Robot walking assistant

Abstract

The present invention provides a robotic walking assistant, comprising: a wheeled base including a base and one or more position-adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base in a retracted position and an extended position in a direction parallel to a surface, the wheeled base moving on the surface; a body arranged in a vertical direction, located on the wheeled base and having at least one handle; one or more drive feet connected to the base; and a control system for receiving command instructions; wherein, in response to a rest mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move downward to contact the surface. The robotic walking assistant has a lifting mechanism, and the lifting mechanism enables the robotic walking assistant to have a limited height, which is beneficial to the stability of the robotic walking assistant during movement and travel.

Description

Technical Field

[0001] The present invention relates to a mobile robot, and more particularly to an intelligent robot walking assistant that can provide walking assistance, walking training, and fall prevention. Background Art

[0002] Walking is one of the most important abilities that enable people to remain independent and healthy throughout their lives. Unfortunately, many people lose their walking ability due to accidents or diseases. With the aging of society, the number of elderly people with walking disabilities has increased rapidly. In addition, the elderly are at the highest risk of death or serious injury due to falls, and the risk increases with age.

[0003] The latest advancements in robotics offer an innovative solution to alleviate these challenges by improving the quality of life of the elderly and prioritizing their dignity and independence. Therefore, robotic walking assistants have attracted great attention in recent years. A robotic walking assistant can be designed to help support a portion of the user's weight to reduce the load on the user's legs when walking, thereby reducing fatigue and physical exertion. For example, a robotic walking assistant typically includes wheels for mobility and a vertical body with a handle that allows the user to push the robotic walking assistant while walking.

[0004] However, due to the fixed characteristics of the wheels and the vertical body, these robotic walking assistants may lack sufficient stability when they provide a seat that allows the user to sit down. In addition, these robotic walking assistants may face the problem that people with a large stride tend to kick the back of the robotic walking assistant when walking.

[0005] Therefore, there is a need to provide a robotic walking assistant to overcome the above problems. Summary of the Invention

[0006] Accordingly, the present invention provides a robotic walking assistant to solve the above problems.

[0007] To achieve the above object, the present invention provides a robot walking assistant, comprising: a wheeled base including a base and one or more position-adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base in a direction parallel to a surface between a retracted position and an extended position, the wheeled base moving on the surface; a main body disposed in a vertical direction, located on the wheeled base, and having at least one handle; one or more drive feet connected to the base; and a control system for receiving command instructions; wherein, in response to a rest mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move downward to contact the surface; wherein, in response to a walking assistance mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move upward away from the surface; and wherein, in response to an autonomous mode command instruction, the control system is configured to move the one or more wheels to the retracted position and instruct the one or more driven feet to move upward away from the surface.

[0008] Optionally, the one or more wheels are slidable relative to the base in a direction inclined outward relative to the moving direction of the wheeled base.

[0009] Optionally, the robot walking assistant further includes one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels to move between the retracted position and the extended position.

[0010] Optionally, the robot walking assistant further includes a foldable seat rotatably connected to the main body, wherein the control system instructs the foldable seat to rotate between a folded position and an unfolded position.

[0011] Optionally, the robot walking assistant further includes a camera rotatably mounted on the top of the main body, wherein the control system instructs the camera to face forward to detect an object in front of the wheeled base and instructs the camera to face backward to detect a user behind the wheeled base.

[0012] Optionally, the at least one handle is slidable relative to the main body.

[0013] The present invention also provides a robot walking assistant, comprising: a wheeled base including a base and one or more wheels movably and rotatably mounted on the base, the one or more wheels being configured to move relative to the base on a surface to form different support point groups at different positions on the surface; a main body disposed in a vertical direction and having at least one handle; a lifting mechanism disposed on the wheeled base, the lifting mechanism being configured to move the main body up and down; one or more drive feet connected to the base, the one or more drive feet being movable up and down in a vertical direction; wherein, in response to a stationary mode command instruction, the one or more wheels are configured to move to a first position, and the one or more drive feet are configured to move downward to contact the surface; wherein, in response to a walking assistance mode command instruction, the one or more wheels are configured to move to the first position, and the one or more drive feet are configured to move upward away from the surface; and wherein, in response to an autonomous mode command instruction, the one or more wheels are configured to move to a second position, and the one or more drive feet are configured to move upward away from the surface.

[0014] Optionally, the one or more wheels are slidable relative to the base in a direction inclined outward relative to the moving direction of the wheeled base.

[0015] Optionally, the robot walking assistant further comprises one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels to move relative to the base.

[0016] The present invention also provides a robot walking assistant, comprising: a wheeled base including a base, one or more first wheels rotatably connected to the base, and one or more second wheels movably and rotatably connected to the base, the one or more second wheels being slidable relative to the base to form an adjustable distance between the one or more first wheels and the one or more second wheels; an elongated main body having at least one handle; one or more drive feet connected to the base; and a lifting mechanism disposed on the wheeled base, the lifting mechanism being configured to move the main body up and down; wherein, in response to a stationary mode command instruction, the one or more second wheels are configured to move to a first position, and the one or more drive feet are configured to move downward to contact the surface on which the wheeled base moves; wherein, in response to a walking assistance mode, the one or more second wheels are configured to move to the first position, and the one or more drive feet are configured to move upward away from the surface; wherein, in response to an autonomous mode command instruction, the one or more second wheels are configured to move to a second position, and the one or more drive feet are configured to move upward away from the surface.

[0017] The technical solution of the present invention has the following advantages: The robotic walking assistant has a lifting mechanism, and the lifting mechanism gives the robotic walking assistant a limited height, which is beneficial to the stability of the robotic walking assistant during movement and travel. The lifting mechanism can be actuated to adjust the robotic walking assistant to different heights, enabling the robotic walking assistant to flexibly adapt to users of different heights. In addition, the robotic walking assistant also has feet that can move in the vertical direction, which can be made to have a support polygon larger than that of a wheel, and the robotic walking assistant can have increased static stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings incorporated herein and forming a part of the specification illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and enable those skilled in the relevant art to make and use the present disclosure. To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a perspective schematic view of a robotic walking assistant according to an embodiment of the present invention.

[0020] Figure 2 is a perspective schematic view of the robotic walking assistant from another angle.

[0021] Figure 3 is a perspective schematic view of the robotic walking assistant, wherein the side cover of the robotic walking assistant is omitted.

[0022] Figure 4 is a perspective schematic view showing the internal structure of the robotic walking assistant.

[0023] Figure 5 is a perspective schematic view of another angle of the internal structure of the robotic walking assistant.

[0024] Figure 6 is a schematic view of the internal structure of the wheeled base of the robotic walking assistant.

[0025] Figure 7 is a perspective schematic view of another angle of the internal structure of the wheeled base of the robotic walking assistant.

[0026] Figure 8 is a plan view showing the robotic walking assistant in two different states.

[0027] Figure 9 is a schematic view of the robotic walking assistant in the walking assistance mode.

[0028] Figure 10 Schematic diagram of the robotic walking assistant in a resting state.

[0029] Figure 11 Schematic block diagram of a robotic walking assistant according to an embodiment.

[0030] Figure 12 Schematic flowchart of a method for controlling a robotic walking assistant according to an embodiment.

[0031] Figure 13 Schematic diagram showing the working modes of a robotic walking assistant according to an embodiment.

[0032] Figure 14 Illustrates an exemplary scenario when the robotic walking assistant works to provide walking assistance / training to a user.

[0033] Figure 15 Illustrates an exemplary scenario when the robotic walking assistant works in autonomous mode.

[0034] Figure 16 Flowchart showing a method for creating a walking schedule according to an embodiment.

[0035] Figure 17 Schematic flowchart of a method for controlling a robotic walking assistant according to an embodiment. Detailed implementation

[0036] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] This disclosure is illustrated in the accompanying drawings by way of example and not limitation, and like reference numerals in the drawings denote like elements. It should be noted that the reference to "one" embodiment in the present invention is not necessarily a reference to the same embodiment, and such reference may mean "at least one" embodiment.

[0038] Although specific configurations and arrangements are discussed, it should be understood that this is done for illustrative purposes only. Those skilled in the relevant art will recognize that other configurations and arrangements can be used without departing from the spirit and scope of this disclosure. It will be apparent to those skilled in the relevant art that this disclosure can also be used in various other applications.

[0039] Note that references in the specification to "one embodiment", "example embodiment", "some embodiments", "certain embodiments", etc. indicate that the described embodiments may include a particular feature, structure, or characteristic, but each embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, these phrases do not necessarily refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, implementing such feature, structure, or characteristic in connection with other embodiments is within the knowledge of those skilled in the relevant art, whether or not explicitly described.

[0040] In general, terms may be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense or may be used to describe a combination of features, structures, or characteristics in a plural sense. Similarly, depending at least in part on the context, terms such as "a" or "the" may also be understood to convey a singular usage or to convey a plural usage. Additionally, the term "based on" may be understood to not necessarily be intended to convey a set of exclusive factors and may, instead, allow for the existence of additional factors that are not necessarily explicitly described, again depending at least in part on the context.

[0041] Although the features and elements of the present disclosure are described as embodiments in particular combinations, within the principles of the present disclosure, each feature or element may be used alone or in various other combinations, the maximum extent of such use being indicated by the broad, general meaning of the terms of the appended claims.

[0042] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] Figure 1 and 2 is an isometric view of a robotic walking assistant 100 that can assist in supporting a portion of a user's weight (e.g., a caregiver or a patient) to reduce the load on the user's legs when the user walks. The robotic walking assistant 100 can provide support / guidance during the walking process of people so that they can maintain balance and walk safely. In one embodiment, the robotic walking assistant 100 can be used in places such as healthcare facilities, senior care facilities, assisted living facilities, etc. to assist the elderly when they walk. However, the robotic walking assistant 100 can be used in other places. For example, the robotic walking assistant 100 can provide walking assistance, walking training, and fall prevention for people who have temporarily lost their walking ability due to an accident or illness in a hospital.

[0044] In one embodiment, the robotic walking assistant 100 may include a wheeled base 10, a body 20 positioned on the wheeled base 10, a lifting mechanism 30 positioned on the wheeled base 10 (see Figure 8 ) and a control system (see Figure 11 ). The control system receives command instructions from a host and a graphical user interface (GUI) displayed on displays 82 and 83 to allow a user (e.g., a healthcare professional and a caregiver) to directly control the robotic walking assistant 100. In response to the command instructions, the control system 40 controls the movement of the wheeled base 10, the lifting mechanism 30, and / or other mechanical or software aspects of the robotic walking assistant 100. In one embodiment, the lifting mechanism 30 may be omitted.

[0045] Referring to Figure 3 , the wheeled base 10 provides a mobility mechanism for the robotic walking assistant 100 to move from one location to another. In one embodiment, the wheeled base 10 includes a base 11, two differential drive wheel mechanisms 12, and one or more other wheels connected to the base 10. The wheel mechanisms 12 allow the wheeled base 10 to move along a desired path, while the one or more other wheels enable the balance and stability of the wheeled base 10. The one or more other wheels may be casters or omnidirectional drive wheels. In one embodiment, each wheel mechanism 12 may slide relative to the base 11 between a retracted position (see Figure 8 ) and an extended position (see Figure 8 ) in a direction substantially parallel to a surface (e.g., the floor), which is the surface on which the wheeled base 10 moves. Further description of the wheeled base 10 is provided below.

[0046] In one embodiment, the body 20 is located on top of the wheeled base 10 and is arranged in the vertical direction. The body 20 includes at least one handle 21 that a user can hold when walking / standing, allowing the robotic walking assistant 100 to provide an upward supporting force to the user, thereby helping the user maintain balance when walking or standing. The robotic walking assistant with at least one handle 21 is like a walking stick, which can ensure the stability of the user's walking.

[0047] In one embodiment, the lifting mechanism 30 is connected between the wheeled base 10 and the body 20. Referring to Figure 8, through the actuation of the lifting mechanism 30, the main body 20 can move vertically up and down along the y-axis between a retracted position and an extended position. In this retracted position, the lifting mechanism 30 gives the robotic walking assistant 100 a limited height, which is beneficial to the stability of the robotic walking assistant 100 during movement and travel. The lifting mechanism 30 can be actuated to adjust the robotic walking assistant 100 to different heights, enabling the robotic walking assistant 100 to flexibly adapt to users of different heights. A further description of the lifting mechanism 30 is provided below.

[0048] In one embodiment, the robotic walking assistant may include sensors that enable the robotic walking assistant 100 to sense the environment in which the robotic walking assistant 100 operates. In one embodiment, the sensors may include range sensors that do not require physical contact with the object being detected. They allow the robotic walking assistant 100 to sense obstacles without actually touching it. As Figure 2 shown, the range sensors may include infrared (IR) sensors 74, ultrasonic sensors 75, one or more light detection and ranging (LiDAR) sensors 73, near field communication (NFC) and RFID sensors / readers. In one embodiment, the sensors may include inertial measurement unit (IMU) sensors and a camera 72. Each IMU sensor includes at least one accelerometer and at least one gyroscope. One or more LiDAR sensors 73 are used to create a map of the environment. In combination with the IMU sensor 76, the LiDAR sensors 73 are used to determine the real-time position of the robotic walking assistant 100 in the environmental map. Data from the range sensors and the camera 72 are used to detect obstacles, such as bumps, overhanging objects, spills, and other hazards, during the movement of the robotic walking assistant 100, and the robotic walking assistant 100 can alert the user to bypass the detected obstacles. These sensors can be positioned along the wheeled base 10 or other locations of the robotic walking assistant 100. A further description of these sensors is provided below.

[0049] The control system 40 (see Figure 11) is electrically connected to the wheeled base 10, the lifting mechanism 30, and the sensors, and is configured to receive command instructions to control the robotic walking assistant 100. The command instructions can be received from the control system 40 in response to the movement / action of the robotic walking assistant 100, or the control system 40 can receive command instructions from the host computer wirelessly, or through a wired connection, or through the GUI on the displays 82 and 83, and the control system 40 can also directly receive command instructions from the user. For example, the robotic walking assistant 100 can detect whether the handle 21 is held by the user. In certain modes, the control system 40 receives command instructions after the user holds the handle 21. The control system 40 controls the movement of the wheeled base 10 in response to the command instructions, and controls the lifting mechanism 30 to drive the movement of the main body 20. A further description of the control system 40 is provided below.

[0050] In one example, the wheeled base 10 can be a differential drive platform. Refer to Figure 1 and Figure 2 , in one embodiment, the wheeled base 10 includes two independently driven wheel mechanisms 12 and a caster mechanism 13. The two wheel mechanisms 12 are spaced apart from each other on opposite sides of the wheeled base 10, and their axes of rotation are aligned with each other and extend in the width direction of the wheeled base 10. The caster mechanism 13 can include an omnidirectional wheel and is disposed near one end of the wheeled base 10 opposite to the wheel mechanism 12. It should be noted that the number and arrangement of the wheel mechanism 12 and the caster mechanism 13 can be changed according to actual needs. For example, in an alternative embodiment, two wheel mechanisms 12 and two caster mechanisms 13 can be respectively disposed at the four corners of the wheeled base 10.

[0051] In one embodiment, the base 11 can include a base body 110 (see Figure 4 ) and a base housing 111 that surrounds and is connected to the base body 110 (see Figure 3 ). Refer to Figure 5 and 6 , the base body 110 can include a bottom plate 112 and a plurality of support rods protruding from the bottom plate 112. In one embodiment, each wheel mechanism 12 can be movably connected to the base body 110 by a linear actuator 14. The two linear actuators 14 are respectively fixed on two support rods 113a at one end of the bottom plate 112. The linear actuator 14 includes a motor 141, a tube 142, and an output shaft 143 that is slidably connected to the tube 142. By driving the motor 141, the output shaft 143 can slide relative to the tube 142.

[0052] The wheel mechanisms 12 are respectively connected to the ends of the output shafts 143. In this embodiment, each output shaft 143 (see Figure 6 ) is along the movement direction M of the wheeled base 10 (refer toFigure 5 ) extends obliquely and parallel to the surface S (refer to Figure 5 ), and the wheeled base 10 moves on the surface S. The moving direction M here refers to the traveling direction in which the wheeled base 10 moves in a straight line. In response to a command instruction, the control system 40 can control the motor 141 to drive the output shaft 143 to move linearly, so that the wheel mechanism 12 moves relative to the wheeled base 10 between the retracted position (see Figure 8 ) and the extended position (see Figure 8 ) and along directions L1 and L2 (see Figure 5 ) that are substantially parallel to the surface S. As shown in Figure 5 , the directions L1 and L2 are inclined outward relative to the moving direction M of the wheeled base 10.

[0053] Refer to Figure 7 , in one embodiment, each wheel mechanism 12 may include a wheel mount 121, a wheel 122 rotatably connected to the wheel mount 121, and a wheel guard 123 fixed to the wheel mount 121 (see Figure 3 ). The wheel mount 121 may include two vertically spaced and connected plates 1211 and 1212. The two vertically plates 1211 and 1212 define a space in which the wheel 122 rotates. In one embodiment, the wheel 122 is rotatably connected to the plate 1211, and a motor may be provided inside the wheel 122 to drive the wheel 122 to rotate. The motor inside the wheel 122 may be electrically coupled to the control system 40. Combining the control system 40, sensors, and motors, the robotic walking assistant 100 can operate in an autonomous mode and move autonomously along a determined path. The caster mechanism 13 may include a fixture 131 fixed to the bottom of the bottom plate 112 of the base 11, a wheel mount 132 connected to the fixture 131 and rotatable about a substantially vertical axis, and a wheel 133. The wheel 133 is connected to the wheel mount 132 and rotatable about a substantially horizontal axis. With this arrangement, the wheel 133 has two degrees of freedom and can thus align itself with the traveling direction. In one embodiment, each of the wheel mechanisms 12 and 13 may include a suspension system that allows for smoother travel over small gaps, carpets, mats, and floor defects. Each suspension system may include a spring and / or a damper. The spring allows the wheels 122 and 133 to move upward to absorb bumps and reduce vibrations, while the damper prevents bouncing up and down. Various suspension systems are commercially available and have been proposed in many publications, and will not be elaborated here.

[0054] When the two wheels 122 and the wheel 133 are in contact with the surface S, three support points are formed between the wheels 122, 133 and the surface S. For example, when the wheel mechanism 12 is in the retracted position, two support points A (see Figure 6 and Figure 8 ) are formed between the wheel 122 and the surface S, and one support point C (seeFigure 8 ) When the wheel mechanism 12 is in the extended position, two support points B are formed between the wheel 122 and the surface S (see Figure 8 ). That is to say, since the wheel 122 can move relative to the base 11, different sets of support points (for example, the first set of support points A and C and the second set of support points B and C) can be formed between the wheels 122, 133 and the surface S.

[0055] Since the wheel 122 can move relative to the base 11, the distance between the wheels 122, 133 is adjustable. Specifically, as Figure 8 shown, the distance between each wheel 122 and the wheel 133 can be increased from D1 to D2 by moving the wheel 122 from the retracted position to the extended position. Since the output shaft 143 connecting the wheel mechanism 12 extends in a direction inclined with respect to the moving direction M of the wheeled base 10 (see Figure 5 ), the wheel 122 can slide relative to the base 11 in a direction inclined outward with respect to the moving direction M of the wheeled base 10. As a result, after the wheel 122 moves from the retracted position to the extended position, the distance D3 between the two wheels 122 (see Figure 6 ) increases. Therefore, when the wheel 122 moves from the retracted position to the extended position, the three sides of the support polygon (i.e., triangle) formed by connecting the three support points between the wheels 122, 133 and the surface S increase. As a result, the area of the support polygon formed by connecting the support points B and C is larger than the area of the support polygon formed by connecting the support points A and C.

[0056] The robotic walking assistant 100 described in the above embodiments is a machine that stands on a triangular footprint and has an adjustable height. When the main body 20 moves up and down or the robotic walking assistant 100 supports and propels the robotic walking assistant 100 or part of the weight of a user sitting on the seat of the robotic walking assistant 100 (to be described later), the center of gravity of the robotic walking assistant 100 moves. However, as long as the center of gravity of the robotic walking assistant 100 remains within the support polygon formed by the three support points between the connecting wheels 122, 133 and the surface S, the robotic walking assistant 100 remains upright and does not topple over. Although the center of gravity of the robotic walking assistant 100 moves when the main body 20 moves upward or the user sits on the seat of the robotic walking assistant 100, the support polygon formed by the three support points between the connecting wheels 122, 133 and the surface S has a larger area after the wheel 122 moves from the retracted position to the extended position, and the center of gravity of the robotic walking assistant 100 can still fall within the range of the support polygon. In addition, when the wheels 122 move to their extended positions, the distance between the user supported by the robotic walking assistant and the back of the robotic walking assistant 100 increases compared to when the wheels 122 move to their retracted positions, which can prevent a user with a large stride from kicking the back of the robotic walking assistant 100.

[0057] Reference Figure 6 and 7 , in one embodiment, the wheeled base 10 further includes one or more drive feet 15 connected to the base 11. In one embodiment, the number of drive feet 15 can be two. Each drive foot 15 includes a motor 151 (such as a linear motor) and a foot 152. The motor 151 is fixed to a vertical rod 113b protruding from the bottom plate 112 of the base 11 and the foot 152. The foot 152 is driven by the motor 151 and is movable in the vertical direction between a retracted position (see Figure 8 ) and an extended position (see Figure 2 ). During the movement of the wheeled base 10, the feet 152 are controlled by the control system 40 to move upward to their retracted positions. When the user sits on the seat of the robotic walking assistant 100, the feet 152 are controlled by the control system 40 to move downward to their extended positions and contact the surface S. In this case, in addition to the three support points provided by the wheels 122 and 133, the feet 152 also provide two additional support points for the robotic walking assistant 100. Since the feet 152 can be made to have a larger support polygon than the wheels 122 and 133, the robotic walking assistant 100 can have increased static stability, which helps the robotic walking assistant 100 to remain upright with increased stability when the user sits on the seat of the robotic walking assistant 100.

[0058] Reference Figure 4 、Figure 5 and Figure 8 , in one embodiment, the lifting mechanism 30 includes a motor 31 and a lifting mechanism 32. The main body 20 is coupled to the lifting mechanism 32, and the motor 31 is used to drive the lifting mechanism 32 to extend or retract in the vertical direction. The motor 31 can be a linear actuator for applying a thrust or a pulling force to the lifting mechanism 32 to drive the lifting mechanism 32 to extend or retract in the vertical direction. In one embodiment, the lifting mechanism 32 can include a lead screw connected to the output shaft of the motor 31, and a threaded collar connected to the lead screw and slidable along the lead screw. Through the cooperation of the threaded collar and the lead screw, the rotational motion from the motor 31 is converted into a translational motion. The lifting mechanism 30 can drive the main body 20 to move up and down. In another embodiment, the lifting mechanism 32 can be a scissor lift mechanism. Specifically, the lifting mechanism 32 includes one or more pairs of support members that are rotatably connected to each other, and each pair of support members forms an intersecting "X" pattern. The arrangement of these pairs of support members is well known and will not be described herein. It should be noted that the lead screw and the threaded collar, and the scissor lift mechanism are only examples of the lifting mechanism 32, and the lifting mechanism 32 can adopt other configurations according to actual needs.

[0059] Referring Figure 3 - 5 , in one embodiment, the robotic walking assistant further includes a foldable seat 50 rotatably connected to the main body 20 and disposed above the two wheels 122. The seat 50 can rotate between a folded position (see Figure 1 and Figure 9 ) and an unfolded position (see Figure 10 ). In one embodiment, the main body 20 can include a main body housing 22 and an inner frame 23. The inner frame 23 is disposed inside the main body housing 22 and fixed to the lifting mechanism 30. The inner frame 23 is a hollow rectangular parallelepiped frame including a plurality of vertical rods 231 and a plurality of horizontally coupled rods 232. The inner frame 23 defines a hollow space that allows the inner frame 23 to fit over and be fixed to the upper housing 34 of the lifting mechanism 30. This arrangement allows the main body 20 to move up and down together with the upper housing 34.

[0060] In one embodiment, the seat 50 may include a seat shell 51 and a seat body 52 disposed within the seat shell 51. The seat body 52 is a planar structure, generally square. Opposite sides of the seat body 52 are rotatably connected to the inner frame 23. In one embodiment, two corner bars 233 are connected to the inner frame 23 and are located above the wheels 122. Each corner bar 233 includes a horizontal bar 2331 and a vertical bar 2332 protruding from a vertical bar 231 of the inner frame 23. Two seat mounts 24 are respectively fixed to the vertical bars 2332, and each seat mount 24 includes a vertical tab 241. Opposite sides of the seat body 52 are rotatably connected to the inner sides 2411 of the vertical tabs 241. With such a configuration, the seat body 52 can be rotated to a folded position where the seat 50 is slightly inclined relative to the main body 20, and can be rotated to an unfolded position where the seat 50 is substantially perpendicular to the main body 20.

[0061] In one embodiment, a seat motor 53 is fixed to the outer side of a vertical tab 241 for driving the rotational movement of the seat body 52. The seat motor 53 can be a rotary DC motor that directly drives the rotation of the seat body 52. In another embodiment, a transmission mechanism can be provided between the seat motor 53 and the seat body 52 to transmit the rotational movement from the seat motor 53 to the seat body 52. In one embodiment, limit switches can be provided on the seat body 52 and the vertical tabs 241. After the seat body 52 moves to the folded / unfolded position, the limit switches are triggered, and the control system 40 stops the rotation of the seat 50 according to the signals from the limit switches. The limit switches can be mechanical, optical, or magnetic limit switches. In one embodiment, a stop member can be fixed to the seat body 52, and a groove is formed in the vertical tab 241 near the stop member. When the seat body 52 rotates, one end of the stop member is received in the groove and slides within the groove. When the stop member contacts one of the opposite ends of the groove, the rotation of the seat body 52 stops.

[0062] Refer to Figure 1 、 3 As shown in FIGS. 4 and 10, in one embodiment, the robotic walking assistant 100 may further include two armrests 60, which are rotatably connected to the inner frame 23 of the main body 20. Two motor mounts 25 are fixed to opposite sides of the inner frame 23, and two connectors 26 are respectively fixed to the bottom surfaces of the motor mounts 25. Two armrest mounts 27 are respectively fixed to the connectors 26. The armrest mounts 27 are disposed above the two wheels 122 and on opposite sides of the seat body 52. Each armrest mount 27 may include a vertical tab 271, and the two armrests 60 are respectively rotatably connected to the vertical tabs 271. Each armrest 60 can be relative to the main body 20 in a folded position (see FIGS. Figure 3 、 4 and 9) and an unfolded position (see FIGS. Figure 10) rotates between them. In the folded position, the armrest 60 can be substantially vertical or slightly inclined relative to the vertical direction. In the unfolded position, the armrest 60 is substantially horizontal, which allows the user to place his / her hands on both armrests 60.

[0063] In one embodiment, two actuator mounts 28 are fixed to the inner frame 23 of the main body 20 and the motor mounting member 25. The actuator mounting members 28 are disposed on opposite sides of the seat main body 52, below the motor mounting member 25, and opposite to the two armrests 60. In one embodiment, each linear actuator 61 may include a motor 62, a tube 63, and a slidably connected output shaft 64. By driving the motor 62, the output shaft 64 can slide relative to the tube 63. The armrests 60 are respectively rotatably connected to the ends of the output shafts 64. When the output shaft 64 slides relative to the tube 63, the armrest 60 is pushed by the output shaft 64, so that it can rotate relative to the armrest mount 27.

[0064] Reference Figure 3 - 5 and 8, in one embodiment, two handles 21 are employed. Each of the two handles 21 is movable relative to the main body 20 between a retracted position (see Figure 8 and 10 ) and an extended position (see Figure 8 and 9 ). Each handle 21 may include a handle body 211, an upper rod 212, and a lower rod 213. The upper rod 212 and the lower rod 213 are fixed to the upper end and the lower end of the handle body 211. The upper rod 212 and the lower rod 213 are substantially parallel to each other. In one embodiment, two linear actuators 214 are respectively fixed to the motor mount 25. Each linear actuator 214 may include a motor 215, a slider 216, and a shaft 217. The slider 216 can slide along the shaft 217. By driving the motor 215, the shaft 217 rotates to drive the slider 216 to move. One end of the lower rod 213 is fixed to the slider 216 of the corresponding linear actuator 214. Therefore, the handle 21 moves between the retracted position and the extended position together with the slider 216 of the linear actuator 214. When the wheel mechanisms 12 move to their extended positions, the handles 21 can move to their extended positions, so that the user can stay upright while grasping the handles 21.

[0065] Reference Figure 1 and Figure 4, in one embodiment, the robotic walking assistant 100 may further include a camera 71 rotatably mounted on the top of the main body 20. The camera 71 may be an RGBD camera. Specifically, two support members 29 are fixed to the top of the inner frame 23 of the main body 20. The support members 29 may be arranged in the vertical direction and spaced apart from each other. The camera 71 is disposed between the two support members 29 and rotatably connected to the two support members 29. In one embodiment, the camera 71 extends in a direction substantially perpendicular to the two support members 29. The camera 71 can thus rotate about an axis substantially perpendicular to the two support members 29. In another embodiment, the camera 71 may rotate about a vertical axis. In one embodiment, the robotic walking assistant 100 may further include a motor 711 for rotating the camera 71 to face forward to detect an object in front of the wheeled base 10, and rotating the camera 71 to face backward to detect a user located behind the wheeled base 10. The camera 71 can also detect the fatigue and emotional state of the user. The robotic walking assistant can then perform actions according to the detection results. For example, the robotic walking assistant can remind the user after detecting user fatigue. In one embodiment, a belt drive mechanism may be used to transmit the rotational motion from the motor 711 to the camera 71. Specifically, a first synchronous pulley 712 may be provided at one end of the camera 71, and a second synchronous pulley (not shown) is fixed to the output shaft of the motor 711. A synchronous belt is disposed around the first synchronous pulley 712 and the second synchronous pulley, which transmits the rotational motion from the motor 711 to the camera 71.

[0066] In one embodiment, the movement range of the camera 71 can be set to 180 degrees. Since the camera 71 is rotatable and can move up and down together with the main body 20, the camera can have a large field of view (FOV). In addition, a visual servo algorithm can be employed to enable the camera to track certain objects.

[0067] Reference Figure 11, in one embodiment, the control system 40 includes a processor 41 and a memory 42 that stores computer-readable instructions. The processor 41 runs or executes various software programs and / or instruction sets stored in the memory 42 to perform various functions of the robotic walking assistant 100 and process data. The processor 41 can be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a programmable logic device, discrete gate, transistor logic devices, discrete hardware components, or a combination of some or all of these components. The general-purpose processor can be a microprocessor or any conventional processor, etc. The memory 42 can store software programs and / or computer-readable instruction sets and can include high-speed random access memory and can include non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.

[0068] The robotic walking assistant 100 further includes a base motion controller 101, a foot motor driver 153, a wheel motor driver 102, a wheel mechanism motor driver 103, and a lifting motor driver 104 that are electrically connected to the processor 41 and are electrically connected to the base motion controller 101. The foot motor driver 153 is configured to drive the motor 151 of the driving foot 15. The wheel motor driver 102 is configured to drive the motor 1201, and the motor 1201 is configured to drive the rotational movement of the wheel 122. The wheel mechanism motor driver 103 is configured to drive the motor 141, and the motor 141 is configured to drive the movement of the wheel mechanism 12. The lifting motor driver 104 is configured to drive the motor 31 of the lifting mechanism 30.

[0069] The robotic walking assistant 100 further includes a body motion controller 301, a seat motor driver 501, a camera motor driver 713, an armrest motor driver 601, and a handle motor driver 210 that are electrically connected to the processor 41 and are electrically connected to the body motion controller 301. The seat motor driver 501 is used to drive the seat motor 53 of the seat 50. The camera motor driver 713 is used to drive the motor 711. The armrest motor driver 601 is used to drive the motor 62. The motor driver 210 is configured to drive the motor 215.

[0070] Reference Figure 1 and 11, in one embodiment, the robotic walking assistant 100 includes a plurality of sensors 70, including a 3D camera 72, a LiDAR sensor 73, a plurality of IR sensors 74, a plurality of ultrasonic sensors 75, and a plurality of IMU sensors 76. The camera 72 is disposed on the body housing 22 of the main body 20. The IR sensors 74 and the ultrasonic sensors 75 are disposed on the base housing 111 of the wheeled base 10. The IMU sensors 76 are disposed on the wheeled base 10. The sensors 72 to 76 are configured to output data to the control system 40 such that the control system 40 can perform positioning, motion planning, trajectory tracking control, and obstacle avoidance for the robotic walking assistant 100. In one embodiment, an electrocardiogram (ECG) sensor 77 may be embedded in the handle 21 to measure the heartbeat of a user holding the handle 21. It should be noted that the robotic walking assistant 00 may have more sensors than shown.

[0071] In one embodiment, the robotic walking assistant 100 further includes a power system 81 that powers all critical components of the robotic walking assistant 100. The power system 81 is installed in the base 10 and may include a battery management system (BMS), one or more power sources (e.g., batteries, alternating current (AC)), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator (e.g., a light-emitting diode (LED)), and any other components related to the generation, management, and distribution of power. The power system 81 may further include a self-charging unit that can engage with a fixed-position docking charging station to allow charging of the robotic walking assistant 100. The battery management system manages rechargeable batteries, such as preventing the batteries from operating outside their safe operating area, monitoring their status, calculating auxiliary data, reporting the data, controlling their environment, validating and / or balancing them.

[0072] In one embodiment, the robotic walking assistant 100 may further include a front display 82 and a rear display 83. The front display 82 and the rear display 83 may be touch-sensitive display devices and each provide an input interface and an output interface between the robotic walking assistant 100 and the user. The front display 82 and the rear display 83 display visual outputs to the user. The visual outputs may include graphics, text, icons, videos, and any combination thereof. In one embodiment, the front display 82 faces the front of the robotic walking assistant 100 to display general information or to allow telepresence for users who are not actively using the walking function. The rear display 83 may display walking-related information.

[0073] In one embodiment, the robotic walking assistant 100 may further include a speaker 84 and a microphone 85, which provide an audio interface between the user and the robotic walking assistant 100. The microphone 85 receives audio data and converts the audio data into an electrical signal that is transmitted as a command to the control system 40. The speaker 84 converts the electrical signal into sound waves audible to humans. The speaker 84 and the microphone 85 enable voice interaction between the user and the robotic walking assistant. The speaker 84 may play music or other audio content for the user for entertainment purposes. The robotic walking assistant 100 may also include a wireless communication interface 86, such as a WiFi and Bluetooth module. The robotic walking assistant 100 may also include an NFC subsystem 89, which may include an NFC chip and an antenna for communicating with another device / tag, which allows the NFC subsystem 89 to have NFC reading functionality. The NFC subsystem 89 can be used for authorization purposes. That is, the NFC subsystem 89 can be used as a security mechanism for determining user privileges or access levels related to system resources.

[0074] It should be noted that Figure 11 only one example of the robotic walking assistant 100 is shown, and the robotic walking assistant 100 may have more or fewer components than shown, two or more components may be combined, or it may have a different component configuration or arrangement. For example, the robotic walking assistant 100 may include a front light strip 87 and a rear light strip 88 (see Figure 1 ) to illuminate the path for the user when the environment is dark. The robotic walking assistant 100 may include a storage unit for storing items, so that the robotic walking assistant 100 can deliver the items to a desired location. Figure 11 The various components shown in

[0075] Figure 12 can be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application-specific integrated circuits. Figure 12 is a flowchart showing a method for controlling the robotic walking assistant 100 according to one embodiment, which includes the following steps. It should be noted that the order of the steps shown as Figure 12 is not restrictive and may vary according to actual needs. For example, after switching the robotic walking assistant 100 to the walking assistance mode, the processor 41 may first move the handle 21 and control the lifting mechanism 30 to move the main body 20 to a predetermined height to accommodate users of different heights and arm lengths. However, after the robotic walking assistant 100 in the autonomous mode receives a command instruction to deliver an item, the processor 41 may first move the wheeled base 10 to a determined location.

[0076] Step S101: Receive a command instruction.

[0077] The processor 41 of the control system 40 receives command instructions. For example, the processor 41 may receive command instructions from a user (e.g., a caregiver), the command instructions requesting the robotic walking assistant 100 to pick up an object from one location and deliver the object to another location.

[0078] Step S201: Move the wheeled base 10 in response to the first command instruction.

[0079] The processor 41 can analyze each command instruction and move the wheeled base 10 to a determined position in response to the first command instruction. The first command instruction may include a description of the position that the robotic walking assistant 100 needs to reach. For example, when a user (e.g., a seeking caregiver) requests the robotic walking assistant 100 to pick up and deliver an object, the first command instruction may include a description of the starting position where the object is stored and the target position to which the object needs to be delivered. The processor 41 can execute software programs and / or instruction sets stored in the memory 42 to perform positioning, motion planning, and trajectory tracking, such that the wheeled base 10 can determine its real-time position in a known map during movement along the planned path. If there are dynamic obstacles on the planned path, the processor 41 can plan a new path to avoid the obstacles. In other words, the wheels 122 can be controlled to move along a specified path, and if there are obstacles on the path, the path will be adjusted. The wheeled base 10 can autonomously move to the starting position first and then to the target position. In addition, the wheels 122 can be controlled by commands on the screen or control inputs inferred from the handle, and the handle may be attached with a force sensor. This allows the user to directly control the movement of the wheels 122.

[0080] Step S301: Move the wheel mechanism 12 relative to the base 11 in response to the second command instruction. The processor 41 can analyze each command instruction and move the wheel mechanism 12 to a retracted position or an extended position according to the second command instruction. The processor 41 can receive a second command instruction from a user (e.g., a seeking caregiver) to move the wheel mechanism 12 to the extended position so that the user can grasp the handle 21 and push the robotic walking assistant 100, or the user can sit on the seat 50. In addition, when certain conditions are met, such as when the robotic walking assistant 100 moves to a determined position and there are no further physical tasks, the processor 41 can move the wheel mechanism 12 to the retracted position.

[0081] Step S401: Rotate the seat 50 in response to a third command instruction. The processor 41 can analyze each command instruction and rotate the seat 50 to a folded or unfolded position according to the third command instruction. The processor 41 can receive a third command instruction from a user (e.g., a caregiver seeking assistance) to rotate the seat 50 to the unfolded position so that the user can sit on the seat 50. The processor 41 can receive a third command instruction from the user to rotate the seat 50 back to the folded position so that the robotic walking assistant 100 is ready to be pushed by the user. Additionally, when certain conditions are met, the processor 41 can rotate the seat 50. For example, when the processor 41 determines based on the output of the camera 71 that the user is tired, the processor 41 can rotate the seat 50 to the unfolded position so that the user can sit on the seat 50.

[0082] Step S501: Rotate the armrest 60 in response to a fourth command instruction. The processor 41 can analyze each command instruction and rotate the armrest 60 to a folded or unfolded position according to the fourth command instruction. The processor 41 can receive a fourth command instruction from a user (e.g., a caregiver seeking assistance) to rotate the armrest 60 to the unfolded position so that when the user is sitting on the seat 50, the user can place his / her arm on the armrest 60. Additionally, the processor 41 can rotate the armrest 60 when certain conditions are met. For example, when the seat 50 is rotated to the unfolded position, the processor 41 rotates the armrest 60 to the unfolded position. When the seat 50 is rotated to the folded position, the processor 41 rotates the armrest 60 to the folded position. The armrest 60 and the seat 50 can be rotated to their folded or unfolded positions simultaneously. However, they can be controlled to rotate individually when needed.

[0083] Step S601: Move the handle 21 in response to a fifth command instruction. The processor 41 can analyze each command instruction and move the handle 21 according to the fifth command instruction. The processor 41 can receive a fifth command instruction from a user (e.g., a caregiver seeking assistance) to move the handle 21 to the extended position so that the user can grab the handle 21 to push the robotic walking assistant 100 when walking. Additionally, the processor 41 can move the handle 21 when certain conditions are met. For example, when the wheel mechanism 12 moves to its extended position, the processor 41 moves the handle 21 to the extended position; when the wheel mechanism 12 moves to their retracted positions, the processor 41 moves the handle 21 to their retracted positions.

[0084] Step S701: Rotate the camera 71 in response to a sixth command instruction. The processor 41 can analyze each command instruction and rotate the camera 71 according to the sixth command instruction. For example, the processor 41 can receive a command instruction from a user (e.g., a caregiver seeking assistance) and control the robotic walking assistant 100 to autonomously move between determined positions. In this case, the processor 41 rotates the camera 71 to face forward to detect objects in front of the robotic walking assistant 100, enabling the robotic walking assistant 100 to sense the environment. The processor 41 can receive a command instruction from a user (e.g., a caregiver seeking assistance) who requests the robotic walking assistant 100 to provide assistance while the user is walking. The processor 41 then rotates the camera 71 to face backward to detect facial expressions or other biometric features of the user. As a result, the robotic walking assistant 100 can monitor the user's fatigue.

[0085] Step S801: Control the lifting mechanism 30 to move the main body 20 up and down in response to a seventh command instruction. The processor 41 can analyze each command instruction and control the lifting mechanism 30 to move the main body 20 up and down according to the seventh command instruction. For example, the processor 41 can receive a command instruction from a user (e.g., a caregiver seeking assistance) and control the robotic walking assistant 100 to autonomously move between determined positions. In this case, the processor 41 controls the lifting mechanism 30 to move the main body 20 downward to a retracted position, such that the robotic walking assistant 100 can have a limited height, which is beneficial for the stability of the robotic walking assistant 100 during movement and locomotion. The processor 41 can receive a command instruction from a user (e.g., a caregiver seeking assistance) who requests the robotic walking assistant 100 to provide assistance while the user is walking. The processor 41 can then determine the height of the user and can move the main body 20 to an extended position according to the user's height. In this case, the extended position is not a fixed position and may vary according to the user's height. With such a configuration, the robotic walking assistant 100 can flexibly adapt to different users of different heights, allowing different users to walk and push the robotic walking assistant 100 in a substantially upright posture.

[0086] In one embodiment, the robotic walking assistant 100 can operate in different modes. For example, as Figure 13As shown, the robotic walking assistant 100 can operate in a first mode or autonomous mode. In this mode, the control system 40 can perform positioning, motion planning, trajectory tracking control, and obstacle avoidance based on the data output by sensors 72 to 76, enabling the robotic walking assistant 100 to move autonomously between a starting position and a target position to complete a specified task. In response to the autonomous mode, the wheel mechanisms 12 move to their retracted positions, the feet 152 move upward away from the surface S, the main body 20 moves downward to its retracted position, the seat 50 and the armrests 60 rotate to their folded positions, the handles 21 move to their retracted positions, and the camera 71 is rotated to face forward. The robotic walking assistant 100 can operate in a second mode or sleep mode. In this mode, the robotic walking assistant 100 enters a low-power state and remains in this state. When the robotic walking assistant 100 in the first mode does not receive user input within a preset time period (e.g., 10 minutes) or the robotic walking assistant 100 is charged, the robotic walking assistant 100 is switched to the second mode. The robotic walking assistant 100 can be switched to the first mode after receiving a user's instruction (e.g., a voice instruction, a touch on the display 82, etc.).

[0087] The robotic walking assistant 100 can operate in a third mode or standing assistance mode. In this mode, the wheel mechanisms 12 and the handles 21 move to their extended positions, which enables the robotic walking assistant 100 to function as a stable structure that a user can grasp the handles 21 and stand up from a sitting position. After the robotic walking assistant 100 in the first mode approaches a sitting user, the robotic walking assistant 100 can be switched to the third mode. When there is no physical task, the robotic walking assistant 100 in the third mode can be switched to the first mode. The robotic walking assistant 100 can operate in a fourth mode or walking assistance mode. In response to a walking assistance mode command instruction, the wheel mechanisms 12 and the handles 21 move to their extended positions, the feet 152 move upward away from the surface S, and the main body 20 moves upward to an extended position according to the user's height. In this mode, the robotic walking assistant 100 is ready to be pushed by the user and helps support part of the user's weight when the user walks. After the robotic walking assistant 100 in the first mode approaches a standing user, the robotic walking assistant 100 can be switched to the fourth mode. When there is no physical task, the robotic walking assistant 100 in the fourth mode can be switched to the first mode.

[0088] The robotic walking assistant 100 can operate in a fifth mode or a walking training mode. In response to a walking training mode command instruction, the wheel mechanism 12 and the handle 21 move to their extended positions, the feet 152 move upward away from the surface S, and the main body 20 moves upward to the extended position according to the user's height. In this mode, the robotic walking assistant 100 is ready to be pushed by the user and helps support part of the user's weight when the user walks. After the robotic walking assistant 100 in the first mode approaches a standing user, the robotic walking assistant 100 can switch to the fifth mode. When there is no physical task, the robotic walking assistant 100 in the fifth mode can switch to the first mode. The difference between the walking training mode and the walking assistance mode is that the robotic walking assistant 100 in the walking training mode applies additional resistance to the user, so he / she has to exert additional effort to push the robotic walking assistant forward or to the left or right. Thus, muscle strength and coordination can be increased with sufficient training time. In one embodiment, the wheeled base 10 may further include a brake. Then when the robotic walking assistant switches to the walking training mode, the processor 41 controls the brake to press against the moving wheel 122 to generate friction. In this case, the user needs to apply a greater pushing force to the robotic walking assistant 100, so that muscle strength and coordination can be increased with sufficient training time.

[0089] The robotic walking assistant 100 can operate in a sixth mode or a rest mode. In response to a rest mode command instruction, the wheel mechanism 12 moves to its extended position, the feet 152 move downward to contact the surface S, and the seat 50 and the armrest 60 rotate to their deployed positions. The robotic walking assistant 100 is thus ready for the user to sit and rest. The robotic walking assistant 100 in the fourth mode can switch to the sixth mode after receiving a user's instruction or detecting that the user is tired. The robotic walking assistant 100 in the sixth mode can switch to the fourth mode after receiving a user's instruction. It should be noted that Figure 13 only one example of the operating modes of the robotic walking assistant 100 is shown, and the robotic walking assistant 100 can have more operating modes than shown.

[0090] Figure 14Shows nine exemplary scenarios when the robotic walking assistant 100 operates to provide walking assistance / training to a user. Specifically, the first scenario shows the robotic walking assistant 100 receiving a schedule from a user (e.g., a caregiver or patient seeking care). The schedule may include descriptions of the walking start time, walking duration, start location, destination location, walking route, etc. The front display 82 shows a walking planning user interface that allows the user to directly create a schedule on the robotic walking assistant 100. In another embodiment, the robotic walking assistant 100 may receive a schedule created on a computing device such as a cellular phone, laptop computer, desktop computer, etc. via a wireless or wired connection. In yet another embodiment, when the robotic walking assistant 100 is used in a medical institution, an elderly care facility, or an assisted living facility that includes a central platform for managing the robotic walking assistant 100, the robotic walking assistant 100 may receive a schedule created by a healthcare professional of the central platform. The second scenario shows the robotic walking assistant 100 finding the user (e.g., a caregiver or patient seeking care) at the time and location specified in the schedule. The third scenario shows the robotic walking assistant 100 approaching the user and switching to the standing assistance mode to help the user sitting on a chair stand up. The fourth scenario shows the robotic walking assistant 100 switching to the walking assistance mode to provide walking assistance to the user. The fifth scenario shows the robotic walking assistant 100 issuing an alert to the user when fatigue behavior is detected based on the output from the camera 71. The alert can be visual or auditory.

[0091] The sixth scenario shows the robotic walking assistant 100 switching to the rest mode so that the user can sit on the seat 50. The seventh scenario shows the robotic walking assistant 100 continuing to escort the user to the destination after the user has rested. The eighth scenario shows the robotic walking assistant 100 detecting an obstacle / hazard in front of the walking assistant 100 and guiding the user around the obstacle / hazard. The robotic walking assistant 100 may report the obstacle / hazard to the central platform. The ninth scenario shows the robotic walking assistant 100 continuing to escort the user until they reach the planned destination.

[0092] Figure 15An exemplary scenario is shown when the robotic walking assistant works in an autonomous mode in places such as healthcare facilities, elderly care facilities, or assisted living facilities. The first and second scenarios show the robotic walking assistant 100 receiving a request from a first user (e.g., a healthcare professional) to deliver an item to a second user (e.g., a caregiver or a patient seeking care). In this case, the robotic walking assistant 100 may include a storage unit in the main body 20 to store items such as books, letters, prescription drugs, etc. The front display 82 may display a user interface that allows input of information about the second user (e.g., the location of the second user). The third scenario shows the robotic walking assistant 100 moving autonomously towards the location of the second user. The third scenario shows the robotic walking assistant 100 arriving at the location of the second user and notifying the second user of the item sent by the first user. The fifth scenario shows the second user retrieving the delivered item and the robotic walking assistant 100 may record an audio message or a video message of the second user. The sixth scenario shows the robotic walking assistant 100 moving autonomously to the first user and notifying the first user that the delivery of the item is completed and playing the audio message or the video message from the second user.

[0093] Figure 16 is an exemplary flowchart showing a method for controlling a robotic walking assistant to receive a walking plan from a central platform, which includes the following steps. The central platform refers to the platform in places such as medical institutions, elderly care institutions, assisted living institutions, etc. The central platform may include a plurality of user interfaces generated by an application. The user interfaces display information about all tasks that one or more robotic walking assistants are performing or preparing to perform. The application will be very suitable for healthcare managers or administrators to access the most data-rich user interface and have a comprehensive understanding of the entire operation. From prioritization to authorization, full control is concentrated in the most efficient workflow. All these user interfaces enable care providers to have the functions required for "intelligent logistics", including responding to requests, optimizing task plans, determining optimized routes, etc.

[0094] Step S171: Receive a walking schedule from the central platform. The processor 41 of the control system 40 receives a walking schedule from the central platform. In one embodiment, the walking schedule is created by a healthcare professional on the central platform. The schedule may include descriptions of the walking start time, walking duration, start location, destination location, walking route, user location, user identification information, etc.

[0095] Step S172: Autonomously move to the location of the user (e.g., a caregiver or a patient seeking care) according to the walking schedule. After step S171, the robotic walking assistant 100 switches to the autonomous mode and moves towards the user location specified in the walking plan.

[0096] Step S173: Locate and identify the user. In one embodiment, the robotic walking assistant 100 can use facial recognition technology to locate and identify the user.

[0097] Step S174: Request the user to confirm the walking schedule. The robotic walking assistant 100 can display the walking schedule on the front display 82 and can read out the walking schedule. The robotic walking assistant 100 can also provide one or more user interfaces for the user to accept or modify the walking schedule.

[0098] Step S175: Send the confirmation result to the central platform. After the user accepts or modifies the walking plan, the robotic walking assistant 100 sends the confirmation result to the central platform.

[0099] Figure 17 FIG. is a flowchart of a method for controlling the robotic walking assistant 100 according to one embodiment, which includes the following steps.

[0100] Step S181: Autonomously move to the user's location. In one embodiment, the robotic walking assistant 100 can autonomously move to the user's location according to a pre-planned walking schedule or in response to a command instruction from the user.

[0101] Step S182: Locate and identify the user. In one embodiment, the robotic walking assistant 100 can use facial recognition technology to locate and identify the user.

[0102] Step S183: Determine whether the user is standing. If the user is standing, the process proceeds to step S184.

[0103] Step S184: Switch the robotic walking assistant 100 to the walking assistance mode while the main body 20 moves upward to the extended position. In one embodiment, the robotic walking assistant 100 can receive a user profile from the central platform, which includes the user's height. The main body 20 can move upward to the extended position according to the user's height, such that the handle 21 is at a comfortable height for the user. The robotic walking assistant 100 can also provide a user interface for the user to adjust the height of the handle 21. At this time, the processor 41 can control the lifting mechanism 30 to move the main body 20 up and down according to the height value input by the user.

[0104] Step S186: Request the user to confirm the current walking event. In one embodiment, the walking schedule may include multiple walking events, and the robotic walking assistant 100 may determine the current walking event corresponding to the current time. The walking event may include descriptions of the destination, walking route, walking duration, etc. In another embodiment, the robotic walking assistant 100 may plan the walking route according to the destination specified in the walking schedule. The robotic walking assistant 100 may display the destination, the planned walking route, the walking speed, and the walking duration on the first display. The robotic walking assistant 100 may also provide one or more user interfaces for the user to accept or modify the displayed parameters.

[0105] Step S187: Move towards the destination. After the user confirms or modifies the current walking event, the robotic walking assistant 100 escorts the user and moves towards the destination according to the accepted / modified walking event. In one embodiment, the robotic walking assistant 100 may move autonomously and guide the user along the planned path towards the destination. In another embodiment, the robotic walking assistant 100 only moves when pushed / pulled by the user. In this case, the rear display 83 may display navigation information to guide the user along the planned path towards the destination.

[0106] If the user is not standing, the process proceeds to step S185. Step S185: Switch the robotic walking assistant 100 to the standing assistance mode. In this mode, the robotic walking assistant 100 may help the user stand up. Then the process proceeds to step S184.

[0107] It should be understood that the above disclosure has described in detail several embodiments of the robotic walking assistant 100 that can provide walking assistance and prevent falls. As described above, the robotic walking assistant 100 can be used in living or healthcare facilities. However, the present invention is not limited thereto. In other exemplary usage scenarios, the robotic walking assistant 100 can be used in hospitals.

[0108] With the above configuration, the robotic walking assistant can promote an active lifestyle for the elderly. The robotic walking assistant can enable them to do more exercise to maintain their mobility. Moving around also provides more opportunities for the elderly (especially those in nursing homes or assisted living facilities) to interact with others, thus making them feel less lonely. The robotic walking assistant also has a function of preventing falls. For example, if the robotic walking assistant detects a puddle or a slipper on the way, it will send a tripping hazard signal to the elderly.

[0109] This specification and the examples are intended to be considered only exemplary, and the true scope is indicated by the claims and their equivalents.

[0110] For purposes of explanation, the above description has been presented with reference to specific embodiments. However, the foregoing illustrative discussion is not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in light of the above teachings. The embodiments were chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications suited to the particular use contemplated.

Claims

1. A robot walking assistant, comprising: A wheeled base including a base and one or more position - adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base in a direction parallel to a surface between a retracted position and an extended position, the wheeled base moving on the surface; A main body arranged vertically on the wheeled base and having at least one handle; One or more driving feet connected to the base; And A control system for receiving command instructions; Wherein, in response to a rest - mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more driving feet to move downward to contact the surface; Wherein, in response to a walking - assistance - mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more driving feet to move upward away from the surface; and Wherein, in response to an autonomous - mode command instruction, the control system is configured to move the one or more wheels to the retracted position and instruct the one or more driven feet to move upward away from the surface; The robot walking assistant is further configured to: Control the robot walking assistant to autonomously move to the user's position; Locate and identify the user; Determine whether the user is standing. If the user is standing, switch the robot walking assistant to the walking - assistance mode and control the main body to move upward to a preset position; and After the user confirms or modifies the current walking event, control the robot walking assistant to escort the user and move towards the destination according to the accepted or modified walking event.

2. The robot walking assistant according to claim 1, characterized in that The one or more wheels are slidable relative to the base in a direction inclined outward relative to the moving direction of the wheeled base.

3. The robot walking assistant according to claim 1, wherein It further includes one or more linear actuators, wherein the one or more linear actuators are fixed on the base and configured to drive the one or more position - adjustable wheels to move between the retracted position and the extended position.

4. The robot walking assistant according to claim 1, wherein, It further includes a foldable seat rotatably connected to the main body, wherein the control system instructs the foldable seat to rotate between a folded position and an unfolded position.

5. The robot walking assistant according to claim 1, characterized in that, It further includes a camera rotatably mounted on the top of the main body, wherein the control system instructs the camera to face forward to detect objects in front of the wheeled base and instructs the camera to face backward to detect the user behind the wheeled base.

6. The robot walking assistant according to claim 1, wherein The at least one handle is slidable relative to the main body.

7. A robot walking assistant, comprising: A wheeled base including a base and one or more wheels movably and rotatably mounted on the base, the one or more wheels being configured to move on a surface relative to the base to form different sets of support points at different positions on the surface; A main body arranged along the vertical direction and having at least one handle; A lifting mechanism arranged on the wheeled base, the lifting mechanism being configured to move the main body up and down; One or more driving feet connected to the base, the one or more driving feet being movable up and down in the vertical direction; Wherein, in response to a stationary mode command instruction, the one or more wheels are configured to move to a first position, and the one or more drive feet are configured to move downward to contact the surface; Wherein, in response to a walking assistance mode command instruction, the one or more wheels are configured to move to the first position, and the one or more drive feet are configured to move upward away from the surface; and Wherein, in response to an autonomous mode command instruction, the one or more wheels are configured to move to a second position, and the one or more drive feet are configured to move upward away from the surface; The robot walking assistant is further configured to: Autonomously move to the user's position; Locate and identify the user; Determine whether the user is standing. If the user is standing, switch to the walking assistance mode and control the main body to move upward to a preset position; and After the user confirms or modifies the current walking event, escort the user and move towards the destination according to the accepted or modified walking event.

8. The robot walking assistant according to claim 7, characterized in that The one or more wheels are slidable relative to the base in a direction inclined outward with respect to the moving direction of the wheeled base.

9. The robot walking assistant according to claim 7, characterized in that, Further comprising one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels to move relative to the base.

10. A robot walking assistant, comprising: A wheeled base, which includes a base, one or more first wheels rotatably connected to the base, and one or more second wheels movably and rotatably connected to the base, and the one or more second wheels are slidable relative to the base to form an adjustable distance between the one or more first wheels and the one or more second wheels; An elongated main body having at least one handle; One or more drive feet connected to the base; And A lifting mechanism disposed on the wheeled base, and the lifting mechanism is configured to move the main body up and down; Wherein, in response to a stationary mode command instruction, the one or more second wheels are configured to move to a first position, and the one or more drive feet are configured to move downward to contact the surface on which the wheeled base moves; Wherein, in response to the walking assistance mode, the one or more second wheels are configured to move to the first position, and the one or more drive feet are configured to move upward away from the surface; Wherein, in response to an autonomous mode command instruction, the one or more second wheels are configured to move to a second position, and the one or more drive feet are configured to move upward away from the surface; The robot walking assistant is further configured to: Autonomously move to the user's position; Locate and identify the user; Determine whether the user is standing. If the user is standing, switch to the walking assistance mode and control the main body to move upward to a preset position; and After the user confirms or modifies the current walking event, escort the user and move towards the destination according to the accepted or modified walking event.

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