Foldable multifunctional intelligent housekeeper service robot

Abstract

The invention discloses a foldable multifunctional intelligent housekeeper service robot, and relates to the technical field of robots. The multifunctional massage chair can be folded or unfolded according to different scenes in a family, the working efficiency is improved, and the functions of massage, housework management and patrol safety are integrated. The robot comprises a deck, an intelligent cabin, a massage backrest, a master control system, a detection unit, an execution unit and a data transmission module. The bottom of the deck is connected with the top of the intelligent cabin through a telescopic structure; the bottom of the massage backrest is connected with the intelligent cabin through an overturning structure, and the massage backrest enters the intelligent cabin after being overturned; and the master control system is connected with the detection unit and the execution unit. The method is used for improving the performance of the intelligent housekeeper service robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a foldable multifunctional intelligent butler service robot. Background Art

[0002] As an important form of home service robot, smart butler robots have great potential in the smart home market. They can play multiple functions such as control and coordination, thereby improving the quality and convenience of family life.

[0003] Development of smart housekeeping service robots With the continuous breakthroughs in artificial intelligence, the Internet of Things, cloud computing and other technologies, robots are developing in a smarter and more convenient direction to meet consumers' pursuit of high-quality life. The aging population and changes in family structure have had an important impact on the demand for smart home service robots. The increase in the elderly population has made the demand for family care, health management and other aspects increasingly urgent. At the same time, the emergence of new family structures such as dual-income families and single nobles has also made the role of smart home service robots in companionship and entertainment more prominent. Most of the smart housekeeping robots on the market currently have the following shortcomings: 1. Existing smart housekeeping robots cannot adapt to various scenarios at home and have low work efficiency. 2. The functions are single and cannot provide all the housework needs for the family. Summary of the invention

[0004] The embodiments of the present application provide a foldable multifunctional intelligent butler service robot, which can not only be folded or unfolded according to different scenarios within the home to improve work efficiency, but also integrates massage, housework management and patrol security functions.

[0005] To achieve the above-mentioned objectives, an embodiment of the present application provides a foldable multifunctional intelligent butler service robot, including a deck, an intelligent cockpit, a massage backrest, a master control system, a detection unit, an execution unit and a data transmission module; the bottom of the deck is connected to the top of the intelligent cockpit by a telescopic structure; the bottom of the massage backrest is connected to the intelligent cockpit by a flipping structure, and the massage backrest enters the intelligent cockpit after flipping; the master control system, the detection unit and the execution unit are all connected.

[0006] Furthermore, the master control system includes a control panel and a micro-control panel; the control panel is located on the upper surface of the deck, and a voice interaction module and an Internet of Things module are integrated in the control panel; the micro-control panel is located on the inner side of the smart cockpit.

[0007] Furthermore, the detection unit includes a binocular vision camera, a depth camera and a binocular obstacle avoidance camera; the binocular is located on the front surface of the deck; the depth camera is located on the upper surface of the deck; the binocular obstacle avoidance camera is located on the front surface of the smart cockpit; the binocular vision camera, the depth camera and the binocular obstacle avoidance camera are all connected to the control panel.

[0008] Furthermore, the execution unit includes a holographic projector, a robotic arm, a back massager, a foot massager, a wheel assembly and a cleaning brush; the holographic projector is arranged on the top of the massage backrest; the robotic arm is arranged on both sides of the massage backrest; the back massager is arranged on the front side of the massage backrest, the foot massager is arranged on the front side of the smart cockpit, and the wheel assembly and the cleaning brush are both arranged at the bottom of the smart cockpit; the holographic projector, the wheel assembly and the cleaning brush are all connected to the control panel; the robotic arm, the back massager and the foot massager are all connected to the micro-control panel.

[0009] Furthermore, the robotic arm includes a rope-driven continuum robotic arm, an end effector and a robotic arm driving device; the end effector is detachably connected to the end of the rope-driven continuum robotic arm; the end effector includes flexible grasping, kneading fingers, centripetal three fingers or centrifugal four fingers.

[0010] Furthermore, the back massager includes an electromagnetic massage wheel and a guide rail; the guide rail includes a plurality of curved guide rail segments.

[0011] Furthermore, a mounting plate is provided on the front surface of the smart cockpit; a foot massager is arranged on the mounting plate and is located below the binocular obstacle avoidance camera.

[0012] Compared with the prior art, this application has the following beneficial effects:

[0013] 1. The robot in the embodiment of the present application adopts a modular design and can switch between three modes: smart butler mode, massage service mode, and home patrol mode, which increases the flexibility and adaptability of the robot, enables it to move freely in the home and perform multiple tasks, improves the practicality and scope of application of the robot, and enables the robot to have higher adaptability and user satisfaction.

[0014] 2. The robot in the embodiment of the present application has three states - fully unfolded, half-folded and fully folded. The folding and unfolding of the robot can be achieved by controlling the movement of the telescopic structure and the flipping structure. In the fully unfolded state, the robot is mainly in the smart butler mode and the massage service mode, and the telescopic rod is in the maximum extension state, supporting various parts of the robot. When it is necessary to switch to the home patrol mode, the telescopic rod is controlled to shorten, and the massage backrest of the robot gradually approaches and folds up under the action of the flipping mechanism, realizing all-round intelligent services and flexible operation capabilities, bringing more convenience and comfort to family life.

[0015] 2. The double arms of the embodiment of the present application adopt rope-driven continuum manipulators, which can perform precise operations in a small range. The end of the manipulator is equipped with a flexible claw, which can realize adaptive grasping of irregular objects. The manipulator can replace the end effector. By replacing different end effectors, the robot can perform a variety of tasks, such as cleaning, grasping, massage, etc. By replacing the end effector, the shutdown of the entire robot due to actuator failure can be avoided, the reliability of the robot can be improved, and the diverse needs of users at home can be met.

[0016] 3. The smart cockpit of the embodiment of the present application has an adaptive reclining function, which can be quickly adjusted to the best comfort state. The massage wheel on the backrest adopts an electromagnetic massager, and is an extra-long guide rail connected by multiple sections. The guide rail curve of the massager can be adjusted according to different lying positions of the human body. In three-dimensional space, it is combined with a rope-driven flexible manipulator to realize massage techniques such as kneading, hammering, slapping, and acupressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the present application;

[0019] Figure 2 A bottom view of an embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the connection structure between the mechanical arm and the rib plate in the embodiment of the present application;

[0022] Figure 5 This is a state diagram of the embodiment of the present application before folding;

[0023] Figure 6 This is a diagram of the folding process of an embodiment of the present application;

[0024] Figure 7 This is a state diagram of the embodiment of the present application after folding. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0027] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, they can understand the specific meanings of the above terms in this application according to specific circumstances.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0029] Reference Figures 1 to 7 An embodiment of the present application provides a foldable multifunctional intelligent butler service robot, including a deck 1, an intelligent cockpit 2, a massage backrest 3, a master control system 4, a detection unit 5, and an execution unit 6.

[0030] The smart cockpit 2 is a seat with armrests. The smart cockpit 2 is the base of the robot, providing stable support for the robot and power for the robot's movement. The bottom of the deck 1 is connected to the top of the smart cockpit 2 by a telescopic structure 7. After the telescopic structure 7 is retracted, the deck 1 moves down and fits with the smart cockpit 2.

[0031] The telescopic structure 7 uses an electric telescopic rod. The telescopic rod is composed of multiple sections. During the robot retraction process, the telescopic rod adjusts its length to retract. Specifically, when the telescopic rod is extended or shortened, it drives the robot body to move, thereby realizing the folding and unfolding of the robot.

[0032] The massage backrest 3 is connected to the rear inner side of the smart cockpit 2 through the flip structure 8. The massage backrest 3 is made of flexible material and is ergonomically designed to help users relieve fatigue. Specifically, the frame of the massage backrest 3 is made of alloy to ensure that it can withstand the weight and pressure of the human body. The bottom of the massage backrest 3 is connected to the smart cockpit 2 through the flip structure 8, and the massage backrest 3 enters the smart cockpit 2 after flipping.

[0033] The flip structure 8 includes a flip drive motor, a rib plate 81 and a three-link mechanical structure. The flip drive motor is connected to the three-link mechanical structure in a transmission manner to achieve smooth adjustment of the tilt. The rib plate 81 is connected to the support arm of the robot arm 62 by welding to form a stable support frame. The rib plate is mainly used to bear and disperse the stress and load generated by the robot arm 62 during the movement, prevent structural deformation and damage, and ensure that the robot arm 62 can smoothly and accurately complete various operating tasks. The shape of the rib plate 81 is irregular to adapt to the contour and internal structure of the robot arm 62.

[0034] The master control system 4 includes a control panel 41 and a micro-control panel 42. The control panel 41 is located on the upper surface of the deck 1. The control panel 41 integrates voice interaction modules and Internet of Things modules, which can monitor the status of each device and the events that occur, and coordinate the communication and interaction between different devices to ensure efficient and stable operation. Through WiFi, all devices in the home are managed by the master control system and coordinated to achieve the effect of smart home. The micro-control panel 42 is located on the inner side of the smart cockpit 2. The control panel 41 and the micro-control panel 42 are connected to the cloud service platform through the data transmission module.

[0035] The master control system 4, as the core of the whole system, realizes data transmission and reception through the connection with the detection unit 5 through the standard communication interface and bus. Also through the connection with the execution unit 6 through the standard communication interface, the master control system 4 sends control instructions to the execution unit 6 to instruct it to perform the corresponding action. Through the connection with the voice interaction module by wireless means (such as Bluetooth, Wi-Fi), the reception and feedback of voice instructions are realized. Through the connection with the data transmission module through the serial port and Ethernet interface, data exchange and remote monitoring with the cloud service platform are realized.

[0036] The detection unit 5 includes a binocular vision camera 51, a depth camera 53 and a binocular obstacle avoidance camera 52. The binocular vision camera 51 is located on the front surface of the deck. The depth camera 53 is arranged on the upper surface of the deck and is located on the side of the control panel 41. The binocular obstacle avoidance camera 52 is located on the front surface of the smart cockpit. The binocular vision camera 51, the depth camera 53 and the binocular obstacle avoidance camera 52 are all connected to the robot's master control system 4 through a USB interface. The interface can provide a stable data transmission channel to ensure that the images captured by the camera can be transmitted to the robot's master control system 4 in real time for processing.

[0037] The binocular vision camera 51 can simulate the triangulation principle of human eyes, and restore the three-dimensional information of the scene by comparing and processing different perspective images of the same scene, so that the robot can accurately judge the distance and position of the object and realize the depth perception function. The binocular vision camera 51 can also extract and identify the features of the target object, realize the robot's automatic classification, detection and tracking of the object, and enable the robot to complete complex operation tasks.

[0038] The depth camera 53 detects depth images, allowing the robot to collect facial features of people and perceive the emotional state of family members. It can also recognize user gestures and other body movements to interact with family members in a friendly manner.

[0039] The binocular obstacle avoidance camera 52 can perform real-time positioning and map construction, and can complement the visual system on the head to form a more complete perception system of surrounding objects. It can also interact with the camera at home to form a search system.

[0040] The execution unit 6 includes a holographic projector 61 , a robot arm 62 , a back massager 63 , a foot massager 64 , a wheel assembly 65 and a cleaning brush 66 .

[0041] The holographic projector 61 can bring an unprecedented immersive viewing experience to the user, making home entertainment more colorful. The holographic projector 61 is connected to the upper surface of the massage backrest 3 and is connected to the control panel 41 via a video interface such as HDMI or VGA. By inputting a command on the control panel 41, the holographic projector 61 can be turned on or off.

[0042] Reference Figure 3 The mechanical arm 62 is connected to the left and right sides of the massage backrest 3 through the ribs 81. The mechanical arm 62 includes a rope-driven continuum mechanical arm 621, an end effector 622 and a mechanical arm driving device. The mechanical arm driving device adopts a mechanical arm driving motor. The end effector 622 is detachably connected to the end of the rope-driven continuum mechanical arm 621. The rope-driven continuum mechanical arm 621 is a prior art and will not be described in detail here. The end effector 622 includes a flexible grasping, kneading finger, a centripetal three-finger or a centrifugal four-finger.

[0043] The rope-driven continuum robot arm 621 can flexibly move and adjust its posture to adapt to objects of different shapes and sizes. The flexible claw design of the end effector 622 enables the robot to perform more delicate and precise tasks. In the home patrol mode, the robot arm 62 retracts into the area between the two ribs 81. The lightweight rope-driven flexible arm and the end flexible claw can realize adaptive grasping of irregular objects. In addition, by replacing different end effectors 622, the robot can perform a variety of tasks, such as cleaning, grasping, massaging, etc., and can also avoid the shutdown of the entire robot due to end effector failure, improve the reliability of the robot, and meet the diverse needs of users at home.

[0044] The back massager 63 is located at the front side of the massage backrest 3. The back massager 63 includes an electromagnetic massage wheel and a guide rail. The guide rail includes a multi-section curved guide rail segment. The guide rail is arranged according to ergonomic principles to fit the curves and contours of the human body. The multi-section curved guide rail segments form a smooth and continuous massage path through precise connection and corner design. The arrangement of the guide rail also takes into account the range of motion and strength of the massage head to ensure the massage effect.

[0045] The back massager 63 is combined with the mechanical arm 62 in three-dimensional space to realize massage techniques such as kneading, hammering, slapping, finger pressure, etc. It uses mechanical methods to simulate Chinese medicine massage, pressing and vibration techniques to realize a variety of human-like massage techniques.

[0046] The two inner walls of the smart cockpit 2 are also provided with armrests, which are 6D mechanical armrests. A micro-control panel 42 is also provided on one of the inner walls. The micro-control panel 42 is connected to the mechanical arm drive motor in the mechanical arm 62 and the electromagnetic massage wheel in the back massager 63. The micro-control panel 42 can control the start and stop of the mechanical arm drive motor and the electromagnetic massage wheel, thereby controlling the mechanical arm 62 and the back massager 63 to start or stop massage.

[0047] Specifically, the micro-control panel 42 is connected to the mechanical arm drive motor and the electromagnetic massage wheel through PWM signals and relays to control the vibration, strength and mode of the massager. The micro-control panel 42 sends control signals to the mechanical arm drive motor and the electromagnetic massage wheel through the interface. These signals contain instructions and parameters input by the user through the micro-control panel 42. After receiving the control signal from the micro-control panel 42, the mechanical arm drive motor and the electromagnetic massage wheel will perform corresponding actions and feedback the execution results or status information to the micro-control panel 42 through the communication interface. In this way, the user can understand the working status of the mechanical arm 62 and the back massager 63 in real time through the micro-control panel 42.

[0048] The foot massager 64 is connected to the front surface of the smart cockpit 2 via a mounting plate and is located below the binocular obstacle avoidance camera 52 .

[0049] The bottom of the smart cockpit 2 is provided with a wheel assembly 65 and a cleaning brush 66. The wheel assembly 65 includes a plurality of Mecanum wheels, which can realize all-round movement, making it more flexible. The cleaning brush 66 can clean the household floor. The wheel assembly 65 is driven by a wheel drive motor, and the cleaning brush 66 is driven by a cleaning brush drive motor. Both the wheel drive motor and the cleaning brush drive motor are connected to the control panel 41, and the control panel 41 can control the start and stop of the wheel drive motor and the cleaning brush drive motor, thereby controlling the robot to realize the movement and cleaning functions.

[0050] Reference Figures 5 to 7 The robot of the embodiment of the present application has three modes and three states. The three modes are: smart housekeeper mode, massage service mode and home patrol mode. The three states are: unfolded state, semi-folded state and fully folded state. Intelligent conversion can be achieved between the three modes, that is, in the unfolded state and semi-folded state, the robot is in smart housekeeper mode and massage service mode, and the telescopic rod is in the maximum extension state, supporting various parts of the robot. When it is necessary to switch to the home patrol mode, the telescopic rod is controlled to shorten, and at the same time, the flip structure 8 moves to fold up.

[0051] The working principle of the robot in the embodiment of the present application is described below in combination with the three modes:

[0052] 1. Smart housekeeper mode

[0053] The operator inputs a mode switching signal from the control panel 41 and selects the corresponding task. The control panel 41 controls the corresponding execution unit to complete the task. For example, in the smart housekeeper mode, household tasks such as cooking, drying clothes, and cleaning the floor can be achieved. It should be noted that cooking or drying clothes requires the replacement of the end effector 622 of the robot arm 6 according to the task. When cleaning the floor, the control panel 41 controls the movement of the wheel assembly 65 and the cleaning brush 66. In addition, the control panel 41 can also control smart devices in the home and provide audio, music, etc. through human-computer interaction. Finally, since the control panel 41 is connected to the holographic projector 61, holographic imaging services can also be provided. It should be noted that before providing holographic imaging services, the control panel 41 will control the telescopic structure 7 to drive the deck 1 to retract, and at the same time control the flip structure 8 to drive the massage backrest 3 to flip to a semi-folded state; when completing other tasks, the telescopic structure 7 is in an extended state, and the massage backrest 3 is also in an upright state.

[0054] 2. Massage service model

[0055] The operator inputs a mode switching signal through the micro-control panel 42 and selects a corresponding massage mode, such as kneading, massaging, tapping, etc. The micro-control panel 42 controls the mechanical arm 6 to simulate various massage techniques of human hands, and controls the back massager 63 to massage the back, and also controls the foot massager 64 to massage the feet.

[0056] 3. Home patrol mode

[0057] The operator inputs a mode switching signal from the control panel 41 to switch to the home patrol mode. The control panel 41 first controls the telescopic structure 7 to drive the deck 1 to fully retract, and at the same time controls the flip structure 8 to drive the massage backrest 3 to flip to a fully folded state. Then, the binocular vision camera 51 and the binocular obstacle avoidance camera 52 detect the environment and send the detection information to the control panel 41. The control panel 41 then controls the wheel assembly 65 to start according to the received environmental information to complete the home patrol.

[0058] In summary, the present invention has an ingenious design and a carefully laid out overall structure. From the control panel 41 to the holographic projection, from the rope-driven continuum robot arm 621 to the smart cockpit 2, each component works closely together to build an intelligent and flexible service system. The control panel 41 serves as the control center, directing the operation of the entire robot; and the holographic projection technology brings users an unprecedented immersive viewing experience, making home entertainment more colorful. Switching between the three forms enables it to move freely in the home and perform multiple tasks, improving the practicality and scope of application of the robot, and enabling the robot to have higher adaptability and user satisfaction. The Comfortable Guardian with form conversion capability has two forms, realizes autonomous switching between the three modes, realizes a full range of intelligent services and flexible operation capabilities, and brings more convenience and comfort to family life.

[0059] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A foldable multifunctional intelligent butler service robot, characterized in that: It includes a deck, an intelligent cockpit, a massage backrest, a master control system, a detection unit, an execution unit and a data transmission module; the bottom of the deck is connected to the top of the intelligent cockpit through a telescopic structure; The bottom of the massage backrest is connected to the smart cockpit through a flipping structure, and the massage backrest enters the smart cockpit after flipping; the master control system is connected to the detection unit and the execution unit.

2. The foldable multifunctional intelligent butler service robot according to claim 1, characterized in that: The master control system includes a control panel and a micro-control panel; the control panel is located on the upper surface of the deck, and a voice interaction module and an Internet of Things module are integrated in the control panel; the micro-control panel is located on the inner side of the smart cockpit.

3. The foldable multifunctional intelligent butler service robot according to claim 1, characterized in that: The detection unit includes a binocular vision camera, a depth camera and a binocular obstacle avoidance camera; the binocular is located on the front surface of the deck; the depth camera is located on the upper surface of the deck; the binocular obstacle avoidance camera is located on the front surface of the smart cockpit; the binocular vision camera, the depth camera and the binocular obstacle avoidance camera are all connected to the control panel.

4. The foldable multifunctional intelligent butler service robot according to claim 2, characterized in that: The execution unit includes a holographic projector, a robotic arm, a back massager, a foot massager, a wheel assembly and a cleaning brush; the holographic projector is arranged on the top of the massage backrest; the robotic arm is arranged on both sides of the massage backrest; the back massager is arranged on the front side of the massage backrest, the foot massager is arranged on the front side of the smart cockpit, and the wheel assembly and the cleaning brush are both arranged at the bottom of the smart cockpit; the holographic projector, the wheel assembly and the cleaning brush are all connected to the control panel; the robotic arm, the back massager and the foot massager are all connected to the micro-control panel.

5. The foldable multifunctional intelligent butler service robot according to claim 4, characterized in that: The robot arm comprises a rope-driven continuum robot arm, an end effector and a robot arm driving device; the end effector is detachably connected to the end of the rope-driven continuum robot arm; the end effector comprises flexible grasping, kneading fingers, centripetal three fingers or centrifugal four fingers.

6. The foldable multifunctional intelligent butler service robot according to claim 4, characterized in that: The back massager comprises an electromagnetic massage wheel and a guide rail; the guide rail comprises a plurality of curved guide rail sections.

7. The foldable multifunctional intelligent butler service robot according to claim 1, characterized in that: A mounting plate is provided on the front surface of the smart cockpit; a foot massager is arranged on the mounting plate and is located below the binocular obstacle avoidance camera.

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