CN203485200U - Household elder nursing and guarding robot - Google Patents
Household elder nursing and guarding robot Download PDFInfo
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- CN203485200U CN203485200U CN201320632601.5U CN201320632601U CN203485200U CN 203485200 U CN203485200 U CN 203485200U CN 201320632601 U CN201320632601 U CN 201320632601U CN 203485200 U CN203485200 U CN 203485200U
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Abstract
The utility model relates to a household elder nursing and guarding robot. The robot comprises an upper computer control unit and a movable chassis mechanism, wherein the upper computer control unit comprises an upper controller and an upper computer; the movable chassis mechanism comprises three omnidirectional wheels, power mechanisms corresponding to the three omnidirectional wheels and an electric control part, each omnidirectional wheel is driven by the corresponding power mechanism, the omnidirectional wheels are controlled to move forward or stop by the electric control part through the power mechanisms to achieve walking of the movable chassis mechanism, and the movable chassis mechanism further comprises an MCU master , a temperature sensor, a liquid crystal displayer, a collision sensor, a human body pyroelectric sensor, a photoelectric sensor, a smoke sensor, a wireless module, a camera and a multifunctional module. A user can receive consultations, weather forecasts, entertainment content, voice prompts and other service information of the robot through human-computer interaction, and the robot further can assist in make an inspection tour of a house, automatically give an alarm coming across abnormal events and play a role in elder nursing and household guarding.
Description
Technical field
The utility model relates to a kind of domestic robot, relate in particular to a kind of family and protect old robot on duty, by this robot, can carry out long distance monitoring communication with it to house old man, according to circumstances Xun Qiugai robot help of old man at home, realization is accompanied and attended to, and accepts the various self-service entertainment service that this robot provides.This robot also have auxiliary antitheft, detect and have the tours such as gas leak and emergency auto-alarm function, there is the intelligent feature of omni-directional, stability and work.
Background technology
The robot of application is in the majority with industrial robot at present, be mainly used to substitute a large amount of mechanical repetitive works, or be used for having substituted inclement condition, play and reduce labour cost and labour intensity, and assisted the work that environment is severe, difficulty is large, required precision is high and manually cannot directly complete.The function singleness of these robots, is specifically designed to and solves certain particular problem, mostly without mobile matrix, can not carry out autonomous.The robot that has mobile matrix, that its move mode is generally is legged, crawler type, wheeled construction.Movable structure is in stability and have the place of barrier to be difficult to give full play to its effectiveness.Crawler-type mobile structure is turned dumb, and volume is bigger than normal.Common wheel type mobile structure fluctuation of service, kinematic accuracy is not high, and direction inconvenience is controlled.Also lack in the market and can be applied to as house elderly service, the family with functions such as long distance monitoring and communication, safety and patrol pre-alarm and information and entertainment service protects old robot on duty.
Summary of the invention
In order to solve the problems of the technologies described above, the utility model provides a kind of family to protect old robot on duty, its objective is and solve the accompany and attend to problem of old man in unmanned nurse situation, and family need strengthen problem on duty.It comprises PC control unit and movable chassis mechanism, wherein PC control unit comprises host controller and host computer, movable chassis mechanism comprises at least one omni-directional wheel, actuating unit, electric control system, each omni-directional wheel is driven by the actuating unit corresponding with it, electric control system is connected with actuating unit, by actuating unit control that omni-directional wheel is advanced, stopped, lock and unlock to be to complete the walking of movable chassis mechanism; Movable chassis mechanism further comprises MCU master controller, temperature sensor, liquid crystal display, crash sensor, human body heat-releasing electric transducer, photoelectric sensor, Smoke Sensor, wireless module, camera and multifunction module.
In technique scheme, described multifunction module comprises digital audio/video player, speech sound device, memory, input/output interface, button, USB interface; Required service and performance data information exchange are crossed input/output interface and are stored in memory; Pre-stored information in described digital audio/video player energy playout storage.
In technique scheme, movable chassis mechanism comprises three omni-directional wheels, and described three omni-directional wheels are mutually 120 degree and are arranged on and on triangle frame, form tricycle structure; The double-decker that each omni-directional wheel is comprised of two same plate wheels; In each plate wheel outer peripheral lines, a plurality of approximate dolioform rubber wheels are respectively housed, the axle of rubber wheel, near the outer peripheral lines of plate wheel, leaves gap between two plate wheels of double-layer structure vertically, for the rubber wheel on two plate wheels, can freely rotate; Rubber wheel on two plate wheels, in the installation of upwards staggering each other in week, makes circumferentially distributing with a small amount of overlap mode gapless along omni-directional wheel.
In technique scheme, drive the actuating unit of omni-directional wheel for there being brush GPG-05SC type motor, three have the GPG-05SC of brush type motor to be also mutually 120 degree to be arranged on triangle grillage.
In technique scheme, the surrounding of movable chassis mechanism is provided with 8 road photoelectric sensors, to detect obstacle and the step of robot in the process of advancing, effectively to evade the obstacle running in movement and to prevent to fall; A road crash sensor is respectively equipped with in left front and right front at movable chassis mechanism, the blind area barrier that cannot detect for detection of left front and right front photoelectric sensor.
In technique scheme, described temperature sensor is for sense ambient temperature, to surpassing the situation of threshold value, report to the police with adjusting ambient temperature, the measurement result of described temperature sensor is also used for assisting the testing result of Smoke Sensor to improve the accuracy of detection of inside fire.
In technique scheme, human body heat-releasing electric transducer, for detection of the situation in intrusion detection region, is transformed into faint voltage signal by the infra-red radiation of surveying and receiving, through amplifying backward outer output.
In technique scheme, host controller and MCU master controller comprise respectively NRF905 wireless module, with the radio communication realizing between host controller and MCU master controller, connect.
In technique scheme, described host controller comprises DSP6711 processor.
The utility model has been obtained following technique effect:
1, travel mechanism of the present utility model has intelligent function, can be used as the mobile vehicle of certain field specialty robot, has saved the difficult design of intelligent family moving platform and because designing the unreasonable problems of bringing.
2, robot have make an inspection tour and multiple prompting, for the intelligent function of people family on duty.Be particularly suitable for some temporarily unmanned nurses, handicapped, the elderly that easily forgets things again, assist family on duty, make robot effect in the family seem very important.
3, the running gear of robot adopts the Omni-mobile structure of precision machinery technology, makes it flexible operation, stable and obstacle can effectively be avoided and go beyond to not prone to tip over, without arc turning phenomenon,, has certain intelligent function.Solve legged structure and be difficult to give full play to its effectiveness in the place that has barrier; Track structure volume is large, turns dumb; There is fluctuation of service in Universal wheel type structure, direction inconvenience is controlled, the problem that kinematic accuracy is not high.Adapt to the environment that this narrow space obstacle of family is many completely.
4, the utility model has adopted multiple sensing technology, automatic control technology, multimedia technology, computer technology, electromechanical integration technology, Precision Machinery Design technology etc., realized old man's long distance monitoring and communication, there are safety and patrol, auxiliary antitheft, detection gas leak, play the several functions such as security alarm, prompting, information inquiry, amusement.Robot has the characteristic of omni-directional movement and Based Intelligent Control.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram of the present utility model;
The structural representation of Tu2Wei the utility model travel mechanism.
Mark in figure: 1-movable chassis mechanism, 2-PC control unit, 3-omni-directional wheel, 4-actuating unit, 5-electric control system, 6-host computer, 7-host controller, 8-MCU master controller, 9-temperature sensor, 10-liquid crystal display, 11-crash sensor, 12-human body heat-releasing electric transducer, 13-photoelectric sensor, 14-Smoke Sensor, 15-wireless module, 16-camera, 17-multifunction module.
The specific embodiment
For the ease of those of ordinary skills, understand and implement the utility model, below in conjunction with the drawings and the specific embodiments, the utility model being described in further detail.
The utility model provides a kind of family to protect old robot on duty, can solve the problem that existing robot is difficult to universal family, and nobody quality of life, household safe problem of accompanying and attending to and bringing of the old man that is concerned about of people.Solved existing general robot crawler-type traveling structural volume large, difficult turning, using area and range limited; Legged structure is easily translated into unstable; Universal wheel type structure motion direction is difficult to be controlled, the problem such as move unstable.This utility model patent has Omni-mobile and auxiliary antitheft, to patrol and examine the intelligent robots such as Leakage Gas, abnormal condition automatic alarm function, has greatly expanded its range of application.
The overall structure that the family that the utility model provides protects old robot on duty as shown in Figure 1, mainly comprises movable chassis mechanism 1, PC control unit 2.Movable chassis mechanism 1 and PC control unit 2 family that cooperatively interacted protects the related work of old robot on duty.
Wherein, described PC control unit 2 comprises host computer 6 and host controller 7, running software is being equipped with on the host computer 6 of LabVIEW software, host computer 6 can be a kind of in the all-purpose computers such as PC, work station, server, software on host computer 6 is preferably based on LabVIEW software development, software on host computer 6 generates the control instruction to host controller 7 according to user instruction, and host computer 6 adopts RS232 and host controller 7 to carry out communication.Host controller 7 is responsible for user command to send to movable chassis mechanism 1, receives the relevant information that movable chassis mechanism 1 feeds back simultaneously, and relevant information is carried out to analyzing and processing, thereby forms the FEEDBACK CONTROL of movable chassis mechanism 1 and Based Intelligent Control.This host controller 7 preferably adopts DSP6711 as processor.
The ground-engaging element of described movable chassis mechanism 1 be movable part of the present utility model overall structure as shown in Figure 2, the ground-engaging element of described movable chassis mechanism 1 is comprised of three actuating units 4, three omni-directional wheels 3 and electric control system 5.By electric control system 5 photos and sending messages, control respectively that three omni-directional wheels 3 are advanced, stopped, lock and unlock to 4, three actuating units 4 of three actuating units, thereby complete the walking of movable chassis mechanism 1.
The safety monitoring parts of movable chassis mechanism 1 comprise temperature sensor 9, crash sensor 11, human body heat-releasing electric transducer 12, photoelectric sensor 13, Smoke Sensor 14, camera 16 and multifunction module 17, other required monitoring function parts can also be installed as required, be used for detecting and input transducing signal and control for upper strata, to form integrated information, complete safety and patrol function.
Wherein, temperature sensor 9 is for sense ambient temperature, in the process of patrolling and examining, utilize digital temperature sensor by patrol and detection indoor temperature, by relatively reporting to the police to surpassing situation about pre-seting, thus can intelligent opening air-conditioning/heating installation, indoor temperature is adjusted to comfort value.Also can assist a ruler in governing a country Smoke Sensor 14, improve the accuracy of detection of inside fire.
8 road photoelectric sensors 13 are installed on movable chassis mechanism 1, and can detect robot has accessible and step in the process of advancing, and effectively to evade the obstacle running in movement, also can detect in real time step drop, prevents that robot from falling.
Crash sensor 11 is for collision detection, preferably in left front and the right front of movable chassis mechanism 1, a road crash sensor 11 is respectively housed, the blind area barrier that cannot detect for detection of left front and right front infrared photoelectric sensor, effectively hides small obstacle etc.
Wherein, once human body heat-releasing electric transducer 12 in having people's intrusion detection region in the situation that, human infrared radiation focuses on by partial mirror, by detecting element, the infra-red radiation of surveying and receiving is transformed into faint voltage signal, through amplifying backward outer output.In the utility model, preferred search coverage effective range is 4～5 meters.
Camera 16, for realizing the monitoring to the video of environment, can adopt machine vision technique to identify ambient parameter, with auxiliary security, patrols and examines.
Antitheft by above-mentioned auxiliary tour, detect the security alarm function users such as leakages robot automatic detecting can be set in host controller, by automatic detecting, in sensing chamber, whether have gas leak or the generation of fire source.By in human body heat-releasing electric transducer sensing chamber, whether someone swarms into, to assist home security.
The utility model has adopted the mechanics of communication based on NRF905 wireless module: PC control unit 2 and movable chassis mechanism 1 adopt wireless telecommunications, transmit and accept inside and outside portion signal, by comprehensive analysis, FEEDBACK CONTROL, finally export accurate direction, position and communication signal.So not only cost-saving but also solved the cable that wire communication need to be very long and cause cost high, when moving, mobile platform to pull very long cable, the movement of robot is caused to the problem of very large obstacle.
Host controller 7 sends by wireless mode automatic detecting order data, the movable chassis mechanism 1 of robot detects order data and receives order, MCU master controller 8 response commands on it, the motor rotation of controlling actuating unit 4, makes robot at indoor autokinetic movement, automatic dodging barrier, also can hide ladder, prevent robot because drop causes falling, realize unmanned entirely independently patrolling and examining of intervening, and the result feedback of detection is shown in real time to host computer 6.
Multifunction module 17 comprises digital audio/video player, speech sound device, memory, input/output interface, button, USB interface etc. and corresponding interactive application software; Described digital audio/video player can be play according to pre-stored information; Described speech sound device can be under the support of interactive application software, realize the interaction of old man and robot, make this robot there is the several functions such as voice reminder, phonetic entry identification and entertainment service, make it to have certain intelligent and practicality etc., can assist old man to complete some routine work.The multifunction module 17 of this robot is by software programming, the service needing in advance and function are stored in to memory by input/output interface, by the automatically performing of program, voice message, old man's sounding and button, the multiple entertainment service functions such as the communication that selection needs, Video Music, can automatically remind old man or patient to take medicine on time, and listen to weather forecast, music etc., the information such as duty of real-time display environment temperature, order data and robot on LCDs.
This robot has autokinetic movement to appointed place and certain for maintenance function: user need to allow the robot autonomous appointed place that moves to, and user only need arrange the x of destination, y coordinate.If system breaks down, the automatic record trouble of robot shows with host computer on liquid crystal, facilitates user to keep in repair and fixes a breakdown.
In the course of the work, as occurred, cell voltage is too low in robot, and system is charged automatically get back to charging depressed place under the guide in charging depressed place, and after charging, robot is by the task of having continued not complete last time.
The utility model has adopted the precision machinery technology of Omni-mobile: three are mutually the single omni-directional wheels 3 that 120 degree install and form tricycle structures, in each side, move upward flexibly, and omnirange moves, to place etc. without specific (special) requirements.The double-decker that single omni-directional wheel 3 is comprised of two same plate wheels; In each plate wheel outer peripheral lines, nine approximate dolioform rubber wheels are respectively housed, the axle of rubber wheel, near plate wheel outer peripheral lines, leaves gap vertically between two-layer plate wheel, for rubber wheel, freely rotate; Rubber wheel on two plate wheels is in the installation of upwards staggering each other in week, and all rubber wheel distributes along circumferential gapless, has overlapping on a small quantity.The actuating unit 4 of each omni-directional wheel 3 correspondence has been preferably brush GPG-05SC type motor, is mutually 120 degree angles and is fixedly mounted on a triangle flat plate steelframe; Each omni-directional wheel 3 is connected with the axle of three motors respectively, and motor is accepted the control command that electric control system 5 sends, and completes the advancing of robot, stops, lock and unlock task.Control circuit and supporting plate are also installed on triangle flat plate steelframe, and corresponding three omni-directional wheels 3 are provided with the sensor of reaction topographic features, and other sensor specials, module and element.
The utility model has also adopted take automatic control technology as main complex art: the utility model has comprehensively adopted control technology, singlechip technology, multiple sensors technology, optical technology, multimedia technology, precision machinery technology, simulation, digital circuit technique, wireless technology etc.Unlike signal that Jiang Ge road sensor is experienced input robot host controller, controller sends or accepts feedback information in wired or wireless mode, and control accurately moves, and can analyze result, to the processing of reporting to the police of unsafe situation.
From technique scheme, can find out, because the utility model embodiment has adopted multiple sensing technology, automatic control technology, multimedia technology, computer technology, electromechanical integration technology, Precision Machinery Design technology etc., realized old man's long distance monitoring and communication, there are safety and patrol, auxiliary antitheft, detection gas leak, play the several functions such as security alarm, prompting, information inquiry, amusement.Robot has the characteristic of omni-directional movement and Based Intelligent Control.
Claims (8)
1.Yi Zhong family protects old robot on duty, comprise PC control unit and movable chassis mechanism, wherein PC control unit comprises host controller and host computer, it is characterized in that, movable chassis mechanism comprises at least one omni-directional wheel, actuating unit, electric control system, each omni-directional wheel is driven by the actuating unit corresponding with it, and electric control system is connected with actuating unit, by actuating unit, controls the walking that movable chassis mechanism was advanced, stopped to omni-directional wheel; Movable chassis mechanism further comprises MCU master controller, temperature sensor, liquid crystal display, crash sensor, human body heat-releasing electric transducer, photoelectric sensor, Smoke Sensor, wireless module, camera and multifunction module.
2. a kind of family according to claim 1 protects old robot on duty, it is characterized in that, described multifunction module comprises digital audio/video player, speech sound device, memory, input/output interface, button, USB interface; Required service and performance data information exchange are crossed input/output interface and are stored in memory; Pre-stored information in described digital audio/video player energy playout storage.
3. a kind of family according to claim 1 protects old robot on duty, it is characterized in that, movable chassis mechanism comprises three omni-directional wheels, and described three omni-directional wheels are mutually 120 degree and are arranged on triangle grillage and form tricycle structure; The double-decker that each omni-directional wheel is comprised of two same plate wheels; In each plate wheel outer peripheral lines, a plurality of approximate dolioform rubber wheels are respectively housed, the axle of rubber wheel, near the outer peripheral lines of plate wheel, leaves gap between two plate wheels of double-layer structure vertically, for the rubber wheel on two plate wheels, can freely rotate.
4. family according to claim 3 protects old robot on duty, it is characterized in that, drives the actuating unit of omni-directional wheel for there being brush GPG-05SC type motor, and three have the GPG-05SC of brush type motor to be also mutually 120 degree to be arranged on triangle grillage.
5. a kind of family according to claim 4 protects old robot on duty, it is characterized in that, the surrounding of movable chassis mechanism is provided with 8 road photoelectric sensors, to detect obstacle and the step of robot in the process of advancing, effectively to evade the obstacle running in movement and to prevent to fall;
A road crash sensor is respectively equipped with in left front and right front at movable chassis mechanism, the blind area barrier that cannot detect for detection of left front and right front photoelectric sensor.
6. a kind of family according to claim 5 protects old robot on duty, it is characterized in that, human body heat-releasing electric transducer, for detection of the situation in intrusion detection region, is transformed into faint voltage signal by the infra-red radiation of surveying and receiving, through amplifying backward outer output.
7. a kind of family according to claim 6 protects old robot on duty, it is characterized in that, described temperature sensor is for sense ambient temperature, to surpassing the situation of threshold value, report to the police with adjusting ambient temperature, the measurement result of described temperature sensor is also used for assisting the testing result of Smoke Sensor to improve the accuracy of detection of inside fire.
8. a kind of family according to claim 7 protects old robot on duty, it is characterized in that, host controller and MCU master controller comprise respectively NRF905 wireless module, host controller also comprises DSP6711 processor, with the radio communication realizing between host controller and MCU master controller, connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632601.5U CN203485200U (en) | 2013-10-14 | 2013-10-14 | Household elder nursing and guarding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632601.5U CN203485200U (en) | 2013-10-14 | 2013-10-14 | Household elder nursing and guarding robot |
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| CN203485200U true CN203485200U (en) | 2014-03-19 |
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| CN201320632601.5U Expired - Fee Related CN203485200U (en) | 2013-10-14 | 2013-10-14 | Household elder nursing and guarding robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375504A (en) * | 2014-09-12 | 2015-02-25 | 中山大学 | Running accompanying robot and tracking control strategy and movement control method for running accompanying robot |
| CN106737632A (en) * | 2016-12-28 | 2017-05-31 | 深圳前海勇艺达机器人有限公司 | Possesses the intelligent robot of sense temperature |
| CN107825441A (en) * | 2017-12-22 | 2018-03-23 | 庄臣酿酒（福建）有限公司 | A kind of aged health intelligent management system and method based on intelligent robot |
| CN107856039A (en) * | 2017-11-16 | 2018-03-30 | 北京科技大学 | A kind of service robot system and method for accompanying and attending to of supporting parents of accompanying and attending to of supporting parents |
| CN109091303A (en) * | 2018-05-24 | 2018-12-28 | 何泽熹 | Intelligent guarding system |
| CN110254554A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of the elderly's care robot |
-
2013
- 2013-10-14 CN CN201320632601.5U patent/CN203485200U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104375504A (en) * | 2014-09-12 | 2015-02-25 | 中山大学 | Running accompanying robot and tracking control strategy and movement control method for running accompanying robot |
| CN106737632A (en) * | 2016-12-28 | 2017-05-31 | 深圳前海勇艺达机器人有限公司 | Possesses the intelligent robot of sense temperature |
| CN107856039A (en) * | 2017-11-16 | 2018-03-30 | 北京科技大学 | A kind of service robot system and method for accompanying and attending to of supporting parents of accompanying and attending to of supporting parents |
| CN107856039B (en) * | 2017-11-16 | 2020-06-05 | 北京科技大学 | Old-age care service robot system and old-age care method |
| CN107825441A (en) * | 2017-12-22 | 2018-03-23 | 庄臣酿酒（福建）有限公司 | A kind of aged health intelligent management system and method based on intelligent robot |
| CN109091303A (en) * | 2018-05-24 | 2018-12-28 | 何泽熹 | Intelligent guarding system |
| CN110254554A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of the elderly's care robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140319 Termination date: 20151014 |
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| EXPY | Termination of patent right or utility model |