CN108904159A - Control method, device and the seat robot of seat robot - Google Patents
Control method, device and the seat robot of seat robot Download PDFInfo
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- CN108904159A CN108904159A CN201810823695.1A CN201810823695A CN108904159A CN 108904159 A CN108904159 A CN 108904159A CN 201810823695 A CN201810823695 A CN 201810823695A CN 108904159 A CN108904159 A CN 108904159A
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- Prior art keywords
- bottom plate
- cushion bottom
- seat
- user
- robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/10—Type of patient
- A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/12—Remote controls
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of control method of seat robot, device and seat robots；This method includes：After receiving the first movement instruction that user issues, according to the current environment map being pre-created, controls seat robot and reach designated position；Its cushion bottom plate and handrail are controlled respectively is moved to corresponding predeterminated position from corresponding initial position；Robot retrogressing is controlled, the triangle support frame Unscrew forward of its seat support connection is controlled, so that user is located at the centre of left cushion bottom plate and right cushion bottom plate；It controls left and right cushion bottom plate to slide to the direction of user, closes up left and right cushion bottom plate；It controls triangle support frame back rotation to reset, so that user is located on cushion bottom plate；Final control cushion bottom plate is moved to its initial position；If receiving the second move of user's sending, control seat robot reaches corresponding designated position.Present invention reduces difficulty and complexity that lower limb obstacle personnel move the operation taken the opportunity, alleviate the labor intensity of nursing staff, improve efficiency.
Description
Technical field
The present invention relates to home intelligence technical fields, control method, device more particularly, to a kind of seat robot
And seat robot.
Background technique
The weak old man of lower limb function decline, individuals with disabilities are multiplied in shifting, can be met in moving process due to lower limbs strength deficiency
To very big difficulty.And the shifting that the control mode of the nursing devices such as existing shifting machine, wheelchair cannot solve such crowd simultaneously multiply,
Mobile problem, operation difficulty is big, and complexity is high, and efficiency is lower.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of control method of seat robot, device and seat machines
People is multiplied with facilitating lower limb obstacle personnel move, reduces the difficulty and complexity of operation, mitigate the labor intensity of nursing staff,
It improves efficiency.
In a first aspect, this method is applied to seat the embodiment of the invention provides a kind of control method of seat robot
The controller of robot, this method include the first movement instruction for receiving user and issuing；First movement instruction includes specific bit
It sets；According to the current environment map being pre-created, controls seat robot and reach designated position；The designated position is locating for user
The preset direction of position and the position at pre-determined distance；Respectively control seat robot cushion bottom plate and handrail from it is corresponding just
Beginning position is moved to corresponding predeterminated position；Cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；In the first of cushion bottom plate
Beginning position, left cushion bottom plate is parallel with right cushion bottom plate to close up setting；Seat robot is controlled to retreat, control seat robot
The triangle support frame Unscrew forward of seat support connection, so that user is located at left cushion bottom plate and right cushion bottom plate
It is intermediate；It controls left cushion bottom plate and right cushion bottom plate to slide to the direction of user, closes up left cushion bottom plate and right cushion bottom plate；
It controls triangle support frame back rotation to reset, so that user is located on cushion bottom plate；Control cushion bottom plate is moved to cushion bottom
The initial position of plate；If receiving the second move of user's sending, control seat robot reaches the second move
Corresponding designated position.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein on
It states according to the current environment map being pre-created, controls the step of seat robot reaches designated position, including：According to preparatory wound
The current environment map built and designated position determine the running route of seat robot；According to running route, seat machine is controlled
People reaches designated position.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein it is above-mentioned that the step of seat robot reaches designated position is controlled according to running route, including：When
When detecting barrier, planning operation route again；According to the running route after planning again, the arrival of control seat robot refers to
Positioning is set.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein on
It states the cushion bottom plate for controlling seat robot respectively and handrail is moved to the step of corresponding predeterminated position from corresponding initial position
Suddenly, including：Left cushion bottom plate and right cushion bottom plate are distinguished two sides sliding opening to the left and right by the sliding equipment for controlling cushion bottom plate,
Reach the first cushion bottom plate predeterminated position；The crank of control seat pose_adjuster, which rotates clockwise, drives rocker device to move back
It is dynamic, so that affixed left cushion bottom plate and right cushion bottom plate move rearwardly and upwardly therewith, reach the predeterminated position of cushion bottom plate；
Control handrail front and rear sliding mechanism moves handrail rearward, reaches the first handrail predeterminated position；Control handle lifting mechanism
The height for reducing handrail, reaches the predeterminated position of handrail.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein on
Stating the step of control cushion bottom plate is moved to the initial position of cushion bottom plate includes：The crank for controlling seat pose_adjuster is counterclockwise
Rotation drives rocker device to move forward, so that cushion bottom plate forward downward is mobile, reaches the initial position of cushion bottom plate.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein on
The method of stating further includes：When user rides in seat robot, the third move that user issues is received；According to preparatory wound
The current environment map built, control seat robot reach the corresponding designated position of third move；Cushion bottom plate is controlled to move
It moves to the predeterminated position of cushion bottom plate, so that user, which moves to multiply to shifting, multiplies target；The crank of control seat pose_adjuster revolves counterclockwise
Turn that rocker device is driven to move forward, so that affixed cushion bottom plate forward downward is mobile therewith；Control left cushion bottom plate and the right side
Cushion bottom plate is moved to the initial position of cushion bottom plate to middle slip, and control triangle support frame back rotation resets.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein above-mentioned control cushion bottom plate is moved to the predeterminated position of cushion bottom plate, multiplies so that user moves to shifting
The step of multiplying target, including：The crank of control seat pose_adjuster, which rotates clockwise, drives rocker device to move backward, so that with
Affixed cushion bottom plate move rearwardly and upwardly, the second predeterminated position is reached, so that user, which is located to move, multiplies the top of target；Control
The triangle support frame being connect with seat support Unscrew forward；The sliding equipment of cushion bottom plate is controlled by left cushion bottom plate
And two sides sliding opening, the predeterminated position of arrival cushion bottom plate multiply right cushion bottom plate so that user moves to multiply to shifting to the left and right respectively
Target.
Second aspect, the embodiment of the present invention also provide a kind of control device of seat robot, which is set to seat
The controller of robot, the device include:First command reception module, for receiving the first movement instruction of user's sending；It should
First movement instruction includes designated position；Designated position control module, for according to the current environment map being pre-created, control
Seat robot reaches designated position；The preset direction and the position at pre-determined distance that the designated position is user present position；
Predeterminated position mobile module, cushion bottom plate and handrail for controlling seat robot respectively are moved to from corresponding initial position
Corresponding predeterminated position；Cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；In the initial position of cushion bottom plate, left cushion
Bottom plate is parallel with right cushion bottom plate to close up setting；Cushion bottom plate sliding block retreats for controlling seat robot, controls seat
The triangle support frame Unscrew forward of the seat support connection of robot, so that user is located at left cushion bottom plate and right seat
The centre of rebasing plate；It controls left cushion bottom plate and right cushion bottom plate to slide to the direction of user, makes left cushion bottom plate and right cushion
Bottom plate closes up；It controls triangle support frame back rotation to reset, so that user is located on cushion bottom plate；Initial position moves mould
Block, the initial position for being moved to cushion bottom plate for controlling cushion bottom plate；Second command reception module, if for receiving use
The second move that family issues, control seat robot reach the corresponding designated position of the second move.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein on
Designated position control module is stated to be also used to：According to the current environment map being pre-created and designated position, seat robot is determined
Running route；According to running route, controls seat robot and reach designated position.
Second aspect, the embodiment of the present invention also provide a kind of seat robot, including mobile chassis, seat pose_adjuster,
Seat, handrail and controller；Above-mentioned apparatus is set in the controller.
The embodiment of the present invention brings following beneficial effect：
The embodiment of the invention provides a kind of control method of seat robot, device and seat robots；Receive user
After the first movement instruction of sending, according to the current environment map being pre-created, controls seat robot and reach designated position；Point
Not Kong Zhi seat robot cushion bottom plate and handrail from corresponding initial position be moved to corresponding predeterminated position；Control seat
Robot retreats, and the triangle support frame of the seat support connection of control seat robot is forward after Unscrew, to use
Family is located at the centre of left cushion bottom plate and right cushion bottom plate；It is sliding to the direction of user to control left cushion bottom plate and right cushion bottom plate
It is dynamic, close up left cushion bottom plate and right cushion bottom plate；It controls triangle support frame back rotation to reset, so that user is located at cushion
On bottom plate；Final control cushion bottom plate is moved to the initial position of cushion bottom plate；If receive user's sending second is mobile
Instruction, control seat robot reach corresponding designated position；Which reduces lower limb obstacle personnel and carries out moving the behaviour to take the opportunity
Make difficulty and complexity, alleviates the labor intensity of nursing staff, improve efficiency.
Other features and advantages of the present invention will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implementing above-mentioned technology of the invention it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, better embodiment is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the control method of seat robot provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of seat robot provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the seat of seat robot provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the control method of another seat robot provided in an embodiment of the present invention；
Fig. 5 is a kind of partial structure diagram of the mobile chassis of seat robot provided in an embodiment of the present invention；
Fig. 6 is a kind of partial structure diagram of the mobile chassis of seat robot provided in an embodiment of the present invention；
Fig. 7 is the change in location of cushion bottom plate in a kind of control method of seat robot provided in an embodiment of the present invention
Schematic diagram；
Fig. 8 is a kind of partial structure diagram of the seat pose_adjuster of seat robot provided in an embodiment of the present invention；
Fig. 9 is a kind of partial structure diagram of the seat pose_adjuster of seat robot provided in an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of the handrail of seat robot provided in an embodiment of the present invention；
Figure 11 is the flow chart of the control method of another seat robot provided in an embodiment of the present invention；
Figure 12 is a kind of structural schematic diagram of the control device of seat robot provided in an embodiment of the present invention.
Icon：1- mobile chassis；2- seat pose_adjuster；3- seat；4- handrail；5- controller；31- cushion bottom plate；32-
The chair back；33- rack gear；34- human body detection sensor；11- wheel；12- motor driver；13- lower plate；131- ultrasonic sensor；
132- laser radar；133- visual sensor；134- tracking sensor；21- column；22- crank；23- double rocking lever；24- seat
Support plate；25- triangle support frame；26- sliding motor；27- gear；41- handrail front and rear sliding mechanism；43- handrail outer tube；
44- arm supports bar；411- handrail slider motor supporting base；412- handrail slider motor；413- handrail slider feed screw nut's machine
Structure；414- handrail slides back and forth directive slide track；421- handrail lifting motor support base；422- handrail lifting motor；423- handrail
Elevating screw nut body；424- handrail goes up and down directive slide track；441- pressure sensor；442- remote-control handle；1200- first refers to
Enable receiving module；The designated position 1202- control module；1204- predeterminated position mobile module；1206- cushion bottom plate sliding block；
1208- initial position mobile module；The second command reception module of 1210-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, the control mode of the nursing devices such as existing shifting machine, wheelchair needs human assistance that could complete related use
The shifting at family multiplies, and operation difficulty is big, complexity is high, and efficiency is lower, is based on this, the embodiment of the invention provides a kind of seat machines
Control method, device and the seat robot of device people, can be applied to seat robot and other nursing devices.
For the control convenient for understanding the present embodiment, first to a kind of seat robot disclosed in the embodiment of the present invention
Method processed describes in detail.
A kind of flow chart of the control method of seat robot shown in Figure 1, this method are applied to seat robot
Controller, this approach includes the following steps：
Step S100 receives the first movement instruction that user issues；First movement instruction includes designated position.
Above-mentioned first movement instruction can be voice signal, or by remote controler or mobile terminal (such as intelligent hand
Table, mobile phone, plate etc.) send wireless signal；Meanwhile the controller of the seat robot should configure corresponding wireless signal and connect
Receive module or speech recognition module.The instruction may include some position in current environment, which will be by as specified
Position, or the relative position of the current location of the seat robot, such as 5 meters of front.
Step S102 controls seat robot and reaches designated position according to the current environment map being pre-created；This is specified
The preset direction and the position at pre-determined distance that position is user present position.
Specifically, when the map that can input current environment such as current environment is residential building, control to seat robot
The floor plan in the house is inputted in device processed；Also it can control the operation of the seat robot in current environment, pass through laser thunder
Up to the relative distance of measurement seat robot and ambient enviroment and the encoder of motor is combined to acquire data, according to the seat of estimation
The geometrical characteristic of robot pose variation track in the environment and environment distance generates current environment map.According to working as front ring
Condition figure and designated position, generate running route, and control seat robot reaches the designated position；It usually can be in certain a part
One fixed location of middle determination, the designated position as the part；Seat robot can also be by the magnetic stripe that is laid on ground
Or dark track, area navigation line autonomous is detected to designated position by tracking sensor.In seat robot to greatly
Position approximate postpones, and user can be according to itself at a distance from wheel chair robot, then issues move and adjust the distance.
Step S104 controls the cushion bottom plate of seat robot respectively and handrail from corresponding initial position is moved to correspondence
Predeterminated position；Cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；In the initial position of cushion bottom plate, left cushion bottom plate
It is parallel with right cushion bottom plate to close up setting.
Specifically, the seat robot structural schematic diagram as shown in Fig. 2, include mobile chassis 1, seat pose_adjuster 2,
Seat 3, handrail 4, controller 5；Seat pose_adjuster is fixed on mobile chassis, and seat is fixed on seat pose_adjuster, left
Right two handrails are mounted on mobile chassis.Wherein, seat includes two cushion bottom plates 31 (i.e. above-mentioned left cushion bottom plate and right cushions
Bottom plate), two chair back 32 are fixedly connected with cushion bottom plate side respectively, and cushion bottom plate back is equipped with rack gear 33, with seat tune
Gear intermeshing on the sliding motor of appearance mechanism, two cushion bottom plate medial surfaces are embedded with human body detection sensor 34, knot
Structure schematic diagram is as shown in Figure 3.
When seat robot reaches designated position, its direction is adjusted, makes the seat robot back to the user.Above-mentioned seat
The initial position of rebasing plate is that two cushion bottom plates close up；The front end that the initial position of handrail is located at seat robot is high-order.On
The predeterminated position for stating cushion bottom plate can be two cushion bottom plates, two Slideslip to the left and right respectively, and increase rearwardly and upwardly setting away from
From position, user is located between two pieces of cushion bottom plates at this time；The predeterminated position of handrail can reduce set distance for handrail, and
The position of set distance is moved backward, handrail can be located above cushion bottom plate at this time, provide branch for the movement of next step user
Support and protection.Specifically, the change in location of cushion bottom plate can be realized by control seat pose_adjuster；The change in location of handrail
It can be realized by the sliding equipment and elevating mechanism of handrail.
Step S106, control seat robot retreat, the triangle branch of the seat support connection of control seat robot
Support Unscrew forward, so that user is located at the centre of left cushion bottom plate and right cushion bottom plate；Control left cushion bottom plate and the right side
Cushion bottom plate is slided to the direction of user, closes up left cushion bottom plate and right cushion bottom plate；Triangle support frame is controlled to back spin
Turn to reset, so that user is located on cushion bottom plate.
In the fallback procedures of above-mentioned seat robot, can by be arranged in seat support connection triangular support
Frame sensor detects whether to touch user, and when detection has touched, user is located at left cushion bottom plate and right cushion bottom plate
Centre, then triangle support frame Unscrew forward.Then successively the cushion bottom plate of the control left and right sides is sliding to the user
Dynamic, so that left and right cushion bottom plate closes up, the triangle support frame back rotation of seat support connection resets, to cushion sole shape
At support, so that user is seated on cushion bottom plate.
Step S108, control cushion bottom plate are moved to the initial position of cushion bottom plate.
Specifically, cushion bottom plate forward downward can be driven mobile by seat pose_adjuster, reaches initial position, so that
User is completely disposed in the seat robot.
Step S110, if receiving the second move of user's sending, it is mobile that control seat robot reaches second
Instruct corresponding designated position.
Similarly, above-mentioned second instruction first movement instruction can be voice signal, or pass through remote controler or shifting
The wireless signal that dynamic terminal is sent；The instruction may include specific position, also may include the relative position with current location.
The embodiment of the invention provides a kind of control method of seat robot, device and seat robots；Receive user
After the first movement instruction of sending, according to the current environment map being pre-created, controls seat robot and reach designated position；Point
Not Kong Zhi seat robot cushion bottom plate and handrail from corresponding initial position be moved to corresponding predeterminated position；Control seat
Robot retreats, and the triangle support frame of the seat support connection of control seat robot is forward after Unscrew, to use
Family is located at the centre of left cushion bottom plate and right cushion bottom plate；It is sliding to the direction of user to control left cushion bottom plate and right cushion bottom plate
It is dynamic, close up left cushion bottom plate and right cushion bottom plate；It controls triangle support frame back rotation to reset, so that user is located at cushion
On bottom plate；Final control cushion bottom plate is moved to the initial position of cushion bottom plate；If receive user's sending second is mobile
Instruction, control seat robot reach corresponding designated position；Which reduces lower limb obstacle personnel and carries out moving the behaviour to take the opportunity
Make complexity, improves efficiency.
The embodiment of the invention also provides the control method of another seat robot, this method methods shown in Fig. 1
On the basis of realize, flow chart is as shown in figure 4, include the following steps：
Step S400 receives the first movement instruction that user issues；First movement instruction includes designated position.
Step S402 determines the operation road of seat robot according to the current environment map being pre-created and designated position
Line；Specifically, according to current environment map, current location and designated position, the running route of seat robot is established.
Step S404 controls seat robot and reaches designated position according to running route；In fact, the seat robot
It is moved by mobile chassis；The mobile chassis can be all-around mobile chassis, including take turns 11, motor driver 12, under
Bottom plate 13, ultrasonic sensor 131 (or infrared sensor), laser radar 132, visual sensor 133, tracking sensor
134 and motor driver, shape be it is U-shaped, structural schematic diagram is as shown in Figures 5 and 6；The wheel is two or more active drives
Omnidirectional's castor and Auxiliary support universal caster wheel or multiple active drives omni-directional wheel, can be omni wheel, Mecanum
Wheel, ball-type wheel etc.；Each wheel is connect by shaft coupling with driving motor respectively；Driving motor and motor driver, motor driven
There is electrical connection between device and controller；Handrail front and rear sliding mechanism is installed on the bottom plate two sides upper surface of mobile chassis.It is transporting
During row, motion track evacuation can be adjusted in real time by ultrasonic sensor or infrared sensor real-time detection barrier
Dynamic and static barrier.
Left cushion bottom plate and right cushion bottom plate are distinguished two sides to the left and right by step S406, the sliding equipment for controlling cushion bottom plate
Sliding opening reaches the first cushion bottom plate predeterminated position；Specifically, the change in location of cushion bottom plate is as shown in Figure 7.
Step S408, the crank of control seat pose_adjuster, which rotates clockwise, drives rocker device to move backward, so that with
Affixed left cushion bottom plate and right cushion bottom plate move rearwardly and upwardly, reach cushion bottom plate predeterminated position.
The seat pose_adjuster of the seat robot is by column 21, crank 22, double rocking lever 23, seat support 24, triangle
Shape support frame 25, sliding motor 26, gear 27 form, and structural schematic diagram is as can be seen from figures 8 and 9；Crank is by rotary electric machine, biography
Moving part, toggle-action lever composition；Rocking bar top is provided with oblong slots, and the oblong slots composition sliding pair of crank one end and a rocking bar is another
Root rocking bar is servo-actuated；Seat support lower plate and rocking bar end are affixed, and are equipped with triangle in seat support lower plate side
Shape support frame is connect by hinge with seat support, and seat support upper surface is equipped with sliding motor, and this sliding electricity
The shaft end that goes out of machine is equipped with gear.Step S406 and step S408 can be realized by controlling above-mentioned sliding equipment and crank.
Step S410, control handrail front and rear sliding mechanism move handrail rearward, reach the first handrail predeterminated position.
Step S412, control handle lifting mechanism reduce the height of handrail, reach the predeterminated position of handrail.
Specifically, the structural schematic diagram of handrail is as shown in Figure 10, including handrail front and rear sliding mechanism 41, handrail elevator
Two structure, handrail outer tube 43, left and right arm supports bars 44.Handrail front and rear sliding mechanism includes handrail slider motor supporting base
411, handrail slider motor 412, shaft coupling, handrail slider leading screw and nut mechanism 413, handrail slide back and forth directive slide track 414；It helps
Hand elevating mechanism includes handrail lifting motor support base 421, handrail lifting motor 422, shaft coupling, handrail elevating screw nut machine
Structure 423, handrail go up and down directive slide track 424；Wherein, a handrail outer tube is fixed on handrail slider nut, is helped with another
Hand outer tube is connected by casing tranverse connecting rod；One arm supports bar is fixed on handrail lifting nut, with another handrail branch
Strut is connected by handrail tranverse connecting rod；Both handrail outer tube and arm supports bar are gap-matched；Two arm supports bars
Top difference front and back is embedding, and there are two pressure sensors 441；The upper surface of one of arm supports bar is equipped with remote-control handle
442.Above-mentioned steps 412 and step 414 can be realized by control handrail front and rear sliding mechanism and handle lifting mechanism.
Step S414, control seat robot retreat, the triangle branch of the seat support connection of control seat robot
Support Unscrew forward, so that user is located at the centre of left cushion bottom plate and right cushion bottom plate；Control left cushion bottom plate and the right side
Cushion bottom plate is slided to the direction of user, closes up left cushion bottom plate and right cushion bottom plate；Triangle support frame is controlled to back spin
Turn to reset, so that user is located on cushion bottom plate.
Step S416, the crank of control seat pose_adjuster rotates counterclockwise drives rocker device to move forward, so that sitting
Rebasing plate forward downward is mobile, reaches the initial position of cushion bottom plate.
Step S418, if receiving the second move of user's sending, it is mobile that control seat robot reaches second
Instruct corresponding designated position.
This method can carry out indoor map creation, and realize independent navigation function, can avoid dynamic static-obstacle thing,
It realizes auxiliary user to change to, alleviates the workload of nursing staff.
The embodiment of the invention also provides the control method of another seat robot, this method methods shown in Fig. 1
On the basis of realize, be primarily adapted for use in when user rides in seat robot, want to move and multiply to other shiftings when multiplying in target, stream
Journey figure is as shown in figure 11, includes the following steps：
Step S1100 receives the third move that user issues when user rides in seat robot.
Step 1102, it according to the current environment map being pre-created, controls seat robot and reaches third move pair
The designated position answered.
Step S1104, control cushion bottom plate is moved to the predeterminated position of cushion bottom plate, so that user, which moves to multiply to shifting, multiplies mesh
Mark.
Above-mentioned steps S1104 may be accomplished by：
(1) crank for controlling seat pose_adjuster, which rotates clockwise, drives rocker device to move backward, so that affixed therewith
Cushion bottom plate move rearwardly and upwardly, the second predeterminated position is reached, so that user, which is located to move, multiplies the top of target；
(2) triangle support frame connecting with seat support Unscrew forward is controlled；Control the sliding of cushion bottom plate
Left cushion bottom plate and right cushion bottom plate are distinguished two sides sliding opening to the left and right by mechanism, are reached the predeterminated position of cushion bottom plate, are made
It obtains user and moves to multiply to shifting and multiply target.
Step S1106, the crank of control seat pose_adjuster rotates counterclockwise drives rocker device to move forward, so that with
Affixed cushion bottom plate forward downward it is mobile；Left cushion bottom plate and right cushion bottom plate are controlled to middle slip, is moved to cushion
The initial position of bottom plate；Triangle support frame back rotation is controlled to reset.
This method auxiliary user conveniently realizes to be taken shifting and multiplies in target from wheel chair robot shifting, is mitigated nursing staff and is embraced and helps
User moves the labor intensity multiplied, easy to operate, improves efficiency.
The embodiment of the present invention also provides a kind of control device of seat robot, which is set to the control of seat robot
Device processed, structural schematic diagram is as shown in figure 12, which includes:First command reception module 1200 is issued for receiving user
First movement instruction；First movement instruction includes designated position；Designated position control module 1202, for according to wound in advance
The current environment map built, control seat robot reach designated position；The designated position is the default side of user present position
To with the position at pre-determined distance；Predeterminated position mobile module 1204, for control respectively seat robot cushion bottom plate and
Handrail is moved to corresponding predeterminated position from corresponding initial position；Cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；
In the initial position of cushion bottom plate, left cushion bottom plate is parallel with right cushion bottom plate to close up setting；Cushion bottom plate sliding block 1206,
It is retreated for controlling seat robot, the triangle support frame of the seat support connection of control seat robot, which rotates forward, to be beaten
It opens, so that user is located at the centre of left cushion bottom plate and right cushion bottom plate；Left cushion bottom plate and right cushion bottom plate are controlled to user
Direction sliding, close up left cushion bottom plate and right cushion bottom plate；It controls triangle support frame back rotation to reset, so that user
On cushion bottom plate；Initial position mobile module 1208, the initial position for being moved to cushion bottom plate for controlling cushion bottom plate；
Second command reception module 1210, if the second move for receiving user's sending, control seat robot is reached
The corresponding designated position of second move.
Specifically above-mentioned designated position control module is also used to：
(1) according to the current environment map and designated position being pre-created, the running route of seat robot is determined
(2) it according to running route, controls seat robot and reaches designated position.
The control device of a kind of seat robot provided in an embodiment of the present invention, with a kind of seat provided by the above embodiment
The control method of robot technical characteristic having the same reaches identical technology so also can solve identical technical problem
Effect.
Corresponding to above-described embodiment, the embodiment of the present invention also provides a kind of seat robot, which includes moving
Dynamic chassis, seat pose_adjuster, seat, handrail and controller；Above-mentioned apparatus is set in the controller；The seat robot
Specific structure can refer to above-described embodiment.
A kind of calculating of the control method, device and seat robot of seat robot provided by the embodiment of the present invention
Machine program product, the computer readable storage medium including storing program code, the instruction that said program code includes are available
In executing previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally it should be noted that：Embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that：Anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of control method of seat robot, which is characterized in that the method is applied to the controller of seat robot, institute
The method of stating includes:
Receive the first movement instruction that user issues；The first movement instruction includes designated position；
According to the current environment map being pre-created, controls the seat robot and reach the designated position；The specific bit
The preset direction for being set to the user present position and the position at pre-determined distance；
The cushion bottom plate and handrail for controlling the seat robot respectively from corresponding initial position are moved to corresponding default position
It sets；The cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；In the initial position of the cushion bottom plate, the left cushion
Bottom plate is parallel with the right cushion bottom plate to close up setting；
The seat robot is controlled to retreat, control the triangle support frame of the seat support connection of the seat robot to
Preceding Unscrew, so that the user is located at the centre of the left cushion bottom plate and the right cushion bottom plate；Control the left seat
Rebasing plate and the right cushion bottom plate are slided to the direction of the user, close the left cushion bottom plate and the right cushion bottom plate
Hold together；It controls the triangle support frame back rotation to reset, so that the user is located on the cushion bottom plate；
Control the initial position that the cushion bottom plate is moved to the cushion bottom plate；
If receiving the second move that the user issues, controls the seat robot arrival second movement and refer to
Enable corresponding designated position.
2. the method according to claim 1, wherein the current environment map that the basis is pre-created, control
The seat robot reaches the step of designated position, including：
According to the current environment map and the designated position being pre-created, the running route of the seat robot is determined；
According to the running route, controls the seat robot and reach the designated position.
3. according to the method described in claim 2, controlling the seat machine it is characterized in that, described according to the running route
Device people reaches the step of designated position, including：
When an obstacle is detected, the running route is planned again；
According to the running route after planning again, controls the seat robot and reach the designated position.
4. the method according to claim 1, wherein the cushion bottom plate for controlling the seat robot respectively
The step of being moved to corresponding predeterminated position from corresponding initial position with handrail, including：
The left cushion bottom plate and the right cushion bottom plate are distinguished two Slideslip to the left and right by the sliding equipment for controlling cushion bottom plate
It opens, reaches the first cushion bottom plate predeterminated position；
The crank of control seat pose_adjuster, which rotates clockwise, drives rocker device to move backward, so that the affixed left side therewith
Cushion bottom plate and the right cushion bottom plate move rearwardly and upwardly, reach the predeterminated position of the cushion bottom plate；
Control handrail front and rear sliding mechanism moves handrail rearward, reaches the first handrail predeterminated position；
Control handle lifting mechanism reduces the height of the handrail, reaches the predeterminated position of the handrail.
5. the method according to claim 1, wherein the control cushion bottom plate is moved to the cushion bottom
The step of initial position of plate includes：
The crank of control seat pose_adjuster rotates counterclockwise drives rocker device to move forward, so that the cushion bottom plate is forward
Lower section is mobile, reaches the initial position of the cushion bottom plate.
6. the method according to claim 1, wherein the method also includes：
When the user rides in the seat robot, the third move that user issues is received；
According to the current environment map being pre-created, controls the seat robot and reach the corresponding finger of the third move
Positioning is set；
The predeterminated position that the cushion bottom plate is moved to the cushion bottom plate is controlled, so that the user, which moves to multiply to shifting, multiplies target；
The crank of control seat pose_adjuster rotates counterclockwise drives rocker device to move forward, so that the affixed seat therewith
Rebasing plate forward downward is mobile；The left cushion bottom plate and the right cushion bottom plate are controlled to middle slip, is moved to the seat
The initial position of rebasing plate；The triangle support frame back rotation is controlled to reset.
7. according to the method described in claim 6, it is characterized in that, the control cushion bottom plate is moved to the cushion bottom
The predeterminated position of plate, so that the user, which moves, multiplies the step of multiplying target to shifting, including：
The crank of control seat pose_adjuster, which rotates clockwise, drives rocker device to move backward, so that the affixed seat therewith
Rebasing plate moves rearwardly and upwardly, reaches the second predeterminated position, so that user is located at the top moved and multiply target；
Control the triangle support frame connecting with seat support Unscrew forward；Control the sliding equipment of the cushion bottom plate
The left cushion bottom plate and the right cushion bottom plate are distinguished into two sides sliding opening to the left and right, reach the default of the cushion bottom plate
Position, so that the user, which moves to multiply to the shifting, multiplies target.
8. a kind of control device of seat robot, which is characterized in that described device is set to the controller of seat robot, institute
Stating device includes:
First command reception module, for receiving the first movement instruction of user's sending；The first movement instruction includes specified
Position；
Designated position control module, for controlling the seat robot and reaching institute according to the current environment map being pre-created
State designated position；The preset direction and the position at pre-determined distance that the designated position is the user present position；
Predeterminated position mobile module, the cushion bottom plate and handrail for controlling the seat robot respectively are from corresponding initial bit
It sets and is moved to corresponding predeterminated position；The cushion bottom plate includes left cushion bottom plate and right cushion bottom plate；In the cushion bottom plate
Initial position, the left cushion bottom plate is parallel with the right cushion bottom plate to close up setting；
Cushion bottom plate sliding block retreats for controlling the seat robot, controls the Seat support of the seat robot
The triangle support frame Unscrew forward of plate connection, so that the user is located at the left cushion bottom plate and the right cushion bottom
The centre of plate；It controls the left cushion bottom plate and the right cushion bottom plate to slide to the direction of the user, makes the left cushion
Bottom plate and the right cushion bottom plate close up；It controls the triangle support frame back rotation to reset, so that the user is located at institute
It states on cushion bottom plate；
Initial position mobile module, the initial position for being moved to the cushion bottom plate for controlling the cushion bottom plate；
Second command reception module, if the second move issued for receiving the user, controls the seat machine
Device people reaches the corresponding designated position of second move.
9. device according to claim 8, which is characterized in that the designated position control module is also used to：
According to the current environment map and the designated position being pre-created, the running route of the seat robot is determined；
According to the running route, controls the seat robot and reach the designated position.
10. a kind of seat robot, which is characterized in that including mobile chassis, seat pose_adjuster, seat, handrail and controller；
The described in any item devices of claim 8-9 are set in the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823695.1A CN108904159A (en) | 2018-07-24 | 2018-07-24 | Control method, device and the seat robot of seat robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823695.1A CN108904159A (en) | 2018-07-24 | 2018-07-24 | Control method, device and the seat robot of seat robot |
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| CN108904159A true CN108904159A (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810823695.1A Pending CN108904159A (en) | 2018-07-24 | 2018-07-24 | Control method, device and the seat robot of seat robot |
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| CN109397245A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of nursing robot |
| CN110613566A (en) * | 2019-09-27 | 2019-12-27 | 上海尊颐智能科技有限公司 | Function auxiliary device |
| CN111658382A (en) * | 2020-06-15 | 2020-09-15 | 江苏苏云医疗器材有限公司 | Household self-care shift vehicle |
| CN112569057A (en) * | 2019-09-27 | 2021-03-30 | 上海尊颐智能科技有限公司 | Operation control method and operation control system of energy auxiliary device |
| WO2021196517A1 (en) * | 2020-03-31 | 2021-10-07 | 五邑大学 | Community service robot for assisting mobility of the elderly |
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Application publication date: 20181130 |