Intelligent mobile robot

Abstract

The embodiment of the utility model relates to the technical field of manned shifting robots, in particular to an intelligent mobile robot. The intelligent mobile robot comprises a base table, a seat mechanism, a supporting mechanism, an advancing mechanism and a control mechanism. The base station is provided with a first part and a second part which are opposite in the preset direction. The seat mechanism is mounted to the first portion. The supporting mechanism comprises a grabbing part and a handle part, in the preset direction, the grabbing part is arranged on the second part, the handle part extends towards the seat mechanism from the grabbing part, and the grabbing part is used for being grabbed by the human body when the human body sits on the seat mechanism. The advancing mechanism is installed on the base table and used for driving the base table to move. Wherein the base table, the grabbing part, the handle part and the seat mechanism jointly form a cabin, the cabin is provided with an opening, and the handle part is used for being grabbed when a human body enters and exits the cabin from the opening. The control mechanism comprises a control panel and a processor, the control panel is used for recognizing and obtaining preset signals, and the processor is electrically connected with the advancing mechanism and the control panel.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of manned transfer robots, and in particular to an intelligent mobile robot. Background Art

[0002] With the further development of society, intelligent robots are applied in all walks of life. Along with the aging of the population, people enter middle and old age, or there are other situations where some people have inconvenient legs and feet.

[0003] The inventor found in the process of implementing the present application that: at present, middle-aged and elderly people or those with inconvenient legs and feet mainly use vehicles such as wheelchairs to move, but when they need to move, they still need the assistance of others, which is inconvenient to use. The emergence of electric wheelchairs has not solved the problem of convenient movement of middle-aged and elderly people or those with inconvenient legs and feet in some usage environments. Therefore, there is an urgent need for a device that is convenient for middle-aged and elderly people or those with inconvenient legs and feet on the market. Summary of the Utility Model

[0004] The embodiments of the present application aim to provide an intelligent mobile robot, which can fill the gap of an urgently needed device that is convenient for middle-aged and elderly people or those with inconvenient legs and feet to move.

[0005] To solve the above technical problems, a technical solution adopted by the present application is: to provide an intelligent mobile robot. The intelligent mobile robot includes a base, a seat mechanism, a support mechanism, a traveling mechanism, and a control mechanism. The base is provided with a first part and a second part opposite to each other along a preset direction. The seat mechanism is installed on the first part. The support mechanism includes a grasping part and a handle part. Along the preset direction, the grasping part is arranged on the second part, and the handle part extends from the grasping part towards the seat mechanism. The grasping part is used for a human body to grasp when the human body is sitting on the seat mechanism. The traveling mechanism is installed on the base, and the traveling mechanism is used to drive the base to move. Among them, the base, the grasping part, the handle part, and the seat mechanism together form a cockpit, and the cockpit is open at a position close to the first part. The handle part is used for a human body to grasp when entering and exiting the cockpit from the opening. The control mechanism includes a control panel and a processor. The control panel is arranged on the grasping part. The control panel is used to identify and obtain a preset signal. The processor is electrically connected to the traveling mechanism and the control panel. The processor is used to receive the preset signal and control the movement of the traveling mechanism.

[0006] Optionally, the control mechanism further includes a first button, which is installed on the control panel. The preset signal includes a first forward signal. When the first button is triggered, the control panel recognizes and acquires the first forward signal, the processor receives the first forward signal, the processor controls the movement of the traveling mechanism, and the traveling mechanism drives the base to move to a first target position.

[0007] Optionally, the intelligent mobile robot further includes a charging device and an energy storage module. The charging device is installed at a second target position outside the intelligent robot, and the energy storage module is installed on the intelligent mobile robot. When the intelligent mobile robot is at the second target position, the charging device charges the energy storage module. The control mechanism further includes a second button, which is installed on the control panel. The preset signal includes a second forward signal. When the second button is triggered, the control panel recognizes and acquires the second forward signal, the processor receives the second forward signal, the processor controls the movement of the traveling mechanism, and the traveling mechanism drives the base to move to a second target position.

[0008] Optionally, the control mechanism further includes an identification module, which is connected to the grasping part, electrically connected to the processor, and used for identifying preset information. The preset signal includes a first forward signal. When the identification module recognizes the preset information, the identification module feeds back the first forward signal to the processor, the processor receives the first forward signal, the processor controls the movement of the traveling mechanism, and the traveling mechanism drives the base to move to a first target position.

[0009] Optionally, the seat mechanism includes a seat body, which is installed on the base. Along the preset direction, at least part of the seat body extends beyond the handle part; or, the seat body is flush with the handle part.

[0010] Optionally, the seat body is provided with a first area and a second area along the preset direction. The first area is close to the first part, and the second area is close to the second part. Along the preset direction, the first area extends beyond or is flush with the handle part. The length of the first area in the preset direction is D1, and the length of the second area in the preset direction is D2. D1 and D2 satisfy: 0 ≤ D1 / (D1 + D2) ≤ 0.3.

[0011] Optionally, the intelligent mobile robot satisfies at least one of the following conditions: A) in the preset direction, the length between the end of the gripping portion away from the cabin and the end of the handle portion close to the opening is H1, and H1 satisfies: 490mm≤H1≤600mm; B) in the preset direction, the length between the end of the gripping portion away from the cabin and the center of the seat mechanism is H2, and H2 satisfies: 350mm≤H2≤450mm; C) in the preset direction, the length between the end of the gripping portion away from the cabin and the end of the seat mechanism close to the first part is H3, and H3 satisfies: 600mm≤H3≤700mm.

[0012] Optionally, the intelligent mobile robot satisfies at least one of the following conditions: D) In ​​the set direction, the length between the side of one of the handles away from the cabin and the center of the seat mechanism is H4, and H4 satisfies: 250mm≤H4≤350mm; E) In the set direction, the length of the maximum distance between the sides of the two handles away from the cabin is H5, and H5 satisfies: 550mm≤H5≤650mm. The set direction is perpendicular to the preset direction, and both the set direction and the preset direction are parallel to the base.

[0013] Optionally, the base is further provided with an inclined portion, the inclined portion is provided on the first portion, the inclined portion is inclined relative to the table surface of the base, and along a predetermined direction, the side of the inclined portion close to the opening of the cabin is farther away from the seat than the other side, and when the intelligent mobile robot is stationary, the inclined portion is used for a human foot to step on to enter or exit the cabin. The predetermined direction is perpendicular to the preset direction, and the predetermined direction is perpendicular to the base.

[0014] Optionally, the chair mechanism further comprises a chair body and a backrest, the chair body is mounted on the base, the backrest is arranged on a side of the chair body away from the supporting mechanism, and the backrest can move between a first preset position and a second preset position along a preset direction relative to the chair body. In the first preset position, the distance between the backrest and the base is greater than the distance between the chair body and the base. In the second preset position, the distance between the backrest and the base is less than or equal to the distance between the chair body and the base.

[0015] Optionally, the seat mechanism further comprises a first driving assembly, which comprises a driver and a mounting assembly, wherein the driver is mounted on the base, the driver drives the mounting assembly to move between the first preset position and a second preset position, and the mounting assembly is used to mount the backrest.

[0016] Optionally, the chair mechanism further includes a second drive assembly. The second drive assembly includes a second motor, a rotating shaft, and a second mounting member. The second motor is mounted on the chair body. The rotating shaft extends along the preset direction. One end of the rotating shaft is connected to the second motor. The other end of the rotating shaft is connected to the second mounting member. The backrest is mounted on the second mounting member. The second motor is used to drive the rotating shaft to rotate. The rotating shaft drives the second mounting member to rotate relative to the chair body, so as to drive the backrest to move between the first preset position and the second preset position.

[0017] Optionally, the seat mechanism further comprises a third driving assembly, wherein the third driving assembly is mounted on the base or the seat body, and the third driving assembly is used for driving the seat body to move closer to or away from the base.

[0018] Optionally, the supporting mechanism further includes a fourth driving assembly and a gripping portion, the gripping portion is mounted on the base, the fourth driving assembly is mounted on the gripping portion or the base, and the fourth driving assembly is used to drive the gripping portion to move closer to or away from the base.

[0019] Optionally, it is characterized in that the intelligent mobile robot further includes: a seat mechanism and a processor. The seat mechanism includes a seat body and a backrest, the seat body is mounted on the base, the backrest is arranged on the side of the seat body away from the supporting mechanism, the backrest includes a backrest base and a trigger part, and the trigger part is mounted on the side of the backrest base away from the supporting mechanism. The processor is mounted on the base, the trigger part is electrically connected to the processor by signal, and the travel mechanism is electrically connected to the processor by signal. Wherein, when the trigger part identifies that the distance between other objects outside the intelligent mobile robot and the trigger part is less than a preset threshold, the trigger part feeds back an electrical signal to the processor, and the processor controls the travel mechanism to stop moving.

[0020] Optionally, the intelligent mobile robot further comprises a feedback mechanism, and the feedback mechanism is electrically connected to the processor. When the trigger unit identifies that the distance between the trigger unit and an object other than the intelligent mobile robot is less than the preset threshold, the processor controls the feedback mechanism to operate, and the feedback mechanism is used to remind the human body that the distance between the trigger unit and the object other than the intelligent mobile robot is too close.

[0021] Optionally, the feedback mechanism includes a sound-emitting component, which is used to alert the human body through sound; and / or, the feedback mechanism includes a vibration mechanism, which is installed on the supporting mechanism or the seat body, and the vibration mechanism alerts the human body by vibrating at least part of the supporting mechanism or at least part of the seat body.

[0022] Optionally, the backrest further comprises a cushion and a support frame, the backrest base is mounted on the support frame, the cushion is mounted on the backrest base, and the support frame is mounted on the seat body. The backrest base is provided with a movable opening, and the trigger portion comprises an abutment and a guide column, the guide column passes through the movable opening and is plugged into the cushion, the abutment is mounted on a side of the guide column away from the cushion, and the abutment can slide along the guide column relative to the cushion. Alternatively, the trigger portion comprises a contact portion and a membrane switch, the membrane switch is mounted on a side of the support frame away from the cushion, the contact portion covers the membrane switch, and the membrane switch is electrically connected to the processor.

[0023] Optionally, the backrest further comprises an elastic member, the elastic member is wound around the guide column, one end of the elastic member abuts against the abutting member, and the other end abuts against the cushion.

[0024] Optionally, the travel mechanism includes a travel motor and a wheel set, and the travel motor is mounted on the base. The base includes a chassis, and the chassis is arranged on a side of the base away from the seat mechanism. The wheel set is installed on the chassis, and the wheel set at least partially protrudes relative to the chassis. The wheel set includes a driving wheel set and a guide wheel set, and the driving wheel set is connected to the travel motor, and the driving wheel set is relatively arranged on both sides of the chassis along a set direction, and the guide wheel set is arranged at both ends of the chassis along the preset direction.

[0025] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the embodiments of the present application provide an intelligent mobile robot. The intelligent mobile robot includes a base, a seat mechanism, a support mechanism, a traveling mechanism, and a control mechanism. The base is provided with a first part and a second part opposite to each other along a preset direction. The seat mechanism is installed on the first part. The support mechanism includes a grasping part and a handle part. Along the preset direction, the grasping part is arranged on the second part, and the handle part extends from the grasping part towards the seat mechanism. The grasping part is used for a human body to grasp when the human body is sitting on the seat mechanism. The traveling mechanism is installed on the base, and the traveling mechanism is used to drive the base to move. Among them, the base, the grasping part, the handle part, and the seat mechanism together form a cockpit. The cockpit is provided with an opening near the first part, and the handle part is used for a human body to grasp when entering or exiting the cockpit from the opening. The control mechanism includes a control panel and a processor. The control panel is arranged on the grasping part. The control panel is used to identify and obtain a preset signal. The processor is electrically connected to the traveling mechanism and the control panel. The processor is used to receive the preset signal and control the movement of the traveling mechanism. Through the above structure, the user only needs to control the control panel to realize the control of the movement of the traveling mechanism. When the user enters the intelligent mobile robot, first support the handle part to support the body, and then gradually move from the opening to enter the cockpit. When reaching the seat mechanism, the user can grasp or support the grasping part. Compared with sitting in a wheelchair, there is no need to turn around or perform other actions, which is very convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. Obviously, the following described drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the drawings.

[0027] Figure 1 is a schematic diagram of an intelligent mobile robot provided by one embodiment of the present application;

[0028] Figure 2 is a schematic diagram of the electrical connection relationship of an intelligent mobile robot provided by one embodiment of the present application;

[0029] Figure 3 is a perspective view of an intelligent mobile robot provided by one embodiment of the present application;

[0030] Figure 4 is another perspective view of an intelligent mobile robot provided by one embodiment of the present application;

[0031] Figure 5 It is a top view of the intelligent mobile robot provided by one embodiment of the present application;

[0032] Figure 6 It is a side view of the intelligent mobile robot provided by one embodiment of the present application;

[0033] Figure 7 It is the other side view of the intelligent mobile robot provided by one embodiment of the present application;

[0034] Figure 8 It is provided by the present application Figure 5 The sectional view of surface A;

[0035] Figure 9 It is a side view of the intelligent mobile robot provided by another embodiment of the present application;

[0036] Figure 10 It is the other side view of the intelligent mobile robot provided by another embodiment of the present application;

[0037] Figure 11 It is a half-sectional schematic diagram of the intelligent mobile robot provided by another embodiment of the present application;

[0038] Figure 12 It is provided by the present application Figure 8 The enlarged view of part B;

[0039] Figure 13 It is a three-dimensional view of the guide wheel set provided by one embodiment of the present application;

[0040] Figure 14 It is a top view schematic diagram of the intelligent mobile robot provided by one embodiment of the present application;

[0041] Figure 15 It is the other half-sectional schematic diagram of the intelligent mobile robot provided by one embodiment of the present application.

[0042] The reference numerals are as follows:

[0043]

[0044] Detailed implementation manners

[0045] For ease of understanding this application, the following provides a more detailed description of this application in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in this specification in the description of this application are only for the purpose of describing specific embodiments and are not used to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0047] This application aims to provide an intelligent mobile robot 1 for use by the middle-aged, elderly or those with inconvenient legs and feet, thereby improving the quality of life of the middle-aged, elderly or those with inconvenient legs and feet. It can be understood that the intelligent mobile robot 1 provided in this application is more applicable to indoor environments, but is not limited to indoor use. Specifically, the structure of the intelligent mobile robot 1 is as follows.

[0048] For the aforementioned intelligent mobile robot 1, please refer to Figure 1 , the intelligent mobile robot 1 includes: a base 100, a seat mechanism 200, a support mechanism 300, a traveling mechanism 400, and a control mechanism 600.

[0049] In some embodiments, please refer to Figure 1 , the base 100 is provided with a first part 110 and a second part 120 that are opposite to each other along a preset direction F1. The seat mechanism 200 is installed on the first part 110. The support mechanism 300 includes a grasping part 310 and a handle part 320. Along the preset direction F1, the grasping part 310 is provided on the second part 120, and the handle part 320 extends from the grasping part 310 towards the seat mechanism 200. The grasping part 310 is used for a human body to grasp when the human body is seated on the seat mechanism 200. The traveling mechanism 400 is installed on the base 100, and the traveling mechanism 400 is used to drive the base 100 to move. Among them, the base 100, the grasping part 310, the handle part 320, and the seat mechanism 200 together form a cockpit 500. The cockpit 500 is provided with an opening 510 near the first part 110, and the handle part 320 is used for a human body to grasp when entering the cockpit 500 from the opening 510.

[0050] In some embodiments, please refer to Figure 1, the control mechanism 600 includes a control panel 610 and a processor 620. The control panel 610 is disposed on the grasping portion 310. The control panel 610 is used to identify and obtain a preset signal. The processor 620 is electrically connected to the traveling mechanism 400 and the control panel 610. The processor 620 is used to receive the preset signal and control the movement of the traveling mechanism 400.

[0051] Combining the above embodiments, it can be obtained that when entering the cockpit 500 through the opening 510, the user can first place both hands on the handle portion 320 to support the body, and then step on the second part 120 of the base 100 with both feet respectively. The user's hands gradually move towards the grasping portion 310 and sit on the seat mechanism 200. At this time, both hands can be placed on, supported by, or grasped on the grasping portion 310, so that the human body gradually enters the cockpit 500 in a sitting and forward-leaning posture and sits inside the seat mechanism 200; when leaving the cockpit 500 through the opening 510, the user can first get up from the seat mechanism 200, and then use the grasping portion 310 or the handle portion 320 to assist in getting up and leave the cockpit 500 through the opening 510 in a direction away from the grasping portion 310, so that the user does not need to perform complex actions such as turning inside the cockpit 500 of the intelligent mobile robot 1. Therefore, the intelligent mobile robot 1 provided by the present application is convenient and reliable. It still needs to be noted that during actual use of the grasping portion 310, the end portion close to the second part 120 is the main contact area for the human body. It is used for the human body to hold and support, so as to provide traction force to the human body through the human arm, so as to assist the human body to move the body towards the grasping portion 310 when sitting on the seat mechanism 200, further facilitating the user to enter the cockpit 500 and making the user sit stably and safely. During the movement of the intelligent mobile robot 1, the human body can place and support the arm on the surface of the grasping portion 310 and / or the handle portion 320, thereby reducing the activity amount of the arm and improving the user experience.

[0052] Secondly, it can also be obtained that when the user is sitting inside the cockpit 500, the control panel 610 located on the grasping portion 310 can be triggered, so that the control panel 610 can identify and obtain a preset signal, thereby controlling the movement of the traveling mechanism 400 and further controlling the movement of the intelligent mobile robot 1. The operation is simple and no external force is required for movement, so as to facilitate the user's independent activities and effectively improve the user's quality of life.

[0053] For the above control mechanism 600, please refer to Figure 1, the control mechanism 600 further includes a first button 630, and the first button 630 is installed on the control panel 610. The preset signal includes a first travel signal. When the first button 630 is triggered, the control panel 610 recognizes and obtains the first travel signal, the processor 620 receives the first travel signal, and the processor 620 controls the movement of the travel mechanism 400. The travel mechanism 400 drives the base 100 to move to the first target position. It can be understood that the travel route can be preset in the processor 620 so that one first button 630 corresponds to one first target position. Among them, the first target position can be one of any locations such as a washroom, a bedroom, a living room, a dining room, etc. The number of the first buttons 630 can be increased or decreased according to the number of the preset first target positions, so as to achieve that only by pressing one button, the corresponding first target position can be reached, reducing the operation of the user on the travel mechanism 400, simplifying the operation difficulty, and improving the living efficiency. Among them, in order to implement the above operation of "only by pressing one button, the corresponding first target position can be reached", the intelligent mobile robot 1 provided in this application further includes various sensors, cameras, radars and other devices, so that the intelligent mobile robot 1 can attach special identification marks on the actual path that needs to be set as the first target position in advance, for the sensors, cameras and other structures in the intelligent mobile robot 1 to identify the identification marks, so as to realize that the travel mechanism 400 can automatically act according to the path calibrated by the identification marks without manual operation. Or, in some other embodiments, by combining the pictures captured by the camera and the information captured by the radar, the action of the travel mechanism 400 is indicated.

[0054] And in some other embodiments, please refer to Figure 1 , the control mechanism 600 can also be a joystick 650. By operating the joystick 650, a first travel signal is sent, and the first travel signal can be any travel signal such as forward, backward, or turning in place.

[0055] Optionally, the first button 630 can be a button with a larger volume and clear markings, or a button printed with Braille or other markings, so as to be used by a wider range of users; or, the first button 630 can be an external remote control connected to the grasping part 310 or other remote controls with buttons. Optionally, the first button 630 can be a physical button or a virtual button on the display screen panel. Among them, the display screen panel can be located on the grasping part 310, or can be the display screen of other mobile terminals such as a mobile phone or a tablet.

[0056] In the embodiment of this application, please refer to Figure 1, the intelligent mobile robot 1 further includes a charging device 700 and an energy storage module 800. The charging device 700 is installed at a second target position outside the intelligent robot, and the energy storage module 800 is installed in the intelligent mobile robot 1. When the intelligent mobile robot 1 is at the second target position, the charging device 700 charges the energy storage module 800. The control mechanism 600 further includes a second button 640, and the second button 640 is installed on the control panel 610. The preset signal includes a second travel signal. When the second button 640 is triggered, the control panel 610 recognizes and obtains the second travel signal, the processor 620 receives the second travel signal, and the processor 620 controls the movement of the travel mechanism 400. The travel mechanism 400 drives the base 100 to move to the second target position. It can be understood that the energy storage module 800 is used to supply power to the structures in the intelligent mobile robot 1 that require electricity. The charging device 700 is external to the intelligent mobile robot 1 and is fixed at the second target position. At the second target position, the charging device 700 is externally connected to a power source, so that when the intelligent mobile robot 1 moves to the second target position, the charging device 700 charges the intelligent mobile robot 1. It can be understood that the energy storage module 800 is a battery, and the energy storage module 800 is housed in the base 100, so as to make full use of the internal space of the base 100, and the relatively flat internal space of the base 100 is convenient for the installation and fixation of the energy storage module 800. Through the above structure, when the intelligent mobile robot 1 needs to be charged, only by pressing the second button 640, it can automatically recognize and drive the travel mechanism 400 to move to the second target position, so that automatic charging can be achieved only by pressing the second button 640, simplifying the charging operation and improving the living efficiency.

[0057] Optionally, please refer to Figure 1 , the second button 640 can be a button with a relatively large volume and clear markings, or a button printed with Braille or other markings, so as to be used by a wider range of users; or, the second button 640 can be an external remote control connected to the grasping part 310 or other remote controls with buttons. Optionally, the second button 640 can be a physical button or a virtual button on the display screen panel.

[0058] In some embodiments, please refer to Figure 2 , and in combination with other drawings. The control mechanism 600 further includes an identification module 660. The identification module 660 is connected to the grasping part 310, and the identification module 660 is electrically connected to the processor 620. The identification module 660 is used to identify preset information. The preset signal includes a first travel signal. When the identification module 660 identifies the preset information, the identification module 660 feeds back the first travel signal to the processor 620. The processor 620 receives the first travel signal, and the processor 620 controls the movement of the travel mechanism 400. The travel mechanism 400 drives the base 100 to move to the first target position.

[0059] It can be understood that the recognition module 660 can be a mobile intelligent wearable device such as a glove or a bracelet for recognizing somatosensory information, or a camera, etc. The user operates the glove or bracelet to complete a specific action, or faces the camera to complete a specific action, so that the recognition module 660 can recognize the preset information formed by the action, and then send a first travel signal. The first target position here is the same as the above-mentioned first target position, which will not be elaborated here.

[0060] For the above-mentioned seat mechanism 200, please refer to Figures 3 to 6 , and in combination with other drawings. The seat mechanism 200 includes a seat body 210, and the seat body 210 is installed on the base 100. Along the preset direction F1, at least a part of the seat body 210 extends beyond the handle part 320, or the seat body 210 is flush with the handle part 320. Through the above structure, the handle part 320 is made closer to the opening 510 of the cockpit 500, so that when the user enters the cockpit 500, the user can assist in entering the cockpit 500 by contacting the handle part 320; on the other hand, the relatively long gripping part 310 and the handle part 320 in the preset direction F1 can provide more space for the user to place the arms, relieve the human pressure on the user, and improve the use experience. Optionally, there may be an angle between the handle part 320 and the preset direction F1. The handle part 320 can be a straight tube shape, or provided with a groove for the human hand to grip, or a bent structure like a cane, so as to facilitate the user to use. Please refer specifically to Figure 5 , at least a part of the seat body 210 extends beyond the handle part 320, or is flush; and, the handle part 320 is provided in two, and is respectively arranged on both sides of the gripping part 310, so that the two handle parts 320 and the gripping part 310 are generally arranged in a "C" shape, so as to surround the user sitting on the seat body 210 in at least three aspects. On the one hand, it is convenient for the user to use the handle for assistance when entering or leaving the cockpit 500; on the other hand, it can protect the user sitting in the cockpit 500 from falling or colliding with the environment outside the intelligent mobile robot 1; on the other hand, it can provide space for holding the arms to improve the user's riding experience.

[0061] In some preferred embodiments, please refer to Figure 6, and in combination with other attached drawings. The seat body 210 is provided with a first area 211 and a second area 212 along a preset direction F1. The first area 211 is close to the first part 110, and the second area 212 is close to the second part 120. Along the preset direction F1, the first area 211 extends beyond or is flush with the handle part 320. The length of the first area 211 in the preset direction F1 is D1, and the length of the second area 212 in the preset direction F1 is D2. D1 and D2 satisfy: 0 ≤ D1 / (D1 + D2) ≤ 0.3. With the above structure, the handle part 320 is flush with the first area 322 or the first area 211 extends beyond the handle part 320, so that it is convenient for the user to directly grasp the handle part 320 when approaching the opening 510 without excessive forward leaning of the body center of gravity. On the one hand, the safety is improved, and on the other hand, the difficulty for the user to enter the cockpit 500 is reduced. When D1 / (D1 + D2) is less than 0, the handle part 320 may extend beyond the first area 211, resulting in an overly long overall structure, which is likely to collide with structures other than the intelligent robot 1, and the lever arm of the overly long handle part 320 is too long, and the supporting force that can be provided when the human body is supported on the handle part 320 is limited, easily causing situations such as shaking, bending, and breaking of the handle part 320. When D1 / (D1 + D2) is greater than 0.3, the length of the handle part 320 is too short. On the one hand, it is not conducive to the user's auxiliary grasping when entering the cockpit 500, and on the other hand, it is not conducive to the user's placing the arm when sitting. Thus, in addition to further improving the above usage effect, it can effectively reduce the possibility of the user colliding with the handle part 320 when entering or leaving the cockpit 500.

[0062] In some embodiments, the grasping part 310 includes a third area 311 and a fourth area 312. The third area 311 is arranged along a set direction F2, and the fourth area 312 is arranged at both ends of the third area 311 in the set direction F2, and the fourth area 312 extends along the preset direction F1 towards the same side of the third area 311. There is a first included angle α between the third area 311 and the fourth area 312. The first included angle α satisfies: 60° ≤ α ≤ 120°. Among them, the set direction F2 and the preset direction F1 are both parallel to the base 100. It can be understood that the handle part 320 is connected to the fourth area 312 to make the structures of the handle part 320 and the grasping part 310 transition smoothly, so that there is a structure for assisting movement at each place when the user enters or exits the cockpit 500. Preferably, the first included angle in the present application is 90°, that is, the preset direction F1 and the set direction F2 are perpendicular to each other, and a fillet design is made at the connection of the third area 311 and the fourth area 312, so as to increase the space that the user can grasp and protect the user to reduce the possibility of the user's hand collision.

[0063] For the above fourth area 312, please refer to Figure 5, and in combination with other attached drawings. The width of the part of the fourth region 312 close to the third region 311 in the set direction F2 is D3, and the width of the part of the fourth region 312 far from the third region 311 in the set direction F2 is D4. D3 > D4. So that the part of the fourth region 312 close to the third region 311 is wider and the part of the fourth region 312 far from the third region 311 is narrower, which is convenient for the user to hold or support the arms on the third region 311 and / or the fourth region 312. It can be understood that the third region 311 and the fourth region 312 transition evenly. On the one hand, it makes the overall appearance beautiful. On the other hand, it reduces the corner design and increases the arc-shaped design, which is more in line with ergonomics. Optionally, 150mm ≤ D3 ≤ 250mm, 10mm ≤ D4 ≤ 50mm; preferably, D3 is 200mm and D4 is 30mm.

[0064] Please refer to the following for assistance Figure 14 , and in combination with other attached drawings.

[0065] It still needs to be noted that the intelligent mobile robot 1 satisfies at least one of the following conditions:

[0066] A) In the preset direction F1, the length between the end of the gripping part 310 facing away from the cockpit 500 and the end of the handle part 320 close to the opening 510 is H1, and H1 satisfies: 490mm ≤ H1 ≤ 600mm;

[0067] B) In the preset direction F1, the length between the end of the gripping part 310 facing away from the cockpit 500 and the center of the seat mechanism 200 is H2, and H2 satisfies: 350mm ≤ H2 ≤ 450mm;

[0068] C) In the preset direction F1, the length between the end of the gripping part 310 facing away from the cockpit 500 and the end of the seat mechanism 200 close to the first part 110 is H3, and H3 satisfies: 600mm ≤ H3 ≤ 700mm.

[0069] Preferably, H1 is 545mm, H2 is 402mm, and H3 is 650mm.

[0070] It still needs to be noted that the intelligent mobile robot 1 satisfies at least one of the following conditions:

[0071] D) In the set direction F2, the length between the side of one handle part 320 facing away from the cockpit 500 and the center of the seat mechanism 200 is H4, and H4 satisfies: 250mm ≤ H4 ≤ 350mm;

[0072] E) In the set direction F2, the length of the maximum distance between the sides of the two handle parts 320 facing away from the cockpit 500 is H5, and H5 satisfies: 550mm ≤ H5 ≤ 650mm;

[0073] The set direction F2 is perpendicular to the preset direction F1, and both the set direction F2 and the preset direction F1 are parallel to the base 100. Preferably, H4 is 300 mm and H5 is 600 mm.

[0074] Combining the optional or preferred embodiments of the handle part 320 and the grasping part 310 in the above embodiments, the structure obtained by the handle part 320 and the grasping part 310 provided in this application can be the structure obtained by combining any of the above embodiments. This application is based on the statistics of the body types of the middle-aged and elderly people to obtain the above ergonomic design. The combination of one or more of all the above embodiments belongs to the scope protected by this application.

[0075] Combining the above embodiments and the preferred embodiments, the seat mechanism 200 is arranged along the extension line of the median line of the third area 311 in the preset direction F1, so that the seat mechanism 200 can be located in the middle of the third area 311. When a person sits on the seat mechanism 200, the distances from the two arms to the grasping parts 310 or the handle parts 320 on both sides are equal, thereby improving the use experience.

[0076] In the embodiments of this application, please refer to Figure 3 and combine with other drawings. The supporting mechanism 300 further includes a supporting component 330. The supporting component 330 is installed on the second part 120 and extends along a predetermined direction F3. The grasping part 310 is installed at one end of the supporting component 330 away from the base 100. Among them, the predetermined direction F3 is a direction perpendicular to the base 100 and perpendicular to the preset direction F1. It can be understood that the supporting component 330 supports the middle of the third area 311, so that the structure of the supporting mechanism 300 is stable.

[0077] In addition to the above design, this application also takes into account that it is inconvenient for middle-aged and elderly people or those with inconvenient legs and feet to step onto the base 100 when entering or leaving the cockpit 500. For this reason, this application also provides the following design.

[0078] In some embodiments, please refer to Figure 6 and combine with other drawings. The base 100 is further provided with an inclined part 130. The inclined part 130 is arranged on the first part 110. The inclined part 130 is inclined relative to the tabletop of the base 100. And along the predetermined direction F3, the side of the inclined part 130 close to the opening 510 of the cockpit 500 is farther away from the seat than the other side. When the intelligent mobile robot 1 is stationary, the inclined part 130 is used for the feet of the human body to step on to enter or exit the cockpit 500. The predetermined direction F3 is perpendicular to the preset direction F1, and the predetermined direction F3 is perpendicular to the base 100. It can be understood that "when the intelligent mobile robot 1 is stationary", it can be used for the user to enter or leave the cockpit 500. At this time, the provided inclined part 130 can effectively facilitate the user to step on with both feet and assist the user to further step onto the base 100.

[0079] It should be noted that the inclined portion 130 can be a fixed structure fixedly arranged on the base 100, that is, the inclined portion 130 is arranged near the second portion 120 of the base 100; or the inclined portion 130 is a structure that can be moved, activated, flipped, etc., and when the intelligent mobile robot 1 is stationary, there is an inclined portion 130 for a human foot to step on. It can be understood that the inclined portion 130 can be a plane, a curved surface or a surface provided with a plurality of anti-slip ridges or anti-slip bumps, etc. Preferably, the inclined portion 130 is a plane.

[0080] Furthermore, please refer to Figure 5 and Figure 6 , and in combination with other drawings. The base 100 is further provided with a stepping surface 140, the stepping surface 140 is arranged along a preset direction F1, and at least a part of the stepping surface 140 is located on both sides of the seat mechanism 200. Along a predetermined direction F3, the distance between one end of the inclined portion 130 close to the second portion 120 and the stepping plane 140 is Z1, and Z1 satisfies 0≤Z2≤5mm. The distance between one end of the inclined portion 130 close to the first portion 110 and the stepping surface 140 is Z2, and Z2 satisfies 40mm≤Z2≤150mm. Wherein, the predetermined direction is the direction perpendicular to the stepping surface, and the predetermined direction is perpendicular to the preset direction. Preferably, Z1 is 0mm and Z2 is 100mm. In some preferred embodiments, when Z1 is 0mm and Z2 is 100mm, the inclined portion 130 is a plane, so that the included angle between the stepping surface 140 and the plane where the inclined portion 130 is located is the second included angle β, and the second included angle β satisfies: 0≤β≤30°. Preferably, β is 18°. It can be understood that "at least a part of the stepping surface 140 is located on both sides of the seat mechanism 200" means that the stepping surface 140 can be arranged around the base 100, or can be only arranged on the base 100 on both sides of the seat mechanism 200, so as to facilitate the placement of the feet when a person straddles or squats on the seat mechanism 200.

[0081] In some embodiments, please refer to Figure 3 , and in combination with other drawings. The base 100 is further provided with a protection portion 160 and an avoidance portion 170. The protection portion 160 protrudes relative to the stepping surface 140 along the outer peripheral edge of the base 100. When the user's foot steps on the stepping surface 140, on the one hand, the protection portion 160 is used to prevent the user's foot from slipping out of the stepping surface 140 and forming a safety hazard; on the other hand, the protection portion 160 is used to prevent the human foot from colliding with other structures outside the intelligent mobile robot 1 when the intelligent mobile robot 1 is moving. The avoidance portion 170 is arranged at the connection between the stepping surface and the inclined portion 130, and the avoidance portion 170 is used to leave a space for the installation of the wheels of the traveling mechanism 400, so as to reduce the distance between the base 100 and the ground and further improve the traveling stability of the intelligent mobile robot 1.

[0082] Based on the above design of the intelligent mobile robot 1, since this application is mainly provided for use by middle-aged and elderly people or people with mobility impairments, the safety of this application needs to be further improved. In order to improve the safety of the intelligent mobile robot 1, this application also makes the following design, please refer to Figure 6 and Figure 7 , and combined with other accompanying drawings.

[0083] In some embodiments, the seat mechanism 200 further includes a seat body 210 and a backrest 220. The seat body 210 is mounted on the base 100, and the backrest 220 is disposed on the side of the seat body 210 away from the supporting mechanism 300. By providing the backrest 220, the user can lean on the backrest 220 when sitting on the seat body 210, thereby reducing the stress on the back, lumbar spine and other parts of the human body when the user sits, thereby improving the user's experience. In addition, since the backrest 220 is provided, the backrest 220, the handle 320 and the gripping part 310 surround the user sitting on the seat body 210 on all sides, further improving the safety of the intelligent mobile robot 1.

[0084] In some embodiments, the backrest 220 can move between a first preset position and a second preset position along a preset direction F1 relative to the seat body 210. In the first preset position, the distance between the backrest 220 and the base 100 is greater than the distance between the seat body 210 and the base 100. In the second preset position, the distance between the backrest 220 and the base 100 is less than or equal to the distance between the seat body 210 and the base 100. By providing a movable backrest 220, the user will not be blocked by the backrest 220 when entering or leaving the cabin 500, which reduces the difficulty of entering or leaving the cabin 500 and improves the user experience.

[0085] As for how to realize the movement of the backrest 220 between the first preset position and the second preset position, the seat mechanism 200 of the present application also includes a first driving assembly 230, the first driving assembly 230 includes a driver 231 and a mounting assembly 232, the driver 231 is installed on the base 100, the driver 231 drives the mounting assembly 232 to move between the first preset position and the second preset position, and the mounting assembly 232 is used to install the backrest 220. The mounting assembly 232 is driven by the driver 231, thereby driving the backrest 220 to move between the first preset position and the second preset position. It can be understood that the movement of the backrest 220 between the first preset position and the second preset position can be one of a linear motion, a curved motion or other irregular motion trajectory. As long as it does not hinder the user from entering or leaving the cabin 500, or does not hinder the backrest 220 from colliding with other structures during movement, the motion trajectory of the backrest 220 is not limited here.

[0086] Preferably, please refer to Figure 8 and combine with other attached drawings. The driver 231 includes a first motor 2311, and the first motor 2311 is installed on the base 100. The installation assembly 232 includes a first guide 2321 and a first installation member 2322. The first guide 2321 is arranged along a predetermined direction F3, and the first installation member 2322 slides relative to the first guide 2321 along the predetermined direction F3. The backrest 220 is installed on the first installation member 2322. It can be understood that the first motor 2311 includes a servo motor, a linear motor, a stepper motor, a motor, etc. The first guide 2321 is used to provide guidance so that under the drive of the first motor 2311, the first installation member 2322 moves linearly along the predetermined direction F3. By setting the linear movement between the first preset position and the second preset position, the movement speed can be increased, the time for the backrest 220 to move between the two preset positions can be saved, and thus the use experience can be improved.

[0087] In some other embodiments, the movement of the first installation member 2322 between the first preset position and the second preset position can also be realized through a link structure, and the length of one of the links of the link structure can be designed to be telescopic according to the actual use environment, so as to realize the adjustment of the distance between the backrest 220 and the third area 311 to meet the requirements of users with different body sizes for the reclining angle of the backrest 220.

[0088] In some other alternative embodiments, please refer to Figures 9 to 11 and combine with other attached drawings. The present application also provides a technical solution to realize the movement of the backrest 220 between the first preset position and the second preset position. The seat mechanism 200 further includes a second drive assembly 240. The second drive assembly 240 includes a second motor 241, a rotating shaft 242, and a second installation member 243. The second motor 241 is installed on the seat body 210. The rotating shaft 242 extends along a preset direction F1. One end of the rotating shaft 242 is connected to the second motor 241, and the other end of the rotating shaft 242 is connected to the second installation member 243. The backrest 220 is installed on the second installation member 243. The second motor 241 is used to drive the rotating shaft 242 to rotate, and the rotating shaft 242 drives the second installation member 243 to rotate relative to the seat body 210, so as to drive the backrest 220 to move between the first preset position and the second preset position. That is, the present application also provides a rotatable backrest 220 design to realize the above movement.

[0089] For the above-mentioned backrest 220, please refer to Figure 8 and Figure 12, and in combination with other attached drawings. The backrest 220 includes a cushion 221 and a support frame 222. The support frame 222 is installed on the first mounting member 2322, and the cushion 221 is installed on the support frame 222. It can be understood that the cushion 221 can be made of sponge, memory foam, silicone memory foam, gel memory foam or hydrophilic cotton, and the surface of the cushion 221 can be covered with composite materials such as leather and cloth. Thus, it adapts to the usage habits of different users, prevents users from being allergic to some materials, improves the user experience, and the comfort of leaning.

[0090] Further, please refer to Figure 3 , and in combination with other attached drawings. The seat body 210 includes a saddle portion 213 and a seat cushion 214. The seat cushion 214 is installed on the saddle portion 213, and the saddle portion 213 is installed on the base 100. The saddle portion 213 and the base 100 jointly enclose a receiving space. The first motor 2311, the first guide member 2321 and the first mounting member 2322 are received in the receiving space, and the support frame 222 extends out of the receiving space from the first mounting member 2322. By receiving the above-mentioned driving structure in the receiving space, the exposed movable structure outside the saddle portion 213 is reduced, thereby preventing the body or the clothing worn by the user from being wound or stuck to the movable structure, and reducing the safety hazard. Correspondingly, the seat cushion 214 can be made of sponge, memory foam, silicone memory foam, gel memory foam or hydrophilic cotton, and the surface of the seat cushion 214 can be covered with composite materials such as leather and cloth. Thus, it adapts to the usage habits of different users, prevents users from being allergic to some materials, improves the user experience, and the comfort of sitting.

[0091] Combined with the above embodiments, please refer to Figure 8 , and in combination with other attached drawings. The support frame 222 will be further described. The support frame 222 includes a first mounting portion 2221, a connecting portion 2222 and a second mounting portion 2223. The first mounting portion 2221 is installed on the first mounting member 2322, and at least part of the first mounting portion 2221 extends out of the receiving space. One end of the connecting portion 2222 is connected to the first mounting portion 2221, and the other end is connected to the second mounting portion 2223. The backrest 220 is installed on the second mounting portion 2223. The first mounting portion 2221 is closer to the supporting mechanism 300 than the second mounting portion 2223, and the connecting portion 2222 is inclined relative to the plane where the base 100 is located. The inclined support frame 222 can make full use of the human waist space, so that the support of the seat cushion 214 and the back cushion 221 on the human body is more in line with the ergonomic design. In some embodiments, a cushion portion for supporting the human waist can be added to the connecting portion 2222, so as to further enhance the wrapping of the human body. On the one hand, it can improve the comfort, and on the other hand, it can further protect the human body.

[0092] It should be noted that the included angle between the surface of the cushion 221 in contact with the human body and the surface of the seat cushion 214 in contact with the human body can be between 80° and 130°, so as to meet the requirements of different users for the seating environment in the cockpit 500. Optionally, the distance between the cushion 221 and the third area 311 is between 300 mm and 600 mm. Preferably, the distance between the cushion 221 and the third area 311 is 460 mm. Among them, 460 mm can adapt to the seating environment of most middle-aged and elderly people.

[0093] Regarding the distance between the cushion 221 and the base 100, at the first preset position, the distance between the backrest 220 and the base 100 is A1, and A1 satisfies: 350 mm ≤ A1 ≤ 550 mm. At the second preset position, the distance between the backrest 220 and the base 100 is A2, and A2 satisfies: 150 mm ≤ A2 ≤ 300 mm. The distance between the seat cushion 214 and the base 100 is A3, and A3 satisfies: 10 mm ≤ A3 ≤ 400 mm. Preferably, A1 is 476 mm and A2 is 226 mm. Among them, when A3 is 10 mm, it is the distance when the seat mechanism 200 provided in this application further includes the second drive assembly 240 and the backrest 220 rotates to the side close to the base 100. So that at the first preset position, the backrest 220 can be leaned on by the human body, and at the second preset position, the cushion 221 will not hinder the user from entering or leaving the cockpit 500.

[0094] In some embodiments, please refer to Figure 8 and combine with other drawings. In order to adapt to users of different body types, the height of the seat mechanism 200 relative to the base 100 is adjustable. Optionally, the seat mechanism 200 further includes a third drive assembly 250. The third drive assembly 250 is installed on the base 100 or the seat body 210, and the third drive assembly 250 is used to drive the seat body 210 to approach or move away from the base 100. The third drive mechanism is received in the saddle 213 and is arranged below the seat body 210, so as to facilitate lifting or lowering the seat body 210.

[0095] In some embodiments, please refer to Figure 8, and in combination with other attached drawings. To adapt to users of different body types, the height of the support mechanism 300 relative to the base 100 is also adjustable. Optionally, the present application further provides that the support mechanism 300 further includes a fourth drive assembly 340. The gripping portion 310 is installed on the base 100, and the fourth drive assembly 340 is installed on the gripping portion 310 or the base 100. The fourth drive assembly 340 is used to drive the gripping portion 310 to approach or move away from the base 100. Combining the above embodiments, the fourth drive assembly 340 is installed in the support assembly 330, and the fourth drive assembly 340 drives the support assembly 330 to extend or contract. So that the height of the gripping portion 310 relative to the base 100 is adjustable, thereby adapting to users of different body types.

[0096] It can be understood that the above-mentioned third drive assembly 250 is received in the saddle portion 213, and the fourth drive assembly 340 is received in the support assembly 330, so as to reduce the structure of the third drive assembly 250 or the fourth drive assembly 340 exposed to the outside, and further reduce potential safety hazards.

[0097] In addition, combining the above embodiments, when the intelligent mobile robot 1 includes one or more of the above-mentioned drive assemblies, the first drive assembly 230, the third drive assembly 250, and the fourth drive assembly 340 are independently controlled and move; correspondingly, the second drive assembly 240, the third drive assembly 250, and the fourth drive assembly 340 are independently controlled and move, so as to facilitate separate control of each drive assembly. To adapt to users of different body sizes and improve the user experience.

[0098] In the embodiment of the present application, in order to further improve the functionality of the backrest 220. In some usage cases, the backrest 220 needs to first contact other structures outside the intelligent mobile robot 1 to make the robot park. For example: when the above-mentioned first target position is the toilet in the bathroom or the bed in the bedroom, the second part 120 of the robot needs to first approach the toilet or the bed to facilitate the user to leave the cockpit 500. For this reason, the present application also provides the following technical solutions, please refer to Figure 12 , and in combination with other attached drawings.

[0099] In some embodiments, the intelligent mobile robot 1 further includes a seat mechanism 200 and a processor 620 that have been further improved. The seat mechanism 200 includes a seat body 210 and a backrest 220. The seat body 210 is mounted on the base 100, and the backrest 220 is disposed on the side of the seat body 210 facing away from the supporting mechanism 300. The backrest 220 includes a backrest base 224 and a trigger portion 223. The trigger portion 223 is mounted on the side of the backrest base 224 facing away from the supporting mechanism 300. The processor 620 is mounted on the base 100. The trigger portion 223 is electrically connected to the processor 620, and the traveling mechanism 400 is electrically connected to the processor 620. Among them, when the trigger portion 223 recognizes that the distance between an object other than the intelligent mobile robot 1 and the trigger portion 223 is less than a preset threshold, the trigger portion 223 feeds an electrical signal to the processor 620, and the processor 620 controls the traveling mechanism 400 to stop moving. Through the design of the trigger portion 223 as described above, it is possible to achieve parking without manual operation. When the trigger portion 223 on the backrest 220 recognizes a distance less than the preset threshold, the robot will stop actively, simplifying the operation and improving the user experience. At the same time, when the intelligent mobile robot 1 stops actively, the backrest 220 moves from the first preset position to the second preset position to prevent blocking the user from leaving the cockpit 500.

[0100] Optionally, the trigger portion 223 can be an infrared sensor or a radar sensor.

[0101] Combined with the above embodiments, the backrest 220 further includes a cushion 221 and a support frame 222. The backrest base 224 is mounted on the support frame 222, the cushion 221 is mounted on the backrest base 224, and the support frame 222 is mounted on the seat body 210.

[0102] Since most users are middle-aged and elderly people or those with inconvenient legs and feet, it is safer to use mechanical physical buttons. Based on this, in some embodiments, the backrest base 224 is provided with a movable opening 2241. The trigger portion 223 includes an abutting member 2231 and a guiding column 2232. The guiding column 2232 passes through the movable opening 2241 and is inserted into the cushion 221. The abutting member 2231 is mounted on the side of the guiding column 2232 facing away from the cushion 221, and the abutting member 2231 can slide relative to the cushion 221 along the guiding column 2232. That is, by setting the abutting member 2231 as a physical button, the stability of the structure is ensured, and it does not rely on the distance determination of the sensor, improving the safety of the intelligent mobile robot 1.

[0103] Further, the backrest 220 further includes an elastic member 225. The elastic member 225 is wound around the guide post 2232. One end of the elastic member 225 abuts against the abutting member 2231, and the other end abuts against the cushion 221. By providing the elastic member 225, the abutting member 2231 can be automatically reset when leaving a structure outside the intelligent mobile robot 1 such as the above-mentioned toilet or bed. Optionally, the elastic member 225 includes a tension spring, a compression spring, a spring sheet, etc.

[0104] In some other embodiments, please refer to Figure 15 and combine with other drawings. The trigger portion 223 includes a contact portion 2233 and a membrane switch 2234. The membrane switch 2234 is installed on the side of the support frame 222 facing away from the cushion 221. The contact portion 2233 covers the membrane switch 2234. The membrane switch 2234 is electrically connected to the processor. It should be noted that the contact portion 2233 is used to protect the membrane switch 2234. It covers the surface of the membrane switch 2234, and its material can be leather, cotton and linen, plastic, silica gel, etc. It can be understood that the membrane switch 2234 can be a spring sheet or other that will deform when under pressure, so as to feedback an electrical signal to the processor 620. Correspondingly, when the membrane switch 2234 identifies that the distance between another object outside the intelligent mobile robot 1 and the membrane switch 2234 is less than a preset threshold through deformation, the threshold is the amount that the membrane switch 2234 can deform. The membrane switch 2234 feeds back an electrical signal to the processor 620, and the processor 620 controls the traveling mechanism 400 to stop moving. Through the above design of the membrane switch 2234, it is realized that there is no need for manual operation to stop the vehicle. When the membrane switch 2234 on the backrest 220 identifies a value less than the preset threshold, it will actively stop the vehicle, simplifying the operation and improving the user experience. At the same time, when the intelligent mobile robot 1 actively stops the vehicle, the backrest 220 moves from the first preset position to the second preset position to prevent blocking the user from leaving the cockpit 500.

[0105] For the above-mentioned cushion 221, the present application also provides the following design to improve the user experience. The cushion 221 is provided with a first support portion 2211 and two second support portions 2212. The second support portions 2212 are arranged on both sides of the first support portion 2211. Along the preset direction F1, the first support portion 2211 is relatively farther away from the second support portions 2212 than the seat mechanism 200. Thus, the cushion 221 is arranged in a concave arc shape to adapt to the arc-shaped surface of the human back, conforming to the ergonomic design, and further improving the comfort of the user.

[0106] In some embodiments, the length of the backrest 220 in the set direction F2 is A4, and A4 satisfies: 150 mm ≤ A4 ≤ 300 mm. Herein, the length of A4 is the distance between the end portions at both ends of the backrest 220. The backrest 220 may be arranged to be concave in an arc shape, so as to provide support for the human back or waist, facilitating the human body to lean on, and also facilitating the support of the human waist or back from both sides.

[0107] Combined with the above embodiments, when the intelligent mobile robot 1 parks, it is also necessary to remind the user that it has stopped stably and the user can leave the cockpit 500. The intelligent mobile robot 1 provided in this application further includes a feedback mechanism 900. The feedback mechanism 900 is electrically connected to the processor 620. When the trigger portion 223 recognizes that the distance between another object outside the intelligent mobile robot 1 and the trigger portion 223 is less than a preset threshold, the processor 620 controls the feedback mechanism 900 to operate. The feedback mechanism 900 is used to remind the human body that the distance between the trigger portion 223 and another object outside the intelligent mobile robot 1 is too close.

[0108] In some embodiments, please refer to Figure 2 , and in combination with other drawings. The feedback mechanism 900 includes a sound generating component 910. The sound generating component 910 is used to remind the human body through sound that the intelligent mobile robot 1 has parked and the user can leave the cockpit 500. Optionally, the sound generating component 910 can be installed at any position of the intelligent mobile robot 1. For example, it can be installed at the supporting mechanism 300 or the control panel 610 or the seat mechanism 200, etc. In the embodiment of this application, the sound generating component 910 is arranged at the lower part of the seat mechanism 200. Optionally, the sound generating component 910 includes a buzzer, a speaker, etc. Optionally, the sound reminder of the sound generating component 910 includes playing music, playing a prompt tone, playing a pre-recorded artificial voice broadcast, such as: parking music, beeping prompt tone, artificial voice broadcast of "has parked, you can get off", etc.

[0109] In other embodiments, please refer to Figure 2 , and in combination with other drawings. The feedback mechanism 900 includes a vibration mechanism 920. The vibration mechanism 920 is installed on the supporting mechanism 300 or the seat body 210. The vibration mechanism 920 reminds the human body by vibrating at least a part of the supporting mechanism 300 or at least a part of the seat body 210. By setting the vibration mechanism 920, users with low ear sensitivity can be reminded through the sense of touch of vibration. Specifically, a vibration motor or the like can be used for vibration reminder. Preferably, the vibration mechanism 920 is arranged at the grasping portion 310 or the handle portion 320, so as to directly feedback the vibration through the sense of touch of the human hand or arm.

[0110] It can be understood that, in actual use, the above feedback mechanism 900 can be one of them or a combination of the two.

[0111] For the above traveling mechanism 400, please refer to Figure 4 and Figure 13 , and combine with other drawings. The wheel set 420 includes a driving wheel set 421 and a guiding wheel set 422. The driving wheel set 421 is connected to the traveling motor 410. The driving wheel set 421 is oppositely arranged on both sides of the chassis 150 along the set direction F2, and the guiding wheel set 422 is arranged at both ends of the chassis 150 along the preset direction F1. In the embodiment of the present application, the usage scenarios are mostly indoor spaces with narrow environments, so a more flexible steering design is required. Therefore, the driving wheel set 421 in the present application is a differential gear train. By adjusting the rotational speed and / or rotational direction of the two wheel parts in the driving wheel set 421, operations such as turning or turning in place can be achieved. At the same time, since the intelligent mobile robot 1 in the present application realizes steering through a differential gear train, during the steering process of the above-mentioned grasping part 310 and the handle part 320, they will not move relative to the seat mechanism 200, thereby preventing the grasping part 310 and the handle part 320 from colliding with the human body and causing discomfort to the human body. The design of the guiding wheel set 422 is to set the guiding wheel set 422 to improve the obstacle-crossing performance of the traveling mechanism 400 while balancing the stability of the intelligent mobile robot 1 in the indoor environment where there may be ground obstacles such as door frames.

[0112] Specifically, please refer to Figure 4 , and combine with other drawings. The number of the guiding wheel sets 422 is three, and the number of the driving wheel sets 421 is two. The driving wheel sets 421 are oppositely arranged on both sides of the chassis 150 along the set direction F2. Along the preset direction F1, one of the guiding wheel sets 422 is installed at one end of the chassis 150 close to the first part 110, and the other two guiding wheel sets 422 are installed at one end of the bottom plate 150 close to the second part 120. And at one end of the chassis 150 close to the second part 120, the two guiding wheel sets 422 are oppositely arranged along the set direction F2, so that when the intelligent mobile robot 1 is traveling, it can be more stable.

[0113] For the guiding wheel set 422, please refer to Figure 13, and in combination with other attached drawings. The guide wheel set 422 includes a guide wheel 4221, a wheel frame 4222, a fixed shaft 4223, and an elastomer 4224. The wheel frame is installed on the chassis 150, the guide wheel 4221 is installed on the wheel frame, the fixed shaft 4223 passes through the connection between the guide wheel 4221 and the wheel frame, and the elastomer 4224 is arranged between the guide wheel 4221 and the wheel frame. The guide wheel 4221 can approach or move away from the wheel frame around the fixed shaft 4223. That is, when encountering ground obstacles such as door frames, the drive wheel set 421 drives the intelligent robot to move. When the guide wheel 4221 encounters an obstacle, the elastomer 4224 is compressed so that the guide wheel 4221 approaches the wheel frame 4222 relative to the fixed shaft 4223 to pass through obstacles such as door frames. After passing through, the elastomer 4224 resets, so that the guide wheel 4221 continuously abuts against the ground to stabilize the overall intelligent mobile robot 1.

[0114] It can be understood that in order to enable the intelligent mobile robot 1 to travel to the first target position or the second target position, the intelligent mobile robot 1 further includes a plurality of sensors 1000. The sensors 1000 include, but are not limited to, one or more of an infrared sensor 1000, a radar sensor 1000, and a vision sensor 1000. For functions such as measuring the health of users, a temperature sensor 1000 can also be provided to measure the ambient temperature or the human body temperature, etc.

[0115] It can be understood that one or more of the above-mentioned any embodiments can be combined to obtain multiple embodiments of the present application.

[0116] This application aims to provide an intelligent mobile robot 1, which includes a base 100, a seat mechanism 200, a support mechanism 300, a traveling mechanism 400, and a control mechanism 600. The base 100 is provided with a first part 110 and a second part 120 that are opposite to each other along a preset direction F1. The seat mechanism 200 is installed on the first part 110. The support mechanism 300 includes a gripping part 310 and a handle part 320. Along the preset direction F1, the gripping part 310 is arranged on the second part 120, and the handle part 320 extends from the gripping part 310 towards the seat mechanism 200. The gripping part 310 is used for a human body to grip when the human body is sitting on the seat mechanism 200. The traveling mechanism 400 is installed on the base 100, and the traveling mechanism 400 is used to drive the base 100 to move. Among them, the base 100, the gripping part 310, the handle part 320, and the seat mechanism 200 together form a cockpit 500. The cockpit 500 is provided with an opening 510 near the first part 110. The handle part 320 is used for a human body to grip when entering the cockpit 500 from the opening 510. The control mechanism 600 includes a control panel 610 and a processor 620. The control panel 610 is arranged on the gripping part 310. The control panel 610 is used to identify and obtain a preset signal. The processor 620 is electrically connected to the traveling mechanism 400 and the control panel 610. The processor 620 is used to receive the preset signal and control the movement of the traveling mechanism 400. Through the above structure, the user only needs to control the control panel 610 to realize the control of the movement of the traveling mechanism 400. And when the user enters the intelligent mobile robot 1, first hold the handle part 320 to support the body, and then gradually move from the opening 510 to enter the cockpit 500, so that when sitting on the seat mechanism 200, the user can hold or support the gripping part 310. Compared with sitting on a wheelchair, there is no need to turn around and other actions, which is very convenient.

[0117] It should be noted that the description and drawings of this application give preferred embodiments of this application. However, this application can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments do not serve as additional limitations to the content of this application. The purpose of providing these embodiments is to make the understanding of the disclosed content of this application more thorough and comprehensive. And, the above technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as within the scope described in the description of this application; further, for those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of this application.

Claims

1. An intelligent mobile robot, characterized in that: include: A base is provided with a first portion and a second portion which are opposite to each other along a preset direction; a seat mechanism mounted on the first portion; The supporting mechanism comprises a gripping portion and a handle portion, wherein the gripping portion is arranged at the second portion along a preset direction, the handle portion extends from the gripping portion toward the seat mechanism, and the gripping portion is used for being gripped by a human body when the human body sits on the seat mechanism; A travel mechanism, installed on the base, and used to drive the base to move; The base, the gripping portion, the handle portion and the seat mechanism together form a cabin, the cabin is opened near the first portion, and the handle portion is used for grasping when a human body enters and exits the cabin through the opening; The control mechanism includes a control panel and a processor. The control panel is arranged on the gripping part. The control panel is used to identify and obtain a preset signal. The processor is electrically connected to the traveling mechanism and the control panel. The processor is used to receive the preset signal and control the movement of the traveling mechanism.

2. The intelligent mobile robot according to claim 1, characterized in that: The control mechanism further includes a first button, which is mounted on the control panel; The preset signal includes a first travel signal; When the first button is triggered, the control panel identifies and acquires the first travel signal, the processor receives the first travel signal, the processor controls the movement of the travel mechanism, and the travel mechanism drives the base to move to the first target position.

3. The intelligent mobile robot according to claim 1, characterized in that: The intelligent mobile robot further comprises a charging device and an energy storage module, wherein the charging device is installed at a second target position outside the intelligent mobile robot, and the energy storage module is installed at the intelligent mobile robot, and when the intelligent mobile robot is located at the second target position, the charging device charges the energy storage module; The control mechanism further includes a second button, which is mounted on the control panel; The preset signal includes a second travel signal; When the second button is triggered, the control panel identifies and acquires the second travel signal, the processor receives the second travel signal, the processor controls the movement of the travel mechanism, and the travel mechanism drives the base to move to the second target position.

4. The intelligent mobile robot according to any one of claims 1 to 3, characterized in that: The seat mechanism comprises a seat body, the seat body is mounted on the base, and along the preset direction, the seat body at least partially exceeds the handle portion; or, The seat body is flush with the handle portion.

5. The intelligent mobile robot according to claim 4, characterized in that: The base is further provided with an inclined portion, which is provided on the first part, and is inclined relative to the table surface of the base, and along a predetermined direction, a side of the inclined portion close to the opening of the cabin is farther away from the seat than the other side, and when the intelligent mobile robot is stationary, the inclined portion is used for a human foot to step on to enter or exit the cabin; The predetermined direction is perpendicular to the preset direction, and the predetermined direction is perpendicular to the base.

6. The intelligent mobile robot according to any one of claims 1 to 3, characterized in that: The chair mechanism further comprises a chair body and a backrest, wherein the chair body is mounted on the base, and the backrest is arranged on a side of the chair body away from the supporting mechanism, and the backrest can move relative to the chair body along a preset direction between a first preset position and a second preset position; In the first preset position, the distance between the backrest and the base is greater than the distance between the seat body and the base; In the second preset position, the distance between the backrest and the base is less than or equal to the distance between the seat body and the base.

7. The intelligent mobile robot according to claim 6, characterized in that: The seat mechanism also includes a first driving component, which includes a driver and a mounting component. The driver is installed on the base, and the driver drives the mounting component to move between the first preset position and the second preset position. The mounting component is used to install the backrest.

8. The intelligent mobile robot according to claim 6, characterized in that: The seat mechanism also includes a second drive assembly; The second driving assembly includes a second motor, a rotating shaft and a second mounting member, the second motor is mounted on the seat body, the rotating shaft extends along the preset direction, one end of the rotating shaft is connected to the second motor, the other end of the rotating shaft is connected to the second mounting member, and the backrest is mounted on the second mounting member; The second motor is used to drive the rotating shaft to rotate, and the rotating shaft drives the second mounting member to rotate relative to the seat body, so as to drive the backrest to move between the first preset position and the second preset position.

9. The intelligent mobile robot according to any one of claims 1 to 3, characterized in that: The intelligent mobile robot also includes: A seat mechanism, comprising a seat body and a backrest, wherein the seat body is mounted on the base, the backrest is arranged on a side of the seat body away from the supporting mechanism, the backrest comprises a backrest base and a triggering part, and the triggering part is mounted on a side of the backrest base away from the supporting mechanism; A processor, the processor is mounted on the base, the trigger unit is connected to the processor by electrical signals, and the travel mechanism is connected to the processor by electrical signals; When the trigger unit identifies that the distance between an object other than the intelligent mobile robot and the trigger unit is less than a preset threshold, the trigger unit feeds back an electrical signal to the processor, and the processor controls the moving mechanism to stop moving.

10. The intelligent mobile robot according to claim 9, characterized in that: The intelligent mobile robot further comprises a feedback mechanism, wherein the feedback mechanism is electrically connected to the processor; When the trigger unit identifies that the distance between the trigger unit and an object other than the intelligent mobile robot is less than the preset threshold, the processor controls the feedback mechanism to operate, and the feedback mechanism is used to remind the human body that the distance between the trigger unit and the object other than the intelligent mobile robot is too close.

11. The intelligent mobile robot according to claim 9, characterized in that: The backrest further comprises a cushion and a support frame, the backrest base is mounted on the support frame, the cushion is mounted on the backrest base, and the support frame is mounted on the seat body; The backrest base is provided with a movable opening; The triggering part comprises an abutment member and a guide column, the guide column passes through the movable opening and is plugged into the cushion, the abutment member is installed on a side of the guide column away from the cushion, and the abutment member can slide along the guide column relative to the cushion; or, The triggering part includes a contact part and a membrane switch, the membrane switch is installed on a side of the support frame away from the cushion, the contact part covers the membrane switch, and the membrane switch is electrically connected to the processor.

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