Gas regulation and control integrated intelligent humanoid robot with body and autonomous service method thereof

Abstract

The invention provides an intelligent humanoid robot integrating gas regulation and control and provided with a body and an autonomous service method of the intelligent humanoid robot. The intelligent humanoid robot comprises a wheel type chassis walking mechanism, a trunk structure, a double-arm structure and a head structure. A lifting stand column leg mechanism is arranged above the wheel type chassis walking mechanism, and a robot trunk structure simulating the upper body of the human body is installed on the lifting stand column leg mechanism. A robot head structure is arranged at the top end of the robot trunk mechanism, and an air channel pipeline connected with the chest, a camera and a sound box are arranged in the head structure. The robot arm mechanisms are installed on the two sides of the robot trunk mechanism, and the five-finger dexterous hand is installed at the tail end of a mechanical arm of each robot arm mechanism. A man-machine interaction touch screen is installed in front of the trunk structure, an airflow generation device module composed of a flow valve, an oxygen bottle, an air pump, a driver, an air path control circuit and the like is arranged in the trunk structure, healthy airflow required by different human bodies can be prepared under adjustment of an intelligent control algorithm, and airflow output can be achieved by simulating human body breathing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent humanoid robots, in particular, to a somatic intelligent humanoid robot integrated with gas regulation and an autonomous service method thereof. BACKGROUND

[0002] With the rapid development of the field of somatic intelligent robots, a large number of robots have emerged in a variety of practical application scenarios, such as intelligent education robots, emotional communication robots, cooking robots, and performance robots. With the increasing progress of robot precision, the degree of humanization that robots can achieve is becoming higher and higher, and some robots with higher humanization needs have emerged.

[0003] Patent document CN115683676A (application number: 202210973961.5) discloses a micro-negative pressure generating device for simulating human respiration, belonging to the field of detection. The device includes a pneumatic system and a measurement and control system; the pneumatic system includes a vacuum assembly and at least one set of pneumatic subsystems; each set of pneumatic subsystems includes a first two-position two-way valve, an oxygen concentration sensor, a first pressure sensor, a flow sensor, and a two-position three-way valve; the first port of the first two-position two-way valve is connected to one end of the oxygen concentration sensor, and the second port is connected to the outside atmosphere; the other end of the oxygen concentration sensor is connected to one end of the first pressure sensor; the other end of the first pressure sensor is connected to one end of the flow sensor; the other end of the flow sensor is connected to the second port of the two-position three-way valve; the first port of the two-position three-way valve is connected to the oxygen outlet, and the third port is connected to the vacuum assembly; the pneumatic system is connected to the measurement and control system.

[0004] Patent document CN114495670B (application number: 202210151560.1) provides a device and method for simulating human respiration, relating to the technical field of respiratory simulation, including an upper respiratory tract model and a gas supply assembly. An airflow channel is formed inside the upper respiratory tract model, and the airflow channel is connected to the gas supply assembly corresponding to the nasal cavity part and the oral cavity part of the upper respiratory tract model, respectively. The gas supply assembly is connected to the airflow channel through a flow regulating element to adjust the airflow of the oral cavity part and the nasal cavity part of the upper respiratory tract model. A plurality of pressure measuring elements are arranged along the airflow channel in the upper respiratory tract model. In view of the problem that the current simulation of the upper respiratory tract state does not match the real respiratory state of the patient, the oral cavity part and the nasal cavity part are connected to the gas supply assembly, respectively, the gas supply flow of the nasal cavity part and the oral cavity part is adjusted to simulate the different proportions of oral respiration of the patient, which conforms to the real respiratory condition of the patient, and the monitoring element is used to obtain the changes in the fluid mechanics characteristics of the upper respiratory tract to obtain data that meets the analysis requirements.

[0005] Patent CN104977390B (application number: 201510395954.1) provides a kind of simulation real human respiratory device and method;Including exhalation pump, inhalation pump and heater system;The main body of inhalation pump is a sealed cylinder, the piston is equipped in cylinder inside, piston is connected with rack by bolt;Step motor is connected with rack through gear outside cylinder;DSP controller is connected with driver through control line, and driver is connected with motor through drive wire;The other side of cylinder has two air holes, and the air pipe of two air holes is connected with cylinder through check valve respectively;Exhalation pump and inhalation pump are same in structure, only in the end part of air pipe is equipped with heating element, power supply is connected with heating element through time relay.

[0006] Patent document CN113643584B (application number: 202110938855.9) provides a kind of robot for training doctor-patient communication ability, including humanoid robot shell, still include: central processing module, install in humanoid robot shell;Sound sensor, install in humanoid robot shell, with central processing module electric connection;Loudspeaker, install in humanoid robot shell, with central processing module electric connection;Emotion display module, install on humanoid robot shell, with central processing module electric connection, for feedback current robot's emotional state;Display screen, install on humanoid robot shell, with central processing module electric connection.Doctor student can understand the speech that oneself is easy to cause person's ambiguity or easy to stimulate other people's emotion in usual communication by and the personality dialogue in this robot, and find the most suitable communication method through many times of repeated practice.

[0007] However, existing human respiratory simulation device cannot be self-assisted human operation, humanoid robot also lacks such bionic gas breathing function.Aiming at the demand of this kind of respiratory service, especially the first aid of unmanned scene, it is urgent to need a kind of embodied intelligent humanoid robot device to simulate human breathing and integrate health gas output control method. SUMMARY

[0008] In view of the defects in the prior art, the purpose of the present application is to provide an embodied intelligent humanoid robot integrated with gas regulation and its autonomous service method.

[0009] According to the embodied intelligent humanoid robot integrated with gas regulation provided by the present application, it comprises: a wheeled chassis walking mechanism 1, a lifting column leg mechanism 2, a robot torso mechanism 3, a robot head mechanism 4, a robot arm mechanism 5, and a five-finger bionic dexterous hand 56. The wheel type chassis walking mechanism 1 is provided with the lifting column leg mechanism 2; the lifting column leg mechanism 2 is provided with the robot trunk mechanism 3; the top end of the robot trunk mechanism 3 is provided with the robot head mechanism 4; the two sides of the robot trunk mechanism 3 are both provided with the robot arm mechanism 5; the mechanical arm end of each robot arm mechanism 5 is installed with the five-finger bionic dexterous hand 56; the five-finger bionic dexterous hand 56 is used for grabbing the oral-nasal gas mask 61 connected with the breathing connection air pipe 6, and placing the grabbed oral-nasal gas mask 61 at the mouth and nose of the target user 7. The inside of the robot trunk mechanism 3 is provided with an airflow generating device module 36; the airflow generating device module 36 is used for providing airflow meeting preset requirements according to requirements, and outputting the airflow by bionically simulating human body breathing. The inside of the robot head mechanism 4 is provided with an air path pipeline, one end of the air path pipeline is connected with the airflow generating device module 36, and the other end is connected with a robot lip air pipe 47; the lip air pipe 47 is connected with the breathing connection air pipe 6.

[0010] Preferably, the wheel type chassis walking mechanism 1 comprises a bottom plate 11 and a chassis shell 12. The bottom plate 11 comprises an industrial computer 114, an embedded control board 111, a first depth camera 113, a laser radar 112, a driving wheel 115, a universal following wheel 118, and a driving motor 116. The industrial computer 114 is connected with the embedded control board 111 through a communication interface; the embedded control board 111 is electrically connected with the driving wheel 115; two driving wheels 115 are respectively connected with two driving motors 116. The universal following wheel 118 serves as the third wheel of the wheel type chassis walking mechanism 1 and has no active driving capability. The chassis shell 12 comprises an emergency stop button 122, a start-stop button 121, and an ultrasonic sensor 123; wherein the ultrasonic sensors 123 are distributed on the four surrounding surfaces of the chassis shell 12 and are all electrically connected with the industrial computer 114. The first depth camera 113, the laser radar 112, and the ultrasonic sensor 123 are all used for capturing environmental information.

[0011] Preferably, the industrial computer 114 collects the first depth camera 113 data and the laser radar 112 data, and establishes an environmental model and a navigation model. In the navigation motion control, the industrial computer 114 collects the ultrasonic sensor 123 data, the first depth camera 113 data, and the laser radar 112 data, controls the robot to autonomously navigate, so that the robot avoids collision with moving objects.

[0012] Preferably, the lifting column leg mechanism 2 comprises: a column outer square 21, a column inner square 22, a motor 23, a motor gear 231, a driving rod 24 and a sliding block 25; The lifting column leg mechanism 2 is a square nested structure, the column outer square 21 is installed in the center area of the bottom plate and is fixedly connected with the column docking plate 117; the column inner square 22 is nested in the column outer square 21; the motor 23 is installed in the column outer square 21; the motor gear 231 is connected with the driving rod 24, and the sliding block 25 on the driving rod 24 is connected with the column inner square 22; under the driving of the motor 23, the sliding block 25 drives the column inner square 22 to lift; the top end of the column inner square 22 is connected with the robot torso mechanism 3.

[0013] Preferably, the robot torso mechanism 3 comprises: a torso shell 31, a torso skeleton 32, a bending motor module 33, a neck rotation mechanism 34; The torso skeleton 32 is fixedly arranged in the torso shell 31; the bending motor module 33 is arranged at the bottom end of the torso skeleton 32, and the neck rotation mechanism 34 is arranged at the top end of the torso skeleton 32; the robot head mechanism 4 is installed at the top end of the neck rotation mechanism 34; the robot arm mechanism 5 is arranged on both sides of the torso skeleton 32; The airflow generating device module 36 is arranged in the torso skeleton 32; The bending motor module 33 comprises: a bending motor 331, a lower groove 332, an upper groove 333 and a bearing 334; one end of the lower groove 332 is provided with the bearing 334 rotating passively, the bearing 334 rotating passively is connected with one end of the upper groove 333, the other end of the lower groove 332 is provided with the bending motor 331, and the bending motor 331 is connected with the other end of the upper groove 333; when the bending motor 331 rotates, the upper groove 333 rotates, and the rotation range is-90° to 90°; The touch display screen 35 is further arranged in front of the torso shell 31, and is used for man-machine interaction, including setting a robot working mode; The neck rotation mechanism 34 comprises: a neck rotation motor 341, a shoulder connecting piece 342 and a neck rotation connecting piece 343; the neck rotation motor 341 is installed on the shoulder connecting piece 342, and a convex end is connected with the neck rotation connecting piece 343; when the neck rotation motor 341 rotates, the neck rotation connecting piece 343 rotates; the shoulder connecting piece 342 is installed on the torso skeleton 32.

[0014] Preferably, the airflow generating device module 36 comprises: a flow valve 361, an oxygen cylinder 362, an air pump 363, a driver 364, an air path control circuit 365, and a three-way port 366. The air pump 363 generates high-pressure gas, which is connected to the first air inlet 3661 of the three-way port 366 through an air pipe; the oxygen cylinder 362 outputs oxygen, which is connected to the second air inlet 3662 of the three-way port 366 through an air pipe; the outlet 3663 of the three-way port 366 is connected to one end of the flow valve 361; the other end of the flow valve 361 is connected to the internal air path pipeline of the robot head mechanism 4. The air path control circuit 365 controls the driver 364 to drive the air pump 363 to control the output of the oxygen cylinder 362, so as to obtain gas that meets the preset requirements; the flow valve 361 controls the output gas flow, so as to simulate human body breathing and output airflow.

[0015] Preferably, the robot head mechanism 4 comprises: a neck connecting piece 41, a nodding motor 42, a head fixing piece 43, a second depth camera 44, a head shell 45, and a sound 46. The neck connecting piece 41 is arranged in the torso shell 31 and detachably connected to the torso skeleton 32; the nodding motor 42 is installed on the neck rotating connecting piece 343; the head fixing piece 43 is arranged around the nodding motor 42; the head shell 45 is arranged on the head fixing piece 43; the second depth camera 44 and the sound 46 are fixedly arranged on the head shell 45. The second depth camera 44 is used to identify the piano key button and observe the situation of the robot playing the keyboard. The sound 46 is used for music playing, voice playing for human-computer interaction, and abnormality prompting. One end of the lip air pipe 47 is connected to the airflow generating device module 36 through an air path pipeline, and the other end is connected to the robot air pipe 7.

[0016] Preferably, the robot arm mechanism 5 comprises: a mechanical arm, a six-dimensional force sensor 55, and a five-finger bionic dexterous hand 56. One end of the mechanical arm is connected to the robot torso mechanism 3, and the other end is connected to the six-dimensional force sensor 55; the six-dimensional force sensor 55 is connected to the five-finger bionic dexterous hand 56. The mechanical arm is composed of a first section mechanical arm 51, a second section mechanical arm 52, a third section mechanical arm 53 and a fourth section mechanical arm 54; the first section mechanical arm 51, the second section mechanical arm 52, the third section mechanical arm 53 and the fourth section mechanical arm 54 are sequentially connected, and each mechanical arm connection has one rotation degree of freedom; each mechanical arm has a rotation degree of freedom, so that the mechanical arm realizes six degrees of freedom or seven degrees of freedom, and can imitate free movement of a human arm; Each finger of the five-finger bionic dexterous hand 56 has at least two degrees of freedom, can bend and straighten, and the five fingers cooperatively imitate the gripping action of a human hand to grip the mouth-nose air cover 61 at the end of the breathing connection air pipe 6.

[0017] According to the application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, and the following steps are performed by using the integrated gas regulation embodied intelligent humanoid robot: The health airflow output working mode is selected through the touch display screen 35, wherein the health airflow output working mode includes a high oxygen concentration mode, a low oxygen concentration mode and an atmospheric airflow mode; and parameters are set according to the selected health airflow output working mode; The robot detects and locates the mouth-nose position of the face through the second depth camera 44, starts one five-finger bionic dexterous hand 56 to hold the mouth-nose air cover 61 at the end of the breathing connection air pipe 6 and places it at the mouth-nose of the target user 7, starts another five-finger bionic dexterous hand 56 to gently press the mouth-nose air cover 61, adjusts the force size in real time through the feedback information of the six-dimensional force sensor 55, and then starts the airflow generating device module 36, regulates the health airflow output according to the set parameters, and the robot autonomously completes the service without the participation of staff or service personnel, and can realize multi-scene applications such as breathing difficulty patient assistance and health care.

[0018] According to the application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, and the following steps are performed by using the integrated gas regulation embodied intelligent humanoid robot: When the wearable electrocardio sensor 71 monitors that the target user 7 has no heart rate beat in a preset time period, the robot detects and locates the mouth-nose position of the face through the second depth camera 44, starts one five-finger bionic dexterous hand 56 to hold the mouth-nose air cover 61 at the end of the breathing connection air pipe 6 and places it at the mouth-nose of the target user 7, starts another five-finger bionic dexterous hand 56 to gently press the mouth-nose air cover 61, adjusts the force size in real time through the feedback information of the six-dimensional force sensor 55, and then starts the airflow generating device module 36, regulates the health airflow output according to the preset parameters, and realizes multi-scene applications such as breathing difficulty patient assistance and cardiopulmonary resuscitation first aid.

[0019] Compared with the prior art, the application has the following beneficial effects: 1. The upper body intelligent wheeled humanoid robot adopts a wheeled chassis walking structure, increases a lifting column leg mechanism to realize height freedom, adopts a bionic human upper body structure design, integrates an airflow generating device module, and can simulate human respiration to output airflow under the adjustment of an intelligent control algorithm. 2. The upper body intelligent humanoid robot integrates the airflow generating device module, can simulate human respiration to output airflow, forms airflow beneficial to physical and mental health under the adjustment of the intelligent control algorithm, and can realize auxiliary breathing difficulty patients, cardiopulmonary resuscitation first aid and other multi-scene applications. 3. The upper body intelligent humanoid robot adopts the wheeled chassis walking structure to realize autonomous motion control, increases the lifting column leg mechanism to realize height free adjustment, and increases a bending structure module to expand a robot service operation space. 4. The robot adopts the bionic human upper body structure design, the arm structure can simulate human arm movement, a mechanical arm end integrates a five-fingered dexterous hand, simulates human hand gripping function, and through visual detection positioning and dexterous hand grabbing of the two arms, a trachea is grabbed to supply a user with breath, and autonomous service can be realized. 5. The robot can simulate human respiration through cooperation between structures, the method can be used for simulating human respiration research, through visual detection positioning and dexterous hand grabbing of the two arms, the trachea can be actively connected with a user, and autonomous service of breathing difficulty patient auxiliary, cardiopulmonary resuscitation first aid and other multi-scene applications can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other characteristics, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the attached drawings: Fig. 1 It is a kind of upper body intelligent humanoid robot device integrated with gas regulation and its autonomous service method schematic diagram.

[0021] Fig. 2 It is a wheeled chassis walking mechanism schematic diagram.

[0022] Fig. 3 It is a lifting column leg structure schematic diagram.

[0023] Fig. 4 It is a robot torso structure schematic diagram.

[0024] Fig. 5 It is a head structure schematic diagram.

[0025] Fig. 6 It is an arm structure schematic diagram.

[0026] Fig. 7 It is an airflow generating device module composition schematic diagram.

[0027] Wherein, 1-wheel chassis walking mechanism, 2-lifting column leg mechanism, 3-robot torso mechanism, 4-robot head mechanism, 5-robot arm mechanism, 6-breathing connecting air pipe, 61-mouth and nose gas mask, 7-target user, 71-wearable electrocardio sensor, 11-bottom plate, 111-embedded control board, 112-laser radar, 113-first depth camera, 114-industrial computer, 115-driving wheel, 116-driving motor, 117-column docking plate, 118-omni-directional following wheel, 119-battery, 12-bottom plate shell, 121-start-stop button, 122-emergency stop button, 123-ultrasonic sensor, 21-column outer square, 22-column inner square, 23-motor, 231-motor gear, 24-driving rod, 25-sliding block, 31-upper body shell, 32-torso framework, 33-bending motor module, 331-bending motor, 332-lower groove, 333-lower groove, 334-bearing, 34-neck rotation mechanism, 341-neck rotation motor, 342-shoulder connecting piece, 343-neck rotation connecting piece, 35-touch display screen, 36-air flow generating device module, 41-neck connecting piece, 42-nodding motor, 43-head fixing piece, 44-second depth camera, 45-head shell, 46-sound, 47-lip air pipe, 51-first section mechanical arm, 511-first rotation degree of freedom, 52-second section mechanical arm, 521-second rotation degree of freedom, 522-third rotation degree of freedom, 53-third section mechanical arm, 531-fourth rotation degree of freedom, 532-fifth rotation degree of freedom, 54-fourth section mechanical arm, 541-sixth rotation degree of freedom, 542-seventh rotation degree of freedom, 55-six-dimensional force sensor, 56-five-finger bionic dexterous hand, 561-first degree of freedom finger, 562-second degree of freedom finger, 563-thumb, 361-flow valve, 362-oxygen cylinder, 363-air pump, 364-driver, 365-air path control circuit, 366-three-way, 3661-first air inlet, 3662-second air inlet, 3663-air outlet. DETAILED DESCRIPTION

[0028] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0029] Example 1 According to the embodiment of the application, an integrated gas regulation somatic intelligent humanoid robot is provided, as shown in the figure, comprising: a wheel chassis walking mechanism 1, a lifting column leg mechanism 2, a robot torso mechanism 3, a robot head mechanism 4, and a robot arm mechanism 5. Figs. 1 to 7 The embodiment of the application provides an integrated gas regulation somatic intelligent humanoid robot, as shown in the figure, comprising: a wheel chassis walking mechanism 1, a lifting column leg mechanism 2, a robot torso mechanism 3, a robot head mechanism 4, and a robot arm mechanism 5. The wheel type chassis walking mechanism 1 is provided with the lifting column leg mechanism 2, the robot trunk mechanism 3 of the upper body of the bionic human body is arranged on the lifting column leg mechanism 2, the robot head mechanism 4 is arranged at the top end of the robot trunk mechanism 3, the robot head mechanism 4 is internally provided with an air path pipeline connected with the airflow generating device module 36 in the chest, a camera and a sound, robot arm mechanisms 5 are arranged on both sides of the robot trunk mechanism 3, and five-finger bionic dexterous hands 56 are arranged at the mechanical arm ends of each robot arm mechanism 5; A touch display screen 35 for human-computer interaction is arranged on the front of the robot trunk mechanism 3, and the airflow generating device module 36 composed of a flow valve, an oxygen cylinder, an air pump, a driver and an air path control circuit is arranged in the inside, and the airflow generating device module 36 can be matched to output healthy airflow required by different human bodies under the adjustment of an intelligent control algorithm, can output airflow by bionically imitating human respiration, and the autonomous service method is to position and grasp the mouth-nose air cover 61 connected with the breathing connecting air pipe 6 through visual detection and the five-finger bionic dexterous hands 56 of the two arms, can actively cover the mouth and nose of a target user 7 through the mouth-nose air cover 61, and realize multi-scene applications such as assisting a patient with breathing difficulties and cardiopulmonary resuscitation first aid.

[0030] Specifically, the wheel type chassis walking mechanism 1 comprises a bottom plate 11, a chassis shell 12 is arranged at the upper end of the bottom plate 11, a window is left at the front end of the chassis shell 12 for a first depth camera 113 and a laser radar 112 to capture environmental information, used for controlling autonomous movement of the robot, and a window for a lifting column is left at the top of the chassis shell 12. The bottom plate 11 is provided with a battery 119, an industrial computer 114, an embedded control board 111, the first depth camera 113, the laser radar 112, two drive wheels 115, the first depth camera 113 and the laser radar 112 are used for environmental modeling and autonomous navigation, the industrial computer 114 is connected with the embedded control board 111 through a communication interface, the embedded control board 111 is electrically connected with the drive wheels 115, the two drive wheels 115 are connected with left and right two drive motors 116 respectively, a third wheel is a universal following wheel 118 without active driving capability. The chassis shell 12 is provided with an emergency stop button 122, a start-stop button 121 and ultrasonic sensors 123, the ultrasonic sensors 123 are distributed on the four surrounding surfaces of the shell and are electrically connected with the industrial computer 114, in the process of navigation modeling, the industrial computer 114 collects first depth camera data and laser radar data, and establishes an environmental model and a navigation model through a first fusion algorithm, in the process of navigation motion control, the industrial computer 114 collects ultrasonic sensor data, first depth camera data and laser radar data, and controls autonomous navigation of the robot and avoids collision with moving objects through a second fusion algorithm; wherein the first fusion algorithm is, such as Kalman filtering, Bayesian estimation, weighted average method, fuzzy logic, neural network, etc., and the second fusion algorithm is, such as a convolutional neural network, a transform network, etc.

[0031] Specifically, the lifting column leg mechanism 2 is a square nested structure, the outer column square 21 is fixedly connected with the column butt plate 117 in the center area of the bottom plate, the inner column square 22 is nested in the outer column square structure 21, the motor 23 is installed in the outer column square 21, the motor gear 231 is connected with the driving rod 24, the sliding block 25 on the driving rod 24 is connected with the inner column square 22, under the driving of the motor 23, the sliding block 25 drives the inner column square 22 to realize lifting, and the top end of the inner column square 22 is connected with the robot trunk mechanism 3.

[0032] Specifically, the robot trunk mechanism 3 comprises a trunk shell 31, a trunk skeleton 32, an airflow generating device module 36 and a touch display screen 35, the touch display screen 35 for human-computer interaction is installed on the front of the robot trunk mechanism 3, so that the user can perform human-computer interaction and set the working mode of the robot, the trunk skeleton 32 is fixedly arranged in the trunk shell 31, the bending motor module 33 is fixedly arranged at the bottom end of the trunk skeleton 32, the bending motor module 33 comprises a bending motor 331, a lower groove 332, an upper groove 333 and a bearing 334, the passive rotating bearing 334 is arranged on the left side of the lower groove 332, the passive rotating bearing 334 is connected with the left end of the upper groove 333, the bending motor 331 is arranged on the right side of the lower groove 332, one end of the bending motor 331 is connected with the upper groove 333, when the bending motor 331 rotates, the upper groove 333 rotates, and the rotating range is-90° to 90°, the robot neck rotating mechanism 34 is installed on the trunk skeleton 32, the neck rotating mechanism 34 comprises a neck rotating motor 341, a shoulder connecting piece 342 and a neck rotating connecting piece 343, the neck rotating motor 341 is installed on the shoulder connecting piece 342, and the convex end is installed with the neck rotating connecting piece 343; when the neck rotating motor 341 rotates, the neck rotating connecting piece 343 rotates, the shoulder connecting piece 342 is installed on the trunk skeleton 32, the robot head mechanism 4 is installed on the neck rotating mechanism 34, and the robot arm mechanisms 5 are arranged on both sides of the robot head mechanism 4, and each robot arm mechanism is installed on the trunk skeleton 32.

[0033] Specifically, the robot head mechanism 4 comprises a neck connecting piece 41, the neck connecting piece 41 is arranged in the trunk shell 31 and is detachably connected with the trunk skeleton 32, the nodding motor 42 is installed on the neck rotating connecting piece 343, the periphery of the nodding motor 42 is a head fixing piece 43, the head fixing piece 43 is provided with a head shell 45, the head second depth camera 44 and the sound 46 are fixedly arranged on the head shell 45, the sound 46 can be used for voice prompting, the second depth camera 44 can be used for observing the position of the mouth and nose of a human body, and through the assistance of the dexterous hands on the two arms, the trachea can be actively connected with the target user 7.

[0034] The mouth trachea 47 is connected to the airflow generating device module 36 in the trunk skeleton 32 at one end, and is connected to the robot breathing connection trachea 6 at the other end.

[0035] Specifically, the robot arm mechanism is composed of a mechanical arm, a six-dimensional force sensor 55 and a five-finger bionic dexterous hand 56. The mechanical arm is connected to the trunk skeleton 32 at one end and to the six-dimensional force sensor 55 at the other end. The mechanical arm is composed of four sections, specifically, a first section mechanical arm 51, a second section mechanical arm 52, a third section mechanical arm 53 and a fourth section mechanical arm 54. Each of the first section mechanical arm 51 and the second section mechanical arm 52, the second section mechanical arm 52 and the third section mechanical arm 53, and the third section mechanical arm 53 and the fourth section mechanical arm 54 has one rotational degree of freedom, specifically, a second rotational degree of freedom 521, a fourth rotational degree of freedom 531 and a sixth rotational degree of freedom 541. Each section has one rotational degree of freedom, specifically, a first rotational degree of freedom 511, a third rotational degree of freedom 522, a fifth rotational degree of freedom 532 and a seventh rotational degree of freedom 542. The fifth rotational degree of freedom 532 of the third section mechanical arm is usually redundant and can be added or removed. Therefore, the mechanical arm has six or seven degrees of freedom and can simulate the free movement of a human arm. The two arms can work together to complete tasks similar to human hands. The five-finger bionic dexterous hand 56 is installed at the end of the six-dimensional force sensor 55. The five-finger bionic dexterous hand 56 simulates the structure of a human hand. Each finger, except the thumb 563, has at least two degrees of freedom, including a first degree of freedom finger 561 and a second degree of freedom finger 562. The five-finger bionic dexterous hand 56 can bend and straighten, and the five fingers can work together to simulate the grasping action of a human hand and can grasp the oral-nasal air cover 61.

[0036] Specifically, the airflow generating device module 36 includes a flow valve 361, an oxygen cylinder 362, a gas pump 363, a driver 364, a gas path control circuit 365 and a three-way port 366. The gas pump 363 generates high-pressure gas connected to the first air inlet 3661 of the three-way port 366 through the trachea. The oxygen cylinder 362 outputs oxygen connected to the second air inlet of the three-way port 366 through the trachea. The outlet 3663 of the three-way port 366 is connected to one end of the flow valve 361, and the other end is connected to the mouth of the robot through the trachea. The gas path control circuit 365 controls the driver 364 to drive the gas pump 363 to work, controls the output of the oxygen cylinder 362, and under the adjustment of the intelligent control algorithm, can mix different healthy gases required by the human body, i.e. the ratio of oxygen and air, generally the oxygen needs to be controlled between 25%-30%, and the oxygen flow of 1-2 liters / minute is more appropriate. The control of the flow valve 361 can simulate human respiration to output gas flow.

[0037] Embodiment 2 According to the embodiment of the present application, the integrated gas regulation embodied intelligent humanoid robot performs the following steps: When the wearable new sensor 71 monitors that the target user 7 has no heart rate jump within one minute, the robot detects the position of the mouth and nose of the face through the second depth camera 44, and starts the dexterous hand of one mechanical arm to grab the mouth and nose mask 61 at the end of the breathing connection air pipe 6 to cover the mouth and nose of the target user 7, and starts the dexterous hand of the other mechanical arm to gently press the mouth and nose mask 61, the six-dimensional force sensor 55 feedback information can adjust the force size in real time, and then starts the airflow generating device module 36, adjusts and controls the healthy airflow output according to the preset parameters, and realizes the multi-scene application such as breathing difficulty patient assistance, cardiopulmonary resuscitation first aid, etc. Embodiment 3 According to the embodiment of the present application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, and the following steps are executed by using the integrated gas regulation embodied intelligent humanoid robot: Through the touch display screen 35, multiple healthy airflow output modes are integrated, such as high oxygen concentration mode, low oxygen concentration mode, large airflow mode, etc. By clicking to select one of the modes, the robot detects the position of the mouth and nose of the face through the second depth camera 44, and starts the dexterous hand of one mechanical arm to grab the mouth and nose mask 61 at the end of the breathing connection air pipe 6 to cover the mouth and nose of the target user 7, and starts the dexterous hand of the other mechanical arm to gently press the mouth and nose mask 61, the six-dimensional force sensor 55 feedback information can adjust the force size in real time, and then starts the airflow generating device module 36, adjusts and controls the healthy airflow output according to the preset parameters, and realizes the multi-scene application such as breathing difficulty patient assistance, cardiopulmonary resuscitation first aid, etc.

[0038] The present application also provides an integrated gas regulation embodied intelligent humanoid robot autonomous service system, which can be realized by executing the process steps of the integrated gas regulation embodied intelligent humanoid robot autonomous service method, that is, the integrated gas regulation embodied intelligent humanoid robot autonomous service method can be understood by those skilled in the art as the preferred embodiment of the integrated gas regulation embodied intelligent humanoid robot autonomous service system.

[0039] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0040] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be implemented in the form of logic gate, switch, special integrated circuit, programmable logic controller and embedded microcontroller, etc. by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures in the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures in the hardware component.

[0041] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims

1. An embodied intelligent humanoid robot with integrated gas regulation, characterized by, Include: Wheel chassis walking mechanism (1), lifting column leg mechanism (2), robot torso mechanism (3), robot head mechanism (4), robot arm mechanism (5), five-finger bionic dexterous hand (56); The lifting column leg mechanism (2) is arranged above the wheel chassis walking mechanism (1); The robot torso mechanism (3) is arranged above the lifting column leg mechanism (2); The robot head mechanism (4) is arranged at the top of the robot torso mechanism (3); The robot arm mechanism (5) is arranged on both sides of the robot torso mechanism (3); The mechanical arm end of each robot arm mechanism (5) is provided with the five-finger bionic dexterous hand (56); The five-finger bionic dexterous hand (56) is used for grabbing the oral-nasal gas mask (61) connected with the breathing connecting air pipe (6), and placing the grabbed oral-nasal gas mask (61) at the mouth and nose of the target user (7); The airflow generating device module (36) is arranged in the robot torso mechanism (3); The airflow generating device module (36) is used for providing airflow meeting preset requirements according to requirements, and outputting the airflow to simulate human body breathing; The gas path pipeline is arranged in the robot head mechanism (4), one end of the gas path pipeline is connected with the airflow generating device module (36), and the other end is connected with the robot lip air pipe (47); The lip air pipe (47) is connected with the breathing connecting air pipe (6).

2. The embodied intelligent humanoid robot integrated gas regulation as claimed in claim 1 wherein, The wheel chassis walking mechanism (1) comprises a bottom plate (11) and a chassis shell (12); The bottom plate (11) comprises an industrial computer (114), an embedded control board (111), a first depth camera (113), a laser radar (112), a driving wheel (115), a universal following wheel (118), and a driving motor (116); The industrial computer (114) and the embedded control board (111) are connected through a communication interface; The embedded control board (111) is electrically connected with the driving wheel (115); Two driving wheels (115) are respectively connected with two driving motors (116); The universal following wheel (118) is the third wheel of the wheel chassis walking mechanism (1) and has no active driving capability; The chassis shell (12) comprises an emergency stop button (122), a start-stop button (121), and an ultrasonic sensor (123); The ultrasonic sensor (123) is arranged on four circumferential surfaces of the chassis shell (12) and is electrically connected with the industrial computer (114); The first depth camera (113), the laser radar (112), and the ultrasonic sensor (123) are used for capturing environmental information.

3. The embodied intelligent humanoid robot integrated gas regulation as claimed in claim 2 wherein, The industrial computer (114) collects data of the first depth camera (113) and data of the laser radar (112), and establishes an environmental model and a navigation model; In the navigation motion control, the industrial computer (114) collects data of the ultrasonic sensor (123), data of the first depth camera (113) and data of the laser radar (112), controls autonomous navigation of the robot, so that the robot avoids collision with moving objects.

4. The integrated gas-regulated anthropomorphic intelligent humanoid robot of claim 1, wherein, The lifting column leg mechanism (2) comprises a column outer square (21), a column inner square (22), a motor (23), a motor gear (231), a driving rod (24) and a sliding block (25). The lifting column leg mechanism (2) is a square nested structure, the column outer square (21) is installed in the center area of the bottom plate and is fixedly connected with the column butt joint plate (117); the column inner square (22) is nested in the column outer square (21); the motor (23) is installed in the column outer square (21); the motor gear (231) is connected with the driving rod (24), and the sliding block (25) on the driving rod (24) is connected with the column inner square (22); under the driving of the motor (23), the sliding block (25) drives the column inner square (22) to lift; the top end of the column inner square (22) is connected with the robot trunk mechanism (3).

5. The integrated gas-regulated embodied intelligent humanoid robot of claim 1, wherein, The robot trunk mechanism (3) comprises a trunk shell (31), a trunk skeleton (32), a bending motor module (33) and a neck rotation mechanism (34). The trunk skeleton (32) is fixedly arranged in the trunk shell (31); the bottom end of the trunk skeleton (32) is fixedly provided with the bending motor module (33), and the top end is provided with the neck rotation mechanism (34); the top end of the neck rotation mechanism (34) is provided with the robot head mechanism (4); the two sides of the trunk skeleton (32) are provided with the robot arm mechanism (5). The trunk skeleton (32) is internally provided with an airflow generating device module (36). The bending motor module (33) comprises a bending motor (331), a lower groove (332), an upper groove (333) and a bearing (334); one end of the lower groove (332) is provided with the bearing (334) which rotates passively, the bearing (334) which rotates passively is connected with one end of the upper groove (333), the other end of the lower groove (332) is provided with the bending motor (331), and the bending motor (331) is connected with the other end of the upper groove (333); when the bending motor (331) rotates, the upper groove (333) rotates, and the rotation range is-90° to 90°. A touch display screen (35) is further arranged in front of the trunk shell (31), and the touch display screen (35) is used for man-machine interaction, including setting a robot working mode. The neck rotation mechanism (34) comprises a neck rotation motor (341), a shoulder connecting piece (342) and a neck rotation connecting piece (343); the neck rotation motor (341) is installed on the shoulder connecting piece (342), and a protruding end is connected with the neck rotation connecting piece (343); the neck rotation motor (341) drives the neck rotation connecting piece (343) to rotate when rotating; and the shoulder connecting piece (342) is installed on the torso framework (32).

6. The integrated gas-regulated anthropomorphic social-compliant humanoid robot of claim 5, wherein, The airflow generating device module (36) comprises a flow valve (361), an oxygen cylinder (362), a gas pump (363), a driver (364), a gas circuit control circuit (365) and a three-way port (366). The gas pump (363) generates high-pressure gas, which is connected with the first air inlet (3661) of the three-way port (366) through a gas pipe; the oxygen cylinder (362) outputs oxygen, which is connected with the second air inlet (3662) of the three-way port (366) through a gas pipe; the outlet (3663) of the three-way port (366) is connected with one end of the flow valve (361); the other end of the flow valve (361) is connected with the internal gas circuit pipeline of the robot head mechanism (4). The gas circuit control circuit (365) controls the driver (364) to drive the gas pump (363) to control the output of the oxygen cylinder (362), so as to obtain gas meeting the preset requirements; and the flow valve (361) is used to control the output gas flow, so as to simulate human body breathing and output airflow.

7. The integrated gas-regulated anthropomorphic social-compliant humanoid robot of claim 5, wherein, The robot head mechanism (4) comprises a neck connecting piece (41), a nodding motor (42), a head fixing piece (43), a second depth camera (44), a head shell (45) and a sound (46). The neck connecting piece (41) is arranged in the torso shell (31) and detachably connected with the torso framework (32); the nodding motor (42) is installed on the neck rotation connecting piece (343); the head fixing piece (43) is arranged around the nodding motor (42); the head shell (45) is arranged on the head fixing piece (43); and the second depth camera (44) and the sound (46) are fixedly arranged on the head shell (45). The second depth camera (44) is used for identifying a piano key button and observing the situation of the robot playing a keyboard. The sound (46) is used for playing music, voice playing of human-computer interaction and abnormality prompting. One end of the lip air pipe (47) is connected with the airflow generating device module (36) through a gas circuit pipeline, and the other end is connected with the robot breathing connecting air pipe (6).

8. The integrated gas-regulated anthropomorphic social-compliant humanoid robot of claim 1, wherein, The robot arm mechanism (5) comprises a mechanical arm, a six-dimensional force sensor (55) and a five-finger bionic dexterous hand (56). One end of the mechanical arm is connected with the robot torso mechanism (3), and the other end is connected with the six-dimensional force sensor (55); the six-dimensional force sensor (55) is connected with the five-finger bionic dexterous hand (56). The mechanical arm is composed of a first section mechanical arm (51), a second section mechanical arm (52), a third section mechanical arm (53) and a fourth section mechanical arm (54); the first section mechanical arm (51), the second section mechanical arm (52), the third section mechanical arm (53) and the fourth section mechanical arm (54) are connected in sequence, and each mechanical arm connection has one rotation degree of freedom; each mechanical arm has a rotation degree of freedom, so that the mechanical arm realizes six degrees of freedom or seven degrees of freedom, and can imitate the free movement of a human arm; Each finger of the five-finger bionic dexterous hand (56) has at least two degrees of freedom, can bend and straighten, and the five fingers cooperate to imitate the gripping action of a human hand to grip the mouth-nose air cover (61) at the end of the breathing connection air pipe (6).

9. An embodied intelligent humanoid robot autonomous service method with integrated gas regulation, characterized by, The integrated gas-regulated embodied intelligent humanoid robot according to any one of claims 1 to 8 performs the following steps: Selecting a healthy airflow output working mode through the touch display screen (35), wherein the healthy airflow output working mode includes a high oxygen concentration mode, a low oxygen concentration mode and an atmospheric flow mode; setting parameters according to the selected healthy airflow output working mode; The robot positions the mouth-nose position of the face through visual detection by the second depth camera (44), starts one five-finger bionic dexterous hand (56) to hold the mouth-nose air cover (61) at the end of the breathing connection air pipe (6) and places it at the mouth and nose of the target user (7), starts the other five-finger bionic dexterous hand (56) to gently press the mouth-nose air cover (61), adjusts the force size in real time through feedback information of the six-dimensional force sensor (55), and then starts the airflow generating device module (36) to regulate the healthy airflow output according to the set parameters, so that the robot autonomously completes the service without the participation of staff or service personnel, and can realize multi-scene applications such as assistance for patients with breathing difficulties and health preservation.

10. An embodied intelligent humanoid robot autonomous service method with integrated gas regulation, characterized by, The integrated gas-regulated embodied intelligent humanoid robot according to any one of claims 1 to 8 performs the following steps: When the wearable electrocardiogram sensor (71) monitors that the target user (7) has no heart rate for a preset time period, the robot positions the mouth-nose position of the face through visual detection by the second depth camera (44), starts one five-finger bionic dexterous hand (56) to hold the mouth-nose air cover (61) at the end of the breathing connection air pipe (6) and places it at the mouth and nose of the target user (7), starts the other five-finger bionic dexterous hand (56) to gently press the mouth-nose air cover (61), adjusts the force size in real time through feedback information of the six-dimensional force sensor (55), and then starts the airflow generating device module (36) to regulate the healthy airflow output according to the preset parameters, so as to realize multi-scene applications including assistance for patients with breathing difficulties and cardiopulmonary resuscitation first aid.

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