Household active auxiliary life service robot system

Abstract

The embodiment of the invention provides a home active auxiliary life service robot system. The home active auxiliary life service robot system comprises a chassis, a control module, a bearing module, a moving module, a mechanical arm module and an interactive monitoring module, the bearing module and the moving module are arranged on the chassis; the two mechanical arm modules are arranged on the two sides of the bearing module correspondingly. The bearing module is used for adjusting the posture and position to bear the assisted person; the moving module is used for moving under the control of the control module; the mechanical arm module is used for executing corresponding actions; the interaction monitoring module is used for receiving an instruction of a helpful person and feeding back the instruction to the control module so that the control module can generate a control command according to the instruction, collecting state information of the helpful person and feeding back the state information to the control module so that the control module can generate safety warning information according to the state information and send the safety warning information to the remote control terminal. The robot system can provide various home active auxiliary functions and is high in practicability.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of smart home, and in particular to a home active assisted living service robot system. Background Art

[0002] Most of the existing robots on the market are essentially just a kind of handling robot, with the functions of lifting the assisted person and moving and handling. However, in addition to the need for moving and handling, semi-disabled assisted people also have other home service needs. Therefore, the existing home service robots still have great limitations in providing home active assisted living services and lack practicality.

[0003] In view of this, the embodiments of this specification aim to provide a home active assisted living service robot system. Summary of the Invention

[0004] Aiming at the above problems of the prior art, the purpose of the embodiments of this specification is to provide a home active assisted living service robot system to solve the problems of fewer functions and lower practicality of existing home service robots.

[0005] To solve the above technical problems, the specific technical solutions of the embodiments of this specification are as follows:

[0006] The embodiments of this specification provide a home active assisted living service robot system, including a chassis, a control module, and a carrying module, a moving module, a robotic arm module, and an interaction and monitoring module connected to the control module;

[0007] Both the carrying module and the moving module are connected to the chassis; two robotic arm modules are provided, and the two robotic arm modules are respectively arranged on both sides of the carrying module;

[0008] The carrying module is used to adjust the posture and position under the control of the control module to carry the assisted person;

[0009] The moving module is used to move under the control of the control module;

[0010] The robotic arm module is used to perform corresponding actions under the control of the control module;

[0011] The interaction and monitoring module is used to receive the instructions of the assisted person and feedback them to the control module so that the control module generates control commands according to the instructions, and collect the status information of the assisted person and feedback it to the control module so that the control module generates safety warning information according to the status information and sends the safety warning information to the remote control terminal.

[0012] Specifically, the carrying module includes a seat, a seat adjustment unit, and a footrest;

[0013] The seat is connected to the seat adjustment unit, and the seat adjustment unit is connected to the control module. The seat adjustment unit is used to adjust the posture and position of the seat under the control of the control module;

[0014] The footrest is connected to the chassis through a pivot shaft.

[0015] Specifically, the mobile module includes a driving motor and mobile wheels;

[0016] The driving motor is connected to the control module, and the driving motor is used to drive the mobile wheels to move under the control of the control module.

[0017] Preferably, there are 4 mobile wheels, and the mobile wheels are Mecanum wheels.

[0018] Specifically, the robotic arm module includes a first joint, a second joint, a third joint, a first connecting arm, a fourth joint, a fifth joint, a second connecting arm, a seventh joint, and an end effector unit that are sequentially connected. A sixth joint is also provided on the second connecting arm between the fifth joint and the seventh joint;

[0019] One end of the first joint is connected to the lifting unit, and the lifting unit is used to drive the robotic arm module to lift under the control of the control module;

[0020] The second joint and the third joint are respectively used to drive the first connecting arm to swing around the second joint and rotate along the direction of its own axis under the control of the control module;

[0021] The fourth joint and the fifth joint are respectively used to drive the second connecting arm to swing around the fourth joint and rotate along the direction of its own axis under the control of the control module;

[0022] The seventh joint is used to drive the end effector unit to swing around the seventh joint under the control of the control module;

[0023] The end effector unit is used to perform corresponding actions under the control of the control module.

[0024] Preferably, the axes of the first joint, the second joint, and the third joint intersect at one point;

[0025] The axes of the fifth joint, the sixth joint, and the seventh joint intersect at one point.

[0026] Specifically, the interaction and monitoring module includes an interaction unit and an identification unit;

[0027] The interaction unit is used to receive instructions input by the user;

[0028] The recognition unit is used to recognize the instructions and feedback the recognized instructions to the control module so that the control module generates control commands according to the instructions.

[0029] Furthermore, an obstacle avoidance module is further included, and the obstacle avoidance module is connected to the control module;

[0030] The obstacle avoidance module includes one or a combination of ultrasonic radars, lidars or visual recognition units.

[0031] Even further, a visual camera module is further included, and the visual camera module includes a binocular 3D camera and a wide-angle camera;

[0032] The binocular 3D camera is arranged above the carrying module, and the wide-angle camera is located at the rear side of the carrying module;

[0033] Both the binocular 3D camera and the wide-angle camera are connected to the control module, and are used to collect surrounding environment information under the control of the control module and feedback the surrounding environment information to the control module.

[0034] Specifically, a battery module and a display module are further included, and both the battery module and the display module are connected to the control module;

[0035] The battery module is arranged at the chassis, and the battery module is used for power supply;

[0036] The display module is arranged at the rear side of the carrying module, and the display module is used to display the remaining power of the battery module and the operation information of the robot system:

[0037] Adopting the above technical solutions, the home active assisted living service robot system provided by the embodiments of this specification can provide multiple functions such as movement, posture and position adjustment, action execution, interaction monitoring, obstacle avoidance and display, and has strong practicability.

[0038] To make the above and other purposes, features and advantages of the embodiments of this specification more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 Shows a schematic structural diagram of a home active assisted living service robot system provided by an embodiment of this specification;

[0041] Figure 2 Is a schematic structural diagram of the home active assisted living service robot system from a front view perspective;

[0042] Figure 3 Is an application schematic diagram of the home active assisted living service robot system;

[0043] Figure 4 Is a schematic structural diagram of the home active assisted living service robot system from a side view perspective;

[0044] Figure 5 Shows another schematic structural diagram of the home active assisted living service robot system;

[0045] Figure 6 Shows the control logic schematic diagram of the home active assisted living service robot system. Explanation of the reference symbols in the drawings:

[0046] 100, control module;

[0047] 10, bearing module;

[0048] 11, seat;

[0049] 12, seat adjustment unit;

[0050] 13, footrest;

[0051] 20, mobile module;

[0052] 21, mobile wheel;

[0053] 30, robotic arm module;

[0054] 31, first joint;

[0055] 32, second joint;

[0056] 33, third joint;

[0057] 34, fourth joint;

[0058] 35, fifth joint;

[0059] 36, sixth joint;

[0060] 37, seventh joint;

[0061] 38, first connecting arm;

[0062] 39, second connecting arm;

[0063] 310. End effector unit;

[0064] 311. Lifting unit;

[0065] 40. Interactive monitoring module;

[0066] 50. Obstacle avoidance module;

[0067] 60. Vision camera module;

[0068] 61. Binocular 3D camera;

[0069] 62. Wide-angle camera;

[0070] 70. Battery module;

[0071] 80. Display module. Detailed implementation manner

[0072] Next, the technical solutions in the embodiments of this specification will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this specification.

[0073] It should be noted that the terms "first", "second", etc. in this specification, the claims and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this specification described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0074] To solve the above problems, the embodiments of this specification provide a home active assisted living service robot system, which can provide various life assistance functions for the recipients. Figure 1 It is a schematic structural diagram of a home active assisted living service robot system provided by the embodiments of this specification. Specifically, as Figures 1 to 6 shown, the home active assisted living service robot system may include:

[0075] It includes a site, a control module, and a carrying module 10, a moving module 20, and a robotic arm module 30 connected to the control module. It should be noted that "connected to the control module" in the embodiments of this specification includes a wired electrical connection achieved through control lines or data lines, etc., and also includes a wireless communication connection established between the two through wireless communication technology. The meaning of subsequent other modules connected to the control module is the same as that here and will not be repeated.

[0076] Both the carrying module 10 and the moving module 20 are connected to the site; the robotic arm module 30 is provided with two, and the two robotic arm modules 30 are respectively arranged on both sides of the carrying module 10;

[0077] The carrying module 10 is used to adjust the attitude and position under the control of the control module to carry the recipient;

[0078] The moving module 20 is used to move under the control of the control module;

[0079] The robotic arm module 30 is used to perform corresponding actions under the control of the control module;

[0080] The interaction monitoring module 40 is used to receive the instructions of the recipient and feedback them to the control module so that the control module generates control commands according to the instructions, and collect the status information of the recipient and feedback it to the control module so that the control module generates safety warning information according to the status information and sends the safety warning information to the remote control terminal.

[0081] Among them, the instructions of the recipient at least include instructions for guiding the carrying module to adjust to the target attitude position, instructions for guiding the moving module to go to the destination position, and instructions for guiding the robotic arm module to perform the target action.

[0082] A home active assisted living service robot system provided by the embodiments of this specification can carry the recipient and move him to the target position according to the instructions of the recipient; the attitude and position of the carrying module can be adjusted to ensure the comfort of the recipient's sitting posture, and through the robotic arm modules arranged on both sides of the carrying module, the safety of the recipient's sitting posture can be ensured; in addition, the status information of the recipient can also be monitored, and when the recipient is in an emergency, a warning message is sent to the remote control terminal to contact the emergency contact or medical staff of the recipient. Therefore, a home active assisted living service robot system provided by the embodiments of this specification can more comprehensively meet the daily home living service needs and has high usability.

[0083] As shown in the figure, the carrying module 10 includes a seat 11, a seat adjustment unit 12, and a footrest 13;

[0084] The seat 11 is connected to the seat adjustment unit 12, and the seat adjustment unit 12 is connected to the control module. The seat adjustment unit 12 is configured to adjust the attitude and position of the seat 11 under the control of the control module.

[0085] The footrest 13 is connected to the chassis through a pivot shaft.

[0086] The seat adjustment unit can adjust the height of the seat 11 to suit the recipients of different heights, improving the usage experience of the recipients; the footrest 13 can be folded and stored or unfolded for the foot support of the recipients according to actual usage needs.

[0087] In some preferred embodiments, a footrest adjustment unit is further included. The footrest adjustment unit is configured to independently control the height of the footrest, so as to cooperate with the seat adjustment unit 12 to adjust according to the height and leg length of the recipient, greatly meeting the comfort requirements.

[0088] Further, as Figure 1 and Figure 6 shown, the moving module 20 includes a driving motor (not shown in the figure) and moving wheels 21;

[0089] The driving motor is connected to the control module, and the driving motor is configured to drive the moving wheels 21 to move under the control of the control module.

[0090] Preferably, in the embodiments of the present specification, four moving wheels 21 are provided, and the moving wheels 21 are Mecanum wheels. The Mecanum wheels can support omnidirectional movement, improving the smoothness of the robot system moving to the target position, and by providing four moving wheels, ensuring the stability of the movement of the robot system.

[0091] As Figure 1 shown, the robotic arm module 30 includes a first joint 31, a second joint 32, a third joint 33, a first connecting arm 38, a fourth joint 34, a fifth joint 35, a second connecting arm 39, a seventh joint 37 and an end effector 310 connected in sequence. A sixth joint 36 is further provided on the second connecting arm 39 between the fifth joint 35 and the seventh joint 37;

[0092] Each joint, the end effector and the lifting unit are all connected to the control module;

[0093] One end of the first joint 31 is connected to the lifting unit 311, and the lifting unit 311 is configured to drive the robotic arm module 30 to lift under the control of the control module 100.

[0094] The second joint 32 and the third joint 33 are respectively used to drive the first connecting arm 38 to swing around the second joint 32 and rotate in the direction of its own axis under the control of the control module 100;

[0095] The fourth joint 34 and the fifth joint 35 are respectively used to drive the second connecting arm 39 to swing around the fourth joint 34 and rotate in the direction of its own axis under the control of the control module 100;

[0096] The end effector unit 310 is used to perform corresponding actions under the control of the control module 100.

[0097] That is, in the embodiments of this specification, the robotic arm module 30 includes 7 degrees of freedom (i.e., each joint provides one degree of freedom). It should be noted that, in the embodiments of this specification, the lifting unit 311 may specifically be a lifting motor and a screw module adapted thereto. Through the lifting unit 311, the height of the entire robotic arm module 30 can be adjusted; the first connecting arm can be swung and rotated through the second joint and the third joint; and the second connecting arm can be swung and rotated through the fourth joint and the fifth joint, for example, rotating the second connecting arm to the reverse direction (as Figure 4 shown); the end effector unit 310 can be a manipulator to facilitate the execution of specific operations.

[0098] The home active assisted living service robot system provided by the embodiments of this specification has multiple degrees of freedom and meets the requirements of performing various daily operations.

[0099] Further, the axes of the first joint 31, the second joint 32, and the third joint 33 intersect at one point;

[0100] The axes of the fifth joint 35, the sixth joint 36, and the seventh joint 37 intersect at one point.

[0101] By intersecting the axes of the above - mentioned partial joints at one point, the effective working range of the robotic arm can be expanded, enabling the robotic arm module to rotate flexibly in multiple directions and perform complex motion actions such as grasping, handling, and assembling in three - dimensional space; it can also facilitate the control of the robotic arm movement, improve the accuracy and stability of the actions of the robotic arm module, make the robotic arm work more smoothly, and reduce vibration and shaking.

[0102] It should be noted that, in the embodiments of this specification, the control module 100 can control the two robotic arm modules 30 separately or control the two robotic arm modules 30 simultaneously.

[0103] Further, as Figure 6As shown, in the embodiments of this specification, the interaction monitoring module 40 includes an interaction unit and an identification unit;

[0104] The interaction unit is used to receive instructions input by the user;

[0105] The identification unit is used to identify the instruction and feedback the identified instruction to the control module so that the control module generates a control command according to the instruction.

[0106] The instruction input by the user can be a voice instruction or a text instruction input through a touch screen; the identification unit can analyze the voice instruction to obtain the corresponding text instruction, and then convert the text instruction into a corresponding control command.

[0107] The identification unit is used to identify the voice information and feedback the identified voice information to the control module so that the control module obtains control elements for characterizing the user's intention according to the voice information and generates a control instruction according to the control elements.

[0108] In some preferred embodiments, the interaction unit can not only be used to receive instructions input by the user, but also output voice or text questions to interact with the user to clarify the user's instructions, thereby improving the accuracy of the generated control commands.

[0109] Furthermore, in the embodiments of this specification, as Figures 1 to 4 shown, the home active assisted living service robot system further includes an obstacle avoidance module 50, and the obstacle avoidance module 50 is connected to the control module 100;

[0110] The obstacle avoidance module 50 includes one or a combination of ultrasonic radars, lidar, or visual recognition units.

[0111] The obstacle avoidance module 50 can be set at the mobile wheel 21 for judging whether there is a collision risk when the robot system moves and feeding the result back to the control system.

[0112] Furthermore, in the embodiments of this specification, the robot system further includes a visual camera module 60, and the visual camera module 60 includes a binocular 3D camera 61 (as Figure 1 and Figure 3 shown) and a wide-angle camera 62 (as Figure 3 and Figure 5 shown);

[0113] The binocular 3D camera 61 is arranged above the carrying module 10, and the wide-angle camera 62 is located at the rear side of the carrying module 10;

[0114] The binocular 3D camera 61 and the wide-angle camera 62 are both connected to the control module 100, and are used to collect surrounding environment information under the control of the control module 100 and feedback the surrounding environment information to the control module 100.

[0115] The binocular 3D camera 61 can achieve a 3D visual effect, and can adjust the field of view posture horizontally and vertically to assist in environmental recognition and robotic arm operation assistance; the wide-angle camera 62 is used to implement an environmental observation or anti-collision vision solution.

[0116] By setting up the vision camera module 60, the home active assisted living service robot system provided by the embodiments of this specification can identify the daily home environment, and play an auxiliary role when the end effector of the robotic arm module performs corresponding actions, improving the accuracy of the action execution of the robotic arm module; and observing the surrounding environment and cooperating with the obstacle avoidance module 50 to avoid the risk of collision during movement; in addition, the vision camera module 60 can also be used for approved and registered interested users (such as the holder of the remote terminal) to observe the local situation and remotely control the robot system for the guardianship of the recipient.

[0117] In the embodiments of this specification, the robot system further includes a battery module 70 (such as Figures 1 to 4 ) and a display module 80 (such as Figure 5 shown), and both the battery module 70 and the display module 80 are connected to the control module 100;

[0118] The battery module 70 is arranged at the chassis, and the battery module 70 is used to supply power to the seat adjustment unit, the movement module 20, the robotic arm module 30, the interaction monitoring module 40, the obstacle avoidance module 50, and the vision camera module 60 of the carrier module 10;

[0119] The display module 80 is arranged at the rear side of the carrier module 10, and the display module 80 is used to display the remaining power of the battery module 70 and the operation information of the robot system.

[0120] It should be noted that in the embodiments of this specification, the use of the terms "comprising" or "including" to describe the combination of elements, components, parts or steps herein also contemplates an embodiment consisting essentially of these elements, components, parts or steps. By using the term "may", it is intended to indicate that any attribute described as "may" included is optional. A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step can be divided into a plurality of separate elements, components, parts or steps. The disclosure of "a" or "an" used to describe an element, component, part or step does not preclude other elements, components, parts or steps.

[0121] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the protection scope of the present invention cannot be limited thereby. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A home active life-assisting service robot system, characterized in that: It comprises a chassis, a control module (100), a carrying module (10) connected to the control module, a moving module (20), a mechanical arm module (30) and an interactive monitoring module (40); The carrying module (10) and the mobile module (20) are both connected to the chassis; two mechanical arm modules (30) are provided, and the two mechanical arm modules (30) are respectively provided on both sides of the carrying module (10); The carrying module (10) is used to adjust the posture and position under the control of the control module (100) to carry the recipient; The moving module (20) is used to move under the control of the control module (100); The mechanical arm module (30) is used to perform corresponding actions under the control of the control module (100); The interactive monitoring module (40) is used to receive instructions from the recipient and feed them back to the control module (100) so that the control module (100) generates control commands according to the instructions, and to collect status information of the recipient and feed it back to the control module (100) so that the control module (100) generates safety warning information according to the status information and sends the safety warning information to the remote control terminal.

2. The home active assisted life service robot system according to claim 1, characterized in that: The carrying module (10) comprises a seat (11), a seat adjustment unit (12) and a footrest (13); The seat (11) is connected to the seat adjustment unit (12), the seat adjustment unit (12) is connected to the control module (100), and the seat adjustment unit (12) is used to adjust the posture and position of the seat (11) under the control of the control module (100); The footrest (13) is connected to the chassis via a pivot shaft.

3. The home active assisted life service robot system according to claim 1, characterized in that: The moving module (20) comprises a driving motor and moving wheels (21); The driving motor is connected to the control module (100), and is used to drive the moving wheel (21) to move under the control of the control module (100).

4. The home active assisted life service robot system according to claim 3, characterized in that: The movable wheels (21) are provided in four numbers, and the movable wheels (21) are Mecanum wheels.

5. The home active assisted life service robot system according to claim 1, characterized in that: The robot arm module (30) comprises a first joint (31), a second joint (32), a third joint (33), a first connecting arm (38), a fourth joint (34), a fifth joint (35), a second connecting arm (39), a seventh joint (37) and an end effector unit (310) which are connected in sequence, and a sixth joint (36) is further arranged on the second connecting arm (39) between the fifth joint (35) and the seventh joint (37); One end of the first joint (31) is connected to a lifting unit (311), and the lifting unit (311) is used to drive the mechanical arm module (30) to rise and fall under the control of the control module (100); The second joint (32) and the third joint (33) are respectively used to drive the first connecting arm (38) to swing around the second joint (32) and rotate along the direction of its own axis under the control of the control module (100); The fourth joint (34) and the fifth joint (35) are respectively used to drive the second connecting arm (39) to swing around the fourth joint (34) and rotate along the direction of its own axis under the control of the control module (100); The seventh joint (37) is used to drive the end effector unit (310) to swing around the seventh joint (37) under the control of the control module (100); The terminal execution unit (310) is used to execute corresponding actions under the control of the control module (100).

6. The home active assisted living service robot system according to claim 5, characterized in that: The axes of the first joint (31), the second joint (32) and the third joint (33) intersect at one point; The axes of the fifth joint (35), the sixth joint (36) and the seventh joint (37) intersect at one point.

7. The home active assisted life service robot system according to claim 1, characterized in that: The interaction monitoring module (40) comprises an interaction unit and an identification unit; The interaction unit is used to receive instructions input by a user; The recognition unit is used to recognize the instruction and feed back the recognized instruction to the control module (100) so that the control module (100) generates a control command according to the instruction.

8. The home active assisted living service robot system according to claim 1, characterized in that: It also includes an obstacle avoidance module (50), wherein the obstacle avoidance module (50) is connected to the control module (100); The obstacle avoidance module (50) comprises one or a combination of ultrasonic radar, laser radar or visual recognition unit.

9. The home active assisted life service robot system according to claim 1, characterized in that: Also included is a visual camera module (60), wherein the visual camera module (60) includes a binocular 3D camera (61) and a wide-angle camera (62); The binocular 3D camera (61) is arranged above the carrying module (10), and the wide-angle camera (62) is located at the rear side of the carrying module (10); The binocular 3D camera (61) and the wide-angle camera (62) are both connected to the control module (100) and are used to collect surrounding environment information under the control of the control module (100) and feed the surrounding environment information back to the control module (100).

10. The home active assisted life service robot system according to claim 1, characterized in that: It also includes a battery module (70) and a display module (80), wherein the battery module (70) and the display module (80) are both connected to the control module; The battery module (70) is arranged on the base, and the battery module (70) is used for power supply; The display module (80) is arranged on the rear side of the carrying module (10), and the display module (80) is used to display the remaining power of the battery module (70) and the operation information of the robot system.

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