Integrated gas regulation embodied intelligent humanoid robot and autonomous service method thereof

Abstract

The application provides an integrated gas-regulated embodied intelligent humanoid robot and an autonomous service method thereof, which comprises a wheeled chassis walking mechanism, a trunk structure, a double-arm structure and a head structure; the upper part of the wheeled chassis walking mechanism is provided with a lifting column leg mechanism, and the lifting column leg mechanism is provided with a robot trunk structure simulating the upper body of a human being; the top end of the robot trunk mechanism is provided with a robot head structure, the head structure is internally provided with a gas path pipeline connected with the chest, a camera and a sound device; the two sides of the robot trunk mechanism are both provided with a robot arm mechanism, and the mechanical arm end of each robot arm mechanism is provided with a five-fingered dexterous hand; a touch screen for human-machine interaction is installed on the front of the trunk structure, and the inside is provided with a gas flow generation device module composed of a flow valve, an oxygen cylinder, a gas pump, a driver and a gas path control circuit; under the adjustment of an intelligent control algorithm, the gas flow generation device module can mix and match healthy gas flow required by different human bodies, and can simulate human body breathing to output the gas flow.

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 educational robots, emotional communication robots, cooking robots, and performance robots. As the precision of robots continues to improve, the degree of humanization that robots can achieve is increasingly high, 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 external 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. To solve 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, and 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 is consistent with the real respiratory condition of the patient. 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, sealed piston is installed in the cylinder, piston is connected with rack through bolt;Step motor is connected with rack through gear on the outside of 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 one-way 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 including: central processing module, installation in humanoid robot shell;Sound sensor, installation in humanoid robot shell, with central processing module electric connection;Loudspeaker, installation in humanoid robot shell, with central processing module electric connection;Emotion display module, installation on humanoid robot shell, with central processing module electric connection, for feedback current robot's emotional state;Display screen, installation on humanoid robot shell, with central processing module electric connection.Doctor student can understand that oneself is easy to cause person's ambiguity or easy to stimulate other people's speech in usual communication through 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.According to the demand of this kind of respiratory service, especially the first aid of unmanned scene, it is urgent to provide a kind of embodied intelligent humanoid robot device capable of bionically breathing human body and integrating 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.

[0010] 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 tube 6, and placing the grabbed oral-nasal gas mask 61 at the mouth and nose of the target user 7;

[0011] 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 for bionic human body breathing;

[0012] 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 tube 47; the lip air tube 47 is connected with the breathing connection air tube 6.

[0013] Preferably, the wheel type chassis walking mechanism 1 comprises a bottom plate 11 and a chassis shell 12.

[0014] 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.

[0015] 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.

[0016] The universal following wheel 118 is the third wheel of the wheel type chassis walking mechanism 1, and has no active driving capability.

[0017] The chassis shell 12 comprises an emergency stop button 122, a start-stop button 121, and an ultrasonic sensor 123; wherein the ultrasonic sensor 123 is distributed on four surrounding surfaces of the chassis shell 12, and is electrically connected with the industrial computer 114.

[0018] The first depth camera 113, the laser radar 112, and the ultrasonic sensor 123 are all used for capturing environmental information.

[0019] Preferably, 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.

[0020] In the navigation motion control, the industrial computer 114 collects the ultrasonic sensor 123 data, the first depth camera 113 data and the lidar 112 data, controls the robot to autonomously navigate, so as to avoid collision with moving objects.

[0021] 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.

[0022] 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.

[0023] Preferably, the robot torso mechanism 3 comprises a torso shell 31, a torso skeleton 32, a bending motor module 33 and a neck rotation mechanism 34.

[0024] 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.

[0025] An airflow generating device module 36 is arranged in the torso skeleton 32.

[0026] 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°.

[0027] A touch display screen 35 is further arranged in front of the torso shell 31, and the touch display screen 35 is used for human-computer interaction, including setting a robot working mode.

[0028] 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 the protruding end is connected with the neck rotation connecting piece 343; when the neck rotation motor 341 rotates, the neck rotation connecting piece 343 is driven to rotate; and the shoulder connecting piece 342 is installed on the torso framework 32.

[0029] Preferably, the airflow generating device module 36 comprises 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.

[0030] The gas pump 363 generates high-pressure gas, which is connected with the first air inlet 3661 of the three-way port 366 through an air pipe; the oxygen cylinder 362 outputs oxygen, which is connected with 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 with one end of the flow valve 361; and the other end of the flow valve 361 is connected with the internal gas path pipeline of the robot head mechanism 4.

[0031] The gas path control circuit 365 controls the driver 364 to drive the gas pump 363 to control the output amount of oxygen of the oxygen cylinder 362, so as to obtain gas meeting the preset requirements; and the flow valve 361 is controlled to control the output gas flow, so as to output the gas flow to simulate human body breathing.

[0032] 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.

[0033] 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.

[0034] The second depth camera 44 is used for recognizing the piano key button and observing the situation of the robot playing the keyboard.

[0035] The sound 46 is used for music playing, voice playing of human-computer interaction and abnormality prompting.

[0036] One end of the lip air pipe 47 is connected with the airflow generating device module 36 through a gas path pipeline, and the other end is connected with the robot air pipe 7.

[0037] Preferably, the robot arm mechanism 5 comprises a mechanical arm, a six-dimensional force sensor 55, and a five-finger bionic dexterous hand 56.

[0038] 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.

[0039] 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 turn, and each mechanical arm connection has one rotational degree of freedom; each mechanical arm has a rotational degree of freedom, so that the mechanical arm realizes six or seven degrees of freedom, and can simulate the free movement of a human arm.

[0040] 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 simulate the gripping action of a human hand, and grip the oral-nasal air mask 61 at the end of the breathing connection air tube 6.

[0041] According to the present application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, which utilizes the above-mentioned integrated gas regulation embodied intelligent humanoid robot to perform the following steps:

[0042] 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;

[0043] The robot detects and locates the oral-nasal position of the face through the second depth camera 44, starts one five-finger bionic dexterous hand 56 to hold the oral-nasal air mask 61 at the end of the breathing connection air tube 6 and places it at the oral-nasal position of the target user 7, starts another five-finger bionic dexterous hand 56 to gently press the oral-nasal air mask 61, adjusts the force size in real time through the feedback information of the six-dimensional force sensor 55, 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 assisting patients with breathing difficulties and health care.

[0044] According to the present application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, which utilizes the above-mentioned integrated gas regulation embodied intelligent humanoid robot to perform the following steps:

[0045] When the wearable electrocardio sensor 71 monitors that the target user 7 has no heart rate for a preset time period, the robot detects the mouth and nose position of the face through the second depth camera 44, starts one five-finger bionic dexterous hand 56 to hold the mouth and nose hood 61 at the end of the breathing connecting air pipe 6 and place it at the mouth and nose of the target user 7, starts another five-finger bionic dexterous hand 56 to press the mouth and nose hood 61 gently, 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, adjusts and controls the healthy airflow output according to the preset parameters, and realizes multi-scene applications including breathing difficulty patient assistance and cardiopulmonary resuscitation first aid.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] 1、The body-equipped 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.

[0048] 2、The body-equipped 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 multi-scene applications such as breathing difficulty patient assistance and cardiopulmonary resuscitation first aid.

[0049] 3、The body-equipped 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 the bending structure module to expand the service operation space of the robot.

[0050] 4、The robot adopts the bionic human upper body structure design, the arm structure can simulate human arm movement, the mechanical arm end integrates the five-finger dexterous hand, simulates human hand gripping function, and through visual detection positioning and the dexterous hand grabbing of the two arms, the air pipe can be connected with the user to realize autonomous service.

[0051] 5、The robot can simulate human respiration through the cooperation between the structures, the method can be used for simulating human respiration research, through visual detection positioning and the dexterous hand grabbing of the two arms, the air pipe can be actively connected with the user to realize autonomous service of multi-scene applications such as breathing difficulty patient assistance and cardiopulmonary resuscitation first aid. BRIEF DESCRIPTION OF DRAWINGS

[0052] 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 accompanying drawings:

[0053] Fig. 1An integrated gas regulation embodied intelligent humanoid robot device and its autonomous service method schematic diagram.

[0054] Fig. 2 A wheeled chassis walking mechanism schematic diagram.

[0055] Fig. 3 A lifting column leg structure schematic diagram.

[0056] Fig. 4 A robot torso structure schematic diagram.

[0057] Fig. 5 A head structure schematic diagram.

[0058] Fig. 6 An arm structure schematic diagram.

[0059] Fig. 7 An air flow generating device module composition schematic diagram.

[0060] 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 air 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 joint, 3661-first air inlet, 3662-second air inlet, 3663-air outlet. DETAILED DESCRIPTION

[0061] The application will be described in detail below with specific embodiments. The following embodiments 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.

[0062] Example 1

[0063] According to the embodiment of the application, an integrated gas-regulated embodied intelligent humanoid robot is provided, which comprises a bottom plate, a lifting column, a robot torso, a robot head, a robot arm, a breathing connecting air pipe, a mouth and nose air mask, a target user, a wearable electrocardio sensor, an embedded control board, a laser radar, a first depth camera, an industrial computer, a driving wheel, a driving motor, a column docking plate, an omni-directional following wheel, a battery, a bottom plate shell, a start-stop button, an emergency stop button, an ultrasonic sensor, a column outer square, a column inner square, a motor, a motor gear, a driving rod, a sliding block, an upper body shell, a torso framework, a bending motor module, a bending motor, a lower groove, a bearing, a neck rotation mechanism, a neck rotation motor, a shoulder connecting piece, a neck rotation connecting piece, a touch display screen, an air flow generating device module, a neck connecting piece, a nodding motor, a head fixing piece, a second depth camera, a head shell, a sound, a lip air pipe, a first section mechanical arm, a first rotation degree of freedom, a second section mechanical arm, a second rotation degree of freedom, a third rotation degree of freedom, a third section mechanical arm, a fourth rotation degree of freedom, a fifth rotation degree of freedom, a fourth section mechanical arm, a sixth rotation degree of freedom, a seventh rotation degree of freedom, a six-dimensional force sensor, a five-finger bionic dexterous hand, a first degree of freedom finger, a second degree of freedom finger, a thumb, a flow valve, an oxygen cylinder, an air pump, a driver, an air path control circuit, a three-way joint, a first air inlet, a second air inlet, and an air outlet. Figs. 1 to 7As shown, comprising: wheeled chassis walking mechanism 1, lifting column leg mechanism 2, robot torso mechanism 3, robot head mechanism 4, robot arm mechanism 5;

[0064] The lifting column leg mechanism 2 is arranged above the wheeled chassis walking mechanism 1, the robot torso mechanism 3 simulating the upper body of a human is arranged on the lifting column leg mechanism 2, the robot head mechanism 4 is arranged at the top end of the robot torso mechanism 3, the robot head mechanism 4 has an air path pipeline connected to the airflow generating device module 36 in the chest, a camera and a sound device, the robot arm mechanism 5 is arranged on both sides of the robot torso mechanism 3, and a five-fingered bionic dexterous hand 56 is arranged at the end of the mechanical arm of each robot arm mechanism 5; A touch display screen 35 for human-machine interaction is arranged on the front of the robot torso 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 touch display screen 35; under the adjustment of an intelligent control algorithm, the airflow generating device module 36 can generate healthy airflow meeting different human body requirements, can simulate human body breathing to output airflow, 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-fingered bionic dexterous hand 56 of the two arms in cooperation, can actively cover the mouth and nose of a target user 7 through the mouth-nose air cover 61, and can realize multi-scene applications such as assisting a patient with breathing difficulties, cardiopulmonary resuscitation first aid and the like.

[0065] Specifically, the wheeled chassis walking mechanism 1 comprises a bottom plate 11, the upper end of which is provided with a chassis shell 12, the front end of which is provided with a window for a first depth camera 113 and a laser radar 112 to capture environmental information, for controlling the autonomous movement of the robot, and the top of which is provided with a window for a lifting column; 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, and 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 to the embedded control board 111 through a communication interface, the embedded control board 111 is electrically connected to the drive wheels 115, the two drive wheels 115 are respectively connected to left and right drive motors 116, and the 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, which are distributed on the four surrounding surfaces of the shell and are electrically connected to 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 control of navigation movement, the industrial computer 114 collects ultrasonic sensor data, first depth camera data, and laser radar data, and controls the 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 convolutional neural network, transform network, etc.

[0066] Specifically, the lifting column leg mechanism 2 is a square nested structure, the outer square 21 of the column is installed at the center of the bottom plate and is fixedly connected to the column butt joint plate 117; the inner square 22 of the column is nested in the outer square structure 21 of the column; the motor 23 is installed in the outer square 21 of the column, the motor gear 231 is connected to the drive rod 24, and the slider 25 on the drive rod 24 is connected to the inner square 22 of the column; under the driving of the motor 23, the slider 25 drives the inner square 22 of the column to realize lifting; the top end of the inner square 22 of the column is connected to the robot torso mechanism 3.

[0067] Specifically, the robot torso mechanism 3 comprises a torso shell 31, a torso skeleton 32, an airflow generating device module 36 and a touch display screen 35; the touch display screen 35 is installed in front of the robot torso mechanism 3 for human-computer interaction, so that the user can perform human-computer interaction and set the robot working mode; the torso skeleton 32 is fixedly arranged in the torso shell 31, and a bending motor module 33 is fixedly arranged at the bottom end of 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; the left side of the lower groove 332 is provided with the passive rotating bearing 334, the passive rotating bearing 334 is connected with the left end of the upper groove 333, the right side of the lower groove 332 is provided with the bending motor 331, one end of the bending motor 331 is connected with the upper groove 333, and when the bending motor 331 rotates, the upper groove 333 rotates, and the rotating range is-90° to 90°; a robot neck rotating mechanism 34 is arranged on the torso 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 arranged on the shoulder connecting piece 342, and a convex end is provided 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 arranged on the torso skeleton 32; the robot head mechanism 4 is arranged on the neck rotating mechanism 34, and robot arm mechanisms 5 are arranged on both sides of the robot head mechanism 4; each robot arm mechanism is arranged on the torso skeleton 32.

[0068] Specifically, the robot head mechanism 4 comprises a neck connecting piece 41, the neck connecting piece 41 is arranged in the torso shell 31 and is detachably connected with the torso skeleton 32; a nodding motor 42 is arranged on the neck rotating connecting piece 343; a head fixing piece 43 is arranged around the nodding motor 42; a head shell 45 is arranged on the head fixing piece 43; a head second depth camera 44 and a sound 46 are fixedly arranged on the head shell 45; the sound 46 can be used for voice prompting, and the second depth camera 44 can be used for observing the position of the mouth and nose of a human body; through the assistance of the dexterous hands on the two arms, the trachea can be actively connected with the target user 7.

[0069] The mouth and nose trachea 47 is directly connected with the airflow generating device module 36 in the torso skeleton 32 at one end, and is connected with the robot breathing connecting trachea 6 at the other end.

[0070] 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, one end of the mechanical arm is connected with the torso skeleton 32, the other end is connected with the six-dimensional force sensor 55, the mechanical arm is composed of four sections of arms, specifically, the first section of arm 51, the second section of arm 52, the third section of arm 53 and the fourth section of arm 54; the first section of arm 51 and the second section of arm 52, the second section of arm 52 and the third section of arm 53, and the third section of arm 53 and the fourth section of arm 54 all contain a rotational degree of freedom, specifically: the second rotational degree of freedom 521, the fourth rotational degree of freedom 531 and the sixth rotational degree of freedom 541; each section has a rotational degree of freedom, specifically: the first rotational degree of freedom 511, the third rotational degree of freedom 522, the fifth rotational degree of freedom 532 and the seventh rotational degree of freedom 542; wherein the fifth rotational degree of freedom 532 of the third section of arm is usually redundant and can be added or removed, so that the mechanical arm has six degrees of freedom or seven degrees of freedom, and can simulate the free movement of a human arm; the two arms can cooperate to complete a task 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 has at least two degrees of freedom, including: the first degree of freedom finger 561 and the second degree of freedom finger 562; can bend and straighten, and the five fingers can cooperate to simulate the gripping action of a human hand, and can grip the oral-nasal air mask 61.

[0071] Specifically, the airflow generating device module 36 includes: 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 connected with the first air inlet 3661 of the three-way port 366 through an air pipe, the oxygen cylinder 362 outputs oxygen connected with the second air inlet of the three-way port 366 through an air pipe, the air outlet 3663 of the three-way port 366 is connected with one end of the flow valve 361, and the other end is connected to the mouth of the robot through an air pipe; the air path control circuit 365 controls the driver 364 to drive the air 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, that is, the ratio of oxygen and air, generally the oxygen needs to be controlled between 25%-30%, and the oxygen flow is 1-2 liters / minute, which is more appropriate, and the control of the flow valve 361 can simulate human respiration to output airflow.

[0072] Embodiment 2

[0073] 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 performed by using the above-mentioned integrated gas regulation embodied intelligent humanoid robot:

[0074] 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, 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, starts the dexterous hand of the other mechanical arm to press the mouth and nose mask 61 gently, the six-dimensional force sensor 55 feedback information can adjust the force size in real time, then starts the airflow generating device module 36, adjusts and controls the healthy airflow output according to the preset parameters, realizes the multi-scene application such as breathing difficulty patient assistance, cardiopulmonary resuscitation first aid, etc.

[0075] Embodiment 3

[0076] According to the embodiment of the present application, an integrated gas regulation embodied intelligent humanoid robot autonomous service method is provided, and the integrated gas regulation embodied intelligent humanoid robot is used to execute the following steps:

[0077] Through the touch display screen 35, multiple healthy airflow output modes such as high oxygen concentration mode, low oxygen concentration mode, large airflow mode, etc. are integrated, one of the modes is selected by clicking, the robot detects the position of the mouth and nose of the face through the second depth camera 44, 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, starts the dexterous hand of the other mechanical arm to press the mouth and nose mask 61 gently, the six-dimensional force sensor 55 feedback information can adjust the force size in real time, then starts the airflow generating device module 36, adjusts and controls the healthy airflow output according to the parameters set by the user or the default parameters, the robot autonomously completes the service without the participation of the staff or the service personnel, and the multi-scene application such as breathing difficulty patient assistance, health and fitness, etc. can be realized.

[0078] 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.

[0079] 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 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.

[0080] 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 gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, 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.

[0081] 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 arbitrarily combined with each other 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 tube (6), and placing the grabbed oral-nasal gas mask (61) at the mouth and nose of a target user (7); The robot torso mechanism (3) comprises a torso shell (31) and a torso skeleton (32); The torso skeleton (32) is fixedly arranged in the torso shell (31); An airflow generating device module (36) is arranged in the torso skeleton (32); The airflow generating device module (36) is used for providing airflow meeting preset requirements according to requirements, and outputting the airflow to simulate human respiration; 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, the high-pressure gas is connected with the first air inlet (3661) of the three-way port (366) through an air tube, the oxygen cylinder (362) outputs oxygen which is connected with the second air inlet (3662) of the three-way port (366) through an air tube, the outlet (3663) of the three-way port (366) is connected with one end of the flow valve (361), and the other end of the flow valve (361) is connected with an 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 amount of oxygen of the oxygen cylinder (362), so as to obtain gas meeting preset requirements; The flow valve (361) is used for controlling the output gas flow, so as to output the airflow to simulate human respiration; The robot head mechanism (4) comprises a lip air tube (47); An internal gas circuit pipeline is arranged in the robot head mechanism (4), one end of the gas circuit pipeline is connected with the airflow generating device module (36), and the other end is connected with the lip air tube (47); The lip air tube (47) is connected with the breathing connecting air tube (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) is connected with the embedded control board (111) through a communication interface; the embedded control board (111) is electrically connected with the driving wheels (115); two driving wheels (115) are respectively connected with two driving motors (116); The universal following wheel (118) is the third wheel of the wheeled 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 distributed on the four peripheral 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 all 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 the data of the first depth camera (113) and the data of the laser radar (112), establishes an environmental model and a navigation model; In the navigation motion control, the industrial computer (114) collects the data of the ultrasonic sensor (123), the data of the first depth camera (113) and the data of the laser radar (112), controls the autonomous navigation of the robot, so that the robot avoids collision with moving objects.

4. The embodied intelligent humanoid robot integrated gas regulation as claimed in claim 3, 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 at 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 embodied intelligent humanoid robot integrated gas regulation as claimed in claim 4, wherein, The robot trunk mechanism (3) comprises a bending motor module (33) and a neck rotation mechanism (34); The bending motor module (33) is fixedly arranged at the bottom end of the trunk skeleton (32), and the neck rotation mechanism (34) is arranged at the upper end of the trunk skeleton (32); the robot head mechanism (4) is installed at the upper end of the neck rotation mechanism (34); the robot arm mechanism (5) is arranged at the two sides of the trunk skeleton (32); The crouching motor module (33) comprises a crouching 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, and 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 crouching motor (331), and the crouching motor (331) is connected with the other end of the upper groove (333). When the crouching motor (331) rotates, the upper groove (333) rotates, and the rotating range is -90° to 90°. A touch display screen (35) is further arranged on the front of the trunk shell (31), and the touch display screen (35) is used for human-computer interaction, including setting a robot working mode. 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 a protruding end is connected 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).

6. 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 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 nodding motor (42) is surrounded by the head fixing piece (43). The head fixing piece (43) is provided with the head shell (45), and the head shell (45) is fixedly provided with the second depth camera (44) and the sound (46). The second depth camera (44) is used for identifying piano key buttons and observing the situation of the robot playing a keyboard. The sound (46) is used for music playing, voice playing for human-computer interaction, and abnormality prompting.

7. The integrated gas-regulated anthropomorphic social-compliant humanoid robot of claim 6, 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 trunk 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).

8. An embodied intelligent humanoid robot autonomous service method with integrated gas regulation, characterized by, The integrated gas-regulated embodied intelligent humanoid robot of claim 7 performs the following steps: Select a healthy air flow output working mode through the touch display screen (35), wherein the healthy air flow output working mode includes a high oxygen concentration mode, a low oxygen concentration mode and an atmospheric flow mode; and set parameters according to the selected healthy air flow 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 air flow generating device module (36) to regulate the healthy air flow 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 and wellness.

9. An embodied intelligent humanoid robot autonomous service method with integrated gas regulation, characterized by, The integrated gas-regulated embodied intelligent humanoid robot of claim 7 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 air flow generating device module (36) to regulate the healthy air flow output according to the preset parameters, so as to realize multi-scene applications such as assistance for patients with breathing difficulties and cardiopulmonary resuscitation first aid.

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