Multi-sensory interactive intelligent robot and use method therefor

Abstract

A multi-sensory interactive intelligent robot, comprising a head support (2), a backrest support (3), a seat support (4), a shank frame (7), a support frame, and a leg support (13). The head support (2) is movably connected to the backrest support (3). The backrest support (3) is movably connected to the seat support (4). The seat support (4) is movably connected to the shank frame (7). A universal wheel (6) and a driving wheel (5) are disposed below the leg support (13). The shank frame (7) is movably connected to an armrest linkage rod (8). A movable frame (16) is disposed below the seat support (4). The movable frame (16) is connected to an electric push rod (18). The electric push rod (18) is used for pushing the movable frame (16) to drive the seat support (4) to change the posture of the robot. The support frame comprises a first support frame (12) movably connected to the backrest support (3) and a second support frame (121) movably connected to the armrest linkage rod (8). An electromagnetic locking mechanism (11) is disposed below the second support frame (121). The shank frame (7) is provided with a hook piece (15) capable of being connected to the electromagnetic locking mechanism (11). The leg support (13) is provided with a laser radar apparatus, a gyroscope apparatus, and an MCU controller. The MCU controller is electrically connected to the laser radar apparatus and the gyroscope apparatus, respectively. In addition, also provided is a use method for the multi-sensory interactive intelligent robot.

Description

Multi-perception interactive intelligent robot and method of use thereof TECHNICAL FIELD

[0001] The present application relates to the field of intelligent robots, in particular to a multi-perception interactive intelligent robot and method of use thereof. BACKGROUND

[0002] Traditional wheelchairs can only maintain a sitting posture, and long sitting of the user can cause slow venous return, increase the burden on the patient's waist, and lead to complications such as blood stasis and lumbar disc herniation. Therefore, a standing wheelchair is an important research direction. The standing wheelchair can not only be used as a general wheelchair, but also can be used to assist the user to lie flat or stand, aiming to help patients with difficulty in movement, disabled people, the elderly and other special needs groups to stand / lie flat by themselves, avoiding various diseases caused by long-term sitting. However, the safety of the standing wheelchair will be greatly reduced when it moves in a standing posture. For example, when the user controls the wheelchair to go downhill or uphill in a standing posture, the center of gravity is unstable, or when the user is on a road with too large a bump, it is easy to cause a rollover and thus harm the user.

[0003] SUMMARY

[0004] In order to solve the problems existing in the prior art, the present application provides a multi-perception interactive intelligent robot and method of use thereof.

[0005] A multi-perception interactive intelligent robot, comprising a head support, a backrest support, a seat support, a calf support, a support frame and a leg support, the head support is movably connected with the backrest support, the backrest support is movably connected with the seat support, the seat support is movably connected with the calf support, a universal wheel and a drive wheel are arranged below the leg support, the calf support is movably connected with a handrail linkage rod, an activity frame is arranged below the seat support, the activity frame is connected with an electric push rod, the electric push rod is used to push the activity frame to drive the seat support to change the posture of the robot, the support frame comprises a first support frame and a second support frame, the first support frame is movably connected with the backrest support, the second support frame is movably connected with the handrail linkage rod, an electromagnetic locking mechanism is arranged below the second support frame, the calf support has a hook piece corresponding to the electromagnetic locking mechanism, the electromagnetic locking mechanism is connected with the hook piece by a lock buckle, a laser radar device, a gyroscope device and an MCU controller are arranged on the leg support, the MCU controller is electrically connected with the laser radar device and the gyroscope device respectively.

[0006] The application further provides a use method of the multi-perception interactive intelligent robot, which comprises the following steps: a laser radar device detects robot running road surface data and transmits the data to an MCU controller on the robot for operation processing to obtain real-time running data of the robot; whether a slope or a bumpy road surface exists in front of the robot is determined according to the real-time running data of the robot; when the slope or the bumpy road surface exists, the MCU controller sends an alarm signal, the MCU controller controls the robot to slow down, and the MCU controller controls an electric push rod to change a standing posture of the robot; a gyroscope device measures angle data and acceleration data of the robot running relative to a road surface and transmits the data to the MCU controller for operation processing to obtain direction balance data of the robot; whether the robot tilts is determined according to the direction balance data of the robot; when the robot tilts, if a tilt angle exceeds a preset threshold, the MCU controller controls the alarm signal to be sent, the MCU controller controls the robot to slow down, and the MCU controller controls the electric push rod to change the standing posture of the robot.

[0007] Compared with the prior art, the application has the following beneficial effects:

[0008] 1. The laser radar is used to detect the road conditions in front of the robot in real time, the laser radar gives a warning when the robot stands on a slope with a large slope or when a bump appears in front of the robot, and the controller MCU controls the electric push rod to change the current standing posture of the robot, so that accidents are avoided and the safety and smooth passing of the robot are ensured.

[0009] 2. The gyroscope is used to detect the acceleration and angle of the wheel roll angle in real time, a warning is given and the electric push rod is controlled to be lowered when the roll angle is too large, the standing posture of the robot is adjusted to a reclining state or a sitting posture, so that the center of gravity of the robot is adjusted according to the current load weight and position, the robot can restore the balance state, and the rollover is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0010] Fig. 1 is a flowchart of a use method of a multi-perception interactive intelligent robot according to the application;

[0011] Fig. 2 is an overall structural view of the multi-perception interactive intelligent robot in a sitting posture according to the application;

[0012] Fig. 3 is an overall structural view of the multi-perception interactive intelligent robot in a standing posture according to the application;

[0013] Fig. 4 is a right view of the multi-perception interactive intelligent robot in the standing posture according to the application;

[0014] Fig. 5 is an overall structural view of the multi-perception interactive intelligent robot in a lying posture according to the application;

[0015] Fig. 6 is a multi-sensing interactive intelligent robot activity structure diagram provided by the present application;

[0016] Fig. 7 is a multi-sensing interactive intelligent robot structure diagram provided by the present application when leaning;

[0017] Fig. 8 is a multi-sensing interactive intelligent robot structure diagram provided by the present application when lying. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. The described embodiments are only some of the embodiments of the present application, not all.

[0019] As shown in Figs. 2-8, the present application provides a multi-sensing interactive intelligent robot, which comprises a head support 2, a back support 3, a seat support 4, a calf support 7, a support frame and a leg support 13, the head support 2 is movably connected with the back support 3, the back support 3 is movably connected with the seat support 4, the seat support 4 is movably connected with the calf support 7, the leg support 13 is provided below with universal wheels 6 and drive wheels 5, the calf support 7 is movably connected with a handrail connecting rod 8, the seat support 4 is provided below with a movable frame 16, the movable frame 16 is connected with an electric push rod 18, the electric push rod 18 is used to push the movable frame 16 to drive the seat support 4 to change the posture of the robot, the support frame comprises a first support frame 12 and a second support frame 121, the first support frame 12 is movably connected with the back support 3, the second support frame 121 is movably connected with the handrail connecting rod 8, the second support frame 121 is provided below with an electromagnetic locking mechanism 11, the calf support 7 is provided with a hook piece 15 corresponding to the electromagnetic locking mechanism 11, the electromagnetic locking mechanism 11 is connected with the hook piece 15 by a lock catch, the leg support 13 is provided with a laser radar device, a gyroscope device and an MCU controller, the MCU controller is electrically connected with the laser radar device and the gyroscope device respectively.

[0020] The multi-sensing interactive intelligent robot further comprises a reinforcing frame 16, a seat support air pressure rod 17 and a protective support 9, the reinforcing frame 16 is arranged below the seat support 4, the protective support 9 is movably connected on the reinforcing frame 16, one end of the seat support air pressure rod 17 is connected with the calf support 7, and the other end is connected with the reinforcing frame 16, the calf support 7 is provided with a calf support air pressure rod 14.

[0021] The multi-sensing interactive intelligent robot further comprises a head support telescopic mechanism 10 and a handrail plate 1, one end of the head support telescopic mechanism 10 is connected with the back support 3, and the other end is connected with the head support 2, the back support 3 is connected with the handrail plate 1.

[0022] As shown in Figure 2, the overall structure diagram of the intelligent robot in a sitting position is shown. At this time, the guard 9 is in a retracted state, and the headrest 2 can change the height position according to the headrest telescopic mechanism 10 to adapt to the needs of different heights of different people. When the robot changes from a sitting position to a standing position, as shown in Figures 3-4, the electromagnetic locking mechanism 11 and the hook piece 15 are in a locked state, the electric push rod 18 pushes the movable frame 19 to drive the seat support 4, the backrest support 3 and the handrail linkage rod 8, so that the robot becomes a standing state, at this time, the guard 9 is extended to prevent the patient from sliding down, and the handrail plate 1 is turned down, so that the person's hands can be leaned on the upper side. At the same time, the hydraulic rod 122 drives the first support frame 12 to fold and retract to prevent the first support frame 12 from supporting the robot in a standing position, which may cause safety hazards; when the robot changes from a standing position to a sitting position, the hydraulic rod 122 drives the first support frame 12 to unfold and support the seat support, which is movably connected to the backrest support, thereby effectively protecting the human body from the problem of the robot losing balance when changing from a standing position to a sitting position.

[0023] When the robot is in a standing position during movement, if it encounters a bumpy or uneven road surface, causing the electromagnetic locking mechanism and the hook piece to be in an unlocked state and the movable linkage rod to drive the seat support, the backrest support and the leg support to flip backward, the MCU controller receives the flip sensing and controls the hydraulic rod 122 to drive the first support frame 12 to automatically unfold, thereby lifting the flipped robot, realizing the stress protection feedback mechanism, and enabling the user to safely transition from a standing position to a lying position, thereby protecting the user from injury when the robot flips unexpectedly.

[0024] As shown in Figure 5, the overall structure diagram of the intelligent robot in a lying position is shown. At this time, the electromagnetic locking mechanism 11 and the hook piece 15 are in an unlocked state, and the first support frame 12 is in an unfolded state for supporting the lying position of the robot. At this time, the guard 9 is in a retracted state for the patient to lie flat.

[0025] As shown in Figure 1, the application also provides a method for using the multi-sensing interactive intelligent robot, which is applied to the multi-sensing interactive intelligent robot. During the operation of the standing robot, the front road surface condition is monitored in real time to control the balance state of the robot operation and solve the problem of preventing falling.

[0026] The application adopts a laser radar device to detect the road surface data of the road section in front of the robot, and transmits the data to the MCU controller on the robot through wired or wireless mode for operation processing to obtain the road surface data in front of the robot. The MCU controller used in the application is an ARM architecture chip for data transmission and processing. The detection method of the laser radar device adopts a triangulation algorithm. The laser emits incident light, the reflected light is received by a CCD sensor, and the optical path is established through a receiving lens and a photosensitive unit acquisition module, so that the distance of the object is obtained: D=f(L+d) / d, wherein f is the focal length of the receiving lens, L is the offset between the emission light path optical axis and the receiving lens main optical axis (i.e. baseline distance), and d is the position offset on the receiving CCD. When a slope or bumpy road surface appears in front of the detection, the MCU controller will trigger the preset logic and perform a series of actions to make the robot operate stably when obtaining the data transmitted by the laser radar at this time. First, the MCU controller sends an alarm signal, then controls the robot to slow down according to the slope data of the current road surface, and calculates the driving speed that can smoothly pass through the front slope, at the same time, the MCU controller obtains the weight of the person riding the robot, and dynamically adjusts the acceleration of the current rolling wheel according to the weight, so that the robot drives into the slope or enters the bumpy road surface, and the speed is more stable; secondly, the MCU controller judges whether the current robot is in a standing state, if yes, controls the electric push rod 18 of the robot to retract the movable frame 19, seat support 4 and backrest support 3, at the same time, the MCU control hydraulic rod 122 expands the first support frame 12, changes the standing state of the current robot to a sitting state. After waiting for the robot to pass safely, the MCU controller will judge whether there is a slope or bumpy road surface in front of the road after a predetermined time, if no relevant slope or bumpy road surface data is received after the predetermined time, the robot returns to the standing state again, so as to realize the automatic feedback of the robot adjustment, and realize the standing posture of the robot under the condition of ensuring the safe operation of the human body.

[0027] The application also adopts a gyroscope device to collect the angle and acceleration of the current robot roller operation and transmit to the MCU controller, and the MCU controller operates and converts the obtained data. The gyroscope chip used in the application is MPU6050, in which three 16 ADCs are used to effectively and accurately convert the measured analog quantity into digital quantity, through the output q30 format, the MCU controller first converts it into a floating point number, and then performs operation and conversion into pitch angle, roll angle and heading angle. According to the converted Euler angle, it is judged whether the robot is inclined; when the inclination occurs, the MCU controller sends a warning signal and controls the roller to slow down, and at the same time controls the electric push rod to retract, so as to change the robot posture, lower the gravity center and make the robot restore the balance state. If the robot is in a standing state at this time, the electric push rod is controlled to change the robot state from leaning to a sitting state to slowly adjust, and when the balance is restored, the electric push rod is controlled to restore the standing state, thereby greatly protecting the safety of the single person using the robot, and automatically detecting and realizing balance feedback. The above is only the preferred specific embodiment of the application, but the protection scope of the application is not limited to this, any person skilled in the art within the technical range disclosed by the application, according to the technical scheme and the inventive concept of the application, equivalent replacement or change, should be covered within the protection scope of the application.

Claims

1. A multi-sensory interactive intelligent robot, characterized in that, The application relates to a multi-sensing interactive intelligent robot, which comprises a head support (2), a back support (3), a seat support (4), a calf support (7), a supporting frame and a leg support (13), the head support (2) is movably connected with the back support (3), the back support (3) is movably connected with the seat support (4), the seat support (4) is movably connected with the calf support (7), the calf support (7) is movably connected with an armrest linkage rod (8), the leg support (13) is provided with universal wheels (6) and driving wheels (5) below, the seat support (4) is provided with a movable frame (19) below, the movable frame (19) is connected with an electric push rod (18), the electric push rod (18) is used for pushing the movable frame (19) to drive the seat support (4) to change the posture of the robot, the supporting frame comprises a first supporting frame (12) and a second supporting frame (121), the first supporting frame (12) is movably connected with the back support (3), the second supporting frame (121) is movably connected with the armrest linkage rod (8), the second supporting frame (121) is provided with an electromagnetic locking mechanism (11) below, the calf support (7) is provided with a hook piece (15) corresponding to the electromagnetic locking mechanism (11), the electromagnetic locking mechanism (11) is locked with the hook piece (15), the leg support (13) is provided with a laser radar device, a gyroscope device and an MCU controller, and the MCU controller is electrically connected with the laser radar device and the gyroscope device.

2. The multi-sensory interactive intelligent robot of claim 1, wherein, The application further comprises a reinforcing frame (16), a seat support air pressure rod (17) and a protective support (9), the reinforcing frame (16) is arranged below the seat support (4), the protective support (9) is movably connected with the reinforcing frame (16), one end of the seat support air pressure rod (17) is connected with the calf support (7), and the other end is connected with the reinforcing frame (16), and the calf support (7) is provided with a calf support air pressure rod (14).

3. The multi-sensory interactive intelligent robot of claim 2, wherein, The application further comprises a head support telescopic mechanism (10) and an armrest plate (1), one end of the head support telescopic mechanism (10) is connected with the back support (3), and the other end is connected with the head support (2), the back support (3) is connected with the armrest plate (1).

4. A method for using a multi-perception interactive intelligent robot, characterized in that, The application is applied to the multi-sensing interactive intelligent robot in any one of claims 1-3, and comprises the following steps: The laser radar device detects robot running road surface data, and transmits the data to an MCU controller on the robot to obtain real-time running data of the robot through operation processing; Whether a slope or a bumpy road surface exists in front of the robot is judged according to the real-time running data of the robot, when the slope or the bumpy road surface exists, the MCU controller sends an alarm signal, the MCU controller controls the robot to slow down, and the MCU controller controls an electric push rod (18) to change the posture of the robot; The gyroscope device measures angle data and acceleration data of the robot running relative to a road surface, and transmits the data to the MCU controller to obtain direction balance data of the robot through operation processing; ​ According to the direction balance data of the robot, it is judged whether the robot is tilted, when the robot is tilted, if the tilt angle exceeds the preset threshold, the MCU controller controls to send an alarm signal, the MCU controller controls the robot to slow down, and the MCU controller controls the electric push rod (18) to change the posture of the robot. 5.The method of claim 4, wherein, The MCU controller uses an ARM architecture chip for data transmission and processing. 6.The method of claim 4, wherein, The laser radar device uses a triangulation method to detect the robot driving road surface data, and the gyroscope device uses an MPU6050 chip.

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