Intelligent interactive walking assisting robot for global scene

Abstract

The utility model discloses an intelligent interactive walking assisting robot for a global scene, and relates to the technical field of artificial intelligence, robot technology and intelligent home furnishing, the intelligent interactive walking assisting robot comprises a chassis module, the upper end of the chassis module is respectively provided with an intelligent seat module and a mechanical arm module, and the chassis module comprises a chassis frame body; the intelligent seat module comprises a getting-up mechanism, a backrest adjusting mechanism and an interaction control mechanism; universal wheels are arranged at the four end corners of the bottom end of the chassis frame body, fixing frames are symmetrically installed at the center of the bottom end of the chassis frame body, a hub motor is fixed to the inner side of each fixing frame, and a driving wheel is fixed to the output end of each hub motor; the getting-up mechanism comprises an electric lifting column; the backrest adjusting mechanism comprises a cushion. The intelligent interaction walking assisting robot for the global scene provided by the utility model integrates the functions of voice recognition, stable movement and visual interaction, and aims to provide comprehensive intelligent service for home life.

Description

Technical Field

[0001] This utility model relates to the fields of artificial intelligence, robotics, and smart home technology, and in particular to an intelligent interactive auxiliary robot for use in all-domain scenarios. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, the application of intelligent service robots in home environments is experiencing significant breakthroughs. Especially against the backdrop of an increasingly aging global population, the demand for service robots with autonomous mobility and intelligent interaction capabilities is growing rapidly.

[0003] Currently, intelligent robot technology encompasses multiple fields, including speech recognition, robot control, visual recognition, and autonomous navigation. Among these, navigation technology is crucial for achieving autonomous robot movement, and its core includes environmental perception, path planning, localization, and navigation control. In terms of environmental perception, robots use sensors such as LiDAR and cameras to perceive their surroundings in real time, identifying and tracking the position and dynamic changes of obstacles. Path planning algorithms, based on environmental maps and target locations, comprehensively consider factors such as obstacle avoidance, safety, and travel efficiency to plan the optimal path for the robot, ensuring safe and efficient navigation. Localization technology, by fusing data from multiple sensors, such as inertial navigation, GPS positioning, and visual positioning, ensures that the robot can accurately locate itself in complex environments, avoiding errors and deviations. The navigation control system dynamically adjusts the robot's speed and steering based on path planning and localization information to ensure its safe and stable movement along the planned path.

[0004] By comprehensively utilizing these advanced technologies, robots can autonomously navigate and perform tasks in various complex environments, such as cargo transportation, personnel guidance, emotional communication, and companionship for the elderly. This provides intelligent services for homes and other application scenarios, significantly improving users' quality of life and work efficiency. The application of this technology is particularly important in home-based elderly care services, greatly enhancing the quality of life for the elderly and those with mobility impairments, providing more convenient life assistance and health monitoring. Furthermore, the modular design of the robot offers unlimited possibilities for future functional expansion, possessing broad market prospects and social value. Therefore, this application proposes an intelligent interactive assistive robot for all-domain scenarios. Utility Model Content

[0005] Based on this, an intelligent interactive assistive robot for all scenarios is provided.

[0006] The present invention adopts the following technical solution:

[0007] A smart interactive mobility assistance robot for all scenarios, which is applied to provide comprehensive life assistance and health monitoring services for the elderly and people with disabilities;

[0008] The system includes a chassis module, with an intelligent seat module and a robotic arm module respectively mounted on the upper end of the chassis module. The chassis module includes a chassis frame, and the intelligent seat module includes a standing mechanism, a backrest adjustment mechanism, and an interactive control mechanism.

[0009] Universal wheels are provided at the four corners of the bottom of the chassis frame. Fixed frames are symmetrically installed at the center of the bottom of the chassis frame. A hub motor is fixed inside each fixed frame, and a drive wheel is fixed at the output end of the hub motor.

[0010] The lifting mechanism includes an electric lifting column. An electric lifting column is fixed at the center of the upper end of the chassis frame. An adjuster lower shell is fixed at the telescopic end of the electric lifting column. An adjuster upper shell is provided at the upper end of the adjuster lower shell. The backrest adjustment mechanism is located at the upper end of the adjuster upper shell.

[0011] The adjustable backrest mechanism includes a seat cushion, the upper end of the upper shell of the adjuster is fixed with the seat cushion, the upper end of the seat cushion is provided with a backrest, and the interactive control mechanism is located on the outside of the seat cushion and the backrest.

[0012] As a preferred embodiment of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model, a base plate is fixed to the upper end of the chassis frame and outside the electric lifting column, a chassis shell is provided at the upper end of the base plate and outside the electric lifting column, the chassis shell is fixed to the chassis frame, the bottom end of the robotic arm module is fixed to the chassis frame, and the robotic arm module is located at the upper end of the chassis shell.

[0013] As a preferred embodiment of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model, a reduction motor is installed inside the lower shell of the regulator, and an electric push rod housing is fixed to the output end of the reduction motor. An electric inner push rod is provided inside the electric push rod housing. The end of the electric inner push rod away from the electric push rod housing is fixed to the upper shell of the regulator. The upper shell of the regulator and the lower shell of the regulator are rotatably connected. A four-corner rotating connector is provided on the inner side between the lower shell of the regulator and the upper shell of the regulator.

[0014] As a preferred embodiment of the intelligent interactive assistive robot for all-area scenarios provided by this utility model, a receiving component is fixed at the center of the end of the seat far from the robotic arm module. A height adjustment component is provided at the upper end of the receiving component. An angle adjustment slat is provided on the inner side of the receiving component. A drive motor is provided on the inner side of the angle adjustment slat. A mounting component is provided on the outer side of the receiving component. The backrest is fixed to the mounting component. A safety belt is provided at the end of the seat near the receiving component and at the lower end of the backrest.

[0015] As a preferred embodiment of the intelligent interactive assistive robot for all-area scenarios provided by this utility model, a first side frame and a second side frame are respectively fixed on both sides of the seat cushion.

[0016] As a preferred embodiment of the intelligent interactive assistive robot for all-area scenarios provided by this utility model, the interactive control mechanism includes a control joystick and a control button. The upper end of the first side frame is provided with a control joystick, the upper end of the second side frame is provided with a control button, and a support arm is fixed to the upper end of the second side frame away from the backrest. A display interactive screen is installed on the upper end of the support arm, and a camera with a microphone is installed on the upper end of the display interactive screen.

[0017] As a preferred embodiment of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model, a 3D radar is installed on the inner side of the chassis frame near the end of the robotic arm module.

[0018] As a preferred embodiment of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model, a depth camera is provided at the upper end of the 3D radar, and the depth camera is fixedly installed on the chassis frame.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] This utility model provides an intelligent interactive walking robot for all-area scenarios, integrating voice recognition, stable movement, and intuitive interaction functions, aiming to provide comprehensive intelligent services for home life. Its built-in voice recognition technology allows users to easily interact with the robot, while the chassis module, combined with a depth camera and 3D radar, enables the robot to move freely and navigate accurately; the interactive display screen provides users with clear and intuitive information. Whether as a home assistant, entertainment companion, or fall detection, this robot creates a convenient and intelligent home experience for users. Furthermore, the robot is equipped with a robotic arm module, further enhancing its functionality. The robotic arm module can perform tasks such as long-distance object grasping, delivery, and fine manipulation according to user instructions, helping users better cope with inconveniences in daily life, specifically in the following aspects:

[0021] 1. Multifunctionality: This robot possesses a variety of practical functions, including home assistant, entertainment companion, fall detection, autonomous navigation, voice control, and grasping operations. It can provide users with comprehensive assistance in daily life, such as reminding them of schedules and checking the weather. It can also serve as an entertainment companion, playing music and telling jokes to meet diverse user needs. Simultaneously, the robotic arm module can help users grasp distant objects or perform rehabilitation assistance tasks, improving their quality of life.

[0022] 2. Intelligent Interaction: The robot has a built-in voice recognition system, allowing users to easily interact with it via voice commands without any manual operation. This design greatly enhances user convenience and the naturalness of the interaction, making it easier for users to communicate and interact with the robot.

[0023] 3. Autonomous Navigation: The robot possesses autonomous navigation capabilities, automatically selecting the optimal path based on environmental conditions, avoiding obstacles, and achieving precise movement and navigation. This intelligent feature enhances the robot's adaptability and navigation efficiency, ensuring its flexible and efficient operation in various home environments;

[0024] 4. Intelligent Grasping: The robot's robotic arm module can perform tasks such as remote object grasping, delivery, and precise operation according to user instructions. The robotic arm module can assist users in carrying everyday items, turning on and off electrical appliances, reducing the inconvenience caused by mobility impairments. It also provides rehabilitation assistance functions to help users train their arm movements and improve their daily living abilities. Attached Figure Description

[0025] To more clearly illustrate the solutions in this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the overall structure of the intelligent interactive assistive robot for all-domain scenarios provided by this utility model;

[0027] Figure 2 A structural schematic diagram of the intelligent interactive auxiliary robot chassis module for all-domain scenarios provided by this utility model;

[0028] Figure 3 A schematic diagram of the structure of the chassis shell of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model;

[0029] Figure 4 A structural schematic diagram of the electric lifting column of the intelligent interactive auxiliary robot for all-domain scenarios provided by this utility model;

[0030] Figure 5 A schematic diagram of the structure between the lower shell and the upper shell of the regulator for the intelligent interactive auxiliary robot used in all-domain scenarios provided by this utility model.

[0031] Figure 6 This utility model provides a structural diagram of the backrest adjustment mechanism and the interactive control mechanism of an intelligent interactive auxiliary robot for all-domain scenarios.

[0032] The markings in the diagram are explained as follows:

[0033] 1. Chassis module; 2. Smart seat module; 3. Robotic arm module; 4. Chassis frame; 5. Casters; 6. Base plate; 7. Fixing frame; 8. Hub motor; 9. Drive wheel; 10. Chassis shell; 11. Electric lifting column; 12. Adjuster lower shell; 13. Gear motor; 14. Electric push rod shell; 15. Electric inner push rod; 16. Adjuster upper shell; 17. Four corner rotating connectors; 18. Seat cushion; 19. Support piece; 20. Angle adjustment swivel; 21. Drive motor; 22. Height adjustment piece; 23. Mounting piece; 24. Backrest; 25. Seat belt; 26. First side frame; 27. Second side frame; 28. Control joystick; 29. ​​Control button; 30. Support arm; 31. Display screen; 32. Camera with microphone; 33. Depth camera; 34. 3D radar. Detailed Implementation

[0034] As described in the background section, in order to significantly improve the quality of life for the elderly, people with mobility impairments, and other groups, and to provide more convenient life assistance and health monitoring, this application proposes an intelligent interactive mobility assistance robot for all-domain scenarios.

[0035] To solve this technical problem, this utility model provides an intelligent interactive assistive robot for all-domain scenarios, which is applied to provide comprehensive life assistance and health monitoring services for the elderly and disabled.

[0036] It includes a chassis module 1, with an intelligent seat module 2 and a robotic arm module 3 respectively installed on the upper end of the chassis module 1. The chassis module 1 includes a chassis frame 4, and the intelligent seat module 2 includes a standing mechanism, a backrest adjustment mechanism, and an interactive control mechanism.

[0037] Universal wheels 5 are provided at the four corners of the bottom of the chassis frame 4. Fixed frames 7 are symmetrically installed at the center of the bottom of the chassis frame 4. A hub motor 8 is fixed inside each fixed frame 7. A drive wheel 9 is fixed at the output end of the hub motor 8.

[0038] The lifting mechanism includes an electric lifting column 11. The electric lifting column 11 is fixed at the center of the upper end of the chassis frame 4. The telescopic end of the electric lifting column 11 is fixed with an adjuster lower shell 12. An adjuster upper shell 16 is provided at the upper end of the adjuster lower shell 12. The backrest adjustment mechanism is located at the upper end of the adjuster upper shell 16.

[0039] The backrest adjustment mechanism includes a seat cushion 18, the upper end of the adjuster housing 16 is fixed with the seat cushion 18, the upper end of the seat cushion 18 is provided with a backrest 24, and the interactive control mechanism is located on the outside of the seat cushion 18 and the backrest 24.

[0040] The intelligent interactive walking robot provided by this utility model for all-area scenarios integrates voice recognition, stable movement and intuitive interaction functions, aiming to provide comprehensive intelligent services for home life.

[0041] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0043] Please refer to Figures 1-6 A smart interactive assistive robot for all-domain scenarios includes a chassis module 1. A smart seat module 2 and a robotic arm module 3 are respectively set on the upper end of the chassis module 1. The chassis module 1 includes a chassis frame 4. The smart seat module 2 includes a standing mechanism, a backrest adjustment mechanism and an interactive control mechanism. A 3D radar 34 is installed on the inner side of the chassis frame 4 near the robotic arm module 3. A depth camera 33 is set on the upper end of the 3D radar 34. The depth camera 33 is fixedly installed on the chassis frame 4.

[0044] The chassis frame 4 is equipped with four universal wheels 5 at its four corners. A fixed frame 7 is symmetrically installed at the center of the bottom of the chassis frame 4. A hub motor 8 is fixed inside each fixed frame 7. A drive wheel 9 is fixed to the output end of the hub motor 8. By adopting the structural design of two drive wheels 9 and four universal wheels 5, multi-directional movement can be achieved, with low operating noise and stable and smooth movement. The standard central axis arrangement of the drive wheels 9 can achieve zero-radius rotation in place. The four universal wheels 5 make the chassis frame 4 more stable, allowing the robot to walk freely and flexibly in home and outdoor environments. At the same time, the chassis frame 4 integrates a depth camera 33, a 3D radar 34, a voice sensor, etc., for obstacle avoidance and navigation, ensuring that the robot will not collide with obstacles during movement.

[0045] The standing mechanism includes an electric lifting column 11. The electric lifting column 11 is fixed at the center of the upper end of the chassis frame 4. The telescopic end of the electric lifting column 11 is fixed with an adjuster lower shell 12. An adjuster upper shell 16 is provided at the upper end of the adjuster lower shell 12. The backrest adjustment mechanism is located at the upper end of the adjuster upper shell 16. The standing mechanism can adjust the height and angle of the seat according to the user's instructions. It can be remotely controlled and voice-controlled, improving the level of intelligence and ensuring the different needs and quality of life of users.

[0046] The adjustable backrest mechanism includes a seat cushion 18, which is fixed to the upper end of the adjuster shell 16. A backrest 24 is provided on the upper end of the seat cushion 18. An interactive control mechanism is located on the outside of the seat cushion 18 and the backrest 24. This adjustable backrest mechanism is used to adjust the height and angle of the backrest 24, and together with the standing structure, it constitutes an auxiliary standing function. The adjustable backrest mechanism can provide users with different seat angle requirements. Users can control it remotely or by voice commands, and make relevant settings and operations. Through the above design, this intelligent interactive walking robot can provide a variety of practical functions in indoor and outdoor environments, providing users with a more convenient life experience.

[0047] The seat cushion 18 is fixed with a first side frame 26 and a second side frame 27 on both sides respectively. The interactive control mechanism includes a control joystick 28 and a control button 29. The control joystick 28 is provided at the upper end of the first side frame 26, and the control button 29 is provided at the upper end of the second side frame 27. A support arm 30 is fixed at the upper end of the second side frame 27 away from the backrest 24. A display screen 31 is installed at the upper end of the support arm 30, and a camera 32 with a microphone is installed at the upper end of the display screen 31.

[0048] To protect the chassis frame 4, a base plate 6 is fixed to the upper end of the chassis frame 4 and outside the electric lifting column 11. A chassis shell 10 is provided on the upper end of the base plate 6 and outside the electric lifting column 11. The chassis shell 10 is fixed to the chassis frame 4. To provide stable foundation support for the robotic arm module 3, the bottom end of the robotic arm module 3 is fixed to the chassis frame 4. The robotic arm module 3 is located on the upper end of the chassis shell 10.

[0049] like Figure 5 As shown, in order to lift the upper shell 16 of the regulator and facilitate the user's standing up, a reduction motor 13 is installed inside the lower shell 12 of the regulator. The output end of the reduction motor 13 is fixed with an electric push rod housing 14. An electric inner push rod 15 is provided inside the electric push rod housing 14. The end of the electric inner push rod 15 away from the electric push rod housing 14 is fixed to the upper shell 16 of the regulator. The upper shell 16 of the regulator and the lower shell 12 of the regulator are rotatably connected. A four-corner rotating connector 17 is provided on the inner side between the lower shell 12 of the regulator and the upper shell 16 of the regulator.

[0050] To achieve the adjustment of the height and angle of the seat cushion 18 and the backrest 24, a support member 19 is fixed at the center of the end of the seat cushion 18 away from the robotic arm module 3. A height adjustment member 22 is provided at the upper end of the support member 19. An angle adjustment slide 20 is provided on the inner side of the support member 19. A drive motor 21 is provided on the inner side of the angle adjustment slide 20. A mounting member 23 is provided on the outer side of the support member 19. The backrest 24 is fixed to the mounting member 23. A safety belt 25 is provided at the end of the seat cushion 18 near the support member 19 and at the lower end of the backrest 24.

[0051] Users interact with the robot via a microphone and camera with 32-bit voice input. The robot uses endpoint detection technology to recognize the user's voice signal and processes it with noise reduction and echo cancellation to ensure clarity and quality. Next, the robot activates its voice wake-up function, accurately recognizing specific wake words such as "Hello, Xiaozhi" using a large voice model. Once successfully woken up, the robot uses automatic speech recognition technology to convert the user's voice into text and passes this text to the dialogue management module for processing, generating a corresponding text response. Finally, the robot uses text-to-speech technology to synthesize speech and outputs the generated reply to the user in a natural and fluent voice format, completing the entire voice interaction process. This series of processes achieves an efficient, accurate, and natural voice interaction experience, allowing users to have real-time conversations with the robot.

[0052] Based on the Arduino platform, a differential PID control algorithm is employed to achieve precise control and stable motion of the hub motor 8. The implementation steps include hardware setup, encoder data reading, PID control algorithm implementation, speed and angle setting, control output calculation, real-time control adjustment, and safety protection mechanisms. First, the chassis frame 4 control system is built by connecting hardware components such as the hub motor 8, encoder, and drive circuit to the Arduino main control board. The Arduino obtains the rotational speed and position information of the hub motor 8 by reading encoder signals, providing feedback data for subsequent control. Then, using the PID control algorithm, based on the set target speed and angle, the control output of each hub motor 8 is calculated, thereby precisely adjusting the rotational speed and direction of the hub motor 8. During the control process, the system continuously monitors the feedback data from the encoder and the actual motion, and dynamically adjusts the PID parameters according to the real-time error to ensure the stability and accuracy of the chassis frame 4's motion. Furthermore, to ensure the safety of the robot and its surrounding environment, the system is also designed with overcurrent and overload protection mechanisms to promptly cut off power in case of abnormal conditions, preventing hardware damage or system malfunction. The optimal implementation method is as follows:

[0053] 1. Robot hardware construction:

[0054] Chassis Construction: A chassis with two drive wheels and four omnidirectional wheels was designed. This design allows for smooth, multi-directional movement. First, the chassis components were installed. Then, by writing chassis control code and sensor data processing code, the robot was able to move freely in indoor and outdoor environments.

[0055] Execution steps: Install and connect the chassis motor, wheels, and sensor modules.

[0056] Perform motor tuning on the chassis to ensure low noise and efficient movement.

[0057] Debug and test the sensors to enable the robot to avoid obstacles and navigate autonomously.

[0058] 2. Construction of the voice interaction system:

[0059] Voice recognition and command execution: The system integrates a voice recognition module, which wakes up the robot via voice activation. Afterward, the user issues a command, and the robot uses automatic voice recognition technology to convert the speech into text and generate a response from the text.

[0060] Execution steps:

[0061] Configure the speech recognition module and test the accuracy of the wake word in the development environment.

[0062] Configure the text-to-speech module to ensure the robot can naturally convert text into speech.

[0063] Write control code related to voice commands, such as robotic arm operation and posture adjustment.

[0064] 3. Autonomous navigation and control:

[0065] Chassis control and path planning: A differential PID control algorithm based on the Arduino platform enables the robot to precisely control the hub motors. The path planning algorithm uses a combination of LiDAR sensor data and encoder data for real-time navigation, ensuring the robot can avoid obstacles and successfully reach its destination.

[0066] Execution steps:

[0067] Write a PID control algorithm, debug and test the motor control and motion response.

[0068] An integrated environmental perception module enables real-time obstacle detection.

[0069] Develop path planning algorithms to ensure that the robot can effectively select the optimal path.

[0070] 4. Integration and operation of intelligent robotic arms:

[0071] Expanded robotic arm functionality: Based on user instructions, the intelligent robotic arm can perform tasks such as long-distance object grasping and delivery. The system integrates with a voice interaction system to receive user voice commands and execute the robotic arm's operations.

[0072] Execution steps:

[0073] Install the robotic arm hardware and debug the electric push rod and lifting column.

[0074] Write control code for the robotic arm so that it can perform grasping, delivery and fine manipulation according to instructions.

[0075] The robotic arm is trained for different tasks to ensure it can perform tasks efficiently in real-world applications.

[0076] 5. Interactive display system:

[0077] Display and Feedback System: The robot is equipped with an interactive display screen that shows users information such as current task progress, environmental detection status, and system feedback. Users can adjust the robot's working mode or view status information through the display screen.

[0078] Execution steps:

[0079] Design and build the display module and integrate it with the robot control system.

[0080] Develop a graphical interface to display the robot's status information.

[0081] Write code that interacts with the user, such as task prompts and system error messages.

[0082] 6. Health monitoring and safety functions:

[0083] Health monitoring module: This robot system should have health monitoring functions, such as body temperature monitoring and fall detection. Through integrated sensors, it should monitor the user's health status in real time and issue alarms when abnormalities occur.

[0084] Execution steps:

[0085] Install and debug the health monitoring sensor.

[0086] Develop health monitoring algorithms to collect data regularly and interact with users.

[0087] Develop an anomaly detection mechanism to issue an alarm when a user's physical condition is abnormal.

Claims

1. An intelligent interaction companion robot for a global scene, characterized by, The application relates to a chassis module (1), the upper end of the chassis module (1) is respectively provided with an intelligent seat module (2) and a mechanical arm module (3), the chassis module (1) comprises a chassis frame body (4), the intelligent seat module (2) comprises a getting-up mechanism, an adjusting backrest mechanism and an interactive control mechanism; The chassis frame body (4) is provided with universal wheels (5) at four end corners of the bottom end, the center of the bottom end of the chassis frame body (4) is symmetrically provided with fixing frames (7), the inner side of each fixing frame (7) is fixedly provided with a hub motor (8), and the output end of the hub motor (8) is fixedly provided with a driving wheel (9). The getting-up mechanism comprises an electric lifting column (11), the center of the upper end of the chassis frame body (4) is fixedly provided with the electric lifting column (11), the telescopic end of the electric lifting column (11) is fixedly provided with an adjuster lower shell (12), the upper end of the adjuster lower shell (12) is provided with an adjuster upper shell (16), and the adjusting backrest mechanism is located at the upper end of the adjuster upper shell (16). The adjusting backrest mechanism comprises a seat cushion (18), the upper end of the adjuster upper shell (16) is fixedly provided with the seat cushion (18), the upper end of the seat cushion (18) is provided with a backrest (24), and the interactive control mechanism is located at the outer side of the seat cushion (18) and the backrest (24).

2. The intelligent interaction companion robot for global scene according to claim 1, characterized in that, The upper end of the chassis frame body (4) and the outer side of the electric lifting column (11) are fixedly provided with a bottom plate (6), the upper end of the bottom plate (6) and the outer side of the electric lifting column (11) are provided with a chassis outer shell (10), the chassis outer shell (10) is fixed with the chassis frame body (4), the bottom end of the mechanical arm module (3) is fixed with the chassis frame body (4), and the mechanical arm module (3) is located at the upper end of the chassis outer shell (10).

3. The intelligent interaction companion robot for global scene according to claim 1, characterized in that, The inner side of the adjuster lower shell (12) is provided with a speed reducer motor (13), the output end of the speed reducer motor (13) is fixedly provided with an electric push rod outer shell (14), the inner side of the electric push rod outer shell (14) is provided with an electric inner push rod (15), one end of the electric inner push rod (15) away from the electric push rod outer shell (14) is fixed with the adjuster upper shell (16), the adjuster upper shell (16) is rotationally connected with the adjuster lower shell (12), and the inner side between the adjuster lower shell (12) and the adjuster upper shell (16) is provided with a four-corner rotary connecting piece (17).

4. The intelligent interaction companion robot for global scene of claim 1, wherein, The center of one end of the seat cushion (18) away from the mechanical arm module (3) is fixedly provided with a receiving piece (19), the upper end of the receiving piece (19) is provided with a height adjusting piece (22), the inner side of the receiving piece (19) is provided with an angle adjusting piece (20), the inner side of the angle adjusting piece (20) is provided with a driving motor (21), the outer side of the receiving piece (19) is provided with a fixing piece (23), the backrest (24) is fixed with the fixing piece (23), and one end of the seat cushion (18) close to the receiving piece (19) and located at the lower end of the backrest (24) is provided with a safety belt (25).

5. The intelligent interaction companion robot for global scene according to claim 1, characterized in that, The two sides of the seat cushion (18) are respectively fixedly provided with a first side frame (26) and a second side frame (27).

6. The intelligent interaction companion robot for global scene according to claim 5, characterized in that, The interactive control mechanism comprises a control rocker (28) and a control button (29), the upper end of the first side frame (26) is provided with the control rocker (28), the upper end of the second side frame (27) is provided with the control button (29), the upper end of the second side frame (27) away from the backrest (24) is fixedly provided with a supporting curved arm (30), the upper end of the supporting curved arm (30) is provided with a display interactive screen (31), and the upper end of the display interactive screen (31) is provided with a camera with a microphone (32).

7. The intelligent interaction companion robot for global scene according to claim 1, characterized in that, The inner side of the chassis frame body (4) near one end of the mechanical arm module (3) is provided with a 3D radar (34).

8. The intelligent interaction companion robot for global scene according to claim 7, characterized in that, The upper end of the 3D radar (34) is provided with a depth camera (33), and the depth camera (33) is fixedly installed with the chassis frame body (4).

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