CN112137810A

CN112137810A - Seat is followed to intelligence

Info

Publication number: CN112137810A
Application number: CN202011122765.4A
Authority: CN
Inventors: 丁涛; 姜健; 崔学林
Original assignee: Hangzhou Cunlan Technology Co ltd
Current assignee: Hangzhou Cunlan Technology Co ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2020-12-29

Abstract

The invention discloses an intelligent following seat, and relates to an intelligent following seat capable of automatically following. The intelligent following seat comprises a seat part, a four-foot part, a control and sensor part and a power supply. The seat part is a main body part for supporting the whole seat, the four-foot part is a part for controlling the seat to walk front, back, left and right, the control and sensor part is a part for receiving and analyzing sensor information so as to output an intelligent control signal to control the intelligent following seat to complete following, and the power supply is a part for providing energy for the whole intelligent following seat. The invention adopts a four-foot walking mode, has strong obstacle crossing capability, can cross the doorsill, and has good stability and higher safety by supporting the seat with four feet. In addition, the backrest and the armrests of the chair can meet the requirement of walking ability exercise of the patient who is inconvenient to walk, and have positive promotion effect on improvement of the life quality of the patient.

Description

Seat is followed to intelligence

Technical Field

The invention designs an intelligent following seat, and particularly relates to an intelligent following seat capable of automatically following.

Background

At present, to old man and the inconvenient patient of action, the wheelchair can regard as supplementary recovered instrument, but the wheelchair is only a simple instrument of riding instead of walk, can not follow patient's walking according to patient's idea intelligently, when patient has the walking ability training demand, the wheelchair also can not play the effect of supplementary exercise well moreover. For this reason, we have designed an intelligent follow-up seat.

Disclosure of Invention

The intelligent mobile seat with the automatic following function disclosed in the chinese patent publication No. CN203814902U is capable of controlling the seat to move front, back, left and right, but the seat is short and has no armrest, which cannot meet the requirement of the patient on walking ability, and the walking wheels are used as the moving units of the seat, so that the stability is poor, and the seat is easy to be dangerous when going up or down a slope. Meanwhile, compared with a foot type walking mechanism, the wheel type walking mechanism is lower in obstacle crossing capability. The invention adopts a four-foot walking mode, has strong obstacle crossing capability, can cross a doorsill and climb stairs, and has good stability and higher safety because the four feet support the seat. In addition, the backrest and the armrests of the chair can meet the requirement of walking ability exercise of the patient who is inconvenient to walk, and have positive promotion effect on improvement of the life quality of the patient.

In order to achieve the purpose, the invention adopts the technical scheme that:

the intelligent following seat comprises a seat part, four-foot parts, a control and sensor part and a power supply, wherein the seat part is a main body part for supporting the whole seat, the four-foot parts are parts for controlling the seat to walk front and back and left and right, the control and sensor part is a part for receiving sensor information and analyzing the sensor information so as to output an intelligent control signal to control the intelligent following seat to complete following, and the power supply is a part for providing energy for the whole intelligent following seat.

Preferably, the seat portion is composed of an armrest 1, a seat back 2, a seat surface 3, and seat legs 4.

Preferably, the four-foot part is composed of four mechanical legs, each of which is composed of a hip joint 8, a thigh 11 and a lower leg 12.

Preferably, each of the four mechanical legs has three degrees of freedom: hip, thigh and calf.

Preferably, the hip joint is composed of a hip joint driving motor 6 and a hip joint 8.

Preferably, the thigh is composed of a thigh driving motor 9, a thigh 11, a thigh driving motor driving bevel gear 13 and a thigh driving motor driven bevel gear 14.

Preferably, the lower leg is composed of a lower leg 12, a lower leg driving motor 10, a lower leg driving motor driving bevel gear 15 and a lower leg driving motor driven bevel gear 16.

Preferably, the control and sensor part is composed of a camera 7 and a storage battery and control part installation box 5, and a UWB positioning module, a GPS positioning module, a main control chip and a driving circuit are installed in the storage battery and control part installation box 5.

Preferably, the main control chip of the control and sensor part adopts STM32F 103.

Preferably, the power supply part consists of a storage battery and a control part installation box 5, and the power supply is a storage battery.

Drawings

Fig. 1 is an overall structure diagram of an intelligent follow-up seat.

Fig. 2 is a single leg structure diagram of the intelligent follow-up seat.

Fig. 3 is a diagram of a state of intelligent follow-up seat walking.

Fig. 4 is a state diagram of performing a seat function.

Fig. 5 is a smart seat information detection and control block diagram.

In the figure: the system comprises 1-armrest, 2-seat backrest, 3-seat surface, 4-seat fixed leg, 5-storage battery and control part installation box, 6-hip joint driving motor, 7-camera, 8-hip joint, 9-thigh driving motor, 10-shank driving motor, 11-thigh, 12-shank, 13-thigh driving motor driving bevel gear, 14-thigh driving motor driven bevel gear, 15-shank driving motor driving bevel gear and 16-shank driving motor driven bevel gear.

The present patent is further illustrated by the following detailed description in conjunction with the accompanying drawings.

Detailed Description

In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The four-foot part of the intelligent following seat is four mechanical legs designed according to a bionics concept, and each mechanical leg has three degrees of freedom: hip joint 8, thigh 11 and calf 12, as shown in fig. 2. Wherein the single-leg lifting and kicking action is achieved by the swinging of the upper leg 11 and the lower leg 12. The four legs imitate the walking gait of a horse or a dog, so that the coordination of actions among the legs, the advancing or the retreating are realized. The hip joint 8 realizes the steering action of the whole intelligent seat through the hip swing action, as shown in fig. 3. When the four mechanical legs are all lifted, the intelligent following seat can be used as a common seat, as shown in fig. 4.

The thigh is composed of a thigh driving motor 9, a thigh 11, a thigh driving motor driving bevel gear 13 and a thigh driving motor driven bevel gear 14. The upper thigh 11 is connected to the hip joint 8. The thigh driving motor 9 receives the signal of the main control chip, drives the thigh driving motor driving bevel gear 13 to rotate, and drives the thigh driving motor driven bevel gear 14 to rotate, so that the position of the thigh 9 is changed.

The shank is composed of a shank 12, a shank driving motor 10, a shank driving motor driving bevel gear 15 and a shank driving motor driven bevel gear 16. The upper part of the lower leg 12 is connected with the upper leg 11. The lower leg driving motor 10 receives signals of the main control chip, drives the driving bevel gear 15 of the lower leg driving motor to rotate, and drives the driven bevel gear 16 of the lower leg driving motor to rotate, so that the position of the lower leg 12 is changed, and single leg lifting and ground pedaling actions are realized through swinging of the upper leg 11 and the lower leg 12, namely, the intelligent following seat movement is completed.

The hip joint 8 comprises a hip joint drive motor 6. The upper part of the hip joint 8 is connected to the seat surface 3. The hip joint driving motor 6 receives signals of the main control chip, and the direction of the hip joint can be changed through the rotation of the hip joint driving motor 6, so that the intelligent following of the whole steering action of the seat is realized.

The power supply is a storage battery which provides power for the control and sensor part and the driving motors of the four-foot part.

Install UWB orientation module and GPS orientation module on the seat is followed to intelligence, UWB orientation module is used for fixing a position the bracelet position on patient's hand, ensures that the accuracy is followed. The GPS positioning module executes remote positioning to avoid loss.

The front and the two sides of the intelligent following seat are provided with 3 cameras 7, the cameras 7 can record the posture of a human body and the situation of the surrounding environment, the posture and the environment information are sent to a main control chip, the advancing direction and the advancing speed of the intelligent following seat are controlled by combining GPS information and UWB information, and information monitoring and control logic is shown in figure 5. When the intelligent following seat is close to an obstacle or other pedestrians, the intelligent following seat can effectively avoid the obstacle according to the information of the sensor.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a seat is followed to intelligence which characterized in that: the intelligent following seat comprises a seat part, four-foot parts, a control and sensor part and a power supply. The seat part is composed of armrests 1, a seat back 2, a seat surface 3 and seat fixing legs 4. The four-foot part consists of four mechanical legs, and each mechanical leg consists of a hip joint 8, a thigh 11 and a shank 12. The control and sensor and power supply part is composed of a camera 7 and a storage battery and control part mounting box 5. The intelligent following of the seat is realized according to the following modes:

(1) the intelligent following seat completes the front-back left-right movement and the steering of the seat in a four-foot walking mode.

(2) The intelligent follow seat control and sensor part completes automatic follow and obstacle avoidance of the seat.

2. The intelligent follow-up seat according to claim 1, wherein: the four-foot part in the step (1) is four mechanical legs designed according to the bionics idea, and each mechanical leg has three degrees of freedom: hip joint 8, thigh 11 and calf 12.

3. The intelligent follow-up seat according to claim 1, wherein: the four-foot part in the (1) realizes the single-leg lifting and pedaling actions through the swinging of the thigh 11 and the lower leg 12. The turning action of the whole intelligent seat is realized through the hip swinging action of the hip joint 8.

4. The intelligent follow-up seat according to claim 1, wherein: when the four mechanical legs are all lifted, the intelligent following seat can be used as a common seat.

5. The intelligent follow-up seat according to claim 1, wherein: and 3 cameras 7 are arranged in front and on two sides of the intelligent seat in the step (2), the cameras 7 can record the posture of a human body and the surrounding environment, send the posture and the environment information to a main control chip, and control the intelligent following direction and speed of the intelligent following seat by combining GPS information and UWB information.