Deformable intelligent old-age nursing wheelchair robot

Abstract

The invention discloses a deformable intelligent wheelchair robot for old people, and relates to the technical field of medical instruments and rehabilitation engineering, base wheels are arranged at the lower end of a base, a human body supporting frame is movably mounted on the base, and the two ends of a base adjusting module are connected with the base and the back face of the human body supporting frame correspondingly; the base adjusting module can drive the human body supporting frame to rotate relative to the base under the control of the control module, the seat back cushion is installed on the human body supporting frame and used for making contact with and supporting the head and the trunk of a user, and the leg supporting frame adjusting module is installed on the back face of the human body supporting frame and used for adjusting the leg supporting frame. The leg supporting frame can drive the legs of the human body supporting frame to rotate relative to the main body part of the human body supporting frame under the control of the control module, and the power module is used for providing electric energy. According to the multifunctional wheelchair, people who are inconvenient to move can move, meanwhile, the sitting, standing and lying functions are achieved, and functional diversity of the wheelchair is achieved.

Description

Technical Field

[0001] This invention relates to the field of medical devices and rehabilitation engineering technology, and in particular to a deformable intelligent elderly care wheelchair robot. Background Technology

[0002] Wheelchairs are widely used for home rehabilitation and outdoor activities for the injured, sick, and disabled. They are an important means of mobility, not only meeting the needs of people with physical disabilities and limited mobility, but also making it easier for family members to move and care for patients, and enabling patients to exercise and participate in social activities with the help of wheelchairs.

[0003] Currently, wheelchairs used in patients have been gradually improved in terms of structure and function, thereby reducing the burden on patients with mobility difficulties and their families, and improving the quality and efficiency of care. Therefore, wheelchairs are more suitable for use in assisting the elderly in their daily lives.

[0004] However, considering the daily needs of users, it is necessary to provide them with mobility while seated. Furthermore, the human body requires lower limb support during sitting and standing, which is difficult for patients with lower limb motor dysfunction to do independently, necessitating additional assistance. Therefore, providing assisted sitting and standing functions and wheeled mobility aids is equally important, whereas traditional wheelchairs only offer sitting and mobility functions. Clinical medicine shows that if individuals with lower limb disabilities or weakness can maintain standing or even simple walking when appropriate, it can promote compensatory or reorganized neural tissue function, coordinate joint muscle groups, improve motor ability, and improve or even restore walking function. Summary of the Invention

[0005] The purpose of this invention is to provide a deformable intelligent elderly care wheelchair robot to solve the problems existing in the prior art, realize the mobility of people with mobility difficulties, and have sitting, standing and lying functions to achieve functional diversity.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a deformable intelligent elderly care wheelchair robot, including a base, a human body support frame, a seat back cushion, a base adjustment module, a leg support frame adjustment module, a power module, and a control module. The base has wheels at its lower end. The human body support frame is movably mounted on the base. The two ends of the base adjustment module are connected to the back of the base and the back of the human body support frame, respectively. Under the control of the control module, the base adjustment module can rotate the human body support frame relative to the base. The seat back cushion is mounted on the human body support frame and is used to contact and support the user's head and torso. The leg support frame adjustment module is mounted on the back of the human body support frame, and under the control of the control module, the legs of the human body support frame can rotate relative to the main body of the human body support frame. The power module provides electrical energy.

[0007] Preferably, the base includes a Y-shaped base side frame, a transverse connecting rod, a support frame load-bearing rod, base wheels, a wheel lock mechanism, and a longitudinal connecting rod. Two Y-shaped base side frames are symmetrically arranged, and several parallel transverse connecting rods are arranged between the two Y-shaped base side frames. The transverse connecting rods are perpendicular to the plane of the Y-shaped base side frames. Both ends of the transverse connecting rods are respectively mounted on the two Y-shaped base side frames. Two support frame load-bearing rods are symmetrically mounted on the upper end of one of the transverse connecting rods. The two support frame load-bearing rods are respectively positioned close to both ends of the transverse connecting rod. The two ends of the longitudinal connecting rod face forward and backward in the direction of travel, and both ends of the longitudinal connecting rod are connected to the lower ends of the two transverse connecting rods via an extension. One end of the base adjustment module is rotatably connected to the upper end of the longitudinal connecting rod. A base wheel is mounted on each side of the lower end of each Y-shaped base side frame. The wheel lock mechanism is installed between the two Y-shaped base side frames and positioned close to the two rearward-facing base wheels.

[0008] Preferably, the human body support frame includes a wheelchair back support frame, a wheelchair hip support frame, a wheelchair leg support frame, and wheelchair foot covers. The lower end of the wheelchair leg support frame is connected to one side of the wheelchair foot covers. The upper end of the wheelchair leg support frame and the lower end of the wheelchair hip support frame are both rotatably connected to the upper end of the base. The upper end of the wheelchair hip support frame is movably connected to the lower end of the wheelchair back support frame. One end of the base adjustment module is rotatably connected to the base, and the other end of the base adjustment module is rotatably connected to the back of the wheelchair hip support frame. One end of the leg support frame adjustment module is rotatably connected to the back of the wheelchair leg support frame, and the other end of the wheelchair leg support frame is rotatably connected to the back of the wheelchair hip support frame.

[0009] Preferably, the wheelchair back support frame includes armrest brackets, wheelchair side connecting blocks, hollow brackets, and a backrest metal frame. One armrest bracket is installed on each side of the backrest metal frame, with one end extending forward in the direction of travel. One hollow bracket is installed on each side of the lower end of the backrest metal frame, with the upper end of each hollow bracket connected to the lower end of the backrest metal frame. The lower end of each hollow bracket extends towards the wheelchair hip support frame, and the lower end of each hollow bracket is rotatably connected to a driven link. The moving link includes a fixed section and a push rod section. One end of the push rod section is rotatably connected to the lower end of the hollow bracket, and the other end of the push rod section extends into the interior of the fixed section through one end of the fixed section. The other end of the fixed section is rotatably connected to the back of the wheelchair leg support frame. The driven link is telescopic. The two wheelchair side end connecting blocks are located on both sides of the backrest metal frame, and the upper end of the wheelchair side end connecting block is installed on the lower end of the backrest metal frame. The lower end of the wheelchair side end connecting block is rotatably connected to the upper end of the wheelchair hip support frame.

[0010] Preferably, the seat back cushion includes a headrest, a backrest block cushion, a hip block cushion, a leg block cushion, an upper limb limiting cushion, an armrest cushion, and a lower limb limiting cushion. The backrest block cushion, the hip block cushion, and the leg block cushion are all composed of multiple square modules and feature an ergonomic back curve design. The backrest block cushion is mounted on the metal frame of the backrest, and its upper end has an embedding groove. The headrest cushion is positioned corresponding to the embedding groove. The pads are installed on the backrest metal frame, the hip block cushions are installed on the wheelchair hip support frame, the leg block cushions are installed on the wheelchair leg support frame, the two upper limb limiting pads are located on both sides of the backrest metal frame, the two lower limb limiting pads are located on both sides of the backrest metal frame, and both the upper limb limiting pads and lower limb limiting pads are installed on the backrest metal frame through human body limiting baffles. Each armrest bracket has an armrest pad installed at its upper end.

[0011] Preferably, the human body limiting baffle includes an upper limb limiting baffle and a lower limb limiting baffle. The upper limb limiting baffle includes an upper limb baffle fixing frame, an upper limb baffle, and an upper limb limiting locking rod. The upper limb baffle fixing frame is installed on the front side of the backrest metal frame. One end of the upper limb baffle is limited and connected to the upper limb baffle fixing frame, and the other end of the upper limb baffle extends in the direction of the user's upper limb length. The upper limb limiting locking rod and the upper limb baffle fixing frame are used to cooperate with the upper limb baffle and realize the positioning of the upper limb baffle. The lower limb limiting baffle includes a lower limb limiting connecting block, a lower limb baffle fixing frame, a lower limb baffle, and a lower limb limiting locking rod. The lower limb limiting connecting block is used to fix the lower limb baffle fixing frame to the hip support frame. One end of the lower limb baffle is limited and connected to the lower limb baffle fixing frame, and the other end of the lower limb baffle extends in the direction of the user's lower limb length. The lower limb limiting locking rod and the lower limb baffle fixing frame are used to cooperate with the lower limb baffle and realize the position adjustment and fixation of the lower limb baffle.

[0012] Preferably, both the base adjustment module and the leg support frame adjustment module are electric push rods.

[0013] Preferably, the system further includes a Bluetooth communication module, a posture adjustment module, an intelligent driving module, and an emotional interaction module connected to the control module via signals; both the power module and the control module are mounted on the rear crossbar of the base; wherein, the Bluetooth communication module is used to receive control commands from a mobile APP; the control commands include voice operation commands and manual operation commands; the control module includes a microcontroller used to perform information fusion and autonomous decision-making based on the control commands, posture sensor data in the posture adjustment module, intelligent driving sensor data in the intelligent driving module, and interaction sensor data in the emotional interaction module, and generate drive control signals; the drive control signals include at least one of posture adjustment signals, intelligent driving signals, and emotional interaction signals; the posture adjustment module includes a posture adjustment drive module, which includes a posture motor drive chip, a posture driver, and a posture drive motor connected in sequence; the posture adjustment module is used to receive posture adjustment signals. The system receives signals and, based on these signals, controls the horizontal and vertical states of the base adjustment module and the leg support frame adjustment module via the posture adjustment drive module. The intelligent driving module includes an intelligent driving drive module, which comprises an intelligent driving motor drive chip, an intelligent driving driver, and a wheel drive motor connected in sequence. The intelligent driving module receives the intelligent driving signals and, based on these signals, controls the driving state and steering of the wheels on the base. The emotional interaction module includes an emotional interaction drive module, which comprises a visual sensor drive chip, a sound sensor drive chip, a touchscreen input acquisition chip, and a temperature sensor drive chip connected in parallel. The emotional interaction module receives the emotional interaction signals and, based on these signals, controls the output state of the audio output device and the mobile APP display screen via the emotional interaction drive module.

[0014] Preferably, the posture adjustment module further includes a posture sensor connected in parallel with the posture adjustment drive module. The posture sensor includes a pressure sensor, an tilt sensor, and a limit switch. The pressure sensor is installed below the backrest and hiprest blocks to detect the patient's pressure distribution in real time, enabling in-position safety detection during posture adjustment. The tilt sensor is installed on the back of the wheelchair back support frame, hip support frame, and leg support frame to detect the adjustment angles of the base adjustment module and leg support frame adjustment module, enabling positional detection for each posture switch. The limit switch is installed at the start and end of the electric push rod's travel, detecting the extreme positions of the electric push rods of the base adjustment module and leg support frame adjustment module, enabling overtravel protection. The intelligent driving module further includes an intelligent driving transmission system connected in parallel with the intelligent driving drive module. The intelligent driving sensor includes a GPS locator, an infrared sensor, and a lidar. The GPS locator is installed within the control module for real-time location positioning and trajectory tracking of the deformable intelligent elderly care wheelchair robot. The infrared sensor is installed on the lower side of the armrest support for detecting the surrounding terrain. The lidar is installed on the upper end of the backrest metal frame for detecting obstacles in the surrounding environment. The emotional interaction module also includes interactive sensors connected in parallel with the emotional interaction driving module. These interactive sensors include a visual sensor, a sound sensor, a touchscreen input collector, and a temperature sensor. The visual sensor detects the patient's facial expressions, body movements, and head posture. The sound sensor detects speech content. The touchscreen input collector is used for human-computer interaction information. The temperature sensor detects the patient's vital signs.

[0015] Preferably, the GPS locator, infrared sensor, and lidar in the intelligent driving sensor collect surrounding environment and location data in real time, and transmit the surrounding environment and location data to the control module; the control module performs global path planning using an improved A* algorithm based on the acquired starting point and target point and surrounding environment and location data, to obtain the optimal path from the starting point to the target point, and performs local path planning and real-time obstacle avoidance using an improved dynamic window method based on the optimal path, to obtain the final path from the starting point to the target point.

[0016] The present invention achieves the following technical effects compared to the prior art: The deformable intelligent elderly care wheelchair robot provided by this invention has a human body support frame movably mounted on a base. The two ends of a base adjustment module are connected to the base and the back of the human body support frame, respectively. Under the control of a control module, the base adjustment module can rotate the human body support frame relative to the base, thereby adjusting the angle between the human body support frame and the base to accommodate different user postures. A seat back cushion is mounted on the human body support frame, providing contact and support for the user's head and torso. A leg support frame adjustment module is mounted on the back of the human body support frame. Under the control of the control module, the leg support frame can rotate relative to the main body of the human body support frame, adjusting the angle between the main body and the legs to assist the user in adjusting their sitting or other postures. Through the above design, sitting, standing, and lying postures can be adjusted to meet the needs of patients in different positions, resulting in enhanced functionality. Attached Figure Description

[0017] Figure 1 This is a front view of the deformable intelligent elderly care wheelchair robot of the present invention in a standing posture. Figure 2 This is a rear view of the deformable intelligent elderly care wheelchair robot in the present invention when it is in a standing posture. Figure 3 This is a front view of the deformable intelligent elderly care wheelchair robot of the present invention in a seated posture; Figure 4 This is a rear view of the deformable intelligent elderly care wheelchair robot in the present invention when it is in a seated posture. Figure 5 This is a front view of the deformable intelligent elderly care wheelchair robot of the present invention in a lying position; Figure 6 This is a rear view of the deformable intelligent elderly care wheelchair robot of the present invention in a lying position. Figure 7 This is a schematic diagram of the base structure in this invention; Figure 8 This is a schematic diagram of the structure of the wheelchair back support frame in this invention; Figure 9 This is a schematic diagram of the wheelchair hip support frame in this invention; Figure 10 This is a schematic diagram of the wheelchair leg support frame in this invention; Figure 11 This is a schematic diagram of the driven link in this invention; Figure 12 This is a schematic diagram of the upper limit baffle in the present invention; Figure 13 This is a schematic diagram of the lower limit baffle in the present invention; Figure 14 This is a block diagram showing the module connection relationship and control system of the deformable intelligent elderly care wheelchair robot in this invention; Figure 15 This is a flowchart illustrating the process of the deformable intelligent elderly care wheelchair robot of the present invention. Figure 16 This is a flowchart illustrating the algorithm fusion of the intelligent driving module of the deformable intelligent elderly care wheelchair robot in this invention.

[0018] In the diagram: 1-Base, 101-Y-shaped base side frame, 102-Transverse connecting rod, 103-Support frame load-bearing rod, 104-Base wheel, 105-Wheel lock mechanism, 106-Vertical connecting rod, 2-Human support frame, 21-Wheelchair back support frame, 211-Armrest bracket, 212-Wheelchair side end connecting block, 213-Hollow bracket, 214-Backrest metal frame, 22-Wheelchair hip support frame, 221-Hip support frame bottom upper connecting block, 222-Hip support frame bottom lower connecting block, 23-Wheelchair leg support frame, 231-Leg support frame side end connecting block, 232-Driven linkage connecting block, 233-Electric push rod connecting block, 24-Wheelchair foot cover, 3-Seat back cushion, 301-Headrest cushion, 302-Back block cushion 303-Buttock block cushion, 304-Leg block cushion, 305-Upper limb limiting pad, 306-Armrest pad, 307-Lower limb limiting pad, 4-Base adjustment module, 5-Leg support frame adjustment module, 6-Driven linkage, 601-Fixed section, 602-Push rod section, 7-Human body limiting baffle, 71-Upper limb limiting baffle, 711-Upper limb baffle fixing frame, 712-Upper limb baffle, 713-Upper limb limiting locking rod, 72-Lower limb limiting baffle, 721-Lower limb limiting connecting block, 722-Lower limb baffle fixing frame, 723-Lower limb baffle, 724-Lower limb limiting locking rod, 8-Power module, 9-Control module, 10-Bluetooth communication module, 11-Posture adjustment module, 12-Intelligent driving module, 13-Emotional interaction module. Detailed Implementation

[0019] The purpose of this invention is to provide a deformable intelligent elderly wheelchair robot to solve the problems existing in the prior art, realize the mobility of people with mobility difficulties, and also have sitting, standing and lying functions, thus achieving functional diversity.

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-13As shown, this embodiment provides a deformable intelligent elderly care wheelchair robot, including a base 1, a human body support frame 2, a seat back cushion 3, a base adjustment module 4, a leg support frame adjustment module 5, a power module 8, and a control module 9. The lower end of the base 1 is equipped with base wheels 104 for walking. The human body support frame 2 is movably mounted on the base 1. The two ends of the base adjustment module 4 are respectively connected to the back of the base 1 and the back of the human body support frame 2. Under the control of the control module 9, the base adjustment module 4 can drive the human body support frame 2 to rotate relative to the base 1, realizing angle adjustment between the human body support frame 2 and the base 1 to facilitate different user postures. The backrest 3 is installed on the human body support frame 2. The seat backrest 3 is used to contact and support the user's head and torso, providing support. The leg support adjustment module 5 is installed on the back of the human body support frame 2. Under the control of the control module 9, the leg support frame can rotate relative to the main body of the human body support frame 2, thereby adjusting the angle between the main body of the human body support frame 2 and the leg support frame 2. This facilitates the user to adjust their sitting or other postures. The power module 8 is used to provide power. Through the above design, sitting, standing and lying postures can be adjusted to adapt to patients in different positions, making it more functional.

[0022] Specifically, the base 1 includes a Y-shaped base side frame 101, a transverse connecting rod 102, a support frame load-bearing rod 103, base wheels 104, a wheel lock mechanism 105, and a longitudinal connecting rod 106. Two Y-shaped base side frames 101 are symmetrically arranged. The Y-shaped base side frames 101 are made of high-strength metal material, which improves the strength and stability of the base 1. Several parallel transverse connecting rods 102 are arranged between the two Y-shaped base side frames 101. The transverse connecting rods 102 are perpendicular to the plane of the Y-shaped base side frames 101, and their ends are respectively installed on the two Y-shaped base side frames 101. The design of multiple transverse connecting rods 102 strengthens the support strength of the base 1. Two support frame load-bearing rods 103 are symmetrically installed on the upper end of one of the transverse connecting rods 102. The two support frame load-bearing rods 103 are respectively positioned close to the two ends of the transverse connecting rod 102, providing further support and preventing excessive movement of the human body support frame 2, thus preventing the patient from leaning excessively backward. In case of danger, the two ends of the longitudinal connecting rod 106 face forward and backward in the direction of travel, respectively. The two ends of the longitudinal connecting rod 106 are connected to the lower ends of the two transverse connecting rods 102 through an extension. One end of the base adjustment module 4 is rotatably connected to the upper end of the longitudinal connecting rod 106. The design of the connecting block on the longitudinal connecting rod 106 provides a fixed support point for the base adjustment module 4 to support the telescopic movement of the base adjustment module 4. The connection part is bolted. The motor end connection of the base adjustment module 4 has a certain degree of rotational freedom. Each Y-shaped base side frame 101 has a base wheel 104 installed on both sides of its lower end. The Y-shaped base side frame 101 and the base wheel 104 are fitted with a hole-insertion type. The wheel lock mechanism 105 is installed between the two Y-shaped base side frames 101 and is set close to the two base wheels 104 located at the rear. The specific structure of the wheel lock mechanism 105 is consistent with the prior art. By stepping on the wheel lock mechanism 105, the base wheel 104 can be locked to achieve the braking function.

[0023] The human body support frame 2 includes a wheelchair back support frame 21, a wheelchair hip support frame 22, a wheelchair leg support frame 23, and a wheelchair foot cover 24. The lower end of the wheelchair leg support frame 23 is connected to one side of the wheelchair foot cover 24. The upper end of the wheelchair leg support frame 23 and the lower end of the wheelchair hip support frame 22 are rotatably connected to the upper end of the base 1. The upper end of the wheelchair hip support frame 22 is movably connected to the lower end of the wheelchair back support frame 21. The wheelchair hip support frame 22 bears most of the weight when the deformable intelligent elderly care wheelchair robot is in a sitting or lying position. One end of the base adjustment module 4 is rotatably connected to the base 1, and the other end of the base adjustment module 4 is rotatably connected to the back of the wheelchair hip support frame 22. One end of the leg support frame adjustment module 5 is rotatably connected to the back of the wheelchair leg support frame 23, and the other end of the wheelchair leg support frame 23 is rotatably connected to the back of the wheelchair hip support frame 22.

[0024] The wheelchair back support frame 21 includes armrest brackets 211, wheelchair side end connecting blocks 212, hollow brackets 213, and a backrest metal frame 214. An armrest bracket 211 is installed on each side of the backrest metal frame 214, with one end of each armrest bracket extending forward in the direction of travel. The armrest brackets 211 are connected to the main body of the backrest metal frame 214 via armrest connecting blocks and bolts. A hollow bracket 213 is installed on each side of the lower end of the backrest metal frame 214, with the upper end of each hollow bracket 213 connected to the lower end of the backrest metal frame 214. The lower end of each hollow bracket 213 extends towards the wheelchair hip support frame 22. A driven link 6 is rotatably connected to the lower end of each hollow bracket 213. The driven link 6 includes a fixed section 601 and a push rod section 602. One end of the push rod section 602... The lower end of the hollow bracket 213 is rotatably connected to the push rod section 602. The other end of the push rod section 602 extends into the fixed section 601 through one end. The other end of the fixed section 601 is rotatably connected to the back of the wheelchair leg support frame 23. The driven link 6 is telescopic. The lower end of the hollow bracket 213 has a mating connection hole for connecting with the connecting block of the push rod section 602. The push rod section 602 pushes the wheelchair hip support frame 22 to move and transmits the action along the push rod section 602 to the wheelchair back support frame 21. Two wheelchair side end connecting blocks 212 are located on both sides of the backrest metal frame 214, and the upper end of the wheelchair side end connecting block 212 is installed on the lower end of the backrest metal frame 214. The lower end of the wheelchair side end connecting block 212 is rotatably connected to the upper end of the wheelchair hip support frame 22 and has rotational freedom.

[0025] The push rod end of the base adjustment module 4 is connected to the lower connecting block 222 at the bottom of the hip support frame by bolts. The motor end of the leg support frame adjustment module 5 is connected to the upper connecting block 221 at the bottom of the hip support frame by bolts. The push rod end of the leg support frame adjustment module 5 is connected to the electric push rod connecting block 233.

[0026] In this embodiment, the upper ends of both sides of the wheelchair leg support frame 23 are provided with leg support frame side end connecting blocks 231, which are connected to the Y-shaped base side frame 101 by bolts and are coaxial with the mating holes at the lower ends of both sides of the wheelchair hip support frame 22. Two driven linkage connecting blocks 232 are provided on the rear sides of the two legs of the wheelchair leg support frame 23, and an electric push rod connecting block 233 is provided in the middle of the rear of the wheelchair leg support frame 23. Two extension blocks below the wheelchair leg support frame 23 are provided with snap-fit ​​insertion ends, which engage with the snap-fit ​​grooves behind the outer heel of the wheelchair foot cover 24, allowing for adjustment of the engagement length according to the user's needs.

[0027] In this embodiment, the wheelchair foot cover 24 includes an outer support layer and an inner wrapping and fixing layer. The outer support layer has a snap-fit ​​groove at the heel, with a release button that engages with the snap-insertion end below the wheelchair leg support frame 23 for depth adjustment, engagement, and fixation. The inner wrapping and fixing layer has an adjustable ring strap at the front end and a double-spring zipper device at the rear heel, which works with a pull-out elastic component to adjust the foot size. It is also locked in place by a hidden buckle. The material used is lightweight and durable, improving the user experience.

[0028] The seat back cushion 3 includes a headrest cushion 301, a back block cushion 302, a hip block cushion 303, a leg block cushion 304, an upper limb limiting cushion 305, an armrest cushion 306, and a lower limb limiting cushion 307. The back block cushion 302, hip block cushion 303, and leg block cushion 304 are composed of multiple square modules and adopt an ergonomic back curve arc design to increase comfort, provide support and shock absorption, and enhance the adaptability of the cushion. The seat back cushion 3 is made of comfortable and soft elastic material, which is breathable and improves the user experience.

[0029] A block-shaped backrest cushion 302 is installed on the backrest metal frame 214. The upper end of the block-shaped backrest cushion 302 has an embedding groove, and a headrest cushion 301 is correspondingly positioned within the embedding groove. The headrest cushion 301 is installed on the backrest metal frame 214. A connecting groove is provided on the backrest metal frame 214 at the head position, allowing it to connect to the headrest cushion 301 of the wheelchair back support frame 21 via a threaded knob. A connecting groove is provided on the upper limb portion of the backrest metal frame 214, connecting to the upper limb limiting baffle 71 via bolts. The backrest metal frame 214 adopts a lightweight, high-strength, and ergonomic design, increasing safety and stability during use. To improve the ease of operation for caregivers and provide a good user experience for patients and caregivers, the buttock block cushion 303 is installed on the wheelchair buttock support frame 22, the leg block cushion 304 is installed on the wheelchair leg support frame 23, two upper limb limiting pads 305 are located on both sides of the backrest metal frame 214, and two lower limb limiting pads 307 are located on both sides of the backrest metal frame 214. Both the upper limb limiting pads 305 and the lower limb limiting pads 307 are installed on the backrest metal frame 214 through the human body limiting baffle 7. Each armrest bracket 211 has an armrest pad 306 installed at its upper end.

[0030] The wheelchair hip support frame 22 has two pairs of mating holes on both sides. The upper two holes connect to the wheelchair back support frame 21, and the lower two holes connect to the Y-shaped base side frame 101. The bottom of the wheelchair hip support frame 22 has an upper connecting block 221 and a lower connecting block 222, which are connected to the leg support frame adjustment module 5 and the base adjustment module 4 respectively by bolts. The connection points have a certain degree of rotational freedom. The bottom of the wheelchair hip support frame 22 has two sets of connecting holes for connecting to the upper limb limiting baffle 71 in the human body limiting baffle 7. The two pairs of mating holes on both sides of the wheelchair hip support frame 22 can realize the function of rotating around the axis, and can be adjusted to multiple angles such as 90° and 0°, realizing the switching between sitting, standing and lying postures.

[0031] The human body limiting baffle 7 includes an upper limb limiting baffle 71 and a lower limb limiting baffle 72. The upper limb limiting baffle 71 includes an upper limb baffle fixing frame 711, an upper limb baffle 712, and an upper limb limiting locking rod 713. The upper limb baffle fixing frame 711 is installed on the front side of the backrest metal frame 214. One end of the upper limb baffle 712 is limited and connected to the upper limb baffle fixing frame 711, and the other end of the upper limb baffle 712 extends in the direction of the user's upper limb length. The upper limb limiting locking rod 713 and the upper limb baffle fixing frame 711 are used to cooperate with the upper limb baffle 712 and realize the limiting of the upper limb baffle 712. The position adjustment and fixing of 2 is achieved by moving the upper limb baffle 712 along the thickness direction of the human body, thereby moving the upper limb limiting pad 305 along the thickness direction of the human body. This allows it to be suitable for users of different body sizes, achieving a better limiting effect. In this embodiment, the upper limb baffle 712 can be clamped by tightening both ends of the upper limb limiting locking rod 713. When adjustment is needed, the upper limb limiting locking rod 713 can be loosened. However, in this embodiment, the upper limb limiting locking rod 713 and the upper limb baffle fixing bracket 711 are not limited to the above limitations, and those skilled in the art can make adaptations. The adjustment only needs to achieve displacement and fixation of the upper limb baffle 712 along the thickness direction of the human body; the lower limb limiting baffle 72 includes a lower limb limiting connecting block 721, a lower limb baffle fixing frame 722, a lower limb baffle 723, and a lower limb limiting locking rod 724. The lower limb limiting connecting block 721 is used to fix the lower limb baffle fixing frame 722 to the hip support frame. One end of the lower limb baffle 723 is limited and connected to the lower limb baffle fixing frame 722, and the other end of the lower limb baffle 723 extends in the length direction of the user's lower limb. The lower limb limiting locking rod 724 and the lower limb baffle fixing frame 722 are also included. Used to cooperate with the lower limb baffle 723 and realize the position adjustment and fixation of the lower limb baffle 723. By moving the lower limb baffle 723 along the thickness direction of the human body, the lower limb limiting pad 307 is driven to move along the thickness direction of the human body, so as to be suitable for users of different sizes and achieve better limiting effect. In this embodiment, the structural principle of the lower limb limiting locking rod 724 and the lower limb baffle fixing frame 722 is the same as that of the upper limb limiting locking rod 713 and the upper limb baffle fixing frame 711, as long as the displacement and fixation of the lower limb baffle 723 along the thickness direction of the human body can be realized.

[0032] The upper limb baffle 712 is covered with a flexible upper limb limiting pad 305 on the outside, and the lower limb baffle 723 is covered with a flexible lower limb limiting pad 307 on the outside. The human body limiting baffle 7 is designed to prevent patients from sliding out of the chair when switching between sitting, standing and lying positions, thereby improving the safety and stability of patient use.

[0033] Both the base adjustment module 4 and the leg support frame adjustment module 5 are electric push rods. Using electric push rods as the power output end, the power output is stable, the noise is low, and it supports programmed control, ensuring the stability, reliability and safety of the wheelchair during movement, reducing the feeling of shaking, and meeting the usage needs of elderly wheelchairs.

[0034] like Figure 14 As shown, this embodiment also includes a Bluetooth communication module 10, a posture adjustment module 11, an intelligent driving module 12, and an emotion interaction module 13, all connected to the control module 9. The power module 8 and the control module 9 are both mounted on the rear crossbar of the base 1. The power module 8 uses a lithium battery pack in conjunction with a voltage conversion module to provide stable power to the other modules. The Bluetooth communication module 10 receives control commands from the mobile app, including voice and manual operation commands. The Bluetooth communication module 10 is connected to a wireless communication chip and sends the control commands to the control module 9.

[0035] The control module 9 includes a microcontroller for performing information fusion and autonomous decision-making based on control commands, posture sensor data in the posture adjustment module 11, intelligent driving sensor data in the intelligent driving module 12, and interaction sensor data in the emotion interaction module 13, and generating drive control signals; the drive control signals include at least one of posture adjustment signals, intelligent driving signals, and emotion interaction signals.

[0036] The pose adjustment module 11 includes a pose adjustment drive module, which includes a pose motor drive chip, a pose driver, and a pose drive motor connected in sequence. The pose adjustment module 11 is used to receive pose adjustment signals and, based on the pose adjustment signals, drive and control the base adjustment module 4 and the leg support frame adjustment module 5 to achieve horizontal and vertical states.

[0037] The intelligent driving module 12 includes an intelligent driving drive module, which includes an intelligent driving motor drive chip, an intelligent driving driver, and a wheel drive motor connected in sequence. The intelligent driving module 12 is used to receive intelligent driving signals and, based on the intelligent driving signals, to drive and control the driving status and steering of the wheels on the base 1 through the intelligent driving drive module.

[0038] The emotional interaction module 13 includes an emotional interaction driving module, which includes a visual sensor driving chip, a sound sensor driving chip, a touch screen input acquisition chip and a temperature sensor driving chip connected in parallel. The emotional interaction module 13 is used to receive emotional interaction signals and, based on the emotional interaction signals, control the output status of the audio output device and the mobile APP terminal display screen through the emotional interaction driving module.

[0039] The posture adjustment module 11 also includes posture sensors connected in parallel with the posture adjustment drive module. The posture sensors include a pressure sensor, a tilt sensor, and a limit switch. The pressure sensor is installed below the back block cushion 302 and the buttock block cushion 303 to detect the patient's pressure distribution in real time and realize in-position safety detection during posture adjustment. The tilt sensor is installed on the back of the wheelchair back support frame 21, the wheelchair hip support frame 22, and the wheelchair leg support frame 23 to detect the adjustment angle of the base adjustment module 4 and the leg support frame adjustment module 5 and realize the detection of the position switching of each posture. The limit switch is installed at the start and end of the drive rod stroke of the electric push rod to detect the extreme position of the electric push rod of the base adjustment module 4 and the leg support frame adjustment module 5 and realize overtravel protection.

[0040] The intelligent driving module 12 also includes intelligent driving sensors connected in parallel with the intelligent driving drive module. The intelligent driving sensors include a GPS locator, an infrared sensor, and a lidar. The GPS locator is installed in the control module and is used for real-time location positioning and trajectory tracking of the deformable intelligent elderly care wheelchair robot. The infrared sensor is installed on the lower side of the armrest support and is used to detect the terrain of the surrounding environment. The lidar is installed on the upper end of the metal frame of the backrest and is used to detect obstacles in the surrounding environment.

[0041] The emotional interaction module 13 also includes interactive sensors connected in parallel with the emotional interaction driving module. The interactive sensors include a visual sensor, a sound sensor, a touch screen input collector, and a temperature sensor. Among them, the visual sensor is used to detect the patient's facial expressions, body movements, and head posture; the sound sensor is used to detect the content of speech; the touch screen input collector is used to exchange human-computer interaction information; and the temperature sensor is used to detect the human body's vital signs.

[0042] like Figure 15As shown, this embodiment, in its specific implementation, includes the main structure of the elderly care wheelchair robot and a software control system. Their functions are as follows: the various modules and electronic components (such as sensors) in the software system control the robot's posture, structural changes, positional movement, and interactive control. Generally speaking, the microcontroller in control module 9 fuses information from the assembled sensors, receives information from the human-machine interface, and thus makes autonomous decisions. Specifically, each sensor is configured as a pressure sensor, tilt sensor, limit switch, and intelligent driving system, integrating data from GPS locators, infrared sensors, and lidar to monitor parameters such as the wheelchair's environment and position, obtaining its location, direction, and the distribution of obstacles in the surrounding environment. This detected information is returned to control module 9, thereby changing the elderly care wheelchair robot's travel route. Furthermore, by connecting to a transportation network, using GPS locators and real-time traffic information to confirm the location, the microcontroller transmits information about the destination and the robot's position. After confirming and correcting the position, a coordinate system is established based on the corresponding coordinates, and... The return values ​​from each sensor are confirmed using a mathematical model to determine the position of the entire system. Real-time data acquisition and correction are achieved through the microcontroller terminal to avoid obstacles. During the emotional interaction process, the device integrates visual sensors, sound sensors, touchscreen input collectors, and temperature sensors to perceive the vital signs, facial features, and audio status of the user sitting in the wheelchair. By connecting to a wireless communication chip or Wi-Fi, the device establishes a human-computer interaction interface, receives health monitoring data, performs cloud-based analysis based on big data, makes judgments, and shares user data in real time with community health service centers or hospitals via the Internet, while also accepting user requests for help.

[0043] Users of this elderly care wheelchair robot can establish health management files at community service stations for convenient emergency calls or health service applications. Through the mobile app settings, users can choose between voice and manual operation commands to facilitate use by quadriplegic or aphasic individuals, increasing the diversity of users suitable for this wheelchair. After selecting a command mode, all subsequent operations are issued through this mode, specifically through voice capture by the voice acquisition module. Users can then select action modes according to their needs, including posture adjustment, intelligent driving, and emotional interaction. When the posture adjustment mode is selected, the wheelchair automatically detects whether the initial posture is sitting. If not, it automatically adjusts to a sitting posture for easy use. Pressure sensors then continuously monitor whether the patient is in the wheelchair seat; only when the patient is in a seated position can the next command be received, ensuring patient safety. When switching to a standing position, the electric actuators of the base and leg support frame, under the control of the control module 9, sequentially move, adjusting the back support frame 21, hip support frame 22, and leg support frame 23 of the wheelchair to a vertical position in coordination with the driven linkage. An inclination sensor detects the standing posture and locks it in place after the posture is correctly positioned, improving operational stability and safety. When switching to a reclining position, the base adjustment module 4 and leg support frame adjustment module 5 sequentially move in coordination with the driven linkage 6 to adjust the back support frame 21, hip support frame 22, and leg support frame 23 of the wheelchair to a horizontal position. An inclination sensor detects the standing posture and locks it in place after the posture is correctly positioned. When switching to a sitting position, the base adjustment module 4 and leg support frame adjustment module 5 sequentially move in coordination with the driven linkage 6 to adjust the back support frame 21 and leg support frame 23 to be perpendicular to the ground, and adjust the hip support frame 22 to a horizontal position. An inclination sensor detects the sitting posture and locks it in place after the posture is correctly positioned. After the user selects the intelligent driving mode, the wheelchair sensors collect environmental information. The collected information is returned to the control module 9 for processing and analysis to obtain the location information of the elderly wheelchair. Then, based on the sensor data, the environmental information is modeled using the grid method. Next, an improved algorithm is used for global path planning and local path planning, and the optimal driving path is sent to the control module 9 to guide the wheelchair's motion mechanism to move to the destination.After the user selects the emotional interaction mode, the wheelchair sensors collect the patient's image and audio information, including facial expressions, body movements, head posture, and speech content. The system identifies the collected patient image and sound information, matching it against existing database information. If a user profile has already been created, the collected information is added to the existing database for analysis; otherwise, a new patient profile is created. A personalized patient model is built based on the images, audio information, and location information captured by the sensors. The collected information is then matched against the existing comparison model for emotion collection and analysis. This analysis determines the patient's current emotional needs. Once the needs are determined, an alarm command is sent to the management system for processing. The system generates the necessary dialogue, interactive screen images, and data information based on the emotional needs. Emotional expressions are then output through the speaker and interactive screen for emotional interaction in the elderly care wheelchair. This multi-functional mode improves the patient's user experience, safety, and emotional needs, expanding the user base.

[0044] This embodiment provides a deformable intelligent elderly care wheelchair robot. During intelligent driving, the wheelchair robot body, power module 8, control module 9, Bluetooth communication module 10, drive module, motion execution unit, and sensors form a system platform integrating perception and control. Then, the intelligent driving module 12 performs wheelchair positioning, environmental mapping, global path planning, and local path planning. The path planning algorithm flow is as follows: Figure 16 As shown.

[0045] The positioning of the elderly care wheelchair robot uses the Global Positioning System (GPS), in conjunction with a GPS locator, for positioning actions. The path planning algorithm for the elderly care wheelchair robot is a crucial component of intelligent driving technology, primarily including global path planning algorithms and local path planning algorithms. Based on the planned path, the elderly care wheelchair robot can perform functions such as autonomous navigation and obstacle avoidance.

[0046] When wheelchair robots perform path planning, it is usually necessary to build a map model of the working environment to provide a search environment for path planning. Using a grid map method to model the environment, decomposing the environment into equal-sized cubes for external representation, is simple, efficient, and easy to implement.

[0047] The global path planning uses an improved A* algorithm to transform the discrete obstacle distribution into a continuous network of passable areas. Through prior understanding and analysis of environmental information, it constructs the optimal path from the starting point to the target point for the robot.

[0048] A* Algorithm Cost Function: ; in, It represents the sum of the actual cost and the estimated cost; This represents the actual cost from the current point to the starting point; It is a heuristic factor, representing the estimated cost from the current node to the target point. For the initial point (x0, y0) and the target point (x... n y n ).

[0049] The heuristic factor is calculated using the Euclidean distance formula: ; The heuristic function weights and search domain of the A* algorithm are optimized.

[0050] The heuristic function weights for the improved A* algorithm are as follows: The weights of the heuristic function should vary depending on the map environment. When a node is far from the target, the weights should be increased. By adjusting the weights of different nodes and narrowing the search space, search efficiency can be greatly improved, enabling faster access to the target point. When the current node is close to the endpoint, its weight is reduced to expand the search space, ensuring a safer path to the target. This is achieved by introducing variables... , The obstacle ratio between the starting point and the target point is expressed by the following formula: ; in, This represents the number of obstacle grid cells within the area between the starting point and the target point. This represents the ordinate between the starting point and the target point. This represents the x-coordinate between the starting point and the target point.

[0051] When the number of obstacles in the environment where the wheelchair robot is located is relatively small, increase Weighting: When there are many obstacles, the weight is reduced to allow for a more comprehensive exploration of all possible paths, avoiding getting trapped in local optima. This is achieved by introducing dynamic weight coefficients. This approach can better balance the weight of heuristic functions in path planning, overcoming the problems of traditional A* algorithms being prone to getting trapped in local optima and having low search efficiency.

[0052] The improved evaluation function is as follows: ; The search domain of the A* algorithm is improved and optimized as follows: Traditional A* algorithm, when performing a neighborhood search, traverses all eight neighboring grid cells in the current location: four fundamental orthogonal directions (up, down, left, right) and four diagonal directions (upper left, upper right, lower left, lower right). However, searching in some of these directions may deviate from the target point's direction, leading to unnecessary computation. To improve efficiency, discarding searches in the four diagonal directions can effectively enhance the A* algorithm's search efficiency. Only four neighboring nodes are retained in the main forward direction. After traversing these four nodes, if obstacles exist in all four, the algorithm backtracks to search the remaining four nodes. This neighborhood search can obtain obstacle information in the current search direction earlier, reducing replanning costs and improving the efficiency of obtaining candidate points that are close to the target node.

[0053] The improved A* algorithm employs an iterative expansion mechanism guided by a cost function. Starting from the initial position, the system traverses all neighboring grid cells. In each iteration, the grid cell with the lowest comprehensive cost evaluation value is preferentially added to the optimal path node set, and the heuristic function evaluation of neighboring cells is continuously updated until the target position is reached. The core objective of the improved A* algorithm is to find the shortest path from the starting point to the target point in a weighted graph or grid map, while minimizing the search space. A heuristic estimation function guides the search process, and the next node to be expanded is selected by evaluating the estimated cost from the current node to the target node.

[0054] The improved A* algorithm makes two improvements over the traditional A* algorithm: optimizing the weights of the heuristic function and optimizing the neighborhood. The improved weights of the heuristic function help the algorithm estimate path costs more accurately, thereby improving the efficiency and accuracy of path search; the improved search neighborhood helps the algorithm explore the solution space more effectively, find the global optimum or near-optimal solution, eliminate neighboring nodes and obstacles, and generate safe path points.

[0055] The improved Direct Path Avoidance (DWA) algorithm is a local path planning algorithm designed to solve the problem of safe movement of mobile robots in dynamic environments. Combining the robot's geometry and kinematics, the DWA algorithm can generate feasible motion and turning commands in a short time, guiding the mobile robot to its target without collision. In complex dynamic scenarios, if a robot relies solely on real-time sensor data for local obstacle avoidance, it is highly susceptible to falling into local optima due to fragmented environmental information, or even becoming completely disoriented due to a lack of awareness of the overall task space.

[0056] Global path planning integrates map priors and task constraints to transform discrete obstacle distributions into a continuous network of passable areas. Then, it uses graph search algorithms or sampling optimization methods to generate globally optimal or suboptimal passage sequences, providing global paths for subsequent intelligent driving modules.

[0057] The local path planning algorithm employs an improved DWA algorithm for robot local path planning and real-time obstacle avoidance in dynamic environments, addressing the issue of safe movement of mobile robots in dynamic environments. The algorithm consists of three core parts: dynamic window generation, trajectory prediction, and trajectory evaluation and optimal trajectory selection. An evaluation function is used to assess the predicted trajectories of different speed combinations over a certain time period, selecting the speed combination corresponding to the trajectory with the highest evaluation as the robot's movement speed. By combining the robot's geometric and kinematic characteristics, feasible motion and turning commands can be generated in a short time, guiding the robot to the target without collision.

[0058] Construction of the kinematic model for wheelchair robots: ; Among them, wheelchair robots The pose at time t can be represented as , This indicates the position coordinates of the wheelchair robot. This indicates the robot's heading angle.

[0059] Dynamic speed window generation: The DWA algorithm is an algorithm for local path planning and real-time obstacle avoidance of robots in dynamic environments. It uses an evaluation function to evaluate the predicted trajectory of different speed combinations over a certain time, and selects the speed combination corresponding to the trajectory with the highest evaluation as the robot's movement speed.

[0060] The DWA speed window is mainly limited by factors such as robot structure, drive motors, and environmental conditions. The robot's speed constraint, influenced by its own hardware performance, is as follows: ; in, , These are the highest and lowest linear velocities of the mobile robot, respectively. , These represent the highest and lowest angular velocities of the mobile robot, respectively.

[0061] Wheelchair robots are constrained by driving forces and have maximum acceleration / deceleration limits, further restricting their velocity space. express: ; in,( , ) represents the current linear velocity and angular velocity of the wheelchair robot. , , , This indicates the linear acceleration and angular acceleration of the wheelchair robot.

[0062] For a mobile robot to achieve obstacle avoidance, it needs to stop in time before colliding with an obstacle. This requires a speed limit that allows the robot to stop near the obstacle. express: ; in, This represents the distance between the current trajectory and the nearest obstacle.

[0063] The dynamic velocity window determined by the DWA algorithm, i.e., the intersection of the three velocity constraints, is as follows: ; Trajectory prediction: After determining the DWA velocity window, the angular velocity and velocity resolution are set as follows: , Uniform sampling is performed within the window, and the number of selectable combinations is: ; in, For the speed of the upper boundary of the window, The velocity at the lower boundary of the window. For the upper bound angular velocity of the window, Let n be the lower bound angular velocity of the window, and n be the number of velocity combinations.

[0064] Assume the current pose of the shifter is Assuming the sampling interval is Δt, the velocity combination is... The predicted trajectory can then be calculated using the following formula: ; Trajectory evaluation and optimal trajectory selection: The robot believes that there is an optimal velocity in the possible velocity space of the target, which can generate the best local trajectory within the current time range. An evaluation function is set to evaluate the obtained velocity trajectory in order to find the optimal trajectory and select the trajectory to execute.

[0065] Trajectory evaluation function: ; in, It is an evaluation factor from an angle. Let be the angle between the mobile robot's heading at the end of the trajectory and the target point. It is the obstacle distance evaluation factor, representing the minimum distance between the obstacle and the current trajectory; It is a velocity evaluation factor, representing the linear velocity value corresponding to this trajectory; , , These are the weights of the three evaluation factors, with values ​​ranging from [0, 1]. This represents the normalization process applied to the three factors. Each evaluation factor corresponding to each speed is divided by the sum of all trajectory evaluation factors within the simulation period. This avoids any single value being too large and having too much of an advantage. The normalization process is as follows: ; in, To simulate the number of trajectories sampled within a period, The current trajectory participating in the evaluation function.

[0066] Therefore, the larger the evaluation function value, the better the trajectory, and the optimal path is selected for the wheelchair robot to execute actions. The three evaluation factors of this trajectory satisfy the following conditions: farthest from the obstacle, smallest angle with the target point, and largest speed. The fusion of the improved A* algorithm and the improved DWA algorithm is a hybrid navigation strategy that combines global path planning and local dynamic obstacle avoidance, achieving motion control in complex environments through complementary advantages. The improved A* algorithm is responsible for generating the globally optimal path based on the known environment map, laying the foundation for local planning; the improved DWA algorithm processes sensor data in real time, and, considering the kinematic and dynamic constraints of the wheelchair robot, performs velocity space sampling near the path given by the improved A* algorithm, selecting the optimal path that conforms to the global direction and avoids moving obstacles and unknown hidden obstacles. By fusing the improved A* algorithm and the DWA algorithm, the transfer robot can achieve globally optimal path planning and autonomously avoid dynamic obstacles and hidden stationary obstacles. The algorithm first improves the A* algorithm for global path planning. After obtaining the global nodes, it uses the improved DWA algorithm to perform local dynamic planning for every two adjacent nodes. The coordination between the two ensures that the robot can plan the best path and move safely in both fixed and mobile environments, thereby improving the robot's environmental adaptability, efficiency and safety.

[0067] This embodiment, through the above design, provides posture adjustment functions for sitting, standing, and lying positions. The control module 9 controls the state of the two electric push rods, which, in conjunction with the driven linkage 6, adjust the positions of the wheelchair back support frame 21, wheelchair hip support frame 22, and wheelchair leg support frame 23 to adapt to different postures and achieve desired state switching. When the corresponding electric push rod is driven to a position where the wheelchair back support frame 21 and wheelchair leg support frame 23 are vertical and the wheelchair hip support frame 22 is horizontal, the posture is sitting. When the corresponding electric push rod is driven to a position where all three are vertical, the posture is standing. When the corresponding electric push rods are driven to ensure that the wheelchair back support frame 21, wheelchair hip support frame 22, and wheelchair leg support frame 23 are all in a horizontal position, the user is in a lying position, thus meeting the usage needs of patients in different body positions and enhancing functionality. On the other hand, the deformable intelligent elderly care wheelchair robot provided in this embodiment also has intelligent navigation and emotional interaction functions. Through the set control module 9 and the intelligent driving module 12 and emotional interaction module 13 connected to it, support is provided for the movement, forward movement safety and stability of the deformable intelligent elderly care wheelchair robot, while providing emotional support and interaction for patients during use, providing patients with good emotional value and user experience.

[0068] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A deformable smart elderly care wheelchair robot, characterized in that: The application relates to a wheelchair, which comprises a base, a human body supporting frame, a seat back pad, a base adjusting module, a leg supporting frame adjusting module, a power supply module and a control module, the lower end of the base is provided with base wheels, the human body supporting frame is movably arranged on the base, and the two ends of the base adjusting module are respectively connected to the back of the human body supporting frame and the base; the base adjusting module can drive the human body supporting frame to rotate relative to the base under the control of the control module; the seat back pad is arranged on the human body supporting frame and used for contacting and supporting the head and the trunk of a user; the leg supporting frame adjusting module is arranged on the back of the human body supporting frame and can drive the legs of the human body supporting frame to rotate relative to the main body of the human body supporting frame under the control of the control module; and the power supply module is used for providing electric energy. 2.The deformable intelligent elderly care wheelchair robot of claim 1, wherein: The base comprises Y-shaped base side frames, transverse connecting rods, supporting frame load-bearing rods, base wheels, a wheel locking mechanism and longitudinal connecting rods, two Y-shaped base side frames are symmetrically arranged and parallel to each other, a plurality of transverse connecting rods are arranged between the two Y-shaped base side frames, the transverse connecting rods are perpendicular to the planes where the Y-shaped base side frames are located, the two ends of the transverse connecting rods are respectively arranged on the two Y-shaped base side frames, one of the transverse connecting rods is symmetrically provided with two supporting frame load-bearing rods at the upper end, the two supporting frame load-bearing rods are respectively arranged close to the two ends of the transverse connecting rod, the two ends of the longitudinal connecting rod are respectively directed to the front and the rear of the walking direction, the two ends of the longitudinal connecting rod are respectively connected to the lower ends of the two transverse connecting rods through an extension, one end of the base adjusting module is rotatably connected to the upper end of the longitudinal connecting rod, and one base wheel is arranged on each side of the lower end of each Y-shaped base side frame, the wheel locking mechanism is arranged between the two Y-shaped base side frames and close to the two base wheels located at the rear. 3.The deformable intelligent elderly care wheelchair robot of claim 1, wherein: The human body supporting frame comprises a wheelchair back supporting frame, a wheelchair hip supporting frame, a wheelchair leg supporting frame and a wheelchair foot cover, the lower end of the wheelchair leg supporting frame is connected to one side of the wheelchair foot cover, the upper end of the wheelchair leg supporting frame and the lower end of the wheelchair hip supporting frame are rotatably connected to the upper end of the base, the upper end of the wheelchair hip supporting frame is movably connected to the lower end of the wheelchair back supporting frame, one end of the base adjusting module is rotatably connected to the base, one end of the base adjusting module is rotatably connected to the back of the wheelchair hip supporting frame, one end of the leg supporting frame adjusting module is rotatably connected to the back of the wheelchair leg supporting frame, and the other end of the wheelchair leg supporting frame is rotatably connected to the back of the wheelchair hip supporting frame. 4.The deformable smart elderly care wheelchair robot of claim 3, wherein: The wheelchair back support frame comprises an armrest support, a wheelchair side end connecting block, a hollow support and a backrest metal frame, one of the armrest supports is installed on each side of the backrest metal frame, one end of the armrest support extends forward in the walking direction, one of the hollow supports is installed on each side of the lower end of the backrest metal frame, the upper end of the hollow support is connected to the lower end of the backrest metal frame, the lower end of the hollow support extends towards the wheelchair hip support, the lower end of each hollow support is rotatably connected to a driven connecting rod, the driven connecting rod comprises a fixed segment and a push rod segment, one end of the push rod segment is rotatably connected to the lower end of the hollow support, the other end of the push rod segment extends into the fixed segment through one end of the fixed segment, the other end of the fixed segment is rotatably connected to the back of the wheelchair leg support, the driven connecting rod is telescopic, the upper end of the wheelchair side end connecting block is installed on the lower end of the backrest metal frame, and the lower end of the wheelchair side end connecting block is rotatably connected to the upper end of the wheelchair hip support. 5.The deformable smart elderly care wheelchair robot of claim 4, wherein: The seat back cushion comprises a head protection pad, a back block-shaped back cushion, a hip block-shaped back cushion, a leg block-shaped back cushion, an upper limb limiting protection pad, an armrest protection pad and a lower limb limiting protection pad, the back block-shaped back cushion, the hip block-shaped back cushion and the leg block-shaped back cushion are all composed of a plurality of square modules and are designed in an ergonomic back curve arc shape, the back block-shaped back cushion is installed on the backrest metal frame, the upper end of the back block-shaped back cushion is provided with an embedded groove, the head protection pad is arranged corresponding to the embedded groove and is installed on the backrest metal frame, the hip block-shaped back cushion is installed on the wheelchair hip support, the leg block-shaped back cushion is installed on the wheelchair leg support, the upper limb limiting protection pad is arranged on each side of the backrest metal frame, the lower limb limiting protection pad is arranged on each side of the backrest metal frame, and the upper limb limiting protection pad and the lower limb limiting protection pad are both installed on the backrest metal frame through a human body limiting baffle, and the armrest protection pad is installed on the upper end of each armrest support. 6.The deformable smart elderly care wheelchair robot of claim 5, wherein: The human body limiting baffle includes an upper limb limiting baffle and a lower limb limiting baffle, the upper limb limiting baffle includes an upper limb baffle fixing frame, an upper limb baffle, and an upper limb limiting locking rod, the upper limb baffle fixing frame is installed on the front side of the back metal frame, one end of the upper limb baffle is limitedly connected to the upper limb baffle fixing frame, the other end of the upper limb baffle extends to the length direction of the upper limb of the user, and the upper limb limiting locking rod and the upper limb baffle fixing frame are used for cooperating with the upper limb baffle and realizing position adjustment and fixation of the upper limb baffle; the lower limb limiting baffle includes a lower limb limiting connecting block, a lower limb baffle fixing frame, a lower limb baffle, and a lower limb limiting locking rod, the lower limb limiting connecting block is used for fixing the lower limb baffle fixing frame on the hip support frame, one end of the lower limb baffle is limitedly connected to the lower limb baffle fixing frame, the other end of the lower limb baffle extends to the length direction of the lower limb of the user, and the lower limb limiting locking rod and the lower limb baffle fixing frame are used for cooperating with the lower limb baffle and realizing position adjustment and fixation of the lower limb baffle. 7.The deformable intelligent geriatric wheelchair robot of claim 1, wherein: The base adjusting module and the leg support frame adjusting module are both electric push rods. 8.The deformable smart elderly care wheelchair robot of claim 5, wherein: The control module is connected with a Bluetooth communication module, a pose adjustment module, an intelligent driving module, and an emotional interaction module; the power module and the control module are both installed on the rear cross rod of the base; The Bluetooth communication module is configured to receive a control instruction from a mobile APP; the control instruction includes a voice operation instruction and a manual operation instruction. The control module includes a microcontroller configured to perform information fusion and autonomous decision-making based on the control instruction, pose sensor data in the pose adjustment module, intelligent driving sensor data in the intelligent driving module, and interaction sensor data in the emotional interaction module, and generate a driving control signal; the driving control signal includes at least one of a pose adjustment signal, an intelligent driving signal, and an emotional interaction signal. The pose adjustment module includes a pose adjustment driving module, the pose adjustment driving module includes a pose motor driving chip, a pose driver, and a pose driving motor connected in sequence; the pose adjustment module is configured to receive the pose adjustment signal and drive the base adjusting module and the leg support frame adjusting module in a horizontal state and a vertical state based on the pose adjustment signal through the pose adjustment driving module. The intelligent driving module includes an intelligent driving driving module, the intelligent driving driving module includes an intelligent driving motor driving chip, an intelligent driving driver, and a wheel driving motor connected in sequence; the intelligent driving module is configured to receive the intelligent driving signal and drive the wheels on the base in a running state and steering based on the intelligent driving signal through the intelligent driving driving module. The emotional interaction module comprises an emotional interaction driving module, the emotional interaction driving module comprises a visual sensor driving chip, a sound sensor driving chip, a touch screen input collector driving chip and a temperature sensor driving chip connected in parallel; the emotional interaction module is used for receiving the emotional interaction signal, and based on the emotional interaction signal, the output state of an audio output device and a mobile APP end display screen is controlled through the emotional interaction driving module. 9.The deformable smart geriatric wheelchair robot of claim 8, wherein: The posture adjustment module further comprises a posture sensor connected in parallel with the posture adjustment driving module, the posture sensor comprises a pressure sensor, an inclination sensor and a limit switch; wherein the pressure sensor is installed below the back block-shaped cushion and the hip block-shaped cushion, and is used for detecting the pressure distribution of the patient in real time to realize in-position safety detection in the posture adjustment process; the inclination sensor is installed on the back of the wheelchair back support frame, the wheelchair hip support frame and the wheelchair leg support frame, and is used for detecting the adjustment angle of the base adjustment module and the leg support frame adjustment module to realize in-position detection of each attitude switching; the limit switch is installed at the starting end and the ending end of the driving rod of the electric push rod, and is used for detecting the limit position of the electric push rod of the base adjustment module and the leg support frame adjustment module to realize overstroke protection. The intelligent driving module further comprises a smart driving sensor connected in parallel with the intelligent driving driving module, the smart driving sensor comprises a GPS locator, an infrared sensor and a laser radar; wherein the GPS locator is installed in the control module, and is used for real-time position positioning and trajectory tracking of the deformable intelligent old-age wheelchair robot; the infrared sensor is installed on the lower side of the armrest support, and is used for detecting the terrain of the surrounding environment; the laser radar is installed at the upper end of the backrest metal frame, and is used for detecting the obstacles in the surrounding environment. The emotional interaction module further comprises an interaction sensor connected in parallel with the emotional interaction driving module, the interaction sensor comprises a visual sensor, a sound sensor, a touch screen input collector and a temperature sensor; wherein the visual sensor is used for detecting facial expressions, limb movements and head postures of the patient; the sound sensor is used for detecting speech content; the touch screen input collector is used for interactive man-machine interaction information; and the temperature sensor is used for detecting human body sign states. 10.The deformable smart elderly care wheelchair robot of claim 9, wherein: The GPS locator, the infrared sensor and the laser radar in the smart driving sensor collect surrounding environment and position data in real time, and transmit the surrounding environment and position data to the control module; The control module uses an improved A* algorithm to perform global path planning based on the obtained starting point and target point and the surrounding environment and position data, obtains an optimal path from the starting point to the target point, and uses an improved dynamic window method to perform local path planning and real-time obstacle avoidance based on the optimal path, and obtains a final path from the starting point to the target point.

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