Deformable wheel type multifunctional service robot

Abstract

The transformable wheeled multifunctional service robot comprises a movable chassis, a rectangular shell is arranged at the left end of the upper side of the movable chassis, a lifting shell is slidably connected to the upper end of the outer side of the rectangular shell, a head shell is arranged on the upper side of the lifting shell, and the transformable wheeled multifunctional service robot further comprises a waist and lower hem transformation mechanism, a double-arm mechanism and a sensing mechanism; the waist and lower hem deformation mechanism comprises a first groove, a first rotating shaft, a seat plate, a second rotating shaft, a supporting plate, an adjusting assembly, an electric-hydraulic push rod, a connecting base and a laser sensor, and the first groove is formed in the front side of the lifting shell. The device can be used for travel assistance and walking aid support, can also be used for carrying out services such as object delivery, voice response and simple housework tasks at home, has diversified functions, and is better in wheel type movement stability and easier to control compared with double-foot gait movement.

Description

Technical Field

[0001] This invention relates to the field of intelligent service robot technology, specifically to a deformable wheeled multi-functional service robot. Background Technology

[0002] Home service robots are intelligent devices designed to meet the needs of family life. With the increasing aging of society, the demand for home care and companionship services is growing. Currently, wheelchairs, walkers, and service robots on the market are mostly independent devices, which cannot meet the diverse needs of users in an integrated manner. At the same time, existing humanoid robots often adopt a bipedal gait, which has high stability and control difficulty, making them unsuitable for widespread application in the home environment. Therefore, there is an urgent need for a low-cost, simple, and multifunctional wheeled deformable service robot that can integrate the functions of wheelchairs, walkers, and humanoid service robots. To this end, we propose a deformable wheeled multifunctional service robot. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a deformable wheeled multi-functional service robot. This device is a wheeled service robot with the ability to transform between two forms. It can be used for travel assistance and mobility support, and can also perform services such as delivering items, responding to voice, and performing simple household chores at home. The device itself has diversified functions, and wheeled movement is more stable and easier to control than bipedal gait movement, which can effectively solve the problems in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a deformable wheeled multi-functional service robot, including a mobile chassis, a rectangular shell on the upper left side of the mobile chassis, a lifting shell slidably connected to the upper outer side of the rectangular shell, a head shell on the upper side of the lifting shell, and also including a waist swing deformation mechanism, a double arm mechanism and a sensing mechanism. Waist lowering deformation mechanism: It includes a groove 1, a rotating shaft 1, a seat plate, a rotating shaft 2, a support plate, an adjustment component, an electro-hydraulic actuator, a connecting seat, and a laser sensor. The groove 1 is opened on the front side of the lifting shell. The bottom of the groove 1 is rotatably connected to the seat plate through the rotating shaft 1. The upper front side of the seat plate is provided with a groove 2. The interior of the groove 2 is rotatably connected to the support plate through the rotating shaft 2. An adjustment component is provided between the seat plate and the lifting shell. The interior of the rectangular shell is provided with a connecting seat through the telescopic end of the electro-hydraulic actuator. The connecting seat is fixedly connected to the interior of the lifting shell. A laser sensor is provided on the front wall of the lifting shell. Dual-arm mechanism: It is located on the upper left and right sides of the hollow shell; Sensor mechanism: It is located on the outer side of the head shell. This device is a wheeled service robot with two form conversion capabilities. It can be used for travel assistance and mobility support, and can also perform services such as delivering items, responding to voice, and performing simple household chores at home. The device itself has diverse functions, and wheeled movement is more stable and easier to control than bipedal gait movement.

[0005] Furthermore, the front wall of the lifting shell is equipped with a PLC controller, a storage battery is installed in a groove on the upper side of the mobile chassis, a cover plate is installed above the groove, the output end of the storage battery is electrically connected to the input end of the PLC controller, the output end of the PLC controller is electrically connected to the input end of the mobile chassis and the electro-hydraulic actuator respectively, and the PLC controller is bidirectionally electrically connected to the laser sensor, which facilitates the control of the operation of the electrical components in the device.

[0006] Furthermore, the adjustment component includes a brake motor and a tilt sensor. The brake motor is located on the left side of the lifting shell. The input end of the brake motor is electrically connected to the output end of the PLC controller. The output shaft of the brake motor is fixedly connected to the left end of the rotating shaft. A tilt sensor is provided on the front side of the seat plate. The tilt sensor is bidirectionally electrically connected to the PLC controller to control the shape transformation of the deformable wheeled multi-functional service robot.

[0007] Furthermore, the dual-arm mechanism includes a servo motor one, a shoulder shell, a servo motor two, a U-shaped base, a servo motor three, a front wall shell, a servo motor four, and a robotic hand. The servo motor one is respectively located on the upper ends of the left and right walls of the lifting shell. The output shaft of the servo motor one is equipped with a shoulder shell. The front end of the shoulder shell is equipped with a U-shaped base through the output shaft of the servo motor two. The opposing surfaces of the two U-shaped bases are equipped with a front wall shell through the output shaft of the servo motor three. The front end of the front wall shell is equipped with a robotic hand through the output shaft of the servo motor four. The input ends of the servo motor one, servo motor two, servo motor three, servo motor four, and robotic hand are all electrically connected to the output end of the PLC controller, enabling operations such as grasping household items.

[0008] Furthermore, the dual-arm mechanism also includes a motor controller, which is located on the front wall of the lifting shell. The input terminal of the motor controller is electrically connected to the output terminal of the PLC controller. The motor controller is installed in conjunction with servo motor one, servo motor two, servo motor three and servo motor four respectively, to coordinate the operation of each servo motor in the deformable wheeled multi-functional service robot.

[0009] Furthermore, the sensing mechanism includes a camera, a lidar, and a microphone array. The camera is located on the front left side of the head shell, the lidar is located on the front right side of the head shell, and the microphone array is located on the lower middle front side of the head shell. The camera, lidar, and microphone array are all bidirectionally electrically connected to the PLC controller to acquire and upload the surrounding visual 3D, obstacle, and voice data.

[0010] Furthermore, the sensing mechanism also includes a touch screen, which is located on the upper side of the head shell. The touch screen is bidirectionally electrically connected to the PLC controller, facilitating manual command control of the deformable wheeled multi-functional service robot.

[0011] Furthermore, a limiting seat is provided on the rear side of the mobile chassis, and a card slot is opened in the middle of the limiting seat to hang a card seat. A storage basket is provided on the rear side of the card seat, so that the deformable wheeled multi-functional service robot has a shopping storage function.

[0012] Furthermore, the rear wall of the first groove is provided with symmetrically distributed storage slots, and each storage slot is provided with a foldable handrail to facilitate hand support for the elderly when riding.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: This deformable wheeled multi-functional service robot has the following advantages: 1. When using the deformable wheeled multi-functional service robot, the device can transform into two forms through the waist swing deformation mechanism. It can be used for travel assistance and mobility support, and can also perform services such as delivering items, responding to voice, and performing simple household chores at home. The structure is integrated, combining wheelchair, mobility aid and service robot into one, with multiple functions.

[0014] 2. When using a deformable wheeled multi-functional service robot, the device uses four-wheel drive to move between spaces such as the home. Compared with bipedal humanoid robots, four-wheel movement is more stable and safer, making it suitable for the home.

[0015] 3. When using a deformable wheeled multi-functional service robot, the dual-arm mechanism adopts a two-segment robotic arm with optimized structure and smooth movements, meeting the needs of home grasping applications.

[0016] 4. When using a deformable wheeled multi-functional service robot, the PLC controller and sensing mechanism are combined to integrate vision, voice, and path planning functions, enabling it to autonomously complete household chores. The device has strong intelligent sensing capabilities.

[0017] 5. When using a deformable wheeled multi-functional service robot, the device itself has shopping storage functions through the limiting seat, card seat and storage basket, which enhances its practicality and expands the daily life scenarios of the elderly. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is a schematic diagram of the rear internal structure of the present invention; Figure 4 This is a schematic diagram of the structure of the seat plate of the present invention in a horizontal state; Figure 5 This is a schematic diagram of the limiting seat and storage basket structure of the present invention; Figure 6 This is an enlarged structural diagram of point A in the present invention.

[0019] In the diagram: 1. Mobile chassis, 2. Rectangular shell, 3. Lifting shell, 4. PLC controller, 5. Waist swing deformation mechanism, 51. Groove I, 52. Rotary shaft I, 53. Seat plate, 54. Rotary shaft II, 55. Support plate, 56. Adjustment assembly, 561. Brake motor, 562. Tilt sensor, 57. Electro-hydraulic actuator, 58. Connecting seat, 59. Laser sensor, 6. Head shell, 7. Dual arm mechanism, 71. Servo motor I, 72. Shoulder shell, 73. Servo motor II, 74. U-shaped seat, 75. Servo motor III, 76. Front wall shell, 77. Servo motor IV, 78. Mechanical hand, 79. Motor controller, 8. Sensing mechanism, 81. Camera, 82. LiDAR, 83. Microphone array, 84. Touch screen, 9. Groove, 10. Battery, 11. Cover plate, 12. Limiting seat, 13. Card slot, 14. Storage basket, 15. Storage slot, 16. Foldable armrest. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1-6This embodiment provides a technical solution: a deformable wheeled multi-functional service robot, including a mobile chassis 1. A rectangular shell 2 is provided on the upper left side of the mobile chassis 1. A lifting shell 3 is slidably connected to the upper outer side of the rectangular shell 2. A head shell 6 is provided on the upper side of the lifting shell 3. A PLC controller 4 is provided on the front wall of the lifting shell 3. A battery 10 is provided in a groove 9 opened on the upper side of the mobile chassis 1. A cover plate 11 is provided above the groove 9. The output terminal of the battery 10 is electrically connected to the input terminal of the PLC controller 4. The output terminal of the PLC controller 4 is electrically connected to the input terminal of the mobile chassis 1. A head shell 6 is provided on the rear side of the mobile chassis 1. The device includes a limiting seat 12, a card slot in the middle of the limiting seat 12 for attaching a card seat 13, and a storage basket 14 on the rear side of the card seat 13. The storage battery 10 provides power support for the operation of the PLC controller 4 and inputs the positional relationship data between the internal components of the device into the PLC controller 4. When the device is in the low-position wheelchair / walking aid mode, the storage basket 14 is attached to the card slot of the limiting seat 12 through the card seat 13. The storage basket 14 is used to store the items purchased by the staff, so that the elderly do not need to carry the purchased items while riding the device, making it convenient to use. It also includes a waist swing deformation mechanism 5, a double arm mechanism 7, and a sensing mechanism 8. Waist-lowering deformation mechanism 5: It includes a groove 51, a pivot 52, a seat 53, a pivot 54, a support plate 55, an adjustment component 56, an electro-hydraulic actuator 57, a connecting seat 58, and a laser sensor 59. Groove 51 is located on the front side of the lifting housing 3. The bottom of groove 51 is rotatably connected to the seat 53 via pivot 52. Groove 57 is located on the upper front side of the seat 53. The support plate 55 is rotatably connected to the inside of groove 57 via pivot 54. An adjustment component 56 is provided between the seat 53 and the lifting housing 3. The inside of the rectangular housing 2 is connected to the connecting seat 58 via the telescopic end of the electro-hydraulic actuator 57. The connecting seat 58 is fixedly connected to the inside of the lifting housing 3. A laser sensor 59 is provided on the front wall of the lifting housing 3. The output end of the PLC controller 4 is connected to the electro-hydraulic actuator. The input end of rod 57 is electrically connected, and PLC controller 4 is bidirectionally electrically connected to laser sensor 59. Adjustment component 57 includes brake motor 561 and tilt sensor 562. Brake motor 561 is located on the left side of lifting housing 3. The input end of brake motor 561 is electrically connected to the output end of PLC controller 4. The output shaft of brake motor 561 is fixedly connected to the left end of rotating shaft 52. Tilt sensor 562 is provided on the front side of seat plate 53. Tilt sensor 562 is bidirectionally electrically connected to PLC controller 4. Symmetrically distributed storage slots 15 are provided on the rear wall of groove 51. Foldable armrests 16 are provided inside each storage slot 15. When using deformable wheeled multi-functional service robot, when the device itself is in low-position wheelchair / walking aid mode, PLC controller 561 is electrically connected to laser sensor 59. The controller 4 activates the electro-hydraulic actuator 57, causing its telescopic end to drive the lifting shell 3 to slide vertically down the outer side of the rectangular shell 2 via the connecting seat 58. The overall center of gravity of the device decreases. Simultaneously, the PLC controller 4 activates the laser sensor 59, which emits a light signal that illuminates the bottom wall of the rectangular shell 2 and reflects back to its initial position. Based on the propagation speed and time of the light signal, the vertical sliding distance of the lifting shell 3 along the outer side of the rectangular shell 2 is detected, and the detection result is transmitted to the PLC controller 4 as an electrical signal. At the same time, the PLC controller 4 activates the brake motor 561, causing its output shaft to drive the rotating shaft 52 to rotate forward. The rotating shaft 52 drives the seat plate 53 to rotate forward around its own axis. After the seat plate 53 rotates to a certain angle, the support plate 5... 5. Under its own gravity, the seat adaptively rotates around the axis of rotation 54, thus achieving a vertical position under gravity. Simultaneously, the PLC controller 4 activates the tilt sensor 562. The tilt sensor 562 operates based on Newton's second law, measuring the horizontal tilt angle of the seat 53 by detecting changes in the component of gravitational acceleration along the sensitive axis. The measurement result is transmitted to the PLC controller 4 as an electrical signal. When the horizontal tilt angle transmitted from the tilt sensor 562 to the PLC controller 4 is zero, the PLC controller 4 promptly shuts down the brake motor 561. (When the brake motor 561 is energized, its internal armature is electromagnetically attracted, allowing the brake disc to rotate freely.)When the brake motor 561 loses power, the electromagnet also loses power, and the armature is immediately held in place by the spring, causing the brake disc to press against the rear end cover of the motor, stopping its rotation. Therefore, the output shaft of the brake motor 561 has a self-locking function, thus achieving horizontal self-adjustment of the seat 53, and consequently enabling the device to transform into a low-position wheelchair / walking aid (e.g., ...). Figure 4 As shown), during this process, the PLC controller 4 controls the operation of the telescopic end of the electro-hydraulic actuator 57 by using the data uploaded by the laser sensor 59 and the positional relationship data between the components inside the device. This allows the bottom of the support plate 55 to contact the upper surface of the movable chassis 1. In this configuration, the seat 53 facilitates the elderly person's seating. Simultaneously, the foldable armrest 16 can be removed from the storage slot 15 and folded out (the foldable armrest 16 achieves its folding function through a multi-joint design), providing hand support for the elderly person while seated. When not in use, it can be folded and stored in the storage slot 15 in the same way. At the same time, as the overall height of the lifting shell 3 decreases, the elderly person can push and support the lifting shell 3 during walking, thus providing auxiliary support. To improve the stability of elderly people's walking, when the device is in humanoid service assistant mode, the PLC controller 4 controls the waist swing deformation mechanism 5 through the above principle to make the structure extend upward, thereby increasing the overall height of the robot. During this process, the output shaft of the brake motor 561 reverses, causing the seat plate 53 to rotate around the axis of the first pivot 52 and be stored in the first groove 51. The support plate 55 rotates around the axis of the second pivot 54 under its own gravity and is stored in the second groove. The overall height of the robot is increased, thereby realizing the transformation into humanoid service assistant mode. The device has two mode transformation capabilities, which can be used for travel assistance and walking support, and can also perform services such as delivering items, voice response, and simple housework tasks at home. The structure is integrated, combining wheelchair, walking aid and service robot into one, with multiple functions. Dual-arm mechanism 7: It is located on the upper left and right sides of the hollow shell 53. The dual-arm mechanism 7 includes servo motor 1 71, shoulder shell 72, servo motor 2 73, U-shaped base 74, servo motor 3 75, front wall shell 76, servo motor 4 77, and mechanical hand 78. Servo motor 1 71 is respectively located on the upper left and right walls of the lifting shell 3. The output shaft of servo motor 1 71 is provided with shoulder shell 72. The front end of shoulder shell 72 is provided with U-shaped base 74 through the output shaft of servo motor 2 73. The opposing surfaces of the two U-shaped bases 74 are provided with front wall shell 76 through the output shaft of servo motor 3 75. The front end of the front wall shell 76 is provided with servo motor 3 75 through the output shaft of servo motor 3 76. The output shaft of servo motor 77 is equipped with a robotic hand 78. The input terminals of servo motor 1 71, servo motor 2 73, servo motor 3 75, servo motor 4 77, and the robotic hand 78 are all electrically connected to the output terminal of PLC controller 4. The dual-arm mechanism 7 also includes a motor controller 79, which is located on the front wall of the lifting housing 3. The input terminal of the motor controller 79 is electrically connected to the output terminal of PLC controller 4. The motor controller 79 is installed in conjunction with servo motor 1 71, servo motor 2 73, servo motor 3 75, and servo motor 4 77. When the device itself is in a low-position wheelchair / walking aid mode, PLC controller 4 starts motor controller 79. (The motor controller 79 is connected in series with the input terminals of servo motor 1 71, servo motor 2 73, servo motor 3 75, and servo motor 4 77, and the output terminal of PLC controller 4.) The motor controller 79 controls the operation of the servo motors through power conversion and precise control algorithms. Its core internal process involves the power module converting DC power into controllable AC power, sensors monitoring operating parameters in real time, and the control unit generating PWM signals to adjust the output through a closed-loop algorithm. Ultimately, this drives the servo motors to operate precisely according to instructions. PLC controller 4, combined with its internal control algorithm (which uses a general-purpose intelligent robot control and sensing platform),... The motor controller 79 controls the operation of servo motor 1 71, servo motor 2 73, servo motor 3 75 and servo motor 4 77, thereby adjusting the spatial position of the shoulder shell 72, the front wall shell 76 and the robotic hand 78. This allows the two sets of front wall shells 76 to move symmetrically to the upper travel armrest of the seat 53, making it easier for the elderly to lean on them. When the device is in humanoid service assistant mode, the PLC controller 4 controls the shoulder shell 72, the front wall shell 76 and the robotic hand 78 through the above principle to achieve functions such as grasping household items. The device adopts a two-segment robotic arm with optimized structure and smooth operation, meeting the needs of household grasping applications. Sensing mechanism 8: Located on the outer side of the head housing 6, sensing mechanism 8 includes a camera 81, a lidar 82, and a microphone array 83. The camera 81 is located at the front left end of the head housing 6, the lidar 82 is located at the front right end of the head housing 6, and the microphone array 83 is located at the lower middle of the front side of the head housing 6. The camera 81, lidar 82, and microphone array 83 are all bidirectionally electrically connected to the PLC controller 4. Sensing mechanism 8 also includes a touch screen 84, located on the upper side of the head housing 6. The touch screen 84 is bidirectionally electrically connected to the PLC controller 4. In both usage modes, the PLC controller 4 activates the microphone. The microphone array 83, with multiple microphones working collaboratively, utilizes the spatial characteristics of sound waves to achieve precise sound pickup and signal processing. The acquired sound information is then transmitted to the PLC controller 4 as an electrical signal. The PLC controller 4 activates the mobile chassis 1, which features a four-wheeled structure. Compared to bipedal humanoid robots, four-wheeled movement is more stable and safer, making it suitable for home use. The mobile chassis 1 operates, with motion control achieved through modular design and mechatronics technology. Simultaneously, the PLC controller 4 activates the camera 81, which operates using time-of-flight technology, emitting infrared light pulses and measuring the photon's flight time. The system calculates object distances and captures RGB color information of the scene. This information is then combined with depth information to generate a 3D model, which is uploaded to the PLC controller 4 via electrical signals. This enables environmental map construction. Simultaneously, the PLC controller 4 activates the LiDAR 82. The LiDAR 82 acquires target information by emitting laser beams and measuring reflected signals, transmitting the results to the PLC controller 4 via electrical signals. Based on the data uploaded by the LiDAR 82 and camera 81, and combining visual recognition technology, SLAM technology, AI algorithms, and task scheduling logic, the PLC controller 4 monitors the device's movement path, the dual-arm mechanism 7, and other parameters. The device controls the movement of its internal robotic hand 78 and mobile chassis 1, thereby enabling it to interpret voice or button commands and initiate corresponding tasks; identify objects and environmental structures to locate its own position; construct a home environment map and plan the optimal path; and control the robotic hand 78 to perform operations such as handing water, picking up items, and clearing obstacles. In addition to voice command control via microphone array 83, the device can also be controlled manually via touch screen 84. The device integrates vision, voice, and path planning functions through the combination of PLC controller 4 and sensing mechanism 8, enabling it to autonomously complete household chores and demonstrating strong intelligent sensing capabilities.

[0022] The working principle of the deformable wheeled multi-functional service robot provided by this invention is as follows: When using the deformable wheeled multi-functional service robot, the battery 10 provides power support for the operation of the PLC controller 4, and the positional relationship data between the internal components of the device is recorded into the PLC controller 4. When the device itself is in a low-position wheelchair / walking aid mode, the PLC controller 4 activates the electro-hydraulic push rod 57 so that its telescopic end drives the lifting shell 3 to slide vertically down along the outside of the rectangular shell 2 through the connecting seat 58, and the overall center of gravity of the device decreases. At the same time, the PLC controller 4 activates the laser sensor 59, which emits a light signal to illuminate the bottom wall of the rectangular shell 2 and reflects it back to the initial position. Based on the propagation speed and time of the light signal, the vertical sliding distance of the lifting shell 3 along the outside of the rectangular shell 2 is detected, and the detection result is transmitted to the PLC controller 4 in the form of an electrical signal. At the same time, the PLC controller 4 activates the brake motor 561 so that its output shaft drives the rotating shaft 52 to rotate in the forward direction. The rotating shaft 52 drives the seat plate 53 to rotate in the forward direction around its own axis. After the seat plate 53 rotates to a certain angle, the support... Under its own gravity, the support plate 55 adaptively rotates around the axis of the second pivot 54, thus achieving a vertical position under gravity. Simultaneously, the PLC controller 4 activates the tilt sensor 562. The tilt sensor 562 operates based on Newton's second law, measuring the horizontal tilt angle of the seat plate 53 by detecting changes in the component of gravitational acceleration along the sensitive axis. The measurement result is transmitted to the PLC controller 4 as an electrical signal. When the horizontal tilt angle transmitted from the tilt sensor 562 to the PLC controller 4 is zero, the PLC controller... The controller 4 promptly shuts off the brake motor 561 (when the brake motor 561 is energized, the armature inside the brake motor 561 is electromagnetically attracted, making the brake disc rotatable and allowing the brake motor 561 to rotate freely; when the brake motor 561 is de-energized, the electromagnet is de-energized, and the armature is immediately pressed by the spring, causing the brake disc to press against the rear end cover of the motor, stopping rotation; therefore, the output shaft of the brake motor 561 has a self-locking function), thereby achieving horizontal self-adjustment of the seat 53, and thus realizing the transformation of the device itself into a low-position wheelchair / walking aid form (such as...). Figure 4As shown), during this process, the PLC controller 4 controls the operation of the telescopic end of the electro-hydraulic actuator 57 by using the data uploaded by the laser sensor 59 and the positional relationship data between the components inside the device. This makes the bottom of the support plate 55 contact the upper surface of the movable chassis 1. In this configuration, the seat 53 makes it easier for the elderly to sit. At the same time, the foldable armrest 16 can be taken out from the storage slot 15 and folded out (the foldable armrest 16 achieves the folding function through a multi-joint design), making it easier for the elderly to support themselves when sitting on the device. When not in use, it can be folded and stored in the storage slot 15 in the same way. At the same time, as the overall height of the lifting shell 3 decreases, the elderly can push the lifting shell 3 to support themselves while walking. The system provides walking assistance to improve the stability of elderly people's walking. Simultaneously, PLC controller 4 activates motor controller 79 (motor controller 79 is connected in series with the input terminals of servo motors 71, 73, 75, and 77 to the output terminal of PLC controller 4). Motor controller 79 controls the operation of the servo motors through power conversion and precise control algorithms. Its core internal process involves a power module converting DC power to controllable AC power, sensors monitoring operating parameters in real time, and a control unit generating a PWM signal through a closed-loop algorithm to adjust the output, ultimately driving the servo motors to operate precisely according to instructions. PLC controller 4, combined with its internal control algorithm (which uses a general-purpose intelligent robot control algorithm),... The sensor platform controls the operation of servo motor 1 71, servo motor 2 73, servo motor 3 75, and servo motor 4 77 via motor controller 79, thereby adjusting the spatial position of the shoulder shell 72, front wall shell 76, and robotic hand 78. This allows the two sets of front wall shells 76 to move symmetrically to the upper travel armrest of the seat 53, making it easier for the elderly to lean on. When the device is in humanoid service assistant mode, PLC controller 4 controls the waist-lowering deformation mechanism 5 to extend the structure upwards using the above principle. During this process, the output shaft of brake motor 561 reverses, causing the seat 53 to rotate around the axis of pivot 1 52 and retract into the groove 1 51. The support plate 55 rotates around pivot 2 5 under its own weight. The robot rotates along its four axes and retracts into the second groove, raising its overall height and thus transforming into a humanoid service assistant. During use in both modes, the PLC controller 4 activates the microphone array 83. The microphone array 83, through the coordinated operation of multiple microphones, utilizes the spatial characteristics of sound waves to achieve precise sound pickup and signal processing, transmitting the acquired sound information to the PLC controller 4 as an electrical signal. The PLC controller 4 then activates the mobile chassis 1. The mobile chassis 1 features a four-wheel structure, which, compared to bipedal humanoid robots, provides more stable and safer movement, making it suitable for home service. The mobile chassis 1 operates, with motion control achieved through modular design and mechatronics technology. Simultaneously, the PLC controller 4 activates the camera 81, which then operates.Employing time-of-flight technology, the distance to objects is calculated by emitting infrared light pulses and measuring the photon flight time. Simultaneously, RGB color information of the scene is captured and combined with depth information to generate a 3D model. This generated 3D model is uploaded to PLC controller 4 via electrical signals, thus achieving environmental map construction. Simultaneously, PLC controller 4 activates LiDAR 82, which acquires target information by emitting laser beams and measuring reflected signals, transmitting the results to PLC controller 4 via electrical signals. Based on the data uploaded by LiDAR 82 and camera 81, and combining visual recognition technology, SLAM technology, AI algorithms, and task scheduling logic, PLC controller 4 monitors the device's own movement path, the dual-arm mechanism 7, and... The device controls the movement of its internal robotic hand 78 and mobile chassis 1, enabling it to interpret voice or button commands, initiate corresponding tasks, identify objects and environmental structures, locate its own position, construct a home environment map, plan the optimal path, and control the robotic hand 78 to perform operations such as delivering water, retrieving items, and clearing obstacles. When the device is in a low-position wheelchair / walking aid mode, the storage basket 14 is attached to the slot of the limiting seat 12 via the card holder 13, allowing the elderly to store purchased items without carrying them, making it convenient for use. In addition to voice command control via the microphone array 83, the device can also be controlled manually via the touchscreen 84.

[0023] It is worth noting that the mobile chassis 1 disclosed in the above embodiments can be Robot-Chassis-NS, the PLC controller 4 can be 6ES7274-1XK30-0XA0, the electro-hydraulic actuator 57 can be a DYZW integral straight micro electro-hydraulic actuator, the brake motor 561 can be a YEJ6324, the tilt sensor 562 can be a MEMS tilt sensor, the servo motor 1 71, servo motor 2 73, servo motor 3 75 and servo motor 4 77 can all be 60ST-M00630LBX, the robotic hand 78 can be an INSPIREROBOTS humanoid five-fingered dexterous hand, and the motor controller 79 can be... Using the SDJ series motor controller, camera 81 can be a D435 depth camera, lidar 82 can be a VLP-16 line lidar, microphone array 83 can be an HT-AM3 array omnidirectional microphone, and touch screen 84 can be a CT-1096 capacitive touch screen. PLC controller 4 controls the mobile chassis 1, electro-hydraulic actuator 57, brake motor 561, tilt sensor 562, servo motor 1 71, servo motor 2 73, servo motor 3 75, servo motor 4 77, robotic hand 78, motor controller 79, camera 81, lidar 82, microphone array 83, and touch screen 84, all using methods commonly used in existing technologies.

[0024] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A deformable wheeled multi-functional service robot, comprising a mobile chassis (1), wherein a rectangular shell (2) is provided on the upper left side of the mobile chassis (1), a lifting shell (3) is slidably connected to the upper outer side of the rectangular shell (2), and a head shell (6) is provided on the upper side of the lifting shell (3), characterized in that: It also includes a waist-lower hem deformation mechanism (5), a double-arm mechanism (7), and a sensing mechanism (8); Waist lowering deformation mechanism (5): It includes a groove one (51), a rotating shaft one (52), a seat plate (53), a rotating shaft two (54), a support plate (55), an adjustment component (56), an electro-hydraulic push rod (57), a connecting seat (58), and a laser sensor (59). The groove one (51) is opened on the front side of the lifting shell (3). The bottom of the groove one (51) is rotatably connected to the seat plate (53) through the rotating shaft one (52). The upper front side of the seat plate (53) is provided with a groove two. The interior of the groove two is rotatably connected to the support plate (55) through the rotating shaft two (54). An adjustment component (56) is provided between the seat plate (53) and the lifting shell (3). The interior of the rectangular shell (2) is provided with a connecting seat (58) through the telescopic end of the electro-hydraulic push rod (57). The connecting seat (58) is fixedly connected to the interior of the lifting shell (3). The front wall of the lifting shell (3) is provided with a laser sensor (59). Double-arm mechanism (7): It is located on the upper left and right sides of the hollow shell (53); Sensing mechanism (8): It is located on the outer side of the head shell (6).

2. The deformable wheeled multi-functional service robot according to claim 1, characterized in that: The front wall of the lifting shell (3) is provided with a PLC controller (4), and a storage battery (10) is provided in the groove (9) opened on the upper side of the mobile chassis (1). A cover plate (11) is provided above the groove (9). The output end of the storage battery (10) is electrically connected to the input end of the PLC controller (4). The output end of the PLC controller (4) is electrically connected to the input end of the mobile chassis (1) and the electro-hydraulic push rod (57) respectively. The PLC controller (4) is bidirectionally electrically connected to the laser sensor (59).

3. The deformable wheeled multi-functional service robot according to claim 2, characterized in that: The adjustment assembly (57) includes a brake motor (561) and a tilt sensor (562). The brake motor (561) is located on the left side of the lifting shell (3). The input end of the brake motor (561) is electrically connected to the output end of the PLC controller (4). The output shaft of the brake motor (561) is fixedly connected to the left end of the rotating shaft (52). The tilt sensor (562) is provided on the front side of the seat plate (53). The tilt sensor (562) is electrically connected to the PLC controller (4) in both directions.

4. A deformable wheeled multi-functional service robot according to claim 2, characterized in that: The dual-arm mechanism (7) includes a servo motor 1 (71), a shoulder shell (72), a servo motor 2 (73), a U-shaped seat (74), a servo motor 3 (75), a front wall shell (76), a servo motor 4 (77), and a mechanical hand (78). The servo motor 1 (71) is respectively located on the upper ends of the left and right walls of the lifting shell (3). The output shaft of the servo motor 1 (71) is provided with a shoulder shell (72). The front end of the shoulder shell (72) is provided with a U-shaped seat (74) through the output shaft of the servo motor 2 (73). The opposing surfaces of the two U-shaped seats (74) are provided with a front wall shell (76) through the output shaft of the servo motor 3 (75). The front end of the front wall shell (76) is provided with a mechanical hand (78) through the output shaft of the servo motor 4 (77). The input ends of the servo motor 1 (71), servo motor 2 (73), servo motor 3 (75), servo motor 4 (77), and mechanical hand (78) are all electrically connected to the output end of the PLC controller (4).

5. A deformable wheeled multi-functional service robot according to claim 4, characterized in that: The dual-arm mechanism (7) also includes a motor controller (79), which is located on the front wall of the lifting shell (3). The input end of the motor controller (79) is electrically connected to the output end of the PLC controller (4). The motor controller (79) is installed in conjunction with servo motor one (71), servo motor two (73), servo motor three (75) and servo motor four (77).

6. A deformable wheeled multi-functional service robot according to claim 2, characterized in that: The sensing mechanism (8) includes a camera (81), a lidar (82) and a microphone array (83). The camera (81) is located on the front left side of the head shell (6), the lidar (82) is located on the front right side of the head shell (6), and the microphone array (83) is located on the lower middle front side of the head shell (6). The camera (81), lidar (82) and microphone array (83) are all bidirectionally electrically connected to the PLC controller (4).

7. A deformable wheeled multi-functional service robot according to claim 2, characterized in that: The sensing mechanism (8) also includes a touch screen (84), which is located on the upper side of the head shell (6) and is bidirectionally electrically connected to the PLC controller (4).

8. A deformable wheeled multi-functional service robot according to claim 1, characterized in that: The mobile chassis (1) is provided with a limiting seat (12) on the rear side. A card slot (13) is hung in the card slot opened in the middle of the limiting seat (12). A storage basket (14) is provided on the rear side of the card slot (13).

9. A deformable wheeled multi-functional service robot according to claim 1, characterized in that: The rear wall of the groove (51) is provided with symmetrically distributed storage slots (15), and each storage slot (15) is provided with a foldable armrest (16).

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