CN113876501B

CN113876501B - Wheelchair type mobile double-arm cooperative robot

Info

Publication number: CN113876501B
Application number: CN202111156195.5A
Authority: CN
Inventors: 李世其; 李肖; 韩可; 贺平
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-08-02
Anticipated expiration: 2041-09-30
Also published as: CN113876501A

Abstract

The invention belongs to the technical field of robots, and particularly discloses a wheelchair type mobile double-arm cooperative robot which comprises a supporting component, a mobile component, an operating component and an intelligent control unit, wherein the supporting component comprises a support and a base on the support, and a backrest is movably arranged on the base; the moving component is arranged at the lower end of the bracket; the operating assembly comprises a pair of multi-degree-of-freedom mechanical arms fixed on two sides of the backrest, and the tail ends of the two mechanical arms are positioned on the base to serve as handrails in a daily state; when the chair is in a moving state, the tail ends of the two mechanical arms are connected and positioned on the front side of the backrest to be used as a safety belt; in an operation state, the tail end of the mechanical arm is connected with the clamp so as to realize auxiliary service; when the chair is in a flat lying state, the tail ends of the two mechanical arms are connected and positioned on the back side of the backrest, and the support for the backrest is realized by matching with the turnover of the backrest; the intelligent control unit is used for controlling the moving assembly and the operating assembly. The robot can meet the requirements of the old in different states, provide more services for the old and ensure the safety of the old.

Description

Wheelchair type mobile double-arm cooperative robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a wheelchair type mobile double-arm cooperative robot.

Background

At present, the aging problem of the world population is increasingly serious, the proportion of the aged population is continuously increased, and the fertility rate is continuously reduced. The direct problems of aging population are the monitoring and support problems of the elderly, and the "empty nests rate" of the elderly is increasingly increased due to the gradual increase of social pressure. In order to help the empty nesters and the people who have difficulty in moving and improve the life quality of the people, various devices for helping the aged and the disabled are produced.

The skilled person has made some studies on devices for old and disabled people. Patent CN108670595A discloses a multifunctional wheelchair, contains wheelchair body, robotic arm and functional unit, and wherein contain the functional unit that has display screen subassembly seat and install on robotic arm, and the usable display screen of user carries out operations such as navigation, amusement, and the back of subassembly seat can regard as thing platform or get thing tray, and robotic arm and functional unit are collapsible. This multifunctional wheelchair can accomplish some simple operations for the old person, improves the old person's independent ability, but can not control the manipulator help the old person and snatch the object. Patent CN110974562A discloses intelligent wheelchair of formula of just old-fashioned, including switching mechanism, setting chassis in switching mechanism, setting up the synchronous athey wheel in chassis both sides, connect the chair on the chassis, set up box, the chair front end in chair both sides and be connected with the running-board, be equipped with the manipulator that is used for the object to snatch in its left box, right box is equipped with blood oxygen heart rate module, LCD screen and monitors and show the old person's physical condition. The convenient and old intelligent wheelchair has the functions of switching of a moving mode, grabbing of the mechanical arm and monitoring of body health, but complex and flexible operations such as feeding, dressing and the like cannot be realized, and the safety of the wheelchair in the using process cannot be guaranteed. Therefore, in order to better meet the daily life needs of the elderly and improve the life quality of the elderly, it is necessary to develop a robot capable of providing more services for the elderly.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides a wheelchair type mobile double-arm cooperative robot, which aims to meet the requirements of the old people on daily, moving, operating and lying states through the flexible cooperative work of two multi-degree-of-freedom mechanical arms, provide more services for the old people and guarantee the safety of the old people.

To achieve the above object, the present invention provides a wheelchair-type mobile two-arm cooperative robot, comprising a support component, a mobile component, an operation component and an intelligent control unit, wherein:

the supporting component comprises a bracket and a base fixed on the bracket, and a backrest is movably arranged on the base; the moving assembly is arranged at the lower end of the bracket and used for driving the whole robot to move;

the operating assembly comprises a pair of multi-degree-of-freedom mechanical arms fixed on two sides of the backrest, and the multi-degree-of-freedom mechanical arms have four states: in a daily state, the tail ends of the two mechanical arms are positioned on the base and used as handrails on two sides; when the chair is in a moving state, the tail ends of the two mechanical arms are connected and positioned on the front side of the backrest to be used as a safety belt; in an operation state, the tail end of the mechanical arm is connected with the clamp so as to realize auxiliary service; when the chair lies down, the tail ends of the two mechanical arms are connected and positioned at the back side of the backrest, and the support for the backrest is realized by matching with the turnover of the backrest;

the intelligent control unit is used for controlling the movement of the moving assembly and the operating assembly.

Preferably, the intelligent control unit comprises a sensor and a microcomputer, the sensor is used for acquiring the surrounding environment information and the human body information, and the microcomputer is used for receiving and processing the sensor information so as to control the movement of the moving assembly and the operation assembly.

As a further preferred, the sensor includes an electronic skin attached to the surface of the multi-degree-of-freedom mechanical arm for detecting the mechanical arm surface stress.

Preferably, the sensor comprises an RGBD depth camera mounted at the end of the multi-degree-of-freedom mechanical arm and used for collecting human body state information and surrounding environment information.

As a further preferred, the sensor comprises a laser radar for positioning and navigating the robot; the RGBD depth camera is further installed on the front side and the rear side of the support and used for detecting surrounding environment and assisting in positioning and navigation.

Further preferably, the microcomputer is mounted on the bracket, and an external loudspeaker is arranged on the microcomputer; and microphone arrays are arranged on two sides of the base and connected with the microcomputer for receiving external voice instructions. As a further preferred option, the end of the multi-degree-of-freedom mechanical arm is provided with a plug-in magnetic attraction structure, the plug-in magnetic attraction structure is used for connecting a multifunctional clamp, and the multifunctional clamp is used for providing auxiliary services.

Preferably, the moving assembly comprises driving wheels, driven wheels and servo motors, and the two driving wheels are arranged on two sides of the rear end of the support and are respectively controlled by different servo motors; and the two driven wheels are arranged on two sides of the front end of the bracket through driven wheel steering mechanisms.

Preferably, the moving assembly further comprises a control box and a battery box, both of which are mounted on the support, the control box is used for storing the microcomputer, and a battery in the battery box is connected with the driving wheel.

Further preferably, the bed is characterized by further comprising a bed, the height of the bed is equivalent to that of the base, and when the bed is in a lying state, the whole formed by the base and the backrest is butted with the bed.

Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:

1. the two multi-degree-of-freedom mechanical arms are arranged on the two sides of the wheelchair, so that the two multi-degree-of-freedom mechanical arms can work cooperatively by utilizing the flexibility of the two multi-degree-of-freedom mechanical arms, and four states of daily, moving, flexible operation and lying are set for the two arms at the same time: when the robot is in a daily state, the two arms of the robot serve as handrails on the two sides of the wheelchair, so that the old is prevented from falling down laterally, and the safety of the old is protected; when the robot is in a moving state, the two arms of the robot serve as safety belts of a wheelchair, so that the safety of the old is protected; when the robot is in a smart operation state, the robot can provide services such as dining assistance and dressing for the old; when the robot is in a flat lying state, the robot can be perfectly connected with the bed of the old after being unfolded to form a part of the bed of the old, so that the robot provides greater convenience for the old to live at home. Therefore, the wheelchair type robot has a simple structure, can meet various requirements of the old and ensures the safety of the old.

2. When the double-arm cooperative robot is in a flexible operation state, the flexibility of the two multi-freedom mechanical arms can be utilized for cooperative work, meanwhile, the double arms can be combined with the movement of the hands of the old to realize a man-machine cooperative work mode, the freedom degree of the mechanical arms is reduced as much as possible under the condition of meeting task requirements, and therefore the manufacturing cost of the wheelchair is reduced.

3. The double-arm cooperative robot has the characteristic of control integration in a software level, specifically, the intelligent control unit can receive sensor information carried by the whole body of the robot and analyze and process the sensor information, so that the functions of environment perception, health supervision, emotion accompanying and task planning and the like are realized, the operation part of the robot is controlled to provide smart operation services for old people such as dining assistance, dressing and the like, the self-adaptive motion of the moving part of the robot is controlled, and meanwhile, the moving part and the operation part of the robot can share the freedom degree to realize consistent operation.

4. The surface of the multi-degree-of-freedom mechanical arm is attached with the electronic skin, and when the stress on the surfaces of the two arms exceeds a certain threshold value, the mechanical arm enters a safe state and stops moving, so that the danger of the mechanical arm to the safety of the old is prevented.

5. The mechanical arm tail end clamp and the mechanical arm are connected through the plug-in type magnetic suction device, and the magnetic suction mechanism has the characteristic of quick replacement, so that the mechanical arm tail end clamp can be quickly replaced, and the arm fine operation services such as eating, dressing and the like can be provided for the old through the flexible cooperative work of the two multi-freedom mechanical arms.

Drawings

FIG. 1 is a schematic perspective view of a wheelchair-type mobile two-arm cooperative robot according to an embodiment of the present invention;

fig. 2a to D are schematic diagrams of a wheelchair-type mobile two-arm cooperative robot in a daily state, a mobile state, an operating state, and a lying state, respectively, according to an embodiment of the present invention;

fig. 3 is a schematic diagram of the wheelchair-type mobile two-arm cooperative robot in docking with the bed of the elderly person according to the embodiment of the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: the system comprises a support 1, a base 2, a backrest 3, a pedal 4, a multi-degree-of-freedom left arm 5, a multi-degree-of-freedom right arm 6, an arm support 7, an RGBD depth camera 8 and an RGBD depth camera 9, a laser radar 10, a driven wheel steering mechanism 11, a driven wheel 12, a driven wheel 13, a driving wheel 14, a servo motor 15, a battery box 16 and a control box 16.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The wheelchair-type mobile double-arm cooperative robot provided by the embodiment of the invention comprises a supporting component, a mobile component, an operation component and an intelligent control unit, as shown in fig. 1, wherein:

the supporting component comprises a bracket 1 and a base 2 fixed on the bracket 1, and a backrest 3 is movably arranged on the base 2;

the moving assembly is an intelligent moving platform and is arranged at the lower end of the support 1 and used for driving the whole robot to move. Specifically, the moving assembly comprises driving wheels 13, driven wheels 12, servo motors 14, a battery box 15 and a control box 16, wherein the two driving wheels 13 are installed on two sides of the rear end of the support 1, and the two driving wheels 13 realize the advancing, retreating and steering of the robot by utilizing the differential motion of the servo motors 14 on the left side and the right side; the two driven wheels 12 are arranged on two sides of the front end of the support 1 through driven wheel steering mechanisms 11, the two driven wheels 12 assist a driving wheel to complete steering movement through the corresponding driven wheel steering mechanisms 11, and a pedal 4 is arranged at the front end of the support 1; the control box 16 and the battery box 15 are both installed on the support 1, the control box 16 is used for storing the microcomputer, and the battery in the battery box 15 is connected with the servo motor 14.

The operating assembly comprises a pair of multi-degree-of-freedom mechanical arms, namely a multi-degree-of-freedom left arm 5 and a multi-degree-of-freedom right arm 6, which are fixed on two sides of the backrest, and the multi-degree-of-freedom mechanical arms are fixed on the wheelchair backrest through quick-detachable connecting pieces such as bolts. The robot has a plurality of states, as shown in fig. 2, when the robot is in a daily state, the tail ends of two mechanical arms are positioned on arm supports 7 at two sides of a base, and two arms of the robot serve as handrails at two sides of a wheelchair, so that the old people are prevented from falling down laterally and the safety of the old people is protected; when the robot is in a moving state, the tail ends of the two mechanical arms are connected and positioned on the front side of the backrest to serve as a safety belt of a wheelchair so as to protect the safety of the old; when the robot is in a smart operation state, the tail end of the mechanical arm is connected with the clamp, so that the services such as dining assistance, dressing and the like are provided for the old, specifically, a single mechanical arm can complete some simple operation tasks for the old, such as taking and placing books, transferring water cups and the like, and meanwhile, for complex tasks, such as assisting the old to eat, dress and the like, the service can be better provided for the old through mutual cooperation of the two arms of the robot; when the robot is in a flat lying state, as shown in fig. 3, the tail ends of the two mechanical arms are connected and positioned at the back side of the backrest, and the two mechanical arms are matched with the backrest to overturn, so that the backrest is supported, the robot can be perfectly connected with a bed for the old after being unfolded, and becomes a part of the bed for the old, so that the robot provides greater convenience for the old to live at; in addition, the robot can also be in seamless butt joint with an accessible closestool and a bathing facility, so that disabled old people can conveniently go to a toilet and take a bath.

Further, terminal anchor clamps of arm and arm are inhaled the device through plug-in magnetism and are connected simultaneously, can realize the quick replacement of the terminal anchor clamps of arm, through the flexibility collaborative work of two freer arms, provide the arm fine operation service such as eating, dress for the old man.

The intelligent control unit is a service robot operating system which is formed by a sensor carried by the whole body of the robot and a microcomputer, and can realize the functions of environmental perception, health supervision, emotion accompanying, task planning and the like. Specifically, the sensors include

RGBD depth cameras

8 and 9 mounted on the moving part, a laser radar 10, an RGBD depth camera mounted on the robot operating part, an electronic skin, and a sound receiver disposed on the robot supporting part. The microcomputer is loaded in a control box of the robot moving chassis, can receive information monitored by sensors carried by the whole robot, analyzes and processes collected sensor data, sends the sensor data to the motor control board, and then controls all parts of the robot to move, so that self-adaptive movement can be realized in a complex environment, and control integration is realized.

Furthermore, the electronic skin is attached to the surface of the multi-degree-of-freedom mechanical arm and used for detecting the stress on the surface of the mechanical arm, and when the stress on the surface of the double arms exceeds a certain threshold value, the mechanical arm enters a safe state and stops moving, so that the safety of the old is guaranteed. The RGBD depth camera is arranged at the tail end of the multi-degree-of-freedom mechanical arm and used for collecting body state information of the old, so that health supervision and dining-assisting dressing services of the old are achieved. The laser radar is used for positioning and navigating the robot, and the RGBD depth cameras are also mounted on the front side and the rear side of the support and used for acquiring visual information to detect the surrounding environment and assist in positioning and navigating. Dispose external megaphone on the microcomputer, the base both sides are provided with the microphone array, this microphone array with the microcomputer is connected, can realize reminding the old man to take medicine, the chat of the accompanying person to reach functions such as talking with the old man family.

Furthermore, the microcomputer can utilize 4G/5G to upload received data and processing results to the cloud server so that external personnel can conveniently check the data and the processing results at any time, and meanwhile, the old can communicate with the external personnel in real time through the intelligent control unit.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A wheelchair-style mobile two-arm cooperative robot comprising a support assembly, a mobile assembly, an operating assembly and an intelligent control unit, wherein:

the supporting component comprises a bracket and a base fixed on the bracket, and a backrest is movably arranged on the base; the moving assembly is arranged at the lower end of the bracket and is used for driving the whole robot to move;

2. The wheelchair-type mobile dual-arm cooperative robot as claimed in claim 1, wherein the intelligent control unit comprises sensors for acquiring surrounding environment information and human body information and a microcomputer for receiving and processing the sensor information to control the movement of the moving components and the operating components.

3. The wheelchair-type mobile dual-arm cooperative robot as claimed in claim 2, wherein the sensor comprises an e-skin attached to the surface of the multi-degree-of-freedom robot arm for detecting the stress on the surface of the robot arm.

4. The wheelchair-type mobile dual-arm cooperative robot as claimed in claim 2, wherein the sensor comprises an RGBD depth camera mounted at the end of the multi-degree-of-freedom robot arm for collecting human body state information and surrounding environment information.

5. A wheelchair-type mobile two-arm cooperative robot as claimed in claim 4, wherein the sensor comprises a lidar for positioning navigation of the robot; the RGBD depth camera is further installed on the front side and the rear side of the support and used for detecting surrounding environment and assisting in positioning and navigation.

6. A wheelchair-type mobile dual-arm cooperative robot as claimed in claim 2, wherein the microcomputer is mounted on the support, and an external microphone is provided on the microcomputer; and microphone arrays are arranged on two sides of the base and connected with the microcomputer for receiving external voice instructions.

7. The wheelchair mobile dual-arm cooperative robot as claimed in claim 1, wherein the multi-degree-of-freedom mechanical arm is provided at its end with a plug-in magnetic attraction structure for connecting with a multi-function clamp for providing auxiliary services.

8. A wheelchair-type mobile two-arm cooperative robot as claimed in claim 1, wherein the moving assembly comprises driving wheels, driven wheels and servo motors, the two driving wheels are mounted on two sides of the rear end of the support and are respectively controlled by different servo motors; and the two driven wheels are arranged on two sides of the front end of the bracket through driven wheel steering mechanisms.

9. A wheelchair-type mobile dual-arm cooperative robot as claimed in claim 8, wherein the moving assembly further comprises a control box for storing a microcomputer and a battery box in which a battery is connected to the driving wheel, both mounted on the support.

10. A wheelchair-type mobile dual-arm cooperative robot as claimed in any one of claims 1 to 9, further comprising a bed having a height equivalent to the base, the base and backrest forming an integral body to be docked with the bed when in a lying down position.