CN210284433U - Old person care robot - Google Patents
Old person care robot Download PDFInfo
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- CN210284433U CN210284433U CN201920956803.2U CN201920956803U CN210284433U CN 210284433 U CN210284433 U CN 210284433U CN 201920956803 U CN201920956803 U CN 201920956803U CN 210284433 U CN210284433 U CN 210284433U
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Abstract
The utility model discloses an old person's care robot, including host computer control unit and robot main part, the robot main part includes movable structure, power unit and electrical control unit, power unit is used for driving movable structure action, electrical control unit is connected with power unit, control movable structure through power unit and realize the motion of robot main part or stop, electrical control unit includes master controller, alarm module and vibration sensor, master controller and host computer control unit communication connection, vibration sensor and alarm module are connected with the master controller respectively, vibration sensor is used for detecting the vibration that the human body produced when tumbleing, the master controller controls alarm module to report to the police after receiving the vibration signal; when the intelligent alarm device is used, the vibration sensor can convert vibration generated when a human body falls down into an electric signal to be sent to the main controller, and the main controller receives the signal and then controls the alarm module to give an alarm, so that a user who falls down can be timely treated, and the safety of the user is protected.
Description
Technical Field
The utility model relates to a domestic robot technical field, in particular to old person's care robot.
Background
The robot applied at present mainly uses industrial robots to replace and finish a large amount of repetitive work of machinery or replace and finish the work with bad conditions, so that the labor cost and the labor intensity are reduced, and the auxiliary finishing of the work which is severe in environment, high in difficulty, high in precision requirement and incapable of being directly finished by manpower is realized. At present, a family old people care robot capable of providing services for the family old people is lacking in the market.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an old person care robot, for the old man of house provides service, falls down to monitor and reports to the police to the old man of house.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides an old person's care robot, includes host computer control unit and robot main part, the robot main part includes movable structure, power unit and electrical control unit, power unit is used for the drive movable structure action, electrical control unit with power unit connects, through power unit control movable structure realizes advancing, retreating, turning to, stopping of robot main part, electrical control unit includes master controller, alarm module and vibration sensor, the master controller with host computer control unit communication connection, vibration sensor and alarm module respectively with the master controller is connected, vibration sensor is used for detecting the vibration that the human body produced when falling down, the master controller is controlled after receiving vibration signal alarm module reports to the police.
Preferably, the alarm module is a GSM communication module, and the master controller controls the GSM communication module to send a short message alarm to a preset mobile phone number after receiving the vibration signal.
Preferably, movable structure includes the fuselage and set up in many movable legs on the fuselage, movable leg includes shank, elbow joint steering wheel support, side pendulum joint steering wheel and side pendulum joint steering wheel support, shank connect in the fuselage of elbow joint steering wheel, the output shaft of elbow joint steering wheel is fixed in elbow joint steering wheel support, elbow joint steering wheel support is fixed in the fuselage of side pendulum joint steering wheel, the output shaft of side pendulum joint steering wheel is fixed in side pendulum joint steering wheel support, be provided with the shoulder joint steering wheel on the fuselage, the output shaft of shoulder joint steering wheel is fixed in side pendulum joint steering wheel support, the shoulder joint steering wheel elbow joint steering wheel and side pendulum joint steering wheel all with the master controller is connected.
Preferably, the vibration sensor is disposed at a distal end of the lower leg portion.
Preferably, the electric control unit further comprises a laser radar connected with the master controller, wherein the laser radar is used for detecting obstacles in the moving direction of the robot so as to effectively avoid the obstacles encountered in the moving process.
Preferably, the electrical control unit further comprises a camera connected with the main controller, the camera is used for collecting user facial information, and the main controller identifies the user facial information and controls the old people care robot to act according to a preset instruction according to an identification result.
Preferably, the electrical control unit further comprises a voice recognition module connected with the master controller, and the voice recognition module is used for storing required service and function data information and playing the information according to a user instruction.
Preferably, the electric control unit further comprises a harmful gas sensor connected with the main controller, the harmful gas sensor is used for detecting the concentration of harmful gas, and the main controller controls the old people care robot to move to a high-concentration area through the power mechanism according to the concentration information of the harmful gas.
Preferably, the surface of the robot main body is covered with a nano diatomite-loaded manganese dioxide coating.
Preferably, a pressure sensor is embedded in the coating of the nano diatomite-loaded manganese dioxide, the pressure sensor is connected with the main controller, and the main controller controls the movable structure to act according to a preset instruction through the power mechanism after the pressure sensor detects a pressure signal.
In order to achieve the purpose, the utility model provides a care robot for the old, which comprises an upper computer control unit and a robot main body, wherein the robot main body comprises a movable structure, a power mechanism and an electric control unit, the movable structure can be a wheel type structure or a step-foot type structure, the power mechanism is used for driving the movable structure to act, the electric control unit is connected with the power mechanism, the electric control unit comprises a main controller, an alarm module and a vibration sensor, the main controller is in communication connection with an upper computer control unit, the vibration sensor and the alarm module are respectively connected with the main controller, the alarm module can be an audible and visual alarm device, a remote dialing alarm device and the like, the vibration sensor is used for detecting vibration generated when a human body falls down, and the main controller controls the alarm module to give an alarm after receiving a vibration signal; when the intelligent alarm device is used, the vibration sensor can convert vibration generated when a human body falls down into an electric signal to be sent to the main controller, and the main controller receives the signal and then controls the alarm module to give an alarm, so that a user who falls down can be timely treated, and the safety of the user is protected.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an axonometric view of a robot main body of an elderly care robot provided by an embodiment of the present invention;
fig. 2 is an exploded view of a frame of a walking robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a movable leg of a walking robot according to an embodiment of the present invention;
fig. 4 is an external view of a walking robot according to an embodiment of the present invention.
In the figure:
1 is a machine body; 101 is a shoulder joint steering engine; 2 is a movable leg; 201 is a lower leg; 202 is a mounting bracket; 203 is an elbow joint steering engine; 204 is an elbow joint steering engine bracket; 205 is a side-swinging joint steering engine bracket; 206 is a side-sway joint steering engine; 3 is a GSM communication module; 4 is a master controller; 5 is a battery; 6 is a camera; 7 is laser radar; 8 is a voice recognition module; 9 is a vibration sensor; and 10 is a coating of nano diatomite loaded with manganese dioxide.
Detailed Description
An object of the utility model is to provide a robot is cared for to old person, this robot is cared for to old person's structural design can provide service for the old man at home, falls down to monitor and reports to the police to the old man at home.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 3, fig. 1 is an isometric view of a robot main body of an elderly care robot according to an embodiment of the present invention, fig. 2 is an exploded view of a body of a walking robot according to an embodiment of the present invention, and fig. 3 is a schematic structural view of a movable leg of a walking robot according to an embodiment of the present invention.
The embodiment of the utility model provides a pair of old person's care robot, including host computer control unit and robot main part.
Wherein the upper computer control unit comprises an upper computer controller and an upper computer, the robot main body comprises a movable structure, a power mechanism and an electric control unit, the movable structure can be a wheel type structure or a step-by-step structure, the power mechanism is used for driving the movable structure to act, the electric control unit is connected with the power mechanism, the movable structure is controlled through the power mechanism to realize the advancing, retreating, steering and stopping of the robot main body, the electric control unit comprises a main controller 4, an alarm module and a vibration sensor 9, the main controller 4 is in communication connection with an upper computer control unit, the vibration sensor 9 and the alarm module are respectively connected with the main controller 4, the alarm module can be an audible and visual alarm device, a remote dialing alarm device and the like, the vibration sensor 9 is used for detecting the vibration generated when a human body falls down, and the main controller 4 controls the alarm module to alarm after receiving a vibration signal.
Compared with the prior art, the utility model provides an old person's care robot is when using, and vibration sensor 9 can convert the vibration that the human body produced when falling down to electric signal transmission gives master controller 4, and master controller 4 receives the signal after control alarm module reports to the police to the user that makes to fall down in time obtains treating, protection user safety.
Preferably, the main controller 4 is an STM32 main controller, the alarm module is a GSM communication module 3, the STM32 main controller controls the GSM communication module 3 to send a short message alarm to a preset mobile phone number after receiving a vibration signal, the GSM communication module 3 includes a SIM900A processor, supports an RS232 serial port and an LVTTL serial port, and has a hardware flow control, supports an ultra-wide working range of 5V to 24V, and realizes transmission of voice, SMS (short message service, multimedia message service), data and fax information with low power consumption.
The movable structure comprises a body 1 and a plurality of movable legs 2 arranged on the body 1, at least two movable legs 2 are arranged, as shown in figure 2, in a preferred embodiment of the invention, four movable legs 2 are arranged, including a left front leg, a right front leg, a left back leg and a right back leg, the four movable legs 2 are identical in structure, as shown in figure 3, the movable legs 2 comprise a small leg part 201, an elbow joint steering engine 203, an elbow joint steering engine bracket 204, a side swing joint steering engine 206 and a side swing joint steering engine bracket 205, the small leg part 201 is connected to the body 1 of the elbow joint steering engine 203 through a mounting bracket 202, an output shaft of the elbow joint steering engine 203 is fixed on the elbow joint steering engine bracket 204, the elbow joint bracket 204 is fixed on the body 1 of the side swing joint steering engine 206, an output shaft of the side swing joint steering engine 206 is fixed on the side swing joint steering engine bracket 205, the body 1 is provided with, an output shaft of the shoulder joint steering engine 101 is fixed on a side swing joint steering engine bracket 205, and the shoulder joint steering engine 101, the elbow joint steering engine 203 and the side swing joint steering engine 206 are all connected with the main controller 4.
The elbow joint steering engine 203, the shoulder joint steering engine 101 and the side swing joint steering engine 206 are powered by a battery 5 carried on the fuselage 1, controlled by an STM32 main controller and adopting an SMS1.0 protocol. The STM32 main controller and each steering engine adopt the mode communication of asking for answering, STM32 main controller sends the instruction package, and the steering engine returns the response package. A plurality of steering engines are allowed in a bus control network, so each steering engine is allocated with a unique ID number in the network, the communication mode is a serial asynchronous mode, one frame of data is divided into 1-bit start bit, 8-bit data bit and 1-bit stop bit, no parity bit and 10 bits in total. All steering engines are controlled by RS232 level, and STM32 main controller sends serial TTL signals to operate all steering engines in the bus network.
Through the movable structure, the problems that the existing common robot crawler-type walking structure is large in size, difficult to turn, limited in use field and range and the like are solved, the robot is more flexible, and services such as following accompanying and accompanying can be provided for users.
The utility model takes the characteristics of high requirements of the robot on the aspects of reducing self weight, fast and stable movement and the like into comprehensive consideration, and adopts magnesium alloy as the material of main body brackets (including an elbow joint steering engine bracket 204, a side-swinging joint steering engine bracket 205, each bracket forming the machine body 1 and the like); ABS engineering plastics are used as the material of the robot shell (comprising the shell of the movable leg 2 and the shell of the machine body 1).
Furthermore, the gait design of the quadruped robot is a zero-impact foot end trajectory planning method, and the foot end planning trajectory under a world coordinate system { W } is defined as a formula (1) and a formula (2), wherein the formula (1) is a motion trajectory of the foot end in the horizontal direction, the formula (2) is a motion trajectory of the foot end in the vertical direction, S is a stride, H is a leg swing height, and T is a swing phase period.
Preferably, as shown in fig. 3, the vibration sensor 9 is provided at the end of the lower leg 201, and the vibration sensor 9 is a triboelectric vibration sensor 9(TVS) designed to imitate the ampulla in the lateral line of a fish.
Further optimize above-mentioned technical scheme, electric control unit still includes the lidar 7 who is connected with master controller 4, and lidar 7 is used for detecting the barrier of robot in the direction of movement to effectively avoid the barrier that meets in the removal.
Preferably, the electric control unit further comprises two cameras 6 connected with the main controller 4, please refer to fig. 1 and 4, the two cameras 6 can be used as eyes of the robot, the cameras 6 are used for collecting face information of a user, the main controller 4 identifies the face information of the user and controls the old people caring robot to act according to a preset instruction according to an identification result so as to achieve autonomous path planning, the robot can judge the expression of the old people to do corresponding action, human-computer interaction is achieved, and meanwhile safety patrol alarming is achieved for face identification of strangers.
Further, the electric control unit also comprises a voice recognition module 8 connected with the main controller 4, the voice recognition module 8 is used for storing required service and function data information and playing the information according to a user instruction, the voice recognition module 8 realizes interaction between the old and the robot under the support of interactive application software, so that the robot has multiple functions of voice reminding, voice input recognition, entertainment service and the like, and has certain intelligence, practicability and the like, the voice recognition module 8 of the robot is programmed through software, the required service and function are stored in a memory through an input and output interface, and the human-computer interaction function can be realized by means of automatic execution of the program, voice prompt and sounding of the old.
The electric control unit also comprises a harmful gas sensor connected with the main controller 4, the harmful gas sensor is used for detecting the concentration of harmful gas, the main controller 4 controls the old people care robot to move to a high-concentration area through the power mechanism according to the concentration information of the harmful gas, the harmful gas is mainly formaldehyde, under the conditions of normal indoor temperature and PH value, the material of the key part of the sensor adopts a novel palladium-doped graphene/palladium/stannic oxide gas-sensitive material system which is designed and prepared by combining a Hummer method, a hydrothermal method and a heat treatment method, has good gas-sensitive performance for detecting formaldehyde gas, in the process of the robot inspection, the harmful gas sensor is utilized to detect the concentration of the formaldehyde gas in the room, the condition that the formaldehyde concentration exceeds the preset value is alarmed through comparison, and the robot is controlled to move forward to a high formaldehyde concentration area, so that the air purification efficiency is improved.
Further optimizing the technical scheme, the surface of the robot main body is covered with the nano diatomite-loaded manganese dioxide coating 10, so that the air pollutants such as formaldehyde are catalyzed, the air pollutants are converted into carbon dioxide, water vapor and other non-toxic substances, and the robot has the characteristics of high degradation efficiency, low production cost, no secondary pollution and the like.
Furthermore, the nano diatomite-loaded manganese dioxide coating 10 is embedded with a pressure sensor, the pressure sensor is connected with the main controller 4, the main controller 4 controls the movable structure to act according to a preset instruction through the power mechanism after the pressure sensor detects a pressure signal, when the nano diatomite-loaded manganese dioxide coating is used, when a user touches the robot, the pressure sensor sends the pressure signal to the main controller 4, and the main controller 4 controls the robot to react to the touch of the user, such as sound, movement, swing and the like.
To sum up, the embodiment of the utility model provides an old person's care robot has adopted multiple sensing technique, automatic control technique, multimedia technology, computer technology, mechatronic technique, accurate mechanical design technique etc. and the robot has omnidirectional motion and intelligent control's characteristic, can realize the remote monitoring and the communication to the old person, has safe tour, and multiple functions such as supplementary theftproof, air-purifying, safety alarm, warning, interactive amusement play the effect to the personal care and the safety care of the old person of solitary.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A care robot for old people is characterized by comprising an upper computer control unit and a robot main body, the robot main body comprises a movable structure, a power mechanism and an electric control unit, the power mechanism is used for driving the movable structure to act, the electric control unit is connected with the power mechanism, the power mechanism controls the movable structure to realize the advancing, retreating, steering and stopping of the robot main body, the electric control unit comprises a main controller, an alarm module and a vibration sensor, the main controller is in communication connection with the upper computer control unit, the vibration sensor and the alarm module are respectively connected with the main controller, the vibration sensor is used for detecting vibration generated when a human body falls down, and the main controller controls the alarm module to give an alarm after receiving a vibration signal.
2. The elderly care robot of claim 1, wherein the alarm module is a GSM communication module, and the main controller controls the GSM communication module to send a short message alarm to a preset mobile phone number after receiving a vibration signal.
3. The elderly care robot of claim 1, wherein the movable structure comprises a body and a plurality of movable legs disposed on the body, the movable leg comprises a shank part, an elbow joint steering engine bracket, a side swing joint steering engine and a side swing joint steering engine bracket, the shank is connected with the body of the elbow joint steering engine, the output shaft of the elbow joint steering engine is fixed on the elbow joint steering engine bracket, the elbow joint steering engine bracket is fixed on the body of the lateral swing joint steering engine, the output shaft of the lateral swing joint steering engine is fixed on the lateral swing joint steering engine bracket, a shoulder joint steering engine is arranged on the machine body, an output shaft of the shoulder joint steering engine is fixed on the sidesway joint steering engine bracket, the shoulder joint steering engine, the elbow joint steering engine and the side swing joint steering engine are all connected with the main controller.
4. The geriatric care robot of claim 3, wherein the vibration sensor is provided at a distal end of the lower leg portion.
5. The elderly care robot of any of claims 1-4, wherein the electrical control unit further comprises a lidar connected to the master controller, the lidar configured to detect an obstacle in the direction of movement of the robot to effectively avoid the obstacle encountered during movement.
6. The geriatric care robot of any one of claims 1 to 4, wherein the electrical control unit further comprises a camera connected to the master controller, the camera is configured to collect user facial information, and the master controller identifies the user facial information and controls the geriatric care robot to act according to a predetermined instruction according to the identification result.
7. The elderly care robot of any one of claims 1-4, wherein the electrical control unit further comprises a voice recognition module connected to the master controller, the voice recognition module being configured to store required service and function data information and to play the data information according to a user command.
8. The elderly care robot of any one of claims 1-4, wherein the electrical control unit further comprises a harmful gas sensor connected to the main controller, the harmful gas sensor is configured to detect a harmful gas concentration, and the main controller controls the elderly care robot to move to a high concentration area through the power mechanism according to the harmful gas concentration information.
9. The elderly care robot of claim 8, wherein the robot body surface is covered with a nano diatomite-loaded manganese dioxide coating.
10. The elderly care robot of claim 9, wherein the nano diatomite-loaded manganese dioxide coating is embedded with a pressure sensor, the pressure sensor is connected with the master controller, and the master controller controls the movable structure to act according to a predetermined instruction through the power mechanism after the pressure sensor detects a pressure signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920956803.2U CN210284433U (en) | 2019-06-24 | 2019-06-24 | Old person care robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920956803.2U CN210284433U (en) | 2019-06-24 | 2019-06-24 | Old person care robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210284433U true CN210284433U (en) | 2020-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920956803.2U Expired - Fee Related CN210284433U (en) | 2019-06-24 | 2019-06-24 | Old person care robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210284433U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254554A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of the elderly's care robot |
| CN112009591A (en) * | 2020-09-07 | 2020-12-01 | 德鲁动力科技(海南)有限公司 | Foot type robot |
-
2019
- 2019-06-24 CN CN201920956803.2U patent/CN210284433U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254554A (en) * | 2019-06-24 | 2019-09-20 | 重庆大学 | A kind of the elderly's care robot |
| CN112009591A (en) * | 2020-09-07 | 2020-12-01 | 德鲁动力科技(海南)有限公司 | Foot type robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200410 Termination date: 20210624 |