An automatic obstacle avoidance and mobility assistance robot

Abstract

This utility model discloses an automatic obstacle avoidance robot, comprising a base, a seat, and a sensing component. The base has a front end and a rear end, and a drive component is installed on the base. Wheels are connected to the four corners of the base and are connected to the drive component. The seat is connected above the base, and a main control component is installed inside the seat and electrically connected to the drive component. The seat has two parallel armrests. The sensing component is electrically connected to the main control component and includes at least a front lidar, an upper structured light camera, and a lower structured light camera. The front lidar and upper structured light camera are located at the ends of the armrests, and the lower structured light camera is located at the front end of the base. This utility model aims to optimize the sensor layout, avoid blind spots, enhance adaptability to complex terrain, and provide a high safety factor.

Description

Technical Field

[0001] This utility model relates to the field of assistive walking robot technology, and in particular to an automatic obstacle avoidance assistive walking robot. Background Technology

[0002] Current mobility assistance robots are primarily designed for the elderly and those with mobility impairments, using motors and basic sensors (such as ultrasonic or single-line LiDAR) to provide mobility aids and simple obstacle avoidance. However, existing products generally suffer from the following shortcomings: First, their environmental perception capabilities are weak, only able to detect horizontal obstacles, with low recognition rates for three-dimensional obstacles such as low steps and suspended objects; second, they lack sufficient safety redundancy, relying mostly on electronic obstacle avoidance systems and lacking physical emergency stopping mechanisms, resulting in high response delays in emergency situations. Furthermore, traditional structural designs often lead to dispersed sensor layouts, easily creating blind spots, and they have poor adaptability to complex terrain, making it difficult to meet the high safety requirements of homes and public places. These limitations severely restrict the practicality and widespread adoption of mobility assistance robots. Utility Model Content

[0003] The main purpose of this invention is to provide an automatic obstacle avoidance robot that optimizes sensor layout, avoids blind spots, has strong adaptability to complex terrain, and has a high safety factor.

[0004] To achieve the above objectives, this utility model proposes an automatic obstacle avoidance and mobility assistance robot, comprising:

[0005] A base having a front end and a rear end, a drive assembly being provided on the base, and driving wheels being connected to the four corners of the base, the driving wheels being connected to the drive assembly;

[0006] A seat is connected to the base above it. A main control component is provided inside the seat and is electrically connected to the drive component. The seat has two parallel armrests.

[0007] A sensing component electrically connected to the main control component, the sensing component including at least a front lidar, an upper structured light camera and a lower structured light camera, the front lidar and the upper structured light camera being disposed at the end of the armrest, and the lower structured light camera being disposed at the front end of the base.

[0008] In one possible implementation, the upper structured light camera is positioned at an angle downwards, and the lower structured light camera is positioned at an angle upwards.

[0009] In one possible implementation, the sensing component further includes a rear lidar disposed at the rear end of the base.

[0010] In one possible implementation, the sensing component further includes a rear structured light camera disposed at the rear end of the base.

[0011] In one possible implementation, an emergency stop button is provided on the side of the end of the armrest, and the emergency stop button is electrically connected to the main control component.

[0012] In one possible implementation, the end of the arm is connected to a fixed housing, the front lidar and the upper structured light camera are both disposed inside the fixed housing, and the upper structured light camera is located below the front lidar. A clamping structure is connected to the upper end of the fixed housing.

[0013] This invention employs multi-sensor fusion to achieve three-dimensional environmental perception, covering the ground and air, and detecting obstacles without blind spots. A cross-field design optimizes near- and long-range detection accuracy, while a 360° LiDAR ensures horizontal safety. The modular fixed shell at the end of the arm integrates the front LiDAR and the upper structured light camera, balancing compactness and ease of maintenance; the top-mounted mobile phone holder expands navigation and interactive functions, supporting real-time monitoring or emergency calls. An emergency stop button is directly connected to the main control unit, providing physical-level safety redundancy. This invention combines industrial-grade reliability with user-friendliness, making it suitable for scenarios such as elderly care and rehabilitation, significantly improving the independence and safety of people with mobility impairments. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a structural schematic diagram of an embodiment of the automatic obstacle avoidance and mobility assistance robot of this utility model;

[0016] Figure 2 This is a schematic diagram of another embodiment of the automatic obstacle avoidance and mobility assistance robot of this utility model;

[0017] Figure 3 This is a structural schematic diagram from another perspective of an embodiment of the automatic obstacle avoidance and mobility assistance robot of this utility model;

[0018] Figure 4 This is a side view of an embodiment of the automatic obstacle avoidance robot of this utility model.

[0019] Explanation of icon numbers:

[0020] 1. Base; 11. Front end; 12. Rear end; 13. Running wheel; 2. Seat; 21. Armrest; 22. Fixing shell; 23. Clamping structure; 3. Front LiDAR; 4. Upper structured light camera; 5. Lower structured light camera; 6. Rear LiDAR; 7. Rear structured light camera; 8. Emergency stop button.

[0021] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] Reference Figures 1 to 4 This utility model proposes an automatic obstacle avoidance and mobility assistance robot, including a base 1, a seat 2, and a sensing component. The base 1 has a front end 11 and a rear end 12. The base 1 is equipped with a drive component, and four corners of the base 1 are connected to driving wheels 13, which are connected to the drive component. The seat 2 is connected above the base 1, and a main control component is installed inside the seat 2. The main control component is electrically connected to the drive component. The seat 2 has two parallel armrests 21. The sensing component is electrically connected to the main control component. The sensing component includes at least a front lidar 3, an upper structure light camera 4, and a lower structure light camera 5. The front lidar 3 and the upper structure light camera 4 are located at the ends of the armrests 21, and the lower structure light camera 5 is located at the front end 11 of the base 1.

[0024] Understandably, the base 1 serves as the robot's basic platform, consisting of a front end 11 and a rear end 12, with four wheels 13 at the corners. The robot's movement is controlled by a drive assembly. In this example, the drive assembly comprises a motor and a matching transmission structure; its specific construction is existing technology and will not be elaborated further here.

[0025] Seat 2 is mounted above base 1 for the user to sit on, with parallel armrests 21 on both sides. The main control unit is installed inside seat 2 and is the robot's central processor, responsible for processing sensor data and controlling the drive components. The drive components receive commands from the main control unit and drive the wheels 13 to move, such as forward, turning, and stopping.

[0026] The sensing components detect the environment using multiple sensors and transmit the data back to the main control component for obstacle avoidance. The front LiDAR 3, located at the end of the armrest 21 near the user's hand, scans horizontal obstacles such as walls and furniture, offering high ranging accuracy and long-range coverage. The upper structured light camera 4, also located at the end of the armrest 21, detects obstacles at mid-to-high positions such as tabletops and hanging objects, identifying their shapes through 3D imaging. The lower structured light camera 5, located at the front end 11 of the base 1 near the ground, detects low obstacles such as steps, thresholds, and toys, preventing tripping or falls.

[0027] Three sensors work together to cover the space from the ground to chest height of the user, with no blind spots. The main control component analyzes sensor data in real time, identifies the location and distance of obstacles, and controls the drive component to adjust the path based on obstacle information, such as slowing down, detouring, or stopping. By combining sensors at different heights, it avoids missing low or high obstacles. The armrest 21 is designed for easy gripping by the user while saving space for integrated sensors; safe navigation is possible without manual inspection, making it suitable for users with mobility impairments.

[0028] It should be noted that the front lidar 3 and the upper structured light camera 4 can be positioned at the front end 11 of any arm 21, and the lower structured light camera 5 can also be positioned at any position on the front end 11 of the base 1, such as... Figure 1 and Figure 2 The figures shown are embodiments of the lower structured light camera 5 at different positions.

[0029] Reference Figure 4 In one embodiment of this utility model, the upper structured light camera 4 is set to shoot downwards at an angle, and the lower structured light camera 5 is set to shoot upwards at an angle.

[0030] Understandably, the upper structured light camera 4 is tilted downwards, facing the ground at an angle of 30°–45°, primarily detecting obstacles at medium to long distances, such as coffee tables and trash cans within 1–3 meters. The lower structured light camera 5 is tilted upwards, facing diagonally upwards at an angle of 30°–45°, primarily detecting low obstacles at close range, such as steps and pets within 0.2–1 meter. The fields of view of the two cameras overlap, forming a three-dimensional detection zone. Obstacles within this zone are detected twice, resulting in the highest accuracy.

[0031] By adjusting the camera tilt angle, the position of the intersection zone can be flexibly controlled. Increasing the tilt angle difference brings the intersection zone closer to the robot, suitable for narrow spaces such as corridors, prioritizing nearby safety. Decreasing the tilt angle difference moves the intersection zone further away from the robot, suitable for open environments such as halls, prioritizing the detection of distant obstacles.

[0032] Obstacles within the intersection area are captured simultaneously by two cameras. Triangulation improves distance measurement accuracy and reduces false alarms. A single camera may miss detections due to occlusion, while the cross-view can cover more blind spots. By dynamically analyzing the intersection area data through the main control component, the height of obstacles can be identified, such as distinguishing between ground toys and suspended tree branches.

[0033] Reference Figures 3 to 4 In one embodiment of the present invention, the sensing component further includes a rear lidar 6 disposed at the rear end 12 of the base 1.

[0034] Understandably, the rear LiDAR 6 is fixed to the rear end 12 of the base 1, forming a front-to-back correspondence with the front-end sensor 11. It can scan the 180° horizontal field of view behind the robot in real time, detect obstacles such as walls, following pedestrians, and moving objects, and work in conjunction with the front LiDAR 3 to achieve 360° horizontal coverage without blind spots, avoiding the risk of collision when reversing or turning.

[0035] The front LiDAR 3 faces forward and is used for navigation path planning, dynamic obstacle avoidance, and controlling forward movement and steering decisions. The rear LiDAR 6 faces backward and is used for collision avoidance, reversing safety, human-robot following, triggering emergency stops, or reversing movement. The rear LiDAR compensates for the blind spot of the structured light camera for vertical obstacles behind. The addition of the rear LiDAR 6 gives the robot omnidirectional obstacle avoidance capabilities, especially ensuring rear safety, making it suitable for more complex dynamic environments.

[0036] Reference Figures 3 to 4 In one embodiment of the present invention, the sensing component further includes a rear structured light camera 7 disposed at the rear end 12 of the base 1.

[0037] Understandably, adding a rear structured light camera 7 to the perception system of an automated obstacle avoidance robot, in conjunction with the existing upper / lower structured light cameras 5 and front and rear LiDARs 6, forms a more complete omnidirectional three-dimensional environmental perception network. The rear structured light camera 7 is fixed to the rear end 12 of the base 1, parallel to the rear LiDAR 6. It is used to detect low obstacles behind the robot, such as thresholds, pets, and fallen objects; to identify terrain changes behind the robot, such as slopes and steps; and to supplement the height information blind spots of the rear LiDAR 6, since the LiDAR only provides horizontal two-dimensional data.

[0038] Reference Figures 1 to 2 In one embodiment of the present invention, an emergency stop button 8 is provided on the side of the end of the arm arm 21, and the emergency stop button 8 is electrically connected to the main control component.

[0039] Understandably, the emergency stop button 8 is located on the side of the end of the armrest 21, which is ergonomic and allows the user to naturally trigger it with their thumb while gripping the armrest, avoiding accidental activation. The left and right armrests 21 can be symmetrically equipped with dual buttons to accommodate left- or right-handed users. When the emergency stop button 8 is pressed, the main control component immediately cuts off the power to the drive component and activates the braking structure to lock the driving wheels 13.

[0040] The emergency stop button 8 and the sensing components form a double insurance for emergency obstacle avoidance. In normal mode, it relies on LiDAR and structured light camera for real-time obstacle avoidance; in emergency stop mode, the user actively triggers the button, which has a higher priority than all sensor signals, achieving zero-delay interruption.

[0041] Reference Figures 1 to 2 In one embodiment of the present invention, a fixed shell 22 is connected to the end of the arm 21. The front lidar 3 and the upper structure light camera 4 are both disposed inside the fixed shell 22, and the upper structure light camera 4 is located below the front lidar 3. A clamping structure 23 is connected to the upper end of the fixed shell 22.

[0042] Understandably, the upper structured light camera 4 is located below the front lidar 3, forming a vertical stack, saving lateral space and preventing excessive outward expansion of the end of the support arm 21 from affecting aesthetics or accessibility. The fixed housing 22 has an internal isolation bracket designed to prevent vibration interference or electromagnetic crosstalk between the two sensors. The housing can be made of lightweight aluminum alloy or hard plastic shell, with a matte finish to reduce reflection interference from the lidar.

[0043] The clamping structure 23 is used to secure electronic devices such as mobile phones. It is located directly above or to the side of the mounting shell 22 to avoid obstructing the detection field of the LiDAR and structured light camera. The user's mobile phone can run a companion APP to display the robot's real-time path planning, sensor data, or environmental map. The user can also view obstacle warnings ahead via their mobile phone.

[0044] This invention employs multi-sensor fusion to achieve three-dimensional environmental perception, covering the ground and air, and detecting obstacles without blind spots. A cross-field design optimizes near- and long-range detection accuracy, while a 360° lidar ensures horizontal safety. The modular mounting shell 22 at the end of the arm 21 integrates the front lidar 3 and the upper structured light camera 4, balancing compactness and ease of maintenance; the top mobile phone clamping structure 23 expands navigation and interactive functions, supporting real-time monitoring or emergency calls. The emergency stop button 8 is directly connected to the main control, providing physical-level safety redundancy. This invention combines industrial-grade reliability with user-friendliness, making it suitable for scenarios such as elderly care and rehabilitation, significantly improving the independence and safety of people with mobility impairments.

[0045] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0046] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic obstacle avoidance and mobility assistance robot, characterized in that, include: The base (1) has a front end (11) and a rear end (12). The base (1) is provided with a drive assembly. The four corners of the base (1) are connected to driving wheels (13), which are connected to the drive assembly. Seat (2), the seat (2) is connected above the base (1), the seat (2) is provided with a main control component, the main control component is electrically connected to the drive component, and the seat (2) has two parallel armrests (21). The sensing component is electrically connected to the main control component. The sensing component includes at least a front lidar (3), an upper structure light camera (4), and a lower structure light camera (5). The front lidar (3) and the upper structure light camera (4) are located at the end of the armrest (21), and the lower structure light camera (5) is located at the front end (11) of the base (1). The upper structured light camera (4) is set to shoot downwards at an angle, while the lower structured light camera (5) is set to shoot upwards at an angle.

2. The automatic obstacle avoidance robot according to claim 1, characterized in that, The sensing component also includes a rear lidar (6) disposed at the rear end (12) of the base (1).

3. The automatic obstacle avoidance robot according to claim 2, characterized in that, The sensing component also includes a rear structured light camera (7) disposed at the rear end (12) of the base (1).

4. The automatic obstacle avoidance robot according to claim 3, characterized in that, An emergency stop button (8) is provided on the side of the end of the armrest (21), and the emergency stop button (8) is electrically connected to the main control component.

5. The automatic obstacle avoidance robot according to claim 4, characterized in that, The arm (21) is connected to a fixed shell (22) at its end. The front lidar (3) and the upper structure light camera (4) are both located inside the fixed shell (22), and the upper structure light camera (4) is located below the front lidar (3). The upper end of the fixed shell (22) is connected to a clamping structure (23).

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