A quadruped multifunctional intelligent walker and its control method

Abstract

The present invention provides a quadrupedal multifunctional intelligent walker and a control method thereof. The intelligent walker comprises: a crossbeam; four mechanical legs disposed on and supporting the crossbeam; two mechanical arms interconnected via an adjustment device; an adjustment device disposed on the crossbeam and connected to the mechanical arms; a sensor for acquiring user body parameter information and / or environmental information; and a walking aid controller electrically connected to the sensor and the mechanical arms / legs and configured to combine the information acquired by the sensor with posture and position data of the mechanical arms / legs to adjust the posture of the mechanical legs and / or mechanical arms, and / or control the adjustment device to adjust the height and angle of the mechanical arms. The walking aid controller controls the adjustment device to adjust the posture, angle, and height of the mechanical legs and arms based on the acquired information, thereby enabling the quadrupedal multifunctional intelligent walker to adapt to a variety of environments and adjust its posture according to specific environmental conditions and walking aid needs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent walking aids, and in particular to a quadruped multifunctional intelligent walking aid and a control method thereof. Background Art

[0002] With the increasing number of elderly people, a major characteristic of the elderly population is the decline in mobility caused by degenerative diseases such as muscle aging and joint injuries. In addition, patients with lower limb damage due to accidents, injuries, and other reasons often need continuous walking training to achieve the purpose of rehabilitation to prevent muscle atrophy caused by long-term inactivity. In addition, the decline in walking ability often leads to mobility difficulties or even complete loss of mobility, seriously affecting the quality of life of patients or elderly people. Therefore, designing an intelligent device that can assist patients with lower limb dysfunction and the elderly in walking safely has broad social needs and practical significance.

[0003] Many individuals and organizations have made tremendous efforts in this regard, but the existing related equipment has relatively simple functions and can only simply realize the function of assisting walking. Moreover, the degree of intelligence is not high, and it is difficult to change its own structural configuration based on different user conditions and different application scenarios to achieve user assistance.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The present invention provides a quadruped multifunctional intelligent walker and a control method thereof, so as to solve the technical problem that the structural configuration of the walking aid device cannot be adjusted according to different scenarios.

[0006] A first aspect of the present invention provides a four-legged multifunctional intelligent walker, comprising: a crossbeam; four mechanical legs, arranged on and supporting the crossbeam; two mechanical arms, connected to each other by an adjustment device; an adjustment device, arranged on the crossbeam and connected to the mechanical arms; a sensor, used to obtain user body parameter information and / or environmental information; a walking aid controller, electrically connected to the sensor and configured to adjust the posture of the mechanical legs and / or mechanical arms according to the information obtained by the sensor, and / or control the adjustment device to adjust the height and angle of the mechanical arms.

[0007] In this solution, four robotic legs are used to move the four-legged multifunctional intelligent walker, and two robotic arms are used as handrails for users to support. The angle and height of the robotic arms are adjusted by setting an adjustment device on the crossbeam and connecting the robotic arms. The user's body parameter information and environmental information are obtained through sensors and the obtained information is transmitted to the walking aid controller. The walking aid controller adjusts the posture of the robotic legs and robotic arms according to the information it obtains, and adjusts the angle and height of the robotic arms by controlling the adjustment device. As a result, the four-legged multifunctional intelligent walker can adapt to a variety of environments and adjust its posture according to specific environmental conditions.

[0008] In a further embodiment of the present invention, the mechanical leg includes: a hip joint connecting arm, one end of which is movably connected to the crossbeam; a thigh connecting arm, movably connected to the other end of the hip joint connecting arm; a calf connecting arm, movably connected to the thigh connecting arm; and a driving wheel, movably connected to one end of the calf connecting arm and used to drive the calf connecting arm to move; the walking aid controller is configured to adjust the posture of the mechanical leg by adjusting the relative angular relationship between the hip joint connecting arm, the thigh connecting arm, and the calf connecting arm.

[0009] In this scheme, the hip joint connecting arm, thigh connecting arm, calf connecting arm and driving wheel are movably connected in sequence, and the walking aid controller adjusts the posture of the entire mechanical leg by controlling the relative angle relationship between the hip joint connecting arm, thigh connecting arm, calf connecting arm and driving wheel; a driving device can also be set to drive the driving wheel to rotate.

[0010] In a further embodiment of the present invention, the adjustment device includes: a rotating arm, which is arranged on the crossbeam and rotatably connected to the crossbeam; and a telescopic arm, which is respectively connected to the rotating arm and the robotic arm; the walking aid controller is configured to adjust the height and angle of the robotic arm by adjusting the angle of the rotating arm and the height of the telescopic arm.

[0011] In this solution, the adjustment mechanism is configured to include a telescopic arm and a rotating arm. The rotating arm itself is arranged on the cross arm to provide a supporting effect and can be driven to rotate by a driving device. The telescopic arm and the rotating arm are movably connected, and the telescopic function can be realized in the form of a pneumatic arm or a hydraulic arm.

[0012] In a further embodiment of the present invention, the sensors include a first group of sensors and a second group of sensors; the first group of sensors is arranged on the adjustment device and located between the two groups of robotic arms to obtain environmental information; the second group of sensors is arranged on the robotic arms and / or the beam to obtain user body parameter information.

[0013] Furthermore, the first group of sensors uses depth cameras, ultrasonic detection, lidar, etc. to obtain information such as road conditions, and the second group of sensors can use a series of electronic components such as visual equipment, voice equipment, blood pressure sensors, heart rate sensors, etc. to monitor the static and dynamic state of the human body.

[0014] In a further embodiment of the present invention, the robotic arm includes an upper arm connecting arm, a lower arm connecting arm, a shoulder joint connecting piece and an elbow joint connecting piece. The upper arm connecting arm is rotatably connected to the adjustment device through the shoulder joint connecting piece, and the lower arm connecting arm is rotatably connected to the upper arm connecting arm through the elbow joint connecting piece; the walking aid controller is configured to adjust the posture of the robotic arm by adjusting the relative angle relationship between the upper arm connecting arm and the lower arm connecting arm.

[0015] Specifically, the walking aid controller can adjust its posture by controlling the elbow joint connector to rotate the forearm connecting arm relative to the upper arm connecting arm, and by controlling the shoulder joint connector to rotate the upper arm connecting arm in any direction relative to the adjustment device.

[0016] In a further embodiment of the present invention, the shoulder joint connecting part includes a first shoulder joint connecting head and a second shoulder joint connecting head, the second shoulder joint connecting head is rotatably connected to the first shoulder joint connecting head; the adjusting device is rotatably connected to the first shoulder joint connecting head, and the upper arm connecting arm is connected to the second shoulder joint connecting head.

[0017] In a further embodiment of the present invention, the elbow joint connector includes a first elbow joint connector and a second elbow joint connector, the second elbow joint connector is rotatably connected to the first elbow joint connector; the upper arm connecting arm is connected to the first elbow joint connector, and the lower arm connecting arm is connected to the second elbow joint connector.

[0018] In this solution, by rotatably connecting the first connecting head of the shoulder joint and the second connecting head of the shoulder joint, and rotatably connecting the first connecting head of the elbow joint and the second connecting head of the elbow joint, the upper arm connecting arm can be rotated relative to the adjustment device, and the forearm connecting arm can be rotated in any direction relative to the upper arm connecting arm, so that the robotic arm can adjust its posture.

[0019] In a further embodiment of the present invention, two crossbeams are provided, the adjustment device connects the two crossbeams, and a set of mechanical legs are provided at each end of the two crossbeams. The sensor is provided on the mechanical arm and / or the crossbeam; and the walking assist controller is provided on the crossbeam.

[0020] In a further embodiment of the present invention, the walking aid controller is provided with a walker functional configuration, and the walker functional configuration includes at least one of a supporting walking mode configuration, a supporting walking mode configuration, a hugging anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

[0021] A second aspect of the present invention provides a control method for a quadruped multifunctional intelligent walker, which is implemented by the quadruped multifunctional intelligent walker provided by the first aspect. The control method includes: using sensors to obtain static parameters of the user's body and adjusting them to appropriate height / width;

[0022] Based on the user's selection, the walker controls the quadruped multifunctional intelligent walker to adjust to the corresponding configuration;

[0023] The quadruped multifunctional intelligent walker is moved by controlling the rotation of the driving wheels by the walker;

[0024] Use sensors to obtain environmental data, adjust posture based on environmental data, and warn users of dangerous roads;

[0025] Sensors are used to obtain the user's body dynamic parameters and the posture is adjusted based on the user's body dynamic parameters.

[0026] In a further embodiment of the present invention, the functional configuration of the walker includes at least one of a supporting walking mode configuration, a supporting walking mode configuration, an embracing anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

[0027] In a further embodiment of the present invention, the posture of the quadruped multifunctional intelligent walker is adjusted by information as follows: the posture of the robotic arm is adjusted by controlling the connection between the first connector of the elbow joint and the second connector of the elbow joint, and / or adjusting the connection between the first connector of the shoulder joint and the second connector of the shoulder joint; the height of the robotic arm is adjusted by controlling the adjustment device to rotate and lift; the posture of the robotic leg is adjusted; and the movement speed is adjusted by controlling the drive wheel.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides four mechanical legs for moving the four-legged multifunctional intelligent walker, and two mechanical arms for use as handrails for the user to support. An adjustment device is provided on the crossbeam and connected to the mechanical arms to adjust the angle and height of the mechanical arms. The user's body parameter information and environmental information are obtained through sensors and the obtained information is transmitted to the walking aid controller. The walking aid controller adjusts the posture of the mechanical legs and mechanical arms according to the information it obtains, and adjusts the angle and height of the mechanical arms by controlling the adjustment device. As a result, the four-legged multifunctional intelligent walker can adapt to a variety of environments and adjust its posture according to specific environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic structural diagram of a quadruped multifunctional intelligent walker provided in one embodiment of the present invention;

[0032] Figure 2 A flow chart of a control method for a quadruped multifunctional intelligent walker provided in one embodiment of the present invention;

[0033] Figure 3 A schematic structural diagram of a quadruped multifunctional intelligent walker in a supported walking mode according to one embodiment of the present invention;

[0034] Figure 4 A schematic structural diagram of an active support walking mode configuration of a quadruped multifunctional intelligent walker provided by one embodiment of the present invention;

[0035] Figure 5 A schematic structural diagram of a quadruped multifunctional intelligent walker in an embracing anti-fall walking mode according to one embodiment of the present invention;

[0036] Figure 6 A schematic structural diagram of a wheelchair-mode configuration of a quadruped multifunctional intelligent walker provided by one embodiment of the present invention;

[0037] Figure 7 A schematic structural diagram of the quadruped obstacle crossing mode configuration of a quadruped multifunctional intelligent walker provided in one embodiment of the present invention.

[0038] Reference numerals

[0039] 1. Driving wheel; 2. Calf connecting arm;

[0040] 3. Thigh connecting arm; 4. Hip connecting arm;

[0041] 5. Crossbeam; 6. Rotating arm;

[0042] 7. Telescopic arm; 8. First set of sensors;

[0043] 9. First shoulder joint connector; 10. Second shoulder joint connector;

[0044] 11. Upper arm connecting arm; 12. First elbow joint connecting head;

[0045] 13. Second elbow joint connector; 14. Forearm connector arm. DETAILED DESCRIPTION

[0046] In order to make the above and other features and advantages of the present invention more clear, the present invention is further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0049] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0051] A first aspect of the present invention provides a four-legged multifunctional intelligent walker, comprising: a crossbeam 5; four mechanical legs, arranged on and supporting the crossbeam 5; two mechanical arms, connected to each other by an adjustment device; an adjustment device, arranged on the crossbeam 5 and connected to the mechanical arms; a sensor, used to obtain user body parameter information and / or environmental information; a walking aid controller, electrically connected to the sensor and configured to adjust the posture of the mechanical legs and / or mechanical arms according to the information obtained by the sensor, and / or control the adjustment device to adjust the height and angle of the mechanical arms.

[0052] In this solution, four mechanical legs are used to move the four-legged multifunctional intelligent walker, and two mechanical arms are used as handrails for the user to support. The angle and height of the mechanical arms are adjusted by setting an adjustment device on the crossbeam 5 and connecting the mechanical arms. The user's body parameter information and environmental information are obtained through sensors and the obtained information is transmitted to the walking aid controller. The walking aid controller adjusts the posture of the mechanical legs and mechanical arms according to the information it obtains, and adjusts the angle and height of the mechanical arms by controlling the adjustment device. As a result, the four-legged multifunctional intelligent walker can adapt to a variety of environments and adjust its posture according to specific environmental conditions.

[0053] In a further embodiment of the present invention, the mechanical leg includes: a hip joint connecting arm 4, one end of which is movably connected to the crossbeam 5; a thigh connecting arm 3, which is movably connected to the other end of the hip joint connecting arm 4; a calf connecting arm 2, which is movably connected to the thigh connecting arm 3; and a driving wheel 1, which is movably connected to one end of the calf connecting arm 2 and is used to drive the calf connecting arm 2 to move; the walking aid controller is configured to adjust the posture of the mechanical leg by adjusting the relative angle relationship between the hip joint connecting arm 4, the thigh connecting arm 3, and the calf connecting arm 2.

[0054] In this scheme, the hip joint connecting arm 4, the thigh connecting arm 3, the calf connecting arm 2 and the driving wheel 1 are movably connected in sequence, and the walking aid controller adjusts the posture of the entire mechanical leg by controlling the relative angle relationship between the hip joint connecting arm 4, the thigh connecting arm 3, the calf connecting arm 2 and the driving wheel 1; a driving device can also be set to drive the driving wheel 1 to rotate.

[0055] In a further embodiment of the present invention, the adjustment device includes: a rotating arm 6, which is arranged on the beam 5 and is rotatably connected to the beam 5; and a telescopic arm 7, which is respectively connected to the rotating arm 6 and the robotic arm; the walking aid controller is configured to adjust the height and angle of the robotic arm by adjusting the angle of the rotating arm 6 and the height of the telescopic arm 7.

[0056] In this solution, the adjustment mechanism is configured to include a telescopic arm 7 and a rotating arm 6. The rotating arm 6 itself is arranged on the cross arm to provide a supporting effect and can be driven to rotate by a driving device. The telescopic arm 7 is movably connected to the rotating arm 6, and the telescopic function can be realized in the form of a pneumatic arm or a hydraulic arm.

[0057] In a further embodiment of the present invention, the sensors include a first group of sensors 8 and a second group of sensors; the first group of sensors 8 are arranged on the adjustment device and located between the two groups of robotic arms to obtain environmental information; the second group of sensors are arranged on the robotic arms and / or the beam 5 to obtain user body parameter information.

[0058] Furthermore, the first group of sensors 8 can use depth cameras, lidar, ultrasonic detection, etc. to obtain information such as road conditions, and the second group of sensors can use a series of electronic components for monitoring the human body, such as visual equipment, blood pressure sensors, heart rate sensors, etc.

[0059] In a further embodiment of the present invention, the robotic arm includes an upper arm connecting arm 11, a lower arm connecting arm 14, a shoulder joint connecting piece and an elbow joint connecting piece. The upper arm connecting arm 11 is rotatably connected to the adjustment device through the shoulder joint connecting piece, and the lower arm connecting arm 14 is rotatably connected to the upper arm connecting arm 11 through the elbow joint connecting piece; the walking aid controller is configured to adjust the posture of the robotic arm by adjusting the relative position relationship between the upper arm connecting arm 11 and the lower arm connecting arm 14.

[0060] Specifically, the walking aid controller can control the upper arm connecting arm 11 to rotate relative to the lower arm connecting arm 14 through the elbow joint connecting piece, and control the upper arm connecting arm 11 to rotate in any direction relative to the adjustment device through the shoulder joint connecting piece to adjust its posture.

[0061] In a further embodiment of the present invention, the shoulder joint connecting part includes a first shoulder joint connecting head and a second shoulder joint connecting head, and the second shoulder joint connecting head is rotatably connected to the first shoulder joint connecting head; the adjusting device is rotatably connected to the first shoulder joint connecting head, and the upper arm connecting arm 11 is connected to the second shoulder joint connecting head.

[0062] In a further embodiment of the present invention, the elbow joint connector includes a first elbow joint connector and a second elbow joint connector, and the second elbow joint connector is rotatably connected to the first elbow joint connector; the upper arm connecting arm 11 is connected to the first elbow joint connector, and the lower arm connecting arm 14 is connected to the second elbow joint connector.

[0063] In this solution, by rotatably connecting the first connecting head of the shoulder joint and the second connecting head of the shoulder joint, and rotatably connecting the first connecting head of the elbow joint and the second connecting head of the elbow joint, the upper arm connecting arm 11 can rotate in any direction relative to the adjustment device or the lower arm connecting arm 14, so as to facilitate the robotic arm to adjust its posture.

[0064] In a further embodiment of the present invention, two crossbeams 5 are provided, the adjustment device connects the two crossbeams 5, and a set of robotic legs are provided at each end of the two crossbeams 5. Sensors are provided on the robotic arms and / or crossbeams 5; and the walking assist controller is provided on the crossbeam 5.

[0065] In a further embodiment of the present invention, the walking aid controller is provided with a walker functional configuration, and the walker functional configuration includes at least one of a supporting walking mode configuration, a supporting walking mode configuration, a hugging anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

[0066] Support walking mode configuration (see Figure 3 ):The two forearms support the user's armpits to reduce the weight burden on the user's lower limbs. The user grasps the upper arms with both hands to further stabilize the body posture, and rotates the arms inward to obtain a suitable walking space.

[0067] Active support walking mode configuration (see Figure 4 ): The arm is rotated outward to obtain a suitable walking space, and the user grasps the forearm with both hands and actively exerts force to achieve the walking assistance effect.

[0068] Embrace the anti-fall walking mode configuration (see Figure 5 ): Through the rotation of the shoulder joints of the two arms in the horizontal plane and the rotation of the two forearms in the horizontal plane, the user's waist and back core area is embraced. The user grasps the outside of the upper arms with both hands to further stabilize the body posture, and the rotating arms rotate inward to get closer to the user, hugging the user to reduce most of the weight; when the user falls, the gravity exerted on the two robotic arms suddenly increases. At this time, the two robotic arms continue to hold the user tightly to prevent him from falling and getting injured. At the same time, the center of gravity is gradually lowered through the movement of the robotic legs, and the user is slowly placed on the ground, and an emergency contact number is called for help.

[0069] Intelligent wheelchair mode configuration (see Figure 6 ): In this configuration, the user can sit on a stable plane formed by the crossbeam and the rotating arm, with the two forearms serving as armrests and the legs at a fixed relative angle, so that it can be used as a wheelchair.

[0070] Quadruped obstacle course configuration (see Figure 7 ): In this configuration, the two robotic arms adjust their horizontal position to provide the user with constant and stable assistance, while the four legs are fixed, allowing the robot to traverse obstacles with a quadrupedal gait.

[0071] A second aspect of the present invention provides a control method for a quadruped multifunctional intelligent walker, which is implemented by the quadruped multifunctional intelligent walker provided by the first aspect. The control method includes:

[0072] S100: Using sensors to obtain static parameters of the user's body and adjust to a suitable height / width;

[0073] S200: Based on the user's selection, the walker controls the quadruped multifunctional intelligent walker to adjust to the corresponding configuration;

[0074] S300: A quadrupedal multifunctional intelligent walker that moves by controlling the rotation of the drive wheels;

[0075] S400: Using sensors to obtain environmental data, adjusting the posture based on the environmental data and providing warnings to the user on dangerous roads;

[0076] Furthermore, the environmental data includes the slope of the road. By reminding the user in real time to adjust their posture to adapt to the slope when there is a large slope, the direction and torque of the four-wheel drive are adjusted to reduce the movement resistance caused by the walker.

[0077] S500: Obtaining user body dynamic parameters using sensors, and adjusting the posture based on the user body dynamic parameters.

[0078] Furthermore, the user's body dynamic parameters are obtained through sensors, and relevant motion data is detected and recorded. The movement speed of the walker is adjusted by the user's thrust, pressure, walking speed and step length, so as to adjust the inclination angle of the rotating arm.

[0079] In a further embodiment of the present invention, the functional configuration of the walker includes at least one of a supporting walking mode configuration, a supporting walking mode configuration, an embracing anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

[0080] In a further embodiment of the present invention, the posture of the quadruped multifunctional intelligent walker is adjusted by information as follows: the posture of the robotic arm is adjusted by controlling the connection between the first connector of the elbow joint and the second connector of the elbow joint, and / or adjusting the connection between the first connector of the shoulder joint and the second connector of the shoulder joint; the height of the robotic arm is adjusted by controlling the adjustment device to rotate and lift; the robotic legs are controlled to adjust their posture; and the driving wheel 1 is controlled to adjust the movement speed.

[0081] Furthermore, those skilled in the art should understand that if all or part of the sub-modules involved in a quadruped multifunctional intelligent walker and its control method provided in the embodiments of the present invention are combined or replaced by fusion, simple changes, mutual conversion, etc., such as the placement and movement of each component; or the product they constitute is set as one piece; or a detachable design; all the combined components can form a device / apparatus / system with specific functions, and using such a device / apparatus / system to replace the corresponding components of the present invention also falls within the scope of protection of the present invention.

[0082] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0083] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A four-legged multifunctional intelligent walker, characterized in that: include: beam; four mechanical legs, disposed on the crossbeam and supporting the crossbeam; an adjusting device, disposed on the crossbeam; The adjusting device includes: a rotating arm, which is arranged on the beam and rotatably connected to the beam; and a telescopic arm, which is respectively connected to the rotating arm and the mechanical arm; two robotic arms connected to the adjustment device; The robotic arm comprises an upper arm connecting arm, a lower arm connecting arm, a shoulder joint connecting piece, and an elbow joint connecting piece, wherein the upper arm connecting arm is rotatably connected to the adjusting device via the shoulder joint connecting piece, and the lower arm connecting arm is rotatably connected to the upper arm connecting arm via the elbow joint connecting piece; Sensors for obtaining user's body parameter information and / or environmental information; A walking aid controller is electrically connected to the sensor and is configured to adjust the posture of the robotic leg and / or the robotic arm according to information obtained by the sensor, and / or control the adjustment device to adjust the height and angle of the robotic arm.

2. The quadruped multifunctional intelligent walker according to claim 1, characterized in that: The mechanical leg comprises: a hip joint connecting arm, one end of which is movably connected to the crossbeam; a thigh connecting arm, movably connected to the other end of the hip joint connecting arm; A calf connecting arm, movably connected to the thigh connecting arm; and a driving wheel movably connected to one end of the calf connecting arm and used to drive the calf connecting arm to move; The walking aid controller is configured to adjust the hip joint connecting arm, the thigh connecting arm, the calf connecting arm, The relative angle relationship between the arms is used to adjust the posture of the robotic leg.

3. The quadruped multifunctional intelligent walker according to claim 1, characterized in that: The walking-assist controller is configured to adjust the height and angle of the robotic arm by adjusting the angle of the rotating arm and the height of the telescopic arm.

4. The quadruped multifunctional intelligent walker according to claim 3, characterized in that: The sensors include a first group of sensors and a second group of sensors; The first group of sensors is arranged on the adjustment device and located between the two groups of the mechanical arms to obtain environmental information; The second group of sensors is arranged on the robotic arm and the crossbeam to obtain static and motion parameter information of the user's body.

5. The quadruped multifunctional intelligent walker according to claim 1, characterized in that: The walking assistance controller is configured to adjust the posture of the robotic arm by adjusting the relative position relationship between the upper arm connecting arm and the lower arm connecting arm.

6. The quadruped multifunctional intelligent walker according to claim 5, characterized in that: The shoulder joint connecting part includes a first shoulder joint connecting head and a second shoulder joint connecting head, and the second shoulder joint connecting head is rotatably connected to the first shoulder joint connecting head; the adjusting device is rotatably connected to the first shoulder joint connecting head, and the upper arm connecting arm is connected to the second shoulder joint connecting head.

7. The quadruped multifunctional intelligent walker according to claim 5, characterized in that: The elbow joint connecting piece includes a first elbow joint connecting head and a second elbow joint connecting head, the second elbow joint connecting head is rotatably connected to the first elbow joint connecting head; the upper arm connecting arm is connected to the first elbow joint connecting head, and the lower arm connecting arm is connected to the second elbow joint connecting head.

8. The quadruped multifunctional intelligent walker according to claim 1, characterized in that: The walking aid controller is equipped with a walker functional configuration, which includes at least one of a supported walking mode configuration, a supported walking mode configuration, a hugging anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

9. A control method for a quadruped multifunctional intelligent walker, characterized in that: Based on the quadruped multifunctional intelligent walker according to any one of claims 1 to 7, the control method includes: Acquiring user body parameter information and / or environmental information using the sensor; Based on the information obtained by the sensor, a corresponding functional configuration of the walking aid is obtained using a walking aid controller; According to the corresponding functional configuration of the walker, using the walker controller to adjust the posture of the mechanical leg and / or the mechanical arm, and / or adjust the height and angle of the mechanical arm; Use sensors to obtain the user's static body parameters and adjust to the appropriate height / width; Based on the user's selection, the walker controls the quadruped multifunctional intelligent walker to adjust to the corresponding configuration; The quadruped multifunctional intelligent walker is moved by controlling the rotation of the driving wheels by the walker; Use sensors to obtain environmental data, adjust posture based on environmental data, and warn users of dangerous roads; Sensors are used to obtain the user's body dynamic parameters and the posture is adjusted based on the user's body dynamic parameters.

10. The control method of a quadruped multifunctional intelligent walker according to claim 9, characterized in that: The functional configuration of the walker includes at least one of a support walking mode configuration, a support walking mode configuration, an embracing anti-fall walking mode configuration, a four-legged obstacle crossing mode configuration, and an intelligent wheelchair mode configuration.

Images