Manipulator assembly for vehicle and vehicle

Abstract

The invention relates to the field of vehicles, in particular to a manipulator assembly for a vehicle and the vehicle, and the manipulator assembly comprises a moving base body, an execution arm, an execution part, a detection unit and a control device. Functions of auxiliary driving, a functional support, door opening and closing and the like are achieved, integration and intelligent upgrading of vehicle functions are achieved, the overall use experience of the vehicle is effectively improved, the vehicle is converted into an intelligent moving space meeting various life scene requirements from a traditional travel carrier, the practical value and the user satisfaction degree of the vehicle are comprehensively improved, and the user experience is improved. And the riding comfort and functionality of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a manipulator assembly for a vehicle and the vehicle. Background Art

[0002] In the related art, the vehicles can meet the basic travel needs, but there are still problems in assisted driving, vehicle riding functionality, etc. In terms of assisted vehicle driving, there is a lack of convenient and flexibly installed devices that can assist in maintaining the lane or controlling the steering wheel as required by the driver; for rear seat passengers, there is a lack of suitable multi-functional brackets to meet the needs of different scenarios, such as placing laptops for easy use, supporting them as movie-watching assistants in a zero-gravity sitting position, and holding food, etc.; in addition, in terms of functions such as taking pictures, assisting the disabled, and providing massage services for drivers and passengers, the existing in-vehicle facilities are also lacking. Therefore, how to improve the functionality of vehicle riding has become a technical problem to be solved by the present invention. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a manipulator assembly for a vehicle, which can improve the functionality of the vehicle ride.

[0004] According to an embodiment of the present invention, a manipulator assembly for a vehicle includes: a mobile base, the mobile base is suitable for being connected to a matching part of the vehicle and moving relative to the vehicle; an execution arm, the execution arm is connected to the mobile base and moves with the mobile base to a working area, the execution arm is movably connected to the mobile base and is suitable for switching to an execution state in the working area; an execution component, the execution component is arranged on the execution arm, the execution component is rotatably and / or translationally connected to the execution arm, and the execution component moves relative to the execution arm to perform a target action; a detection unit, the detection unit is used to detect obstacles in the path from the mobile base to the working area, and obstacles in the space of the execution component in the working area for performing the target action; a control device, the control device is respectively connected to the mobile base, the execution arm and the execution component in communication, and after obtaining the target work instruction, the control device controls the mobile base, the execution arm and at least one of the execution component to act according to the obstacles detected by the detection unit to avoid the obstacles and execute the corresponding work instruction.

[0005] The manipulator assembly for a vehicle according to the embodiment of the present invention realizes functions such as assisted driving, functional bracket, and opening and closing doors through the coordinated work of a mobile base, an actuator arm, an actuator component, a detection unit, and a control device, thereby realizing the integration and intelligent upgrading of vehicle functions, effectively improving the overall use experience of the vehicle, and transforming the vehicle from a traditional travel vehicle into an intelligent mobile space that meets the needs of various life scenarios, comprehensively improving the practical value of the vehicle and user satisfaction, and improving the comfort and functionality of the vehicle ride.

[0006] According to some embodiments of the present invention, in a manipulator assembly for a vehicle, the actuator arm includes: a sub-actuator arm, wherein the sub-actuator arm is constructed as at least two sub-actuator arms, and two adjacent sub-actuator arms are hingedly connected to switch between a storage state and an execution state and / or are telescopically connected to adjust the length of the two adjacent sub-actuator arms; during the switching process from the execution state to the storage state, the angle between the two adjacent sub-actuator arms is reduced for folding, and / or the adjacent sub-actuator arms are retracted into the other sub-actuator arm; wherein at least one of the sub-actuator arms is rotatably and / or telescopically connected to the mobile base, and at least another sub-actuator arm is provided with the actuator component.

[0007] According to some embodiments of the present invention, in a manipulator assembly for a vehicle, the detection unit includes: a first detection unit, which is arranged on the mobile base and is used to determine obstacles on the moving path of the mobile base to the working area; a second detection unit, which is arranged on the execution arm and / or the execution component and is used to determine obstacles in the working area, and the plurality of sub-execution arms and the execution components avoid obstacles according to the obstacles detected by the second detection unit.

[0008] In a manipulator assembly for a vehicle according to some embodiments of the present invention, the execution component includes: a mating portion, the mating portion is connected to one of the sub-actuating arms, a first operating area is formed on the mating portion; an action component, a second operating area is formed on the action component, the action component is movably disposed on the mating portion, the action component moves relative to the mating portion to adjust the distance or relative position between the first operating area and the second operating area, so as to adjust to an operating state for operating a target object.

[0009] According to some embodiments of the present invention, a manipulator assembly for a vehicle, the action component includes: a mechanical finger, the mechanical finger is connected by a plurality of finger segments, a hinge joint is provided between any two of the finger segments, the mechanical finger is constructed in multiple structures and cooperates with each other to execute corresponding work instructions, and a second operating area is formed on each of the finger segments.

[0010] According to some embodiments of the present invention, the manipulator assembly for a vehicle further includes: a detection device, which is arranged on the action component and is used to detect a health status.

[0011] According to some embodiments of the present invention, the manipulator assembly for a vehicle further includes: a discharge unit, which is disposed on the action component and controls a discharge voltage and a discharge frequency according to the working instruction.

[0012] According to some embodiments of the present invention, the manipulator assembly for a vehicle further includes: a camera, which is arranged on the action component and is used to obtain target position information inside the vehicle and dynamic information of the driver and passengers.

[0013] According to some embodiments of the present invention, the manipulator assembly for a vehicle further includes: a sound pickup device, which is arranged on at least one of the mobile base, the execution arm and the execution component, and the sound pickup device is used to detect audio signals inside the vehicle; a voice recognition module, which is connected to the sound pickup device and electrically connected to the control device, and the voice recognition module generates the work instruction based on the audio signal and analyzes it.

[0014] The following briefly describes a vehicle according to an embodiment of the present invention.

[0015] A vehicle according to an embodiment of the present invention includes a vehicle body and a manipulator assembly of any of the above-mentioned embodiments, wherein at least one matching component is arranged on the vehicle body, and the manipulator assembly is movably connected to the matching component so as to move inside or outside the vehicle body. Since the vehicle according to this embodiment is provided with the manipulator assembly of any of the above-mentioned embodiments, the vehicle according to the present invention is no longer limited to the traditional transportation function. The manipulator assembly can realize various functions such as assisted driving and providing personalized services to passengers according to different scenarios and user needs, thereby greatly expanding the application scope of the vehicle and making it a multifunctional mobile platform. During driving, the manipulator assembly can reduce the driver's operating burden and fatigue by assisting in maintaining the lane, and improve driving comfort and safety. The manipulator assembly can move inside or outside the vehicle body. After the vehicle stops, the manipulator assembly can be extended out of the window to take pictures and record the surrounding scenery or information. For disabled people, the manipulator assembly can assist in opening and closing the doors, etc., to facilitate getting on and off the vehicle, thereby enhancing the convenience and practicality of the vehicle in different usage scenarios, so that the vehicle can better serve various user groups.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a manipulator assembly for a vehicle according to an embodiment of the present invention; Figure 2 1 is a front view enlarged structural schematic diagram of a manipulator assembly for a vehicle according to an embodiment of the present invention.

[0018] Reference numerals: 100. Robot assembly; 1. Move the substrate; 2. Execution arm; 21. Sub-execution arm; 3. Executing part; 31. Coordinating part; 32. Action part; 321. Mechanical finger; 3211. Finger segment; 4. Car body; 41. Matching parts. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] Reference below Figure 1-Figure 2 A manipulator assembly 100 for a vehicle according to an embodiment of the present invention is described.

[0021] According to an embodiment of the present invention, a manipulator assembly 100 for a vehicle includes a mobile base 1, an execution arm 2, an execution component 3, a detection unit and a control device. The mobile base 1 is suitable for being connected to a matching component 41 of a vehicle and moving relative to the vehicle. The execution arm 2 is connected to the mobile base 1 and moves with the mobile base 1 to a working area. The execution arm 2 is movably connected to the mobile base 1 and is suitable for switching to an execution state within the working area. The execution component 3 is arranged on the execution arm 2. The execution component 3 is rotatably and / or translationally connected to the execution arm 2. The execution component 3 moves relative to the execution arm 2 to perform a target action. The detection unit is used to detect obstacles in the path from the mobile base 1 to the working area and obstacles in the space where the execution component 3 in the working area performs the target action. The control device is respectively connected to the mobile base 1, the execution arm 2 and the execution component 3 for communication. After obtaining the target work instruction, the control device controls the mobile base 1, the execution arm 2 and at least one of the execution component 3 to act according to the obstacles detected by the detection unit to avoid the obstacles and execute the corresponding work instruction.

[0022] The mobile base 1 can be connected to the matching component 41 of the vehicle and move relative to the vehicle, which lays the foundation for the flexible operation of the entire manipulator assembly 100. According to different usage requirements, the actuator arm 2 and the actuator component 3 can be delivered to various areas in the vehicle, avoiding the problem of being unable to meet diverse needs due to the limitation of fixed positions, thereby preliminarily improving the functionality of the vehicle. When the driver needs the assisted driving function, the mobile base 1 can move the actuator arm 2 to a suitable control position; and when the rear seat passengers need to use it as a bracket, the mobile base 1 can deliver the actuator component 3 to a suitable space in the rear seat. The flexible position change expands the application scope of the manipulator assembly 100; the actuator arm 2 is connected to the mobile base 1 and moves to the working area with the mobile base 1, and can be switched to the execution state in the working area. It can be understood that in the assisted driving scenario, when the driver turns on functions such as lane keeping assist, the actuator arm 2 can reach the working area near the steering wheel with the cooperation of the mobile base 1, and through appropriate actions, such as lightly touching the steering wheel for fine-tuning, to help the vehicle stay in the lane, thereby reducing the driver's The driving burden is reduced, the driving comfort and safety are improved, and the functionality of the vehicle is enhanced. For rear seat passengers, the actuator arm 2 can adjust the actuator 3 to the best viewing angle and distance, so that the passengers can be in a comfortable posture and avoid fatigue caused by holding the device for a long time or placing it in an improper position, thereby improving the riding comfort of rear seat passengers and enriching the functional experience of the rear seat of the vehicle; the actuator 3 is arranged on the actuator arm 2, and the actuator 3 can be connected to the actuator arm 2 in a rotatable or translatable manner, or the actuator 3 can be connected to the actuator arm 2 in a rotatable and translatable manner, so that the actuator 3 can perform a variety of target actions. When the actuator 3 is used as a bracket, the angle and position can be adjusted according to the shape and use requirements of different devices to meet the diverse entertainment and work needs of passengers, greatly improving the functionality of the vehicle and the fun and convenience of riding, thereby indirectly improving comfort. When a passenger wants to take a picture of the scenery outside the window, the actuator 3 can extend out of the window and adjust the angle to obtain the best shooting angle. This is a function that traditional vehicle interiors cannot provide, bringing a new experience to passengers.Moreover, when the actuator 3 is used as a massage hand, it can perform massage actions on the body parts of the driver and passengers to relieve physical fatigue during driving, directly improve comfort, and also expand the functional scope of the vehicle; the detection unit can detect obstacles in the path from the mobile base 1 to the working area and in the target action space performed by the actuator 3. During the driving process of the vehicle, especially when the manipulator assembly 100 performs various actions, collisions can be avoided. When the actuator arm 2 is to be moved to the driving seat to assist driving or adjust the bracket position for the rear seat passengers, the detection unit is used to detect obstacles to avoid collisions with other objects in the vehicle, the passenger's body or the interior structure of the vehicle during movement. The detection unit enables the control device to know the obstacle situation in advance and control the mobile base 1, the actuator arm 2 and the actuator in time. Component 3 performs avoidance actions to ensure the safety and smoothness of all operations, so that the various functions of the manipulator assembly 100 can be smoothly realized, providing reliable guarantee for improving the ride comfort and functionality of the vehicle, and avoiding functional interruption and reduced ride experience due to accidental collisions; the control device is communicated with the mobile base 1, the execution arm 2 and the execution component 3 respectively, and controls their actions according to the feedback information of the detection unit. When the target work instruction is received, the control device can control the mobile base 1, the execution arm 2 and the execution component 3 to perform corresponding actions, while taking into account the avoidance of obstacles, completing various tasks in an efficient and safe manner, so that the manipulator assembly 100 can give full play to all its functions, maximize the comfort and functionality of the vehicle, and provide the driver and passengers with a better, more convenient and comfortable in-vehicle experience.

[0023] It is understandable that when the vehicle is started, the control device is in a standby state, ready to receive a target work instruction from the driver or passenger at any time. Once the instruction is received, the control device first starts the detection unit to perform a comprehensive obstacle detection scan on the path from the mobile base 1 to the working area and the space where the execution component 3 performs the target action.

[0024] If it is an assisted driving instruction, such as the lane keeping function, the control device plans the moving route of the mobile base 1 according to the path information fed back by the detection unit, so that it avoids possible obstacles, such as water cups and sundries placed in the car, and smoothly delivers the execution arm 2 to the working area near the steering wheel. At the same time, the control device adjusts the posture and position of the execution arm 2 according to the preset program and algorithm, so that the execution arm 2 is in the best auxiliary control state. Under the command of the control device, the execution component 3 cooperates with the steering wheel to perform actions such as light touch and fine adjustment to help the vehicle stay in the lane. During the whole process, at the same time, the detection unit continues to monitor. Once a new obstacle is found, such as the driver suddenly reaches out to regain control of the steering wheel, the control device immediately pauses or adjusts the action of the manipulator assembly 100 to ensure safety.

[0025] To meet the needs of rear seat passengers, for example, when the actuator 3 is used as a bracket, the control device also first relies on the detection unit to ensure that the process of moving the mobile base 1 from the initial position to the rear seat area is safe and collision-free, and then controls the actuator arm 2 to extend and rotate to the appropriate position, and through the rotation and translation functions of the actuator 3, adjust the actuator 3 to the angle and distance expected by the passenger to meet the needs of comfortable viewing. During this process, if the passenger's limbs or other objects enter the working area, the detection unit will detect it in time and notify the control device, and the control device will then pause or fine-tune the action of the manipulator assembly 100 to prevent accidents.

[0026] When the actuator 3 is used as a massage hand, the control device drives the actuator 3 to move to the corresponding part of the driver or passenger's body, such as the shoulder, waist, etc., with the cooperation of the actuator arm 2 according to the preset massage program, and controls the actuator 3 to perform massage actions such as kneading, pinching, and pressing. During this period, the detection unit continuously monitors the surrounding environment to ensure that the massage process is not interfered by obstacles, ensure the smoothness and safety of the massage action, and allow the driver and passengers to comfortably enjoy the massage service and enhance the riding experience.

[0027] When it is necessary to use the actuator 3 for shooting, whether shooting inside the vehicle or shooting out of the window, the control device will first use the detection unit to check the situation on the shooting path to ensure that the movement and angle adjustment of the actuator 3 will not collide with the window frame, interior decoration or obstacles outside the vehicle. The actuator 3 is then controlled to reach a suitable shooting position and rotate, translate and other operations according to the shooting requirements to obtain an ideal shooting picture. The various components work closely together throughout the whole process, adding a unique functional experience to the vehicle and further improving comfort and functionality.

[0028] When the door needs to be opened, the control device can drive the mobile base 1, the actuator arm 2 and the actuator component 3 to cooperate with each other. The actuator component 3 acts accurately on the door switch according to the planned action path while avoiding obstacles in the car, thereby assisting in completing the door opening and closing actions and providing convenience for travel.

[0029] In short, through the coordinated work of the mobile base 1, the actuator arm 2, the actuator 3, the detection unit and the control device, functions such as assisted driving, functional brackets, and massage are realized, and the integration and intelligent upgrading of vehicle functions are realized, which effectively improves the overall use experience of the vehicle, and transforms the vehicle from a traditional travel vehicle into an intelligent mobile space that meets the needs of various life scenarios, comprehensively improving the practical value of the vehicle and user satisfaction, and improving the comfort and functionality of the vehicle.

[0030] In some embodiments of the present invention, the matching component 41 includes a movable track, which is arranged on the inner side of the roof of the vehicle. The movable track is movably connected to the movable base 1, and a plurality of movable tracks can be arranged on the inner side of the roof.

[0031] According to some embodiments of the present invention, a manipulator assembly 100 for a vehicle, the execution arm 2 includes a sub-execution arm 21, which is constructed as at least two sub-execution arms 21, and two adjacent sub-execution arms 21 are hingedly connected to switch between a storage state and an execution state and / or telescope between two adjacent sub-execution arms 21 to adjust the length; in the process of switching from the execution state to the storage state, the angle between the two adjacent sub-execution arms 21 is reduced for folding, and / or the adjacent sub-execution arms 21 are retracted into another sub-execution arm 21; at least one sub-execution arm 21 is rotatably and / or telescopically connected to the mobile base 1, and at least another sub-execution arm 21 is provided with an execution component 3.

[0032] Two adjacent sub-actuator arms 21 can be connected by a hinge to achieve a rotatable connection, or can be telescopically connected by telescoping between the two adjacent sub-actuator arms 21. When the manipulator assembly 100 is not needed, the actuator arm 2 can be switched to the storage state. In this process, the angle between the two adjacent sub-actuator arms 21 is gradually reduced and folded, so that the volume of the entire actuator arm 2 is greatly reduced, occupying very little space in the vehicle, avoiding the cramped and cluttered space in the vehicle caused by the presence of the manipulator assembly 100, providing a more spacious and comfortable vehicle environment for the driver and passengers, and improving the effective utilization rate of the vehicle's interior space. Some adjacent sub-actuator arms 21 also have a telescopic function, which can further optimize the storage effect. When the actuator arm 2 is stored, the telescopic sub-actuator arm 21 can be retracted into another sub-actuator arm 21, making the overall shape of the actuator arm 2 more regular and compact, whether it is stored in a limited corner in the vehicle or avoiding interference with other equipment in the vehicle and passengers' personal belongings, it has obvious advantages, further improving the neatness and ease of use of the vehicle's interior space.

[0033] At the same time, at least one sub-actuator arm 21 can be rotatably connected or telescopically connected to the mobile base 1, or at least one sub-actuator arm 21 can be rotatably connected and telescopically connected to the mobile base 1, which brings great flexibility to the movement and positioning of the actuator arm 2 in the vehicle. When the vehicle requires the manipulator assembly 100 to perform tasks in different positions and directions, such as the need to accurately adjust the operating angle of the actuator 3 to the steering wheel during assisted driving, or the rear seat passengers require that the actuator 3 be adjusted to a specific height, angle and distance to meet the needs of watching movies or working, the sub-actuator arm 21 can be connected to the mobile base 1 through rotation and telescopic connection. The multi-directional and multi-angle positioning of the actuator arm 2 in three-dimensional space can be achieved, so that the actuator 3 can accurately reach the working area and perform corresponding actions, thereby meeting the diverse functional requirements of the vehicle in different scenarios.

[0034] At least another sub-actuator arm 21 is provided with an actuator 3. Combined with the hinge connection and telescopic function between the aforementioned sub-actuator arms 21, the actuator 3 can flexibly change its own position, posture and range of action as the sub-actuator arm 21 is folded, telescoped and rotated. When used as a shooting auxiliary tool, the actuator 3 can be quickly and accurately adjusted to a suitable shooting position by adjusting the state of the sub-actuator arm 21 according to the position of the shooting object and the shooting angle requirements. Whether it is shooting a scene of people inside the car or the scenery outside the car, it can provide stable and accurate shooting support, greatly expanding the application scenarios and shooting effects of the vehicle in photography and videography. In the assisted driving process, the flexible structure of the actuator arm 2 can better adapt to the cockpit layout and steering wheel operation characteristics of different models. By adjusting the direction and size of the force of the actuator 3 on the steering wheel, it is ensured that the driver can be assisted to maintain the lane and control the speed in a stable and safe manner under various road conditions and driving conditions, thereby improving the driving comfort and safety, and at the same time enhancing the adaptability and versatility of the manipulator assembly 100 to different vehicles.

[0035] According to some embodiments of the present invention, a manipulator assembly 100 for a vehicle, the detection unit includes: a first detection unit, which is arranged on the mobile base 1 and is used to determine obstacles on the moving path of the mobile base 1 to the working area; a second detection unit, which is arranged on the execution arm 2 and / or the execution component 3, and is used to determine obstacles in the working area, and the multiple sub-execution arms 21 and the execution component 3 avoid obstacles according to the obstacles detected by the second detection unit.

[0036] The first detection unit is arranged on the mobile base 1. When the manipulator assembly 100 is started and ready to perform a task, it can monitor the situation of the mobile base 1 on the moving path to the working area in real time. Whether it is common debris in the car, such as a water cup or a small backpack placed between the seats, or items displaced due to the vibration of the vehicle, the first detection unit can detect it, thereby avoiding the mobile base 1 from colliding with these obstacles during movement, preventing damage to the vehicle interior, other equipment and the manipulator assembly 100 itself, ensuring the safety of the initial moving stage of the entire system, and laying a good foundation for subsequent task execution; the second detection unit is arranged on at least one of the execution arm 2 and the execution component 3. When the execution arm 2 enters the working area, the detection unit comes into play. The working area is usually the space where the manipulator assembly 100 performs specific actions, such as the area around the steering wheel during assisted driving, and the area where the back seat passengers' bodies and surrounding items are located when providing services to back seat passengers. The second detection unit can detect obstacles in these areas, such as a passenger's suddenly extended arms, electronic equipment placed nearby, etc., so that multiple sub-executing arms 21 and executing components 3 can perform avoidance actions in a timely manner according to the detected obstacle information, effectively preventing accidental injuries to passengers during the execution of the task, and also avoiding interruption of the execution of the task or poor execution effect due to collision with obstacles, thereby improving the safety and reliability of the manipulator assembly 100 in performing tasks in complex in-vehicle environments.

[0037] It should be noted that a third detection unit is also provided, and the third detection unit is provided on the vehicle body 4, and may be inside the vehicle body 4 or outside the vehicle body 4. When the third detection unit is provided inside the vehicle body 4, it can perform macroscopic monitoring of the overall environment inside the vehicle. During the driving of the vehicle, with the activities of the passengers and the changes in the placement of the items, the environment inside the vehicle is in dynamic change. The third detection unit can capture in real time information such as large movements of the passengers in the vehicle, sudden drops of large items, etc. These situations may affect the subsequent operation of the manipulator assembly 100, and a signal can be sent to the control device in advance to make the control device pause or adjust the action of the manipulator assembly 100, thereby avoiding potential collision risks and further enhancing the safety of the occupants in the vehicle during the interaction with the manipulator assembly 100. When the third detection unit is located outside the vehicle body 4, it provides external environment information for the operation of the manipulator assembly 100. The third detection unit can detect the dynamic situation of pedestrians, other vehicles or obstacles outside the vehicle that are close to the vehicle. If it is detected that a vehicle or pedestrian is quickly approaching the operating area where the manipulator assembly 100 is extended out of the window, timely feedback will be given to the control device, and the control device will immediately stop or retract the manipulator assembly 100 to prevent collision with objects outside the vehicle and avoid safety accidents caused by unforeseen situations outside the vehicle. This ensures the safety and reliability of the manipulator assembly 100 when performing tasks involving operations outside the vehicle, and also reduces the risk of affecting the environment outside the vehicle due to improper operation of the manipulator assembly 100.

[0038] According to some embodiments of the present invention, in a manipulator assembly 100 for a vehicle, the execution component 3 includes: a matching portion 31, the matching portion 31 is connected to one of the sub-actuator arms 21, and a first operating area is formed on the matching portion 31; an action component 32, a second operating area is formed on the action component 32, and the action component 32 is movably arranged on the matching portion 31. The action component 32 moves relative to the matching portion 31 to adjust the distance or relative position between the first operating area and the second operating area, so as to adjust to an operating state for operating a target object.

[0039] Since the action component 32 is movably arranged on the matching portion 31 and can adjust the distance or relative position between the first operating area and the second operating area by movement, the execution component 3 can flexibly respond to target objects of different shapes, sizes and positions. When the target object is a small electronic device, the action component 32 can move the second operating area closer to the first operating area to form a compact clamping space to fix the mobile phone to prevent it from shaking or falling during the driving of the vehicle; when the target object is a larger-sized laptop computer, the action component 32 can increase the distance between the two operating areas and adjust the relative position to adapt to the length and width of the laptop computer to ensure stable support and operation of the laptop computer, thereby meeting the needs of passengers to use various electronic devices in the car and greatly improving the execution. The adaptability of component 3 to different target objects; the way of changing the operating area through the movable action component 32 enables the execution component 3 to integrate multiple functions. When the first operating area and the second operating area are in a relative position and distance, it can be used as a stable bracket to support electronic equipment for passenger entertainment or office work; and when adjusted to another state, it can be used as a flexible operating tool. For example, in the vehicle maintenance scenario, it helps operators to disassemble and install some small components in the vehicle. The switching of different functions is achieved through simple position adjustment, avoiding the need to equip multiple independent components for different functions, reducing the load and cost of the vehicle, and also improving the use efficiency of the execution component 3 and the comprehensive functionality of the vehicle, so that the vehicle can meet more diverse usage needs.

[0040] It should be noted that the relative position refers to the positional relationship between the second operating area on the action component 32 and the first operating area on the matching part 31. This positional relationship is described based on a coordinate system, which can be established on the execution component 3 itself or based on a fixed reference system inside the vehicle. A plane rectangular coordinate system is established with the center of the matching part 31 as the origin. The first operating area is located at a specific position in a quadrant. When the action component 32 moves, the coordinates of the second operating area in this coordinate system will change, and the changed coordinates reflect the change in relative position.

[0041] According to some embodiments of the present invention, a manipulator assembly 100 for a vehicle, the action component 32 includes: a mechanical finger 321, the mechanical finger 321 is connected by a plurality of finger segments 3211, a hinge joint is provided between any two finger segments 3211, the mechanical finger 321 is constructed in multiple parts and cooperates with each other to execute corresponding work instructions, and a second operating area is formed on each finger segment 3211.

[0042] The mechanical finger 321 is connected by a plurality of finger segments 3211, and a hinge joint is provided between any two finger segments 3211. This structure enables each mechanical finger 321 to have a high degree of flexibility. Each finger segment 3211 can rotate relatively around the hinge joint, so that the bending degree and posture can be flexibly changed according to the shape, size and specific operation requirements of the target object. Since the structure of the mechanical finger 321 is similar to that of a human hand and can act in coordination, it can imitate a human hand to complete a variety of functions. For example, in the scene of assisting in opening a car door, the mechanical finger 321 can be like a The human hand holds the door handle and applies appropriate pulling force through the bending and stretching of the finger segment 3211 to open the door, providing convenience for the disabled. For example, when items need to be sorted in the car, the mechanical finger 321 can grab and move objects of different shapes and sizes, whether small sundries or larger documents, etc., which can be handled flexibly, expanding the functional scope of the manipulator assembly 100 in the vehicle environment, so that it is not only limited to common functions such as assisted driving and supporting equipment, but can also meet the needs of more actual life scenarios, enhancing the practicality and convenience of the vehicle.

[0043] According to some embodiments of the present invention, the manipulator assembly 100 for a vehicle further includes: a detection device, which is disposed on the action component 32 and is used to detect a health status.

[0044] It should be noted that health status refers to the physical health status of the driver and passengers, and the physical health status can be inferred by testing the blood pressure, pulse, etc. of the person.

[0045] It is understandable that during driving, as time goes by and driving fatigue accumulates, the driver's blood pressure and pulse will show corresponding changes. Usually, when driving fatigued, the pulse may gradually slow down and weaken, and the blood pressure may also drop or fluctuate to a certain extent. The detection device continuously monitors the blood pressure and pulse. When these physiological indicators deviate from the range under normal driving conditions, the system can determine that the driver may be in a state of fatigue. If the driver's pulse drops more than a certain number of times per minute and the blood pressure is unstable at the same time, the vehicle control system will immediately trigger a fatigue driving warning. The warning method can be to issue a sound alarm, vibrate the seat, or display a striking prompt message on the dashboard to remind the driver to rest, thereby effectively reducing the risk of traffic accidents caused by fatigue driving and ensuring driving safety.

[0046] When a car accident occurs, the health data of the detection device is obtained. If the blood pressure of the people in the car is found to drop sharply, or the pulse is weak or even disappears, it indicates that someone may be seriously injured and the vital signs are in danger. At this time, the vehicle can automatically trigger the rescue program and send a distress signal to the nearby emergency center through the on-board communication equipment. At the same time, the vehicle's location information and the health data of the people in the car are transmitted so that rescue personnel can understand the situation of the injured in advance and prepare corresponding first aid equipment and measures, which greatly shortens the rescue response time and increases the survival rate of seriously injured people.

[0047] According to some embodiments of the present invention, the manipulator assembly 100 for a vehicle further includes: a discharge unit, which is disposed on the action component 32 and controls the discharge voltage and the discharge frequency according to the working instruction.

[0048] It is understandable that after a car accident, the occupants may suffer from cardiac arrest due to severe impact, trauma, etc. Based on the health data obtained by the above detection device, the discharge unit takes emergency measures for the occupants and starts the cardiac electric shock auxiliary function according to the preset work instructions. It can quickly adjust to the discharge voltage and discharge frequency suitable for human cardiac resuscitation, apply rhythmic electric shock pulses to the heart, stimulate the heart to resume beating, and intervene in the car at the first time without waiting for the arrival of external emergency equipment, greatly shortening the rescue blank period after cardiac arrest and greatly improving the survival rate of the injured. For some people who are injured in a car accident but have not yet suffered cardiac arrest, but whose heart function is affected, the discharge unit can also adjust the discharge parameters to achieve precise cardiac massage assistance, and can generate weak current stimulation at a lower, appropriate voltage and specific frequency, so that the heart muscle produces regular contraction and relaxation, simulates the normal heart beat rhythm, and assists the heart to maintain normal blood circulation, which can avoid further physical damage caused by abnormal heart function, buy more time for subsequent medical rescue, and ensure that the body function of the injured can remain relatively stable before being sent to the hospital.

[0049] According to some embodiments of the present invention, the manipulator assembly 100 for a vehicle further includes a camera, which is disposed on the action component 32 and is used to obtain target position information inside the vehicle and dynamic information of the driver and passengers.

[0050] It is understandable that the camera determines whether the driver is driving fatigued by observing the driver's eye movements, such as blinking frequency, eye closure duration, and pupil contraction and focusing state. During normal driving, the blinking frequency is relatively stable, and the pupil can focus normally on key visual areas such as the road and vehicle dashboard; when the driver is tired, the blinking frequency will increase unconsciously, and the micro-sleep state of long-term eye closure may occur. The pupil's focusing ability will also decrease, and it will be difficult to concentrate on road conditions. After the camera obtains this dynamic information, once it detects that the relevant indicators are out of the normal range, the vehicle control system can immediately issue a fatigue driving warning to remind the driver to rest, effectively reducing the risk of traffic accidents caused by fatigue driving and ensuring driving safety.

[0051] The camera obtains target position information inside the vehicle. When the manipulator assembly 100 needs to perform tasks such as assisted driving, providing passengers with item placement or operating electronic equipment, the camera can clearly locate target positions such as the steering wheel, various seats in the vehicle, storage compartments, and the space conditions around them, helping the manipulator assembly 100 to move and adjust the posture of the action component 32 more accurately to ensure that the operation is carried out accurately. When assisting the driver in operating the steering wheel, the camera can provide real-time feedback on the exact position of the steering wheel and whether there are obstacles around it, so that the mechanical finger 321 can accurately act on the appropriate part of the steering wheel, achieving stable and safe assisted control, and improving the success rate and efficiency of the manipulator assembly 100 in performing tasks.

[0052] According to some embodiments of the present invention, the manipulator assembly 100 for a vehicle further includes: a sound pickup device, which is arranged on at least one of the mobile base 1, the actuator arm 2 and the actuator 3, and is used to detect audio signals inside the vehicle; a voice recognition module, which is connected to the sound pickup device and electrically connected to the control device, and the voice recognition module generates work instructions based on the audio signal and analyzes it.

[0053] When the vehicle is driving or in use, the driver and passengers may be busy driving, and it is often inconvenient to manually operate various in-vehicle devices or issue instructions to the manipulator assembly 100. The existence of the sound pickup device and the voice recognition module allows the driver and passengers to express their needs only through natural language. For example, if the driver wants the manipulator assembly 100 to assist in adjusting the steering force of the steering wheel, he only needs to verbally express the corresponding instructions, and the sound pickup device can detect the audio signal. The voice recognition module further analyzes and generates accurate work instructions to pass to the control device, and the control device then commands the manipulator assembly 100 to perform the corresponding action. This hands-free operation method greatly improves the convenience of issuing instructions, allowing drivers and passengers to more easily and quickly let the manipulator assembly 100 perform various tasks without being distracted by looking for operation buttons or performing complex manual settings, especially during driving, which helps to ensure driving safety.

[0054] There are often multiple functional requirements in the car at the same time. The rear seat passengers hope that the manipulator assembly 100 can help adjust the position of the electronic device bracket to better watch the video. At the same time, the driver may need the manipulator assembly 100 to assist in some driving operations. Through voice commands, drivers and passengers in different positions can express their needs separately. The sound pickup device can accurately capture their respective audio signals. After parsing, the voice recognition module transmits different work instructions to the control device. The control device reasonably arranges the manipulator assembly 100 to perform the corresponding tasks in sequence or simultaneously according to the priority and actual situation. Compared with the traditional manual operation of different devices and functions one by one, it greatly simplifies the process of multi-tasking execution, improves the efficiency of the use of the entire vehicle's internal functions, and enables drivers and passengers to enjoy various services more smoothly.

[0055] The following briefly describes a vehicle according to an embodiment of the present invention.

[0056] The vehicle according to the embodiment of the present invention includes a vehicle body 4 and a manipulator assembly 100 of any of the above-mentioned embodiments. At least one matching component 41 is provided on the vehicle body 4. The manipulator assembly 100 is movably connected to the matching component 41 to move inside or outside the vehicle body 4. Since the vehicle according to this embodiment is provided with the manipulator assembly 100 of any of the above-mentioned embodiments, the vehicle according to the present invention is no longer limited to the traditional transportation function. The manipulator assembly 100 can realize various functions such as assisted driving and providing personalized services to passengers according to different scenarios and user needs, which greatly expands the application scope of the vehicle and makes it a multifunctional mobile platform. During driving, the manipulator assembly 100 can reduce the driver's operating burden and fatigue by assisting in maintaining the lane, and improve driving comfort and safety. The manipulator assembly 100 can move inside or outside the vehicle body 4. After the vehicle stops, the manipulator assembly 100 can be extended out of the window to take pictures and record the surrounding scenery or information. For disabled people, the manipulator assembly 100 can assist in opening and closing the door, etc., to facilitate getting on and off the vehicle, thereby enhancing the convenience and practicality of the vehicle in different usage scenarios, so that the vehicle can better serve various user groups.

[0057] 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 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, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In the description of the present invention, "first feature" or "second feature" may include one or more of the features.

[0059] In the description of the present invention, "plurality" means two or more.

[0060] In the description of the present invention, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0061] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means 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 representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the 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 claims and their equivalents.

Claims

1. A manipulator assembly for a vehicle, characterized in that: include: A mobile base (1), the mobile base (1) being suitable for being connected to a matching component (41) of the vehicle and moving relative to the vehicle; an execution arm (2), the execution arm (2) being connected to the mobile base (1) and moving with the mobile base (1) to a working area, the execution arm (2) being movably connected to the mobile base (1) and being suitable for switching to an execution state within the working area; an execution component (3), the execution component (3) being arranged on the execution arm (2), the execution component (3) being rotatably and / or translationally connected to the execution arm (2), the execution component (3) moving relative to the execution arm (2) to execute a target action; A detection unit, the detection unit being used to detect obstacles in a path from the mobile base (1) to the working area, and obstacles in a space where the execution component (3) in the working area executes a target action; A control device, the control device being communicatively connected to the mobile base (1), the execution arm (2) and the execution component (3) respectively, and after acquiring a target work instruction, the control device controls at least one of the mobile base (1), the execution arm (2) and the execution component (3) to perform an action to avoid the obstacle and execute the corresponding work instruction according to the obstacle detected by the detection unit.

2. The manipulator assembly for a vehicle according to claim 1, characterized in that: The execution arm (2) comprises: Sub-actuator arms (21), the sub-actuator arms (21) being constructed as at least two, two adjacent sub-actuator arms (21) being hinge-connected to switch between a storage state and an execution state and / or the two adjacent sub-actuator arms (21) being telescopic to adjust the length; During the switching process from the execution state to the storage state, the angle between two adjacent sub-execution arms (21) is reduced to fold, and / or the adjacent sub-execution arms (21) are retracted into the other sub-execution arm (21); wherein At least one of the sub-actuating arms (21) is rotatably and / or telescopically connected to the mobile base (1), and at least another of the sub-actuating arms (21) is provided with the actuating component (3).

3. The manipulator assembly for a vehicle according to claim 2, characterized in that: The detection unit comprises: A first detection unit, the first detection unit being arranged on the mobile base (1) and used to determine obstacles on a moving path of the mobile base (1) towards the working area; A second detection unit, the second detection unit is arranged on the execution arm (2) and / or the execution component (3), and is used to determine obstacles in the working area, and the plurality of sub-execution arms (21) and the execution component (3) avoid obstacles according to the obstacles detected by the second detection unit.

4. The manipulator assembly for a vehicle according to claim 2, characterized in that: The execution component (3) comprises: a matching portion (31), the matching portion (31) being connected to one of the sub-actuating arms (21), and a first operating area being formed on the matching portion (31); An action component (32), wherein a second operating area is formed on the action component (32), the action component (32) is movably arranged on the matching portion (31), and the action component (32) moves relative to the matching portion (31) to adjust the distance or relative position between the first operating area and the second operating area, so as to adjust to an operating state for operating a target object.

5. The manipulator assembly for a vehicle according to claim 4, characterized in that: The action component (32) comprises: A mechanical finger (321), the mechanical finger (321) being connected by a plurality of finger segments (3211), a hinge joint being provided between any two of the finger segments (3211), the mechanical finger (321) being constructed in a plurality and acting in coordination with each other to execute corresponding work instructions, and a second operating area being formed on each of the finger segments (3211).

6. The manipulator assembly for a vehicle according to claim 4, characterized in that: Also includes: A detection device is arranged on the action component (32) and is used to detect the health status.

7. The manipulator assembly for a vehicle according to claim 4, characterized in that: Also includes: A discharge unit, wherein the discharge unit is arranged on the action component (32) and the discharge unit controls the discharge voltage and the discharge frequency according to the working instruction.

8. The manipulator assembly for a vehicle according to claim 4, characterized in that: Also includes: A camera is arranged on the action component (32), and is used to obtain target position information inside the vehicle and dynamic information of the driver and passengers.

9. The manipulator assembly for a vehicle according to any one of claims 1 to 8, characterized in that: Also includes: a sound pickup device, the sound pickup device being arranged on at least one of the mobile base (1), the actuator arm (2) and the actuator component (3), the sound pickup device being used to detect audio signals inside the vehicle; A voice recognition module is connected to the sound pickup device and electrically connected to the control device, and the voice recognition module generates the work instruction based on and analyzes the audio signal.

10. A vehicle, characterized in that: include: A vehicle body (4), wherein at least one matching component (41) is provided on the vehicle body (4); A manipulator assembly (100), the manipulator assembly (100) being constructed as the manipulator assembly (100) according to any one of claims 1 to 9, the manipulator assembly (100) being movably connected to the mating component (41) so as to move inside or outside the vehicle body (4).

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