CN107015564A - A kind of assistant robot and combined intelligent control method - Google Patents
A kind of assistant robot and combined intelligent control method Download PDFInfo
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- CN107015564A CN107015564A CN201710349883.0A CN201710349883A CN107015564A CN 107015564 A CN107015564 A CN 107015564A CN 201710349883 A CN201710349883 A CN 201710349883A CN 107015564 A CN107015564 A CN 107015564A
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- 238000012546 transfer Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a kind of assistant robot and its intelligent control method, assistant robot includes：Handle, semi arch mechanism, ball-joint, half U type frame, robot trunk, abduction formula supporting construction, omnidirectional chassis；Handle is held for user and helped, and transmission user movement is intended to；Semi arch mechanism is used for height and angular adjustment when anti-tumble buffering and man-machine interaction；Ball-joint is used to drive semi arch mechanism kinematic；Half U type frame is supported for user's forearm；Robot trunk is used for collection, the processing of data, the transmission of data and the motion control for realizing data；Abduction formula supporting construction falls back for protection；Omnidirectional chassis is used for band 360 ° of omnidirectional movings of mobile robot.The present invention is available for different lower limbs strength the elderlys to use, and body is compact, with a variety of rehabilitation training modes, and the combined intelligent assistant robot that energy disposition is fallen, applicable crowd's scope is expanded, the portability and operability used in user room is enhanced, enriches rehabilitation training mode.
Description
Technical field
The invention belongs to man-machine interaction, walking aid rehabilitation technical field, more particularly, to a kind of assistant robot and combination
Formula intelligent control method.
Background technology
China is as a populous nation, and elderly population rise to the 2.3 hundred million of 2016 from 1.78 hundred million in 2010, account for
The 16.7% of total population, empty nest and nearly 100,000,000 people of solitary the elderly, the disability people of the elderly about 35,000,000 of disability in more than 60 years old half.One
Aspect, aging population adds disable probability and disabled person's quantity.On the other hand, slow disease patient acute stages treated for a long time
Pattern causes slow sick disability rate more and more higher.Social total number of persons is accounted for according to the crowd of more than 60 years old that the World Health Organization proposes
More than 10%, or the crowds of over-65s rapidly entered for astogeny country, China when accounting for more than the 7% of social total number of persons
Aging society, following this twenty or thirty year, it will there are more than 60 years old old patient and more than 500,000,000 slow disease patients more than 400,000,000 to need health
Multiple treatment.In addition, China specialty on rehabilitation technical staff has very big breach, supply and demand ratio is up to 1 ﹕ 10000 or so, therefore introducing is helped
The elderly that row and healing robot not only aid in lower limbs strength weak normally walks, and industry rehabilitation outcome can be also substantially improved,
It can also effectively make up the problem of physiatrician is short.
At present, the user of assistant robot is generally the elderly, and their universal eyesights are poor, and lower limbs strength is on the weak side even
Difficulty in walking.And current assistant robot is all generally individual machine people, the old man for possessing certain lower limbs strength can only be met
Use, it is impossible to the walk help of the serious old man of reply disability, rehabilitation training demand.And single assistant robot can only pass through secondary row
Come up and temper the lower limbs strength of the elderly, rehabilitation efficacy is limited, and function is single.And existing assistant robot average physique is inclined
Greatly, the interior space is excessively taken, is not convenient to use and indoor activity, flexibility is not enough.
Therefore need badly at present and develop a set of assistant robot system, the old man that can meet different lower limbs strengths uses
Demand, with a variety of rehabilitation training modes, and can comprehensive fall prevention, while reducing robot volume, strengthen its environment
Adaptability, to obtain more preferable walk help effect, to expect assistant robot commercialization and industrialization is done step-by-step.
The content of the invention
For the defect of above-mentioned assistant robot, it is available for different lower limbs strengths old it is an object of the invention to provide one kind
People uses, and body is compact, with a variety of rehabilitation training modes, and can the combined intelligent walk help machine fallen of disposition
People, expands applicable crowd's scope, enhances the portability and operability used in user room, enriches rehabilitation training mode,
Strengthen Security mechanism, it is intended to solve the applicable crowd of existing assistant robot and function is single, Security mechanism is inadequate
Comprehensively, the interior space is taken bigger than normal, the problem of rehabilitation training effect is limited.
The invention provides a kind of assistant robot, including：Handle, semi arch mechanism, ball-joint, half U type frame, robot
Trunk, abduction formula supporting construction, omnidirectional chassis；Handle is held for user and helped, and transmission user movement is intended to；Semi arch mechanism is used
Height and angular adjustment when anti-tumble buffering and man-machine interaction；Ball-joint is used to drive semi arch mechanism kinematic；Half U type frame
For the support of user's forearm；Robot trunk is used to realize the collection of data, the processing of data, the transmission of data and motion control
System；Abduction formula supporting construction falls back for protection；Omnidirectional chassis is used for band 360 ° of omnidirectional movings of mobile robot.
Further, the semi arch mechanism includes：Emergency stop switch, ring flange and six-dimension force sensor；The jerk
Switch is located at upper right side, the motion for stopping robot under burst or fortuitous event；The ring flange and the ball-joint and
The six-dimension force sensor is connected；The six-dimension force sensor is connected with the robot trunk, for measuring user's handle
Force data.
Further, the robot trunk includes：Omnidirectional's chassis control plate, omnidirectional's base plate electric machine driving plate, lithium electricity
Cell voltage control panel, data collecting card, micro computer, lithium battery, laser range finder, groove profile frame, expansion link, both sides side plate, bottom
Dividing plate, central dividing plate, upper baffle plate and rear portion side plate；Two expansion links are fixed on the side plate of both sides, and the adjustable length of expansion link
Degree；Both sides side plate is connected with rear side side plate, central dividing plate, upper baffle plate and bottom baffles；Omnidirectional bottom is fixed with upper baffle plate
Disk control panel and driving plate, lithium battery voltage change-over panel, omnidirectional's chassis control plate are connected with micro computer and driving plate, receive micro- electricity
Data after the analyzing and processing of brain, transmit corresponding PWM ripples, driving plate output voltage is to motor, controlled motor fortune to driving plate
Dynamic speed and direction, and lithium battery voltage change-over panel is connected with lithium battery, omnidirectional's chassis control plate and driving plate, for by lithium
Cell voltage is converted to 24V voltages, and omnidirectional's chassis control plate and driving plate are powered；Micro computer is fixed with central dividing plate
And data collecting card, the force data after the processing of digital collection module receiving conditioning circuit, micro computer is transferred to, micro computer is used for real
Collection, processing and the distribution of existing data；Lithium battery and laser range finder are fixed with bottom baffle, lithium battery is used to provide machine
The power input of people, laser range finder is connected with micro computer, for measuring leg data to recognize that user movement is intended to, simultaneously
Measure two robots position and speed difference to realize with amiable cooperative motion pattern.
Further, abduction formula supporting construction includes：Electric cylinder, support and omni-directional wheel；The electric cylinder and institute
State support with the back side panel of robot trunk to be connected, the electric cylinder is used to control the receipts of abduction formula supporting construction folded and opened up
Open.
Further, omnidirectional's scale is connected with robot trunk bottom centre, and omnidirectional's scale is fixed and put up " Y "
Type, mutual angle is into 120 °.
It can be realized using two assistant robots in the present invention and help vertical, multi-mode walk help, rehabilitation training, comprehensive anti-fall
The function such as.When two assistant robots are applied in combination, the combined system passes through ball-joint, horizontal shore and abduction formula branch
The auxiliary of support structure, helps user to realize the posture cyclical-transformation by " stand-seat-stand ", strengthens the positions such as arm, leg and waist
Physical function training, accelerate physical function the recovery cycle, compare rehabilitation of only walking, rehabilitation training effect is more prominent.
The robot small volume, indoors under limited space environment, manipulation is flexible, extends the activity that user uses robot
Region, more life convenient, enhance the adaptive capacity to environment of robot.
Present invention also offers a kind of intelligent control method based on above-mentioned assistant robot, using two walk help machines
People, realizes trailing type motor pattern；Comprise the steps：
(1) when obtaining the motion intention of user, the six-dimension force sensor production on half arcuate structure in main robot
Raw force data, the modulate circuit data conditioning by robot trunk is transferred to data collecting card, then given by USB transmission
Micro computer, micro computer transfers data to the control panel on omnidirectional chassis by serial ports, and control panel produces PWM ripples and is sent to driving
Plate, motor work, omni-directional wheel is rotated, and main robot is intended to motion by user；
(2) by detect main robot from the laser range finder of robot trunk and from the real-time speed between robot and
The difference of the direction of motion；
(3) kinetic control system carries out position and speed according to the difference of the real-time speed and the direction of motion from robot
Compensation correction so that be consistent from robot motion with main robot, realize dual robot trailing type move.
Present invention also offers a kind of intelligent control method based on above-mentioned assistant robot, using two walk help machines
People, realizes combination cooperating type motor pattern；Comprise the steps：
(1) when obtaining the motion intention of user, the six-dimension force sensor on the arcuate structure of main robot half produces power
Data, the modulate circuit data conditioning by robot trunk, are transferred to data collecting card, then give micro- electricity by USB transmission
Brain, micro computer transfers data to the control panel on omnidirectional chassis by serial ports, and control panel produces PWM ripples and is sent to driving plate, electricity
Machine is worked, and omni-directional wheel is rotated, and main robot is intended to motion by user；
(2) intention motion is produced from robot according to the same mode of main robot；
(3) by detect main robot from the laser range finder of robot trunk and from the real-time speed between robot and
The difference of the direction of motion；
(4) from robot movement-control system according to the difference progress position and speed of the real-time speed and the direction of motion
Compensation correction so that consistent from the motion intention of robot and the motion intention of main robot, realizes dual robot combination collaboration
Formula is moved.
In the present invention, what combination cooperating type dual robot pattern can not only prevent from forwardly and rearwardly falling and can protect or so falls
, trailing type dual robot pattern can prevent from forwardly and rearwardly falling, when there are emergency situations can by hold from robot come
Avoid leftward or rightward side from falling, two kinds of motor patterns of the Combined robot can disposition fall, security performance is more
It is good.
Present invention also offers a kind of intelligent control method of the assistant robot based on described in claim 1, using two
Individual assistant robot, realizes rehabilitation training pattern；Comprise the steps：
(1) when the original state for detecting user is the handle 1 that both hands hold Liang Ge robots respectively, forearm is placed on
Make stress support on horizontal shore；And waist and knee are bent downwardly, while being rotated backward with fixed handle lower half circle arc mechanism 2
When, by the height of regulation handle 1 to realize that user is slowly comfortably transformed into half stance by stance；
(2) continue to sinking waist when detecting user, during bending knee, by controlling semicircular arc mechanism 2 to be driven
Continuation goes to more lower position backward, and user is transformed into sitting posture by half stance；
(3) abovementioned steps (1) are transformed to by sitting posture to stance, the inverse process of (2), user by horizontal shore,
Leg and waist are had an effect, and trunk is up carried, and knee bends slowly diminish, and are recovered by sitting posture to half stance, during semi arch mechanism 2 is moved to
Position；
(4) user's continuation trunk is above carried, and leg recovers upright, and the position into step (1) is recovered by semi arch mechanism 2, by
Half stance is recovered to stance；
(5) the posture cyclical-transformation of " stand-seat-stand " is realized in repeat step (1)~(4), carries out limb rehabilitation training.
Present invention also offers a kind of intelligent control method based on above-mentioned assistant robot, using two walk help machines
People, realization helps formwork erection formula；Comprise the steps：
(1) when user's initial attitude is sitting posture, and when detecting by six-dimension force sensor the drastic change of power of moment, adopt
Collection force data is simultaneously relatively judged now to prepare standing state by threshold value, controls Liang Ge robots not produce motion；
(2) user is by the horizontal shore of half U type frame and the support force of abduction formula supporting construction, both hands, waist and
Leg is had an effect together, slowly realizes and stands.
Further, any one in Liang Ge robots is set to by main robot according to the true intention of user,
Another is set to from robot.
In the present invention, the spacing and speed difference between two robots are measured by laser range finder in real time from robot, so
Kinetic control system adjusts the movement locus from robot afterwards, to realize that Liang Ge robots remain constant spacing, laterally simultaneously
Row are moved ahead, and Liang Ge robots are realized combined in real time collaboration by foregoing control mode or followed, it is ensured that good usage experience
With protection of falling.
The combined intelligent assistant robot that the present invention is provided can provide two kinds of motor patterns：Combined type dual robot mould
Formula and trailing type dual robot pattern, combined type dual robot pattern are that the box-like robot collaboration auxiliary user of smart group is carried out
Walking and life, trailing type dual robot pattern is then that user need to only use main robot, and following state is in from robot.
Combined type dual robot pattern is used for user's situation about seriously enabling there is provided a variety of rehabilitation training modes, accelerates enable and uses
The recovery of the lower limbs strength of person, when user recovers to certain lower limb locomotor activity is possessed, then can enter trailing type two-shipper
Device people's pattern, and the user for possessing certain lower limbs strength then need to only be directly entered trailing type dual robot pattern.This group
Box-like intelligent robot is available for the elderly of different lower limbs strengths to use, and expands applicable crowd's scope；Reduce robot volume,
Enhance the portability and operability used in user room；Health can also be carried out by aiding in walking and station, sitting posture changing
Refreshment is practiced, and enriches rehabilitation training mode；And the intelligent assistant robot combined system that energy disposition is fallen, strengthen peace
Full protection mechanism, can effectively solve the problems, such as that the elderly or disability crowd help vertical, walk help, rehabilitation training.
By the contemplated above technical scheme of the present invention, compared with prior art, due to using omnidirectional chassis, being additionally added
Abduction formula support meanss, it is aided with the Auxiliary support effect and the combination of dual robot of half U type frame, can obtains more outstanding
Robot stabilization, stronger robot bearing capacity, protective capacities of more fully falling；Due to using six-dimension force sensor, number
According to capture card and micro computer collection, processing, analyze data, additional control system employs speed and position-force control, can
The effect for obtaining the Intelligent Recognition of motion intention and accurately controlling in real time.
Brief description of the drawings
Fig. 1 is the front view of individual machine people structure provided in an embodiment of the present invention.
Fig. 2 is the rearview of single intelligent assistant robot structure provided in an embodiment of the present invention.
Fig. 3 is the right side view of single intelligent assistant robot structure provided in an embodiment of the present invention.
Fig. 4 is the left side view of single intelligent assistant robot structure provided in an embodiment of the present invention.
Fig. 5 is the control structure schematic diagram of single intelligent assistant robot provided in an embodiment of the present invention.
Fig. 6 is the control structure schematic diagram of trailing type dual robot pattern provided in an embodiment of the present invention.
Fig. 7 is the control structure schematic diagram of combination cooperating type dual robot pattern provided in an embodiment of the present invention.
Fig. 8 is the rehabilitation training schematic diagram provided in an embodiment of the present invention changed again to " station " posture by " station " to " seat ",
Wherein (a) is initial stance, and (b) is the stance of stance → half, and (c) is half stance → sitting posture, and (d) is the stance of sitting posture → half, and (e) is
Half stance → stance.
Fig. 9 is the man-machine position view of trailing type dual robot pattern provided in an embodiment of the present invention.
Figure 10 is the man-machine position view of combination cooperating type dual robot pattern provided in an embodiment of the present invention.
In figure：1 it is handle, 2 be semi arch mechanism, 3 be ball-joint, 4 be half U type frame, 5 be robot trunk, 6 is abduction
Formula supporting construction, 7 are omnidirectional chassis.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below that
Not constituting conflict between this can just be mutually combined.
As shown in Figure 1,2,3, 4, the assistant robot that the present invention is provided includes：Handle 1, semi arch mechanism 2, ball-joint 3,
Half U type frame 4, robot trunk 5, abduction formula supporting construction 6, omnidirectional chassis 7；Handle 1 is held for user and helped, transmission user's fortune
It is dynamic to be intended to；Semi arch mechanism 2 is used for height and angular adjustment when anti-tumble buffering and man-machine interaction；Ball-joint 3 is used to drive
Semi arch mechanism 2 is moved；Half U type frame 4 is supported for user's forearm；Robot trunk 5, which is used to providing power supply, data, adopts
Collection, processing and transmission and motion control；Abduction formula supporting construction 6 falls back for protection, and omnidirectional chassis 7 is used for band motivation
360 ° of omnidirectional movings of device people.
Semi arch mechanism 2 includes emergency stop switch, ring flange and six-dimension force sensor.Emergency stop switch is located at the structure upper right
Side, the motion for stopping robot under burst or fortuitous event immediately；Then closed with ball ring flange lower end in semi arch mechanism 2
3 tops are saved with six-dimension force sensor to be connected；Six-dimension force sensor is connected with the modulate circuit plate in robot trunk 5, and measurement is used
The force data of family handle；The end of semi arch mechanism 2 is connected with the decelerator of the both sides side of ball-joint 3, realizes the semi arch
Shape structure 2 is using horizontal radial as 360 ° of rotations of axle, and the design can carry out the man-machine interaction height buffered during with rehabilitation training of falling
Regulation.
Ball-joint 3 includes a spherical housing, and outer casing frontispiece is expressed one's feelings with smiling face, and two groups of electricity are included inside spherical housing
Machine, encoder, decelerator, support frame, ball-joint control panel and ball-joint driving plate, the bottom of ball-joint 3 are fixed on half U type frame 4
On.
One end of two motors of ball-joint 3 is fixed on support frame in horizontal and vertical respectively, is constituted two bit planes and is sat
Mark system, the positional information for obtaining ball-joint, the other end is coaxially connected with encoder, and information is closed come forming position untill
Ring；Decelerator is also fixed on support frame that there is provided certain volume speed reducing ratio；Ball-joint control panel is connected with encoder, obtains electricity
Machine real-time speed；Ball-joint driving plate then connected ball joint control plate and motor, obtain the pwm signal of control panel output, are used to
The rotating speed of controlled motor and direction.The outward appearance of ball-joint 3 imitates brain shape and human face expression, and user is more easy to obtain when in use
Warm sense, friendliness are obtained, strengthens the experience of man-machine interaction.
Received on half U type frame 4 joint 3, there is a foldable supporting plate in the centre of lower even groove profile frame, for propping up thereon
User's forearm is supportted, auxiliary lower limbs strength weak people excessively stands and walked.Different crowd and different scenes are easy in folding design
Application, i.e., it is convenient and be not take up space.
The internal structure of robot trunk 5 is:Omnidirectional's chassis control plate, omnidirectional's base plate electric machine driving plate, lithium battery are voltage-controlled
Making sheet, data collecting card, micro computer, lithium battery, laser range finder, groove profile frame, expansion link, both sides side plate, bottom baffles, centre
Dividing plate, upper baffle plate and rear portion side plate.
Two expansion links of robot trunk 5 are fixed on the side plate of both sides by U-shaped piece, and the manual regulation of expansion link
Length, to adapt to the user of different heights；Both sides side plate is solid with rear side side plate, central dividing plate, upper baffle plate and bottom baffles
Even；Be fixed with omnidirectional's chassis control plate and driving plate, lithium battery voltage change-over panel on upper baffle plate, omnidirectional's chassis control plate with it is micro-
Computer is connected with driving plate, receives the data after the analyzing and processing of micro computer, then transmits corresponding PWM ripples to driving plate, drives
The dynamic plate speed that then output voltage is moved to motor, controlled motor and direction, and lithium battery voltage change-over panel and lithium battery, omnidirectional
Chassis control plate is connected with driving plate, for lithium battery voltage to be converted into 24V voltages, then to omnidirectional's chassis control plate and drive
Dynamic plate is powered；Micro computer and data collecting card, the processing of digital collection module receiving conditioning circuit are fixed with central dividing plate
Force data afterwards, is then transferred to micro computer by USB line, and micro computer is then used to carrying the program write, the collection of data,
Processing and distribution.Bottom baffle is then fixed with lithium battery and laser range finder, and lithium battery is responsible for providing the power input of robot,
Laser range finder is connected by USB line with micro computer, for measuring leg data to recognize that user movement is intended to, is measured simultaneously
The position of two robots and speed difference are to realize with amiable cooperative motion pattern；The hierarchical design of the dividing plate of robot trunk 5
By same type or be joined directly together prototype part and concentrate, put nearby, it is both attractive in appearance neat, be easy to wiring again, also help debugging and therefore
Barrier is searched.
Abduction formula supporting construction 6, including electric cylinder, support, omni-directional wheel, electric cylinder and support and robot thereon
The back side panel of trunk 5 is connected, and the receipts of electric cylinder control abduction formula support frame 6 are folded and deploy, not only portable but also saving space, this
One design can effectively prevent falling back for user.
Omnidirectional's scale 7 is connected with the bottom centre of robot trunk 5, and omnidirectional's scale 7 is fixed and puts up Y-shaped, mutual angle into
120 °, 3 groups of motors, decelerator, encoder and omni-directional wheel are individually fixed on 3 directions of fixed mount and are co-axially mounted, and assemble suitable
Sequence is：Omni-directional wheel is located at the outermost end on omnidirectional chassis 7, and connection reducer, motor then one terminates another termination encoder of decelerator.
360 ° of omnidirectional movings of robot can be achieved in this design, and any direction of user and the motion intention of speed can be achieved.
As shown in figure 5, the motion control principle of the single intelligent robot in the present invention is as follows：
(1) user holds handle 1, is had an effect toward the desired direction of motion, the six-dimensional force sensing acted on half arcuate structure 2
Device, produces motion intention；
The pressure Value Data of six-dimension force sensor on (2) half arcuate structures 2 is via the modulate circuit in robot trunk 5
Adjustment completes the corresponding conversion of power and speed, is then gathered by data collecting card, then send micro computer to by USB port serial ports；
(3) micro computer in robot trunk 5 then passes through the control panel of serial ports and ball-joint 3, the control panel on omnidirectional chassis 7
Communication, is then sent to corresponding motor driving plate by the pwm signal of formation, and motor work forms assistant robot
Actual motion direction and speed；
(4) ball-joint 3, the encoder on omnidirectional chassis 7 monitor motor speed in real time, speed or position closed loop are formed, to machine
The real-time speed of device people compensates correction；
(5) robot is intended to move according to user.
Two intelligent assistant robots in the present invention follow above-mentioned motion control principle.
As one of the present embodiment, we analyze trailing type dual robot motor pattern, as shown in Fig. 6,9, specific behaviour
Make step as follows：
(1) user's one hand holds the handle 1 of main robot, is sent out while forearm is placed on the horizontal shore of half U type frame 4
Power, produces motion intention；
(2) main robot motion intention is transformed into the motion of robot：Six-dimensional force on the arcuate structure 2 of main robot half is passed
Sensor produces force data, and the modulate circuit data conditioning by robot trunk 5 is transferred to data collecting card, then passes through USB
Micro computer is transferred to, micro computer transfers data to the control panel on omnidirectional chassis 7 by serial ports, and control panel produces PWM ripples and sent
To driving plate, motor work, omni-directional wheel is rotated, and main robot is intended to motion by user；
(3) master and slave Motion Errors are detected：Between the laser range finder of robot trunk 5 detects two robots
Real-time speed and the direction of motion difference；
(4) main robot is followed to move from robot：The compensation of position and speed is carried out from robot movement-control system
Correction, it is ensured that be consistent from robot motion with main robot, realizes that dual robot trailing type is moved.
Above-mentioned motor pattern is applied to the user with certain lower limbs strength or rehabilitation thus much stage.
As one of the present embodiment, we combine cooperating type dual robot motor pattern to analyze, as shown in Fig. 7,10, tool
Body operating procedure is as follows：
(1) user's both hands hold the handle 1 of assistant robot respectively, while forearm is placed in the horizontal support of half U type frame 4
Had an effect on frame, produce motion intention；
(2) main robot motion intention is transformed into the motion of robot：Six-dimensional force on the arcuate structure 2 of main robot half is passed
Sensor produces force data, and the modulate circuit data conditioning by robot trunk 5 is transferred to data collecting card, then passes through USB
Micro computer is transferred to, micro computer transfers data to the control panel on omnidirectional chassis 7 by serial ports, and control panel produces PWM ripples and sent
To driving plate, motor work, omni-directional wheel is rotated, and main robot is intended to motion by user；
(3) produced from robot and be intended to motion：Intention motion is produced such as the mode step 2 from robot；
(4) principal and subordinate's Motion Errors are detected：Between the laser range finder of robot trunk 5 detects two robots
The difference of real-time speed and the direction of motion；
(5) principal and subordinate robot combination cooperating type motion：The compensation of position and speed is carried out from robot movement-control system
Correction, it is ensured that the uniformity of principal and subordinate robot motion intention, realizes dual robot combination cooperating type motion.
Above-mentioned motor pattern is applied to the user that lower limbs strength is excessively small and weak or even seriously disables, can be according to user
The use habit of right-hand man defines principal and subordinate robot, with alternative, better meets the custom of user, further carries
Usage comfort is risen, and by force data Intelligent Recognition user motion intention and can ensure to be intended to the real-time of realization, with
Just good usage experience is obtained.
As one of the present embodiment, we analyze the rehabilitation training function of the present invention, as shown in figure 8, the present invention is provided
Combined intelligent assistant robot, moreover it is possible to realize the posture cyclical-transformation of " stand-seat-stand ", carry out rehabilitation training, concrete operations
It is as follows：
(1) when the original state for detecting user is the handle that both hands hold Liang Ge robots respectively, forearm is placed on
Make stress support on horizontal shore；And waist and knee are bent downwardly, while being rotated backward with fixed handle lower half circle arc mechanism
When, by the height of regulation handle to realize that user is slowly comfortably transformed into half stance by stance；
(2) continue to sinking waist when detecting user, during bending knee, by control semicircular arc mechanism be driven after
Continuous to go to more lower position backward, user is transformed into sitting posture by half stance；
(3) abovementioned steps (1) are transformed to by sitting posture to stance, the inverse process of (2), user by horizontal shore,
Leg and waist are had an effect, and trunk is up carried, and knee bends slowly diminish, and are recovered by sitting posture to half stance, during semi arch mechanism 2 is moved to
Position；
(4) user's continuation trunk is above carried, and leg recovers upright, and the position into step (1) is recovered by semi arch mechanism, by half
Stance is recovered to stance；
(5) the posture cyclical-transformation of " stand-seat-stand " is realized in repeat step (1)~(4), carries out limb rehabilitation training.
The strength building at the positions such as arm, leg and waist is strengthened in this rehabilitation training, compared to the instruction of single auxiliary walking
Practice, with more preferably rehabilitation training effect, enrich rehabilitation training means.
As one of embodiments of the invention, we help vertical analyze intelligent assistant robot combination, reference can be made in Fig. 8
(c), (d), (e) process, concrete operations are as follows：
(1) user's initial attitude is sitting posture, and both hands gripping handles 1, two forearms are positioned over the horizontal support of half U type frame 4
On frame；
(2) six-dimension force sensor on the arcuate structure 2 of robot half produces the drastic change of the power of moment, and force data passes through machine
Modulate circuit, data collecting card in people's trunk 5 carry out data acquisition and processing (DAP), micro computer are sent to, according to microcomputer program
It is default, judge that, now to prepare standing state, now ball-joint and omnidirectional's turbin generator disable, and Liang Ge robots do not produce fortune
It is dynamic；
(3) user is by the horizontal shore of half U type frame 4 and the support force of abduction formula support frame 6, both hands, waist and
The positions such as leg are had an effect together, slowly realize and stand.
By the present invention in that the force data of user carrys out the intention that Intelligent Recognition prepares to stand, and compared to individual machine people, it is double
The support force of hand more can conveniently, stably exert oneself also much larger than singlehanded support force.
Therefore, present embodiment has the features such as easy-to-use, real-time and security simple to operate is good, can strengthen limb
Resuming training for muscle power amount, strengthens locomotor activity damage and the locomotor activity of amblyopia patient, improves their quality of life.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of assistant robot, it is characterised in that including：Handle (1), semi arch mechanism (2), ball-joint (3), half U type frame
(4), robot trunk (5), abduction formula supporting construction (6), omnidirectional chassis (7)；
The handle (1) is held for user helps, and transmission user movement is intended to；The semi arch mechanism (2) is used for anti-fall and delayed
Height and angular adjustment when punching and man-machine interaction；The ball-joint (3) is used to drive semi arch mechanism (2) to move；Half U
Type frame (4) is supported for user's forearm；The robot trunk (5) is used for the collection, the processing of data, data for realizing data
Transmission and motion control；The abduction formula supporting construction (6) falls back for protection；The omnidirectional chassis (7) is used for band
360 ° of omnidirectional movings of mobile robot.
2. assistant robot as claimed in claim 1, it is characterised in that the semi arch mechanism (2) includes：Emergency stop switch,
Ring flange and six-dimension force sensor；
The emergency stop switch is located at upper right side, the motion for stopping robot under burst or fortuitous event；The ring flange with
The ball-joint (3) is connected with the six-dimension force sensor；The six-dimension force sensor is connected with the robot trunk (5),
Force data for measuring user's handle.
3. assistant robot as claimed in claim 1, it is characterised in that the robot trunk (5) includes：Omnidirectional's chassis control
Making sheet, omnidirectional's chassis driving plate, lithium battery voltage control panel, data collecting card, micro computer, lithium battery, laser range finder, groove profile
Frame, expansion link, both sides side plate, bottom baffles, central dividing plate, upper baffle plate and rear portion side plate；
Two expansion links are fixed on the side plate of both sides, and expansion link adjustable length；
Both sides side plate is connected with rear side side plate, central dividing plate, upper baffle plate and bottom baffles；
Be fixed with omnidirectional's chassis control plate and driving plate, lithium battery voltage change-over panel on upper baffle plate, omnidirectional's chassis control plate with
Micro computer is connected with driving plate, receives the data after the analyzing and processing of micro computer, and corresponding PWM ripples, driving are transmitted to driving plate
Speed and direction that plate output voltage is moved to motor, controlled motor, and lithium battery voltage change-over panel and lithium battery, omnidirectional chassis
Control panel is connected with driving plate, for lithium battery voltage to be converted into 24V voltages, and omnidirectional's chassis control plate and driving plate are carried out
Power supply；
Micro computer and data collecting card, the power number after the processing of digital collection module receiving conditioning circuit are fixed with central dividing plate
According to being transferred to micro computer, micro computer is used to realize the collection of data, processing and distributed；
Lithium battery and laser range finder are fixed with bottom baffle, lithium battery is used for the power input for providing robot, Laser Measuring
Distance meter is connected with micro computer, for measuring leg data to recognize that user movement is intended to, while measuring the position of two robots
With speed difference to realize with amiable cooperative motion pattern.
4. assistant robot as claimed in claim 1, it is characterised in that the abduction formula supporting construction (6) includes：Electronic gas
Cylinder, support and omni-directional wheel；The electric cylinder and the support are connected with the back side panel of robot trunk (5), described electronic
Cylinder is used to control the receipts of abduction formula supporting mechanism (6) folded and deployed.
5. assistant robot as claimed in claim 1, it is characterised in that omnidirectional's scale (7) and robot trunk (5) bottom
Portion center is connected, and Y-shaped is put up in omnidirectional's scale (7) fixation, and mutual angle is into 120 °.
6. a kind of intelligent control method of the assistant robot based on described in claim 1, using two assistant robots, is realized
Trailing type motor pattern；It is characterised in that it includes following step：
(1) when obtaining the motion intention of user, the six-dimension force sensor on half arcuate structure (2) in main robot is produced
Force data, by the modulate circuit data conditioning of robot trunk (5), is transferred to data collecting card, is then given by USB transmission
Micro computer, micro computer transfers data to the control panel of omnidirectional chassis (7) by serial ports, and control panel produces PWM ripples and is sent to drive
Dynamic plate, motor work, omni-directional wheel is rotated, and main robot is intended to motion by user；
(2) by detect main robot from the laser range finder of robot trunk (5) and from the real-time speed between robot and
The difference of the direction of motion；
(3) kinetic control system carries out the benefit of position and speed according to the difference of the real-time speed and the direction of motion from robot
Repay correction so that be consistent with main robot from robot motion, realize that dual robot trailing type is moved.
7. a kind of intelligent control method of the assistant robot based on described in claim 1, using two assistant robots, is realized
Combine cooperating type motor pattern；It is characterised in that it includes following step：
(1) when obtaining the motion intention of user, the six-dimension force sensor on the arcuate structure of main robot half (2) produces power number
According to, by the modulate circuit data conditioning of robot trunk (5), be transferred to data collecting card, then by USB transmission give micro- electricity
Brain, micro computer transfers data to the control panel of omnidirectional chassis (7) by serial ports, and control panel produces PWM ripples and is sent to driving plate,
Motor is worked, and omni-directional wheel is rotated, and main robot is intended to motion by user；
(2) intention motion is produced from robot according to the same mode of main robot；
(3) by detect main robot from the laser range finder of robot trunk (5) and from the real-time speed between robot and
The difference of the direction of motion；
(4) compensation of position and speed is carried out according to the difference of the real-time speed and the direction of motion from robot movement-control system
Correction so that consistent from the motion intention of robot and the motion intention of main robot, realizes dual robot combination cooperating type fortune
It is dynamic.
8. a kind of intelligent control method of the assistant robot based on described in claim 1, using two assistant robots, is realized
Rehabilitation training pattern；It is characterised in that it includes following step：
(1) use when detecting when detecting the original state of user and hold the handles (1) of Liang Ge robots respectively for both hands
The original state of person is the handle that both hands hold Liang Ge robots respectively, and forearm, which is placed on horizontal shore, makees stress support；
And be bent downwardly waist and knee, while when being rotated backward with fixed handle lower half circle arc mechanism, by the height of regulation handle with
Realize that user is slowly comfortably transformed into half stance by stance；
(2) continue to sinking waist when detecting user, during bending knee, by control semicircular arc mechanism be driven continuation to
After go to more lower position, user is transformed into sitting posture by half stance；
(3) by the inverse process for being transformed to abovementioned steps 1,2 of sitting posture to stance, user sends out by horizontal shore, leg and waist
Power, trunk is up carried, and knee bends slowly diminish, and is recovered by sitting posture to half stance, semi arch mechanism kinematic position into (2)；
(4) user's continuation trunk is above carried, and leg recovers upright, and the position into (1) is recovered by semi arch mechanism, is recovered by half stance
To stance；
(5) the posture cyclical-transformation of " stand-seat-stand " is realized in repeat step (1)~(4), carries out limb rehabilitation training.
9. a kind of intelligent control method of the assistant robot based on described in claim 1, using two assistant robots, is realized
Help formwork erection formula；It is characterised in that it includes following step：
(1) when user's initial attitude is sitting posture, and when detecting by six-dimension force sensor the drastic change of power of moment, power is gathered
Data simultaneously relatively judge that, now to prepare standing state, control Liang Ge robots do not produce motion by threshold value；
(2) user is by the horizontal shore of half U type frame (4) and the support force of abduction formula supporting construction (6), both hands, waist
Had an effect together with leg, slowly realize and stand.
10. the intelligent control method as described in claim any one of 6-9, it is characterised in that according to the true intention of user
Any one in Liang Ge robots is set to main robot, another is set to from robot.
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