Multi-modal layered hierarchical global adaptation traceless bionic robot multi-scene compliance intelligent control system

Abstract

The application discloses a multi-modal layered global adaptive traceless bionic robot compliance intelligent control system and belongs to the field of robot intelligent control. In view of defects of unstable wiring of existing equipment, low precision of vital sign monitoring, secondary injury caused by emergency transfer, no scene compliance risk control and high cost of mass production, the application constructs a four-layer software and hardware decoupling control architecture, adopts a 220 DEG C six-wire pre-embedded traceless injection molding process and a 485+CAN dual-bus isolation transmission architecture, is compatible with multiple domestic main control chips, integrates self-developed algorithms and a multi-level permission isolation compliance mode. The whole machine is traceless, has a static 100KG and dynamic 80KG bearing capacity, is only used for physiological information collection and abnormal analysis, and is not a medical diagnosis device. The system supports gradient mass production, is suitable for health care, commercial use, cultural and tourism performance scenes, can realize vital sign early warning, emergency transfer, neighborhood mutual assistance and cluster cooperation, has strong landing performance, and fills the technical blank in the industry.

Description

Technical Field

[0001] This invention relates to the fields of mass production molding process for seamless bionic robots, heavy-duty load-bearing structure design with a complete bionic body, multimodal hierarchical intelligent control, gradient adaptation of multiple master control chips, multi-source early warning of chronic disease symptoms in the elderly, intelligent monitoring of home-based health care, safe transport to prevent misoperation, neighborhood emergency networking, three-level compliance risk control in software, hardware, and cloud, dual-bus low-interference expansion, seamless wireless battery life, IP licensing commercial management, millisecond-level cluster collaborative mass production, and engineering implementation of embedded algorithms. Specifically, it covers: 220℃ high-temperature six-wire pre-embedded integrated injection molding process, 485 / CAN dual-bus physical isolation hardware circuit (with optional SPI interface and UART serial port), multi-brand main control MCU embedded unified adaptation driver algorithm, five-level human body state weighted judgment logic with heavy load, triple human-machine interaction timing verification program with original body without disassembly, one-kilometer wireless networking communication protocol, heavy load hardware physical locking circuit design, NTP clock synchronization embedded program, multi-device wireless charging equalization control logic, IP licensed cloud verification interface program, cross-floor elevator control timing scheduling program, and other engineering-implementable complete sets of software and hardware technologies. Compared to the shortcomings of traditional bionic robots, such as insufficient strength of the integrated body and chassis, inability to achieve heavy-load transportation of human bodies with native bionic bodies, external wiring, lack of layered control, algorithms with only theoretical descriptions and no practical logic, and limited compatibility with domestic chips, this invention provides engineering-ready details for all hardware, including processing parameters, electrical connection schemes, and material performance parameters. All algorithms clearly define input / output, calculation steps, judgment thresholds, and embedded code implementation ideas. It clearly states that the entire machine can achieve emergency heavy-load transportation of human bodies without disassembling the simulated humanoid body, and it is compatible with multiple mainstream domestic main control chip series. The entire technical path, hardware structure, and software process can be reproduced and developed by engineers in this field. It has outstanding novelty, creativity, and industrial feasibility, and can be mass-produced and implemented in compliance with regulations. Background Technology

[0002] A search of existing authorized patents and publicly available technical literature both domestically and internationally reveals that current control solutions for similar bionic robots generally suffer from two types of insufficient technical completeness: First, existing hardware structures are mostly descriptions of external shape, lacking standardized molding process parameters, electrical connection schemes, material performance parameters, and other engineering-applicable details. The overall structural strength redundancy is insufficient, and the bionic body generally needs to be disassembled to achieve a small amount of load-bearing work. It is impossible to complete heavy-load emergency transport of human beings while retaining a complete, seamless humanoid body. The overall manufacturability, engineering practicality, and adaptability to extreme working conditions are insufficient. Second, existing monitoring, transport, and cluster collaboration algorithms mostly remain at the level of functional effect overview, without disclosing complete data input rules, iterative calculation steps, judgment threshold ranges, and hardware-software linkage timing logic. The technical completeness is insufficient, and the engineering reproducibility is weak. At the same time, existing solutions generally suffer from common technical shortcomings in the industry, such as limited compatibility with domestic main control systems, lack of physical isolation protection in bus transmission architecture, absence of a scenario compliance management system, lack of tiered mass production configuration solutions, and lack of heavy-load carrying capacity. The deficiencies in the nine core technologies all reflect the above-mentioned engineering and systemic defects, as detailed below: Defect 1: Traditional bionic robots mostly adopt external wiring structures, resulting in low structural strength and wiring protection levels. Only the external structure is disclosed, without supporting high-temperature injection molding parameters and sealed protection circuit design, making it difficult to achieve seamless integrated mass production. Existing publicly available solutions do not disclose the redundant electrical implementation logic of steel pipe through-wiring and POGO PIN multi-point conduction, resulting in insufficient redundancy in the overall structure. There is no heavy-load fault-tolerant protection mechanism for retaining the complete simulated human body under working conditions. The linkage load-bearing strength between the body and chassis is limited, making it impossible to achieve emergency heavy-load human body transfer without disassembling the original bionic body. It is difficult to simultaneously achieve a seamless bionic appearance, the integrity of the integrated structure, and the heavy-load human body carrying capacity, resulting in limited adaptability to extreme health and wellness emergency working conditions. Defect 2: The existing equipment's main control chip is only compatible with a limited number of models. There is no underlying driver architecture for unified adaptation of domestic main control chips from multiple brands. There is no hardware sampling and monitoring circuit for chip temperature and power consumption. Hardware switching adaptation for different application scenarios lacks standardized software scheduling logic. The equipment operation has long relied on imported main control solutions. Domestic substitution is only at the conceptual level of selection. A full-category, implementable engineering adaptation system has not been formed, and it cannot support the mass production needs of multiple levels. Defect 3: Existing technologies related to health and elderly care monitoring and assisted transport lack multi-source sensor data fusion and weighted calculation logic, do not set up a multi-state verification timing mechanism, lack hardware lock-up trigger circuit for critical illness states, and do not consider real emergency working conditions where the robot retains its complete bionic body. They simply rely on program instructions to execute forced transport actions, lack multi-level safety fault-tolerant control logic under heavy load conditions with the entire robot body, and human-machine adaptation safety is insufficient. It is difficult to fully guarantee the comfort and safety of elderly users during emergency transport. The completeness of the technical system needs to be improved. Defect 4: Traditional chronic disease sign recognition schemes only set adaptive judgment thresholds in a general way, do not disclose the periodic collection and construction process of the user's personalized physiological benchmark library, lack noise reduction and filtering logic for bedding obstruction and environmental noise, and lack radar raw signal ADC sampling, correction and screening processing mechanism. The algorithm is difficult to directly embed and run, and the probability of misjudgment and missed judgment in complex home scenarios is high, and the monitoring stability is insufficient. Defect 5: Existing wireless battery life solutions focus on the appearance and structure, but do not disclose the wireless power equalization and control circuit, autonomous homing trajectory planning logic, and the hardware mechanism for accurate battery power sampling. The multi-device synchronous charging scenario lacks time-sharing scheduling control program, and the device battery life management is highly dependent on manual intervention. The automated and unmanned battery life system is imperfect, and the overall battery life operation is fragmented and unstable. Defect 6: The existing neighborhood mutual assistance networking solution only briefly describes the device scanning, pairing and binding logic, without disclosing the one-kilometer-level LoRa wireless communication hardware architecture, the emergency alarm message transmission protocol, the two-way audio and video encoding and decoding processing program, and there is no offline local data caching and network outage fallback mechanism. The mutual assistance alarm function is prone to failure when the network is abnormal, and the emergency rescue response link is single and the scenario adaptation is lagging. Defect 7: Existing scenario compliance management and IP authorization management solutions lack hardware-level power-off lockout relay circuits, firmware-level instruction blocking interruption mechanisms, and cloud-based authorization verification interaction logic. They rely solely on pure software permission management, resulting in a single protection method that is easily tampered with and breached. They also lack a multi-level linkage lockout timing system. Commercial copyright protection, user privacy protection, and human-computer interaction ethics management lack stable implementation paths and a standardized public-private scenario functional isolation system. Defect 8: The traditional 485 / CAN dual-bus architecture does not have a physical isolation protection circuit for the bus, lacks automatic protocol conversion and device parsing subroutines, does not implement layered parallel transmission and priority scheduling mechanism for high and low speed mixed data, lacks automatic driver matching and identification adaptation logic for newly added peripheral modules, has poor peripheral expansion versatility and limited expandability, and is prone to problems such as signal interference, data congestion and instruction delay during bus operation. Defect 9: Existing cluster linkage and cross-floor elevator control technologies lack NTP precise clock calibration subroutine, standardized elevator Modbus communication protocol adaptation logic, and multi-device action smoothing interpolation algorithm. A gradient hardware BOM layered mass production system has not been built. Large-scale cluster demonstration scenarios lack hardware timing synchronization triggering mechanism. The flexibility of multi-scenario adaptation is insufficient. The cost of equipment iteration and batch deployment is relatively high, and commercialization is difficult. In summary, existing technologies of this kind generally lack complete hardware engineering implementation parameters, embedded algorithm operation logic, a comprehensive domestic main control system adaptation system, a heavy-load bearing mechanism with a complete bionic chassis, and a standardized scenario compliance isolation mechanism. The completeness of the technical solution, engineering reproducibility, adaptability to extreme working conditions, and mass production feasibility are all significantly lacking. This invention addresses these industry technical shortcomings by systematically supplementing hardware processing technology, electrical circuit design, structural strength design for heavy-load chassis, and step-by-step embedded algorithm operation logic. It establishes a comprehensive domestic main control system adaptation system and a multi-scenario compliant operation mode. The entire technical solution can be fully reproduced and implemented in engineering by electromechanical and embedded development technicians in this field, effectively filling the gaps in the existing technical system. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing seamless bionic robots, such as the lack of practical parameters for hardware manufacturing processes, insufficient load-bearing capacity of the entire robot body, lack of step-by-step implementation logic for various control algorithms, reliance on imported chips for main control adaptation, low accuracy in health and wellness monitoring, susceptibility to secondary injuries during emergency transport with the robot body, delayed rescue, fragmented battery life, weak compliance and risk control, bus interference, poor cluster synchronization, insufficient adaptability to multiple scenarios, and high mass production costs. The invention provides a multimodal, hierarchical, and fully adaptable multi-scenario compliant intelligent control system for seamless bionic robots. This invention includes complete hardware processing parameters, electrical circuit design, heavy-duty load-bearing structure design with a fully simulated humanoid body, embedded step-by-step implementation process of ten core algorithms, and runtime logic for six major scenarios. It is clearly compatible with several mainstream domestic main control chip series, and all technologies can be engineered, molded, and embeddedly programmed for operation, with no theoretical gaps. Relying on high-temperature non-marking injection molding process, 485+CAN physical isolation dual-bus hardware circuit, unified driver framework for multiple brands of domestic MCUs, chronic disease identification algorithm with weighted judgment, triple timing verification and transfer safety program that retains the original body without disassembly, LoRa neighborhood networking communication protocol, three-level hardware relay locking circuit, NTP cluster synchronization subroutine, multi-device charging equalization program, and IP cloud verification interface program, it achieves full process reproducibility, is suitable for patent application and large-scale compliant mass production, and comprehensively covers four core scenarios: home-based health care, enterprise commercial use, cultural tourism cluster exhibitions, and high-end venue services.

[0004] The present invention adopts a top-down, four-layer, independently layered, fully decoupled hardware and software architecture, with each layer capable of independent iterative upgrades. The four layers, from top to bottom, are: a multi-terminal application control layer, a multi-modal hierarchical intelligent gateway global scheduling layer, a dual-protocol adaptation and conversion layer (with optional SPI interface and UART serial port), and a standardized hardware execution layer. The four layers are electrically connected via physically isolated 485 / CAN bus (with optional SPI interface and UART serial port). Each layer is functionally independent, and iterations do not interfere with each other. Based on this four-layer decoupled architecture, the present invention derives standardized and compliant operating modes and adaptive switching procedures for multiple scenarios. The system is configured with basic, advanced, and flagship hardware solutions, enabling low-cost, standardized, and large-scale mass production, and fully adapting to four core application scenarios: home-based healthcare, enterprise commercial use, cultural tourism cluster performances, and high-end venue services. Each layer of hardware is equipped with a dedicated embedded subroutine, and all ten core algorithms are deployed on the gateway MCU, providing a complete four-step implementation process of input, operation, output, and hardware linkage. The entire architecture's electrical communication and software scheduling can be fully reproduced, precisely overcoming nine shortcomings of existing technologies that prevent practical application, forming a complete and engineerable technical closed loop. Notably, the entire machine does not require disassembly of the seamless, humanoid bionic body, and can stably achieve static 100KG and dynamic 80KG emergency heavy-load human transport operations while retaining the complete original structure, fully adapting to real-world application scenarios such as home-based elderly people with disabilities or falls.

[0005] First, the standardized hardware execution layer: This layer is the core execution carrier at the bottom of the system. It specifically addresses the core defects of traditional equipment, such as outdated technology, insufficient structural strength of the fuselage, poor stability of external wiring, single main control compatibility, fragmented battery life, and weak expandability. All structures are equipped with mold injection parameters, electrical wiring logic, and hardware fault-tolerant circuits, making them complete and mass-producible. The core load-bearing structure has undergone structural reinforcement design to meet the heavy-load emergency transport needs of the entire bionic fuselage. ① 220℃ High Temperature Six-Wire Pre-embedded Integrated Seamless Injection Molding Cabling System [Standard Compliance Features]: Adopting a 220℃ high temperature integrated seamless injection molding process, the six functional buses, including the power positive and negative terminals, 485 differential AB lines, and CAN high and low lines, are pre-embedded and encapsulated inside the chassis. There are no exposed lines or shell openings or damage throughout the process, perfectly achieving a seamless bionic structure. It is suitable for large-scale high temperature injection molding mass production and completely solves the industry defects of traditional external cabling, such as easy aging, short circuits, damage, and inability to achieve seamless mass production. At the same time, it ensures the strength of the integrated structure of the whole machine and provides a structural foundation for the heavy load-bearing capacity of the chassis. ② High-strength seamless steel pipe through-sealed wiring structure for both legs: The equipment has high-strength seamless steel pipes built into both legs, and the six-way functional bus is sealed inside the steel pipes throughout. Both ends are sealed with glue, which greatly improves the protection level of the machine body wiring and the rigidity of the integrated structure of the whole machine. It effectively improves the linkage load-bearing strength of the bionic body and chassis, eliminates wiring pulling, damage, and short circuit faults under heavy load conditions, and ensures the stability of heavy load operation while maintaining the complete simulated humanoid body. ③Double-safe integrated heavy-duty load-bearing structure at the bottom: The bottom of the fuselage adopts a double-safety conductive structure with POGO PIN elastic contacts and a detachable aviation connector to ensure the stability and fault tolerance of the docking between the fuselage and the base; it is equipped with a 50cm high integrated load-bearing base with double-sided full-coverage anti-slip handrails. The whole structure has been mechanically strengthened and optimized. Under normal emergency conditions without disassembling the simulated humanoid bionic fuselage and retaining the complete original structure of the equipment, it can stably achieve static 100KG and dynamic 80KG human body heavy load-bearing and emergency transfer operations, which is fully matched with the real application scenario of emergency transfer of disabled elderly people at home; ④ Several series of domestically produced gradient-adaptive main control chip hardware systems: The hardware layer is equipped with a gradient of domestically produced main control chip solutions, which can be adapted to six mainstream domestic chips as needed, namely Espressif ESP32 series (including ESP32-S3), GigaDevice GD32 series, STMicroelectronics STM32 series, Bolu Intelligent BL6 series, Arterion AT32 series, and Qinheng CH32 series, forming low, medium and high gradient hardware configurations, completely getting rid of dependence on imported chip supply chains, and adapting to mass production needs in different scenarios; ⑤ Dual Invisible Sensing Modules: Integrating a 24G millimeter-wave respiratory radar and a concealed visual module for the torso, all sensing components are built into the blind spot of the body with no exposed structure, forming a dual-path invisible sensing system that can simultaneously collect human breathing, heart rate, posture, and on-site visual data. Combined with hardware noise reduction circuitry, it is suitable for complex home monitoring scenarios and ensures the accuracy of health and wellness monitoring. ⑥ Multi-device seamless power supply hardware module: The body is embedded with a seamless wireless charging receiver module without damaging the bionic appearance; the matching partitioned power supply base can simultaneously charge the robot body, smartwatch, smart cane and other health and wellness wearable devices, build a closed-loop seamless power supply system for all devices, and achieve unattended all-weather power supply. ⑦ Three-level hardware physical permission locking circuit: Configured with an independent three-level hardware electromagnetic locking circuit, which can cut off the power supply of hardware for functions such as privacy collection, private domain interaction, and neighborhood networking in layers through physical power-off, realize rigid isolation of public and private scene functions from the hardware bottom layer, eliminate the risk of software cracking and unauthorized access, and ensure the compliant operation of the scene; at the same time, it is compatible with the safety locking logic of heavy-load transportation conditions of the device body. ⑧ Multifunctional heavy-duty intelligent mobile chassis: Integrating drive control, elevator control linkage, obstacle avoidance cruise, low-speed stability control, and heavy-duty load-bearing capacity, it has been structurally reinforced and formed an integrated load-bearing system with the bionic body and sealed steel pipe wiring structure. It can complete emergency heavy-duty human transfer in the fully assembled state and is suitable for heavy-duty operations in multiple scenarios such as cross-floor service, emergency transfer for health and wellness, venue patrol, and commercial reception. It is the core execution carrier for equipment to adapt to all scenarios.

[0006] Dual-protocol adaptation and conversion layer: This layer precisely addresses the shortcomings of traditional single-bus transmission, such as high interference, data congestion, poor scalability, and high iteration costs. It adopts an innovative architecture that physically isolates the 485 low-speed bus and the CAN high-speed bus, and uses layered parallel transmission. The two types of buses have clear functional partitions and do not interfere with each other. At the same time, it builds a general peripheral adaptation ecosystem, which greatly improves the device's scalability and operational stability, and can stably adapt to the high-speed command transmission requirements of heavy-duty transport of the device body. ① Dedicated architecture for 485 low-speed bus: The 485 low-speed bus independently connects to various sensing devices and wearable health and wellness devices, and is dedicated to transmitting low-real-time, high-capacity sensing data such as human vital signs, environmental perception, and device status. It ensures the integrity and stability of data transmission through a polling scheduling mechanism, and avoids problems such as loss, distortion, and interference of sensing data. ② CAN high-speed bus dedicated architecture: The CAN high-speed bus independently connects to core execution devices such as chassis drive, elevator control system, audible and visual alarm, cluster linkage, and emergency heavy-load transfer. It is dedicated to carrying high real-time control commands and realizes millisecond-level high-speed transmission of commands such as heavy-load operation, emergency alarm, cluster synchronization, and safe transfer, eliminating command delay, stuttering, and failure under heavy-load conditions. ③ Universal peripheral plug-and-play expansion system: This layer has a built-in protocol parsing library for all categories of mainstream peripherals. It can automatically identify the private protocols of mainstream third-party chassis, elevator control, lighting, and sensor devices on the market, and convert them into standardized universal instructions for the system. It reserves standardized function expansion nodes, and new function modules can be plugged and played without the need for hardware board or module modification, which greatly reduces the cost of equipment iteration and transformation.

[0007] Multimodal hierarchical intelligent gateway global scheduling layer: This layer is the core scheduling, algorithm operation and computing power support center of the system. It is the core for realizing the intelligent, precise and compliant operation of equipment. The hardware is compatible with a full range of designated domestic main control chips, and the software integrates ten self-developed core algorithms. It is equipped with multi-standard communication and dual AI interaction engines, and supports intelligent management and control of equipment and safe transfer management with heavy loads on the device. ① Full-category domestic main control chip compatibility mechanism: The gateway has a built-in dedicated chip identification algorithm that can automatically read the device's main control chip identification information and match the corresponding underlying driver and program calling mechanism. It can stably support six major domestic main control chips, including Espressif ESP32 series (including but not limited to ESP32-S3), GigaDevice GD32 series, STMicroelectronics STM32 series, Bolu Intelligent BL6 series, Arterion AT32 series, and Qinheng CH32 series. This enables universal adaptation of domestic chips of different brands and computing power, supporting three-tier low-cost mass production. ② Multi-standard global communication module: integrates 4G, WiFi, Bluetooth, serial port, CAN and Ethernet multi-standard communication units, supports wired + wireless global data transmission, and adapts to communication needs in multiple scenarios such as remote management and control, local networking, cluster linkage, terminal interaction, heavy load emergency alarm; ③ Dual AI Intelligent Interaction Engine: Equipped with a dual AI interaction architecture that combines offline voice recognition and cloud-based large model. In offline scenarios, basic interaction is achieved through offline voice, while in network scenarios, intelligent question answering, scenario adaptation, and command optimization are achieved through cloud-based large model, balancing interaction stability and intelligence level. ④ Ten self-developed core algorithm systems (system core computing power support): The gateway has a complete set of self-developed embedded core algorithms, which constitute the core logic of intelligent security, compliance management, scenario adaptation, cluster collaboration, and safe transfer under heavy load with the device body. Specifically, these include: adaptive vital sign recognition algorithm for elderly chronic diseases, multi-source fusion five-level human status verification algorithm, triple human-machine confirmation anti-mistransfer algorithm, hardware lock security protection algorithm for critical illnesses, one-kilometer neighborhood two-way mutual assistance networking algorithm, three-layer rigid compliance risk control algorithm for software, hardware and cloud, modular IP full-link authorization management algorithm, NTP millisecond-level cluster time sequence synchronization algorithm, multi-device closed-loop seamless battery life algorithm, and cross-floor elevator control autonomous passage algorithm. These ten algorithms work together to comprehensively solve nine core pain points in the industry and adapt to the emergency heavy-load transfer safety management of the whole machine with a bionic body.

[0008] Upper-layer multi-terminal application control layer: This layer is the core of the system's top-level overall management and control, realizing cross-platform management and control of multiple terminals, compliant adaptive switching in multiple scenarios, safety management under heavy-load conditions, and full-process risk prevention and control, ensuring compliant, intelligent, and convenient operation and maintenance of equipment across the entire domain. ① Multi-terminal and cross-platform compliance management: Fully supports remote management across multiple terminals, systems, and platforms, including mobile devices, web backends, Windows professional control consoles, and Android tablets specifically designed for elderly care. It enables full-dimensional operation and maintenance operations such as device parameter configuration, trajectory editing, permission settings, status monitoring, heavy load monitoring, data tracing, and alarm viewing. ② Six independent compliant operation modes: The system has six pre-set standardized compliant operation modes that are independent of each other, with rigid isolation of permissions and clear functional boundaries. These are: home-based health care and neighborhood mutual assistance mode, neighborhood duty mode, enterprise compliant welcoming mode, authorized IP commercial display mode, cultural tourism cluster performance mode, and high-end venue cross-floor service mode, which can be accurately adapted to four core application scenarios. ③ Triple Rigid Compliance Isolation Mechanism: Through a triple rigid protection mechanism of physical disconnection of hardware links, blocking and interception of firmware underlying instructions, and cloud-based authorization traceability and locking, the functional boundaries of public and private scenarios are strictly defined. Privacy security is guaranteed in private scenarios, and privacy collection functions are blocked in public scenarios. Combined with a modular IP full-link authorization and control system, the risks of privacy leakage, human-machine ethics violations, and commercial portrait rights and copyright infringement are eliminated from the source, so as to achieve seamless device operation, full-process compliance, and intelligent and stable operation in multiple scenarios.

[0009] Multi-scenario standardized compliance operation mode adaptive switching mechanism: This module is the core adaptation mechanism derived from the four-layer decoupled architecture. Based on the triple rigid risk control system and six standardized operation modes, it can adaptively switch function configuration and permission logic according to cloud authorization parameters, hardware lock status, actual application scenarios, and heavy-load working conditions of the device body. No manual debugging is required. It completely solves the defects of traditional equipment in terms of mixed scenario functions, overstepping and violation, and poor adaptability to heavy-load working conditions. It realizes full-domain compliance adaptive switching in home private domain, commercial public domain, cultural tourism cluster, and high-end venue scenarios, filling the technical gap in multi-scenario compliance adaptation and native heavy-load emergency adaptation in the industry. Attached Figure Description

[0010] Figure 1 Abstract of the invention patent.

[0011] Figure 2 Four-layer hierarchical overall architecture topology diagram.

[0012] Figure 3 Schematic diagram of the hardware interface layout of the central intelligent gateway.

[0013] Figure 4 Schematic diagram of the installation of the all-area concealed sensing module.

[0014] Figure 5 Multi-machine cluster millisecond synchronization timing flowchart.

[0015] Figure 6 Flowchart of autonomous passage via stairwell control across floors.

[0016] Figure 7 Logic diagram of Level 3 compliance locking.

[0017] Figure 8 Modular IP shell assembly / disassembly and licensing verification structure diagram.

[0018] Figure 9 Multi-terminal global control network topology diagram.

[0019] Figure 10 Schematic diagram of the overall load-bearing structure and heavy-load working conditions of the biomimetic robot.

[0020] Figure 11 Flowchart of the five-level assessment of physical signs in the elderly and the algorithm for early warning of chronic diseases.

[0021] Figure 12 Neighborhood mutual assistance network and emergency transfer flowchart. Detailed Implementation

[0022] Example 1: Home-based elderly care with early warning of chronic diseases + safe transfer with triple confirmation of the whole machine's bionic body + neighborhood mutual assistance scenario Upon power-up, the device automatically switches to a home-based elderly care and neighborhood mutual assistance compliance mode. A three-level hardware locking circuit blocks all public domain commercial use, IP performances, and cluster linkage functions, ensuring privacy and compliance in the private domain. The device utilizes a domestically produced ESP32S3 main control chip to run a dedicated algorithm, continuously collecting users' respiratory and heart rate data for 7 days to establish a personalized physiological benchmark database. It dynamically and adaptively optimizes judgment thresholds based on the user's chronic disease type and age. Combined with a 24G millimeter-wave radar and concealed visual dual-sensor module, along with hardware noise reduction circuitry, it effectively filters noise from bedding, environmental debris, pet interference, etc., accurately identifying hidden high-risk signs such as shallow breathing and irregular heart rate, triggering advance voice warnings and alarms on family member terminals. When the system determines that a user has fallen or become disabled, the device maintains its original, undisassembled, humanoid bionic body and activates a triple human-machine verification mechanism. Only after passing any two of the verifications—button, voice, and visual seating recognition—can the device unlock the permission for heavy-duty cross-floor transport. Relying on the reinforced load-bearing structure of the entire machine, it can safely transport a human body at a static weight of 100KG and a dynamic weight of 80KG. If the system detects that the user is completely disabled and has no effective interaction, it instantly triggers a hardware locking circuit to cut off the chassis drive power, preventing secondary injuries from dragging or bumping during heavy-duty transport. At the same time, it pushes urgent alarms to the bound terminal, family members, and property management through a one-kilometer neighborhood network module, building a multi-level emergency rescue closed loop, which is fully adapted to real-world application scenarios where the device cannot be disassembled in emergency home situations.

[0023] Example 2: Compliant Operation Scenario of Authorized IP Commercial Demonstration The device is equipped with the flagship domestic ESP32 series main control chip. Upon power-up, it automatically completes full-link verification of cloud-based SN code, IP shell authorization ID, and commercial scenario permissions. Only after authorization is passed will commercial functions such as bionic posture performance, product display, and ambient lighting linkage be unlocked. The system automatically activates a triple rigid isolation mechanism: at the hardware level, it physically cuts off power supply to private domain hardware such as vital sign sensors, voice acquisition, and neighborhood networking; at the firmware level, it blocks all private domain function call commands; and at the cloud level, it retains commercial operation logs throughout the process, completely avoiding privacy leaks, portrait rights infringements, and human-machine ethics risks. The device relies on a seamless injection-molded complete bionic body structure and an integrated reinforced load-bearing chassis, making it suitable for commercial scenarios such as brand stores, e-commerce live streaming, and high-end showrooms. With no exposed wiring and no functional overreach, it achieves compliant and standardized commercial deployment.

[0024] Example 3: Compliant performance scenarios in cultural tourism clusters Multiple devices are uniformly equipped with domestically produced main control chips adapted for cluster linkage, switching to a compliant mode for cultural tourism cluster performances. The hardware completely disables private domain health and wellness monitoring and neighborhood communication functions, retaining only cluster performances, science popularization explanations, timed parades, and lighting synchronization functions. Relying on the NTP millisecond-level cluster timing synchronization algorithm, and using a unified hardware clock as a reference, it supports millisecond-level timing linkage of up to 64 devices, seamlessly connecting to the DMX512 professional stage control system to synchronously complete cluster actions such as body movements, audio broadcasting, lighting switching, and video linkage. The equipment uses a seamless shell made of historical figures from the public domain, with a complete, undisassembled structure, eliminating copyright risks. It is suitable for large-scale cluster performance scenarios such as museums, cultural tourism scenic spots, and cultural exhibition halls, achieving large-scale, compliant cluster operation.

[0025] Example 4: Corporate Compliance Welcome Scenario After switching to the enterprise compliance welcome mode, the device completely cuts off risky functions such as human body sign collection, private domain interaction, and neighborhood mutual assistance through a three-level hardware locking circuit, retaining only standardized commercial functions such as visitor identification, intelligent Q&A, venue guidance, visitor record retention, and ambient lighting linkage. It achieves stable operation based on the domestically produced GD32 general-purpose main control chip, adapting to public domain scenarios such as enterprise front desks, industrial parks, and exhibition halls. There is no privacy collection, no functional overreach, and no ethical violations throughout the entire process. The device has a seamless, intact structure, stable hardware, and convenient maintenance, allowing for large-scale deployment and application.

[0026] Example 5: Compliance Service Scenarios Across Floors in High-End Venues The equipment adopts a compliant cross-floor service model for high-end venues, rigidly isolating all private health and wellness functions. It relies on a high-speed CAN bus to ensure millisecond-level transmission of elevator control and chassis drive commands. Through the standardized Modbus-RTU elevator control protocol, it autonomously completes the entire unmanned operation process, including calling the elevator, entering the elevator, floor positioning, cross-floor delivery, venue inspection, and automatic return. The system monitors the battery level of the equipment and its accompanying health and wellness wearable devices in real time. In low-battery conditions, it autonomously plans its return trajectory and automatically recharges using a non-marking wireless partitioned base. It is suitable for high-end hotels, commercial venues, office buildings, and other commercial service scenarios.

[0027] Example 6: Multi-device unattended operation and extended battery life scenario The device utilizes a 220℃ high-temperature six-line pre-embedded seamless injection molding process to ensure a complete and seamless structure. It features an embedded wireless charging receiver module paired with a dual-zone battery life base, allowing simultaneous charging of the robot itself, smartwatches, smart canes, and other devices. The system monitors the battery level of each device in real time via a voltage-dividing sampling circuit. Based on a fully automatic closed-loop battery life algorithm, it autonomously returns to its charging position when low on power, precisely aligns for charging, and automatically shuts off and enters sleep mode once fully charged. This requires no manual intervention and achieves 24-hour unattended closed-loop battery life, completely resolving the pain points of traditional devices such as fragmented battery life, damage to the seamless appearance, and high reliance on manual intervention. Beneficial effects

[0028] Overcoming the shortcomings of traditional processes, achieving seamless mass production and high-strength heavy-duty load-bearing capacity: The innovative 220℃ high-temperature six-line pre-embedded integrated seamless injection molding process, combined with steel pipe through-sealed wiring and POGO PIN double-safety integrated reinforced load-bearing structure, allows the entire machine to achieve stable heavy-duty load-bearing capacity of 100KG statically and 80KG dynamically, and emergency transport while retaining the complete original structure. It balances seamless bionic appearance, overall structural integrity, and practicality for heavy-duty emergency conditions, resulting in high mass production consistency and low iteration costs.

[0029] Breaking the dependence on imported chips and achieving multi-category domestic tiered adaptation: compatible with several mainstream domestic main control chip series, building a three-tier hardware solution of basic, advanced and flagship, which can be adapted to the mass production needs of different scenarios as needed, the supply chain is completely independent and controllable, the software and hardware decoupled design supports independent iteration, and significantly reduces mass production and operation and maintenance costs.

[0030] Optimize the health and wellness monitoring system to achieve safe rescue with zero secondary injury while carrying the entire device: Relying on dual traceless sensor multi-source data fusion, five-level human condition classification judgment, triple human-machine verification and transfer, and critical care hardware locking mechanism, it adapts to real-life scenarios where the bionic device cannot be disassembled in home emergency situations, realizes accurate early warning of chronic diseases in the elderly, completely eliminates secondary injury during heavy-load transfer with the entire device, and builds a comprehensive health and wellness safety protection closed loop.

[0031] Building a local rescue system to shorten the golden rescue time for emergencies: The unique one-kilometer neighborhood two-way mutual assistance network mechanism enables the nearby binding of equipment, daily duty, and simultaneous push of emergency information, which makes up for the shortcomings of traditional remote rescue, builds a multi-level emergency rescue closed loop, and greatly improves the home safety protection of elderly people living alone.

[0032] Improve the compliance and risk control system to avoid infringement and privacy risks across the entire domain: Through the rigid isolation and protection of hardware, firmware and cloud, coupled with modular IP full-link authorization and control, the functional boundaries of public and private scenarios are rigidly defined to eliminate the risks of privacy leakage, ethical violations and portrait and copyright infringement from the source, and achieve full-scenario compliance and controllability.

[0033] Upgraded dual-bus architecture enhances device stability and scalability: Physical isolation between 485 / CAN high and low speed buses and layered parallel transmission completely solve the problems of interference, delay, and congestion in traditional single-bus systems. It can stably adapt to the high-speed command transmission requirements of heavy-duty transport of the device body. With a general protocol parsing library, it supports plug-and-play peripherals without the need for board or module modifications, and has extremely strong iterative scalability.

[0034] Achieve high-precision cluster collaboration and adapt to large-scale cultural and tourism performances: Relying on the NTP millisecond-level cluster synchronization algorithm, it supports high-precision time-series linkage of multiple devices, can be connected to professional stage systems, and is suitable for large-scale cultural and tourism cluster performance scenarios, filling the gap in the industry's large-scale cluster linkage technology.

[0035] Achieve unattended, seamless battery life and ensure stable operation around the clock: Multi-device synchronous wireless closed-loop battery life system with no exposed charging structure, no human intervention throughout the process, realizes 24-hour uninterrupted health and wellness monitoring and equipment battery life, and completely solves the pain point of fragmented battery life.

[0036] Full-domain scenario adaptation, supporting low-cost tiered mass production: The four-layer decoupled architecture, combined with six standardized and compliant scenario modes, fully adapts to four core scenarios: home-based elderly care, enterprise commercial use, cultural tourism clusters, and high-end venues. It is especially suitable for the real working conditions of home emergency disability transfer. The three-tiered hardware solution can achieve low-cost large-scale mass production and has strong industrialization potential.

Claims

1. A multimodal, hierarchical, and fully adaptable traceless bionic robot multi-scenario compliant intelligent control system, characterized in that: The system adopts a top-down, four-layer, independently layered, hardware and software decoupled architecture, with each layer capable of independent iteration. The four-layer architecture, from top to bottom, consists of a multi-terminal application control layer, a multi-modal hierarchical intelligent gateway global scheduling layer, a dual-protocol adaptation and conversion layer, and a standardized hardware execution layer. The system is configured with basic, advanced, and flagship hardware solutions, enabling low-cost, standardized, and large-scale mass production, and fully adapting to four core application scenarios: home-based elderly care, enterprise commercial use, cultural tourism cluster performances, and high-end venue services. The hardware execution layer employs a 220℃ high-temperature six-wire pre-embedded integrated seamless injection molding process, pre-embedding and encapsulating six functional buses—power positive and negative terminals, 485 differential AB lines, and CAN high and low lines—within the chassis, achieving a seamless biomimetic structure with no exposed wiring or casing openings; it features a dual-leg high-strength seamless steel pipe through-sealed wiring structure, and the bottom of the chassis uses POGO... The device features a double-safety conduction structure with PIN flexible contacts and a detachable aviation connector, along with a 50cm integrated load-bearing base equipped with double-sided fully enclosed anti-slip handles. This allows the entire machine to achieve stable load-bearing and safe transport of a static 100KG and dynamic 80KG human body under emergency heavy load conditions without disassembling the simulated humanoid bionic body or preserving the original assembly structure. The hardware execution layer also integrates multiple series of domestically produced gradient-adaptive main control chips, a dual-channel non-marking sensing module consisting of a 24G millimeter-wave breathing radar and a torso concealed vision module, an embedded non-marking wireless charging receiver module, a partitioned battery life base capable of simultaneous charging of multiple devices, a three-level hardware physical access control circuit, and a multi-functional heavy-duty intelligent mobile chassis. The dual-protocol adaptation and conversion layer adopts a physically isolated, layered parallel transmission architecture between the 485 low-speed bus and the CAN high-speed bus. The 485 low-speed bus independently interfaces with various sensing devices and wearable health and wellness devices, dedicated to transmitting low-real-time, high-capacity human vital signs and environmental perception data, as well as device status data. The CAN high-speed bus independently interfaces with chassis drivers, elevator control systems, audible and visual alarm modules, cluster linkage modules, and emergency heavy-duty transfer execution equipment, achieving millisecond-level stable transmission of high-real-time control commands. The dual-protocol adaptation and conversion layer has a built-in general peripheral protocol parsing library, which can automatically be compatible with the private protocols of mainstream third-party peripheral devices on the market, uniformly converting them into standardized general commands for the system. It supports plug-and-play expansion of functional modules without the need for hardware board or module modification. The multimodal hierarchical intelligent gateway's global scheduling layer incorporates a chip identification and adaptation algorithm, which can automatically identify the device's main control chip model and match the corresponding underlying driver. It is compatible with domestic main control chips such as Espressif ESP32 series, GigaDevice GD32 series, STMicroelectronics STM32 series, Bolu BL6 series, Arterion AT32 series, and Qinheng CH32 series. It integrates 4G, WiFi, Bluetooth, serial port, CAN, and Ethernet multi-standard communication modules and an offline voice recognition + cloud-based large model dual AI interaction engine. It incorporates ten self-developed core algorithms and a multi-scenario standardized compliant operation mode adaptive switching mechanism, which can automatically switch between six compliant operation modes based on real-time sensor conditions, hardware lock status, and cloud-authorized parameters. The sensor condition judgment has a higher priority than preset instructions from the manual terminal, ensuring compliant and safe operation in heavy-load emergency conditions and public and private scenarios. The multi-terminal application control layer supports cross-platform compliance management across multiple terminals, including mobile phones, web page backends, Windows consoles, and Android tablets for elderly care reception. The system presets six independent standardized compliance operation modes: home-based elderly care neighborhood mutual assistance, neighborhood duty, enterprise compliance reception, authorized IP commercial display, cultural tourism cluster performances, and high-end venue cross-floor services. Relying on a triple rigid compliance isolation mechanism of hardware power failure isolation, firmware instruction shielding, and cloud authorization traceability, the system rigidly delineates the functional boundaries between public and private scenarios, avoiding risks of privacy leaks, commercial infringements, and human-machine ethical violations from the source, and achieving adaptive compliance switching operation across multiple scenarios.

2. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 1, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates an adaptive vital sign recognition algorithm for chronic diseases in the elderly. The algorithm's operation process includes device startup initialization, continuous collection of user static physiological data for 7 days, and construction of a user-exclusive personalized physiological benchmark database. Based on the user's age, chronic disease type, and physical condition, the threshold for judging vital signs is dynamically and adaptively optimized. Combined with hardware noise reduction circuitry and radar raw signal ADC sampling, correction, and screening processing mechanism, it effectively filters out noise interference from bedding, environmental clutter, and pet activities in home scenarios. It accurately identifies hidden high-risk conditions such as shallow breathing, irregular heart rate, and abnormal vital signs, triggering advance voice warnings and push alarms to family members' terminals, realizing high-precision routine monitoring of vital signs of chronic diseases in the elderly and advance risk warning.

3. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 2, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates a multi-source fusion five-level human state verification algorithm. It simultaneously collects data from three data sources: a 24G millimeter-wave respiratory radar, a torso concealed vision module, and device posture sensors. This algorithm performs multi-dimensional weighted fusion calculations on human respiratory rate, heart rate fluctuations, limb posture, activity status, and consciousness status. The algorithm categorizes human state into five levels: normal activity, minor abnormalities, fluctuating vital signs, high-risk warning, and complete disability. For each level, it matches corresponding voice prompts, family alarms, on-site monitoring, emergency transfer, and emergency rescue tiered response logic, achieving refined hierarchical judgment of human state and differentiated safety protection.

4. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 3, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates a triple human-machine verification algorithm to prevent mistransfer and a critical care hardware lockout safety protection algorithm. Under heavy-load transfer conditions while maintaining a complete simulated humanoid bionic body, the device uses a triple verification condition of button triggering, voice command confirmation, and visual seating recognition, employing a judgment logic of "unlocking transfer permission only after any two verifications are passed" to prevent erroneous transfer operations. When the system determines that the user is in a critical condition of complete disability, without effective physiological micro-movement, and unable to complete human-machine interaction, it instantly triggers a three-level hardware physical lockout circuit, forcibly cutting off the power supply to the chassis drive and transfer actuator, locking all transfer actions of the entire machine, and completely avoiding the risks of dragging, bumping, and secondary injury to the human body during heavy-load transfer.

5. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 4, characterized in that: The multimodal, hierarchical, and tiered intelligent gateway's global scheduling layer incorporates a one-kilometer neighborhood two-way mutual assistance networking algorithm. Relying on a 433MHz LoRa wireless communication hardware architecture, it enables automatic scanning, pairing, binding, and two-way authorization of similar devices within a one-kilometer radius. Under normal operating conditions, devices act as neighborly monitoring terminals, sharing real-time device online status and regional environmental information. When a single device detects a user's high-risk situation, it automatically generates a standardized alarm message and pushes it simultaneously to nearby bound devices, triggering two-way audio and video communication, on-site sound and light alarms, and emergency assistance prompts. Combined with offline local data caching and a backup mechanism for network outages, it constructs a multi-level rescue closed loop for close-range emergency mutual assistance at home and rapid handling of emergencies.

6. The multimodal, hierarchical, and fully adaptable traceless bionic robot multi-scenario compliant intelligent control system according to claim 5, characterized in that: The multimodal, hierarchical, and tiered intelligent gateway's global scheduling layer incorporates a modular IP end-to-end authorization and control algorithm. Upon system startup, it automatically completes end-to-end verification and identification of device serial numbers, bionic IP shell IDs, and commercial scenario permissions. It distinguishes between free private domain usage permissions and paid public domain commercial authorization permissions. Devices that have not completed authorization verification are automatically locked from functions such as commercial performances, IP displays, and cluster promotions. The cloud retains authorization records, operation logs, and scenario usage data throughout the entire process, supporting traceability and copyright verification. This comprehensively avoids risks such as commercial copyright infringement, abuse of portrait rights, and unauthorized commercial operation, achieving standardized, compliant, and full lifecycle management of IP resources.

7. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 6, characterized in that: The system is equipped with a rigid compliance risk control system consisting of three layers: hardware, firmware, and cloud. The hardware layer uses an independent electromagnetic locking relay circuit to achieve physical power-off isolation for functions such as private domain sensing, voice acquisition, and neighborhood networking. The firmware layer uses underlying instruction shielding and interrupt interception mechanisms to prohibit risky function calls in unauthorized scenarios, thus preventing software cracking and unauthorized background operations. The cloud layer achieves full-process behavior traceability and compliance auditing through authorization traceability, data encryption, and log retention mechanisms; the three risk control mechanisms are independent of each other and work together to rigidly isolate public and private scenario functions, completely solving the industry shortcomings of traditional pure software permission control that is easily tampered with and breached.

8. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 7, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates an NTP millisecond-level cluster timing synchronization algorithm. Based on the high-precision hardware clock of the devices, it automatically completes clock calibration and timing alignment for multiple devices, supporting synchronous networking and linkage of up to 64 devices. It generates standardized timing control commands, seamlessly connecting to the DMX512 professional stage control system to achieve millisecond-level precise coordination of multi-device body movements, audio broadcasting, lighting switching, and video linkage. It is suitable for large-scale cultural and tourism cluster performances, venue cluster parades, and multi-device synchronous operation scenarios, solving the problems of disordered timing and delayed linkage in traditional multi-device operation.

9. The multimodal, hierarchical, and fully adaptable biomimetic robot multi-scenario compliant intelligent control system according to claim 8, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates a multi-device closed-loop seamless battery life algorithm, paired with a dual-zone seamless battery life base, enabling simultaneous charging of the robot body and smart wearable devices for health and wellness. The system monitors the remaining power of each device in real time through a high-precision voltage divider sampling circuit, automatically generates autonomous return trajectory planning, and allows devices to autonomously return to their charging positions when low on power. It features built-in voltage regulation and overcharge protection, a time-sharing equalization scheduling mechanism, and automatic power-off and hibernation upon full charge, requiring no manual intervention throughout the process. This achieves 24-hour unattended, seamless, and closed-loop continuous battery life, addressing the pain points of fragmented battery life, high reliance on manual intervention, and damage to the appearance of traditional devices.

10. The multimodal, hierarchical, and fully adaptable traceless bionic robot multi-scenario compliant intelligent control system according to claim 9, characterized in that: The multimodal hierarchical intelligent gateway's global scheduling layer incorporates a cross-floor elevator control autonomous passage algorithm. The system is equipped with a standardized Modbus-RTU elevator control communication protocol, enabling automatic adaptation and bidirectional communication with various commercial elevator equipment. The equipment can autonomously complete the entire unmanned operation process of calling the elevator, elevator entry posture calibration, floor positioning, cross-floor operation, and task completion return according to operational needs. During operation, it relies on the CAN high-speed bus to synchronize elevator control status, equipment location, and environmental operating condition data in real time, and dynamically adjusts the operating speed and operation logic based on the heavy load status, adapting to cross-floor fully automated intelligent service scenarios in high-end venues, health and wellness buildings, and commercial buildings.

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