Intelligent mobile robot

Abstract

The embodiment of the utility model relates to the technical field of manned shifting robots, and particularly discloses an intelligent mobile robot. The intelligent robot comprises a cabin mechanism, an advancing mechanism and a first sensor. Wherein the advancing mechanism comprises a chassis, a guide wheel set, a driving wheel set and a balance wheel set, the chassis is arranged in the preset direction, the seat assembly is installed on the chassis, in the preset direction, the guide wheel set and the balance wheel set are arranged on the two sides of the driving wheel set respectively, and the balance wheel set can reciprocate in the set direction. The first sensor is used for identifying the ground or obstacles. And when the advancing mechanism is in the first preset state, the intelligent mobile robot is parked. When the advancing mechanism is in the second preset state and the intelligent mobile robot needs to cross the obstacle, the balance wheel set reciprocates in the set direction to abut against the ground or the obstacle. When the advancing mechanism is in a third preset state, the guide wheel set and the driving wheel set abut against the ground. By means of the structure, the stability of the intelligent mobile robot in the advancing process is improved.

Description

Technical Field

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

[0002] In the process of developing this application, the inventors discovered that: Currently, displacement robots need to provide assistance to people with mobility impairments in various environments. While most displacement robots on the market use shock-absorbing mechanisms for their wheels to maintain operational stability, these mechanisms, due to their inherent physical characteristics, still result in some degree of bumpiness during operation. Utility Model Content

[0003] This application provides an intelligent mobile robot that can improve the current situation where the displacement robot still experiences bumps during operation due to the physical characteristics of the current shock absorption mechanism.

[0004] To solve the aforementioned technical problems, this application adopts the following technical solution: A smart robot is provided, comprising a cockpit mechanism, a travel mechanism, and a first sensor. The cockpit mechanism includes a handle assembly, a seat assembly, and a backrest assembly, which together form the cockpit. Along a predetermined direction, at least a portion of the handle assembly is disposed opposite to the backrest assembly on both sides of the seat assembly. The backrest assembly is movably mounted on the seat assembly and is used to open or close the cockpit. The travel mechanism includes a chassis, a guide wheel assembly, a drive wheel assembly, and a balance wheel assembly. The chassis is disposed along a predetermined direction, and the seat assembly is mounted on the chassis. Along the predetermined direction, the guide wheel assembly and the balance wheel assembly are respectively disposed on both sides of the drive wheel assembly. The balance wheel assembly can reciprocate along a set direction. The first sensor is mounted on the chassis and is used to identify the ground or obstacles. The predetermined direction, the set direction, and the pre-determined direction are all perpendicular to each other. The traveling mechanism can switch between any of the following three preset states: In the first preset state, the balancing wheel assembly moves along the set direction until the guide wheel assembly, drive wheel assembly, and balancing wheel assembly all contact the ground, and the intelligent mobile robot parks. In the second preset state, when the intelligent mobile robot needs to cross an obstacle, the balancing wheel assembly moves back and forth along the set direction and contacts the ground or obstacle, while the guide wheel assembly and drive wheel assembly also contact the ground or obstacle. In the third preset state, the balancing wheel assembly moves along the set direction until it leaves the ground, while the guide wheel assembly and drive wheel assembly contact the ground.

[0005] In one or more embodiments, the balance wheel assembly includes a motor and balance wheels. The motor is mounted on the chassis, and the balance wheels are mounted on the motor. The motor can drive the balance wheels to reciprocate along a predetermined direction. In the first preset state or the second preset state, the motor drives the balance wheels to move closer to the ground along the predetermined direction. In the third preset state, the motor drives the balance wheels to move away from the ground along the predetermined direction.

[0006] In one or more embodiments, the balancing wheel assembly further includes a second sensor, a first balancing bracket, and a second balancing bracket. The first balancing bracket is mounted on the chassis along the predetermined direction, and the second sensor is mounted on the first balancing bracket. The first balancing bracket has a balancing opening along the predetermined direction. The second balancing bracket is connected to the motor, and the balancing wheel is mounted on the second balancing bracket. The second balancing bracket also has an extension portion, which at least partially passes through the balancing opening. The second sensor is used to measure the distance between the second sensor and the extension portion. The second balancing bracket can reciprocate along the predetermined direction under the drive of the motor, and the extension portion and the balancing wheel can reciprocate along the predetermined direction with the second balancing bracket.

[0007] In one or more embodiments, the balance wheel assembly further includes a limiting block, the limiting block being disposed perpendicular to the set direction, the limiting block being mounted on the first balance bracket, and the limiting block being used to limit the displacement of the extension within the balance opening in the set direction.

[0008] In one or more embodiments, the intelligent mobile robot further includes a plurality of third sensors, which are mounted on at least one of the handle assembly, seat assembly, and backrest assembly. Each third sensor includes an elastic housing, a first contact member, and a second contact member. The elastic housing is hollow and has an elastic cavity and first and second walls on opposite sides of the cavity. The first contact member is disposed on the first wall, and the second contact member is disposed on the second wall. The third sensor is triggered when the elastic housing is subjected to pressure and the distance between the first and second contact members is less than a threshold value.

[0009] In one or more embodiments, the handle assembly includes a handle frame and a cover plate. The handle frame is reciprocating relative to the chassis along a predetermined direction. The handle frame has a mounting opening facing the chassis, and the cover plate is movably mounted in the mounting opening. The cover plate is movable relative to the handle frame along the predetermined direction. A third sensor is installed between the handle frame and the cover plate. A first wall surface is disposed near the handle frame, and a second wall surface is disposed near the cover plate. When the handle frame moves towards the chassis along the predetermined direction and the cover plate contacts a human body, the third sensor is triggered, and the handle frame stops moving towards the chassis.

[0010] In one or more embodiments, the cockpit mechanism further includes a foot pedal assembly, the foot pedal assembly including a foot pedal platform mounted on the side of the chassis near the handle assembly, the foot pedal platform supporting the human foot, and a third sensor mounted on the foot pedal platform; and / or, the seat assembly including a saddle and a seat cushion, the saddle mounted on the side of the foot pedal platform opposite to the chassis, the seat cushion mounted on the saddle, the seat cushion supporting the human buttocks and part of the legs, and another third sensor mounted on the seat cushion; and / or, the backrest assembly including a backrest, along the preset direction, the backrest and the handle assembly mounted opposite each other on both sides of the seat assembly, the backrest supporting the human back, waist, etc., and yet another third sensor mounted on the backrest.

[0011] In one or more embodiments, the seat assembly includes a saddle and a seat cushion. The saddle is mounted on the side of the footrest platform opposite to the chassis, and the seat cushion is mounted on the saddle. The seat cushion also has a relief ramp along a predetermined direction. The relief ramp is located at the end of the seat cushion opposite to the backrest assembly and is located on both sides of the seat cushion. The thickness of the relief ramp near the edge of the seat cushion is less than the thickness of the relief ramp near the center of the seat cushion. The relief ramp is used to support the legs of the human body.

[0012] In one or more embodiments, the intelligent robot further includes a motherboard and a voice interaction module. The voice interaction module includes a voice recognition module, a natural language processing module, a voice synthesis module, and a speaker. The motherboard is mounted on the cockpit mechanism, and the voice interaction module is mounted on the motherboard. The voice recognition module and the speaker are at least partially exposed outside the cockpit mechanism. The voice recognition module, the natural language processing module, and the voice synthesis module are electrically connected to each other, and the natural language processing module, the voice synthesis module, and the speaker are electrically connected to the motherboard. The voice interaction module is used to wake up or control the intelligent mobile robot by voice.

[0013] In one or more embodiments, the handle assembly includes a handle frame, a handrail portion, and a handle portion. The handle frame is reciprocating relative to the chassis along a predetermined direction. The handrail portion extends from the handle frame along the predetermined direction. The handle portion is located at the end of the handrail portion away from the handle frame. The thickness of the handle portion in the predetermined direction is greater than the thickness of the handrail portion in the predetermined direction.

[0014] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides an intelligent mobile robot. The intelligent robot includes a cockpit mechanism, a traveling mechanism, and a first sensor. The cockpit mechanism includes a handle assembly, a seat assembly, and a backrest assembly, which together form the cockpit. Along a preset direction, at least a portion of the handle assembly is disposed opposite to the backrest assembly on both sides of the seat assembly. The backrest assembly is movably mounted on the seat assembly and is used to open or close the cockpit. The traveling mechanism includes a chassis, a guide wheel assembly, a drive wheel assembly, and a balance wheel assembly. The chassis is disposed along a predetermined direction, and the seat assembly is mounted on the chassis. Along the preset direction, the guide wheel assembly and the balance wheel assembly are respectively disposed on both sides of the drive wheel assembly. The balance wheel assembly can reciprocate along a set direction. The first sensor is mounted on the chassis and is used to identify the ground or obstacles. The preset direction, the predetermined direction, and the set direction are all perpendicular to each other. The traveling mechanism can switch between any of the following three preset states: In the first preset state, the balancing wheel assembly moves along the set direction until the guide wheel assembly, drive wheel assembly, and balancing wheel assembly all contact the ground, and the intelligent mobile robot is parked. In the second preset state, when the intelligent mobile robot needs to cross an obstacle, the balancing wheel assembly moves back and forth along the set direction and contacts the ground or obstacle, while the guide wheel assembly and drive wheel assembly also contact the ground or obstacle. In the third preset state, the balancing wheel assembly moves along the set direction until it leaves the ground, while the guide wheel assembly and drive wheel assembly contact the ground. Through this structure, the mobile robot can improve parking stability using the first preset state when parked, and can travel using the third preset state when driving. When the first sensor detects an obstacle, the mobile robot switches to the second preset state to ensure smooth operation when crossing obstacles. This improves the stability of the intelligent mobile robot during travel. Attached Figure Description

[0015] 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.

[0016] Figure 1 This is a perspective view of an intelligent mobile robot provided in one embodiment of this application;

[0017] Figure 2 This is a perspective view of a balance wheel assembly provided in one embodiment of this application;

[0018] Figure 3 This is a partial exploded view of a balance wheel assembly provided in one embodiment of this application;

[0019] Figure 4 This is a perspective view of the third sensor provided in one embodiment of this application;

[0020] Figure 5 This application provides Figure 4 Sectional view of side A;

[0021] Figure 6 This is another partially exploded view of a balance wheel assembly provided in one embodiment of this application;

[0022] Figure 7 This is a diagram showing the relationship between the motherboard and the voice interaction module provided in one embodiment of this application.

[0023] The attached figures are labeled as follows:

[0024] Detailed Implementation

[0025] 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.

[0026] 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.

[0027] Currently, intelligent mobile robots are used for indoor mobility for people with mobility impairments, and some devices can move outdoors. The structures that enable movement in these devices include wheelsets and shock-absorbing mechanisms, with the shock-absorbing mechanism positioned between the wheelsets and the robot's chassis. When encountering special terrain or obstacles, the springs in the shock-absorbing mechanism compress and deform to withstand more pressure, then return to their original position through their elasticity after leaving the terrain. However, this structure is prone to problems when traversing special terrain or obstacles; the elasticity of the shock-absorbing mechanism can lead to insufficient support from the wheelsets for the intelligent mobile robot, causing the rider to experience a bumpy or unstable ride.

[0028] Based on the above issues, please refer to Figure 1This application provides an intelligent mobile robot 1, which includes a cockpit mechanism 1000, a traveling mechanism 2000, and a first sensor 3000. The cockpit mechanism 1000 includes a handle assembly 1100, a seat assembly 1200, and a backrest assembly 1300. The handle assembly 1100, seat assembly 1200, and backrest assembly 1300 together form a cockpit. Along a preset direction X, at least a portion of the handle assembly 1100 is disposed opposite to the backrest assembly 1300 on both sides of the seat assembly 1200. The backrest assembly 1300 is movably mounted on the seat assembly 1200 and is used to open or close the cockpit. The traveling mechanism 2000 includes a chassis 2100, a guide wheel assembly 2200, a drive wheel assembly 2300, and a balance wheel assembly 2400. The chassis 2100 is positioned along a predetermined direction Y, and the seat assembly 1200 is mounted on the chassis 2100 along a predetermined direction X. The guide wheel assembly 2200 and the balance wheel assembly 2400 are respectively positioned on both sides of the drive wheel assembly 2300, and the balance wheel assembly 2400 can reciprocate along a predetermined direction Z. A first sensor 3000 is mounted on the chassis 2100 and is used to identify the ground or obstacles. The predetermined directions X, Y, and Z are mutually perpendicular. The traveling mechanism 2000 can switch between any of the following three preset states: In the first preset state, the balance wheel assembly 2400 moves along the predetermined direction Z until the guide wheel assembly 2200, drive wheel assembly 2300, and balance wheel assembly 2400 all contact the ground, and the intelligent mobile robot 1 is parked. In the second preset state, when the intelligent mobile robot 1 needs to cross an obstacle, the balance wheel assembly 2400 reciprocates along the set direction Z and abuts against the ground or the obstacle, while the guide wheel assembly 2200 and the drive wheel assembly 2300 abut against the ground or the obstacle. In the third preset state, the balance wheel assembly 2400 moves along the set direction Z until it leaves the ground, while the guide wheel assembly 2200 and the drive wheel assembly 2300 abut against the ground.

[0029] It is worth mentioning that the handle assembly 1100 is generally arranged in a bent "冂" shape, and the backrest assembly 1300 is arranged at the opening of the "冂" shape. When the backrest assembly 1300 opens the cockpit, the user enters the cockpit through the opening of the "冂" shape, and the closed end of the handle assembly 1100 is the forward direction of the intelligent mobile robot 1. That is, the user enters or leaves the cockpit from the rear of the intelligent mobile robot 1, so that the user can sit on the seat assembly 1200 without turning around or performing other actions, which is convenient for use. Based on this, the three preset states provided in this application optimize the traveling mechanism 2000 of the intelligent mobile robot 1. The vehicle stability of the intelligent mobile robot 1 during parking and obstacle crossing is improved through the above first preset state and second preset state, and the traveling efficiency of the intelligent mobile robot 1 is improved through the third preset state during continuous traveling. The above set direction Z is the direction perpendicular to the ground, and the preset direction X is the forward or backward direction of the linear traveling of the mobile robot. It can be understood that the guide wheel set 2200 is a universal wheel, and the drive wheel set 2300 can be a drive wheel set 2300 that only drives the vehicle forward or backward, or can drive the intelligent mobile robot 1 to move forward, backward or turn through a differential gear train. Optionally, the first sensor 3000 includes an RGBD vision sensing camera, a millimeter wave radar, etc. The surrounding environment of the intelligent mobile robot 1 is captured by the RGBD vision sensing camera, which is convenient for identifying whether there are special terrains or obstacles on the traveling route. It can be understood that the first sensor 3000 can be installed on at least one of the front, side or rear of the intelligent mobile robot 1.

[0030] Through the above structure, the intelligent mobile robot 1 can improve the vehicle parking stability through the first preset state when parking, and the intelligent mobile robot 1 can travel through the third preset state when driving. When the first sensor 3000 identifies an obstacle, the intelligent mobile robot 1 switches to the second preset state, so that the intelligent mobile robot 1 can run smoothly when crossing the obstacle. Thus, the stability of the intelligent mobile robot 1 during traveling is improved.

[0031] In some embodiments, please refer to Figure 2In conjunction with other accompanying drawings, the balance wheel assembly 2400 includes a motor 2410 and a balance wheel 2420. The motor 2410 is mounted on the chassis 2100, and the balance wheel 2420 is mounted on the motor 2410. The motor 2410 can drive the balance wheel 2420 to reciprocate along a set direction Z. In a first preset state or a second preset state, the motor 2410 drives the balance wheel 2420 to move closer to the ground along the set direction Z. In a third preset state, the motor 2410 drives the balance wheel 2420 to move away from the ground along the set direction Z. That is, by controlling the balance wheel 2420 to always be in contact with the ground in the first and second preset states through the motor 2410, support is provided for the intelligent mobile robot 1, and the stability of the intelligent mobile robot 1 is improved through the precise control of the motor 2410. Optionally, the motor 2410 includes at least one of a servo motor 2410, a linear motor 2410, etc. The number of the aforementioned guide wheel set 2200, drive wheel set 2300 and balance wheel 2420 can be multiple, thereby improving the travel stability of the intelligent mobile robot 1.

[0032] Further, please refer to Figure 2 In conjunction with other accompanying drawings, the balance wheel assembly 2400 further includes a second sensor 2430, a first balance bracket 2440, and a second balance bracket 2450. The first balance bracket 2440 is mounted on the chassis 2100 along a predetermined direction Z. The second sensor 2430 is mounted on the first balance bracket 2440. The first balance bracket 2440 has a balance opening 2441 along the predetermined direction Z. The second balance bracket 2450 is connected to the motor 2410. The balance wheel 2420 is mounted on the second balance bracket 2450. The second balance bracket 2450 also has an extension 2451, which at least partially passes through the balance opening 2441. The second sensor 2430 is used to measure the distance between the second sensor 2430 and the extension 2451. The second balance bracket 2450 can reciprocate along the predetermined direction Z under the drive of the motor 2410. The extension 2451 and the balance wheel 2420 can reciprocate along the predetermined direction Z with the second balance bracket 2450. Optionally, the second sensor 2430 includes at least one of an infrared sensor, a distance sensor, etc. The balancing opening 2441 effectively restricts the movement of the extension 2451, preventing the extension 2451 from disengaging from the balancing opening 2441 and causing the second sensor 2430 to malfunction. It is understood that by setting the second sensor 2430, the intelligent robot can receive feedback on the current movement distance of the balancing wheel 2420 in the set direction Z, thereby determining the remaining distance the balancing wheel 2420 needs to move. This allows for more precise control of the position of the balancing wheel 2420.

[0033] Furthermore, please refer to Figure 2In conjunction with other accompanying drawings, the balance wheel assembly 2400 also includes a limiting block 2460, which is positioned perpendicular to the set direction Z. The limiting block 2460 is mounted on the first balance bracket 2440 and is used to limit the displacement of the extension 2451 within the balance opening 2441 in the set direction Z. It is understood that the distance between the limiting block 2460 and the second sensor 2430 is less than the distance between the end of the balance opening 2441 furthest from the second sensor 2430 and the second sensor 2430, thereby preventing the extension 2451 from directly contacting the edge of the balance opening 2441 and causing failure.

[0034] In the embodiments of this application, please refer to Figures 3 to 5In conjunction with other accompanying drawings, this application also provides a third sensor 4000. The intelligent mobile robot 1 further includes multiple third sensors 4000, each mounted on at least one of the handle assembly 1100, seat assembly 1200, and backrest assembly 1300. Each third sensor 4000 includes an elastic housing 4100, a first contact 4200, and a second contact 4300. The elastic housing 4100 is hollow and has an elastic cavity 4110, as well as first walls 4120 and second walls 4130 on opposite sides of the elastic cavity 4110. The first contact 4200 is disposed on the first wall 4120, and the second contact 4300 is disposed on the second wall 4130. When the elastic housing 4100 is compressed and the distance between the first contact 4200 and the second contact 4300 is less than a threshold value, the third sensor 4000 is triggered. The elastic outer shell 4100 is convex or cross-shaped. The elastic cavities 4110 on both sides and in the middle contract when the elastic outer shell 4100 is under force. The distance between the first contact 4200 and the second contact 4300 can be zero (meaning the first contact 4200 and the second contact 4300 contact to trigger the third sensor 4000), or the threshold can be a distance greater than zero, allowing the first contact 4200 and the second contact 4300 to approach each other without contact to trigger the third sensor 4000. When the elastic outer shell 4100 is not under force, it opens, and the distance between the first contact 4200 and the second contact 4300 is greater than the threshold, thus disconnecting the third sensor 4000. It is understood that the first contact 4200 and the second contact 4300 can be metal conductors or magnetic components. Whether the distance between the first contact 4200 and the second contact 4300 meets the threshold is determined by detecting whether current is flowing or a magnetic field is detected. It should be noted that the aforementioned third sensor 4000 differs from conventional infrared sensors in that it can reduce sensor size and achieve structural miniaturization. This allows the third sensor 4000 to be placed in a small area of ​​the intelligent mobile robot 1, increasing the detectable area of ​​the intelligent mobile robot 1, improving its ability to acquire information about the user's status, and enhancing the intelligence of the intelligent mobile robot 1.

[0035] Based on the aforementioned third sensor 4000, please refer to Figure 3In conjunction with other accompanying drawings, the handle assembly 1100 includes a handle frame 1110 and a cover plate 1120. The handle frame 1110 is reciprocating relative to the chassis 2100 in a predetermined direction Z. The handle frame 1110 has a mounting opening 1111 facing the chassis 2100. The cover plate 1120 is movably mounted in the mounting opening 1111 and is movable relative to the handle frame 1110 in the predetermined direction Z. A third sensor 4000 is installed between the handle frame 1110 and the cover plate 1120. A first wall surface 4120 is located near the handle frame 1110, and a second wall surface 4130 is located near the cover plate 1120. When the handle frame 1110 moves closer to the chassis 2100 in the predetermined direction Z until the cover plate 1120 contacts a human body, the third sensor 4000 is triggered, and the handle frame 1110 stops moving closer to the chassis 2100. That is, when the handle frame 1110 moves close to the chassis 2100, the first cover plate 1120 contacts the human's leg, so that the first cover plate 1120 moves relative to the interior of the mounting opening 1111, thereby squeezing the third sensor 4000. When the intelligent mobile robot 1 detects that the third sensor 4000 is triggered, the handle frame 1110 stops moving, or moves away from the chassis 2100 after stopping, thereby preventing the handle frame 1110 from pinching the leg, thus improving the safety of the intelligent mobile robot 1.

[0036] In some embodiments, please refer to Figure 6 In conjunction with other accompanying drawings, the cockpit mechanism 1000 also includes a footrest assembly 1400, which includes a footrest platform 1410 mounted on the side of the chassis 2100 near the handle assembly 1100. The footrest platform 1410 supports the user's feet, and a third sensor 4000 is mounted on the footrest platform 1410; and / or, the seat assembly 1200 includes a saddle 1210 and a seat cushion 1220, with the saddle 1210 mounted on the footrest platform 1410 away from the chassis. On one side of the disc 2100, a seat cushion 1220 is mounted on the saddle 1210. The seat cushion 1220 supports the buttocks and part of the legs of the human body. Another third sensor 4000 is mounted on the seat cushion 1220. And / or, the backrest assembly 1300 includes a backrest cushion 1310. Along a preset direction X, the backrest cushion 1310 and the handle assembly 1100 are mounted opposite each other on both sides of the seat assembly 1200. The backrest cushion 1310 supports the back and waist of the human body. Yet another third sensor 4000 is mounted on the backrest cushion 1310. That is, the third sensor 4000 can be used to identify whether the human body's feet are on the footrest platform 1410 and / or whether the human body's buttocks or legs are on the seat cushion 1220 and / or whether the human body's back or waist is on the backrest cushion 1310, thereby enabling the intelligent robot to confirm whether the human body's current posture is in the cabin and whether the human body's current posture is safe.

[0037] In some embodiments, please refer to Figure 6In conjunction with other accompanying drawings, the seat assembly 1200 includes a saddle 1210 and a seat cushion 1220. The saddle 1210 is mounted on the side of the footrest platform 1410 opposite to the chassis 2100, and the seat cushion 1220 is mounted on the saddle 1210. The seat cushion 1220 is also provided with a relief ramp 1230. Along a predetermined direction X, the relief ramp 1230 is located at the end of the seat cushion 1220 opposite to the backrest assembly 1300. Along a predetermined direction Y, the relief ramp 1230 is located on both sides of the seat cushion 1220. The thickness of the portion of the relief ramp 1230 near the edge of the seat cushion 1220 is less than the thickness of the portion of the relief ramp 1230 near the center of the seat cushion 1220. The relief ramp 1230 is used to support the legs of the human body. By providing the aforementioned relief ramp 1230, the legs of the human body near the buttocks can be placed on the relief ramp 1230, further improving the riding comfort of the seat cushion 1220.

[0038] In some embodiments, please refer to Figure 7 In conjunction with other accompanying drawings, the intelligent mobile robot 1 also includes a motherboard 5000 and a voice interaction module 6000. The voice interaction module 6000 includes a voice recognition module 6100, a natural language processing module 6200, a voice synthesis module 6300, and a speaker 6400. The motherboard 5000 is mounted on the cockpit mechanism 1000, and the voice interaction module 6000 is mounted on the motherboard 5000. The voice recognition module 6100 and the speaker 6400 are at least partially exposed outside the cockpit mechanism 1000. The voice recognition module 6100, the natural language processing module 6200, and the voice synthesis module 6300 are electrically connected, and the natural language processing module 6200, the voice synthesis module 6300, and the speaker 6400 are electrically connected to the motherboard 5000. The voice interaction module 6000 is used for voice wake-up or control of the intelligent mobile robot 1. In other words, users can control the intelligent mobile robot 1 to move from other locations to their vicinity, or to carry the user to different areas, by interacting with the voice interaction module 6000. This simplifies user operation and improves the user experience.

[0039] In some embodiments, please review Figure 1In conjunction with other accompanying drawings, the handle assembly 1100 includes a handle frame 1110, an armrest portion 1130, and a handle portion 1140. The handle frame 1110 is reciprocating relative to the chassis 2100 along a predetermined direction Z. The armrest portion 1130 extends from the handle frame 1110 along a predetermined direction X. The handle portion 1140 is located at the end of the armrest portion 1130 away from the handle frame 1110. The thickness of the handle portion 1140 in the predetermined direction Z is greater than the thickness of the armrest portion 1130 in the predetermined direction Z. By providing the handle portion 1140, a person can grasp the handle portion 1140 when entering the cabin, assisting the user in entering the cabin. The surface of the handle portion 1140 may also be provided with a concave-convex structure, thereby increasing the friction between the human hand and the handle portion 1140, making it easier for the human to use.

[0040] This application aims to provide an intelligent mobile robot 1, which, unlike the prior art, includes a cockpit mechanism 1000, a traveling mechanism 2000, and a first sensor 3000. The cockpit mechanism 1000 includes a handle assembly 1100, a seat assembly 1200, and a backrest assembly 1300. The handle assembly 1100, seat assembly 1200, and backrest assembly 1300 together form a cockpit. Along a preset direction X, at least a portion of the handle assembly 1100 is disposed opposite to the backrest assembly 1300 on both sides of the seat assembly 1200. The backrest assembly 1300 is movably mounted on the seat assembly 1200 and is used to open or close the cockpit. The traveling mechanism 2000 includes a chassis 2100, a guide wheel assembly 2200, a drive wheel assembly 2300, and a balance wheel assembly 2400. The chassis 2100 is positioned along a predetermined direction Y, and the seat assembly 1200 is mounted on the chassis 2100 along a predetermined direction X. The guide wheel assembly 2200 and the balance wheel assembly 2400 are respectively positioned on both sides of the drive wheel assembly 2300, and the balance wheel assembly 2400 can reciprocate along a predetermined direction Z. A first sensor 3000 is mounted on the chassis 2100 and is used to identify the ground or obstacles. The predetermined directions X, Y, and Z are mutually perpendicular. The traveling mechanism 2000 can switch between any of the following three preset states: In the first preset state, the balance wheel assembly 2400 moves along the predetermined direction Z until the guide wheel assembly 2200, drive wheel assembly 2300, and balance wheel assembly 2400 all contact the ground, and the intelligent mobile robot 1 is parked. In the second preset state, when the intelligent mobile robot 1 needs to cross an obstacle, the balance wheel assembly 2400 reciprocates along the set direction Z and abuts against the ground or obstacle, while the guide wheel assembly 2200 and drive wheel assembly 2300 abut against the ground or obstacle. In the third preset state, the balance wheel assembly 2400 moves along the set direction Z until it leaves the ground, while the guide wheel assembly 2200 and drive wheel assembly 2300 abut against the ground. Through this structure, the intelligent mobile robot 1 can improve parking stability in the first preset state when parking, and can move in the third preset state when driving. When the first sensor 3000 detects an obstacle, the intelligent mobile robot 1 switches to the second preset state to ensure smooth operation when crossing obstacles. This improves the stability of the intelligent mobile robot 1 during movement.

[0041] 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. An intelligent mobile robot, characterized in that, include: A cockpit mechanism includes a handle assembly, a seat assembly, and a backrest assembly, which together form a cockpit. Along a predetermined direction, at least a portion of the handle assembly is disposed opposite to the backrest assembly on both sides of the seat assembly. The backrest assembly is movably mounted to the seat assembly and is used to open or close the cockpit. The traveling mechanism includes a chassis, a guide wheel assembly, a drive wheel assembly, and a balance wheel assembly. The chassis is arranged in a predetermined direction, and the seat assembly is mounted on the chassis. Along the predetermined direction, the guide wheel assembly and the balance wheel assembly are respectively arranged on both sides of the drive wheel assembly, and the balance wheel assembly can reciprocate in a predetermined direction. as well as A first sensor, mounted on the chassis, is used to identify the ground or obstacles; Wherein, the preset direction, the predetermined direction, and the set direction are all perpendicular to each other; The traveling mechanism can switch between any of the first preset state, the second preset state, and the third preset state: In the first preset state, the balance wheel assembly moves along the set direction until the guide wheel assembly, drive wheel assembly, and balance wheel assembly all abut against the ground, and the intelligent mobile robot parks itself. In the second preset state, when the intelligent mobile robot needs to cross an obstacle, the balance wheel set moves back and forth along the set direction and abuts against the ground or the obstacle, and the guide wheel set and drive wheel set abut against the ground or the obstacle; In the third preset state, the balance wheel assembly moves along the set direction until it leaves the ground, and the guide wheel assembly and drive wheel assembly abut against the ground.

2. The intelligent mobile robot according to claim 1, characterized in that, The balance wheel assembly includes a motor and balance wheels. The motor is mounted on the chassis, and the balance wheels are mounted on the motor. The motor can drive the balance wheels to reciprocate along the set direction. In either the first preset state or the second preset state, the motor drives the balance wheel to move closer to the ground along the set direction; In the third preset state, the motor drives the balance wheel to move away from the ground along the set direction.

3. The intelligent mobile robot according to claim 2, characterized in that, The balance wheel assembly also includes a second sensor, a first balance bracket, and a second balance bracket. The first balance bracket is mounted on the chassis along the set direction, the second sensor is mounted on the first balance bracket, and the first balance bracket has a balance opening along the set direction. The second balance bracket is connected to the motor, the balance wheel is mounted on the second balance bracket, the second balance bracket is also provided with an extension, the extension at least partially passing through the balance opening, the second sensor is used to measure the distance between the second sensor and the extension, the second balance bracket can reciprocate along the set direction under the drive of the motor, and the extension and the balance wheel can reciprocate along the set direction with the second balance bracket.

4. The intelligent mobile robot according to claim 3, characterized in that, The balance wheel assembly also includes a limiting block, which is arranged perpendicular to the set direction and is mounted on the first balance bracket. The limiting block is used to limit the displacement of the extension in the set direction within the balance opening.

5. The intelligent mobile robot according to claim 1, characterized in that, The intelligent mobile robot also includes multiple third sensors, which are installed in at least one of the handle assembly, seat assembly, and backrest assembly. The third sensor includes an elastic shell, a first contact and a second contact. The elastic shell is hollow and has an elastic cavity and a first wall and a second wall on opposite sides of the elastic cavity. The first contact is disposed on the first wall and the second contact is disposed on the second wall. The third sensor is triggered when the elastic shell is compressed and the distance between the first contact and the second contact is less than a threshold.

6. The intelligent mobile robot according to claim 5, characterized in that, The handle assembly includes a handle frame and a cover plate. The handle frame can reciprocate relative to the chassis in the set direction. The handle frame has an installation opening facing the chassis. The cover plate is movably installed in the installation opening and can move relative to the handle frame in the set direction. The third sensor is installed between the handle frame and the cover plate, with the first wall surface located close to the handle frame and the second wall surface located close to the cover plate; When the handle frame moves close to the chassis along the set direction and the cover plate comes into contact with the human body, the third sensor is triggered, and the handle frame stops moving close to the chassis.

7. The intelligent mobile robot according to claim 5, characterized in that, The cockpit mechanism also includes a foot pedal assembly, which includes a foot pedal platform mounted on the side of the chassis near the handle assembly. The foot pedal platform supports the user's feet, and a third sensor is mounted on the foot pedal platform; and / or, The seat assembly includes a saddle and a seat cushion. The saddle is mounted on the side of the footrest platform opposite to the chassis, and the seat cushion is mounted on the saddle. The seat cushion is used to support the human buttocks and part of the legs. Another third sensor is mounted on the seat cushion. And / or, The backrest assembly includes a cushion, which is mounted on both sides of the seat assembly opposite to the handle assembly along the preset direction. The cushion is used to support the back and waist of the human body, and a third sensor is mounted on the cushion.

8. The intelligent mobile robot according to claim 7, characterized in that, The seat cushion is also provided with a relief slope. Along the preset direction, the relief slope is provided at the end of the seat cushion away from the backrest assembly. Along the predetermined direction, the relief slope is located on both sides of the seat cushion. The thickness of the portion of the relief slope near the edge of the seat cushion is less than the thickness of the portion of the relief slope near the middle of the seat cushion. The relief slope is used to support the human leg.

9. The intelligent mobile robot according to any one of claims 1-7, characterized in that, The intelligent mobile robot also includes a motherboard and a voice interaction module. The voice interaction module includes a voice recognition module, a natural language processing module, a voice synthesis module, and a speaker. The motherboard is mounted on the cockpit mechanism, and the voice interaction module is mounted on the motherboard. The voice recognition module and the speaker are at least partially exposed outside the cockpit mechanism. The voice recognition module, the natural language processing module, and the voice synthesis module are electrically connected to each other, and the natural language processing module, the voice synthesis module, and the speaker are electrically connected to the motherboard. The voice interaction module is used to wake up or control the intelligent mobile robot by voice.

10. The intelligent mobile robot according to any one of claims 1-7, characterized in that, The handle assembly includes a handle frame, a handrail portion, and a handle portion. The handle frame can reciprocate relative to the chassis along the set direction. The handrail portion extends from the handle frame along the preset direction. The handle portion is located at the end of the handrail portion away from the handle frame. The thickness of the handle portion in the set direction is greater than the thickness of the handrail portion in the set direction.

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