the amount of dilution water added, on the contrary, judging from the morphology of the feces, the thinner the feces
  • the spray water is finished, start the mixing and stirring device; when the mixing and stirring are finished, the motor starts to drive the fecal container to rotate and centrifuge, and the fine fecal components enter the fecal filtrate storage tank through the filter screen; the fecal filtrate storage tank
  • the fecal filtrate in the tank enters the fecal filtrate drainage pipeline through the second electromagnetic valve 115 and the pump; the fecal filtrate drainage pipeline is further divided into three branch drainage pipelines, one of which is connected to the stool filtrate test paper detection chamber 119, and one The branch drainage pipeline is connected with the stool filtrate
  • the stool filtrate enters the stool filtrate sample tank through a branch drainage pipe, and the temperature control device is activated to locally reach the optimal temperature required for the stool filtrate test paper.
  • the stool filtrate test paper is from the stool filtrate test paper storage box It is ejected and moved into the stool filtrate sample tank by the stool filtrate detection test paper transfer device, and penetrates into the stool filtrate. Then, the stool filtrate detection test paper transfer device moves the stool filtrate detection test paper into the stool filtrate detection test paper image scanning device, and collects the stool filtrate detection test paper Image data.
  • the fecal filtrate enters the fecal filtrate flow analysis and detection chamber 121 through another branch drainage pipe.
  • the flow cytometry device collects the formed component data in the fecal filtrate, and the data is released to the cloud server or central data processing through the wireless communication module 30
  • Module 24 uses specific image and video data algorithms to identify and analyze, classify and count the formation of fecal filtrate, including red blood cells, white blood cells, tumor cells, bacteria, and fungi.
  • the genetic testing chamber 54 for urine and fecal filtrate includes a gene chip storage box 94, a gene chip transfer device 95, a sample centrifugal concentration device, a sample preparation device 96, a test kit 97, and test reagent addition Device, temperature control device, gene chip hybridization reaction device 98, signal detection device 99, waste gene chip storage box 100.
  • the urine and fecal filtrate through the liquid inlet 106 pass through the centrifugal concentration device, and the concentrated sample enters the sample preparation device 96 for labeling, and then enters the gene chip hybridization reaction device 98, and hybridizes with the gene chip under specific conditions.
  • the gene chip 101 is transferred to the gene chip hybridization reaction device 98.
  • Gene chip detection items include not only tumor cells, circulating tumor cell DNA, and circulating RNA, but also bacterial, fungal, viral DNA and RNA in urine or fecal filtrate.
  • the central data processing device includes a data storage module and a data processing module.
  • the data processing device performs data processing on the detection data sent by the urine and stool detection device, and transmits the processed data to the data storage module and the cloud server respectively.
  • the central data processing module 24 includes a data storage device and a data processing device.
  • the data processing device includes NPU, CPU, and GPU.
  • the collected data includes urination behavior data, defecation behavior data, urine and fecal data.
  • General data odor detection data, test strip detection data, flow detection analysis data, gene chip scanning image data, these data are processed by technology, compared with the normal index value reference range of the population and the user's previous detection values, and statistical analysis, Combining the user's living habits, disease family history, past disease history, symptoms, and other examination results, combined with a third-party intelligent medical system or artificial medical system, evaluate the health of the user's urinary system, digestive system, and other systems to provide a basis for medical decision-making.
  • the user identity recognition module 28 includes a biometric recognition module and a paired device recognition module.
  • the biometric recognition module includes at least a face recognition module, a fingerprint recognition module, a voice recognition module, a gait recognition module, a DNA recognition module, and an IC card recognition module.
  • the pairing device recognition module includes at least one of a pairing recognition module of a smart terminal, a pairing recognition module of a smart wearable device, and a pairing recognition module of a sensing chip implanted in the body.
  • the Internet of Things system includes at least one of a mobile smart terminal 123, a cloud server 124, an emergency management support system 125, a medical support system 127, a logistics system 128, an intelligent access control 126, and a nursing robot 129.
  • the user makes an appointment to order urine and feces detection services through the mobile smart terminal application.
  • the portable toilet robot enters the ward or the user's residence through the smart access control permit. Under the guidance and assistance of the nursing robot, it reaches the predetermined service location and implements the detection.
  • the data collected during the detection process is sent to the cloud server, and the emergency management support system monitors the working conditions of the portable toilet robot at any time, and the medical support system provides users with diagnosis and treatment opinions.
  • the data security module uses blockchain technology to create a user data center to store and distribute user data; among them, the connection of user data, connected IoT data, public cloud or private cloud is entirely based on user-authorized blockchain smart contracts , User data written to the blockchain in real time is authorized by the user to be published to the blockchain of the public cloud or private cloud, and the user data is securely isolated, and third-party users are authorized to read the data.
  • the urine and stool detection robot also includes a cleaning and flushing module and a waste processing module 21;
  • the cleaning and flushing module includes a water inlet pipe 22, a pump, a third electromagnetic valve 57, a pipe connected to the urine holding tank 12, a pipe connected to the stool holding tank 10, a pipe connected to the urine component detection module, and a pipe connected to the stool component detection module. , Drainage pipeline 23;
  • the third electromagnetic valve is opened, and the pump of the water inlet pipe 22 device passes the clean water through the pipe to flush the urine and feces holding tank 10 and the diversion pipe of the urine detection system, the test paper detection chamber, and the flow type Analysis and detection chamber, genetic detection chamber, flushing waste water, through the pumping and drainage device, into the sewage treatment system of the hospital or family.
  • the waste treatment module 21 includes an odor treatment device, a waste test paper storage box, and a waste gene chip storage box.
  • the urine and stool and waste gas generated during the detection process are collected and converted into odorless gas by the odor treatment device. After the test strips and used gene chips are collected, they are incinerated and treated as harmless according to conventional medical waste.
  • the technical processing of the above-mentioned data includes two schemes.
  • One is that the data is uploaded to a public cloud cloud server, and the cloud server provides data calculation, analysis, and decision-making services. All data is published to the public chain and sent to the client at the same time.
  • Application of localized data capabilities, data processing devices CPU, GPU, NPU provide computing, analysis, and decision-making services. All data is released to the industry private chain of the private cloud and sent to the client via wireless or wired transmission.
  • the urine and stool detection robot also includes a wireless communication module 30, a data security module, a battery and charging module 20, and an equipment maintenance module;
  • the equipment maintenance module includes equipment fault self-checking, fault self-repairing, fault information sending server, residual quantity monitoring of consumables, and battery power monitoring. If the equipment fails, first, the fault is repaired by itself, and if the repair fails, the fault information is sent to the server. In addition, a portable toilet-type urine detection robot is dispatched to provide services to users, and the malfunctioning portable toilet-type urine detection robot returns to the service center for further Overhaul; if the remaining amount of consumables is detected and the battery power is insufficient, it will prompt to replenish consumables in time and charge.
  • At least one expansion slot is reserved in the urine detection module and the stool detection module.
  • the expansion slot includes the electrical circuit, water circuit, air circuit, sample transmission channel, data link connection interface, and Space, used to increase the detection function module.
  • the functional modules of the present invention can be combined as needed, and the working status of some functional modules can also be turned off or on, such as:
  • the user can randomly select or combine the odor detection module 33, the urine general recognition detection module, the urine component detection module, the stool general recognition detection module, and the stool composition detection module through the interactive system module to meet the user's detection requirements.
  • the portable toilet-type urine and stool detection robot may not be provided with the intelligent migration module 15, but directly use other functional modules, which can also complete the detection of urine and feces.
  • the portable toilet-type urine detection robot has neither an intelligent migration module 15 nor a toilet structure module.
  • Liquid odor detection module 33, urine composition detection module 51, stool general identification detection module 14, stool odor detection module, stool composition detection module 55, cleaning and washing module, waste processing module 21, wireless communication module 30, central data processing module 24 , Data security module, battery and charging module 20, and the appearance structure or connection parts of the equipment maintenance module can be properly adjusted, and then they can be placed in the urinal of a conventional toilet for urine and feces detection.
  • the interactive system module, the user identification module 28, the urine general identification and detection module 11, the urine odor detection module 33, the urine component detection module 51, the stool general recognition detection module 14, the stool odor detection module, and the stool composition The detection module 55, the cleaning and flushing module, the waste processing module 21, the wireless communication module 30, the central data processing module 24, the data security module, the battery and the charging module 20 are further miniaturized or simplified in function, and made into a portable handheld detection device. Routine toilets are tested.
  • the urine component detection module 51 and the stool component detection module 52 can also share a set of test paper detection chamber, flow analysis detection chamber, and genetic detection chamber, further simplifying and reducing the size of the portable handheld device and making it more portable.
  • the urine and stool detection robot may not be equipped with the intelligent migration module 15 or the toilet structure module, and it may be directly placed in the toilet of a conventional toilet for urine and stool detection. It may also retain only the urine component detection module and Stool component detection module, made into a portable handheld device, combined with conventional toilets to implement urine and stool component detection, urine component detection module and fecal component detection module share the test paper detection chamber, flow analysis detection chamber, and genetic detection chamber , To further simplify and reduce the size of portable handheld devices.
  • the present invention also provides a toilet-type urine and stool detection robot IoT system, as shown in FIG. 11, including the above-mentioned urine and stool detection robot and an IoT system suitable for the urine and stool detection robot;
  • a toilet-type urine and stool detection robot IoT system provided by an embodiment of the present invention works as follows:
  • the user submits the requirements, the requirements include the appointment time and use time, service location, service items, and prepayment;
  • the portable toilet-type urine detection robot arrives at the predetermined service location; among them, the planned route and transportation method refers to the robot route planning after responding to user needs, and the robot goes to the user's reserved location by itself. Take transportation, including but not limited to cars, airplanes, UAV door-to-door services, and rail transportation to reach the user's reserved location, and then send it by the third-party logistics system.
  • the urine and stool detection robot can also randomly select and combine the odor detection module 33, the urine general recognition detection module, the urine component detection module, the stool general recognition detection module, and the stool composition detection module through the interactive system module according to user needs. Realize the user's personalized testing needs.

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Abstract

一种马桶式尿便检测机器人及尿便检测机器人物联网系统，马桶式尿便检测机器人包括：智能移行模块（15）、交互系统模块（32）、高度调节模块（19）、用户身份识别模块（28）、马桶结构模块（13）、尿液大体识别检测模块（11）、气味检测模块（25、33）、尿液成分检测模块（51）、粪便大体识别检测模块（14）、粪便成分检测模块（108）、清洁冲洗模块、废物处理模块（21）、无线通讯模块（30）、中央数据处理模块（24）、数据安全模块、电池及充电模块（20）、设备维护模块。尿便检测机器人能够自行到达预定位置，为用户提供排尿、排便行为学监测及尿便成分检测，及早筛查泌尿和消化系统疾病，通过物联网系统，提供设备维护、数据处理、医疗支持，也可与用户的蹲便器或坐便器配套使用，马桶结构依据用户个性化定制，从而为用户提供高效、便利、智能化的尿便检测体验。

Description

一种马桶式尿便检测机器人及其物联网系统 技术领域
本发明涉及体外医疗检测领域，尤其是涉及一种马桶式尿便检测机器人及尿便检测机器人物联网系统
背景技术
目前，尿动力学检查是通过了解尿路排尿功能和机制以明确排尿功能障碍性疾病病理生理学变化。常规尿动力学检查需要到医院专门检查室做检查，因为是侵入式检查，做过尿动力学检查的人都知道，不但检查流程长，而且将经历难以忍受的痛苦。另外，粪便色泽、形态、性状、排便动力学特征，是消化系统健康状况评估重要一环。然而目前还没有行之有效且客观的监测措施。
随着人类寿命延长，肿瘤发病率逐步增长，早发现、早治疗是获得肿瘤良好预后关键。其中，尿液和粪便检查，因为简单、无创的特性，已成为泌尿道和消化道肿瘤早期筛查的重要早期预警指标，尤其是尿液来自血液，血液中一些肿瘤标志物，也可以在尿液中检测到。但尿液和粪便脏臭，检测时，人们配合度不高，直接影响到尿液和粪便检查用于肿瘤早期筛查成效。因此，对于尿液和粪便检查的医疗设备研究及设计非常有必要。
发明内容
本发明提供一种马桶式尿便检测机器人及尿便检测机器人物联网系统，解决现有的尿便检测技术的缺陷，通过尿便检测结构改进，提高尿便检测的便捷性，提高用户的产品使用体验，并实现检查设备自主移行，同时监测用户排尿和排便行为学和动力学特征，以及尿液和粪便成分。
为了解决上述技术问题，本发明实施例提供了一种马桶式尿便检测机器人，包括：
智能移行模块、交互系统模块、高度调节模块、用户身份识别模块、马桶结构模块、尿液大体识别检测模块、气味检测模块、尿液成分检测模块、粪便大体识别检测模块、粪便成分检测模块、清洁冲洗模块、废物处理模块、无线通讯模块、中央数据处理模块、数据安全模块、电池及充电模块、设备维护模块；
所述智能移行模块为设置于所述马桶结构模块底部的四轮机器人装置，为智能自主移动载体，其通过执行路线规划算法并基于用户指令，在特定环境下自主规避障碍、优化移动线路，以到达预定服务作业位置；
所述交互系统模块整合多通道的交互方式，所述交互方式包括语音、触摸屏、眼神、表情、虹膜、掌纹、笔迹、步态、手势、唇读、人脸、DNA、意念的其中至少一种人类特征，且所述交互系统模块用于与移动智能终端、智能穿戴设备、体内植入感知芯片、群件信息融合，实现人机交互，进行设备间交互；
所述高度调节模块包括设置于所述马桶结构模块侧面的底座支撑装置、若干支撑板、以及由若干第一智能可控丝杆升降装置组成的底座支腿；
所述用户身份识别模块包括生物特征识别模块和配对设备识别模块，所述生物特征识别模块包括人脸识别模块、指纹识别模块、语音识别模块、步态识别模块、DNA识别模块、IC卡识别模块的其中至少一种；所述配对设备识别模块包括智能终端的配对识别模块、智能穿戴装置的配对识别模块、植入体内感知芯片的配对识别模块的其中至少一种；
所述马桶结构模块设置于所述智能移行模块的上部，其由马桶主体结构、座圈、盖板、靠背板、喷浴装置、水箱、进水管道、排水管道组成，其中，所述马桶主体结构的容纳池分隔为前端的尿液容纳池和中后端的粪便容纳池，所述尿液容纳池、所述粪便容纳池分别用于盛装用户的尿液、粪便，并且在所述尿液容纳池的池壁上设置刻度线，在所述靠背板设置触摸式显示屏、除臭装置、气味检测模块、无线通讯模块、中央数据处理模块、交互系统模块、用户身份识别模块、数据安全模块；所述马桶结构模块采用蹲便器和坐便器两种制式，其中，所述蹲便器制式是基于坐便器制式基础上增加一组脚踏板，所述脚踏板设置于所述马桶主体结构的两侧，通过第二智能可控丝杠升降装置调节所述脚踏板的高度以实现蹲便器功能结构；
所述尿液大体识别检测模块设于所述尿液容纳池上，所述尿液大体识别检测模块包括用于提供照明的至少一个LED灯、用于采集尿液图像数据的至少一个摄像头，所述摄像头上设有用于阻断摄像头与尿液直接接触的增透膜；所述尿液大体识别检测模块能够无死角采集图像视频数据，以结合图像视频数据分析算法，从而获取单次排尿时程、排尿动力学特征、尿量体积、色泽、浑浊度数据；
所述粪便大体识别检测模块设于所述粪便容纳池上，所述粪便大体识别检测模块包括用于提供照明的至少三个LED灯、用于采集粪便图像数据的至少三个摄像头；所述粪便大体识别检测模块无死角采集图像视频数据，以结合图像视频数据分析算法，从而获取排便时程、排便动力学特征、排便过程中肛门周围形态变化、粪便体积、形态、性状、色泽数据；
所述气味检测模块包括用于检测各类挥发性有机物、氨、硫化氢的尿液气路、粪便气路以及集成在所述尿液气路、所述粪便气路上的若干气体检测传感器、气相色谱仪、电离除味装置；所述气味检测模块通过启动所述尿液气路、所述粪便气路以持续检测尿液、粪便气味成分；
所述尿液成分检测模块包括尿液样品导流管道、尿液样品试纸检测腔室、尿液样品流式分析检测腔室、尿液样品基因检测腔室；所述尿液样品试纸检测腔室包括尿液检测试纸储存盒、尿液检测试纸传送装置、温度控制装置、尿液样品槽、尿液检测试纸图像扫描摄像装置、废旧检测试纸储存盒；所述尿液样品流式分析检测腔室包括尿液样品离心浓缩装置、尿沉渣负压采样装置、流式细胞检测装置；所述基因检测腔室包括基因芯片储存盒、基因芯片传送装置、样品制备装置、检测试剂盒、试剂加样装置、温度控制装置、基因芯片杂交反应装置、信号检测装置、废旧基因芯片储存盒；
所述粪便成分检测模块包括设置于所述粪便容纳池内的粪便容器，所述粪便容器下部设置电子称重装置、连接轴、电机，所述粪便容器内设置混匀搅拌装置，所述粪便容器的底部设置滤网、粪便滤液储槽、第二电磁阀门、粪便滤液引流管道，所述粪便容器的周围空间内设置粪便滤液试纸条测试腔室、粪便滤液基因检测腔室、粪便滤液流式检测分析腔室、进水管、第一电磁阀门，所述粪便滤液试纸检测腔室包括粪便滤液检测试纸储存盒、粪便滤液检测试纸传送装置、温控装置、粪便滤液样品槽、粪便滤液检测试纸图像扫描装置；所述粪便滤液样品流式分析检测腔室包括粪便滤液引流管道、流式细胞检测装置；
所述清洁冲洗系统模块包括进水管道、泵、第三电磁阀门、连接尿液容纳池的管道、连接粪便容纳池的管道、连接尿液成分检测模块的管道、连接粪便成分检测模块的管道、排水管道；
所述废物处理模块包括臭味处理装置、废旧检测试纸储存盒、废旧基因芯片储存盒；
所述中央数据处理模块包括数据储存装置和数据处理装置，所述数据处理装置将采集的数据进行技术处理以将采集数据与人群正常参考数值及用户既往检测的数值进行比对，通过统计分析和结合用户生活习惯、疾病家族史、既往疾病史、症状、其他检查结果，并结合第三方智能医疗系统、人工医疗系统数据，从而评估用户泌尿系统、消化系统以及其他系统健康状况，为医疗决策提供依据；所述技术处理包括两种方案，其一，数据上传到云服务器， 提供计算、分析、决策，全部数据发布到公链，同时发送用户端，其二，应用本地化数据能力，由自带CPU、GPU、NPU处理数据，提供计算、分析、决策，全部数据发布行业私有链，并经无线或有线传输方式发送到用户端；
所述数据安全模块通过区块链技术创建用户数据中心以存储和分布式运行用户数据；所述用户数据、连接的物联网数据、公有云或私有云的连接完全基于用户授权的区块链智能合约，将用户数据实时写入区块，经过用户授权发布到公有云或私有云的区块链，实现用户数据安全隔离，从而使第三方用户获得授权可读取数据；
所述设备维护模块包括设备故障自检系统、故障自行修复系统、故障信息发送系统、耗材剩余量监测装置。
作为优选方案，所述用户身份识别模块采用区块链技术进行实名认证，由用户签署智能合约，创建个人私钥和个人公钥，用户输入所述生物特征识别信息，区块链网络通过验证公钥证书链核验用户身份。
作为优选方案，所述摄像头上设有智能调节焦距的视频数码光学显微镜、偏振光光源、荧光激发光源，用于获取粪便中寄生虫虫体、虫卵、血液、脱落组织块的图像数据。
作为优选方案，所述气味检测模块在对尿液气体检测和粪便气体检测的过程中，还可共用一套气体检测传感器、气相色谱仪；
所述气味检测模块在进行检测时，先启动所述尿液气路以检测尿液气味成分，再启动所述粪便气路以检测粪便气味成分。
作为优选方案，所述基因检测腔室的基因检测对象包括肿瘤细胞DNA、循环肿瘤细胞DNA、循环肿瘤细胞RNA，还包括肿瘤细胞外泌体、蛋白质标志物，以及细菌、真菌、病毒DNA和RNA。
作为优选方案，所述第一电磁阀门用于控制稀释粪便的进水管，依据粪便的总体积和形态学数据，经过预设的算法确定添加水量；其中，所述算法包括：粪便越多添加稀释水量越多，粪便越干且硬，添加稀释水量越多，粪便越稀且软，添加稀释水量越少。
作为优选方案，所述马桶结构模块的外形可依据用户需求个性化定制；
所述马桶主体结构上设置扶手结构。
作为优选方案，所述尿液成分检测模块和所述粪便成分检测模块上均预留至少一个扩展槽，所述扩展槽包括电路、水路、气路、样品传输通道、数据接口、空间结构。
作为优选方案，所述智能移行模块为可拆卸式结构，以使所述马桶式尿便检测机器人不带所述智能移行模块，成为便携马桶式尿便检测机器人。
作为优选方案，所述便携马桶式尿便检测机器人可直接置入常规马桶的便池内以用于尿便检测。
作为优选方案，所述便携马桶式尿便检测机器人还可仅保留所述尿液成分检测模块和所述粪便成分检测模块，以制作成便携手持式装置，并结合常规马桶使用，从而实施尿便成分检测。
作为优选方案，所述尿液成分检测模块和所述粪便成分检测模块共用试纸检测腔室、流式分析检测腔室、基因检测腔室，以简化缩小便携手持式装置体积。
本发明还提供了一种马桶式尿便检测机器人物联网系统，包括：
如上述的马桶式尿便检测机器人、适用于所述尿便检测机器人的物联网系统；所述物联网系统包括移动智能终端、云服务器、应急管理支持系统、医疗支持系统、物流系统、智能门禁、护理机器人的其中至少一种；
所述马桶式尿便检测机器人物联网系统的应用流程包括：
(a)用户提交需求，需求包括预约上门时间及使用时间长度，服务地点，服务项目，预支付费用；(b)依据规划路线及运送方式，便携马桶式尿便检测机器人到达预定服务位置；(c)连接电路、水路、气路、网络；(d)用户识别；(e)调整到合适用户高度；(f)用户排尿和排便；(g)监测排尿和排便行为学特征；(h)检测尿液和粪便气味 成分；(i)检测尿液和粪便大体指标；(j)检测尿液和粪便成分指标；(k)检测完毕；(l)启动冲洗消毒装置；(m)结束单次检测；(n)根据需要，完成多次检测；(o)排尿和排便行为学特征、气味成分、大体指标及成分指标数据，经过加密，发送到云服务器；(p)用户获取检测结果报告及健康医疗建议；(q)便携马桶式尿便检测机器人离开此用户，基于需求，服务下一个用户。
作为优选方案，所述规划路线及运送方式是指，响应用户需求后，机器人路线规划，通过(a)机器人自行前往用户预约位置，(b)机器人乘坐交通工具，包括但不限于汽车、飞机、无人机上门服务、轨道交通，到达用户预约位置，(c)由第三方物流系统寄送。
作为优选方案，所述马桶式尿便检测机器人物联网系统依据用户需求并根据用户通过所述交互系统模块发出的请求，随机选择组合所述气味检测模块、所述尿液大体识别检测模块、所述尿液成分检测模块、所述粪便大体识别检测模块和所述粪便成分检测模块，实现用户个性化检测需求。
基于上述方案，本发明实施例的有益效果在于：通过设计便携马桶式尿便检测机器人，实现检查设备自主移行，同时监测用户排尿和排便行为学和动力学特征，以及尿液和粪便成分，为用户提供排尿、排便行为学监测及尿便成分检测，及早筛查泌尿系统和消化系统疾病，通过物联网系统，提供设备维护、数据处理、医疗支持。
附图说明
图1是本发明实施例提供的马桶式尿便检测机器人的结构示意图；
图2是本发明实施例提供的马桶式尿便检测机器人采用的可收纳式结构的示意图；
图3是本发明实施例提供的马桶式尿便检测机器人采用的高度调节模块的示意图；
图4A是本发明实施例提供的马桶式尿便检测机器人采用的马桶结构模块的示意图；
图4B是本发明实施例提供的马桶式尿便检测机器人采用的马桶结构模块的马桶主体的示意图；
图5A是本发明实施例提供的马桶式尿便检测机器人采用的蹲便式踏板的示意图；
图5B是本发明实施例提供的马桶式尿便检测机器人采用的蹲便式踏板的丝杆升降装置的示意图；
图6是本发明实施例提供的马桶式尿便检测机器人的尿液大体识别检测模块的结构示意图；
图7是本发明实施例提供的马桶式尿便检测机器人的粪便大体识别检测模块的结构示意图；
图8是本发明实施例提供的马桶式尿便检测机器人的气味检测模块的结构示意图；
图9A是本发明实施例提供的马桶式尿便检测机器人的尿液成分检测模块的结构示意图；
图9B是本发明实施例提供的马桶式尿便检测机器人的尿液样品试纸检测腔室的结构示意图；
图9C是本发明实施例提供的马桶式尿便检测机器人的尿液样品流式分析检测腔室的结构示意图；
图9D是本发明实施例提供的马桶式尿便检测机器人的基因检测腔室结构的结构示意图；
图10是本发明实施例提供的马桶式尿便检测机器人的粪便成分检测模块的结构示意图；
图11是本发明实施例提供的马桶式尿便检测机器人物联网系统的组成示意图；
图12是本发明实施例提供的马桶式尿便检测机器人的不设置智能移行模块的结构示意图；
图13是本发明实施例提供的马桶式尿便检测机器人的不设置智能移行模块、马桶结构模块的结构示意图；
其中，说明书附图中的附图标记如下：
10、粪便容纳池；11、尿液大体识别检测模块；12、尿液容纳池；13、马桶结构模块；14、粪便大体识别检测模块；15、智能移行模块；16、探测器；17、GPS/北斗导航；18、驱动轮；19、高度调节模块；
20、电池及充电模块；21、废物处理模块；22、进水管道；23、排水管道；24、中央数据处理模块；25、粪便气味检测模块；26、废气出口；27、人体工学靠背；28、用户身份识别模块；29、除臭装置；
30、无线通讯模块；31、触摸式显示屏；32、交互系统模块；33、气味检测模块；34、铰链装置；35、支撑板；36、横杆驱动部件；37、丝杆装置的右立柱；38、底座支丝杆装置的支腿；39、丝杆装置的左立柱；
40、马桶主体；41、座圈；42、喷浴装置；43、水箱；44、左侧踏板；45、右侧踏板；46、第二智能可控丝杠升降装置；47、驱动部件；48、支脚；49、支撑立柱；
50、气相色谱仪；51、尿液成分检测模块；52、尿液样品试纸检测腔室；53、尿液样品流式分析检测腔室；54、基因检测腔室结构；55、离心浓缩装置；56、泵装置；57、第三电磁阀门；58、尿液入口；59、进水口；
60、废液出口；61、尿液大体识别检测模块的LED灯；62、尿液大体识别检测模块的摄像装置；63、尿液大体识别检测模块的刻度标记线；64、粪便大体识别检测模块的LED灯；65、粪便大体识别检测模块的摄像装置；66、模块外壳结构；67、尿液气路；68、粪便气路；69、氨传感器；
70、硫化氢传感器；71、多环芳烃传感器；72、挥发性有机物传感器；73、废气出口；
80、尿液检测试纸图像扫描装置；81、导流管道的进液口；82、温控装置；83、尿液样品槽；84、尿液检测试纸；85、尿液检测试纸储存盒；86、尿液检测室；87、新试纸；88、废旧试纸；89、废旧试纸储存盒；
90、导流管道的出液口；91、流式分析仪器；92、尿液样品流式分析检测腔室的导流管道的进液口；93、尿液样品流式分析检测腔室的导流管道的出液口；94、基因芯片储存盒；95、基因芯片传送装置；96、样品制备装置；97、检测试剂盒；98、基因芯片杂交反应装置；99、信号检测装置；
100、废旧基因芯片储存盒；101、新的基因芯片；102、反应中芯片；103、检测中芯片；104、检测中芯片；105、废旧芯片；106、基因检测腔室的进液口；107、基因检测腔室的出液口；108、粪便成分检测模块；109、粪便容器；
110、滤网；111、搅拌装置；112、电子称重装置；113、连接轴；114、电机；115、第二电磁阀门；116、粪便滤液储槽；117、进水口；118、废液口；119、粪便滤液试纸条测试腔室；
120、粪便滤液基因检测腔室；121、粪便滤液流式检测分析腔室；122、喷淋水装置；123、移动智能终端；124、云服务器；125、应急管理支持系统；126、智能门禁；127、医疗支持系统；128、物流系统；129、护理机器人。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动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。
本发明实施例通过将尿液和粪便检测装置与马桶结合，可以解决尿液和粪便检测时出现的脏臭问题，但本发明的发明人对此进行研究，发现仍然存在不足，包括：
(1)尿液和粪便检查通常需要连续三次以上检测，需要多次前往医院，费时费力；
(2)医院里尿液和粪便检测马桶固定设置，不利于共享使用，影响设备使用效率；
(3)居家使用时，与家庭原有马桶不兼容；
(4)行动不便人群使用时，需要他人协助移行到检测马桶旁，而检测马桶不能自主移行到用户身旁。
鉴于此，作为进一步的设计，本发明优选实施例提供了一种马桶式尿便检测机器人及尿便检测机器人物联网系统，实现检查设备自主移行，同时监测用户排尿和排便行为学和动力学特征，以及尿液和粪便成分，借助物联网系统，获取设备功能监测、耗材补充，提供健康医疗服务。
请参见图1，图1所示为便捷马桶式尿便检测机器人总体结构，尿便检测机器人可设计为便携马桶式，包括智能移行模块15、交互系统模块32、高度调节模块19、用户身份识别模块28、马桶结构模块13、尿液大体识别检测模块11、尿液气味检测模块33、尿液成分检测模块51、粪便大体识别检测模块14、粪便气味检测模块25、粪便成分检测模块108、清洁冲洗模块、废物处理模块21、无线通讯模块30、中央数据处理模块24、数据安全模块、电池及充电模块20、设备维护模块。
智能移行模块15为设置在尿便检测机器人底部的四轮移行机器人装置，包括安装有驱动轮18的轮滑式移动底座，智能移行模块15作为智能自主移动载体，通过执行路线规划算法，基于服务端和用户指令在特定环境下，由探测器16感知周围环境即刻变化信息，其中，探测器16包括视觉传感器、激光雷达、超声雷达，借助GPS/北斗导航17，自主规避障碍，重新优化移动线路，到达预定服务作业位置。
智能移行模块15响应用户需求，路线规划后，短途路线，比如医院内部、社区内部、临近的社区，借助智能自主移动载体，自行前往用户预约位置；虽然路线短，但路况复杂，比如台阶、沟壑、道路崎岖，人工携带或辅助智能自主移动载体，到达终端用户；路线较长，借助智能自主移动载体乘坐交通工具，比如汽车、飞机、无人机、轨道交通等提供上门服务，到达用户预约位置，也可委托第三方物流系统，送达终端用户。
在一种可行设计中，尿便检测机器人还包括交互系统模块32和用户身份识别模块28；交互系统模块32与智能设备进行人机交互，至少包括触摸屏；其中，交互系统模块32通过整合多通道的交互方式，包括语音、触摸屏、眼神、表情、虹膜、掌纹、笔迹、步态、手势、唇读、人脸、DNA、意念等人类特征，以及移动智能终端、智能穿戴设备、体内植入感知芯片、群件信息融合，满足不同类型用户使用习惯和物联网系统设备通讯标准，实现人机交互、设备间交互。当然，本发明通过智能训练，逐步进化，可以自主感知用户需求，无需通过人类生物学特征与用户交互，即可完成尿便检测。
在其中一种可行的设计中，尿便检测机器人包括智能移行模块15和设置在智能移行模块15上的马桶结构模块13，马桶结构模块13上设有尿液容纳池12和粪便容纳池10；智能移行模块15为智能自主移动载体，通过执行路线规划算法，基于用户指令在特定环境下，自主规避障碍，优化移动线路，到达预定服务作业位置。
尿便检测装置，其设于马桶结构模块13上并与中央数据处理装置进行信号连接，且集成有用于获取用户排尿行为学特征信息和尿液大体形态特征信息的尿液大体识别检测模块11、用于获取用户排便行为学特征信息、肛门周围情况信息和粪便大体形态特征信息的粪便大体识别检测模块14、用于获取尿液气味成分信息和粪便气味成分信息的气味检测模块33、用于获取尿液成分信息的尿液成分检测模块51、用于获取粪便成分信息的粪便成分检测模块108、用于检测获取粪便容纳池10的重量数据的粪便称重检测模块、用于检测获取粪便滤液信息的粪便滤液检测模块。
在本发明实施例中，马桶结构模块13的侧面设置有带底座支撑装置，由若干支撑板、若干第一智能可控丝杆升降装置组成的底座支腿组成，用户根据身高尺寸及习惯，借助人机交互，在一定范围内，调节设备的高度，实现用户舒适地蹲式或坐式排尿排便。如图3所示，在一种可行设计中，轮滑式移动底座包括高度调节模块19，高度调节模块19由若干支撑板35、升降驱动电机和受控于升降驱动电机的若干丝杆升降装置组成；马桶结构模块13通过支撑板35可升降运动的支撑在丝杆升降装置上，升降驱动电机与底座控制器电连接。其中，丝杆升降装置由横杆驱动部件36、丝杆装置的右立柱37、丝杆装置的左立柱39、丝杆装置的支腿38组成。
在本实施例中，用户身份识别采用生物特征识别和配对设备识别两种方式，采集用户人脸、指纹、语音、步态和DNA信息，借助整合了常规的人脸识别、指纹识别、语音识别、步态识别、DNA识别算法，用户选用上述任何一种生物特征，均可依据注册时生物特征信息，实现用户生物识别；配对设备识别包括移动智能终端、智能穿戴装置、植入体内感知芯片，按照通讯协议，借助无线通讯装置配对识别链接。
可以理解的是，在医疗服务机构，用户的医疗识别装置、专用二维码或条形码，或医务人员的指令，也可替代用户身份识别步骤；在家庭内，监护人也可替代终端用户以其他方式完成身份识别，或无需经过身份识别步骤，即可完成尿便检测。用户身份识别采用区块链技术进行实名认证，由用户签署智能合约，创建个人私钥和个人公钥，发送个人公钥、生物识别信息、身份证信息到区块链网络，产生区块，获取公钥证书链，用户输入生物识别信息，区块链网络通过验证公钥证书链核验用户身份。
请参见图4A和图4B，在一种可行设计中，马桶结构模块13包括尿便检测马桶，尿便检测马桶由马桶主体40和安装在马桶主体40上的座圈41、盖板、人体工学靠背27、喷浴装置42、水箱43、进水管道22、排水管道23；
马桶主体40内设有马桶容纳池，尿液容纳池12位于马桶容纳池的前端，且尿液容纳池12的池壁刻设有刻度线，粪便容纳池10位于马桶容纳池的后端；
在本实施例中，作为示例性的，如图2所示，将马桶结构模块13设计为马桶式结构，通过将马桶结构模块设置于智能移行模块15上部，由马桶主体40结构、座圈41、盖板、靠背板、喷浴装置42、水箱43、进水排水管道23组成。其中，如图2或图4A所示的人体工学靠背27通过铰链装置34可转动第安装在马桶上本体，兼有盖板功能。
在一种可行的设计中，为了使得结构设计更为合理，如图4B所示，马桶主体40结构的容纳池分隔为前端的尿液容纳池12和中后端的粪便容纳池10，分别用于盛装用户的尿液和粪便，并且如图6所示，尿液容纳池12的池壁设置刻度标记线63，记录尿液量动态变化，摄像头设置于靠近尿液容纳池12的底部。在靠背板分别设置触摸式显示屏31、除臭装置29、气味检测模块33、无线通讯模块30、中央数据处理模块24、交互系统模块、用户身份识别模块28、数据安全模块。
此外，还可如图5A所示，在马桶主体40的两侧设计蹲便式踏板，蹲便式踏板受控于丝杆升降装置以进行升降运动。这样，通过可升降式的蹲便式踏板，用户使用马桶时通过高度的调节，可以采用蹲便器制式，也可采用坐便器制式。在具体设计中，蹲便器制式是基于坐便器制式的基础上，增加一组脚踏板(左侧踏板44、右侧踏板45)，脚踏板设置于两侧，借助人机交互，通过第二智能可控丝杠升降装置46调节脚踏板的高度实现蹲便器制式结构。第二智能可控丝杠升降装置46由支脚48、支撑立柱49、驱动部件47。当然，用户选择坐便器制式时，也可以启动第二智能可控丝杠升降装置46抬高脚踏板到适当高度，促进排便通畅，减轻便秘。
可以理解的是，还可根据用户的个性化需求，对马桶结构的外形、材质、色彩及图案进行个性化定制，马桶结构还可增加设置扶手，以及其他外部设备，进一步提高舒适性。
在一种可行设计中，大体识别功能模块包括尿液大体识别检测模块11和粪便大体识别检测模块14，其中，如图6所示，尿液大体识别检测模块11设置于马桶结构模块前端，尿液大体识别检测模块11设于尿液容纳池12上，尿液大体识别检测模块11包括用于提供照明的至少一个LED灯61，摄像装置62采用用于采集尿液图像数据的至少一个摄像头，摄像头上设有用于阻断摄像头与尿液直接接触的增透膜，能够无死角采集用户使用过程中图像视频数据，图像视频数据通过无线通讯模块30发布到云服务器或中央数据处理模块24，采用特定图像视频数据算法以进行识别分析，测算出单次排尿开始和结束时间、连续监测排尿过程中尿流的速度和加速度以及尿流体形态变化、通过监测尿液容纳池12的刻度线连续监测尿量体积变化、尿液色泽、尿液浑浊度、异常颗粒比如尿结石等数据， 从而获得用户排尿行为学特征和尿液大体形态特征。
如图7所示，粪便大体识别检测模块14设置于粪便容纳池10上部，设置至少三个LED灯64(LED灯1、LED灯2、LED灯3)，无死角提供照明，至少三个摄像头65(摄像装置1、摄像装置2、摄像装置3)分散配置，从而实现无死角采集图像视频数据，图像视频数据通过无线通讯模块30发布到云服务器或中央数据处理模块24，采用特定图像视频数据算法以进行识别分析，测算排便准备、开始和结束时间、连续监测排便过程中的速度和加速度以及粪便形态变化、排便过程中肛门周围形态变化比如直肠有无脱垂、肛裂、肛门出血、痔疮及痔疮的形态变化特征、粪便形态、性状、色泽数据，通过连续三维图像建模连续监测粪便的体积变化，从而获得用户排便行为学特征、肛门周围情况和粪便大体形态特征。
作为优选的，本发明选用的摄像头包含智能调节焦距的视频数码光学显微镜、偏振光光源、荧光激发光源，识别粪便中寄生虫虫体、虫卵、新鲜或陈旧血液、脱落组织块，以及尿便中被荧光标记的成分。
请参见图8，在一种可行设计中，气味检测模块33包括集成于模块外壳结构66内的尿液气路67、粪便气路68、气相色谱仪50、电离除味装置；
尿液气路对应设于尿液容纳池12的侧壁上方，且尿液气路设有第一空气采集装置，尿液气路包括与第一空气采集装置出口相连通的第一支气路、第二支气路，第一支气路设置氨传感器69、硫化氢传感器70、多环芳烃传感器71以及挥发性有机物传感器72，第二支气路与气相色谱仪50连接以用于检测尿液挥发性气体中成分；
粪便气路对应设于粪便容纳池10的侧壁上方，且粪便气路设有第二空气采集装置，粪便气路包括与第二空气采集装置出口相连通的第三支气路、第四支气路，第三支气路设置氨传感器69、硫化氢传感器70、多环芳烃传感器71以及挥发性有机物传感器72，第四支气路与气相色谱仪50连接以用于检测粪便挥发性气体中成分；
尿液气路67、粪便气路68的尾气经电离除味装置进行无害化处理，并通过废气出口26排出处理后的气体。
可以理解的是，为了使结构优化，尿液气路67、粪便气路68还可共用一套气体检测传感器、气相色谱仪50，设置为先启动尿液气路67，检测尿液气味成分，尿液气味检测完毕，再启动粪便气路68，检测粪便气味成分。
请参见图9A～9D，在一种可行设计中，尿液成分检测模块51包括尿液样品导流管道、尿液样品试纸检测腔室52、尿液样品流式分析检测腔室53、尿液样品基因检测腔室54；
尿液样品试纸检测腔室52包括尿液检测试纸储存盒、尿液检测试纸传送装置、温度控制装置、尿液样品槽、尿液检测试纸图像扫描摄像装置、废旧检测试纸储存盒；
尿液样品流式分析检测腔室53包括尿液样品离心浓缩装置、尿沉渣负压采样装置、流式细胞检测装置；
尿液样品基因检测腔室54包括基因芯片储存盒、基因芯片传送装置、样品制备装置、检测试剂盒、试剂加样装置、温度控制装置、基因芯片杂交反应装置、信号检测装置、废旧基因芯片储存盒。
在本实施例中，如图9A所示，尿液成分检测模块51包括尿液样品导流管道、尿液样品试纸检测腔室52、尿液样品流式分析检测腔室53、尿液样品基因检测腔室54。尿液样品导流管道起始于尿液容纳池12底部侧壁，液体经过尿液入口58、进水口59经第三电磁阀门57，泵装置56，分为三个支导流管道，其中一个支导流管道与尿液样品试纸检测腔室52连通，一个支导流管道与尿液样品流式分析检测腔室53连通，一个支导流管道与尿液样品基因检测腔室54连通，液体最后由废液出口60流出。
具体的，如图9B所示，尿液样品试纸检测腔室52包括尿液检测试纸储存盒、尿液检测试纸传送装置、恒温装置、尿液样品槽、尿液检测试纸图像扫描装置80，启动检测时，尿液样品由导流管道的进液口81进入尿液样品槽83，温控装置82启动，局部到达尿液检测试纸所需的最优温度，尿液检测试纸84从尿液检测试纸储存盒85中弹出，并由尿液检测室86的尿液检测试纸传送装置将新试纸87移入尿液样品槽83，侵入尿液样品中，然后，再由尿 液检测试纸传送装置将尿液检测试纸移入尿液检测试纸图像扫描装置80，采集尿液检测试纸图像数据，最后，将废旧试纸88移动至废旧试纸储存盒89中，尿液样品从导流管道的进液口90流出。如图9C所示，尿液样品流式分析检测腔室53包括流式分析仪器91，流式分析仪器91集成有尿液样品离心浓缩装置、尿沉渣负压采样装置、流式细胞检测装置，启动检测时，尿液样品5ml～20ml由导流管道的进液口92进入尿液样品离心浓缩装置，离心，浓缩尿液经管道引流到流式细胞检测装置，采集尿沉渣中有形成分数据，数据通过无线通讯模块30发布到云服务器或中央数据处理模块24，采用特定图像视频数据算法，进行识别分析，对尿液中有形成分分类和计数，有形成分类别包括红细胞、白细胞、上皮细胞、肿瘤细胞、管型、细菌、真菌，最后尿液样品由导流管道的出液口93流出。
请参见图10，在一种可行设计中，粪便成分检测模块108包括设置于粪便容纳池10内的粪便容器109，粪便容器109的下部设置电子称重装置112、连接轴113、电机114，粪便容器109内设置混匀搅拌装置111，粪便容器109底部设置滤网110、粪便滤液储槽116、第二电磁阀门115、粪便滤液引流管道、进水口117、废液口118；
粪便容器109周围空间内设置粪便滤液试纸条测试腔室119、粪便滤液基因检测腔室120、粪便滤液流式检测分析腔室121、进水管、第一电磁阀门；
粪便滤液试纸检测腔室119包括粪便滤液检测试纸储存盒、粪便滤液检测试纸传送装置、温控装置、粪便滤液样品槽、粪便滤液检测试纸图像扫描装置；
粪便滤液样品流式分析检测腔室包括粪便滤液引流管道、流式细胞检测装置。
在本实施例中，粪便成分检测模块包括设置于粪便容纳池10内的粪便容器，在粪便容器的下部设置电子称重装置112、连接轴113、电机114；在粪便容器109的侧壁设置进水管、喷淋水装置122、第一电磁阀门；粪便容器109内设置混匀搅拌装置111，优选磁力搅拌棒；粪便容器底部设置滤网110、粪便滤液储槽116、第二电磁阀门、粪便滤液引流管道、粪便滤液试纸条测试腔室119、粪便滤液基因检测腔室120、粪便滤液流式检测分析腔室121；粪便滤液试纸检测腔室119包括粪便滤液检测试纸储存盒、粪便滤液检测试纸传送装置、温控装置、粪便滤液样品槽、粪便滤液检测试纸图像扫描装置；粪便滤液样品流式分析检测腔室121包括粪便滤液引流管道、流式细胞检测装置。
用户排便时，粪便容器109下部的电子称重装置连续检测粪便重量；在排便结束时，第一电磁阀门控制稀释粪便的进水管，依据粪便的总体积和形态学数据，经过模拟算法确定喷淋水装置定向喷洒在粪便上的水量，也即：粪便越多，添加稀释水量越多；粪便形态上判断，粪便越干且硬，添加稀释水量越多，反之，粪便形态上判断，粪便越稀且软，添加稀释水量越少；喷淋水结束，启动混匀搅拌装置；混匀搅拌结束，电机启动，带动粪便容器旋转离心，粪便细小成分经过滤网，进入粪便滤液储槽；粪便滤液储槽内粪便滤液经第二电磁阀门115、泵，进入粪便滤液引流管道；粪便滤液引流管道进一步分为三个支路引流管道，其中一个支路引流管道与粪便滤液试纸检测腔室119连通，一个支路引流管道与粪便滤液流式分析检测腔室121连通，一个支路引流管道与粪便滤液基因检测腔室120连通。
启动粪便滤液检测时，粪便滤液由一个支路引流管道进入粪便滤液样品槽，温控装置启动，局部到达粪便滤液检测试纸所需的最优温度，粪便滤液检测试纸从粪便滤液检测试纸储存盒中弹出，并由粪便滤液检测试纸传送装置移入粪便滤液样品槽，侵入粪便滤液中，然后，再由粪便滤液检测试纸传送装置将粪便滤液检测试纸移入粪便滤液检测试纸图像扫描装置，采集粪便滤液检测试纸图像数据。粪便滤液由另外一个支路引流管道进入粪便滤液流式分析检测腔室121，由流式细胞检测装置，采集粪便滤液中有形成分数据，数据通过无线通讯模块30发布到云服务器或中央数据处理模块24，采用特定图像视频数据算法，进行识别分析，对粪便滤液中有形成分类和计数，包括红细胞、白细胞、肿瘤细胞、细菌、真菌。
请参见图9D，用于尿液和粪便滤液的基因检测腔室54包括基因芯片储存盒94、基因芯片传送装置95、样品离心浓缩装置、样品制备装置96、检测试剂盒97、检测试剂加样装置、温控装置、基因芯片杂交反应装置98、信号检测装置99、废旧基因芯片储存盒100。检测时，通过进液口106尿液和粪便滤液经过离心浓缩装置，浓缩的样品进入样品制备装置96进行标记，然后进入基因芯片杂交反应装置98内，与基因芯片在特定条件下杂交，新的基因芯片101转移至基因芯片杂交反应装置98，反应中芯片102经洗脱后，基因芯片转移至信号检测装置99变为检测中芯片103，扫描图像数据，废旧芯片105转移至废旧基因芯片储存盒100，最后液体从基因检测腔室的出液口107流出。基因芯片检测项目除包括肿瘤细胞、循环肿瘤细胞DNA、及循环RNA外，还包括尿液或粪便滤液中的细菌、真菌、病毒DNA和RNA。
中央数据处理装置，包括数据储存模块和数据处理模块，数据处理装置将尿便检测装置发送的检测数据进行数据处理，并将处理数据分别传输至数据存储模块和云服务器。在本发明实施例中，中央数据处理模块24包括数据储存装置和数据处理装置，数据处理装置包括NPU、CPU、GPU，采集的数据包括排尿行为学数据、排便行为学数据、尿液和粪便的大体数据、气味检测数据、试纸检测数据、流式检测分析数据、基因芯片扫描图像数据，此等数据经技术处理，与人群正常指标数值参考范围及用户既往检测的数值进行比对，统计分析，结合用户生活习惯、疾病家族史、既往疾病史、症状、其他检查结果，结合第三方智能医疗系统或人工医疗系统，评估用户泌尿系统、消化系统以及其他系统健康状况，为医疗决策提供依据。
用户身份识别模块28包括生物特征识别模块和配对设备识别模块，生物特征识别模块包括人脸识别模块、指纹识别模块、语音识别模块、步态识别模块、DNA识别模块、IC卡识别模块的其中至少一种；配对设备识别模块包括智能终端的配对识别模块、智能穿戴装置的配对识别模块、植入体内感知芯片的配对识别模块的其中至少一种。
物联网系统包括移动智能终端123、云服务器124、应急管理支持系统125、医疗支持系统127、物流系统128、智能门禁126、护理机器人129的其中至少一种。用户通过移动智能终端应用程序预约订购尿液和粪便检测服务，借助物流系统，便携马桶式机器人通过智能门禁许可，进入病房或用户居所，在护理机器人引导和协助下，到达预定服务位置，实施检测，检测过程中采集的数据，发送到云服务器，由应急管理支持系统随时监测便携马桶式机器人工况，医疗支持系统为用户提供诊疗意见。
数据安全模块通过区块链技术创建用户数据中心，以存储和分布式运行用户数据；其中，用户数据、连接的物联网数据、公有云或私有云的连接完全基于用户授权的区块链智能合约，实时写入区块链的用户数据经过用户授权后发布到公有云或私有云的区块链并实现用户数据安全隔离，且第三方用户获得授权可读取数据。
在一种可行设计中，尿便检测机器人还包括清洁冲洗模块、废物处理模块21；
清洁冲洗模块包括进水管道22、泵、第三电磁阀门57、连接尿液容纳池12的管道、连接粪便容纳池10的管道、连接尿液成分检测模块的管道、连接粪便成分检测模块的管道、排水管道23；
在检测操作结束时，第三电磁阀门开启，进水管道22装置的泵将清洁用水通过管道，冲洗尿液和粪便容纳池10以及尿便检测系统的导流管道、试纸检测腔室、流式分析检测腔室、基因检测腔室，冲洗的废水，通过抽水排水装置，流入医院或家庭的污水处理系统。
废物处理模块21包括臭味处理装置、废旧检测试纸储存盒、废旧基因芯片储存盒，检测过程中产生的尿便臭味、废气，经过收集，由臭味处理装置转化为无异味气体，废旧的检测试纸、废旧的基因芯片经收集后，按照常规医疗垃圾经过焚烧无害化处理。
具体的，上述数据的技术处理包括两种方案，其一，数据上传到公有云云服务器，由云服务器提供数据的计算、分析、决策服务，全部数据发布到公链，同时发送用户端，其二，应用本地化数据能力，由数据处理装置CPU、 GPU、NPU，提供计算、分析、决策服务，全部数据发布到私有云的行业私有链，并经无线或有线传输方式发送用户端。
在一种可行设计中，尿便检测机器人还包括无线通讯模块30、数据安全模块、电池及充电模块20、设备维护模块；
设备维护模块包括设备故障自检、故障自行修复、故障信息发送服务端、耗材剩余量监测、电池电量监测。设备发生故障，首先，故障自行修复，自行修复失败，则故障信息发送到服务端，另外，派遣便携马桶式尿便检测机器人为用户提供服务，故障的便携马桶式尿便检测机器人返回服务中心进一步检修；如果监测到耗材剩余量、电池电量不足，则提示及时补足耗材，充电。
为了拓展便携马桶式尿便检测机器人的未来需求，在尿液检测模块和粪便检测模块预留至少一个扩展槽，扩展槽包括电路、水路、气路、样品传输通道、数据链的连接接口，以及空间，用于增加检测功能模块。
另外，可以依据用户需求，本发明的功能模块可以按需组合，也可以关闭或开启部分功能模块的工作状态，比如：
可依据需求，用户通过交互系统模块，随机选择或组合气味检测模块33、尿液大体识别检测模块、尿液成分检测模块、粪便大体识别检测模块与粪便成分检测模块，实现用户的检测需求。
或，如图12所示，便携马桶式尿便检测机器人还可以不设置智能移行模块15，而直接使用其他的功能模块，同样可以完成尿液和粪便的检测。
或，如图13所示，便携马桶式尿便检测机器人既不设置智能移行模块15，也不设置马桶结构模块，将交互系统模块、用户身份识别模块28、尿液大体识别检测模块11、尿液气味检测模块33、尿液成分检测模块51、粪便大体识别检测模块14、粪便气味检测模块、粪便成分检测模块55、清洁冲洗模块、废物处理模块21、无线通讯模块30、中央数据处理模块24、数据安全模块、电池及充电模块20、设备维护模块的外形结构或连接部件适当调整，即可置入常规马桶的便池内，用于尿液和粪便的检测。
甚至，可将交互系统模块、用户身份识别模块28、尿液大体识别检测模块11、尿液气味检测模块33、尿液成分检测模块51、粪便大体识别检测模块14、粪便气味检测模块、粪便成分检测模块55、清洁冲洗模块、废物处理模块21、无线通讯模块30、中央数据处理模块24、数据安全模块、电池及充电模块20进一步的微型化或功能简化，制作成便携手持式检测装置，结合常规马桶，实施检测。
当然，尿液成分检测模块51和粪便成分检测模块52还可以共用一套试纸检测腔室、流式分析检测腔室、基因检测腔室，进一步简化缩小便携手持式装置体积，更加便携。
可以理解的是，尿便检测机器人还可不设置智能移行模块15，还可不设置马桶结构模块，将其直接置入常规马桶的便池内用于尿便检测，还可仅保留尿液成分检测模块和粪便成分检测模块，制作成便携手持式装置，结合常规马桶使用，实施尿便成分检测，尿液成分检测模块和粪便成分检测模块共用试纸检测腔室、流式分析检测腔室、基因检测腔室，进一步简化缩小便携手持式装置体积。
本发明还提供了一种马桶式尿便检测机器人物联网系统，如图11所示，包括如上述的尿便检测机器人、适用于尿便检测机器人的物联网系统；
基于此，本发明实施例提供的一种马桶式尿便检测机器人物联网系统，其工作原理如下：
(a)用户提交需求，需求包括预约上门时间及使用时间，服务地点，服务项目，预支付费用；
(b)依据规划路线及运送方式，便携马桶式尿便检测机器人到达预定服务位置；其中，规划路线及运送方式是指，响应用户需求后，机器人路线规划，通过机器人自行前往用户预约位置，机器人乘坐交通工具，包括但不限 于汽车、飞机、无人机上门服务、轨道交通，到达用户预约位置，然后由第三方物流系统寄送。
(c)连接便携马桶式尿便检测机器人的电路、水路、网络；
(d)依据生物特征或配对设备完成用户识别；
(e)用户选择蹲式或坐式马桶制式后，依据自身及习惯，调整马桶到合适用户的高度；
(f)用户排尿和排便；
(g)监测用户的排尿和排便行为学特征；
(h)检测用户尿液和粪便气味成分；
(i)检测用户尿液和粪便大体指标；
(j)检测用户尿液和粪便成分；
(k)检测完毕；
(l)启动冲洗消毒装置、臭味处理装置、废旧耗材焚烧消毒装置；
(m)结束单次检测；
(n)根据需要，完成多次检测；
(o)排尿和排便行为学特征、气味成分、大体指标及尿便成分数据，经过加密，发送到云服务器；
(p)用户获取检测结果报告及健康医疗建议；
(q)便携马桶式尿便检测机器人离开此用户，基于需求，服务下一个用户。
此外，尿便检测机器人还可依据用户需求，用户通过交互系统模块，随机选择组合气味检测模块33、尿液大体识别检测模块、尿液成分检测模块、粪便大体识别检测模块和粪便成分检测模块，实现用户个性化检测需求。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (15)

  1. 一种马桶式尿便检测机器人，其特征在于，包括：
    智能移行模块、交互系统模块、高度调节模块、用户身份识别模块、马桶结构模块、尿液大体识别检测模块、气味检测模块、尿液成分检测模块、粪便大体识别检测模块、粪便成分检测模块、清洁冲洗模块、废物处理模块、无线通讯模块、中央数据处理模块、数据安全模块、电池及充电模块、设备维护模块；
    所述智能移行模块为设置于所述马桶结构模块底部的四轮机器人装置，为智能自主移动载体，其通过执行路线规划算法并基于用户指令，在特定环境下自主规避障碍、优化移动线路，以到达预定服务作业位置；
    所述交互系统模块整合多通道的交互方式，所述交互方式包括语音、触摸屏、眼神、表情、虹膜、掌纹、笔迹、步态、手势、唇读、人脸、DNA、意念的其中至少一种人类特征，且所述交互系统模块用于与移动智能终端、智能穿戴设备、体内植入感知芯片、群件信息融合，实现人机交互，进行设备间交互；
    所述高度调节模块包括设置于所述马桶结构模块侧面的底座支撑装置、若干支撑板、以及由若干第一智能可控丝杆升降装置组成的底座支腿；
    所述用户身份识别模块包括生物特征识别模块和配对设备识别模块，所述生物特征识别模块包括人脸识别模块、指纹识别模块、语音识别模块、步态识别模块、DNA识别模块、IC卡识别模块的其中至少一种；所述配对设备识别模块包括智能终端的配对识别模块、智能穿戴装置的配对识别模块、植入体内感知芯片的配对识别模块的其中至少一种；
    所述马桶结构模块设置于所述智能移行模块的上部，其由马桶主体结构、座圈、盖板、靠背板、喷浴装置、水箱、进水管道、排水管道组成，其中，所述马桶主体结构的容纳池分隔为前端的尿液容纳池和中后端的粪便容纳池，所述尿液容纳池、所述粪便容纳池分别用于盛装用户的尿液、粪便，并且在所述尿液容纳池的池壁上设置刻度线，在所述靠背板设置触摸式显示屏、除臭装置、气味检测模块、无线通讯模块、中央数据处理模块、交互系统模块、用户身份识别模块、数据安全模块；所述马桶结构模块采用蹲便器和坐便器两种制式，其中，所述蹲便器制式是基于坐便器制式基础上增加一组脚踏板，所述脚踏板设置于所述马桶主体结构的两侧，通过第二智能可控丝杠升降装置调节所述脚踏板的高度以实现蹲便器功能结构；
    所述尿液大体识别检测模块设于所述尿液容纳池上，所述尿液大体识别检测模块包括用于提供照明的至少一个LED灯、用于采集尿液图像数据的至少一个摄像头，所述摄像头上设有用于阻断摄像头与尿液直接接触的增透膜；所述尿液大体识别检测模块能够无死角采集图像视频数据，以结合图像视频数据分析算法，从而获取单次排尿时程、排尿动力学特征、尿量体积、色泽、浑浊度数据；
    所述粪便大体识别检测模块设于所述粪便容纳池上，所述粪便大体识别检测模块包括用于提供照明的至少三个LED灯、用于采集粪便图像数据的至少三个摄像头；所述粪便大体识别检测模块无死角采集图像视频数据，以结合图像视频数据分析算法，从而获取排便时程、排便动力学特征、排便过程中肛门周围形态变化、粪便体积、形态、性状、色泽数据；
    所述气味检测模块包括用于检测各类挥发性有机物、氨、硫化氢的尿液气路、粪便气路以及集成在所述尿液气路、所述粪便气路上的若干气体检测传感器、气相色谱仪、电离除味装置；所述气味检测模块通过启动所述尿液气路、所述粪便气路以持续检测尿液、粪便气味成分；
    所述尿液成分检测模块包括尿液样品导流管道、尿液样品试纸检测腔室、尿液样品流式分析检测腔室、尿液样品基因检测腔室；所述尿液样品试纸检测腔室包括尿液检测试纸储存盒、尿液检测试纸传送装置、温度控制装置、 尿液样品槽、尿液检测试纸图像扫描摄像装置、废旧检测试纸储存盒；所述尿液样品流式分析检测腔室包括尿液样品离心浓缩装置、尿沉渣负压采样装置、流式细胞检测装置；所述基因检测腔室包括基因芯片储存盒、基因芯片传送装置、样品制备装置、检测试剂盒、试剂加样装置、温度控制装置、基因芯片杂交反应装置、信号检测装置、废旧基因芯片储存盒；
    所述粪便成分检测模块包括设置于所述粪便容纳池内的粪便容器，所述粪便容器下部设置电子称重装置、连接轴、电机，所述粪便容器内设置混匀搅拌装置，所述粪便容器的底部设置滤网、粪便滤液储槽、第二电磁阀门、粪便滤液引流管道，所述粪便容器的周围空间内设置粪便滤液试纸条测试腔室、粪便滤液基因检测腔室、粪便滤液流式检测分析腔室、进水管、第一电磁阀门，所述粪便滤液试纸检测腔室包括粪便滤液检测试纸储存盒、粪便滤液检测试纸传送装置、温控装置、粪便滤液样品槽、粪便滤液检测试纸图像扫描装置；所述粪便滤液样品流式分析检测腔室包括粪便滤液引流管道、流式细胞检测装置；
    所述清洁冲洗系统模块包括进水管道、泵、第三电磁阀门、连接尿液容纳池的管道、连接粪便容纳池的管道、连接尿液成分检测模块的管道、连接粪便成分检测模块的管道、排水管道；
    所述废物处理模块包括臭味处理装置、废旧检测试纸储存盒、废旧基因芯片储存盒；
    所述中央数据处理模块包括数据储存装置和数据处理装置，所述数据处理装置将采集的数据进行技术处理以将采集数据与人群正常参考数值及用户既往检测的数值进行比对，通过统计分析和结合用户生活习惯、疾病家族史、既往疾病史、症状、其他检查结果，并结合第三方智能医疗系统、人工医疗系统数据，从而评估用户泌尿系统、消化系统以及其他系统健康状况，为医疗决策提供依据；所述技术处理包括两种方案，其一，数据上传到云服务器，提供计算、分析、决策，全部数据发布到公链，同时发送用户端，其二，应用本地化数据能力，由自带CPU、GPU、NPU处理数据，提供计算、分析、决策，全部数据发布行业私有链，并经无线或有线传输方式发送到用户端；
    所述数据安全模块通过区块链技术创建用户数据中心以存储和分布式运行用户数据；所述用户数据、连接的物联网数据、公有云或私有云的连接完全基于用户授权的区块链智能合约，将用户数据实时写入区块，经过用户授权发布到公有云或私有云的区块链，实现用户数据安全隔离，从而使第三方用户获得授权可读取数据；
    所述设备维护模块包括设备故障自检系统、故障自行修复系统、故障信息发送系统、耗材剩余量监测装置。
  2. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述用户身份识别模块采用区块链技术进行实名认证，由用户签署智能合约，创建个人私钥和个人公钥，用户输入所述生物特征识别信息，区块链网络通过验证公钥证书链核验用户身份。
  3. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述摄像头上设有智能调节焦距的视频数码光学显微镜、偏振光光源、荧光激发光源，用于获取粪便中寄生虫虫体、虫卵、血液、脱落组织块的图像数据。
  4. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述气味检测模块在对尿液气体检测和粪便气体检测的过程中，还可共用一套气体检测传感器、气相色谱仪；
    所述气味检测模块在进行检测时，先启动所述尿液气路以检测尿液气味成分，再启动所述粪便气路以检测粪便气味成分。
  5. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述基因检测腔室的基因检测对象包括肿瘤细胞DNA、循环肿瘤细胞DNA、循环肿瘤细胞RNA，还包括肿瘤细胞外泌体、蛋白质标志物，以及细菌、真菌、病毒DNA和RNA。
  6. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述第一电磁阀门用于控制稀释粪便的进水管，依据粪便的总体积和形态学数据，经过预设的算法确定添加水量；其中，所述算法包括：粪便越多添加稀释水量越多，粪便越干且硬，添加稀释水量越多，粪便越稀且软，添加稀释水量越少。
  7. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述马桶结构模块的外形可依据用户需求个性化定制；
    所述马桶主体结构上设置扶手结构。
  8. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述尿液成分检测模块和所述粪便成分检测模块上均预留至少一个扩展槽，所述扩展槽包括电路、水路、气路、样品传输通道、数据接口、空间结构。
  9. 如权利要求1所述的马桶式尿便检测机器人，其特征在于：
    所述智能移行模块为可拆卸式结构，以使所述马桶式尿便检测机器人不带所述智能移行模块。
  10. 如权利要求9所述的马桶式尿便检测机器人，其特征在于：
    所述便携马桶式尿便检测机器人可直接置入常规马桶的便池内以用于尿便检测。
  11. 如权利要求9所述的马桶式尿便检测机器人，其特征在于：
    所述便携马桶式尿便检测机器人还可仅保留所述尿液成分检测模块和所述粪便成分检测模块，以制作成便携手持式装置，并结合常规马桶使用，从而实施尿便成分检测。
  12. 如权利要求9所述的马桶式尿便检测机器人，其特征在于：
    所述尿液成分检测模块和所述粪便成分检测模块共用试纸检测腔室、流式分析检测腔室、基因检测腔室，以简化缩小便携手持式装置的体积。
  13. 一种马桶式尿便检测机器人物联网系统，其特征在于，包括：
    如权利要求1～12任一项所述的马桶式尿便检测机器人、适用于所述尿便检测机器人的物联网系统；所述物联网系统包括移动智能终端、云服务器、应急管理支持系统、医疗支持系统、物流系统、智能门禁、护理机器人的其中至少一种；
    所述马桶式尿便检测机器人物联网系统的应用流程包括：
    (a)用户提交需求，需求包括预约上门时间及使用时间长度、服务地点、服务项目、预支付费用；(b)依据 规划路线及运送方式，便携马桶式尿便检测机器人到达预定服务位置；(c)连接电路、水路、气路、网络；(d)用户识别；(e)调整到合适用户高度；(f)用户排尿和排便；(g)监测排尿和排便行为学特征；(h)检测尿液和粪便气味成分；(i)检测尿液和粪便大体指标；(j)检测尿液和粪便成分指标；(k)检测完毕；(l)启动冲洗消毒装置；(m)结束单次检测；(n)根据需要，完成多次检测；(o)排尿和排便行为学特征、气味成分、大体指标及成分指标数据，经过加密并发送到云服务器；(p)用户获取检测结果报告及健康医疗建议；(q)便携马桶式尿便检测机器人离开此用户，基于需求而服务下一个用户。
  14. 如权利要求13所述的马桶式尿便检测机器人物联网系统，其特征在于：
    所述规划路线及运送方式是指，响应用户需求后，机器人路线规划，通过(a)机器人自行前往用户预约位置，(b)机器人乘坐交通工具，包括但不限于汽车、飞机、无人机上门服务、轨道交通，到达用户预约位置，(c)由第三方物流系统寄送。
  15. 如权利要求13所述的马桶式尿便检测机器人物联网系统，其特征在于：
    所述马桶式尿便检测机器人物联网系统依据用户需求并根据用户通过所述交互系统模块发出的请求，随机选择组合所述气味检测模块、所述尿液大体识别检测模块、所述尿液成分检测模块、所述粪便大体识别检测模块和所述粪便成分检测模块，实现用户个性化检测需求。
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