CN105538323B - A kind of autonomous feeding robot - Google Patents

Abstract

The present invention provides a kind of autonomous feeding robot, including dolly, battery, motor, angle electrical machinery and feeding platform, people is with moveable mattress from the bed moving belt dolly, dolly is provided with autonomous feeding device, by tracking camera or GPS location searching target, reception system recipient on dolly asks the instruction of feeding, dolly enters the production room in dining room along navigation fixed route, numbering rice will be provided with, the bowl of dish and soup is put into corresponding provided with numbering groove, dolly leaves production room, into the feeding hall in dining room, it has speech recognition, real time scan, scanned by face-image, feeding is made according to facial expression and opening for mouth, feed dish the judgement related to gruel is fed, control system sends instruction, controlled motor is sequentially completed various actions, after the completion of feeding, between the food that dolly enters dining room by GPS navigation is reclaimed.

Description

A kind of autonomous feeding robot

Technical field

The present invention provides a kind of autonomous feeding robot, belongs to automation technical field.

Background technology

At present, domestic and international home for destitute and hospital be for legs and feet are bad, the patient that can't take care of oneself and disabled person go to toilet, Need to be equipped with nurse's feeding, be moved to from the bed on dolly, for the people of heavier-weight, a people can not complete, for body weight More than more than the 100 kilograms crowds that can't take care of oneself, it is necessary to be equipped with the male nurse of physical stalwartness to the people that can't take care of oneself Group's special care, feeding needs longer time, with labour's worsening shortages, and research and development are adapted to elderly population, perfect in shape and function Autonomous feeding robot is trend of the times.

The content of the invention

The purpose of the present invention be can solve the problem that present home for destitute, hospital and family's legs and feet are bad, can't take care of oneself Patient and disabled person's feeding, go to toilet face difficulty there is provided a kind of autonomous feeding of independent navigation remote control, robot, make patient It is moved to from the bed on dolly, independently takes meal, feeding by the way that leading boat is distant, goes to bed automatically, the self-service pastime that pinpoints is played, and passes through people Machine interactive dialogue, the function needed for completing.

Realize that the technical solution adopted in the present invention is：A kind of autonomous feeding robot, including dolly, battery, driving electricity Machine, angle electrical machinery, control panel and feeding platform, it is characterised in that：One end of dolly bottom surface is provided with road wheel, and the other end is provided with In deflecting roller, motor insertion road wheel, dolly movement is driven, the wheel shaft of deflecting roller is provided with angle electrical machinery, angle electrical machinery Deflecting roller rotation is driven, realizes that the direction of dolly changes, hoist cylinder is provided with the vehicle frame of dolly, hoist cylinder one end is installed In vehicle frame base, the other end couples with the yoke plate on vehicle frame telescopic tube, the flexible drive telescopic tube lifting of hoist cylinder, And then vehicle frame lifting is driven, platform is fixed on the vehicle frame of dolly, and platform is two long side ends on rectangle, one face of platform Pin joint is respectively equipped with face and a short side end face, while provided with two parallel gathering sills, guide rail is installed in gathering sill, The centre of platform is provided with the manhole of spill, and another face of platform adds provided with telescopic oil cylinder, dump ram, shower nozzle, electricity Boiler and air-heater, telescopic oil cylinder one end are fixed on dolly, and the other end is fixed on the long side end face of platform, dump ram One end is fixed on dolly, and the other end is fixed on short side end face, and dump ram elongation short side end face rotates around pin joint, is formed The backboard of seat, the other end of backboard is provided with pedal, and tracking camera and feeding are provided with same end face with pedal Mechanism, tracking camera can both set tracking people, can also track object in track route, can also be by the route of walking Setting in the controls, carries out target positioning, feeding mechanism is by turntable, lift cylinder, runner, support by GPS search Bar, turn spoon cylinder, turn spoon and image acquisition and processing device composition, turntable be provided with angle electrical machinery and inclination motor, lift cylinder One end couple with the angle electrical machinery set on turntable, angle electrical machinery by control panel set the anglec of rotation, pass through voice System sends instruction, is transmitted to general control system, and the instruction after processing then is transmitted into angle electrical machinery again, in turntable provided with multiple Groove, groove provided with numbering, by the bowl provided with numbering rice, dish and soup be put into it is corresponding set in numbered groove, turntable It is upper that phonetic incepting system is housed, the voice messaging received is passed into control system, handled by control system, control system hair Send data command, for electric motor starting, the other end couples with runner, and centrally-mounted driving in runner, runner is rotated in orbit, Adjust the horizontal range of turntable and dolly, the vertical range of lift cylinder telescopic adjustment turntable from the ground, support bar one end Couple with lift cylinder, the other end is coupled by bulb with turning spoon, the rotating shaft of bulb is provided with angle electrical machinery, turns spoon cylinder one end Couple with support bar, the other end couples with turning spoon, feeding forefathers send the reception system recipient request feeding on instruction, dolly Phonetic order, dolly enters the production room in dining room along navigation fixed route, the bowl provided with numbering rice, dish and soup is put into pair That answers is provided with numbering groove, and dolly leaves production room, into the feeding hall in dining room, starts dump ram, dump ram fortune Dynamic, backboard, in 90 ° of settings, makes one directly to be sitting on platform with platform, starts the image scanning identification on lift cylinder, turntable System is worked, and stops when turntable moves to specified location height, then starts runner motor, and runner is rotated in orbit, The position for reaching setting stops operating, and the control system on dolly can receive and send various voice signals, work as control system When can receive rice voice signal, the angle electrical machinery that control system is sent on instruction, turntable is rotated, and reaches the position of mouth When stop, image processing system gathers the mouth image of people, and control system constantly adjustment turns the horizontal and vertical position of spoon and seat Put, it is ensured that turn each rotation of spoon well into mouth, when the mouth of people on seat opens, turn the elongation of spoon cylinder, turn spoon around ball Head rotate, turn spoon insertion rice bowl in, rice is taken from bowl, turn spoon cylinder contraction, turn spoon leave rice bowl it is slow around bulb Rotate, entered the mouth when turning spoon, ball joint-rotating turns the rice in spoon and poured into mouth, it is necessary to when feeding dish and feeding gruel, on turntable Angle electrical machinery rotate, dish and gruel stops when arriving separately at the position of mouth, repeats action during feeding, and language performance is good People, phonetic incepting is received by control system, and the processing of image processing system real time scan transmits data, sent by control system Various voice signal instructions, controlled motor completes various actions, for the bad people of language performance, scanned by face-image, Feeding is made to opening for mouth according to facial expression, feeds dish the judgement related to gruel is fed, control system sends instruction, control electricity Machine is sequentially completed after the completion of various actions, feeding, between the food that dolly enters dining room by GPS navigation is reclaimed, inclining on turntable Oblique motor pours into the leftover in bowl in recover, completes autonomous feeding.

Mechanism is changed, spoon will be turned and be replaced with clip, food bar is clamped.

The present invention compared with prior art, with advantages below.

1st, instead of manually can be moved to the patient gone to toilet on dolly from the bed automatically, being automatically positioned and entering production room, lead to Cross voice transfer, finishing man-machine interaction dialogue.

2nd, the crowd for body weight more than 100 kilograms, instead of artificial heavy, dirty tired working condition.

3rd, home tele-monitoring and social pension equipment automatization urgently to be resolved hurrily, intelligentized realistic problem are solved, is tackled China human mortality Aging Problem and family endowment problem, are that socialization endowment opens wide prospect.

4th, the position specified is reached independently to take meal, feeding, pour into the leftover in bowl in recover.

5th, it can save labour turnover, improve operating efficiency.

Brief description of the drawings

Fig. 1 is the main structure diagram of the embodiment of the present invention.

Fig. 2 is the structural representation of the platform of the embodiment of the present invention.

Fig. 3 is the structural representation of the feeding mechanism of the embodiment of the present invention.

Fig. 4 is the structural representation of the turntable of the embodiment of the present invention.

Wherein in figure：1st, dolly 2, deflecting roller 3, shower nozzle 4, hoist cylinder 5, road wheel 6, electric heating water tank 7, stretch Contracting oil cylinder 8, dump ram 9, backboard 10, handrail 11, air-heater 12, tracking camera 13, turn spoon 14, turntable 15th, groove 16, pedal 17, track 18, bulb 19, turn spoon cylinder 20, support bar 21, runner 22, lift cylinder 23rd, manhole 24, platform 25, gathering sill 26, long side end face 27, short side end face.

Embodiment：In the embodiment of Fig. 1~4, a kind of autonomous feeding robot, including dolly, battery, driving electricity Machine, angle electrical machinery control panel and feeding platform, one end of the bottom surface of dolly 1 are provided with road wheel 5, and the other end is provided with deflecting roller 2, drives In dynamic motor insertion road wheel 5, dolly 1 is driven to move, the wheel shaft of deflecting roller 2 is provided with angle electrical machinery, and angle electrical machinery, which drives, to be turned Rotated to wheel 2, realize that the direction of dolly 1 changes, hoist cylinder 4 is provided with the vehicle frame of dolly 1, the one end of hoist cylinder 4 is installed In vehicle frame base, the other end couples with the yoke plate on vehicle frame telescopic tube, the flexible drive telescopic tube liter of hoist cylinder 4 Drop, and then vehicle frame lifting is driven, platform 24 is fixed on the vehicle frame of dolly 1, and platform 24 is on rectangle, 24 1 faces of platform Pin joint is respectively equipped with two long side end face 26 and a short side end face 27, while provided with two parallel gathering sills 25, Guide rail is installed, the centre of platform 24 is provided with the manhole 23 of spill, and another face of platform 24, which is provided with, stretches in gathering sill 25 Contracting oil cylinder 7, dump ram 8, shower nozzle 3, electric heating water tank 6 and air-heater 11, one end of telescopic oil cylinder 7 are fixed on dolly 1, another End is fixed on the long side end face 26 of platform 24, and the one end of dump ram 8 is fixed on dolly 1, and the other end is fixed on short side end face On 27, the elongation short side of dump ram 8 end face 27 rotates around pin joint, forms the backboard 9 of seat, the other end of backboard 9 is set There is pedal 16, be provided with tracking camera 12 and feeding mechanism in same end face with pedal 16, tracking camera 12 both can be with Setting tracking people, also along navigation track route is set, the route of walking is set on the control panel, carried out by GPS search Target is positioned, feeding mechanism by turntable 14, lift cylinder 22, runner 21, support bar 20, turn spoon cylinder 19, turn spoon 13 and scheme As Acquisition Processor composition, turntable 14 is provided with angle electrical machinery and inclination motor, one end and the turntable 14 of lift cylinder 22 The angle electrical machinery connection of upper setting, sends instruction by voice system, is transmitted to general control system, then again by the instruction after processing Angle electrical machinery is transmitted to, multiple grooves 15 are provided with turntable 14, groove 15 is provided with numbering, by provided with numbering rice, dish and soup Bowl be put into it is corresponding provided with numbering groove 15 phonetic incepting system is housed on turntable 14, by the voice messaging received biography Control system is passed, is handled by control system, control system sends data command, electric motor starting, the other end couples with runner 21, Centrally-mounted driving in runner 21, runner 21 is rotated on track 17, the horizontal range of regulation turntable 14 and dolly 1, lifting air The vertical height of the telescopic adjustment turntable 14 of cylinder 22 from the ground, one end of support bar 20 couples with lift cylinder 22, and the other end passes through Bulb 18 couples with turning spoon 13, and the rotating shaft of bulb 18 is provided with angle electrical machinery, turns the one end of spoon cylinder 19 and couples with support bar 20, separately One end couples with turning spoon 13, and the reception system recipient that feeding forefathers are sent on instruction, dolly 1 asks the instruction of feeding, dolly 1 Enter the production room in dining room along navigation fixed route, the bowl provided with numbering rice, dish and soup is put into corresponding recessed provided with numbering In groove 15, dolly 1 leaves production room, into the feeding hall in dining room, starts dump ram 8, and dump ram 8 is moved, backboard 9 With platform 24 in 90 ° of settings, make one directly to be sitting on platform 24, start lift cylinder 22, when turntable 14 moves to specified location Stop during height, then start the motor of runner 21, runner 21 is rotated on track 17, the position for reaching setting stops operating, small Control system on car 1 can receive and send various voice signals, when control system can receive rice voice signal, control The angle electrical machinery that system processed is sent on instruction, turntable 14 is rotated, and is stopped during the position for reaching mouth, image processing system collection The mouth image of people, when the mouth of people on seat opens, turns spoon cylinder 19 and extends, turn spoon 13 and rotated around bulb 18, turns spoon 13 and inserts In the bowl for entering rice, rice is taken from bowl, turns spoon cylinder 19 and shrinks, turn spoon 13 leave rice bowl around bulb 18 slowly rotate, when Turn spoon 13 to enter the mouth, bulb 18 rotates, turn the rice in spoon 13 and pour into mouth, it is necessary to be turntable when feeding dish and feeding gruel Angle electrical machinery on 14 is rotated, and dish and gruel stop when arriving separately at the position of mouth, repeats action during feeding, language performance Good people, phonetic incepting is received by control system, and the processing of image processing system real time scan transmits data, by control system Various voice signal instructions are sent, controlled motor completes various actions, for the bad people of language performance, swept by face-image Retouch, feeding is made to opening for mouth according to facial expression, feeds dish the judgement related to gruel is fed, control system sends instruction, controlled Motor processed is sequentially completed after the completion of various actions, feeding, between the food that dolly 1 enters dining room by GPS navigation is reclaimed, turntable 14 On inclination motor the leftover in bowl is poured into recover, complete autonomous feeding.

The above, is only presently preferred embodiments of the present invention, is not the limitation for making other forms to the present invention, appoints What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc. Embodiment is imitated, every without departing from technical solution of the present invention content, the technical spirit according to type of the present invention is made to above example Any simple modification, equivalent variations and remodeling, still fall within the protection domain of type technical scheme of the present invention.

Claims (1)

1. a kind of autonomous feeding robot, including dolly, battery, motor, angle electrical machinery, control panel and feeding platform, It is characterized in that：Dolly（1）One end of bottom surface is provided with road wheel（5）, the other end is provided with deflecting roller（2）, motor insertion row Walk wheel（5）It is interior, drive dolly（1）It is mobile, deflecting roller（2）Wheel shaft be provided with angle electrical machinery, angle electrical machinery drive deflecting roller （2）Rotation, realizes dolly（1）Direction change, in dolly（1）Vehicle frame be provided with hoist cylinder（4）, hoist cylinder（4 ）One End is arranged in vehicle frame base, and the other end couples with the yoke plate on vehicle frame telescopic tube, hoist cylinder（4）Flexible drive stretch Sleeve pipe is lifted, and then drives vehicle frame lifting, platform（24）It is fixed on dolly（1）Vehicle frame on, platform（24）For rectangle, platform （24）Two long side end face on one face（26）With a short side end face（27）On be respectively equipped with pin joint, while provided with two Parallel gathering sill（25）, in gathering sill（25）Interior attachment rail（17）, platform（24）Centre be provided with spill manhole （23）, platform（24）Another face be provided with telescopic oil cylinder（7）, dump ram（8）, shower nozzle（3）, electric heating water tank（6）With Air-heater（11）, telescopic oil cylinder（7）One end is fixed on dolly（1）On, the other end is fixed on platform（24）Long side end face（26） On, dump ram（8）One end is fixed on dolly（1）On, the other end is fixed on short side end face（27）On, dump ram（8）Elongation Short side end face（27）Rotated around pin joint, form the backboard of seat（9）, backboard（9）The other end be provided with pedal（16）, With pedal（16）Tracking camera is provided with same end face（12）With feeding mechanism, tracking camera（12）Both can set with Track people, can also track object in track route, can also be searched by the route setting of walking in the controls by GPS Progress target positioning is sought, feeding mechanism is by turntable（14）, lift cylinder（22）, runner（21）, support bar（20）, turn spoon cylinder （19）, turn spoon（13）With image acquisition and processing device composition, turntable（14）It is provided with angle electrical machinery and inclination motor, lift cylinder （22）One end and turntable（14）The angle electrical machinery connection of upper setting, in turntable（14）Provided with multiple grooves（15）, groove （15）Provided with numbering, the bowl provided with numbering rice, dish and soup is put into corresponding provided with numbering groove（15）It is interior, turntable（14） It is upper that phonetic incepting system is housed, the voice messaging received is passed into control system, data processing is passed through by control system, is controlled System processed sends data command, electric motor starting, the other end and runner（21）Connection, runner（21）Interior centrally-mounted driving, runner （21）In track（17）It is upper to rotate, adjust turntable（14）With dolly（1）Horizontal range, lift cylinder（22）Telescopic adjustment is revolved Turntable（14）Vertical range from the ground, support bar（20）One end and lift cylinder（22）Connection, the other end passes through bulb（18） With turning spoon（13）Connection, bulb（18）Rotating shaft be provided with angle electrical machinery, turn spoon cylinder（19）One end and support bar（20）Connection, The other end is with turning spoon（13）Connection, feeding forefathers send instruction, dolly（1）On reception system recipient ask feeding finger Order, dolly（1）Enter the production room in dining room along navigation fixed route, the bowl provided with numbering rice, dish and soup is put into corresponding Provided with numbering groove（15）It is interior, dolly（1）Production room is left, into the feeding hall in dining room, starts dump ram（8）, tilt Oil cylinder（8）Motion, backboard（9）With platform（24）In 90 ° of settings, make one directly to be sitting in platform（24）On, start lift cylinder （22）, work as turntable（14）Stop when moving to specified location height, then start runner（21）Motor, runner（21）In track （17）Upper to rotate, the position for reaching setting stops operating, dolly（1）On control system can receive and send various voices letter Number, when control system can receive rice voice signal, control system sends instruction, turntable（14）On angle electrical machinery turn It is dynamic, stop during the position for reaching mouth, image processing system gathers the mouth image of people, when the mouth of people on seat opens, turn Spoon cylinder（19）Elongation, turns spoon（13）Around bulb（18）Rotate, turn spoon（13）In the bowl for inserting rice, rice is taken from bowl, is turned Spoon cylinder（19）Shrink, turn spoon（13）Rice bowl is left around bulb（18）It is slow to rotate, when turning spoon（13）Enter the mouth, bulb （18）Rotation, turns spoon（13）In rice pour into mouth, it is necessary to feed dish and feed gruel when, turntable（14）On angle electrical machinery turn Dynamic, dish and gruel stop when arriving separately at the position of mouth, repeat action during feeding, and the good people of language performance passes through control System receives phonetic incepting, and the processing of image processing system real time scan transmits data, various voice signals are sent by control system Instruction, controlled motor completes various actions, for the bad people of language performance, is scanned by face-image, according to facial expression Feeding is made to opening for mouth, feeds dish the judgement related to gruel is fed, and control system sends instruction, and controlled motor is sequentially completed respectively Plant and act, after the completion of feeding, dolly（1）Between the food for entering dining room by GPS navigation is reclaimed, turntable（14）On inclination motor Leftover in bowl is poured into recover, autonomous feeding is completed.