CN112245128B

CN112245128B - Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals

Info

Publication number: CN112245128B
Application number: CN202010947261.XA
Authority: CN
Inventors: 王传江; 冯政凯; 刘猛; 付月胜; 王宁宁; 张成林; 孙秀娟
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2022-02-08
Anticipated expiration: 2040-09-10
Also published as: CN112245128A

Abstract

The invention discloses an electroencephalogram signal controlled robot for helping the old and the disabled and a personnel monitoring system, which comprise a bed-chair robot, a medical detection device and a terminal monitoring platform, wherein a user is carried on the bed-chair robot, the medical detection device is arranged on one side of the bed-chair robot and is in signal connection with the bed-chair robot through a signal conversion device by a data transmission line, and the terminal monitoring platform can be arranged in a room far away from the bed-chair robot and the medical detection device and is in long-distance signal connection with the medical detection device through the signal conversion device by the data transmission line. The invention adopts the mode of EEG signal control, improves the applicability to the old with inconvenient actions or the people with limb disabilities, strengthens the self-care ability in life, enables the old to move in a certain space range, monitors the change of physical physiological parameters in real time, relieves the pressure of nursing personnel and relatives, and has the characteristics of strong adaptability, good operability and high safety degree.

Description

Robot for helping old people and disabled and personnel monitoring system controlled by electroencephalogram signals

Technical Field

The invention relates to the technical field of an old-helping and disabled-helping robot, in particular to an electroencephalogram signal controlled old-helping and disabled-helping robot and a personnel monitoring system.

Background

The prior bed-chair dual-purpose equipment only has the functions of transportation and rest, can not simply and self-care the old with inconvenient actions or the people with limb disabilities, does not fundamentally lighten the burden of medical care personnel, needs the real-time nursing of the medical care personnel and the regular inquiry of experts, can not analyze and process physiological parameters and prevent diseases in time, increases the labor intensity of the medical care personnel, and brings great trouble to the development of the old and disabled-assisting career.

Therefore, the robot device for helping the old and the disabled and the personnel monitoring system for helping the old with inconvenient actions or the disabled with limbs can normally live at daily life are developed, the user can not only solve the daily life and self-care, but also check the change of the physical parameters at any time, so that the expert can know the physical condition of the user, prevent accidents in advance, relieve the inconvenience of the user, relieve the pressure on relatives, and relieve the burden of medical treatment and nursing in the society. The device system not only can be used for family residents, but also can be applied to nursing places such as nursing homes, hospitals and nursing centers, so that manpower and material resources can be saved, the burden of nursing personnel is relieved, and the nursing quality is improved.

Disclosure of Invention

The invention aims to provide an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled to solve the problems in the background technology.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an electroencephalogram signal controlled robot and personnel monitoring system for helping the old and the disabled comprises: a bed-chair robot, a medical care detection device, a terminal monitoring platform, a user, a fixed bed frame, a bed-chair robot body, a bed-frame guardrail, a bed-frame folding table, a folding table hinge, a front bed-chair support frame, a rear bed-chair support frame, a state monitoring sensing module, a first signal conversion device, a first data transmission line, a charging pile, a bed-chair posture deformation device, a steering device, an armrest, a mobile device, a humanoid mechanical arm, a brain control device, a binocular vision camera, a medical care detection operation platform, a medical cabinet universal wheel, a detection data transmission line interface, a second data transmission line, a medical cabinet storage drawer, a terminal display screen, a screen support, a second signal conversion device, a third data transmission line, a fourth data transmission line, a fifth data transmission line, a screen operation platform, a charging plug, a head cushion, a chair frame, a seat chair frame, a leg chair frame, A foot chair frame, a back electric supporting rod, a first movable rotating shaft, a first leg hydraulic supporting device, a second movable rotating shaft, a third movable rotating shaft, a back reinforcing plate, a foot reinforcing plate, a left foot chair frame supporting wheel, a right foot chair frame supporting wheel, a brain control device data transmission line interface, a starting switch, a charging port, a handrail platform, a primary handrail, a secondary handrail, an electric sliding rail, a moving vehicle frame, a first driving device, a second driving device, a left driving wheel, a right driving wheel, a left front auxiliary wheel, a right front auxiliary wheel, a storage battery, a base driving motor, a humanoid mechanical arm base, a first mechanical arm driving motor, a first mechanical arm connecting rod, a second mechanical arm driving motor, a second mechanical arm connecting rod, a third mechanical arm driving motor, a fourth mechanical arm driving motor, a third mechanical arm connecting rod, a mechanical arm driving motor, Manipulator driving motor, manipulator, head-mounted brain control device body, brain electrical signal acquisition module, brain control device data transmission line, slip table, track, slide rail driving motor, slide rail reduction gear, first driving motor reduction gear, second driving motor reduction gear, its characterized in that: the system comprises a bed-chair robot, a medical detection device and a terminal monitoring platform, wherein the bed-chair robot carries a user, the medical detection device is arranged on one side of the bed-chair robot and is in signal connection with the bed-chair robot through a signal conversion device by a data transmission line, and the terminal monitoring platform can be arranged in a room far away from the bed-chair robot and the medical detection device and is in long-distance signal connection with the medical detection device by the data transmission line through the signal conversion device; the bed-chair robot consists of a fixed bed frame and a bed-chair robot body; the fixed bedstead comprises bedstead guardrails, a bedstead folding table, folding table hinges, a front bedstead support frame, a rear bedstead support frame, a state monitoring sensing module, a first signal conversion device, a first data transmission line and a charging pile, the bedstead guardrails are arranged at the left side of the head and the left side of the tail of the fixed bedstead, the bedstead folding table is arranged at the left side of the middle part of the fixed bedstead, the folding table hinges are positioned at the connecting parts of the tabletop and the table legs of the bedstead folding table, the table legs of the bedstead folding table are fixed on the fixed bedstead, the tabletop of the bedstead folding table can be unfolded through the folding table hinges, the front bedstead support frame is fixedly connected at the middle part of the head plate, the rear bedstead support frame is fixedly connected at the middle part of the tail plate, the state monitoring sensing module is arranged below the mattress at the left side of the fixed bedstead, and a user can contact with a sensor of the state monitoring sensing module, the first signal conversion device is positioned at the left side of the bed tail of the fixed bed frame, one end of the first data transmission line is matched with the first signal conversion device, the other end of the first data transmission line is matched with the fixed bed frame, the first signal conversion device is connected with the fixed bed frame, the physiological parameter change signals of the body of the user detected by the state monitoring and sensing module positioned below the mattress are transmitted and collected by the first signal conversion device, the charging pile is arranged below the fixed bedstead, when the bed-chair robot body moves into the space reserved by the fixed bedstead, the charging port on the steering device of the bed-chair robot body can be matched with the charging plug on the charging pile, the charging pile comprises a charging plug, and the charging plug is arranged at the upper part of the inner side surface of the charging pile; the bed-chair robot body comprises a bed-chair posture deformation device, a steering device, armrests, a moving device, a humanoid mechanical arm, a brain control device and a binocular vision camera, wherein the bed-chair posture deformation device is positioned at the upper part of the bed-chair robot body; the medical care detection device comprises a medical care detection operation platform, a medical cabinet universal wheel, a detection data transmission line interface, a second data transmission line and a medical cabinet storage drawer, wherein the medical care detection operation platform is arranged at the upper part of the medical care detection device, the medical cabinet universal wheel is positioned at the lower end of the medical care detection device, the detection data transmission line interface is positioned at the back of the medical care detection device, the second data transmission line is positioned at one side of the medical care detection device, one end of the second data transmission line is matched with the detection data transmission line interface, the other end of the second data transmission line is connected with a first signal conversion device, a body physiological parameter change signal of a user collected by the first signal conversion device is transmitted to the medical care detection operation platform, the user and medical care personnel can check the body physiological parameter change of the user through the medical care detection operation platform and can alarm and prompt certain abnormal physiological parameters of the user, the medical cabinet storage drawer is arranged in the middle of the medical care detection device and is divided into an upper storage drawer and a lower storage drawer; the terminal monitoring platform comprises a terminal display screen, a screen support, a second signal conversion device, a third data transmission line, a fourth data transmission line, a fifth data transmission line and a screen operation platform, wherein the terminal display screen is arranged at the upper end of the screen support, the screen support is fixed on the ground, the second signal conversion device is arranged behind the screen support, the screen operation platform is positioned in front of the terminal display screen, the third data transmission line is arranged in the wall of a room according to different positions of the room where the terminal monitoring platform leaves the bed chair robot and the medical detection device, one end of the third data transmission line is connected with the first signal conversion device, the other end of the third data transmission line is connected with the second signal conversion device, and the change signals of the physical parameters of the user, collected by the first signal conversion device, are transmitted to the second signal conversion device, the fifth data transmission line is positioned between the screen operating platform and the second signal conversion device, one end of the fifth data transmission line is connected with the screen operating platform, the other end of the fifth data transmission line is connected with the second signal conversion device, the fifth data transmission line transmits the body physiological parameter change signal of the user transmitted to the second signal conversion device to the screen operating platform, the screen operating platform processes, processes and analyzes the signal, automatically recording the abnormal physiological parameters of the user, then retransmitting the analyzed data to the second signal conversion device, the fourth data transmission line is positioned between the terminal display screen and the second signal conversion device, connects the terminal display screen with the second signal conversion device, transmits the data re-transmitted to the second signal conversion device to the terminal display screen, and displays the body physiological parameter change data of the user on the terminal display screen.

Further, the bed chair posture deformation device comprises a head cushion, a back chair frame, a seat chair frame, a leg chair frame, a foot chair frame, a back electric supporting rod, a first movable rotating shaft, a first leg hydraulic supporting device, a second movable rotating shaft, a third movable rotating shaft, a back reinforcing plate, a foot reinforcing plate, a left foot chair frame supporting wheel and a right foot chair frame supporting wheel, wherein the head cushion is fixedly connected to the back chair frame of the bed chair posture deformation device, the back chair frame is arranged at the upper part of the bed chair posture deformation device and is matched with the seat chair frame through the first movable rotating shaft, the first movable rotating shaft is arranged at the connecting part of the back chair frame and the seat chair frame, the seat chair frame is arranged in the middle of the bed chair posture deformation device and is arranged at the upper end surface of the steering device, and the rotation of the steering device drives the whole bed chair posture deformation device to rotate, the leg chair frame is positioned at the lower part of the bed chair posture deformation device and is matched with the seat chair frame through a second movable rotating shaft, the second movable rotating shaft is arranged at the joint of the seat chair frame and the leg chair frame, the foot chair frame is positioned at the lowest part of the bed chair posture deformation device and is matched with the leg chair frame through a third movable rotating shaft, the third movable rotating shaft is arranged at the joint of the leg chair frame and the foot chair frame, the back reinforcing plate is arranged at the back of the back chair frame, one end of the back electric supporting rod is fixed on the steering device, the other end of the back electric supporting rod is fixed on the back reinforcing plate, the middle telescopic rod part of the back electric supporting rod is hinged with the fixed part, and the back chair frame is pushed to change postures around the first movable rotating shaft through the electric control of the telescopic motion of the middle telescopic rod part, and the middle telescopic rod part of the back electric supporting rod is pushed by the back reinforcing plate, the leg chair frame and the foot chair frame can respectively rotate around a second movable rotating shaft and a third movable rotating shaft through the telescopic change of hydraulic rods in the first leg hydraulic supporting device and the second leg hydraulic supporting device, so that the lower half leg chair frame and the foot chair frame in the bed chair posture deformation device can carry out posture change, and the hydraulic stem part of the leg hydraulic support device pushes the foot reinforcing plate, and is not directly contacted with the foot chair frame, so that the discomfort caused to the user is reduced when the postures of the leg chair frame and the foot chair frame of the lower half part in the bed chair posture deformation device are deformed, the left foot chair frame support wheel is arranged below the left side of the foot reinforcing plate, the right foot chair frame support wheel is arranged below the right side of the foot reinforcing plate, the left foot chair frame support wheel and the right foot chair frame support wheel are of universal wheel structures, and can rotate by 360 degrees, so that the left foot chair frame support wheel and the right foot chair frame support wheel can provide the force for supporting the lower limbs of the user when in the wheelchair shape, and can play a role in guiding when the user controls the bed chair robot body to change the moving direction.

Furthermore, the steering device comprises a data transmission line interface of the brain control device, a starting switch and a charging port, the data transmission line interface of the brain control device is arranged on the right side of the steering device, the brain control device is in signal connection with a bed chair robot body control device in the steering device through the data transmission line interface of the brain control device, a user controls the bed chair robot body to carry out daily use, the starting switch is arranged in front of the right side of the steering device, when the user is ready to use or close the bed chair robot body, the bed chair robot body control device is opened or closed through the starting switch to enable the bed chair robot body to start or stop moving, when the bed chair robot body breaks down, the user or medical personnel can rapidly close the bed chair robot body through the starting switch, the mouth that charges set up in the left side that turns to the device, when the bed chair robot body moved the space that fixed bedstead reserved, the mouth that charges on the device that turns to of bed chair robot body can cooperate with the charging plug who fills on the electric pile, carries out daily charging for bed chair robot body.

Furthermore, the handrail comprises a handrail table, a first-level handrail, a second-level handrail and an electric sliding rail, the second-level handrail is positioned at the lower part of the handrail and matched with a handrail groove in the steering device, the first-level handrail is positioned at the middle part of the handrail and matched with the handrail groove in the second-level handrail, the handrail table is positioned at the upper part of the handrail and arranged above the first-level handrail, the electric sliding rail is arranged in the handrail groove, and a user controls the lifting of the handrails at the left side and the right side through the bed-chair robot body control device.

Further, the moving device comprises a moving frame, a first driving device, a second driving device, a left driving wheel, a right driving wheel, a left front auxiliary wheel, a right front auxiliary wheel and a storage battery, wherein the moving frame is a main body part of the moving device and is positioned below the steering device, the first driving device is arranged at the rear bottom of the left side of the moving frame, the second driving device is arranged at the rear bottom of the right side of the moving frame, the first driving device and the second driving device are arranged in bilateral symmetry, the left driving wheel is fixedly connected to a driving shaft of the first driving device, the right driving wheel is fixedly connected to a driving shaft of the second driving device, the left front auxiliary wheel is arranged at the front bottom of the left side of the moving frame, the right front auxiliary wheel is arranged at the front bottom of the right side of the moving frame, and the storage battery is arranged at the front central part of the moving frame, the bed-chair robot can provide power for the bed-chair robot body, the rotation of the left driving wheel and the right driving wheel is respectively driven through the rotation of the first driving device and the second driving device, and meanwhile, the left front auxiliary wheel and the right front auxiliary wheel also rotate together, so that the movement of the moving frame is realized.

Further, the humanoid mechanical arm comprises a base driving motor, a humanoid mechanical arm base, a first mechanical arm driving motor, a first mechanical arm connecting rod, a second mechanical arm driving motor, a second mechanical arm connecting rod, a third mechanical arm driving motor, a fourth mechanical arm driving motor, a third mechanical arm connecting rod, a mechanical arm wrist driving motor, a mechanical arm driving motor and a mechanical arm, wherein the base driving motor is installed at the front end of a right handrail of the moving device, the humanoid mechanical arm base is fixedly connected to the base driving motor, the humanoid mechanical arm base is enabled to rotate in multiple directions through rotation of the base driving motor, the first mechanical arm driving motor is installed at the upper end of the humanoid mechanical arm base, the first mechanical arm connecting rod is fixedly connected to the first mechanical arm driving motor, and the first mechanical arm connecting rod is driven to rotate through rotation of the first mechanical arm driving motor, the robot arm mechanism is characterized in that the forward extending or backward retracting action of the robot arm is realized, the second mechanical arm driving motor is arranged at the front end of the first mechanical arm connecting rod, the second mechanical arm connecting rod is fixedly connected to the second mechanical arm driving motor, the second mechanical arm connecting rod is driven to rotate through the rotation of the second mechanical arm driving motor, the change of the moving space position of the robot arm is further realized, the third mechanical arm driving motor is arranged at the front end of the second mechanical arm connecting rod, the fourth mechanical arm driving motor is fixed on the driving shaft of the third mechanical arm driving motor, the angle change of the space position of the fourth mechanical arm driving motor is controlled through the rotation of the third mechanical arm driving motor, the angle change of the space position of the third mechanical arm connecting rod is further driven, the third mechanical arm connecting rod is fixedly connected to the fourth mechanical arm driving motor, and the rotation of the third mechanical arm connecting rod is controlled by the rotation of the fourth mechanical arm driving motor, and then can be according to the angle of the object position adjustment manipulator that needs snatch, arm wrist driving motor install the front end at the third arm connecting rod, can realize the swing of the slight range from top to bottom of manipulator driving motor and manipulator, and then can make the manipulator adjust to the optimum gesture and go to snatch the object, manipulator driving motor install in the axis of rotation of arm wrist driving motor, the manipulator rigid coupling on manipulator driving motor, control the completion that the manipulator snatched the action by manipulator driving motor.

Furthermore, the brain control device comprises a head-wearing brain control device body, an electroencephalogram signal acquisition module and a brain control device data transmission line, wherein the head-wearing brain control device body is placed on the bed chair posture deformation device and is close to the head cushion, so that a user can conveniently take and wear the head-wearing brain control device body, the electroencephalogram signal acquisition module is installed in the brain control device body, when the head-wearing brain control device body is worn by the user, the electroencephalogram signal acquisition module starts to collect electroencephalograms of the user, one end of the brain control device data transmission line is connected with the brain control device body, the other end of the brain control device data transmission line is connected with a brain control device data transmission line interface on the right side of the steering device, the electroencephalogram signals are transmitted to an electroencephalograph part in the bed chair robot body control device through the brain control device data transmission line, the electroencephalogram biological signals are processed into digital signals by the electroencephalograms, and then the motion is transmitted to a bed-chair robot body control device to further control the motion of the bed-chair robot body.

Further, the electronic slide rail include slip table, track, slide rail driving motor, slide rail reduction gear, slide rail driving motor install in mobile device's handrail groove the inside, slide rail reduction gear rigid coupling at slide rail driving motor's drive axle head, slide rail driving motor and slide rail reduction gear constitute slide rail drive arrangement, the track rigid coupling on slide rail reduction gear's output shaft, the slip table install on electronic slide rail's track, through the rotatory slip table that drives on the track of slide rail drive arrangement reciprocate, the working end face rigid coupling of slip table is on one-level handrail inner wall simultaneously, the slip table reciprocates on the track upper surface, drives the lift of one-level handrail, when one-level handrail descends, the up end of second grade handrail casing contacts with the outer edge of handrail platform lower terminal surface, when the slip table lastingly descends, the one-level handrail lastingly falls back to the handrail groove of second grade handrail, the outer edge of the upper surface of the shell of the second-level handrail is provided with a buffer backing ring, when the first-level handrail which continuously falls back contacts with the second-level handrail, the abrasion and impact of the upper surface of the shell of the second-level handrail on the handrail table can be reduced, when the sliding table continuously falls, the first-level handrail already falls into the handrail groove of the second-level handrail at the moment, the first-level handrail drives the second-level handrail to continuously fall, the second-level handrail slowly falls back into the handrail groove of the steering device, the buffer backing ring is also arranged on the lower surface of the shell of the second-level handrail, when the second-level handrail which continuously falls contacts with the steering device, the abrasion and impact of the lower surface of the second-level handrail on the steering device can be reduced, when the sliding table drives the first-level handrail to rise, the first-level handrail rises from the handrail groove of the second-level handrail, the lower surface of the shell of the first-level handrail contacts with the buffer backing ring on the outer edge of the upper surface of the shell of the second-level handrail, the second-level handrail can be driven to rise by the rise of the first-level handrail, and the abrasion and the impact of the lower surface of the first-level handrail shell to the upper surface of the second-level handrail shell can be reduced.

Furthermore, the first driving device comprises a first driving motor and a first driving motor reducer, the first driving motor is arranged at the bottom of the left side of the movable frame, the first driving motor reducer is fixedly connected to the driving shaft end of the first driving motor, and the left driving wheel is fixedly connected to the output shaft of the first driving motor reducer; second drive arrangement including second driving motor, second driving motor reduction gear, second driving motor install in moving frame right side bottom, second driving motor reduction gear rigid coupling at second driving motor's drive axle head, right side drive wheel rigid coupling is on the output shaft of second driving motor reduction gear, first driving motor reduction gear and second driving motor, second driving motor reduction gear are the bilateral symmetry installation, it is rotatory to control driving motor through bed chair robot body controlling means, after slowing down by the driving motor reduction gear again, drive the rotation of drive wheel respectively to the user controls the bed chair robot body and removes in the room.

Further, state monitoring sensing module including blood pressure measurement module, blood oxygen measurement module, body temperature measurement module, electrocardio monitoring module, bluetooth module etc, state monitoring sensing module comprises a plurality of monitoring module, state monitoring sensing module can real-time supervision user's health physiological parameter change, and collect the data transmission who detects to first signal conversion equipment through bluetooth module, user and medical personnel can look over user's health physiological parameter change at medical care detection operation platform, also can carry out data analysis on terminal display screen simultaneously, supply the expert to look over at any time, know user's health state situation of change.

Has the advantages that:

the invention provides an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled, which have reasonable structural design, when a user wears a brain control device, the brain control device can control the movement of a bed-chair robot body, and can grasp daily living goods for eating, reading and reading, when the user has a rest, the bed-chair robot body is close to a fixed bed frame to reserve a space, a back electric supporting rod and a leg hydraulic supporting device of a bed-chair posture deformation device push a back chair frame, a leg chair frame and a foot chair frame to rotate around a movable rotating shaft, so that the postures of the wheelchair are converted into bed postures, a charging port on a steering device can be matched with a charging plug on a charging pile to supply electricity to a storage battery on a mobile device, when the bed-chair robot carries the user, a state monitoring and sensing module can monitor the change of the physical parameters of the user in real time, the change signals are converted and collected through the signal conversion device, the change signals are transmitted to the medical care detection device and the terminal monitoring platform through the data transmission line, a user and medical care personnel can check related parameter changes on the medical care detection operation platform at any time, the change signals transmitted to the terminal monitoring platform are processed and analyzed through the screen operation platform, automatic recording of abnormal physiological parameters of the user is completed, finally, an expert can master changes of the physical condition of the user on a terminal display screen, accidents are reduced, meanwhile, the old-and-disabled-assistant bed chair robot can be arranged in a plurality of rooms, a plurality of monitored body change information is transmitted to the terminal monitoring platform for the expert to check, and safety guarantee is improved. The invention has the characteristics of strong adaptability, good operability and high safety degree, so that the old with inconvenient actions or the people with limb disabilities can live normally, the self-care ability of the old or the people with limb disabilities in life is strengthened, the old or the people with limb disabilities can freely move in a certain space range, and the pressure of caregivers and relatives is relieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, not all embodiments. All other embodiments, which will be apparent to those skilled in the art without any inventive faculty, are within the scope of the invention.

FIG. 1: the invention relates to a working state integral structure diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 2: the invention relates to an integral structure diagram of an idle state of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 3: the invention relates to a bed-chair robot and a medical detection device of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system, which have the advantages that the overall structure is schematic;

FIG. 4: the invention relates to a bed-chair robot and a medical detection device of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system, which have the advantages that the overall structure is schematic;

FIG. 5: the invention relates to a bed-chair robot and a medical detection device of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system, which have the advantages that the overall structure is schematic;

FIG. 6: the invention relates to a terminal monitoring platform overall structure schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 7: the invention relates to a bed-chair robot bed-chair matched with an overall structure schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 8: the invention relates to a bed-chair robot bed body posture integral structure diagram of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system;

FIG. 9: the invention relates to a bed-chair robot bed body posture front structure schematic diagram of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system;

FIG. 10: the invention relates to a bed-chair robot bed body posture side structure schematic diagram of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system;

FIG. 11: the invention relates to a bed-chair robot bed body posture bottom structure diagram of an electroencephalogram signal controlled old and disabled assistant robot and a personnel monitoring system;

FIG. 12: the invention relates to a bed-chair robot wheelchair posture integral structure diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 13: the invention relates to a bed-chair robot wheelchair posture integral structure diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 14: the invention relates to a bed-chair robot wheelchair front structure schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 15: the invention relates to a bed-chair robot wheelchair posture side structure schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 16: the invention relates to a bed-chair robot wheelchair posture bottom structure diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 17: the invention relates to a fixed bed frame of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 18: the invention relates to a fixed bed frame of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 19: the invention relates to a human-like mechanical arm local enlarged view of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 20: the invention relates to a human-like mechanical arm schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 21: the invention relates to a driving wheel and a driving device of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 22: the invention relates to an electroencephalogram signal controlled robot for helping the old and the disabled and a handrail and an electric sliding rail of a personnel monitoring system;

FIG. 23: the invention relates to an electroencephalogram signal controlled robot for helping the old and the disabled and a person monitoring system, which has a schematic structural diagram of the front cross section of an armrest and an electric sliding rail;

FIG. 24: the invention relates to a structural schematic diagram of a handrail of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled falling into a handrail groove of a steering device;

FIG. 25: the invention relates to a human-like mechanical arm working posture diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

FIG. 26: the invention relates to a robot-like mechanical arm contraction gesture schematic diagram of an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled;

reference numerals: 1-bed-chair robot, 2-medical care detection device, 3-terminal monitoring platform, 4-user, 5-fixed bed frame, 6-bed-chair robot body, 7-bed frame guardrail, 8-bed frame folding table, 9-folding table hinge, 10-front bed-chair support frame, 11-rear bed-chair support frame, 12-state monitoring sensing module, 13-first signal conversion device, 14-first data transmission line, 15-charging pile, 16-bed-chair posture deformation device, 17-steering device, 18-armrest, 19-moving device, 20-type human mechanical arm, 21-brain control device, 22-binocular vision camera, 23-medical care detection operation platform, 24-medical care cabinet universal wheel, 25-detection data transmission line interface, 26-second data transmission line, 27-medical care cabinet drawer storage, 28-terminal display screen, 29-screen support, 30-second signal conversion device, 3-fixed bed frame, 6-bed-chair robot body, 7-bed frame guardrail, 8-bed frame folding table, 9-folding table hinge, 10-front bed-front bed-chair posture deformation device, 17-steering device, 18-armrest, 19-moving device, 20-type human mechanical arm, 21-brain control device, 22-binocular vision camera, 23-medical care detection operation platform, 24-medical care detection operation platform, medical care platform, medical, 31-third data transmission line, 32-fourth data transmission line, 33-fifth data transmission line, 34-screen operating platform, 35-charging plug, 36-head cushion, 37-back chair frame, 38-seat chair frame, 39-leg chair frame, 40-foot chair frame, 41-back electric support rod, 42-first movable rotating shaft, 43-first leg hydraulic support device, 44-second leg hydraulic support device, 45-second movable rotating shaft, 46-third movable rotating shaft, 47-back reinforcing plate, 48-foot reinforcing plate, 49-left foot chair frame support wheel, 50-right foot chair frame support wheel, 51-brain control device data transmission line interface, 52-start switch, 53-charging port, 54-armrest platform, 55-first-level armrest, 56-second-level armrest, 57-electric slide rail, 58-moving vehicle frame, 59-first driving device, 60-second driving device, 58-charging plug, 36-head cushion, 37-back chair frame, 38-seat chair frame, 39-foot chair frame, 47-third movable rotating shaft, 45-second movable rotating shaft, 47-second movable rotating shaft, 25-second-level armrest, 25-moving vehicle frame, 59-second driving device, and second driving device, 61-left driving wheel, 62-right driving wheel, 63-left front auxiliary wheel, 64-right front auxiliary wheel, 65-storage battery, 66-base driving motor, 67-humanoid robot arm base, 68-first robot arm driving motor, 69-first robot arm connecting rod, 70-second robot arm driving motor, 71-second robot arm connecting rod, 72-third robot arm driving motor, 73-fourth robot arm driving motor, 74-third robot arm connecting rod, 75-mechanical arm wrist driving motor, 76-mechanical arm driving motor, 77-mechanical arm, 78-head-wearing brain control device body, 79-electroencephalogram signal acquisition module, 80-brain control device data transmission line, 81-sliding table, 82-rail, 83-sliding rail driving motor, 84-sliding rail reducer, 85-first driving motor, 86-first driving motor reducer, 87-second driving motor and 88-second driving motor reducer.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

Referring to fig. 1-26, the present invention provides an electroencephalogram controlled robot and a monitoring system for helping the aged and disabled, comprising: the bed-chair robot comprises a bed-chair robot 1, a medical detection device 2, a terminal monitoring platform 3, a user 4, a fixed bed frame 5, a bed-chair robot body 6, bed frame guardrails 7, a bed frame folding table 8, folding table hinges 9, a front bed-chair support frame 10, a rear bed-chair support frame 11, a state monitoring sensing module 12, a first signal conversion device 13, a first data transmission line 14, a charging pile 15, a bed-chair posture deformation device 16, a steering device 17, an armrest 18, a moving device 19, a humanoid mechanical arm 20, a brain control device 21, a binocular vision camera 22, a medical detection operation platform 23, a medical cabinet universal wheel 24, a detection data transmission line interface 25, a second data transmission line 26, a medical cabinet storage transmission line 27, a terminal display screen 28, a screen support 29, a second signal conversion device 30, a third data transmission line 31, fourth data 32, fifth data 33, The device comprises a screen operating platform 34, a charging plug 35, a head cushion 36, a back chair frame 37, a seat chair frame 38, a leg chair frame 39, a foot chair frame 40, a back electric support rod 41, a first movable rotating shaft 42, a first leg hydraulic support device 43, a second leg hydraulic support device 44, a second movable rotating shaft 45, a third movable rotating shaft 46, a back reinforcing plate 47, a foot reinforcing plate 48, a left foot chair frame support wheel 49, a right foot chair frame support wheel 50, a brain control device data transmission line interface 51, a starting switch 52, a charging port 53, an armrest platform 54, a primary armrest 55, a secondary armrest 56, an electric sliding rail 57, a moving vehicle frame 58, a first driving device 59, a second driving device 60, a left driving wheel 61, a right driving wheel 62, a left front auxiliary wheel 63, a right front auxiliary wheel 64, a storage battery 65, a base driving motor 66, a human-like mechanical arm base 67, a first mechanical arm driving motor 68, a second driving device 60, a left driving device 61, a right driving device 62, a left driving device 61, a right front auxiliary wheel 64, a computer-like device data transmission device, a computer transmission device data transmission device, a computer transmission device, a computer, First arm connecting rod 69, second arm driving motor 70, second arm connecting rod 71, third arm driving motor 72, fourth arm driving motor 73, third arm connecting rod 74, arm wrist driving motor 75, arm driving motor 76, manipulator 77, wear brain accuse device body 78, brain electrical signal collection module 79, brain accuse device data transmission line 80, slip table 81, track 82, slide rail driving motor 83, slide rail reduction gear 84, first driving motor 85, first driving motor reduction gear 86, second driving motor 87, second driving motor reduction gear 88, its characterized in that: the system for controlling the robot for helping the old and the disabled and the personnel monitoring system comprises a bed-chair robot 1, a medical detection device 2 and a terminal monitoring platform 3, wherein a user 4 is carried on the bed-chair robot, the medical detection device 2 is arranged on one side of the bed-chair robot and is in signal connection with the bed-chair robot 1 through a signal conversion device by a data transmission line, and the terminal monitoring platform 3 can be arranged in a room far away from the bed-chair robot and the medical detection device and is in long-distance signal connection with the medical detection device 2 through the signal conversion device by the data transmission line; the bed-chair robot 1 consists of a fixed bed frame 5 and a bed-chair robot body 6; the fixed bedstead comprises a bedstead guardrail 7, a bedstead folding table 8, a folding table hinge 9, a front bedstead support frame 10, a rear bedstead support frame 11, a state monitoring sensing module 12, a first signal conversion device 13, a first data transmission line 14 and a charging pile 15, wherein the bedstead guardrail 7 is arranged at the left side of the head and the tail of the fixed bedstead 5, the bedstead folding table 8 is arranged at the left side of the middle part of the fixed bedstead 5, the folding table hinge 9 is positioned at the joint of the top surface and the table legs of the bedstead folding table 8, the table legs of the bedstead folding table 8 are fixed on the fixed bedstead 5, the top surface of the bedstead folding table 8 can be unfolded through the folding table hinge 9, the front bedstead support frame 10 is fixedly connected at the middle part of the head board, the rear bedstead support frame 11 is fixedly connected at the middle part of the tail board, the state monitoring sensing module 12 is arranged below a mattress at the left side of the fixed bedstead 5, the user 4 contacts with the sensor of the state monitoring sensing module 12 to detect the change condition of the physiological parameters of the body of the user 4, such as blood pressure, blood oxygen, heart rate, etc., the first signal conversion device 13 is located at the left side of the bed end of the fixed bed frame 5, one end of the first data transmission line 14 is matched with the first signal conversion device 13, the other end is matched with the fixed bed frame 5 to connect the first signal conversion device 13 with the fixed bed frame 5, the change signal of the physiological parameters of the body of the user 4 detected by the state monitoring sensing module 12 located under the mattress is transmitted and collected by the first signal conversion device 13, the charging pile 15 is arranged under the fixed bed frame 5, when the bed-chair robot body 6 moves into the reserved space of the fixed bed frame 5, the charging port 53 on the steering device 17 of the bed-chair robot body 6 can be matched with the charging plug 35 on the charging pile 15, the charging pile 15 comprises a charging plug 35, and the charging plug 35 is arranged at the upper part of the inner side surface of the charging pile 15; the bed-chair robot body 6 comprises a bed-chair posture deformation device 16, a steering device 17, armrests 18, a moving device 19, a humanoid mechanical arm 20, a brain control device 21 and a binocular vision camera 22, wherein the bed-chair posture deformation device 16 is positioned at the upper part of the bed-chair robot body 6, the steering device 17 is positioned in the middle of the bed-chair robot body 6, the armrests 18 are arranged at the left side and the right side of the bed-chair posture deformation device 16 at the upper end of the steering device 17, the moving device 19 is positioned at the lower part of the bed-chair robot body 6, the humanoid mechanical arm 20 is arranged in front of the right armrest at the upper end of the steering device 17, the brain control device 21 is arranged on a mattress of the bed-chair posture deformation device 16 and is connected with a bed-chair robot body control device inside the steering device 17 through a data transmission line, the binocular vision camera 22 is fixed at the front part of the upper end of the right armrest 18, the user 4 can observe the space position of the required living goods through eyes, then the brain control device 21 controls the binocular vision camera 22 to observe the space position of the object to be grabbed, the bed-chair robot body control device processes image information generated by observation of the binocular vision camera 22, and the humanoid mechanical arm 20 is further enabled to grab the required living goods according to the feedback information; the medical care detection device 2 comprises a medical care detection operation platform 23, a medical cabinet universal wheel 24, a detection data transmission line interface 25, a second data transmission line 26 and a medical cabinet storage drawer 27, wherein the medical care detection operation platform 23 is arranged on the upper part of the medical care detection device 2, the medical cabinet universal wheel 24 is positioned at the lower end of the medical care detection device 2, the detection data transmission line interface 25 is positioned at the back of the medical care detection device 2, the second data transmission line 26 is positioned at one side of the medical care detection device 2, one end of the second data transmission line is matched with the detection data transmission line interface 25, the other end of the second data transmission line is connected with the first signal conversion device 13, a body physiological parameter change signal of the user 4 collected by the first signal conversion device 13 is transmitted to the medical care detection operation platform 23, and the user 4 and medical personnel can check the body physiological parameter change of the user 4 through the medical care detection operation platform 23, the medical cabinet storage drawer 27 is arranged in the middle of the medical care detection device 2 and is divided into an upper storage drawer and a lower storage drawer; the terminal monitoring platform 3 comprises a terminal display screen 28, a screen support 29, a second signal conversion device 30, a third data transmission line 31, a fourth data transmission line 32, a fifth data transmission line 33 and a screen operation platform 34, the terminal display screen 28 is installed at the upper end of the screen support 29, the screen support 29 is fixed on the ground, the second signal conversion device 30 is arranged at the back of the screen support 29, the screen operation platform 34 is positioned in front of the terminal display screen 28, the third data transmission line 31 is arranged in the wall of the room according to different positions of the room where the terminal monitoring platform 3 leaves the bed chair robot 1 and the medical detection device 2, one end of the third data transmission line is connected with the first signal conversion device 13, the other end of the third data transmission line is connected with the second signal conversion device 30, and the body physiological parameter change signals of the user 4 collected by the first signal conversion device 13 are transmitted to the second signal conversion device 30, the fifth data transmission line 33 is located between the screen operating platform 34 and the second signal conversion device 30, one end of the signal processing device is connected with the screen operating platform 34, the other end of the signal processing device is connected with the second signal conversion device 30, the physiological parameter change signal of the user 4 transmitted to the second signal conversion device 30 is transmitted to the screen operating platform 34, the screen operating platform 34 processes, processes and analyzes the signal, automatically records the abnormal physiological parameters of the user 4, and then re-transmits the analyzed data to the second signal conversion device 30, the fourth data transmission line 32 is located between the terminal display screen 28 and the second signal conversion device 30, connects the terminal display screen 28 with the second signal conversion device 30, transmits data re-transmitted to the second signal conversion device 30 to the terminal display screen 28, and the variation data of the physical physiological parameters of the user 4 is displayed on the terminal display screen 28.

The bed chair posture deformation device comprises a head cushion 36, a back chair frame 37, a seat chair frame 38, a leg chair frame 39, a foot chair frame 40, a back electric support rod 41, a first movable rotating shaft 42, a first leg hydraulic support device 43, a second leg hydraulic support device 44, a second movable rotating shaft 45, a third movable rotating shaft 46, a back reinforcing plate 47, a foot reinforcing plate 48, a left foot chair frame support wheel 49 and a right foot chair frame support wheel 50, wherein the head cushion 36 is fixedly connected to the back chair frame 37 of the bed chair posture deformation device 16, the back chair frame 37 is positioned at the upper part of the bed chair posture deformation device 16 and is matched with the seat chair frame 38 through the first movable rotating shaft 42, the first movable rotating shaft 42 is arranged at the joint of the back chair frame 37 and the seat chair frame 38, the seat chair frame 38 is positioned in the middle of the bed chair posture deformation device 16, the leg seat frame 39 is positioned at the lower part of the bed chair posture deformation device 16 and is matched with the seat frame 38 through a second movable rotating shaft 45, the second movable rotating shaft 45 is arranged at the joint of the seat frame 38 and the leg seat frame 39, the foot seat frame 39 is positioned at the lowest part of the bed chair posture deformation device 16 and is matched with the leg seat frame 39 through a third movable rotating shaft 46, the third movable rotating shaft 46 is arranged at the joint of the leg seat frame 39 and the foot seat frame 40, the back reinforcing plate 47 is arranged behind the back seat frame 37, one end of the back electric supporting rod 41 is fixed on the steering device 17, one end is fixed on the reinforcing plate 47, the middle telescopic rod part of the back electric supporting rod 41 is hinged with the fixed part, through electrically controlling the telescopic motion of the middle telescopic rod part, the back chair frame 37 is pushed to change the posture around the first movable rotating shaft 42, and the middle telescopic rod part of the back electric supporting rod 41 pushes the back reinforcing plate 47 which is not directly contacted with the back chair frame 37, so as to avoid discomfort caused to the user 4 in the process of posture deformation of the back chair frame 37, the foot reinforcing plate 48 is arranged below the foot chair frame 40, the first leg hydraulic supporting device 43 and the second leg hydraulic supporting device 44 are respectively arranged below the left side and the right side of the leg chair frame 39, one end of the leg hydraulic supporting device is fixed on the steering device 17, the other end of the leg hydraulic supporting device is fixed on the foot reinforcing plate 48, the hydraulic rods in the leg hydraulic supporting device are respectively hinged with the fixed parts of the steering device 17 and the foot reinforcing plate 48, through the telescopic change of the hydraulic rods in the first leg hydraulic supporting device 43 and the second leg hydraulic supporting device 44, the leg chair frame 39 and the foot chair frame 40 can rotate around the second movable rotating shaft 45 and the third movable rotating shaft 46 respectively, so that the leg chair frame 39 and the foot chair frame 40 at the lower half part in the bed chair posture deformation device 16 can change postures, the foot reinforcing plate 48 is pushed by a hydraulic rod part of the leg hydraulic supporting device and is not directly contacted with the foot chair frame 40, discomfort caused to a user 4 is reduced when the postures of the leg chair frame 39 and the foot chair frame 40 at the lower half part in the bed chair posture deformation device 16 are deformed, the left foot chair frame supporting wheel 49 is arranged below the left side of the foot reinforcing plate 48, the right foot chair frame supporting wheel 50 is arranged below the right side of the foot reinforcing plate 48, the left foot chair frame supporting wheel 49 and the right foot chair frame supporting wheel 50 are both in universal wheel structures, 360-degree rotation can be realized, and the left foot chair frame supporting wheel 49 and the right foot chair frame supporting wheel 50 can provide support for the lower limbs of the user 4 in the wheelchair shape The force can play a role in guiding when the user 4 controls the bed-chair robot body 6 to change the moving direction.

The steering device 17 comprises a brain control device data transmission line interface 51, a starting switch 52 and a charging port 53, the brain control device data transmission line interface 51 is arranged on the right side of the steering device 17, the brain control device 21 is in signal connection with a bed chair robot body control device in the steering device 17 through the brain control device data transmission line interface 51 by using a data transmission line, a user 4 controls the bed chair robot body 6 to be used daily, the starting switch 52 is positioned in front of the right side of the steering device 17, when the user 4 prepares to use or close the bed chair robot body 6, the bed chair robot body control device is opened or closed through the starting switch 52, so that the bed chair robot body 6 starts or stops moving, when the bed chair robot body 6 breaks down, the user 4 or medical personnel can quickly close the bed chair robot body 6 through the starting switch 52, the charging port 53 is arranged on the left side of the steering device 17, when the bed-chair robot body 6 moves into the space reserved by the fixed bed frame 5, the charging port 53 on the steering device 17 of the bed-chair robot body 6 can be matched with the charging plug 35 on the charging pile 15 to charge the bed-chair robot body 6 daily.

The armrest 18 comprises an armrest platform 54, a first-stage armrest 55, a second-stage armrest 56, and an electric slide rail 57, wherein the second-stage armrest 56 is located at the lower part of the armrest 18 and is matched with an armrest groove in the steering device 17, the first-stage armrest 55 is located at the middle part of the armrest 18 and is matched with an armrest groove in the second-stage armrest 56, the armrest platform 54 is located at the upper part of the armrest 18 and is arranged above the first-stage armrest 55, the electric slide rail 57 is installed in the armrest groove, and the user 4 controls the lifting of the left and right armrests 18 through a bed chair robot body control device.

The moving device 19 comprises a moving frame 58, a first driving device 59, a second driving device 60, a left driving wheel 61, a right driving wheel 62, a left front auxiliary wheel 63, a right front auxiliary wheel 64 and a storage battery 65, wherein the moving frame 58 is a main body part of the moving device 19 and is positioned below the steering device 17, the first driving device 59 is arranged at the rear bottom part at the left side of the moving frame 58, the second driving device 60 is arranged at the rear bottom part at the right side of the moving frame 58, the first driving device 59 and the second driving device 60 are arranged in bilateral symmetry, the left driving wheel 61 is fixedly connected with a driving shaft of the first driving device 59, the right driving wheel 62 is fixedly connected with a driving shaft of the second driving device 60, the left front auxiliary wheel 63 is arranged at the front bottom part at the left side of the moving frame 58, the right front auxiliary wheel 64 is arranged at the front bottom part at the right side of the moving frame 58, the battery 65 is disposed at the front center of the moving frame 58, and can provide power to the bed-chair robot body 6, and the rotation of the first driving device 59 and the second driving device 60 respectively drives the left driving wheel 61 and the right driving wheel 62 to rotate, and simultaneously the left front auxiliary wheel 63 and the right front auxiliary wheel 64 also rotate together, so that the moving frame 58 can move.

The humanoid robot arm 20 comprises a base driving motor 66, a humanoid robot arm base 67, a first robot arm driving motor 68, a first robot arm connecting rod 69, a second robot arm driving motor 70, a second robot arm connecting rod 71, a third robot arm driving motor 72, a fourth robot arm driving motor 73, a third robot arm connecting rod 74, a robot arm wrist driving motor 75, a robot arm driving motor 76 and a robot arm 77, wherein the base driving motor 66 is installed at the front end of the right handrail 18 of the moving device 19, the humanoid robot arm base 67 is fixedly connected to the base driving motor 66, the humanoid robot arm base 67 is enabled to rotate in multiple directions through rotation of the base driving motor 66, the first robot arm driving motor 68 is installed at the upper end of the humanoid robot arm base 67, the first robot arm connecting rod 69 is fixedly connected to the first robot arm driving motor 68, the rotation of the first mechanical arm driving motor 68 drives the rotation of the first mechanical arm connecting rod 69 to realize the forward extension or backward retraction of the humanoid mechanical arm 20, the second mechanical arm driving motor 70 is installed at the front end of the first mechanical arm connecting rod 69, the second mechanical arm connecting rod 71 is fixedly connected to the second mechanical arm driving motor 70, the rotation of the second mechanical arm driving motor 70 drives the rotation of the second mechanical arm connecting rod 71 to further realize the change of the space position of the humanoid mechanical arm 20, the third mechanical arm driving motor 72 is installed at the front end of the second mechanical arm connecting rod 71, the fourth mechanical arm driving motor 73 is fixed on the driving shaft of the third mechanical arm driving motor 72, the rotation of the third mechanical arm driving motor 72 controls the angle change of the space position of the fourth mechanical arm driving motor 73 to further drive the angle change of the space position of the third mechanical arm connecting rod 74, the third arm link 74 is fixedly connected to the fourth arm drive motor 73, the rotation of the third arm link 74 is controlled by the rotation of the fourth arm drive motor 73, and the angle of the manipulator 77 can be adjusted according to the position of an object to be grasped, the arm wrist drive motor 75 is installed at the front end of the third arm link 74, so that the slight vertical swing of the manipulator drive motor 76 and the manipulator 77 can be realized, and the manipulator 77 can be adjusted to an optimal posture to grasp the object, the manipulator drive motor 76 is installed on the rotation shaft of the arm wrist drive motor 75, the manipulator 77 is fixedly connected to the manipulator drive motor 76, and the manipulator drive motor 76 controls the completion of the grasping action of the manipulator 77.

The brain control device 21 comprises a head-wearing brain control device body 78, an electroencephalogram signal acquisition module 79 and a brain control device data transmission line 80, the head-wearing brain control device body 78 is placed on the bed-chair posture deformation device 16 and is close to the head back cushion 36, the user 4 can conveniently take and wear the head-wearing brain control device, the electroencephalogram signal acquisition module 79 is installed in the brain control device body 78, when the user 4 wears the head-wearing brain control device body 78, the electroencephalogram signal acquisition module 79 starts to collect electroencephalograms of the user 4, one end of the brain control device data transmission line 80 is connected with the brain control device body 78, the other end of the brain control device data transmission line is connected with a brain control device data transmission line interface 51 on the right side of the steering device 17, then the electroencephalograms are transmitted to an electroencephalogram part in the brain control device of the bed-chair robot body, and the electroencephalograms process biological signals, after the biological signals are processed into digital signals, the digital signals are transmitted to the bed-chair robot body control device to further control the movement of the bed-chair robot body 6.

Electric slide rail 57 including slip table 81, track 82, slide rail driving motor 83, slide rail reduction gear 84, slide rail driving motor 83 install in mobile device 19's handrail groove the inside, slide rail reduction gear 84 rigid coupling at slide rail driving motor 83's drive axle head, slide rail driving motor 83 and slide rail reduction gear 84 constitute slide rail drive arrangement, track 82 rigid coupling on slide rail reduction gear 84's output shaft, slip table 81 install on electric slide rail's track 82, reciprocate through slide rail drive arrangement rotatory slip table 81 that drives on track 82, simultaneously slip table 81's work terminal surface rigid coupling is on one-level handrail 55 inner wall, slip table 81 reciprocates on track 82, drives the lift of one-level handrail 55, when one-level handrail 55 descends, the up end of second grade handrail 56 casing contacts with the outer edge of handrail platform 54 lower terminal surface, when slip table 81 lasts the decline, the first-level handrail 55 continuously falls back into the handrail groove of the second-level handrail 56, the outer edge of the upper surface of the shell of the second-level handrail 56 is provided with a buffer backing ring, when the first-level handrail 55 which continuously falls back contacts with the second-level handrail 56, the abrasion and impact of the upper surface of the shell of the second-level handrail 56 on the handrail table 54 can be reduced, when the sliding table 81 continuously descends, the first-level handrail 55 already falls into the handrail groove of the second-level handrail 56, the first-level handrail 55 drives the second-level handrail 56 to continuously descend, the second-level handrail 56 slowly falls back into the handrail groove of the steering device 17, the lower surface of the shell of the second-level handrail 56 is also provided with the buffer backing ring, when the second-level handrail 56 which continuously descends contacts with the steering device 17, the abrasion and impact of the lower surface of the second-level handrail 56 on the steering device 17 can be reduced, when the sliding table 81 drives the first-level handrail 55 to ascend, the first-level handrail 55 rises from the handrail 56, the lower surface of the shell of the first-stage handrail 55 is in contact with the cushion ring on the outer edge of the upper surface of the shell of the second-stage handrail 56, so that the first-stage handrail 55 can lift the second-stage handrail 56, and the abrasion and impact of the lower surface of the shell of the first-stage handrail 55 on the upper surface of the shell of the second-stage handrail 56 can be reduced.

The first driving device 59 comprises a first driving motor 85 and a first driving motor reducer 86, the first driving motor 85 is installed at the bottom of the left side of the moving frame 58, the first driving motor reducer 86 is fixedly connected to the driving shaft end of the first driving motor 85, and the left driving wheel 61 is fixedly connected to the output shaft of the first driving motor reducer 86; the second driving device 60 comprises a second driving motor 87 and a second driving motor reducer 88, the second driving motor 87 is installed at the bottom of the right side of the moving frame 58, the second driving motor reducer 88 is fixedly connected to the driving shaft end of the second driving motor 87, the right driving wheel 62 is fixedly connected to the output shaft of the second driving motor reducer 88, the first driving motor 85, the first driving motor reducer 86, the second driving motor 87 and the second driving motor reducer 88 are installed in a bilateral symmetry mode, the driving motor is controlled to rotate through the bed chair robot body control device, the driving motor reducers are used for reducing the speed, then the driving wheels are driven to rotate respectively, and therefore a user 4 controls the bed chair robot body 6 to move in a room.

State monitoring sensing module 12 including blood pressure measurement module, blood oxygen measurement module, body temperature measurement module, electrocardio monitoring module, bluetooth module etc, state monitoring sensing module comprises a plurality of monitoring module, state monitoring sensing module 12 can real-time supervision user 4's health physiological parameter change, and collect the data transmission who detects to first signal conversion equipment 13 through bluetooth module, user 4 and medical personnel can look over user 4's health physiological parameter change at medical care detection operation platform 23, also can carry out data analysis on terminal display screen 28 simultaneously, supply the expert to look over at any time, know user 4's health state situation of change.

The working principle of the invention is as follows: the invention provides an electroencephalogram signal controlled robot and a personnel monitoring system for helping the old and the disabled. When the bed-chair robot is used, a user 4 wears the head-wearing brain control device body 78, the brain electrical signal acquisition module 79 starts to collect brain electrical signals of the user 4, the brain electrical signals are transmitted to a brain computer of the bed-chair robot body control device through the brain control device data transmission line 80 through the brain control device data transmission line interface 51 on the right side of the steering device 17, brain electrical biological signals are further processed into digital signals, the digital signals are fed back to the bed-chair robot body control device, so that the rotation of the first driving device 59 and the second driving device 60 in the moving device 19 on the lower portion of the bed-chair robot body 6 is controlled, the left driving wheel 61 and the right driving wheel 62 rotate together in the rotation of the driving device, the purpose of controlling the movement of the bed-chair robot body 6 is achieved, when the user 4 needs to eat, drink water, read books and read newspapers, the table top of the bed frame folding table rotates around the folding table hinge 9 first, the folding bed frame table 8 on the fixed bed frame 5 is opened, the humanoid mechanical arm 20 is controlled to grab articles, the rotation of the base driving motor 66 enables the humanoid mechanical arm base 67 to rotate in multiple directions, the rotation of the first mechanical arm driving motor 68 drives the rotation of the first mechanical arm connecting rod 69 to realize the forward extension or backward retraction action of the humanoid mechanical arm 20, the rotation of the second mechanical arm driving motor 70 positioned at the front end of the first mechanical arm connecting rod 69 drives the rotation of the second mechanical arm connecting rod 71 to further realize the change of the movable spatial position of the humanoid mechanical arm 20, the rotation of the third mechanical arm driving motor 72 controls the angle change of the spatial position of the fourth mechanical arm driving motor 73 to further drive the angle change of the spatial position of the third mechanical arm connecting rod 74, the rotation of the fourth mechanical arm driving motor 73 controls the rotation of the third mechanical arm connecting rod 74, further, the angle of the mechanical arm 77 can be adjusted according to the position of an object to be grabbed, the mechanical arm driving motor 76 and the mechanical arm 77 can swing up and down slightly, so that the mechanical arm 77 can be adjusted to an optimal posture to grab the object, the mechanical arm driving motor 76 controls the grabbing action of the mechanical arm 77 to be completed, a user 4 can observe the space position of the required living goods through eyes, then the binocular vision camera 22 is controlled by the brain control device 21 to observe the space position of the object to be grabbed, the bed chair robot body control device processes image information generated by the observation of the binocular vision camera 22, the humanoid mechanical arm 20 is further enabled to grab the required living goods according to the feedback information to assist the user 4 in eating or entertainment activities, at the moment, the bed chair robot body 6 is close to the fixed bed frame 5, and the charging plug 35 on the charging pile 15 can be matched with the charging port 53, thereby enabling to charge the battery 65 inside the moving device 19 in the bed robot body 6.

When the user 4 wants to get up to do exercise after having a rest, the back chair frame 37 is pushed to change the posture around the first movable rotating shaft 42 by the telescopic motion of the back electric supporting rod 41, the leg chair frame 39 and the foot chair frame 40 can rotate around the second movable rotating shaft 45 and the third movable rotating shaft 46 respectively by the telescopic change of the hydraulic rods in the first leg hydraulic supporting device 43 and the second leg hydraulic supporting device 44, and then the leg chair frame 39 and the foot chair frame 40 at the lower half part in the bed chair posture deformation device 16 are changed in posture, so that the user 4 is changed from the bed lying posture to the seat sitting posture, the left foot chair frame supporting wheel 49 and the right foot chair frame supporting wheel 50 can provide the force for supporting the lower limbs of the user 4 in the wheelchair shape, and can play a guiding role when the user 4 controls the bed chair robot body 6 to change the moving direction, the user 4 controls the lifting of the left and right armrests 18 through the bed-chair robot body control device, when the bed-chair robot body 6 performs the bed-chair posture conversion, the left armrest drives the first-level armrest 55 to fall into the armrest groove of the second-level armrest 56, the second-level armrest 56 falls into the armrest groove of the steering device 17, at this time, the upper end surface of the armrest platform 54 can be flush with the upper end surface of the steering device 17 and completely fall into the armrest groove of the steering device 17, the chair frame when the bed-chair posture deformation device 16 converts the bed body posture can be connected with the bed frame of the fixed bed frame 5, so that the gap of the whole mattress of the bed-chair robot 1 is tighter, the discomfort is avoided, when the user 4 prepares to use or close the bed-chair robot body 6, the bed-chair robot body control device is turned on or off by starting the switch 52, so that the bed-chair robot body 6 starts or stops moving, when the bed-chair robot body 6 breaks down, the user 4 or the medical staff can rapidly close the bed-chair robot body 6 through the starting switch 52, and the potential safety hazard is reduced.

The state monitoring sensing module 12 on the mattress is composed of a plurality of monitoring modules, the state monitoring sensing module 12 can monitor the change of the physical parameters of the user 4 in real time, the detected data is transmitted to the signal conversion device for collection through the Bluetooth module, the change signals of the physical parameters of the user 4 collected by the conversion device are transmitted to the medical care detection operation platform 23 through the data transmission line, the user 4 and the medical care personnel can check the change of the physical parameters of the user 4 on the medical care detection operation platform 23, and can give an alarm to some abnormal physiological parameters of the user 4, meanwhile, the data transmission line transmits the change signals of the physical parameters collected by the conversion device to the screen operation platform 34, the abnormal physiological parameters of the user 4 are automatically recorded, and the processed signals are transmitted to the terminal display screen 28, the expert is provided with parameters that allow the expert to understand the change in the physical state of the user 4.

And, the old-aged and disabled-assisting robot and personnel monitoring system controlled by the electroencephalogram signal enters into a nursing home or a ward as an old-aged and disabled-assisting automation device, the bed-chair robot 1 and the medical detection device 2 can be arranged in a plurality of rooms, the data transmission line is arranged in the wall of the room, the terminal monitoring platform 3 is placed in an expert office, the data transmission line collects all the body physiological parameters of the user 4 into the signal conversion device, the expert can check the physiological parameter indexes of the plurality of bed-chair robot users 4 at any time, the body conditions of a plurality of monitored objects are evaluated, and accidents are prevented in advance.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An electroencephalogram signal controlled robot and personnel monitoring system for helping the old and the disabled comprises: the bed-chair robot comprises a bed-chair robot body (1), medical detection devices (2), a terminal monitoring platform (3), a user (4), a fixed bed frame (5), a bed-chair robot body (6), bed frame guardrails (7), a bed frame folding table (8), folding table hinges (9), a front bed-chair support frame (10), a rear bed-chair support frame (11), a state monitoring sensing module (12), a first signal conversion device (13), a first data transmission line (14), a charging pile (15), a bed-chair posture deformation device (16), a steering device (17), handrails (18), a moving device (19), a human-like mechanical arm (20), a brain control device (21), a binocular vision camera (22), a medical detection operation platform (23), a medical cabinet universal wheel (24), a detection data transmission line interface (25), a second data transmission line (26), a medical cabinet drawer storage (27), Terminal display screen (28), screen support (29), second signal conversion equipment (30), third data transmission line (31), fourth data transmission line (32), fifth data transmission line (33), screen operation platform (34), charging plug (35), head cushion (36), back chair frame (37), seat chair frame (38), leg chair frame (39), foot chair frame (40), back electric support rod (41), first movable rotating shaft (42), first leg hydraulic support device (43), second leg hydraulic support device (44), second movable rotating shaft (45), third movable rotating shaft (46), back reinforcing plate (47), foot reinforcing plate (48), left foot chair frame supporting wheel (49), right foot chair frame supporting wheel (50), brain control equipment data transmission line interface (51), starting switch (52), charging port (53), The robot arm comprises an arm rest table (54), a first-stage arm rest (55), a second-stage arm rest (56), an electric sliding rail (57), a moving frame (58), a first driving device (59), a second driving device (60), a left driving wheel (61), a right driving wheel (62), a left front auxiliary wheel (63), a right front auxiliary wheel (64), a storage battery (65), a base driving motor (66), a humanoid robot arm base (67), a first arm driving motor (68), a first arm connecting rod (69), a second arm driving motor (70), a second arm connecting rod (71), a third arm driving motor (72), a fourth arm driving motor (73), a third arm connecting rod (74), a robot arm driving motor (75), a robot arm driving motor (76), a robot arm (77), a head-mounted brain control device body (78), an electroencephalogram signal acquisition module (79), Brain accuse device data transmission line (80), slip table (81), track (82), slide rail driving motor (83), slide rail reduction gear (84), first driving motor (85), first driving motor reduction gear (86), second driving motor (87), second driving motor reduction gear (88), its characterized in that: the system comprises a bed-chair robot (1), a medical care detection device (2) and a terminal monitoring platform (3), wherein the bed-chair robot is loaded with a user (4), the medical detection device (2) is arranged on one side of the bed-chair robot and is in signal connection with the bed-chair robot (1) through a signal conversion device by a data transmission line, and the terminal monitoring platform (3) can be arranged in a room far away from the bed-chair robot and the medical detection device and is in long-distance signal connection with the medical detection device (2) through the signal conversion device by the data transmission line; the bed-chair robot (1) consists of a fixed bed frame (5) and a bed-chair robot body (6); the fixed bedstead comprises bedstead guardrails (7), a bedstead folding table (8), folding table hinges (9), a front bedstead support frame (10), a rear bedstead support frame (11), a state monitoring sensing module (12), a first signal conversion device (13), a first data transmission line (14) and a charging pile (15), the bedstead guardrails (7) are arranged at the left side of the head and the left side of the tail of the fixed bedstead (5), the bedstead folding table (8) is arranged at the left side of the middle part of the fixed bedstead (5), the folding table hinges (9) are positioned at the connecting part of the table top and the table legs of the bedstead folding table (8), the table legs of the bedstead folding table (8) are fixed on the fixed bedstead (5), the table top of the bedstead folding table (8) can be unfolded through the folding table hinges (9), the front bedstead support frame (10) is fixedly connected at the middle part of the head board, the rear bed chair support frame (11) is fixedly connected with the middle part of the bed tail plate, the state monitoring sensing module (12) is arranged below a mattress on the left side of the fixed bed frame (5), a user (4) is contacted with a sensor of the state monitoring sensing module (12) to detect the change conditions of the body physiological parameters of the user (4), such as blood pressure, blood oxygen, heart rate and the like, the first signal conversion device (13) is positioned at the left side of the bed tail of the fixed bed frame (5), one end of the first data transmission line (14) is matched with the first signal conversion device (13), the other end of the first data transmission line is matched with the fixed bed frame (5), the first signal conversion device (13) is connected with the fixed bed frame (5), the body physiological parameter change signals of the user (4) detected by the state monitoring sensing module (12) positioned below the mattress are transmitted and are collected by the first signal conversion device (13), the charging pile (15) is arranged below the fixed bed frame (5), when the bed-chair robot body (6) moves into a space reserved by the fixed bed frame (5), a charging port (53) on a steering device (17) of the bed-chair robot body (6) can be matched with a charging plug (35) on the charging pile (15), the charging pile (15) comprises the charging plug (35), and the charging plug (35) is arranged on the upper part of the inner side surface of the charging pile (15); the bed-chair robot body (6) comprises a bed-chair posture deformation device (16), a steering device (17), armrests (18), a moving device (19), a humanoid mechanical arm (20), a brain control device (21) and a binocular vision camera (22), wherein the bed-chair posture deformation device (16) is positioned on the upper portion of the bed-chair robot body (6), the steering device (17) is positioned in the middle of the bed-chair robot body (6), the armrests (18) are arranged on the left side and the right side of the bed-chair posture deformation device (16) at the upper end of the steering device (17), the moving device (19) is positioned on the lower portion of the bed-chair robot body (6), the humanoid mechanical arm (20) is arranged in front of the armrest at the upper end of the steering device (17), the brain control device (21) is arranged on a mattress of the bed-chair posture deformation device (16), the bed chair robot body control device is connected with a bed chair robot body control device in the steering device (17) through a data transmission line, and the binocular vision camera (22) is fixed at the front part of the upper end of the right armrest (18); the medical care detection device (2) comprises a medical care detection operation platform (23), a medical cabinet universal wheel (24), a detection data transmission line interface (25), a second data transmission line (26) and a medical cabinet storage drawer (27), wherein the medical care detection operation platform (23) is arranged on the upper part of the medical care detection device (2), the medical cabinet universal wheel (24) is positioned at the lower end of the medical care detection device (2), the detection data transmission line interface (25) is positioned at the back of the medical care detection device (2), the second data transmission line (26) is positioned at one side of the medical care detection device (2), one end of the second data transmission line is matched with the detection data transmission line interface (25), the other end of the second data transmission line is connected with a first signal conversion device (13), and the body physiological parameter change signals of a user (4) collected by the first signal conversion device (13) are transmitted to the medical care detection operation platform (23), the medical cabinet storage drawer (27) is arranged in the middle of the medical detection device (2) and is divided into an upper storage drawer and a lower storage drawer; the terminal monitoring platform (3) comprises a terminal display screen (28), a screen support (29), a second signal conversion device (30), a third data transmission line (31), a fourth data transmission line (32), a fifth data transmission line (33) and a screen operation platform (34), the terminal display screen (28) is arranged at the upper end of the screen support (29), the screen support (29) is fixed on the ground, the second signal conversion device (30) is arranged at the back of the screen support (29), the screen operation platform (34) is arranged in front of the terminal display screen (28), the third data transmission line (31) is arranged in the wall of the room according to different positions of the room where the terminal monitoring platform (3) leaves the bed chair robot (1) and the medical detection device (2) and one end of the third data transmission line is connected with the first signal conversion device (13), the other end is connected with a second signal conversion device (30), the body physiological parameter change signal of the user (4) collected by the first signal conversion device (13) is transmitted to the second signal conversion device (30), a fifth data transmission line (33) is positioned between a screen operation platform (34) and the second signal conversion device (30), one end of the fifth data transmission line is connected with the screen operation platform (34), one end of the fifth data transmission line is connected with the second signal conversion device (30), the body physiological parameter change signal of the user (4) transmitted to the second signal conversion device (30) is transmitted to the screen operation platform (34), the screen operation platform (34) processes, processes and analyzes the signal, automatically records the abnormal physiological parameter of the user (4), and then retransmits the analyzed data to the second signal conversion device (30), the fourth data transmission line (32) is positioned between a terminal display screen (28) and the second signal conversion device (30), the terminal display screen (28) is connected with the second signal conversion device (30), the data which is re-transmitted to the second signal conversion device (30) is transmitted to the terminal display screen (28), and the physical and physiological parameter change data of the user (4) is displayed on the terminal display screen (28).

2. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the bed chair posture deformation device comprises a head cushion (36), a back frame (37), a seat frame (38), a leg frame (39), a foot frame (40), a back electric support rod (41), a first movable rotating shaft (42), a first leg hydraulic support device (43), a second leg hydraulic support device (44), a second movable rotating shaft (45), a third movable rotating shaft (46), a back reinforcing plate (47), a foot reinforcing plate (48), a left foot frame support wheel (49) and a right foot frame support wheel (50), wherein the head cushion (36) is fixedly connected to the back frame (37) of the bed chair posture deformation device (16), the back frame (37) is positioned at the upper part of the bed chair posture deformation device (16) and is matched with the seat frame (38) through the first movable rotating shaft (42), the first movable rotating shaft (42) is arranged at the joint of the back frame (37) and the seat frame (38), the seat chair frame (38) is positioned in the middle of the bed chair posture deformation device (16) and is arranged on the upper end surface of the steering device (17), the steering device (17) rotates to drive the whole bed chair posture deformation device (16) to rotate, the leg chair frame (39) is positioned at the lower part of the bed chair posture deformation device (16) and is matched with the seat chair frame (38) through a second movable rotating shaft (45), the second movable rotating shaft (45) is arranged at the joint of the seat chair frame (38) and the leg chair frame (39), the foot chair frame (39) is positioned at the lowest part of the bed chair posture deformation device (16) and is matched with the leg chair frame (39) through a third movable rotating shaft (46), the third movable rotating shaft (46) is arranged at the joint of the leg chair frame (39) and the foot chair frame (40), the back reinforcing plate (47) is arranged behind the back chair frame (37), one end of the back electric supporting rod (41) is fixed on the steering device (17), the other end of the back electric supporting rod is fixed on the back reinforcing plate (47), the middle telescopic rod part of the back electric supporting rod (41) is hinged with the fixed part, the telescopic motion of the middle telescopic rod part is electrically controlled, so that the back chair frame (37) is pushed to change the posture around the first movable rotating shaft (42), the back reinforcing plate (47) is pushed by the middle telescopic rod part of the back electric supporting rod (41) and is not directly contacted with the back chair frame (37), so that discomfort caused to a user (4) in the process of posture deformation of the back chair frame (37) is avoided, the foot reinforcing plate (48) is arranged below the foot chair frame (40), and the first leg hydraulic supporting device (43) and the second leg hydraulic supporting device (44) are respectively arranged below the left side and the right side of the leg chair frame (39), one end of the leg hydraulic supporting device is fixed on the steering device (17), the other end is fixed on the foot reinforcing plate (48), a hydraulic rod in the leg hydraulic supporting device is respectively hinged with the steering device (17) and the fixed part of the foot reinforcing plate (48), the leg chair frame (39) and the foot chair frame (40) can respectively rotate around the second movable rotating shaft (45) and the third movable rotating shaft (46) through the telescopic change of the hydraulic rods in the first leg hydraulic supporting device (43) and the second leg hydraulic supporting device (44), so that the leg chair frame (39) and the foot chair frame (40) in the middle-lower half part of the bed chair posture deformation device (16) carry out posture change, and the hydraulic rod part of the leg hydraulic supporting device pushes the foot reinforcing plate (48) and is not directly contacted with the foot chair frame (40), so that when the leg chair frame (39) and the foot chair frame (40) in the middle-lower half part of the bed chair posture deformation device (16) deform, reduce the discomfort that causes for user (4), left foot chair frame supporting wheel (49) install in foot gusset plate (48) left side below, right foot chair frame supporting wheel (50) install in foot gusset plate (48) right side below, left foot chair frame supporting wheel (49) and right foot chair frame supporting wheel (50) all are the universal wheel structure, can realize 360 rotations, make left foot chair frame supporting wheel (49) and right foot chair frame supporting wheel (50) enough provide the strength that supports user (4) low limbs when the wheelchair form, can play the guide effect again when user (4) control bed robot body (6) change moving direction simultaneously.

3. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the steering device (17) comprises a brain control device data transmission line interface (51), a starting switch (52) and a charging port (53), the brain control device data transmission line interface (51) is arranged on the right side of the steering device (17), the brain control device (21) is in signal connection with a bed chair robot body control device in the steering device (17) through the brain control device data transmission line interface (51) by using a data transmission line, a user (4) controls the bed chair robot body (6) to be used daily, the starting switch (52) is positioned in front of the right side of the steering device (17), when the user (4) prepares to use or close the bed chair robot body (6), the bed chair robot body control device is started or closed through the starting switch (52), so that the bed chair robot body (6) starts or stops moving, when bed chair robot body (6) broke down, user (4) or medical personnel can close bed chair robot body (6) rapidly through starting switch (52), charge mouthful (53) and set up in the left side that turns to device (17), when bed chair robot body (6) move the space that fixed bedstead (5) were reserved, charge mouthful (53) on the device (17) that turns to of bed chair robot body (6) can cooperate with charging plug (35) on filling electric pile (15), carry out daily the charging for bed chair robot body (6).

4. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the armrest (18) comprises an armrest platform (54), a first-stage armrest (55), a second-stage armrest (56) and an electric sliding rail (57), wherein the second-stage armrest (56) is positioned at the lower part of the armrest (18) and matched with an armrest groove in the steering device (17), the first-stage armrest (55) is positioned at the middle part of the armrest (18) and matched with an armrest groove in the second-stage armrest (56), the armrest platform (54) is positioned at the upper part of the armrest (18) and arranged above the first-stage armrest (55), the electric sliding rail (57) is installed in the armrest groove, and a user (4) controls the lifting of the armrests (18) at the left side and the right side through a bed-chair robot body control device.

5. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the moving device (19) comprises a moving frame (58), a first driving device (59), a second driving device (60), a left driving wheel (61), a right driving wheel (62), a left front auxiliary wheel (63), a right front auxiliary wheel (64) and a storage battery (65), the moving frame (58) is the main part of the moving device (19) and is positioned below the steering device (17), the first driving device (59) is installed at the rear bottom on the left side of the moving frame (58), the second driving device (60) is installed at the rear bottom on the right side of the moving frame (58), the first driving device (59) and the second driving device (60) are installed in a left-right symmetry mode, the left driving wheel (61) is fixedly connected to the driving shaft of the first driving device (59), the right driving wheel (62) is fixedly connected to the driving shaft of the second driving device (60), the left front auxiliary wheel (63) is arranged at the front bottom of the left side of the moving frame (58), the right front auxiliary wheel (64) is arranged at the front bottom of the right side of the moving frame (58), the storage battery (65) is arranged at the front central part of the moving frame (58) and can provide power for the bed-chair robot body (6), the left driving wheel (61) and the right driving wheel (62) are respectively driven to rotate through the rotation of the first driving device (59) and the second driving device (60), and meanwhile, the left front auxiliary wheel (63) and the right front auxiliary wheel (64) also rotate together, so that the moving frame (58) can move.

6. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the humanoid manipulator (20) comprises a base driving motor (66), a humanoid manipulator base (67), a first manipulator driving motor (68), a first manipulator connecting rod (69), a second manipulator driving motor (70), a second manipulator connecting rod (71), a third manipulator driving motor (72), a fourth manipulator driving motor (73), a third manipulator connecting rod (74), a manipulator wrist driving motor (75), a manipulator driving motor (76) and a manipulator (77), wherein the base driving motor (66) is arranged at the front end of a right handrail (18) of the moving device (19), the humanoid manipulator base (67) is fixedly connected onto the base driving motor (66), the humanoid manipulator base (67) is enabled to rotate in multiple directions through the rotation of the base driving motor (66), the first manipulator driving motor (68) is arranged at the upper end of the humanoid manipulator base (67), the robot arm comprises a first mechanical arm connecting rod (69), a second mechanical arm driving motor (70), a first mechanical arm connecting rod (69), a second mechanical arm connecting rod (71), a third mechanical arm driving motor (72), a fourth mechanical arm driving motor (73), a fourth mechanical arm driving motor (72) and a driving shaft, wherein the first mechanical arm connecting rod (69) is fixedly connected to the first mechanical arm driving motor (68), the first mechanical arm connecting rod (69) is driven to rotate by the rotation of the first mechanical arm driving motor (68), the second mechanical arm driving motor (70) is arranged at the front end of the first mechanical arm connecting rod (69), and the second mechanical arm connecting rod (71) is fixedly connected to the second mechanical arm driving motor (70) to drive the forward-extension or backward-retraction of the humanoid mechanical arm (20), the angle change of the space position of a fourth mechanical arm driving motor (73) is controlled by the rotation of a third mechanical arm driving motor (72) to further drive the angle change of the space position of a third mechanical arm connecting rod (74), the third mechanical arm connecting rod (74) is fixedly connected to the fourth mechanical arm driving motor (73), the rotation of the fourth mechanical arm driving motor (73) controls the rotation of the third mechanical arm connecting rod (74), further, the angle of a mechanical arm (77) can be adjusted according to the position of an object to be grabbed, a mechanical arm wrist driving motor (75) is arranged at the front end of the third mechanical arm connecting rod (74), the slight vertical amplitude swing of the mechanical arm driving motor (76) and the mechanical arm (77) can be realized, further, the mechanical arm (77) can be adjusted to the optimal posture to grab the object, the mechanical arm driving motor (76) is arranged on the rotating shaft of the mechanical arm driving motor (75), the manipulator (77) is fixedly connected to the manipulator driving motor (76), and the manipulator driving motor (76) controls the manipulator (77) to complete the grabbing action.

7. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: the brain control device (21) comprises a head-wearing brain control device body (78), an electroencephalogram signal acquisition module (79) and a brain control device data transmission line (80), wherein the head-wearing brain control device body (78) is placed on the bed chair posture deformation device (16) and is close to the position of the head back cushion (36), so that a user (4) can conveniently take and wear the head-wearing brain control device, the electroencephalogram signal acquisition module (79) is installed in the brain control device body (78), when the user (4) wears the head-wearing brain control device body (78), the electroencephalogram signal acquisition module (79) starts to collect electroencephalograms of the user (4), one end of the brain control device data transmission line (80) is connected with the brain control device body (78), the other end of the brain control device data transmission line is connected with a brain control device data transmission line interface (51) on the right side of the steering device (17), and then the electroencephalograms are transmitted to an electroencephalogram part in the brain control device of the bed chair robot body by the brain control device data transmission line (80), the electroencephalograph processes the electroencephalogram biological signals, processes the biological signals into digital signals, and then transmits the digital signals to the bed-chair robot body control device to further control the motion of the bed-chair robot body (6).

8. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 4, characterized in that: electric slide rail (57) including slip table (81), track (82), slide rail driving motor (83), slide rail reduction gear (84), slide rail driving motor (83) install in the handrail groove the inside of mobile device (19), slide rail reduction gear (84) rigid coupling at the drive axle head of slide rail driving motor (83), slide rail driving device is constituteed to slide rail driving motor (83) and slide rail reduction gear (84), track (82) rigid coupling on the output shaft of slide rail reduction gear (84), slip table (81) install on track (82) of electric slide rail, reciprocate through slip table (81) on slide rail driving device rotation drive track (82), the working end face rigid coupling of slip table (81) is on one-level handrail (55) inner wall simultaneously, slip table (81) reciprocate on track (82), drive the lift of one-level handrail (55), when the first-level handrail (55) descends, the upper end surface of the shell of the second-level handrail (56) is contacted with the outer edge of the lower end surface of the handrail table (54), when the sliding table (81) descends continuously, the first-level handrail (55) falls back into the handrail groove of the second-level handrail (56) continuously, the outer edge of the upper surface of the shell of the second-level handrail (56) is provided with a buffer backing ring, when the first-level handrail (55) falling back continuously is contacted with the second-level handrail (56), the abrasion and impact of the upper surface of the shell of the second-level handrail (56) on the handrail table (54) can be reduced, when the sliding table (81) descends continuously, the first-level handrail (55) falls into the handrail groove of the second-level handrail (56), the first-level handrail (55) drives the second-level handrail (56) to descend continuously, the second-level handrail (56) falls back into the handrail groove of the steering device (17) slowly, the lower surface of the shell of the second-level handrail (56) is also provided with the buffer backing ring, when the secondary handrail (56) which continues to descend is in contact with the steering device (17), the abrasion and impact of the lower surface of the secondary handrail (56) on the steering device (17) can be reduced, when the sliding table (81) drives the primary handrail (55) to ascend, the primary handrail (55) rises from the handrail groove of the secondary handrail (56), the lower surface of the shell of the primary handrail (55) is in contact with the buffer cushion ring on the outer edge of the upper surface of the shell of the secondary handrail (56), the primary handrail (55) can drive the secondary handrail (56) to ascend, and the abrasion and impact of the lower surface of the shell of the primary handrail (55) on the upper surface of the shell of the secondary handrail (56) can be reduced.

9. The system for monitoring the aged and disabled-assisting robot and the personnel controlled by the electroencephalogram signal according to claim 5, wherein: the first driving device (59) comprises a first driving motor (85) and a first driving motor reducer (86), the first driving motor (85) is installed at the bottom of the left side of the movable frame (58), the first driving motor reducer (86) is fixedly connected to the driving shaft end of the first driving motor (85), and the left driving wheel (61) is fixedly connected to the output shaft of the first driving motor reducer (86); second drive arrangement (60) including second driving motor (87), second driving motor reduction gear (88), second driving motor (87) install in moving frame (58) right side bottom, second driving motor reduction gear (88) rigid coupling at the drive axle head of second driving motor (87), right side drive wheel (62) rigid coupling is on the output shaft of second driving motor reduction gear (88), first driving motor (85), first driving motor reduction gear (86) and second driving motor (87), second driving motor reduction gear (88) are bilateral symmetry installation, it is rotatory through bed chair robot body controlling means control driving motor, after slowing down by the driving motor reduction gear again, drive the rotation of drive wheel respectively to user (4) are controlled bed chair robot body (6) and are removed in the room.

10. The robot and personnel monitoring system for helping the old and disabled controlled by brain electrical signals of claim 1, characterized in that: state monitoring sensing module (12) including blood pressure measurement module, blood oxygen measurement module, body temperature measurement module, electrocardio monitoring module, bluetooth module etc, state monitoring sensing module comprises a plurality of monitoring module, state monitoring sensing module (12) can real-time supervision user's (4) physical parameters change, and collect through bluetooth module data transmission to first signal conversion equipment (13) that will detect, user (4) and medical personnel can look over the physical parameters change of user (4) in medical care detection operation platform (23), also can carry out data analysis on terminal display screen (28) simultaneously, supply the expert to look over at any time, know the physical state situation of change of user (4).