Wheelchair humanoid robot based on humanoid mechanical arm control

Abstract

The invention discloses a wheelchair humanoid robot controlled by humanoid mechanical arms. The wheelchair humanoid robot comprises a chassis, a robot trunk, the two mechanical arms and a control calculation unit. The chassis comprises four independent driving wheels; a wheelchair seat is arranged on the robot trunk; the mechanical arm is a seven-axis mechanical arm and comprises three tail end joints and an operation tail end. The control calculation unit is provided with an operation control moving mode; in the operation control movement mode, the control calculation unit senses the operation intention of a user on the operation tail end by collecting data of the joint position sensor and the force feedback sensor, generates a movement command of the chassis through mapping of the operation intention, and converts the movement command into a wheel speed control command of the independent driving wheels. The tail end joint of the mechanical arm serves as a sensing and input device, the independent driving wheel chassis serves as an execution device, and the whole system has the advantages of being high in freedom degree, natural in interaction, safe, smooth and high in space adaptability through cooperation of the two devices.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wheelchair auxiliary equipment, and in particular to a wheelchair humanoid robot based on humanoid robot arm control. BACKGROUND

[0002] The current auxiliary mobile products (including manual and electric wheelchairs) have the following disadvantages in control mode and flexibility:

[0003] 1. Single control mode and limited degrees of freedom. Traditional electric wheelchairs mostly use joysticks, buttons, voice or mobile phone App control, only support forward and backward movement and left and right turning, and usually only have two degrees of freedom (movement + turning). In actual application, this low degree of freedom control mode is difficult to meet the needs of flexible obstacle avoidance and precise positioning in narrow spaces (such as home kitchen, bathroom, corridor).

[0004] 2. Lack of natural human-computer interaction means. The existing wheelchair control mode lacks intuitive connection with the user's natural body language (such as arm movement), has high learning cost, and is not friendly to users with declining cognitive ability or speech disorders. Highly dependent on specific input devices such as joysticks and switches, which limits the universality and accessibility of the wheelchair.

[0005] 3. Cannot be integrated with service robot functions. Although there are some humanoid service robots and intelligent wheelchair products on the market, these two types of devices are mostly functionally fragmented: humanoid robots do not have mobile carrying functions; wheelchairs do not have human-like operation capabilities. There is a lack of a system design that integrates both, i.e. having both humanoid operation capabilities and wheelchair chassis control functions.

[0006] 4. Not conducive to future collaborative environment expansion. In the future intelligent home, Internet of Things or intelligent collaborative environment, traditional wheelchairs are difficult to highly cooperate with external systems. The control system lacks expandability and is difficult to link with natural interaction methods such as visual recognition and gesture interaction.

[0007] Therefore, how to design a wheelchair humanoid robot that has natural human-computer interaction control means on one hand and provides auxiliary mobile functions on the other hand, providing stronger environmental adaptability and operation flexibility, especially for autonomous navigation and mobile control in the family, indoor narrow space and multi-obstacle environment, is a problem to be solved. SUMMARY

[0008] Therefore, the purpose of the present application is to solve the problems of low degree of freedom, complex operation and poor space adaptability of the existing wheelchair control mode, and to provide an intelligent wheelchair humanoid robot with a humanoid robot arm, which realizes natural and humanized control of the wheelchair chassis through sensing and control of the joints at the end of the humanoid robot arm.

[0009] In order to achieve the above purposes, the application provides a wheelchair humanoid robot controlled by a humanoid robot arm, which comprises a chassis, a robot trunk, two robot arms and a control computing unit.

[0010] The chassis comprises four independently driven wheels, which comprise one of a Mecanum wheel or an omni wheel; the robot trunk is arranged on the chassis, and a wheelchair seat is arranged on the robot trunk; the two robot arms are fixedly connected to the robot trunk; and the two robot arms are symmetrically arranged.

[0011] The robot arm is a seven-axis robot arm, which comprises three end joints and an operating end; the end joints are used to adjust and control the orientation of the operating end.

[0012] The end joints are collimation drive joints and have a low reduction ratio.

[0013] Each of the end joints is respectively provided with a corresponding joint position sensor and a force feedback sensor.

[0014] The control computing unit controls the joint position of the end joints through a proportional-differential controller.

[0015] The control computing unit is provided with an operating control movement mode; in the operating control movement mode, at least two end joints of at least one robot arm are set as operable joints; the control computing unit senses the operation intention of a user by collecting the data of the joint position sensor and the force feedback sensor corresponding to the operable joints, generates a motion command of the chassis through operation intention mapping, and then converts the motion command into a wheel speed control instruction of the independently driven wheels; and the operable joints are set as a low proportional gain or a low torque output upper limit.

[0016] Preferably, the operating control movement mode comprises a first operating control movement mode; in the first operating control movement mode, the initial pose of the operating end of at least one robot arm is set as upward, and all the three end joints are set as operable joints; the control computing unit maps the operation intention of the user pushing the operating end forward and backward into a motion command of forward and backward translation of the chassis, maps the operation intention of the user pushing the operating end left and right into a motion command of left and right translation of the chassis, and maps the operation intention of the user twisting the operating end clockwise and counterclockwise into a motion command of turning around in place of the chassis.

[0017] Preferably, the three end joints include fifth to seventh joints, the seventh joint is connected with the operation end; the control computing unit senses the operation intention of the user pushing the operation end forward and backward by collecting data of the joint position sensor and the force feedback sensor corresponding to the seventh joint; the control computing unit senses the operation intention of the user twisting the operation end clockwise and counterclockwise by collecting data of the joint position sensor and the force feedback sensor corresponding to the sixth joint; the control computing unit senses the operation intention of the user pushing the operation end left and right by collecting data of the joint position sensor and the force feedback sensor corresponding to the fifth joint.

[0018] Preferably, the operation control movement mode includes a second operation control movement mode; in the second operation control movement mode, the initial pose of the operation end of the at least one mechanical arm is set to be horizontally oriented forward, and two of the three end joints are set to be operable joints; the control computing unit maps the operation intention of the user lifting and pressing the operation end to the movement command of the forward and backward translation of the chassis, and maps the operation intention of the user twisting the operation end left and right to the movement command of the in-place turning of the chassis.

[0019] Preferably, the control computing unit senses the operation intention of the user lifting and pressing the operation end by collecting data of the joint position sensor and the force feedback sensor corresponding to the seventh joint; the control computing unit senses the operation intention of the user twisting the operation end left and right by collecting data of the joint position sensor and the force feedback sensor corresponding to the sixth joint.

[0020] Preferably, the mechanical arm further includes three shoulder joints and one elbow joint.

[0021] The three shoulder joints include first to third joints, the axes of the first to third joints are copointed; the elbow joint includes a fourth joint; the three end joints include fifth to seventh joints, the axes of the fifth to seventh joints are copointed; the first to seventh joints are connected in sequence, the seventh joint is connected with the operation end, and the axes of every two adjacent joints are perpendicular to each other;

[0022] The third joint and the fourth joint are connected through an upper arm connecting part, the upper arm connecting part is parallel to the axis direction of the third joint; the fifth joint and the sixth joint are connected through a lower arm connecting part, the lower arm connecting part is parallel to the axis direction of the fifth joint;

[0023] In the operation control movement mode, the at least one mechanical arm is set to a pose in which the upper arm connecting part is drooping and the lower arm connecting part is horizontally oriented forward.

[0024] Preferably, the joint position sensor is a high-precision encoder, and the force feedback sensor is a current sensor or a torque sensor.

[0025] Preferably, the proportional-differential controller is provided with a damping control limiting speed function and a virtual wall function.

[0026] Preferably, the wheelchair humanoid robot further comprises a camera and a visual recognition module, and the camera and the visual recognition module are used to realize a gesture control moving mode.

[0027] And / or, the wheelchair humanoid robot further comprises a voice collection device and a voice recognition module, and the voice collection device and the voice recognition module are used to realize a voice control moving mode.

[0028] And / or, the wheelchair humanoid robot further comprises a remote control device, and the remote control device is used to realize a remote control moving mode.

[0029] And / or, the wheelchair humanoid robot further comprises a path planning module, and the path planning module is used to realize an automatic path finding moving mode.

[0030] Preferably, the mechanical arm is further used to assist the user in daily life operation.

[0031] In summary, the present application has the following beneficial effects:

[0032] (1) The present application combines the mechanical arm capable of sensing operation and the wheelchair device to form an intelligent wheelchair humanoid robot, which realizes natural and humanized control of the wheelchair chassis on one hand, and integrates the functions of the humanoid service robot such as daily operation assistance on the other hand, and is especially suitable for autonomous or assisted moving control in complex and small environments such as families.

[0033] (2) The end joint of the mechanical arm of the present application serves as a "sensing and input" device, and realizes three-dimensional operation intention collection by natural pushing and pulling, while saving the hardware design of the chassis controller; the independently driven wheel chassis serves as an "execution" device, and truly and quickly converts the operation intention into movement; the cooperation of the two makes the whole system have the characteristics of high degree of freedom, natural interaction, safety and compliance, and strong space adaptability.

[0034] (3) The present application adjusts the proportional gain or the high and low of the upper limit of torque output by setting the proportional-differential controller, so that the end joint is in an operable state and other joints are maintained in an approximate fixed state convenient for operation, so that the user can "push and twist" the operation end of the mechanical arm, and realize natural interaction with low learning cost. BRIEF DESCRIPTION OF DRAWINGS

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the wheelchair-bound humanoid robot according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the joints of a seven-axis robotic arm according to an embodiment of the present invention;

[0038] Figures 3 to 6 This is a schematic diagram of the operation control movement mode according to Embodiment 1 of the present invention;

[0039] Figures 7 to 9 This is a schematic diagram of the operation control movement mode of Embodiment 2 of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1

[0042] like Figure 1 As shown, the wheelchair-shaped humanoid robot of this embodiment includes an integrated chassis 100, a robot torso 200, two seven-axis robotic arms 300, a power module 400, a control computing unit, and a communication module.

[0043] The integrated chassis 100 includes four Mecanum wheels 110, each of which is directly and independently driven by a corresponding motor. The Mecanum wheels 110 can generate a resultant force vector in any required direction without changing their own orientation, so that the four Mecanum wheels 110 can move the integrated chassis 100 in any direction by combined motion, including X-direction translation (left-right movement), Y-direction translation (forward-backward movement), and rotation around the Z axis (turning left and right in place), etc. The four Mecanum wheels 110 are arranged at the four corners of the integrated chassis 100, and the axis of each Mecanum wheel 110 is directed toward the center of the chassis. The Mecanum wheels 110 at adjacent corners are arranged at an angle of 90° with respect to each other, thereby allowing the wheelchair-shaped robot to make fine movements in any direction in a small space, significantly improving the flexibility of home operation. In other embodiments, the four corners of the integrated chassis 100 can also be provided with four independently driven omnidirectional wheels instead of the Mecanum wheels 110. Each omnidirectional wheel can independently roll in any direction, and the four omnidirectional wheels can cooperate to enable the wheelchair-shaped robot to make fine movements in any direction in a small space.

[0044] The robot trunk 200 is arranged on the integrated chassis 100, and the inside of the robot trunk 200 can be used to arrange components such as a control computing unit and a communication module. The power module 400 is also arranged on the integrated chassis 100, and is used to supply power to the wheelchair humanoid robot. The seat back 210 and the seat cushion 220, which function as a wheelchair seat, are respectively fixedly connected with the robot trunk 200, and the footboard 120 is fixedly connected with the integrated chassis 100. Two seven-axis mechanical arms 300 are symmetrically arranged on the two sides of the shoulder of the robot trunk 200, and the initial ends of the two seven-axis mechanical arms 300 are fixedly connected with the robot trunk 200. Each seven-axis mechanical arm 300 includes three shoulder joints 310 / 320 / 330, an elbow joint 340, three end joints 350 / 360 / 370, and an operating end 372, which are sequentially connected. The axes 311 / 321 / 331 of the three shoulder joints 310 / 320 / 330 are copointed, and the axes 351 / 361 / 371 of the three end joints 350 / 360 / 370 are copointed. The axes of each two adjacent joints are perpendicular to each other. The connecting part between the shoulder joint 330 and the elbow joint 340 is the upper arm connecting part 332 of the seven-axis mechanical arm 300, and the axis 331 of the upper arm connecting part 332 and the shoulder joint 330 is parallel to the direction. The connecting part between the end joint 350 and the end joint 360 is the lower arm connecting part 352 of the seven-axis mechanical arm 300, and the axis 351 of the lower arm connecting part 352 and the end joint 350 is parallel to the direction. The shoulder joints 310 / 320 / 330 are used to adjust and control the orientation of the whole mechanical arm, the elbow joint 340 is used to control the included angle between the upper arm connecting part 332 and the lower arm connecting part 352, and the four joints can freely adjust and control the spatial position of the root of the operating end 372. The end joints 350 / 360 / 370 are used to adjust and control the orientation of the operating end 372. As shown in FIG. 1, the operating end 372 of the seven-axis mechanical arm 300 is arranged on the side of the seat back 210 of the wheelchair humanoid robot, and the operating end 372 of the other seven-axis mechanical arm 300 is arranged on the side of the seat cushion 220 of the wheelchair humanoid robot. Figure 2As shown, when the seven-axis robot arm 300 maintains the L-shaped pose (i.e. the elbow joint 340 is in the joint position of lifting up 90°, the upper arm connecting part 332 is drooping and the lower arm connecting part 352 is horizontal and forward), the axis 311 / 331 of the shoulder joint 310 / 330 is in the direction of the Z-axis, the axis 321 / 341 / 361 of the shoulder joint 320, the elbow joint 340 and the terminal joint 360 is in the direction of the X-axis, the axis 351 of the terminal joint 350 is in the direction of the Y-axis, and the axis 371 of the terminal joint 370 is in the direction of the Z-axis. Each joint is driven by a corresponding motor, wherein the three terminal joints 350 / 360 / 370 are set as quasi-collimation drive joints with low reduction ratio, having high sensitivity and low reaction force characteristics, so that the user can realize the movement control of the wheelchair humanoid robot by operating the terminal joints 350 / 360 / 370. The control calculation unit controls each joint through a proportional-differential (PD) controller, wherein the proportional term (P term) is used to maintain the desired joint position, and when the proportional gain is high, the joint position is not easily affected by external forces, and the joint is in an approximately fixed state, and when the proportional gain is low or the output torque limit of the joint is set to be low, the corresponding joint can change the joint position under the operation of the user, allowing the user to "push and twist" the terminal 372; the differential term (D term) is used to provide system damping to reduce the joint motion speed and realize soft and perceptible physical interaction. Each joint is correspondingly provided with a high-precision encoder and a torque sensor; when the wheelchair humanoid robot is in the operation control movement mode, the control calculation unit samples the running state of several of the terminal joints 350 / 360 / 370 in real time through the high-precision encoder and the current / torque sensor, collects the corresponding real-time angle change (joint position) and torque feedback of the joint, perceives the motion intention expressed by the user, and further converts the running state change of the joint into a motion command of the integrated chassis 100, and further maps the motion command to the wheel speed control instruction of the four Mecanum wheels 110 through a speed decoupling model, realizing the translation and / or rotation in the corresponding direction of the motion intention.

[0045] Figure 3 The implementation of the operation control movement mode in the embodiment is shown. First, the elbow joint 340 is in the joint position of lifting up 90°, so that the seven-axis robot arm 300 is in the L-shaped pose; then, compared with the L-shaped pose, the shoulder joint 320 is in the joint position of lifting up 90°, so that the axis 321 of the shoulder joint 320 is in the direction of the X-axis, and the axis 371 of the terminal joint 370 is in the direction of the Z-axis. Figure 2When the end joint 350 is rotated by 90°, the axis of the end joint 360 becomes along the Z-axis direction, and the axis of the end joint 370 becomes along the X-axis direction; and when the end joint 370 is rotated by 90°, the initial pose of the operating end 372 is towards the upper direction, which is convenient for the user to operate. The shoulder joints 310 / 320 / 330 and the elbow joint 340 maintain the joint positions unchanged, and the end joints 350 / 360 / 370 set the corresponding proportional gain to be low or set the corresponding output torque upper limit to be low, so that the operating end 372 can be pushed by the user in the forward, backward, left and right directions, and can be twisted in the clockwise and counterclockwise directions.

[0046] The mapping relationship between the joint action and the motion intention in the operation control movement mode is as follows:

[0047] As shown in Figure 4 , when the user intends to move the wheelchair humanoid robot forward and backward, the operating end 372 is pushed in the forward and backward directions, so that the joint positions and the torques of the end joints 370 change, and the control calculation unit correspondingly generates the motion command for moving the integrated chassis 100 forward and backward after sampling;

[0048] As shown in Figure 5 , when the user intends to move the wheelchair humanoid robot left and right, the operating end 372 is pushed in the left and right directions, which drives the lower arm connecting part 352 of the seven-axis mechanical arm 300 to rotate as a whole, so that the joint positions and the torques of the end joints 350 change, and the control calculation unit correspondingly generates the motion command for moving the integrated chassis 100 left and right after sampling;

[0049] As shown in Figure 6 , when the user intends to turn the wheelchair humanoid robot in place, the operating end 372 is twisted in the clockwise and counterclockwise directions, so that the joint positions and the torques of the end joints 360 change, and the control calculation unit correspondingly generates the motion command for rotating the integrated chassis 100 clockwise and counterclockwise after sampling.

[0050] Therefore, the user expresses the control intention of three degrees of freedom by using the end joints 350 / 360 / 370 of the seven-axis mechanical arm 300 as a “perception and input” device in a natural pushing and pulling manner, and finally converts it into the wheel speed control instruction of the Mecanum wheel 110 in the integrated chassis 100, realizing low learning cost and natural intuitive interactive control. The method of mapping the motion command of the integrated chassis 100 as a whole to the wheel speed control instruction of the four Mecanum wheels 110 or the omni-directional wheels is a common means in the prior art, and those skilled in the art can obtain its detailed scheme from other technical materials, which will not be described here.

[0051] Embodiment Two

[0052] The difference between this embodiment and embodiment one is that the implementation of the operation control movement mode is different. As shown in Figure 7 first, the elbow joint 340 is in a joint position of lifting 90°, so that the seven-axis robot arm 300 is in an L-shaped pose; then, compared with Figure 2 the end joint 350 is rotated by 90°, so that the end joint 360 becomes along the Z-axis direction, and the end joint 370 becomes along the X-axis direction, at this time, the initial pose of the operation end 372 is horizontally facing forward. The shoulder joint 310 / 320 / 330, the elbow joint 340 and the end joint 350 maintain the joint position unchanged, and the end joint 360 / 370 sets the corresponding proportional gain to be low or sets the corresponding output torque upper limit to be low, so that the operation end 372 can be pushed upward, downward, leftward and rightward by the user.

[0053] The mapping relationship between the joint action and the motion intention in the operation control movement mode is as follows:

[0054] As shown in Figure 8 when the user intends to move the wheelchair humanoid robot forward and backward, the operation end 372 is lifted or pressed downward, so that the joint position and torque reaction of the end joint 370 change, and the control calculation unit correspondingly generates the motion command for moving the integrated chassis 100 forward and backward after sampling;

[0055] As shown in Figure 9 when the user intends to turn the wheelchair humanoid robot in place, the operation end 372 is twisted leftward and rightward, so that the joint position and torque reaction of the end joint 360 change, and the control calculation unit correspondingly generates the motion command for rotating the integrated chassis 100 clockwise and counterclockwise after sampling.

[0056] Therefore, the user uses the end joint 360 / 370 of the seven-axis robot arm 300 as a “perception and input” device, and realizes the expression of the control intention of two degrees of freedom by naturally lifting and pressing the operation end 372, and finally converts it into the wheel speed control instruction of the Mecanum wheel 110 in the integrated chassis 100, realizes the low learning cost and natural intuitive interactive control.

[0057] In embodiment one and this embodiment, the seven-axis robot arm 300 on the right side of the robot torso 200 is used to realize the movement control, which is only exemplary and not limited; in some other embodiments, the left or both sides of the seven-axis robot arm 300 can also be used to realize the movement control, which will not be described here.

[0058] In a preferred embodiment, the proportional-differential controller is provided with a damping control limit speed and a virtual wall maximum torque limit to ensure safety; when the external load exceeds the maximum torque threshold, the control calculation unit automatically locks the moving speed of the integrated chassis 100 to avoid excessive speed; when the user releases the hand, the control calculation unit automatically stops the movement of the integrated chassis 100.

[0059] In other embodiments, the wheelchair humanoid robot can integrate other movement modes to realize a multi-modal control architecture: for example, a camera 230 and a visual recognition module are provided to realize a gesture control movement mode; a voice acquisition device and a voice recognition module are provided to realize a voice control movement mode; a remote control device is provided to realize a remote control movement mode; a path planning module is provided to realize an automatic route finding movement mode through a pre-recorded map; and the user can freely switch the required movement mode. On the other hand, since the seven-axis mechanical arm 300 is provided, the wheelchair humanoid robot of the embodiments of the present application can further integrate the functions of other humanoid service robots to provide other auxiliary services for the user, such as assisting the user in grabbing objects, pressing buttons, gesture interaction, and other daily life operations.

[0060] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wheelchair-shaped humanoid robot controlled by a humanoid robotic arm, characterized in that, Includes a chassis, robot torso, two robotic arms, and a control and computing unit; The chassis includes four independent drive wheels, which are either Mecanum wheels or omnidirectional wheels; the robot torso is mounted on the chassis and a wheelchair seat is mounted on the robot torso; the robotic arms are fixedly connected to the robot torso; the two robotic arms are symmetrically arranged. The robotic arm is a seven-axis robotic arm, which includes three end joints and an operating end, and the end joints are used to adjust and control the orientation of the operating end. The terminal joint is a quasi-direct drive joint and has a low deceleration ratio; Each of the aforementioned end joints is equipped with a corresponding joint position sensor and force feedback sensor; The control calculation unit controls the joint position of the end joint through a proportional-derivative controller; The control calculation unit is equipped with an operation control movement mode. In the operation control movement mode, at least two end joints of at least one robotic arm are configured as operable joints. The control calculation unit senses the user's operation intention by collecting data from the joint position sensor and force feedback sensor corresponding to the operable joint, and generates a motion command for the chassis by mapping the operation intention. Then, the motion command is converted into a wheel speed control command for the independently driven wheels. The operable joint is configured with a low proportional gain or a low torque output upper limit.

2. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The operation control movement mode includes a first operation control movement mode; in the first operation control movement mode, the initial pose of the operating end of at least one robotic arm is set to face upward and all three end joints are set to be operable joints; the control calculation unit maps the user's intention to push the operating end forward and backward as a motion command for the chassis to translate forward and backward, maps the user's intention to push the operating end left and right as a motion command for the chassis to translate left and right, and maps the user's intention to twist the operating end clockwise and counterclockwise as a motion command for the chassis to turn in place.

3. The wheelchair-bound humanoid robot according to claim 2, characterized in that, The three distal joints include a fifth to a seventh joint, and the seventh joint is connected to the operating end. The control calculation unit senses the user's intention to push the end of the device forward and backward by collecting data from the joint position sensor and force feedback sensor corresponding to the seventh joint. The control calculation unit senses the user's intention to twist the end of the device clockwise or counterclockwise by collecting data from the joint position sensor and force feedback sensor corresponding to the sixth joint. The control calculation unit senses the user's intention to push the operating end of the device left and right by collecting data from the joint position sensor and force feedback sensor corresponding to the fifth joint.

4. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The operation control movement mode includes a second operation control movement mode; in the second operation control movement mode, the initial pose of at least one end of the robotic arm is set to be horizontal and facing forward, and two of the three end joints are set to be operable joints. The control calculation unit maps the user's intention to lift or press down the operating end to a motion command for the chassis to move forward and backward, and maps the user's intention to turn left or right the operating end to a motion command for the chassis to turn in place.

5. The wheelchair-bound humanoid robot according to claim 4, characterized in that, The three end joints include the fifth to the seventh joint, and the seventh joint is connected to the operating end; the control calculation unit senses the user's intention to lift or press the operating end by collecting data from the joint position sensor and force feedback sensor corresponding to the seventh joint. The control calculation unit senses the user's intention to twist left and right at the end of the device by collecting data from the joint position sensor and force feedback sensor corresponding to the sixth joint.

6. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The robotic arm also includes three shoulder joints and one elbow joint; The three shoulder joints include a first to a third joint, the axes of which are common to the first to third joints; the elbow joint includes a fourth joint; the three distal joints include a fifth to a seventh joint, the axes of which are common to the fifth to seventh joints. The first to seventh joints are connected in sequence, and the seventh joint is connected to the operating end. The axes of every two adjacent joints are perpendicular to each other. The third and fourth joints are connected by an upper arm connector, and the axis of the upper arm connector is parallel to that of the third joint; the fifth and sixth joints are connected by a lower arm connector, and the axis of the lower arm connector is parallel to that of the fifth joint. In the operation control movement mode, at least one robotic arm is positioned with the upper arm connector drooping and the lower arm connector horizontally forward.

7. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The joint position sensor is a high-precision encoder, and the force feedback sensor is a current sensor or a torque sensor.

8. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The proportional-derivative controller is equipped with damping control speed limiting function and virtual wall function.

9. The wheelchair-bound humanoid robot according to claim 1, characterized in that: The wheelchair-shaped humanoid robot also includes a camera and a visual recognition module, which are used to realize gesture control movement mode; And / or, the wheelchair-shaped humanoid robot further includes a voice acquisition device and a voice recognition module, which are used to realize voice-controlled movement mode; And / or, the wheelchair-mounted humanoid robot further includes a remote control device for implementing a remote-controlled movement mode; And / or, the wheelchair-mounted humanoid robot further includes a path planning module, which is used to realize an automatic pathfinding movement mode.

10. The wheelchair-bound humanoid robot according to claim 1, characterized in that, The robotic arm is also used to assist users in their daily life operations.

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