A care robot and method for interaction with patients with dementia

Abstract

The present invention relates to the technical field of care robots, and specifically discloses a care robot and method for interaction with patients with dementia, comprising: a camera, a main control box, an infrared grating and a care robot; the camera is installed at the top of the wall; the main control box is installed at the top of the wall and is located at the rear side of the camera, and the camera and the main control box are electrically connected; two infrared gratings are installed on the left and right sides of the door frame, respectively, and the infrared grating and the main control box are electrically connected; the care robot is arranged outside the infrared grating. The present invention uses a robot to efficiently transfer the wheelchair of a patient with dementia, reducing the physical strength and work burden of medical staff, and when facing obstacles such as indoor thresholds, a robot is used instead of manually lifting the wheelchair over the threshold, so that the wheelchair can cross the threshold more smoothly, the patient will not be subjected to severe vibration or shaking, and the risk of falling and injury is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of care robots, and in particular to a care robot and method for interaction with dementia patients. Background Art

[0002] Dementia refers to people who suffer from cognitive impairment, which is a progressive degeneration of cognitive function caused by brain damage or disease. The symptoms are diverse, the most common of which are memory loss, such as forgetting what just happened, asking the same question over and over again, disorientation, such as not knowing what day it is today or where you are, language barriers, difficulty finding words, decreased expression and comprehension, decreased thinking and judgment, difficulty calculating and making decisions, personality and behavior changes, the personality may change from gentle to irritable, suspicious, etc., and abnormal behavior may also occur. Common causes include Alzheimer's disease Alzheimer's disease is related to pathological changes such as amyloid deposition in the brain. Vascular cognitive impairment is caused by cerebrovascular disease, and most patients have risk factors for cerebrovascular disease. Lewy body dementia is characterized by the presence of Lewy bodies in the brain, accompanied by Parkinson's-like symptoms and obvious hallucinations. Frontotemporal dementia mainly affects the frontal and temporal lobe areas, with early manifestations of personality and behavioral changes, followed by cognitive dysfunction. In terms of care and support, life care should provide a safe environment and assist in daily living activities. In terms of cognitive training, simple training such as jigsaw puzzles and digital memory games or recalling past events can be used to stimulate memory.

[0003] In the prior art, since cognitive impairment patients have limited mobility and need to use wheelchairs to travel, existing electric wheelchairs will generate bumps or vibrations when crossing thresholds, which may cause patients to fall from the wheelchair and cause injuries. Therefore, medical staff are required to manually lift the wheelchair over obstacles such as thresholds, which increases the workload of medical staff. Summary of the invention

[0004] The object of the present invention is to provide a care robot and method for interaction with dementia patients to solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a care robot for interaction with dementia patients, comprising: a camera, a main control box, an infrared grating and a care robot; the camera is installed at the top of the wall; the main control box is installed at the top of the wall and is located at the rear side of the camera, and the camera and the main control box are electrically connected; the number of the infrared gratings is two, and the two infrared gratings are respectively installed on the left and right sides of the door frame, and the infrared grating is electrically connected to the main control box; the care robot is arranged outside the infrared grating.

[0006] Preferably, the care robot comprises: a wheeled mobile platform, a sub-control chassis, an interactive device and a storage trough; the wheeled mobile platform is placed on the ground and outside the infrared grating; the sub-control chassis is installed on the top rear side of the wheeled mobile platform, the sub-control chassis and the wheeled mobile platform are electrically connected, and the sub-control chassis and the main control box are remotely connected via a network; the interactive device is installed on the top of the sub-control chassis, and the interactive device and the sub-control chassis are electrically connected; the storage trough is opened at the front bottom end of the sub-control chassis; wherein armrest components are provided on the top of the left and right sides of the sub-control chassis, a downward pressing component is provided on the front side of the sub-control chassis, and anti-tilt components are provided on the left and right sides of the top of the rear side of the sub-control chassis.

[0007] Preferably, the armrest component includes: a track housing, a roller seat, a first screw assembly, a first motor, a mounting seat, a first rotating arm and a first pulley; the track housing is installed on the side wall of the sub-control chassis in the up-down direction; the roller seat is inserted in the inner cavity of the track housing; the first screw assembly is installed in the inner cavity of the track housing in the up-down direction; the first motor is installed on the top of the track housing, the rotating end of the first motor extends into the inner cavity of the track housing and is connected to the top of the screw axis of the first screw assembly, and the first motor is electrically connected to the sub-control chassis; the mounting seat is installed on the right side of the roller seat; the first rotating arm is rotatably connected to the inner outer end of the mounting seat through a rotating shaft; the first pulley is arranged at the inner bottom of the inner end of the first rotating arm, and the first pulley is connected to the top of the axis of the first rotating arm.

[0008] Preferably, the armrest component also includes: a second motor, a second pulley, a first belt, a third motor, a third pulley, a fourth pulley, a second belt, a second rotating arm, a fifth pulley and a third belt; the second motor is installed at the bottom end of the mounting seat, the rotating end of the second motor extends into the inner side of the mounting seat, and the second motor is electrically connected to the sub-control box; the second pulley is installed at the top of the rotating end of the second motor; one end of the first belt is sleeved on the outside of the second pulley, and the other end of the first belt is sleeved on the outside of the first pulley; the third motor is installed at the top end of the mounting seat, and the rotating end of the third motor extends into the mounting seat on the inner side, the third motor and the sub-control chassis are electrically connected; the third pulley is rotatably connected to the top of the inner end of the inner end of the first rotating arm through a rotating shaft; the fourth pulley is installed at the bottom of the rotating end of the third pulley; one end of the second belt is sleeved on the outside of the fourth pulley, and the other end of the second belt is sleeved on the top of the outside of the third pulley; the second rotating arm is rotatably connected to the inner side of the outer end of the first rotating arm through a rotating shaft; the fifth pulley is installed on the outside of the axis of the second rotating arm; one end of the third belt is sleeved on the outside of the third pulley, and the other end of the third belt passes through the outside of the first rotating arm and is sleeved on the outside of the fifth pulley.

[0009] Preferably, the armrest component also includes: a slot shell, a mounting frame, a first electric telescopic rod, a guide rail assembly, a second lead screw assembly, a fourth motor, a mounting plate, a clamp and a snap frame; the slot shell is mounted on the front end of the second rotating arm; the mounting frame is arranged on the front side of the slot shell in the up-down direction; the number of the first electric telescopic rods is two, one end of the two first electric telescopic rods is mounted on the rear side of the upper and lower ends of the inner cavity of the slot shell through a rotating shaft seat, the other ends of the two first electric telescopic rods are respectively connected to the upper and lower ends of the rear side of the mounting frame through the rotating shaft seat, and the first electric telescopic rod is electrically connected to the sub-control chassis; the guide rail assembly is arranged along the upper The downward direction is arranged at the inner rear end of the mounting frame; the second screw assembly is arranged at the inner front end of the mounting frame along the up and down direction; the fourth motor is arranged on the inner side of the top end of the second screw assembly, the rotating end of the fourth motor is connected to the top end of the screw shaft of the second screw assembly, and the fourth motor is electrically connected to the sub-control chassis; the mounting plate is installed on the front side of the limit end of the guide rail assembly along the front-to-back direction, and the mounting plate is connected to the screw nut of the second screw assembly; the clamp is installed on the front side of the bottom end of the mounting plate, and the clamp is electrically connected to the sub-control chassis; the snap frame is installed at the bottom end of the mounting plate and is located at the front side of the clamp.

[0010] Preferably, the pressing component comprises: a fixed seat, a rotating base, a first rotating rod, a second rotating rod, a second electric telescopic rod, a mounting base, a first rotating frame, a third electric telescopic rod, a second rotating frame, a fourth electric telescopic rod, a pressing frame and a fifth electric telescopic rod; the fixed seat is installed at the middle of the front side of the top end of the wheeled mobile platform; the rotating base is rotatably connected to the front side of the fixed seat by a rotating shaft; the number of the first rotating rods is two, and one end of the two first rotating rods is installed on the left and right sides of the rotating base through a rotating shaft seat; the number of the second rotating rods is two, and one end of the two second rotating rods is rotatably connected to the inner side of the other end of the left and right fixed seats through a rotating shaft; the number of the second electric telescopic rods is two, and one end of the two second electric telescopic rods is installed on the top of the wheeled mobile platform through a rotating shaft seat and is located at the left and right ends of the rear side of the rotating base, and the telescopic ends of the two second electric telescopic rods are respectively rotatably connected to the outside of the rotating shaft at the connecting position of the first rotating rod and the second rotating rod on the left and right sides through bearings, and the second electric telescopic rod is electrically connected to the sub-control chassis; The mounting base is mounted on the top of the rotating base; one end of the first rotating frame is rotatably connected to the top of the inner rear end of the mounting base through a rotating shaft, and the shape of the first rotating frame is V-shaped; one end of the third electric telescopic rod is rotatably connected to the bottom of the inner front end of the mounting base through a rotating shaft, and the other end of the third electric telescopic rod is rotatably connected to the front side of the first rotating frame through a rotating shaft, and the third electric telescopic rod is electrically connected to the sub-control chassis; the second rotating frame is rotatably connected to the other end of the first rotating frame through a rotating shaft; one end of the fourth electric telescopic rod is rotatably connected to the rear side of the first rotating frame through a rotating shaft, and the other end of the fourth electric telescopic rod is rotatably connected to the inner side of the rear end of the second rotating frame through a rotating shaft, and the fourth electric telescopic rod is electrically connected to the sub-control chassis; the lower pressure frame is rotatably connected to the inner side of the other end of the first rotating frame through a rotating shaft; one end of the fifth electric telescopic rod is rotatably connected to the rear side of the top end of the second rotating frame through a rotating shaft, and the other end of the fifth electric telescopic rod is rotatably connected to the front side of the lower pressure frame through a rotating shaft, and the fifth electric telescopic rod is electrically connected to the sub-control chassis.

[0011] Preferably, the anti-tilt component includes: a slot shell, a telescopic rod, a sixth electric telescopic rod, a slot body seat, a pressure rod and a fifth motor; the slot shell is installed on the rear side of the sub-control chassis along the front-to-back direction; the telescopic rod is inserted into the front side of the inner cavity of the slot shell along the front-to-back direction; the sixth electric telescopic rod is installed on the rear side of the top end of the slot shell along the front-to-back direction, and the sixth electric telescopic rod is electrically connected to the sub-control chassis; the slot body seat is installed at the front end of the telescopic rod, and the other end of the telescopic rod is connected to the top end of the slot body seat; the pressure rod is installed on the inner side of the slot body seat through a rotating shaft; the fifth motor is installed on the outer side of the slot body seat, and the rotating end of the fifth motor extends into the inner side of the slot body seat and is connected to the axis of the pressure rod, and the fifth motor is electrically connected to the sub-control chassis.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The wheeled mobile platform is guided by a camera to move to the rear of the wheelchair, and the first motor in the armrest components on the left and right sides drives the lead screw in the first lead screw assembly at the corresponding position to rotate, so that the lead screw nut in the first lead screw assembly drives the roller seat to move upward or downward to a specified height position on the inner side of the track housing, and the second motor drives the second pulley to rotate. The first belt drives the first pulley to rotate under the action of the rotation force of the second pulley and drives the first rotating arm to rotate forward or backward on the inner side of the mounting seat, and the third motor drives the fourth pulley to rotate. The second belt drives the third pulley to rotate inside one end of the first rotating arm under the action of the rotation force of the fourth pulley. At the same time, the fifth pulley is driven to rotate synchronously under the transmission of the third belt, and the fifth pulley drives the second rotating arm to rotate forward or backward inside the other end of the first rotating arm, so as to adjust the folding angle of the first rotating arm and the second rotating arm to move the clamp to the position above the patient's wheelchair, the clamp clamps and fixes the outer rear end of the patient's wheelchair armrest, the buckle frame clamps at the front end position of the patient's wheelchair armrest, the interactive device collects external image information and sends it to the inside of the sub-control chassis, the sub-control chassis plans the moving route and controls the movement of the wheeled mobile platform, so as to push the patient's wheelchair to the designated position under the movement of the care robot.

[0014] 2. The sixth electric telescopic rod is extended to drive the telescopic rod to extend a specified length from the inner cavity of the slot shell, and the pressure rod is moved to the position above the patient. The fifth motor drives the pressure rod to rotate downward to block the position in front of the patient. The third electric telescopic rod is extended and shortened to drive the first rotating frame to tilt forward or backward on the inner side of the mounting base. The fourth electric telescopic rod is extended and shortened to drive the second rotating frame to tilt forward or backward at the top of the first rotating frame. The fifth electric telescopic rod is extended and shortened to drive the lower pressure frame to rotate forward or backward at the front end of the second rotating frame, so that the lower pressure frame is aligned with the pressure bar position under the wheelchair for pressing down. The fourth motors on the left and right sides synchronously drive the lead screw in the second lead screw assembly at the corresponding position to rotate, so that the lead screw nut in the second lead screw assembly drives the mounting plate to move downward under the limiting action of the guide rail assembly. The first electric telescopic rods on the upper and lower sides are extended and shortened respectively to tilt the mounting frame, and then the wheelchair is tilted upward by pressing down the wheelchair armrest position through the cooperation of the clamp and the buckle frame at the corresponding position. The wheeled mobile platform continues to move forward, so that the wheelchair moves through the threshold in a front-end tilting manner.

[0015] In summary, the present invention uses a robot to efficiently transfer the wheelchair of a dementia patient, reducing the physical strength and work burden of medical staff, and when facing obstacles such as indoor thresholds, a robot is used instead of manually lifting the wheelchair over the threshold, so that the wheelchair can cross the threshold more smoothly, the patient will not be subjected to severe vibration or shaking, and the risk of falling and injury is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the care robot;

[0018] Figure 3 for Figure 2 A magnified image of point A;

[0019] Figure 4 for Figure 2 A magnified view of point B;

[0020] Figure 5 for Figure 2 Enlarged view of point C;

[0021] Figure 6 for Figure 2 Enlarged view of point D.

[0022] In the figure: 1, camera, 2, main control box, 3, infrared grating, 4, care robot, 41, wheeled mobile platform, 42, sub-control chassis, 43, interactive device, 44, storage tank, 45, track shell, 46, roller seat, 47, first screw assembly, 48, first motor, 49, mounting seat, 410, first rotating arm, 411, first pulley, 412, second motor, 413, second pulley, 414, first belt, 415, third motor, 416, third pulley, 417, fourth pulley, 418, second belt, 419, second rotating arm, 420, fifth pulley, 421, third belt, 422, tank shell, 423, mounting bracket, 4 24. a first electric telescopic rod; 425. a guide rail assembly; 426. a second lead screw assembly; 427. a fourth motor; 428. a mounting plate; 429. a clamp; 430. a snap-on frame; 431. a fixing seat; 432. a rotating base; 433. a first rotating rod; 434. a second rotating rod; 435. a second electric telescopic rod; 436. a mounting base; 437. a first rotating frame; 438. a third electric telescopic rod; 439. a second rotating frame; 440. a fourth electric telescopic rod; 441. a lower pressure frame; 442. a fifth electric telescopic rod; 443. a slot housing; 444. a telescopic rod; 445. a sixth electric telescopic rod; 446. a slot seat; 447. a pressure rod; 448. a fifth motor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 6 The present invention provides a technical solution: a care robot for interaction with patients with dementia, comprising: a camera 1, a main control box 2, an infrared grating 3 and a care robot 4; the camera 1 is installed at the top of the wall, the camera 1 can effectively monitor the surrounding environment, and convert the acquired wheelchair position information into coordinate information, and send it to the sub-control box 42 through the main control box 2; the main control box 2 is installed at the top of the wall and is located at the rear side of the camera 1, the camera 1 and the main control box 2 are electrically connected, the main control box 2 integrates a high-performance processor, a storage unit and a network communication module, can receive and process various information, and issue control instructions to realize data transmission and the issuance of remote operation instructions by medical staff; the number of infrared gratings 3 is two, the two infrared gratings 3 are respectively installed on the left and right sides of the door frame, the infrared gratings 3 are electrically connected to the main control box 2, the infrared gratings 3 can detect whether the wheelchair has reached the door frame position, and send a signal to the sub-control box 42 through the main control box 2; the care robot 4 is arranged outside the infrared grating 3.

[0025] As a preferred solution, further, the care robot 4 includes: a wheeled mobile platform 41, a sub-control chassis 42, an interactive device 43 and a storage tank 44; the wheeled mobile platform 41 is placed on the ground and outside the infrared grating 3, and the wheeled mobile platform 41 integrates an image collection processor, a driving obstacle crossing unit and a battery module. The wheeled mobile platform 41 can move along the planned route and avoid obstacles during movement. The wheeled mobile platform 41 can power the internal electrical components of the care robot 4, and the wheeled mobile platform 41 can cross obstacles of a certain height; the sub-control chassis 42 is installed on the top rear side of the wheeled mobile platform 41, and the sub-control chassis 42 is electrically connected to the wheeled mobile platform 41. The sub-control chassis 42 The sub-control box 42 is remotely connected to the main control box 2 through the network. A high-performance processor, a storage unit and a network communication module are integrated inside the sub-control box 42. The sub-control box 42 can receive control instructions from the main control box 2. The interactive device 43 is installed on the top of the sub-control box 42. The interactive device 43 and the sub-control box 42 are electrically connected. The interactive device 43 is controlled by the sub-control box 42. The interactive device 43 can interact with the patient through voice to obtain the location the patient wants to go to. Medical staff can communicate with the patient remotely through the interactive device 43. The storage tank 44 is opened at the bottom of the front side of the sub-control box 42. Among them, armrest components are arranged on the top of the left and right sides of the sub-control box 42. The armrest components include: a track housing 45, a roller seat 46, and a first screw assembly 47, a first motor 48, a mounting seat 49, a first rotating arm 410, a first pulley 411, a second motor 412, a second pulley 413, a first belt 414, a third motor 415, a third pulley 416, a fourth pulley 417, a second belt 418, a second rotating arm 419, a fifth pulley 420, a third belt 421, a slot housing 422, a mounting frame 423, a first electric telescopic rod 424, a guide rail assembly 425, a second screw assembly 426, a fourth motor 427, a mounting plate 428, a clamp 429 and a snap frame 430; the track housing 45 is mounted on the side wall of the sub-control cabinet 42 along the up and down direction; the roller seat 46 is plugged into the inner cavity of the track housing 45; the first screw assembly 47 is mounted along the up and down direction The first screw assembly 47 is installed in the inner cavity of the track housing 45, the screw rod in the first screw assembly 47 is rotatably installed in the inner cavity of the track housing 45 through the bearing in the up and down direction, and the outer part of the screw rod is screwed with a screw nut; the first motor 48 is installed on the top of the track housing 45, the rotating end of the first motor 48 extends into the inner cavity of the track housing 45 and is connected to the top of the axis of the screw rod of the first screw assembly 47, the first motor 48 is electrically connected to the sub-control box 42, the first motor 48 is controlled by the sub-control box 42, and the first motor 48 can drive the screw rod of the first screw assembly 47 to rotate clockwise or counterclockwise; the mounting seat 49 is installed on the right side of the roller seat 46; the first rotating arm 410 is rotatably connected to the inner outer end of the mounting seat 49 through the rotating shaft;The first pulley 411 is arranged at the inner bottom of the inner end of the first rotating arm 410, and the first pulley 411 is connected to the top of the axis of the first rotating arm 410; the second motor 412 is installed at the bottom end of the mounting seat 49, and the rotating end of the second motor 412 extends into the inner side of the mounting seat 49, the second motor 412 is electrically connected to the sub-control chassis 42, and the second motor 412 is controlled by the sub-control chassis 42, and the second motor 412 can drive the second pulley 413 to rotate clockwise or counterclockwise; the second pulley 413 is installed at the top of the rotating end of the second motor 412; one end of the first belt 414 is sleeved on the outside of the second pulley 413, and the other end of the first belt 414 is sleeved on the outside of the first pulley 411, and the first belt 414 can The third motor 415 is installed at the top of the mounting seat 49, and the rotating end of the third motor 415 extends into the inner side of the mounting seat 49. The third motor 415 is electrically connected to the sub-control chassis 42, and the third motor 415 is controlled by the sub-control chassis 42. The third motor 415 can drive the fourth pulley 417 to rotate clockwise or counterclockwise; the third pulley 416 is rotatably connected to the inner top of the inner end of the first rotating arm 410 through a rotating shaft; the fourth pulley 417 is installed at the bottom of the rotating end of the third pulley 416; one end of the second belt 418 is sleeved on the outside of the fourth pulley 417, and the other end of the second belt 418 is sleeved on the outer top of the third pulley 416. 418 can play a role in transmitting between the fourth pulley 417 and the third pulley 416; the second rotating arm 419 is rotatably connected to the inner side of the outer end of the first rotating arm 410 through the rotating shaft; the fifth pulley 420 is installed outside the axis of the second rotating arm 419; one end of the third belt 421 is sleeved on the outer bottom of the third pulley 416, and the other end of the third belt 421 passes through the outside of the first rotating arm 410 and is sleeved on the outside of the fifth pulley 420, and the third belt 421 can play a role in transmitting between the third pulley 416 and the fifth pulley 420; the slot housing 422 is installed at the front end of the second rotating arm 419; the mounting frame 423 is arranged on the front side of the slot housing 422 in the up and down direction; the number of the first electric telescopic rod 424 is two , one end of the two first electric telescopic rods 424 is installed on the rear side of the upper and lower ends of the inner cavity of the slot body shell 422 through the rotating shaft seat, and the other ends of the two first electric telescopic rods 424 are respectively connected to the upper and lower ends of the rear side of the mounting frame 423 through the rotating shaft seat, the first electric telescopic rod 424 is electrically connected to the sub-control chassis 42, and the first electric telescopic rod 424 drives the mounting frame 423 to move forward and backward by its own extension and contraction. During the extension and contraction process of the first electric telescopic rod 424 itself, it can rotate around the rotation connection with the inner cavity rotating shaft seat of the slot body shell 422 as the axis; the guide rail assembly 425 is arranged at the inner rear end of the mounting frame 423 along the up and down direction, and the guide rail in the guide rail assembly 425 is installed on the inner side of the mounting frame 423 along the up and down direction, and a limit slider is installed on the outside of the guide rail as a limit end;The second screw assembly 426 is arranged at the inner front end of the mounting frame 423 along the up-down direction, and the screw in the second screw assembly 426 is rotatably installed on the inner side of the mounting frame 423 through the bearing along the up-down direction, and the outer side of the screw is screwed with a screw nut; the fourth motor 427 is arranged on the inner side of the top end of the second screw assembly 426, and the rotating end of the fourth motor 427 is connected to the top end of the screw axis of the second screw assembly 426, the fourth motor 427 is electrically connected to the sub-control chassis 42, and the fourth motor 427 is controlled by the sub-control chassis 42, and the fourth motor 427 can drive the screw of the second screw assembly 426 to rotate clockwise or counterclockwise; the mounting plate 428 is installed on the limit of the guide rail assembly 425 along the front-to-back direction. At the front side of the position end, the mounting plate 428 is connected to the screw nut of the second screw assembly 426; the clamp 429 is mounted on the front side of the bottom end of the mounting plate 428, the clamp 429 is electrically connected to the sub-control chassis 42, the clamp 429 is controlled by the sub-control chassis 42, and the clamp 429 can clamp and fix the wheelchair armrest; the buckle frame 430 is mounted on the bottom end of the mounting plate 428 and is located at the front side of the clamp 429; a downward pressing component is provided on the front side of the sub-control chassis 42, and the downward pressing component includes: a fixed seat 431, a rotating base 432, a first rotating rod 433, a second rotating rod 434, a second electric telescopic rod 435, a mounting base 436, a first rotating frame 437, a third electric telescopic rod 438, a second rotating frame 439, 39. The fourth electric telescopic rod 440, the lower pressure frame 441 and the fifth electric telescopic rod 442; the fixed seat 431 is installed in the middle of the front side of the top of the wheeled mobile platform 41; the rotating base 432 is rotatably connected to the front side of the fixed seat 431 through a rotating shaft, and the rotating base 432 can rotate clockwise or counterclockwise at the front side of the fixed seat 431; the number of the first rotating rods 433 is two, and one end of the two first rotating rods 433 is installed on the left and right sides of the rotating base 432 through the rotating shaft seat; the number of the second rotating rods 434 is two, and one end of the two second rotating rods 434 is rotatably connected to the inner side of the other end of the left and right fixed seats 431 through the rotating shaft; the number of the second electric telescopic rods 435 is two, and the two second electric telescopic rods 435 are One end of the rod 435 is installed on the top of the wheeled mobile platform 41 through a rotating shaft seat and is located at the left and right ends of the rear side of the rotating base 432. The telescopic ends of the two second electric telescopic rods 435 are respectively rotatably connected to the outside of the rotating shaft at the connection position of the first rotating rod 433 and the second rotating rod 434 on the left and right sides through bearings. The second electric telescopic rod 435 is electrically connected to the sub-control box 42. The second electric telescopic rod 435 drives the rotating shaft at the connection position of the first rotating rod 433 and the second rotating rod 434 to move forward and backward by its own extension and contraction. During the extension and contraction process of the second electric telescopic rod 435 itself, it can rotate around the rotating shaft seat at the top of the wheeled mobile platform 41; the mounting base 436 is installed at the top of the rotating base 432;One end of the first rotating frame 437 is rotatably connected to the top of the inner rear end of the mounting base 436 through a rotating shaft. The shape of the first rotating frame 437 is V-shaped. The first rotating frame 437 can rotate forward or backward with the connection with the inner rear end rotating shaft of the mounting base 436 as the axis; one end of the third electric telescopic rod 438 is rotatably connected to the bottom of the inner front end of the mounting base 436 through a rotating shaft, and the other end of the third electric telescopic rod 438 is rotatably connected to the front side of the first rotating frame 437 through a rotating shaft. The third electric telescopic rod 438 is electrically connected to the sub-control chassis 42, and the third electric telescopic rod 438 drives the first rotating frame 437 to rotate forward or backward by extending and shortening itself. During the extension and shortening process of the third electric telescopic rod 438 itself, it can rotate with the mounting base The inner shaft of the seat 436 is the axis rotation; the second rotating frame 439 is rotatably connected to the other end of the first rotating frame 437 through the rotating shaft, and the second rotating frame 439 can rotate forward or backward with the rotating shaft connection at the other end of the first rotating frame 437 as the axis; one end of the fourth electric telescopic rod 440 is rotatably connected to the rear side of the first rotating frame 437 through the rotating shaft, and the other end of the fourth electric telescopic rod 440 is rotatably connected to the inner side of the rear end of the second rotating frame 439 through the rotating shaft, the fourth electric telescopic rod 440 is electrically connected to the sub-control chassis 42, and the fourth electric telescopic rod 440 drives the second rotating frame 439 to rotate forward or backward by extending and shortening itself. During the extension and shortening process of the third electric telescopic rod 438 itself, it can be connected to the inner side of the mounting base 436 The shaft rotates around the axis; the lower pressure frame 441 is rotatably connected to the inner side of the other end of the first rotating frame 437 through the shaft; one end of the fifth electric telescopic rod 442 is rotatably connected to the rear side of the top end of the second rotating frame 439 through the shaft, and the other end of the fifth electric telescopic rod 442 is rotatably connected to the front side of the lower pressure frame 441 through the shaft, and the fifth electric telescopic rod 442 is electrically connected to the sub-control chassis 42, and the fifth electric telescopic rod 442 drives the lower pressure frame 441 to rotate forward or backward by its own extension and shortening. During the extension and shortening process of the fifth electric telescopic rod 442 itself, it can rotate around the shaft of the second rotating frame 439; anti-tilt components are arranged on the left and right sides of the rear top of the sub-control chassis 42, and the anti-tilt components include: a slot shell 443, a telescopic rod 44 4. The sixth electric telescopic rod 445, the slot body seat 446, the pressure rod 447 and the fifth motor 448; the slot housing 443 is installed on the rear side of the sub-control chassis 42 along the front-to-back direction; the telescopic rod 444 is plugged into the front side of the inner cavity of the slot housing 443 along the front-to-back direction, and the telescopic rod 444 can be telescoped to a specified length in the inner cavity of the slot housing 443; the sixth electric telescopic rod 445 is installed on the rear side of the top end of the slot housing 443 along the front-to-back direction, the sixth electric telescopic rod 445 is electrically connected to the sub-control chassis 42, and the sixth electric telescopic rod 445 drives the slot body seat 446 to move forward and backward by its own extension and shortening; the slot body seat 446 is installed on the front end of the telescopic rod 444, and the other end of the telescopic rod 444 is connected to the top end of the slot body seat 446;The pressure rod 447 is installed on the inner side of the tank seat 446 through the rotating shaft; the fifth motor 448 is installed on the outer side of the tank seat 446, the rotating end of the fifth motor 448 extends into the inner side of the tank seat 446 and is connected to the axis of the pressure rod 447, and the fifth motor 448 is electrically connected to the sub-control box 42. ;

[0026] Here’s how it works:

[0027] Step 1: The medical staff issues a remote command through the main control box 2, and the camera 1 starts to shoot the external environment to confirm the position of the patient's wheelchair. The camera 1 converts the acquired wheelchair position information into coordinate information, and sends it to the sub-control box 42 through the main control box 2, and the wheeled mobile platform 41 moves to the rear of the wheelchair;

[0028] Step 2: The first motor 48 in the left and right handrail components drives the lead screw in the first lead screw assembly 47 at the corresponding position to rotate, so that the lead screw nut in the first lead screw assembly 47 drives the roller seat 46 to move upward or downward inside the track housing 45 until it reaches a specified height position, which is prepared for the subsequent docking operation with the wheelchair handrail;

[0029] Step 3: The second motor 412 drives the second pulley 413 to rotate, and the first belt 414 drives the first pulley 411 to rotate under the action of the rotational force of the second pulley 413 and drives the first rotating arm 410 to rotate forward or backward inside the mounting seat 49, and the third motor 415 drives the fourth pulley 417 to rotate, and the second belt 418 drives the third pulley 416 to rotate inside one end of the first rotating arm 410 under the action of the rotational force of the fourth pulley 417, and drives the fifth pulley 420 to rotate synchronously under the transmission of the third belt 421, and the fifth pulley 420 drives the second rotating arm 419 to rotate forward or backward inside the other end of the first rotating arm 410, so as to adjust the folding angle of the first rotating arm 410 and the second rotating arm 419 to move the clamp 429 to the position above the patient's wheelchair armrest;

[0030] Step 4: The clamp 429 clamps and fixes the outer rear end of the patient's wheelchair armrest, and the buckle frame 430 clamps the front end of the patient's wheelchair armrest, thereby stably connecting the wheelchair to the care robot;

[0031] Step 5: The interactive device 43 collects external image information and sends it to the sub-control box 42. The sub-control box 42 plans the moving route according to the received image information and other relevant data to control the movement of the wheeled mobile platform 41, so as to push the patient's wheelchair to the designated position under the movement of the care robot 4, so that the clamp 429 can move to the accurate position above the patient's wheelchair;

[0032] Step 6: When the infrared grating 3 detects that the patient's wheelchair has moved to the door frame, it sends a signal to the main control box 2, and the main control box 2 sends a signal to the sub-control box 42 to inform that the wheelchair has reached the door frame. The sub-control box 42 runs according to the preset program and the preset settings;

[0033] Step 7: The sixth electric telescopic rod 445 extends itself and drives the telescopic rod 444 to extend a specified length from the inner cavity of the slot housing 443, so that the pressure rod 447 moves to a position above the patient, and the fifth motor 448 drives the pressure rod 447 to rotate downward to a specified angle position to block the front position of the patient and at the same time, the center of gravity of the patient is located at the rear side of the wheelchair to ensure the stability of the patient when crossing the threshold;

[0034] Step 8: The second electric telescopic rods 435 on the left and right sides extend and shorten to drive the second rotating rod 434 and the first rotating rod 433 at the corresponding positions to move forward or backward and fold, so as to drive the rotating base 432 to rotate to the left or right side at the front side of the fixed base 431 under the cooperation of the first rotating rod 433 and the second rotating rod 434, thereby adjusting the left and right direction of the pressing component, the third electric telescopic rod 438 extends and shortens to drive the first rotating frame 437 to tilt forward or backward on the inner side of the mounting base 436, the fourth electric telescopic rod 440 extends and shortens to drive the second rotating frame 439 to tilt forward or backward at the top end of the first rotating frame 437, the fifth electric telescopic rod 442 extends and shortens to drive the pressing frame 441 to rotate forward or backward at the front end of the second rotating frame 439, thereby making the pressing frame 441 align with the pressing bar position under the wheelchair to press down;

[0035] Step nine: the fourth motors 427 on the left and right sides synchronously drive the screws in the second screw assembly 426 at the corresponding position to rotate, so that the screw nut in the second screw assembly 426 drives the mounting plate 428 to move downward under the limiting action of the guide rail assembly 425, and the first electric telescopic rods 424 on the upper and lower sides respectively extend and shorten themselves to tilt the mounting frame 423, and then the wheelchair armrests are pressed down by the cooperation of the clamps 429 and the buckle frame 430 at the corresponding position to cause the wheelchair to tilt upward, and the wheeled mobile platform 41 continues to move forward, so that the wheelchair moves through the top of the threshold in a tilted front end manner;

[0036] Step 10: After the infrared grating 3 detects that the front of the wheelchair has passed through the threshold, it sends a signal to the sub-control box 42 through the main control box 2. The care robot 4 lays the wheelchair flat and continues to drive the wheelchair forward, so that the wheelchair relies on its own rear wheels and the obstacle-crossing ability of the wheeled mobile platform 41 to pass through the threshold and reach the designated destination. The wheeled mobile platform 41 continues to move forward. At this time, the wheelchair moves with the front end raised to pass over the threshold and finally reaches the designated destination.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A care robot for interaction with patients with dementia, characterized in that: include: A camera (1) is installed at the top of the wall; A main control box (2) is installed on the top of the wall and is located at the rear side of the camera (1), and the camera (1) and the main control box (2) are electrically connected; Infrared gratings (3), the number of the infrared gratings (3) is two, the two infrared gratings (3) are respectively installed on the left and right sides of the door frame, and the infrared gratings (3) are electrically connected to the main control box (2); A care robot (4) is arranged outside the infrared grating (3); The care robot (4) comprises: A wheeled mobile platform (41) is placed on the ground and located outside the infrared grating (3); A sub-control box (42) is installed on the top rear side of the wheeled mobile platform (41), the sub-control box (42) and the wheeled mobile platform (41) are electrically connected, and the sub-control box (42) and the main control box (2) are remotely connected via a network; An interactive device (43) is installed on the top of the sub-control cabinet (42), and the interactive device (43) and the sub-control cabinet (42) are electrically connected; A storage tank (44) is provided at the front bottom end of the sub-control cabinet (42); Wherein, armrest components are arranged on the top of the left and right sides of the sub-control box (42), a pressing component is arranged on the front side of the sub-control box (42), and anti-tilt components are arranged on the left and right sides of the top of the rear side of the sub-control box (42); The armrest component comprises: a mounting plate (428), a clamp (429) mounted on the front side of the bottom end of the mounting plate (428), the clamp (429) being electrically connected to the sub-control cabinet (42), the clamp (429) clamping and fixing the rear end of the outside of the patient's wheelchair armrest, a snap-on frame (430) mounted on the bottom end of the mounting plate (428) and located on the front side of the clamp (429), the snap-on frame (430) clamping the front end of the patient's wheelchair armrest, thereby stably connecting the wheelchair to the care robot; The pressing component comprises: a pressing frame (441), the pressing frame (441) is aligned with the position of the pressing bar below the wheelchair to press downward; The anti-tilt component comprises: a slot seat (446), a pressure rod (447) installed on the inner side of the slot seat (446) via a rotating shaft, the pressure rod (447) can be moved to a position above the patient, a fifth motor (448) installed on the outer side of the slot seat (446), a rotating end of the fifth motor (448) extends into the inner side of the slot seat (446) and is connected to the axis of the pressure rod (447), the fifth motor (448) is electrically connected to the sub-control box (42), and the fifth motor (448) drives the pressure rod (447) to rotate downward to a specified angle position to block the front position of the patient and at the same time, make the patient's center of gravity located at the rear side of the wheelchair to ensure the patient's stability when crossing the threshold.

2. A care robot for interaction with dementia patients according to claim 1, characterized in that: The armrest component also includes: A track housing (45) mounted on a side wall of the sub-control cabinet (42) in an up-down direction; A roller seat (46) inserted into the inner cavity of the track housing (45); A first screw assembly (47) installed in the inner cavity of the track housing (45) in the up-down direction; A first motor (48) is mounted on the top of the track housing (45), the rotating end of the first motor (48) extends into the inner cavity of the track housing (45) and is connected to the top of the lead screw shaft of the first lead screw assembly (47), and the first motor (48) is electrically connected to the sub-control box (42); A mounting seat (49) mounted on the right side of the roller seat (46); A first rotating arm (410) is rotatably connected to the inner outer end of the mounting seat (49) via a rotating shaft; The first belt pulley (411) is arranged at the inner bottom of the inner end of the first rotating arm (410), and the first belt pulley (411) is connected to the top end of the axis of the first rotating arm (410).

3. A care robot for interaction with dementia patients according to claim 2, characterized in that: The armrest component also includes: A second motor (412) is mounted at the bottom end of the mounting seat (49), a rotating end of the second motor (412) extends into the inner side of the mounting seat (49), and the second motor (412) is electrically connected to the sub-control cabinet (42); A second pulley (413) mounted on the top of the rotating end of the second motor (412); A first belt (414), one end of which is sleeved on the outside of the second belt pulley (413), and the other end of which is sleeved on the outside of the first belt pulley (411); A third motor (415) is mounted on the top of the mounting seat (49), a rotating end of the third motor (415) extends into the inner side of the mounting seat (49), and the third motor (415) is electrically connected to the sub-control cabinet (42); A third pulley (416) is rotatably connected to the inner top of the inner end of the first rotating arm (410) via a rotating shaft; A fourth pulley (417) mounted at the bottom of the rotating end of the third motor (415); A second belt (418), one end of which is sleeved on the outside of the fourth pulley (417), and the other end of which is sleeved on the outside of the third pulley (416); A second rotating arm (419) is rotatably connected to the inner side of the outer end of the first rotating arm (410) via a rotating shaft; A fifth pulley (420) mounted outside the axis of the second rotating arm (419); One end of the third belt (421) is sleeved on the outside of the third pulley (416), and the other end of the third belt (421) passes through the outside of the first rotating arm (410) and is sleeved on the outside of the fifth pulley (420).

4. The care robot for interaction with dementia patients according to claim 3, characterized in that: The armrest component also includes: A tank housing (422) mounted on the front end of the second rotating arm (419); A mounting frame (423) disposed on the front side of the tank housing (422) in the up-down direction; A first electric telescopic rod (424), the number of the first electric telescopic rod (424) being two, one end of the two first electric telescopic rods (424) being mounted on the rear sides of the upper and lower ends of the inner cavity of the tank shell (422) via a rotating shaft seat, the other ends of the two first electric telescopic rods (424) being respectively connected to the upper and lower ends of the rear side of the mounting frame (423) via the rotating shaft seat, and the first electric telescopic rod (424) being electrically connected to the sub-control cabinet (42); A guide rail assembly (425) is arranged at the inner rear end of the mounting frame (423) along the up-down direction; A second lead screw assembly (426) is arranged at the inner front end of the mounting frame (423) in the up-down direction; a fourth motor (427) disposed inside the top end of the second lead screw assembly (426), the rotating end of the fourth motor (427) being connected to the top end of the lead screw shaft of the second lead screw assembly (426), and the fourth motor (427) being electrically connected to the sub-control cabinet (42); The mounting plate (428) is mounted on the front side of the limiting end of the guide rail assembly (425) along the front-to-back direction, and the mounting plate (428) is connected to the lead screw nut of the second lead screw assembly (426).

5. The care robot for interaction with dementia patients according to claim 4, characterized in that: The pressing component further comprises: A fixing seat (431) is mounted on the middle part of the front side of the top end of the wheeled mobile platform (41); A rotating base (432) is rotatably connected to the front side of the fixed base (431) via a rotating shaft; A first rotating rod (433), wherein the number of the first rotating rods (433) is two, and one end of the two first rotating rods (433) is mounted on the left and right sides of the rotating base (432) via a rotating shaft seat; A second rotating rod (434), the number of the second rotating rod (434) being two, one end of the two second rotating rods (434) being rotatably connected to the inner side of the other ends of the left and right fixed seats (431) via a rotating shaft; A second electric telescopic rod (435), the number of the second electric telescopic rod (435) is two, one end of the two second electric telescopic rods (435) is mounted on the top of the wheeled mobile platform (41) through a rotating shaft seat and is located at the left and right ends of the rear side of the rotating base (432), the telescopic ends of the two second electric telescopic rods (435) are respectively rotatably connected to the outside of the rotating shaft at the connection position of the first rotating rod (433) and the second rotating rod (434) on the left and right sides through bearings, and the second electric telescopic rod (435) is electrically connected to the sub-control cabinet (42); A mounting base (436) mounted on the top of the rotating base (432); A first rotating frame (437), one end of which is rotatably connected to the top of the inner rear end of the mounting base (436) via a rotating shaft, and the shape of the first rotating frame (437) is V-shaped; A third electric telescopic rod (438), one end of which is rotatably connected to the inner front bottom of the mounting base (436) via a rotating shaft, the other end of the third electric telescopic rod (438) is rotatably connected to the front side of the first rotating frame (437) via a rotating shaft, and the third electric telescopic rod (438) is electrically connected to the sub-control cabinet (42); A second rotating frame (439), one end of which is rotatably connected to the other end of the first rotating frame (437) via a rotating shaft; a fourth electric telescopic rod (440), one end of which is rotatably connected to the rear side of the first rotating frame (437) via a rotating shaft, the other end of the fourth electric telescopic rod (440) is rotatably connected to the inner side of the rear end of the second rotating frame (439) via a rotating shaft, and the fourth electric telescopic rod (440) is electrically connected to the sub-control cabinet (42); The lower pressing frame (441) is rotatably connected to the other end of the second rotating frame (439) via a rotating shaft; A fifth electric telescopic rod (442) has one end rotatably connected to the rear side of the top end of the second rotating frame (439) via a rotating shaft, and the other end of the fifth electric telescopic rod (442) is rotatably connected to the front side of the lower pressure frame (441) via a rotating shaft. The fifth electric telescopic rod (442) is electrically connected to the sub-control cabinet (42).

6. The care robot for interaction with dementia patients according to claim 5, characterized in that: The anti-tilt component also includes: A slot housing (443) is installed on the rear side of the sub-control chassis (42) along the front-to-back direction; A telescopic rod (444) is inserted into the front side of the inner cavity of the slot housing (443) along the front-to-back direction; A sixth electric telescopic rod (445) is installed on the rear side of the top end of the slot housing (443) along the front-to-back direction, and the sixth electric telescopic rod (445) is electrically connected to the sub-control cabinet (42); The slot body seat (446) is installed at the front end of the telescopic rod (444), and the other end of the telescopic rod (444) is connected to the top end of the slot body seat (446).

7. A care method for interaction of a dementia patient, applied to a care robot for interaction of a dementia patient as claimed in claim 6, characterized in that: Use the following steps: Step 1: The medical staff issues a remote command through the main control box (2), and the camera (1) starts to shoot the external environment to confirm the position of the patient's wheelchair. The camera (1) converts the acquired wheelchair position information into coordinate information, and sends it to the sub-control box (42) through the main control box (2), and the wheeled mobile platform (41) moves to the position behind the wheelchair; Step 2: The first motor (48) in the left and right handrail components drives the lead screw in the first lead screw assembly (47) at the corresponding position to rotate, so that the lead screw nut in the first lead screw assembly (47) drives the roller seat (46) to move upward or downward inside the track housing (45) until it reaches a specified height position; this height position is prepared for the subsequent docking operation with the wheelchair handrail; Step 3: The second motor (412) drives the second pulley (413) to rotate, and the first belt (414) drives the first pulley (411) to rotate under the action of the rotational force of the second pulley (413) and drives the first rotating arm (410) to rotate forward or backward inside the mounting seat (49), and the third motor (415) drives the fourth pulley (417) to rotate, and the second belt (418) drives the third pulley (416) to rotate inside one end of the first rotating arm (410) under the action of the rotational force of the fourth pulley (417) and drives the fifth pulley (420) to rotate synchronously under the transmission of the third belt (421), and the fifth pulley (420) drives the second rotating arm (419) to rotate forward or backward inside the other end of the first rotating arm (410), so as to adjust the folding angle of the first rotating arm (410) and the second rotating arm (419) so that the clamp (429) moves to a position above the armrest of the patient's wheelchair; Step 4: The clamp (429) clamps and fixes the rear end of the patient's wheelchair armrest, and the buckle frame (430) clamps the front end of the patient's wheelchair armrest, thereby stably connecting the wheelchair to the care robot; Step 5: The interactive device (43) collects external image information and sends it to the sub-control box (42). The sub-control box (42) plans the movement route according to the received image information and related data to control the movement of the wheeled mobile platform (41), so as to push the patient's wheelchair to a designated position under the movement of the care robot (4), so that the clamp (429) can move to the accurate position above the patient's wheelchair; Step 6: When the infrared grating (3) detects that the patient's wheelchair has moved to the door frame position, a signal is sent to the main control box (2), and the main control box (2) sends a signal to the sub-control box (42) to inform that the wheelchair has reached the door frame position, and the sub-control box (42) operates according to the preset program and the predetermined settings; Step 7: The sixth electric telescopic rod (445) extends itself and drives the telescopic rod (444) to extend from the inner cavity of the slot housing (443) to a specified length, so that the pressure rod (447) moves to a position above the patient, and the fifth motor (448) drives the pressure rod (447) to rotate downward to a specified angle position to block the front position of the patient and at the same time, the center of gravity of the patient is located at the rear side of the wheelchair to ensure the stability of the patient when crossing the threshold; Step 8: The second electric telescopic rods (435) on the left and right sides extend and shorten to drive the second rotating rod (434) and the first rotating rod (433) at the corresponding positions to move forward or backward and fold, so that the rotating base (432) is driven to rotate to the left or right side at the front side of the fixed seat (431) under the cooperation of the first rotating rod (433) and the second rotating rod (434), thereby adjusting the left and right direction of the pressing component; the third electric telescopic rod (438) extends and shortens to drive the first rotating frame (437) to tilt forward or backward on the inner side of the mounting base (436); the fourth electric telescopic rod (440) extends and shortens to drive the second rotating frame (439) to tilt forward or backward at the top end of the first rotating frame (437); the fifth electric telescopic rod (442) extends and shortens to drive the pressing frame (441) to rotate forward or backward at the front end of the second rotating frame (439), thereby causing the pressing frame (441) to align with the pressing bar position below the wheelchair for pressing down; Step nine: the fourth motors (427) on the left and right sides synchronously drive the lead screws in the second lead screw assembly (426) at the corresponding position to rotate, so that the lead screw nut in the second lead screw assembly (426) drives the mounting plate (428) to move downward under the limiting action of the guide rail assembly (425), and the first electric telescopic rods (424) on the upper and lower sides respectively extend and shorten themselves to tilt the mounting frame (423), and then the gripper (429) and the buckle frame (430) at the corresponding position cooperate to press down the wheelchair armrest position to cause the wheelchair to tilt upward, and the wheeled mobile platform (41) continues to move forward, so that the wheelchair moves through the top of the threshold in a tilted front end manner; Step 10: After the infrared grating (3) detects that the front of the wheelchair has passed through the threshold, it sends a signal to the sub-control box (42) through the main control box (2). The care robot (4) lays the wheelchair flat and continues to drive the wheelchair forward, so that the wheelchair relies on its own rear wheels and the obstacle-crossing ability of the wheeled mobile platform (41) to pass through the threshold and reach the designated destination. The wheeled mobile platform (41) continues to move forward. At this time, the wheelchair moves with the front end raised and passes above the threshold, and finally reaches the designated destination.

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