Manned mobile robot

Abstract

The embodiment of the utility model relates to the technical field of manned moving robots, in particular to a manned moving robot. The manned 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. By means of the structure, people can go in and out of the cabin without turning around, and great convenience is achieved.

Description

Technical Field

[0001] This application relates to the field of manned transfer robot technology, and in particular to a manned mobile robot. Background Technology

[0002] With further societal development, intelligent robots are being applied across various industries. The seventh national census revealed that over 18% of China's population is aged 60 or older; furthermore, a new white paper released by the World Economic Forum predicts that the elderly population will reach 2.1 billion by 2050. Accompanying this aging population are people entering middle and old age, and those experiencing mobility issues or other difficulties.

[0003] In the process of realizing this application, the inventors discovered that currently, middle-aged and elderly people or those with mobility impairments mainly rely on vehicles such as wheelchairs for mobility. However, when they need to enter or leave the vehicle, they still need assistance from others or need to turn around, which is very inconvenient. Utility Model Content

[0004] The embodiments of this application aim to provide a manned mobile robot that can improve the current situation where it is very inconvenient to need the assistance of others or to turn around when entering or leaving a vehicle.

[0005] To solve the aforementioned technical problems, this application adopts the following technical solution: a manned mobile robot is provided. The manned mobile robot includes a base, a seat mechanism, a support mechanism, a traveling mechanism, and a control mechanism. The base has a first part and a second part opposite to each other along a preset direction. The seat mechanism is installed in the first part. The support mechanism includes a gripping part and a handle part. Along the preset direction, the gripping part is located in the second part, and the handle part extends from the gripping part toward the seat mechanism. The gripping part is used for a person to grasp when sitting in the seat mechanism. The traveling mechanism is installed on the base and is used to drive the base to move. The base, gripping part, handle part, and seat mechanism together form a cabin. The cabin has an opening near the first part, and the handle part is used for a person to grasp when entering or exiting the cabin through the opening.

[0006] Optionally, the seat mechanism includes a seat body mounted on the base, and along the preset direction, the seat body extends at least partially beyond the handle portion, or the seat body is flush with the handle portion.

[0007] Optionally, the seat body is provided with a first region and a second region along the preset direction. The first region is close to the first part, and the second region is close to the second part. Along the preset direction, the first region extends beyond or is flush with the handle portion. The length of the first region in the preset direction is D1, and the length of the second region in the preset direction is D2. D1 and D2 satisfy: 0≤D1 / (D1+D2)≤0.3.

[0008] Optionally, the gripping portion includes a third region and a fourth region. The third region is disposed along a predetermined direction, and the fourth region is disposed at both ends of the third region along the predetermined direction, extending towards the same side of the third region along the predetermined direction. A first included angle α exists between the third region and the fourth region. The first included angle α satisfies: 60°≤α≤120°. Both the predetermined direction and the predetermined direction are parallel to the base.

[0009] Optionally, the width of the portion of the fourth region closer to the third region in the set direction is D3, and the width of the portion of the fourth region farther from the third region in the set direction is D4. D3 > D4.

[0010] Optionally, the manned mobile robot satisfies at least one of the following conditions: A) In the preset direction, the length between the end of the gripping part away from the cabin and the end of the handle part near the opening is H1, where H1 satisfies: 490mm ≤ H1 ≤ 600mm. B) In the preset direction, the length between the end of the gripping part away from the cabin and the center of the seat mechanism is H2, where H2 satisfies: 350mm ≤ H2 ≤ 450mm. C) In the preset direction, the length between the end of the gripping part away from the cabin and the end of the seat mechanism near the first part is H3, where H3 satisfies: 600mm ≤ H3 ≤ 700mm.

[0011] Optionally, the manned mobile robot satisfies at least one of the following conditions: D) In ​​a predetermined direction, the length between the side of one of the handles away from the cockpit and the center of the seat mechanism is H4, where H4 satisfies: 250mm ≤ H4 ≤ 350mm. E) In the predetermined direction, the maximum distance between the two handles away from the sides of the cockpit is H5, where H5 satisfies: 550mm ≤ H5 ≤ 650mm. The predetermined direction is perpendicular to the preset direction, and both the predetermined direction and the preset direction are parallel to the base.

[0012] Optionally, the support mechanism further includes a support component mounted on the second part and extending along a predetermined direction, with the gripping portion mounted on the end of the support component away from the base. The predetermined direction is perpendicular to both the base and the preset direction.

[0013] Optionally, the base also includes an inclined section located in the first part. The inclined section is tilted relative to the platform surface of the base, and along a predetermined direction, the side of the inclined section closest to the opening of the cabin is farther from the seat than the other side. When the manned mobile robot is stationary, the inclined section is used for a person's feet to step on it to enter or exit the cabin. The predetermined direction is perpendicular to the preset direction and also perpendicular to the base.

[0014] Optionally, the base also includes a step surface, which is arranged along a preset direction and is at least partially located on both sides of the seat mechanism. Along the preset direction, the distance between the end of the inclined portion near the second part and the step surface is Z1, where Z1 satisfies 0 ≤ Z2 ≤ 5 mm; the distance between the end of the inclined portion near the first part and the step surface is Z2, where Z2 satisfies 40 mm ≤ Z2 ≤ 150 mm. The preset direction is perpendicular to the step surface and is perpendicular to the preset direction.

[0015] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides a manned mobile robot. The manned mobile robot includes a base, a seat mechanism, a support mechanism, a traveling mechanism, and a control mechanism. The base has a first part and a second part opposite to each other along a preset direction. The seat mechanism is installed in the first part. The support mechanism includes a gripping part and a handle part. Along the preset direction, the gripping part is located in the second part, and the handle part extends from the gripping part toward the seat mechanism. The gripping part is used for the human body to grasp when sitting in the seat mechanism. The traveling mechanism is installed on the base and is used to drive the base to move. The base, gripping part, handle part, and seat mechanism together form a cabin. The cabin has an opening near the first part, and the handle part is used for the human body to grasp when entering or exiting the cabin through the opening. With this structure, the user can directly enter the cabin through the opening and sit in the seat mechanism; when leaving the cabin, they can directly retreat to the opening to leave the cabin. Compared to other vehicles, there is no need to turn around, which is very convenient. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a manned mobile robot provided in one embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the electrical connection relationship of a manned mobile robot provided in one embodiment of this application;

[0019] Figure 3 This is a perspective view of a manned mobile robot provided in one embodiment of this application;

[0020] Figure 4 This is another perspective view of a manned mobile robot provided in one embodiment of this application;

[0021] Figure 5 This is a top view of a manned mobile robot provided in one embodiment of this application;

[0022] Figure 6 This is a side view of a manned mobile robot provided in one embodiment of this application;

[0023] Figure 7 This is another side view of a manned mobile robot provided in one embodiment of this application;

[0024] Figure 8 This application provides Figure 5 A-section view;

[0025] Figure 9 This is a side view of a manned mobile robot provided in another embodiment of this application;

[0026] Figure 10 This is another side view of a manned mobile robot provided in another embodiment of this application;

[0027] Figure 11 This is a half-sectional schematic diagram of a manned mobile robot provided in another embodiment of this application;

[0028] Figure 12 This application provides Figure 8 Enlarged view of part B;

[0029] Figure 13 This is a perspective view of a guide wheel assembly provided in one embodiment of this application;

[0030] Figure 14This is a top view schematic diagram of a manned mobile robot provided in one embodiment of this application;

[0031] Figure 15 This is a cross-sectional schematic diagram of another half of the manned mobile robot provided in one embodiment of this application.

[0032] The attached figures are labeled as follows:

[0033]

[0034]

[0035] Detailed Implementation

[0036] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0038] This application aims to provide a manned mobile robot 1 for use by middle-aged and elderly people or those with mobility impairments, thereby improving their quality of life. It is understood that the manned mobile robot 1 provided in this application is primarily suitable for indoor environments, but is not limited to indoor use. The specific structure of the manned mobile robot 1 is as follows.

[0039] For the aforementioned manned mobile robot 1, please refer to Figure 1 The manned mobile robot 1 includes: a base 100, a seat mechanism 200, a support mechanism 300, a travel mechanism 400, and a control mechanism 600.

[0040] In some embodiments, please refer to Figure 1The base 100 is provided with a first portion 110 and a second portion 120 facing each other along a preset direction F1. A seat mechanism 200 is mounted on the first portion 110. A support mechanism 300 includes a grip portion 310 and a handle portion 320. Along the preset direction F1, the grip portion 310 is located on the second portion 120, and the handle portion 320 extends from the grip portion 310 toward the seat mechanism 200. The grip portion 310 is used for gripping when a person sits on the seat mechanism 200. A travel mechanism 400 is mounted on the base 100 and is used to drive the base 100 to move. The base 100, grip portion 310, handle portion 320, and seat mechanism 200 together form a cabin 500. The cabin 500 has an opening 510 near the first portion 110, and the handle portion 320 is used for gripping when a person enters the cabin 500 through the opening 510. Compared to other vehicles, there is no need to turn around, which is very convenient.

[0041] 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 gripping part 310 and is used to identify and acquire preset signals. The processor 620 is electrically connected to the traveling mechanism 400 and the control panel 610 and is used to receive preset signals and control the movement of the traveling mechanism 400.

[0042] Based on the above embodiments, it can be seen that when entering the cabin 500 through the opening 510, the user can first support their body by placing their hands on the handles 320, and then step their feet onto the second part 120 of the base 100. The user's hands gradually move towards the grips 310 and sit on the seat mechanism 200. At this time, the hands can hold, support, or grip the grips 310, so that the human body gradually enters the cabin 500 and sits in the seat mechanism 200 in a seated forward-leaning posture. When leaving the cabin 500 through the opening 510, the user can first get up and leave the seat mechanism 200, and then use the grips 310 or handles 320 to help them get up, and leave the cabin 500 through the opening 510 in a direction away from the grips 310. This eliminates the need for the user to perform complex actions such as turning around in the cabin 500 of the manned mobile robot 1. Therefore, the manned mobile robot 1 provided by this application is convenient and reliable. It should be noted that, in actual use, the end of the gripper 310 near the second part 120 is the main contact area with the human body. It is used for the human to hold onto, providing traction through the human arm, thus assisting the user in moving towards the gripper 310 when seated in the seat mechanism 200. This further facilitates entry into the cabin 500, ensuring a stable and safe ride. During the movement of the manned mobile robot 1, the human can rest their arms on the surface of the gripper 310 and / or the handle 320, reducing arm movement and improving the user experience.

[0043] Secondly, when a user is seated in the cockpit 500, they can trigger the control panel 610 located on the gripper 310. This allows the control panel 610 to recognize and acquire preset signals, thereby controlling the movement of the traveling mechanism 400 and ultimately the movement of the manned mobile robot 1. The operation is simple and requires no external force for movement, allowing users to move independently and effectively improving their quality of life.

[0044] For the aforementioned control mechanism 600, please refer to [link / reference]. Figure 1The control mechanism 600 also includes a first button 630, which is mounted on the control panel 610. A preset signal includes a first movement signal. When the first button 630 is triggered, the control panel 610 identifies and acquires the first movement signal, the processor 620 receives the first movement signal, and the processor 620 controls the movement mechanism 400 to move, driving the base 100 to the first target position. It can be understood that a movement route can be preset within the processor 620 so that one first button 630 corresponds to one first target position. The first target position can be any location such as a bathroom, bedroom, living room, or dining room. The number of first buttons 630 can be increased or decreased according to the number of preset first target positions, thus enabling users to reach the corresponding first target position by pressing only one button, reducing the user's operation of the movement mechanism 400, simplifying operation, and improving efficiency. To achieve the aforementioned operation of "reaching the corresponding first target location by pressing only one button," the manned mobile robot 1 provided in this application also includes various sensors, cameras, radar, and other devices. This allows the manned mobile robot 1 to affix dedicated identification markers to the actual path where the first target location is to be set in advance. The sensors and cameras within the manned mobile robot 1 then identify these markers, enabling the traveling mechanism 400 to automatically move according to the path indicated by the identification markers without manual intervention. Alternatively, in some other embodiments, the movement of the traveling mechanism 400 is directed by combining the images captured by the camera and the information captured by the radar.

[0045] 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 movement signal can be issued, which can be any movement signal such as forward, backward, or turning in place.

[0046] Optionally, the first button 630 can be a large button with clear markings, or a button printed with Braille or other markings, to facilitate use by a wider range of users; or, the first button 630 can be an external remote control or other remote control with buttons connected to the grip unit 310. Optionally, the first button 630 can be a physical button or a virtual button on a display screen panel, wherein the display screen panel can be located on the grip unit 310, or can be the display screen of other mobile terminals such as mobile phones or tablets.

[0047] In the embodiments of this application, please refer to Figure 1The manned mobile robot 1 also includes a charging device 700 and an energy storage module 800. The charging device 700 is installed at a second target location outside the intelligent robot, and the energy storage module 800 is installed on the manned mobile robot 1. When the manned mobile robot 1 is at the second target location, the charging device 700 charges the energy storage module 800. The control mechanism 600 also includes a second button 640, which is installed on the control panel 610. The preset signal includes a second movement signal. When the second button 640 is triggered, the control panel 610 recognizes and acquires the second movement signal, the processor 620 receives the second movement signal, and the processor 620 controls the movement of the movement mechanism 400, which drives the base 100 to move to the second target location. It is understood that the energy storage module 800 is used to power the structures in the manned mobile robot 1 that require electricity. The charging device 700 is externally located outside the manned mobile robot 1 and 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 manned mobile robot 1 moves to the second target position, the charging device 700 charges the manned mobile robot 1. It is understood that the energy storage module 800 is a battery, and the energy storage module 800 is housed in the base 100, thereby making full use of the internal space of the base 100. Furthermore, the relatively horizontal internal space of the base 100 facilitates the installation and fixation of the energy storage module 800. With the above structure, when the manned mobile robot 1 needs to be charged, simply pressing the second button 640 will automatically identify and drive the traveling mechanism 400 to move to the second target position, thus achieving automatic charging with just the pressing of the second button 640, simplifying the charging operation and improving efficiency.

[0048] Optionally, please refer to Figure 1 The second button 640 can be a larger button with clear markings, or a button printed with Braille or other markings, to facilitate use by a wider range of users; alternatively, the second button 640 can be an external remote control or other remote control with buttons connected to the grip unit 310. Optionally, the second button 640 can be a physical button or a virtual button on the display screen panel.

[0049] In some embodiments, please refer to Figure 2 The control mechanism 600 also includes an identification module 660, which is connected to the gripping part 310 and electrically connected to the processor 620. The identification module 660 is used to identify preset information. The preset signal includes a first movement signal. When the identification module 660 identifies the preset information, it feeds back the first movement signal to the processor 620. The processor 620 receives the first movement signal and controls the movement mechanism 400 to move, which drives the base 100 to the first target position.

[0050] It is understood that the recognition module 660 can be a mobile smart wearable device such as a glove or bracelet that recognizes body sensation information, or a camera. The user performs a specific action by operating the glove or bracelet, or by facing the camera, so that the recognition module 660 can recognize the preset information formed by the action and then issue a first movement signal. The first target position here is the same as the first target position mentioned above, and will not be repeated here.

[0051] For the aforementioned seat mechanism 200, please refer to Figures 3 to 6 The seat mechanism 200 includes a seat body 210 mounted on a base 100. Along a predetermined direction F1, the seat body 210 at least partially extends beyond the handle portion 320, or the seat body 210 is flush with the handle portion 320. This structure allows the handle portion 320 to be closer to the opening 510 of the cabin 500, facilitating entry into the cabin 500 by contacting the handle portion 320. Furthermore, the relatively long grip portion 310 and handle portion 320 along the predetermined direction F1 provide more space for the user to place their arms, reducing pressure on the user and improving the user experience. Optionally, there may be an angle between the handle portion 320 and the predetermined direction F1. The handle portion 320 may be a straight tube, have a groove for hand gripping, or a cane-like bent structure, thus facilitating user operation. Please refer to the following for details. Figure 5 The seat body 210 extends at least partially beyond the handle portion 320, or is flush with it; and there are two handle portions 320, which are respectively located on both sides of the grip portion 310, so that the two handle portions 320 and the grip portion 310 are roughly arranged in a "C" shape, thereby surrounding 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 handles for assistance when entering or leaving the cabin 500; on the other hand, it can protect the user sitting in the cabin 500 from tipping over or colliding with the environment outside the manned mobile robot 1; and on the other hand, it can provide space for supporting both arms to improve the user's riding experience.

[0052] In some preferred embodiments, please refer to Figure 6The seat body 210 is provided with a first region 211 and a second region 212 along a preset direction F1. The first region 211 is close to the first part 110, and the second region 212 is close to the second part 120. Along the preset direction F1, the first region 211 extends beyond or is flush with the handle portion 320. The length of the first region 211 in the preset direction F1 is D1, and the length of the second region 212 in the preset direction F1 is D2. D1 and D2 satisfy: 0≤D1 / (D1+D2)≤0.3. With the above structure, the handle portion 320 is flush with the first region 322 or the first region 211 extends beyond the handle portion 320, which makes it easier for the user to directly grasp the handle portion 320 when approaching the opening 510 without excessive forward leaning of the body center of gravity. This improves safety and reduces the difficulty for the user to enter the cabin 500. When D1 / (D1+D2) is less than 0, the handle 320 may extend beyond the first area 211, resulting in an excessively long overall structure. This makes it prone to collisions with structures other than the intelligent robot 1. Furthermore, the excessively long lever arm of the handle 320 limits the support it can provide when a person uses it for support, potentially leading to wobbling, bending, or breakage. When D1 / (D1+D2) is greater than 0.3, the handle 320 is too short. This makes it difficult for the user to grip the handle when entering the cockpit 500 and also hinders arm placement while seated. This design not only improves the usability of the handle but also effectively reduces the likelihood of collisions when entering or leaving the cockpit 500.

[0053] In some embodiments, the gripping part 310 includes a third region 311 and a fourth region 312. The third region 311 is disposed along a predetermined direction F2, and the fourth region 312 is disposed at both ends of the third region 311 in the predetermined direction F2, extending along a predetermined direction F1 toward the same side of the third region 311. A first included angle α exists between the third region 311 and the fourth region 312. The first included angle α satisfies: 60°≤α≤120°. Both the predetermined direction F2 and the predetermined direction F1 are parallel to the base 100. It is understood that the handle part 320 is connected to the fourth region 312 to create a smooth transition between the structure of the handle part 320 and the gripping part 310, thereby providing a structure to assist the user's movement at every point when entering or exiting the cockpit 500. Preferably, the first included angle in this application is 90°, that is, the preset direction F1 and the set direction F2 are perpendicular to each other. The connection between the third region 311 and the fourth region 312 is rounded, thereby increasing the space for the user to grip and protecting the user by reducing the possibility of hand collision.

[0054] For the fourth region 312 mentioned above, please refer to Figure 5In conjunction with other accompanying drawings, the width of the portion of the fourth region 312 closest to the third region 311 in the set direction F2 is D3, and the width of the portion of the fourth region 312 furthest from the third region 311 in the set direction F2 is D4. D3 > D4. This makes the portion of the fourth region 312 closest to the third region 311 wider and the portion of the fourth region 312 furthest from the third region 311 narrower, thereby facilitating the user to support or lean on the third region 311 and / or the fourth region 312. It is understood that the uniform transition between the third region 311 and the fourth region 312 not only improves the overall appearance but also reduces the design of corners and increases the rounded design, making it more ergonomic. Optionally, 150mm ≤ D3 ≤ 250mm, 10mm ≤ D4 ≤ 50mm; preferably, D3 is 200mm and D4 is 30mm.

[0055] Please refer to the following for further information. Figure 14 , and in conjunction with other accompanying figures.

[0056] It should be noted that the manned mobile robot 1 satisfies at least one of the following conditions:

[0057] A) In the preset direction F1, the length between the end of the grip 310 away from the cockpit 500 and the end of the handle 320 near the opening 510 is H1, and H1 satisfies: 490mm≤H1≤600mm.

[0058] B) In the preset direction F1, the length between the end of the gripping part 310 away from the cockpit 500 and the center of the seat mechanism 200 is H2, and H2 satisfies: 350mm≤H2≤450mm;

[0059] C) In the preset direction F1, the length between the end of the gripping part 310 away from the cockpit 500 and the end of the seat mechanism 200 near the first part 110 is H3, and H3 satisfies: 600mm≤H2≤700mm.

[0060] Preferably, H1 is 545mm, H2 is 402mm, and H3 is 650mm.

[0061] It should be noted that the manned mobile robot 1 satisfies at least one of the following conditions:

[0062] D) In ​​the set direction F2, the length between the side of the handle part 320 away from the cockpit 500 and the center of the seat mechanism 200 is H4, and H4 satisfies: 250mm≤H4≤350mm;

[0063] E) In the set direction F2, the maximum distance between the two handle parts 320 and the sides of the cockpit 500 is H5, and H5 satisfies: 550mm≤H5≤650mm;

[0064] 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 300mm and H5 is 600mm.

[0065] In conjunction with the optional or preferred embodiments of the handle portion 320 and the grip portion 310 described above, the structure of the handle portion 320 and the grip portion 310 provided in this application can be a structure obtained by combining any of the above embodiments. This application is based on statistical analysis of the body shapes of middle-aged and elderly people to obtain the above ergonomic design, and all combinations of one or more of the above embodiments are within the scope of protection of this application.

[0066] In conjunction with the above embodiments and preferred embodiments, the seat mechanism 200 is arranged along the extension of the center line of the third region 311 in the preset direction F1, so that the seat mechanism 200 can be located in the middle of the third region 311, so that when a person sits on the seat mechanism 200, the distance from both arms to the gripping parts 310 or handle parts 320 on both sides is equal, thereby improving the user experience.

[0067] In the embodiments of this application, please refer to Figure 3 The support mechanism 300 also includes a support component 330, which is mounted on the second part 120 and extends along a predetermined direction F3. A gripping part 310 is mounted on the end of the support component 330 away from the base 100. The predetermined direction F3 is perpendicular to the base 100 and perpendicular to a preset direction F1. It is understood that the support component 330 is supported in the middle of the third region 311 to stabilize the structure of the support mechanism 300.

[0068] In addition to the above design, this application also considers the inconvenience for middle-aged and elderly people or those with mobility impairments when entering or leaving the cabin 500 by placing both feet on the platform 100. Therefore, this application also provides the following design.

[0069] In some embodiments, please refer to Figure 6 The base 100 is also provided with an inclined section 130, which is located in the first part 110. The inclined section 130 is inclined relative to the platform surface of the base 100, and along a predetermined direction F3, the side of the inclined section 130 closest to the opening 510 of the cabin 500 is farther away from the seat than the other side. When the manned mobile robot 1 is stationary, the inclined section 130 is used for the user's feet to step on to enter or exit the cabin 500. The predetermined direction F3 is perpendicular to the preset direction F1 and to the base 100. It can be understood that "when the manned mobile robot 1 is stationary" allows the user to enter or leave the cabin 500, and the inclined section 130 at this time can effectively facilitate the user's feet to step on it and assist the user in further climbing onto the base 100.

[0070] It should be noted that the inclined portion 130 can be a fixed structure fixed to the base 100, that is, the inclined portion 130 is provided on the base 100 near the second part 120; or the inclined portion 130 can be a movable, mobile, or flip-up structure, and when the manned mobile robot 1 is stationary, the inclined portion 130 exists for the human's feet to step on. It can be understood that the inclined portion 130 can be a plane, a curved surface, or a surface with multiple anti-slip ridges or anti-slip dots. Preferably, the inclined portion 130 is a plane.

[0071] Further, please refer to Figure 5 and Figure 6 The base 100 is also provided with a stepping surface 140, which is set along a preset direction F1 and is at least partially located on both sides of the seat mechanism 200. Along the preset direction F3, the distance between the end of the inclined portion 130 near the second portion 120 and the stepping surface 140 is Z1, where Z1 satisfies 0 ≤ Z2 ≤ 5 mm. The distance between the end of the inclined portion 130 near the first portion 110 and the stepping surface 140 is Z2, where Z2 satisfies 40 mm ≤ Z2 ≤ 150 mm. The preset direction is perpendicular to the stepping surface and is perpendicular to the preset direction. Preferably, Z1 is 0 mm and Z2 is 100 mm. In some preferred embodiments, when Z1 is 0 mm and Z2 is 100 mm, the inclined portion 130 is a plane, such that the angle between the stepping surface 140 and the plane containing the inclined portion 130 is a second angle β, where the second angle β satisfies 0 ≤ β ≤ 30°. Preferably, β is 18°. It can be understood that "the footing surface 140 is at least partially located on both sides of the seat mechanism 200" means that the footing surface 140 can be arranged around the base 100, or it can be the base 100 arranged only on both sides of the seat mechanism 200, so as to facilitate the placement of the feet when the human body straddles or squats on the seat mechanism 200.

[0072] In some embodiments, please refer to Figure 3 The base 100 is also provided with a protective part 160 and a clearance part 170. The protective part 160 protrudes from the outer periphery of the base 100 relative to the stepping surface 140. When the user's foot steps on the stepping surface 140, the protective part 160 serves two purposes: firstly, to prevent the user's foot from slipping off the stepping surface 140 and creating a safety hazard; secondly, to prevent the user's foot from colliding with other structures outside the manned mobile robot 1 when it is moving. The clearance part 170 is located at the connection between the stepping surface and the inclined part 130. The clearance part 170 provides space for the wheels of the traveling mechanism 400 to be installed, thereby reducing the distance between the base 100 and the ground and further improving the stability of the manned mobile robot 1.

[0073] Based on the above design of the manned mobile robot 1, since this application is mainly intended for use by the elderly or people with mobility impairments, its safety needs to be further improved. To enhance the safety of the manned mobile robot 1, this application also incorporates the following design features, please refer to [link / reference]. Figure 6 and Figure 7 , and in conjunction with other accompanying figures.

[0074] 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 support mechanism 300. By providing the backrest 220, the user can lean against the backrest 220 when sitting on the seat body 210, thereby reducing the stress on the user's back, lumbar spine, and other parts of the body, thus improving the user's experience. Furthermore, since the backrest 220, along with the handle 320 and the grip 310, surrounds the user sitting on the seat body 210, the safety of the manned mobile robot 1 is further improved.

[0075] In some embodiments, the backrest 220 can move relative to the seat body 210 along a preset direction F1 between a first preset position and a second preset position. 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 is not obstructed when entering or leaving the cabin 500, reducing the difficulty of entering or leaving the cabin 500 and improving the user experience.

[0076] Regarding how the backrest 220 moves between the first and second preset positions, the seat mechanism 200 of this application further includes a first drive assembly 230. The first drive assembly 230 includes a driver 231 and a mounting assembly 232. The driver 231 is mounted on the base 100 and drives the mounting assembly 232 to move between the first and second preset positions. The mounting assembly 232 is used to mount the backrest 220. The driver 231 drives the mounting assembly 232, thereby driving the backrest 220 to move between the first and second preset positions. It is understood that the movement of the backrest 220 between the first and second preset positions can be linear, curved, or other irregular trajectories. As long as it does not hinder the user from entering or leaving the cabin 500, or prevent the backrest 220 from colliding with other structures during movement, the movement trajectory of the backrest 220 is not limited here.

[0077] Preferably, please refer to Figure 8 The driver 231 includes a first motor 2311, which is mounted on the base 100. The mounting assembly 232 includes a first guide 2321 and a first mounting member 2322. The first guide 2321 is positioned along a predetermined direction F3, and the first mounting member 2322 slides relative to the first guide 2321 along the predetermined direction F3. The backrest 220 is mounted on the first mounting member 2322. It is understood that the first motor 2311 may include a servo motor, a linear motor, a stepper motor, or a motor. The first guide 2321 provides guidance so that the first mounting member 2322 moves linearly along the predetermined direction F3 under the drive of the first motor 2311. By setting the linear movement between a first preset position and a second preset position, the movement speed is increased, saving the time for the backrest 220 to move between the two preset positions, thereby improving the user experience.

[0078] In other embodiments, the first mounting component 2322 can be moved between the first preset position and the second preset position through a linkage structure. The linkage structure can be designed to extend or retract the length of one of the linkages according to the actual usage environment, thereby adjusting the distance between the backrest 220 and the third area 311 to accommodate the backrest 220 tilt angle requirements of users of different sizes.

[0079] In some other alternative embodiments, please refer to Figures 9 to 11 In conjunction with other accompanying drawings, this application also provides a technical solution to enable the backrest 220 to move between a first preset position and a 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 mounting member 243. The second motor 241 is mounted 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 mounting member 243. The backrest 220 is mounted on the second mounting member 243. The second motor 241 drives the rotating shaft 242 to rotate, and the rotating shaft 242 drives the second mounting member 243 to rotate relative to the seat body 210, thereby enabling the backrest 220 to move between the first preset position and the second preset position. That is, this application also provides a rotatable backrest 220 design to achieve the above-mentioned movement.

[0080] For the aforementioned backrest 220, please refer to Figure 8 and Figure 12The backrest 220 includes a cushion 221 and a support frame 222, with the support frame 222 mounted on the first mounting member 2322 and the cushion 221 mounted on the support frame 222. It is 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 or cloth. This adapts to the usage habits of different users, prevents users from being allergic to certain materials, improves the user experience, and enhances the comfort of leaning against the cushion.

[0081] Further, please refer to Figure 3 The seat body 210 includes a saddle 213 and a seat cushion 214. The seat cushion 214 is mounted on the saddle 213, which is mounted on the base 100. The saddle 213 and the base 100 together enclose a receiving space. A first motor 2311, a first guide member 2321, and a first mounting member 2322 are housed within the receiving space. A support frame 222 extends from the first mounting member 2322 out of the receiving space. By housing the aforementioned drive structures within the receiving space, the exposed movable structures outside the saddle 213 are reduced, thereby preventing the human body or clothing worn by the user from becoming entangled or stuck in the movable structures, reducing safety hazards. Accordingly, 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 or cloth. This adapts to the usage habits of different users, prevents users from being allergic to certain materials, improves the user experience, and enhances seating comfort.

[0082] Please refer to the above embodiments. Figure 8 The support frame 222 will be further described below, in conjunction with other accompanying drawings. 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 mounted on the first mounting member 2322 and at least partially 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 mounted on the second mounting portion 2223. The first mounting portion 2221 is closer to the support mechanism 300 than the second mounting portion 2223, and the connecting portion 2222 is inclined relative to the plane of the base 100. The inclined support frame 222 can fully utilize the space in the human waist area, making the support of the seat cushion 214 and backrest 221 more ergonomically designed. In some embodiments, a pad for supporting the human waist can be added to the connecting portion 2222, thereby further improving the wrapping effect on the human body, which can improve comfort and further protect the human body.

[0083] It is worth noting that the angle between the surface of the backrest 221 that contacts the human body and the surface of the seat cushion 214 that contacts the human body can be between 80° and 130°, thus adapting to the different requirements of users for the seating environment within the cabin 500. Optionally, the distance between the backrest 221 and the third area 311 is between 300mm and 600mm. Preferably, the distance between the backrest 221 and the third area 311 is 460mm, where 460mm can accommodate the seating environment of most middle-aged and elderly people.

[0084] Regarding the distance between the backrest 221 and the base 100, in the first preset position, the distance between the backrest 220 and the base 100 is A1, where A1 satisfies: 350mm ≤ A1 ≤ 550mm. In the second preset position, the distance between the backrest 220 and the base 100 is A2, where A2 satisfies: 150mm ≤ A2 ≤ 300mm. The distance between the seat cushion 214 and the base 100 is A3, where A3 satisfies: 10mm ≤ A3 ≤ 400mm. Preferably, A1 is 476mm and A2 is 226mm. Wherein, when A3 is 10mm, it is the distance when the seat mechanism 200 provided in this application further includes the second drive assembly 240, and the backrest 220 is rotated to the side closer to the base 100. This ensures that in the first preset position, the backrest 220 can be used for human support, and in the second preset position, the backrest 221 does not obstruct the user from entering or leaving the seat cabin 500.

[0085] In some embodiments, please refer to Figure 8 The height of the seat mechanism 200 relative to the base 100 is adjustable to accommodate users of different body types. Optionally, the seat mechanism 200 also includes a third drive assembly 250, which is mounted on the base 100 or the seat body 210 and is used to drive the seat body 210 closer to or further away from the base 100. The third drive mechanism is housed in the saddle 213 and is located below the seat body 210, thereby facilitating the raising or lowering of the seat body 210.

[0086] In some embodiments, please refer to Figure 8The figures are shown in conjunction with other accompanying drawings. To accommodate users of different body types, the height of the support mechanism 300 relative to the base 100 is also adjustable. Optionally, this application also provides that the support mechanism 300 further includes a fourth drive assembly 340. The gripping part 310 is mounted on the base 100, and the fourth drive assembly 340 is mounted on either the gripping part 310 or the base 100. The fourth drive assembly 340 is used to drive the gripping part 310 closer to or further away from the base 100. In conjunction with the above embodiments, the fourth drive assembly 340 is installed within the support assembly 330, and the fourth drive assembly 340 drives the support assembly 330 to extend or retract. This allows the height of the gripping part 310 relative to the base 100 to be adjustable, thereby accommodating users of different body types.

[0087] It is understood that the third drive assembly 250 is housed within the saddle 213 and the fourth drive assembly 340 is housed within the support assembly 330, thereby reducing the structure of the third drive assembly 250 or the fourth drive assembly 340 exposed to the outside, and thus reducing safety hazards.

[0088] In addition, based on the above embodiments, when the manned mobile robot 1 includes one or more of the aforementioned drive components, the first drive component 230, the third drive component 250, and the fourth drive component 340 are independently controlled and move; correspondingly, the second drive component 240, the third drive component 250, and the fourth drive component 340 are also independently controlled and move, thus facilitating individual control of each drive component. This is to adapt to users of different body sizes and improve the user experience.

[0089] In this application embodiment, to further improve the functionality of the backrest 220, in some usage scenarios, the backrest 220 needs to first contact other structures besides the human-carrying mobile robot 1 to stop the robot. For example, when the first target location is a toilet in a bathroom or a bed in a bedroom, the second part 120 of the robot needs to approach the toilet or bed first to facilitate the user leaving the cabin 500. To this end, this application also provides the following technical solutions, please refer to [link / reference]. Figure 12 , and in conjunction with other accompanying figures.

[0090] In some embodiments, the manned mobile robot 1 further includes a further improved seat mechanism 200 and a processor 620. 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 located on the side of the seat body 210 facing away from the support mechanism 300. The backrest 220 includes a backrest base 224 and a trigger 223, which is mounted on the side of the backrest base 224 facing away from the support mechanism 300. The processor 620 is mounted on the base 100, and the trigger 223 is electrically connected to the processor 620. The traveling mechanism 400 is also electrically connected to the processor 620. When the trigger 223 detects that the distance between itself and an object other than the manned mobile robot 1 is less than a preset threshold, the trigger 223 sends an electrical signal to the processor 620, which then controls the traveling mechanism 400 to stop moving. Through the design of the trigger unit 223, manual stopping is achieved without the need for manual operation. When the trigger unit 223 on the backrest 220 detects a value below a preset threshold, it will automatically stop, simplifying operation and improving the user experience. At the same time, when the manned mobile robot 1 stops automatically, the backrest 220 moves from a first preset position to a second preset position to prevent obstruction of the user from leaving the cabin 500.

[0091] Optionally, the trigger unit 223 may be an infrared sensor or a radar sensor.

[0092] In conjunction with the above embodiments, the backrest 220 also 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.

[0093] Since most users are middle-aged and elderly people or those with mobility issues, using mechanical physical buttons is safer. Therefore, in some embodiments, the backrest base 224 has an opening 2241, and the trigger part 223 includes an abutment 2231 and a guide post 2232. The guide post 2232 passes through the opening 2241 and is inserted into the cushion 221. The abutment 2231 is installed on the side of the guide post 2232 facing away from the cushion 221, and the abutment 2231 can slide relative to the cushion 221 along the guide post 2232. That is, by setting the abutment 2231 as a physical button, the stability of the structure is ensured, without relying on distance determination by sensors, thus improving the safety of the manned mobile robot 1.

[0094] Furthermore, the backrest 220 also includes an elastic element 225, which is wound around the guide post 2232. One end of the elastic element 225 abuts against the abutment member 2231, and the other end abuts against the cushion 221. By providing the elastic element 225, the abutment member 2231 can automatically reset when it leaves a structure other than the aforementioned toilet or bed, which is a human-carrying mobile robot 1. Optionally, the elastic element 225 includes a tension spring, a compression spring, a spring sheet, etc.

[0095] In other embodiments, please refer to Figure 15 The trigger unit 223 includes a contact part 2233 and a membrane switch 2234. The membrane switch 2234 is mounted on the side of the support frame 222 away from the cushion 221. The contact part 2233 covers the membrane switch 2234, and the membrane switch 2234 is electrically connected to the processor. It should be noted that the contact part 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, linen, plastic, silicone, etc. It is understood that the membrane switch 2234 can be a spring or other material that will deform under pressure, thereby feeding back an electrical signal to the processor 620. Accordingly, when the membrane switch 2234 deforms to identify that the distance between itself and other objects outside the intelligent mobile robot 1 is less than a preset threshold, the threshold being 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. The design of the membrane switch 2234 eliminates the need for manual operation to stop the robot. When the membrane switch 2234 on the backrest 220 detects a value below a preset threshold, it will automatically stop the robot, simplifying operation and improving the user experience. Simultaneously, when the intelligent mobile robot 1 stops automatically, the backrest 220 moves from a first preset position to a second preset position to prevent obstruction of the user's exit from the cabin 500.

[0096] Regarding the aforementioned backrest cushion 221, this application also provides the following design to enhance the user experience. The backrest cushion 221 is provided with a first support portion 2211 and two second support portions 2212. The second support portions 2212 are located on both sides of the first support portion 2211, along a preset direction F1, with the first support portion 2211 positioned away from the seat mechanism 200 relative to the second support portions 2212. This results in the backrest cushion 221 being concave in an arc shape, conforming to the curved surface of the human back, meeting ergonomic design requirements, and thus improving user comfort.

[0097] In some embodiments, the length of the backrest 220 in the set direction F2 is A4, where A4 satisfies: 150mm ≤ A4 ≤ 300mm. The length A4 of the backrest 220 is the length between its two ends, and the backrest 220 can be recessed. This provides support for the back or waist of the human body, allowing the body to lean against it and providing support for the waist or back from both sides.

[0098] In conjunction with the above embodiments, when the manned mobile robot 1 stops, it is also necessary to remind the user that it has come to a complete stop and that they can leave the cabin 500. The manned mobile robot 1 provided in this application also includes a feedback mechanism 900. The feedback mechanism 900 is electrically connected to the processor 620. When the trigger unit 223 detects that the distance between itself and other objects outside the manned mobile robot 1 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 user that the distance between the trigger unit 223 and other objects outside the manned mobile robot 1 is too close.

[0099] In some embodiments, please refer to Figure 2 The feedback mechanism 900 includes a sound-emitting component 910, which is used to remind a human body through sound that the manned mobile robot 1 has stopped and can leave the cabin 500. Optionally, the sound-emitting component 910 includes a buzzer, a speaker, etc. Optionally, the sound-emitting component 910 can be installed at any location on the manned mobile robot 1, such as on the support mechanism 300, the control panel 610, or the seat mechanism 200. In this embodiment, the sound-emitting component 910 is located at the lower part of the seat mechanism 200. Optionally, the sound reminder of the sound-emitting component 910 includes playing music, playing a prompt tone, or playing a pre-recorded human voice message, such as parking music, a beeping prompt tone, or a human voice message saying "The vehicle has stopped and you can get off."

[0100] In other embodiments, please refer to Figure 2 The feedback mechanism 900 includes a vibration mechanism 920, which is mounted on the support mechanism 300 or the seat body 210. The vibration mechanism 920 alerts the human body by vibrating at least a portion of the support mechanism 300 or at least a portion of the seat body 210. The vibration mechanism 920 is designed so that users with low hearing sensitivity can receive tactile alertness through vibration. Specifically, a vibration motor or similar device can be used for the vibration alert. Preferably, the vibration mechanism 920 is located on the grip portion 310 or the handle portion 320, thereby directly providing tactile feedback through the human hand or arm.

[0101] It is understandable that in actual use, the aforementioned feedback mechanism 900 may be one or a combination of two of them.

[0102] For the aforementioned traveling mechanism 400, please refer to [link / reference needed]. Figure 4 and Figure 13 The wheel assembly 420 includes a drive wheel assembly 421 and a guide wheel assembly 422. The drive wheel assembly 421 is connected to the drive motor 410. The drive wheel assembly 421 is positioned opposite each other on both sides of the chassis 150 along a set direction F2, and the guide wheel assembly 422 is positioned at both ends of the chassis 150 along a preset direction F1. In this embodiment, the application scenarios are mostly in narrow indoor spaces, requiring a more flexible steering design. Therefore, the drive wheel assembly 421 in this application is a differential wheel system. By adjusting the speed and / or rotation direction of the two wheels in the drive wheel assembly 421, turning or U-turns can be achieved. At the same time, since the manned mobile robot 1 in this application achieves turning through a differential wheel system, the gripping part 310 and the handle part 320 will not move relative to the seat mechanism 200 during turning, thereby preventing the gripping part 310 and the handle part 320 from colliding with the human body and causing discomfort. The guide wheel assembly 422 is designed to address potential obstacles such as door frames in indoor environments. By incorporating the guide wheel assembly 422, the stability of the manned mobile robot 1 can be maintained while improving the obstacle-crossing performance of the traveling mechanism 400.

[0103] Specifically, please refer to Figure 4 The diagram is shown in conjunction with other accompanying drawings. There are three guide wheel sets 422 and two drive wheel sets 421. The drive wheel sets 421 are positioned opposite each other on both sides of the chassis 150 along a predetermined direction F2 and along a predetermined direction F1. One of the guide wheel sets 422 is installed at the end of the chassis 150 near the first part 110, and the other two guide wheel sets 422 are installed at the end of the base plate 150 near the second part 120. The two guide wheel sets 422 are positioned opposite each other along the predetermined direction F2, thus making the manned mobile robot 1 move more smoothly.

[0104] For guide wheel set 422, please refer to Figure 13The guide wheel assembly 422 includes a guide wheel 4221, a wheel frame 4222, a fixed shaft 4223, and an elastic body 4224. The wheel frame is mounted on the chassis 150, the guide wheel 4221 is mounted on the wheel frame, the fixed shaft 4223 passes through the connection between the guide wheel 4221 and the wheel frame, and the elastic body 4224 is disposed between the guide wheel 4221 and the wheel frame. The guide wheel 4221 can move closer to or away from the wheel frame around the fixed shaft 4223. That is, when encountering obstacles on the ground such as door frames, the drive wheel assembly 421 drives the intelligent robot to move. When the guide wheel 4221 is obstructed, the elastic body 4224 is compressed, causing the guide wheel 4221 to move closer to the wheel frame 4222 around the fixed shaft 4223 to pass through the obstacles such as door frames. After passing through, the elastic body 4224 returns to its original position, so that the guide wheel 4221 continues to contact the ground to stabilize the entire manned mobile robot 1.

[0105] Understandably, in order to enable the manned mobile robot 1 to move to the first target position or the second target position, the manned mobile robot 1 also includes multiple sensors 1000, including but not limited to one or more of infrared sensors 1000, radar sensors 1000, and vision sensors 1000. Furthermore, for functions such as user health measurement, a temperature sensor 1000 may also be provided to measure ambient temperature or human body temperature.

[0106] It is understood that one or more of the above embodiments can be combined to obtain multiple embodiments of this application.

[0107] This application aims to provide a manned mobile robot 1, which includes a base 100, a seat mechanism 200, a support mechanism 300, and a traveling mechanism 400. The base 100 has a first portion 110 and a second portion 120 facing each other along a preset direction F1. The seat mechanism 200 is mounted on the first portion 110. The support mechanism 300 includes a gripping portion 310 and a handle portion 320. Along the preset direction F1, the gripping portion 310 is located on the second portion 120, and the handle portion 320 extends from the gripping portion 310 toward the seat mechanism 200. The gripping portion 310 is used for a person to grip when sitting on the seat mechanism 200. The traveling mechanism 400 is mounted on the base 100 and is used to drive the base 100 to move. The base 100, gripping part 310, handle part 320, and seat mechanism 200 together form a cabin 500. The cabin 500 has an opening 510 near the first part 110. The handle part 320 is used to grip when a person enters the cabin 500 through the opening 510. With the above structure, when a user enters the manned mobile robot 1, they first support their body by holding onto the handle part 320, and then gradually move from the opening 510 to enter the cabin 500. When entering the seat mechanism 200, they can lie down or support themselves on the gripping part 310. Compared to riding a wheelchair, there is no need to turn around, which is very convenient.

[0108] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A manned mobile robot, characterized in that, include: The base is provided with a first part and a second part that are opposite each other along a preset direction; The seat mechanism is installed in the first part; The support mechanism includes a grip portion and a handle portion. Along a preset direction, the grip portion is disposed in the second part, and the handle portion extends from the grip portion toward the seat mechanism. The grip portion is used for a person to grip when sitting on the seat mechanism. A traveling mechanism is mounted on the base, and the traveling mechanism is used to drive the base to move; The base, grip, handle, and seat mechanism together form a cabin, which has an opening near the first part, and the handle is used to grip when a person enters or exits the cabin through the opening.

2. The manned mobile robot according to claim 1, characterized in that, The seat mechanism includes a seat body, which is mounted on the base and extends at least partially beyond the handle along the preset direction. or, The seat body is flush with the handle.

3. The manned mobile robot according to claim 2, characterized in that, The seat body is provided with a first region and a second region along the preset direction. The first region is close to the first part, and the second region is close to the second part. Along the preset direction, the first region extends beyond or is flush with the handle portion. The length of the first region in the preset direction is D1, and the length of the second region in the preset direction is D2. D1 and D2 satisfy: 0≤D1 / (D1+D2)≤0.

3.

4. The manned mobile robot according to claim 1, characterized in that, The gripping part includes a third region and a fourth region. The third region is disposed along a predetermined direction, and the fourth region is disposed at both ends of the third region in the predetermined direction. The fourth region extends along the predetermined direction toward the same side of the third region, and there is a first included angle α between the third region and the fourth region. The first included angle α satisfies: 60°≤α≤120°; The set direction and the preset direction are both parallel to the base.

5. The manned mobile robot according to claim 4, characterized in that, The width of the portion of the fourth region closer to the third region in the set direction is D3, and the width of the portion of the fourth region farther from the third region in the set direction is D4. D3 > D4.

6. The manned mobile robot according to claim 1, characterized in that: The manned mobile robot satisfies at least one of the following conditions: A) In the preset direction, the length between the end of the grip portion away from the cockpit and the end of the handle portion near the opening is H1, where H1 satisfies: 490mm≤H1≤600mm; B) In the preset direction, the length between the end of the gripping part away from the cockpit and the center of the seat mechanism is H2, where H2 satisfies: 350mm≤H2≤450mm; C) In the preset direction, the length between the end of the gripping part away from the cockpit and the end of the seat mechanism near the first part is H3, where H3 satisfies: 600mm≤H3≤700mm.

7. The manned mobile robot according to claim 1, characterized in that: The manned mobile robot satisfies at least one of the following conditions: D) In ​​the set direction, the length between the side of one of the handle portions away from the cockpit and the center of the seat mechanism is H4, where H4 satisfies: 250mm≤H4≤350mm; E) In the set direction, the length of the maximum distance between the two handle portions away from the side of the cockpit 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.

8. The manned mobile robot according to any one of claims 1-7, characterized in that, The support mechanism further includes a support component mounted on the second part and extending in a predetermined direction, wherein the gripping part is mounted on the end of the support component away from the base. The predetermined direction is a direction that is perpendicular to the base and perpendicular to the preset direction.

9. The manned mobile robot according to any one of claims 1-7, wherein the base is further provided with an inclined portion, the inclined portion is disposed in the first part, the inclined portion is inclined relative to the platform surface of the base, and, along a predetermined direction, the side of the inclined portion near the opening of the cabin is farther away from the seat from the other side, and when the manned mobile robot is stationary, the inclined portion is used for the feet of a human 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.

10. The manned mobile robot according to any one of claims 1-7, characterized in that, The base is also provided with a stepping surface, which is arranged along a preset direction and is located at least partially on both sides of the seat mechanism; Along a predetermined direction, the distance between the end of the inclined portion near the second part and the stepping surface is Z1, where Z1 satisfies 0 ≤ Z2 ≤ 5 mm; the distance between the end of the inclined portion near the first part and the stepping surface is Z2, where Z2 satisfies 40 mm ≤ Z2 ≤ 150 mm. The predetermined direction is perpendicular to the stepping surface, and the predetermined direction is perpendicular to the preset direction.

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