Detachable multi-mode AI health assisting mechanical arm system applied to bedside

Abstract

The invention discloses a low-cost and multi-scene adaptive AI health auxiliary mechanical arm which comprises a six-degree-of-freedom lightweight joint module. A multi-mode sensing system integrating a millimeter wave radar and a binocular camera; the quick-release base supporting toggle clip / magnetic attraction / bolt installation can achieve quick switching installation of a bed, a wheelchair, a wall face and other scenes. Through modularized hardware and an open source algorithm, core functions such as support, object delivery and remote medical treatment are realized, the selling price can be controlled within 20,000 yuan, and the problems of high cost and poor flexibility of a traditional nursing robot are solved. The device is suitable for daily life care of special groups such as old people, patients and disabled people. The auxiliary care robot is mainly applied to the bedside of a residential family or a hotel apartment and the bedside of a nursing home and a sickroom to be used as the auxiliary care robot, can also be installed on a dining table, a sofa, a bathroom, a toilet and other occasions needing auxiliary care of people, and can be movably installed on an automobile and an outdoor camping facility after being disassembled.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent service robots, and in particular to a detachable robotic arm system integrating environmental perception, physical assistance and telemedicine interaction, which is suitable for daily life care of special groups such as the elderly and the disabled. Background Art

[0002] Existing nursing robots have the following problems: single function: they can only deliver items or have simple conversations, and lack the ability to perform complex actions (such as helping and dressing); high cost: medical-grade robots generally cost more than 200,000 yuan, making them difficult to popularize; poor adaptability: fixed installations are difficult to cover multiple scene requirements (beds, wheelchairs, showers). Hangzhou Yushu Technology's breakthroughs in low-cost joint motors and open source algorithms (such as the Unitree Go1 robot) provide a technical foundation for the lightweight and modular design of this invention. Summary of the invention

[0003] The technical solution of the present invention includes a hardware architecture and a software system.

[0004] The hardware architecture is mainly composed of the robot body, perception system, and interaction unit. The robot body has 6 degrees of freedom, and the end is integrated with a five-fingered bionic hand (force control accuracy 0.1N) with up to 12 motion joints (carbon fiber material); perception system: binocular camera + millimeter wave radar (environmental modeling), infrared body temperature sensor (user status monitoring); interaction unit: ring microphone matrix, voice player, detachable, retractable and adjustable projection module.

[0005] The software system includes a multimodal control algorithm and an AI collaboration engine. Multimodal control algorithm: dynamic path planning integrating vision, radar and tactile feedback; AI collaboration engine: supports dual robotic arm motion synchronization and telemedicine interface calls. The present invention integrates an intelligent voice interaction module. After the robotic arm obtains the voice command through the ring microphone matrix, it performs the corresponding operation after voice recognition and semantic analysis (see Figure 2 ).

[0006] The innovation of this invention is reflected in three aspects: scene-adaptive installation, low-cost force control solution, and two-handed collaborative mode. Scene-adaptive installation: Through the clip / magnetic base and quick-release interface, it can realize fast switching of multiple scenes such as bed, wheelchair, wall, etc.; low-cost force control solution: adopt universal high-adaptability motor + tactile sensor fusion algorithm to replace the traditional high-cost six-dimensional force sensor; two-handed collaborative mode: dual robotic arms realize action synchronization (such as dressing, bathing) through distributed computing.

[0007] The main application places of the present invention are bedsides in residential homes or hotel apartments, as well as bedsides in nursing homes and wards where it can be used as an auxiliary care robot. It can also be installed on dining tables, sofas, bathrooms, toilets and other places where auxiliary care is needed for people, and can be disassembled and moved to be installed on cars and outdoor camping facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 : Schematic diagram of system composition. In the figure: 1. Quick-release base for clip / magnetic / bolt installation; 2. Robotic arm body; 3. Voice player; 4. Telescopic and adjustable angle projection module; 5. Ring microphone matrix; 6. Binocular camera; 7. Millimeter wave radar (environmental modeling); 8. Infrared body temperature sensor; 9. Robotic arm degrees of freedom (6); 10. Robotic arm motion joints (12); 11. Robotic arm lifting object (tea cup); 12. Robotic arm service position (bed).

[0009] Figure 2 :Intelligent voice interaction operation process.

[0010] Figure 3 :Flowchart of typical application scenarios. DETAILED DESCRIPTION

[0011] Example 1: Helping someone get up from bed. Steps: 1) User voice command "Help me get up from bed"; 2) The robotic arm locates the user's shoulder position through millimeter wave radar; 3) The five-fingered hand gently grasps the user's arm, and the joint motor slowly lifts according to the preset curve; 4) The tactile sensor provides real-time feedback on the force, and automatically pauses if it exceeds 2kg.

[0012] Example 2: Assisted showering (see Figure 3 ). Steps: 1) The robotic arm is installed on the bathroom wall, and the IP67 waterproof version is activated; 2) The infrared sensor monitors the user's body temperature. If it is lower than 36℃, the water temperature will be automatically increased through the smart home system; 3) The two robotic arms work together to support the user's armpits to prevent slipping.

[0013] Example 3: Remote consultation. Steps: 1) The user calls "Contact doctor"; 2) The projection unit displays the video call interface on the wall; 3) AI automatically summarizes the heart rate and body temperature data of the day and sends it to the doctor.

[0014] Example 4: Dressing with two hands. Steps: 1) Two robotic arms grab the left and right sides of the clothing respectively; 2) Identify the position of the user's arms through vision; 3) Dynamically adjust the unfolding angle of the clothing to avoid pulling the user's limbs.

Claims

1. A detachable multimodal AI health-assisting robotic arm system for bedside use, characterized in that Includes: a 6-DOF lightweight joint module; a multimodal perception system that integrates millimeter-wave radar and binocular cameras; a quick-release base that supports clip / magnetic / bolt installation, which can achieve fast switching and installation in multiple scenarios such as beds, wheelchairs, and walls.

2. The robotic arm according to claim 1, characterized in that: The five-finger bionic hand has built-in bionic skin tactile sensors with a force control accuracy of 0.1N.

3. The robotic arm according to claim 1, characterized in that: Supports dual-machine collaboration mode and achieves action synchronization through distributed algorithms.

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