201038262 六、發明說明: 【發明所屬之技術領域】 本發明係有關於復伽賴II人,制是—娜職麟力,且利用 握力方向與大小判斷使用者意圖,進而補償使用者施力之力感決策之互動 式照護機器人,且並增設有避障判斷。 ; 【先前技術】 • 顧名思義,行動辅具係用在幫助老人、中風者或腦性麻痺兒童等肢體 障礙或無力者鶴紐制-觀助H具,屬於絲_巾錢比例極高 D 的一種。惟,輪椅、拐杖或助行器等傳統行動輔具使用時,對於感知與運 動協調能力逐漸退化的老人與行動不便者都有許多的限制與不便利之處, 有感於此,為了幫助行動不便者也能像常人般具有移動能力,因此居家照 護機器人的觀念逐被正視以及提出討論。 現有的照護機器人大致可以分為主動式以及被動式二種。如第一圖先 前技術所示’MT實驗室Dubowsky等人提出一種個人援助調動監視(PAMM) 系統[“PAMM - A Robotic Aid to the Elderly for Mobility Assistance and 〇201038262 VI. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a complex gamma ray II person, which is a lyric force, and uses the direction and magnitude of the grip force to judge the user's intention, thereby compensating the user's force. An interactive care robot that is determined by force, and with the addition of obstacle avoidance judgment. [Prior Art] • As the name implies, the mobile aids are used to help the elderly, strokers, or cerebral palsy children and other physical disabilities or inability to climb the crane system - to help H, which is a kind of silk _ towel money ratio is extremely high D . However, when traditional mobility aids such as wheelchairs, crutches or walking aids are used, there are many restrictions and inconveniences for elderly people and people with reduced mobility who are gradually degrading their ability to recognize and exercise. Inconvenient people can also have the ability to move like ordinary people, so the concept of home care robots is being viewed and discussed. Existing care robots can be roughly classified into active and passive. As shown in the first diagram of the previous technology, 'MT Lab Dubowsky et al. proposed a personal assistance transfer monitoring (PAMM) system ["PAMM - A Robotic Aid to the Elderly for Mobility Assistance and 〇
Monitoring: A tΉelping-Hand,, for the Elderly,,5 Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, CA, April : 2000,PP. 570-576] ’其以拐杖作為機器人原型1 ’利用超音波感測器n以及 %Monitoring: A tΉelping-Hand,, for the Elderly,, 5 Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, CA, April : 2000, PP. 570-576] 'The use of crutches as a prototype of the robot 1' Sonic sensor n and %
電荷耦合元件(CCD)12判斷障礙物位置,並經由一六軸的力感器(圖中未示) 設於電荷耦合元件(CCD)12上辨識使用者意圖,根據使用者施力方向,牵 引使用者前進。另外,如第二圖所示,Hirata等人再提出另一種“RT Walker” 照護機器人系統[Passive-Type Intelligent Walking Support System “RT 3 201038262The charge coupled device (CCD) 12 determines the position of the obstacle and is provided on the charge coupled device (CCD) 12 via a six-axis force sensor (not shown) to identify the user's intention, and to pull according to the direction of the user's force. The user goes forward. In addition, as shown in the second figure, Hirata et al. proposed another "RT Walker" care robot system [Passive-Type Intelligent Walking Support System "RT 3 201038262
Walker , IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3871-3876, 2004] ’ 超纽❹m作為瓣侧,其具紐於等人 的避障功能’惟’不同的是RT機ϋ人2為__種被動式機狀,其不具有主 動式動力源,而是藉由阻尼系統改善沈重架體所需要的推移力,讓使用者 谷易駕馭,藉此統合感知與運動協調能力。再者,後來M〇rrfs等人另提出 一種藉由二段式把手切換主動、被動或強迫模式之居家照護機器人(圖未 不)’其在主動模式中,利用輔助系統校正使用者行走軌跡;在被動模式中, 使用者可以自由控制行走方向;另在強迫模式中,則強迫使用者完全行走 於預 s又路徑上’不得有偏移[‘‘a R〇b〇tic Walker That Provides Guidance,,,Proe. of IEEE international Conference on Robotics and Automation, 2003, pp25-30] ° 前述照護機器人各具有其優勢,是以,本發明再提出一種互動式照護 機器人,以結合主動模式與被動模式照護機器人之優點,發展出另一種更 適合行動不便者之居家照護機器人。 【發明内容】 本發明之主要目的係提供一種具避障以及力感決策之互動式照護機器 人,其感知使用者身體語言所發出的意圖以及推動力,從而產生動力輔助 使用者前進,並當使用者身體語言所發出意圖改變時,適時減緩前進速度 或煞車’藉以協調統整使用者官感協調能力,並訓練其肌肉強化及其神經 傳導系統傳導力。 本發明之次要目的係提供一種具避障以及力感決策之互動式照護機器 人’其具有良好的支推性以及穩定度,且設置有避障控制、速度控制以及 地面傾斜時的動力補償機制,以讓使用者順利通過斜坡與障礙路面。 201038262 本發明之再一目的係提供一種具避障以及力感決策之互動式照護機器 人’其具有操作容易及自由度高之優點。 為達上述目的,本發明揭露一種具避障以及力感決策之互動式照護機 器人,其包括:一架體、複數輪子、至少二被動馬達、至少一握力感測器、 至少一測距感測器以及一中控器β且二被動馬達各別驅動左右一輪子轉 速’並取得一反作用力值;而握力感測器可以感受使用者施力大小與方向, 進而判斷使用者意圖發出一控制訊號;此測距感測器則裝設於架體前方, ,並在前方有障礙物時發送一閃避訊號;中控器電性耦接被動馬達、握力感 測器以反測距感測器,用以整合所有訊息判斷機器人進行動作·,當無反作 用力時(表示未施力狀況),被動馬達阻尼值將為最大,輪子鎖死,機器人靜 止;當偵測到反作用力,且控制訊號反應使用者意圖前進,中控器命令馬 達降低阻尼值,輪子定速旋轉,此中間過程,若有接收到閃避訊號,優先 進行閃避在繼續前行;倘若前行狀態中,接收到異常握力值,表示使用者 正處於緊張情緒,適時降低被動馬達阻尼值,以維護使用者安全。 Q 底下藉由具體實施例配合所附的圖式詳加說明,便於審查委員更容易 瞭解辨別本創作之目的、技術内容、特點及其所達成之功效。 【實施方式】 本發明係在考量到使用者不同於常人的身體狀況與環境障礙所產生的 問題,而設計之具避障以及力感決策之互動式照護機器人。 請同時參閱第三圖以及第四圖所示之本發明結構示意圖。本發明互動 式照護機器人100係包括有:一架體110、複數輪子120、二被動式馬達 130R、130L、二握力感測器140R、140L、複數測距感測器i5〇a〜150i、二 5 201038262 人距感測器160a、160b、一加速度計170、一傾斜感測器(圖中未示)、一中 控器180以及一殼體190。 其中,架體110其由一底架111、一底端連接該底架1H之支架113, 以及一橫接於該支架113頂端之手扶架115共構組成;其中,底架U1呈一 U字型,用以包覆使用者腳步免於碰撞;支架U3係由一外管117以及一 内管119套接組合,用意在配合使用者身尚改變手扶架ns高度,且外管 117底端係採用樞接方式連結底座in,内管119頂端係與手扶架115中心 極接連接’藉此’可以刚後微調支架Π3相對使用者的距離,以及上下微 調手扶架115相對使用者的角度;另外,手扶架115亦概呈u字型,其開 口左右二外端形成二橫向握桿112。該等輪子120包括有二轉向輪121,分 別設置在底架111底端的左前方以及右前方,係可自轉改變前進方向,以 及二辅助輪123R、123L,分別設置在底架hi底端的左後方以及右後方’ 藉此提供四個穩定支撐點。被動式馬達13〇R、13〇L設於該底架m二側, 在考慮到裝配位置與成本下,本實施採用小體積之順應性伺服馬達,並配 合利用皮帶131R、131L連結其傳動軸與一輔助輪123R_、123L·輪轴,達到 動力傳遞之效,在無外力影響下,此被動式馬達13〇R、13〇L阻尼值將最大, 無法驅轉輔助輪123R、123L轉動,架體11〇將呈靜止狀態,又,被動馬達 130R、130L中設有編碼器可以取得傳動轴一反作用力值。 配合第五圖,如圖所示,為握力感測器140R、140L實際貼附於握桿上 之實況’係由一上測片14卜一前測片142以及一後測片M3所組成之多方 向性感測器;上測片14ι對應於使用者虎口位置,前後測片M2、143位在 上測片141旁’用以感受手指施力;且透過實驗發現,當使用者起身或左 201038262 下時係可以感受到-下壓力,當使用者意欲前進時,前測片142得到施力 值大於後測# 143嚼施力值;當使用者意欲停止時,前測片142測得施 力值小於後測片143測得施力值’不管為何狀態,握力感測器M〇R、14队 係都會產生-表達使用者狀態之控伽號其次,握力_器係為一多方 向性力感測器,其片數組合並非本發明重點,市面尚有多種類似型式之感 測片可以達到相同目的,因此相似結構之置換應都包涵在本發明之實施精 神中。 ) 接續,配合第六圖,與第七(a)圖以及第七圖,本發明共使用九支測 距感測器150a〜150i,實物為超音波、雷射或紅外線感測器等反射式感測器, 係以22.5度的間隔環繞設於底架111,以取得架體前方18〇度的偵測範 圍,又,所有測距感測器150a〜150i係都朝前方地面投射,並將其投射距離 設為標準投射長度dH,經由反射波回傳時間可以判斷前方障礙物距離得到 一閃避訊號。再者,回到第三圖以及第四圖所示,於本實施中係裝置二人 距感測器160a、160b於支架113上’且人距感測器I60a、160b朝向使用者, Q 一樣屬於反射式感測器一種,如雷射、紅外線或超音波感測器等,且人距 感測器160a可以偵測使用者上半身’人距感測器i6〇b可以偵測使用者下 半身距離,根據上下距離差以及時間發出一狀態訊號,係關於使用者是坐 、 下、站立或是走動等狀態。特別說明的是,感測器不同,其感測特性、距 離、範圍也將不同,故測距感測器以及人距感測器設置位置並不在本發明 限定之中,是以依需要與要求而作適當設置。 另外,關於此加速度計170,其電性耦接一輔助輪123R轉軸,可以計 數輔助輪123R之轉速取得機器人1〇〇加速度發出一速度訊號,實際係採用 7 201038262 轴編瑪器,當然亦可為其他相同功能產品;而傾斜感測器(圖未示)係裝設在 架體no之底架m上’以用來偵測機器人100行走路面的傾斜度,主要可 以利用陀螺儀或者二轴加速度II等產品達到,假|^地面為水平,當機器人 100位在斜坡路段時,即發出一傾斜訊號表達目前位置與水平面間之夾角。 其次’中控器180在本實施中係包括設置在架體11〇底端之二電路板181R、 181L以及二控制盒182R、182L,且依其左右位置,二電路板181R、isiL 分別電性耦接握力感測器14〇R、140L、測距感測器i5〇a〜I50i、人距感測 器160a、160b、加速度計170、傾斜感測器’以及二被動馬達13〇R、13〇L 之編碼器,用以讀取所有訊號作邏輯判斷與運算,而此二控制盒182R、182L 電性耦接二被動馬達130R、130L,係可以控制電流大小改變被動馬達 130R、130L阻尼值。而殼體19〇係為美觀設計用,且更具有保護結構之效 益,其係將所有架體以及感測器外露容易受損之部份包覆,另一目的也可 以保護使用者操作時的不舒適感。 經由上述本發明一實施例結構說明,係可瞭解本發明大致架構,再說 明本發明之動作前,係如第八圖所示,先假設電路板181R、181L·之邏輯電 路以及控制盒182R、182L形成一主控單元200,握力感測器140R、140L 之控制訊號、人距感測器160a、160b之狀態訊號以及被動馬達130R、130L 的阻尼值回饋構成意圖判斷單元300,測距感測器150a〜150i之閃避訊號、 加速度計170之速度訊號以及傾斜感測器之傾斜訊號形成障礙物感測單元 400。 係配合第三圊以及第四圖之結構,如下,進一步解釋意圊判斷單元3〇〇 如何影響主控單元200判斷控制。配合參考第九(a)圖、第九(b)圖以及第十 201038262 圖,標準狀態下,主控單元200内設定各數值之初始狀態,比對接收訊號 數據與初始狀態設定數值,可以將機器人1〇〇動作分析如下; 靜止:如第九(a)圖所示,在機器人1〇〇之馬達i30R、13〇L反作用力值為零, 阻尼值最大,輔助輪123L、123R被鎖死’架體no呈靜止,此時不 管控制訊號回傳握力值大小如何,以及狀態訊號為何,皆不影響架 體110靜止狀態。 起身:搭配第十圖,當狀態訊號反應使用者未坐下狀態,且上測片141感 〇 受到一下壓力’雖然馬達130R、130L之反作用力值增加,但此條件 忒表使用者準備起身’最需要穩定支撐力確保安全,因此加大馬達 130R、130L阻尼值,鎖死辅助輪123L、123R,讓系統呈現穩定的 靜止狀態,使用者可以借力使力起身。 前進瞬間:當狀態訊號顯示站立狀態,反作用力值一直增加,亦表示機器 人100受到的推力持續加大’當推力超過一標準值叫,且就如第 九(a)圖,主控單元200會判斷是否同時接收到控制訊號,再如 〇 第九(b)圖所示’且控制訊號顯示前測片142測得一大於標準值 P〇之力’後測片143所測得之力會比標準值p。(未施力時所測得 ' 之力)小’又,二感應器142、143之差值大於零,即表示使用者 欲前行’令馬達130R、130L降低阻尼值,讓使用者可以輕易推 動機器人100前進。 走動:狀態訊號顯示使用者為走動狀態,且控制訊號之握力值維持在設定 值Ρ,到設定值A之間’即維持定阻尼,被動馬達130R、130L控制辅 助輪123L、123R定速帶動機器人100前進。 9 201038262 停止瞬間:裝態城顯域时為走練態,但反制力值漸減,表示推 力減小,又,控制訊號測得後測片143之握力大於標準值p。, 則測片142測得之握力小於標準值卩。,且前後測片142、143彼 此握力之差值小於〇,表示使用者準備停止步伐,此時主控單元 200命令馬達i30R、13〇L逐漸增加阻尼值,直到鎖死辅助輪 123R、123L 為止。 緊急狀態:當制突發狀況時’人體自齡因為緊張身體前傾並加大握持 力’當偵測狀態訊號為緊張狀態時,且握力大辦,表示有不 明狀況讓使用者緊張,為了避免危險,此時一樣加大阻尼值, 鎖死辅助輪123R、123L。 左右轉:當狀態峨為行走狀態,個者左手施壓於左讎力細器隨 的握力值大過施壓於右側握力感測器14〇R的握力值,表示使用者 欲左轉’自中控單元200送出使用者左轉訊號,將左側馬達13此 加大阻尼,迫使左侧輔助輪123L停止,因為右側輔助輪123尺仍 舊在轉動的關係,所以機器人100將順勢左轉。反之,右轉時, 係以相同道理迫使右側輔助輪⑵尺停止,由左側輔助輪12儿帶 動機器人順勢右轉。 由上述策略’可發現本發明雖未提供主動式動力導引,但考慮到使用 者身體狀況’貼㈣輔助動力獅施加推力咐足,讓使用者可以更輕鬆 的操作機器人。如下…樣配合第三®以及第_之結構,接著進一步說 明障礙物感測單元4〇〇與主控單元2〇〇控制關係。 遇到障礙物··配合第七⑷圖,主控單元2⑻將測_測器⑽〜咖分區梢 201038262 測,設測距感測器150a及測距感測器15〇b設有一偵測區域 S1,測距感測器150c設有一偵測區域S2,測距感測器15〇d 及測距感測器150f設有一偵測區域幻,測距感測器15〇g設 有一偵測區域S4,測距感測器15〇h及測距感測器15〇i設有 一偵測區域S5 ;又,本實施例中並内建最常見之六種障礙模 式’如第十一(a)圖〜第十一(f)圖所示,用以簡化主控單元2〇〇 的處理方式’藉此,當-細區域S1〜S5回傳閃避訊號時, 〇 依據訊號發生區域S1〜S5得知障礙物在機器人1〇〇左側之角 度或右側之角度,且依據反射時間計算障礙物距離,判斷適 用哪種障礙模式,進而由主控單元2〇〇命令優先處理_訊 號,控制被動馬達130R、130L停止障礙物所在側之辅助輪 123R、123L來改變機器人1〇〇前進方向,且機器人1〇〇轉向 係與偵測距離有關,當距離越短,改變阻尼值的速度亦越快, 加快機器人100轉彎,避免碰撞,反之亦然。 0前方有斜坡或樓梯:參考第十二⑻圖以及第十二⑼圖,並配合第七⑼圖, 將地面也視為障礙之一種,在設置測距感測器 : i50a〜150i時,即已經設定平地無障礙時尚一標準投射 長度dH,倘若回傳的閃避訊號,其時間經換算後得到 之距離dl大於標準距離dH,亦既dl>(JH,如第十二⑻ 圖,表示遇到障礙物或者下坡,可以警示使用者注意。 反之,如第十二(b)圖,側得距離d2小於標準距離,即 表示有障礙物或者為上坡狀態。 11 201038262 斜坡路端:當真為上下坡路段時,可以轉由加速度計1?〇 Θ饋的速度訊號 控制被動馬達13GR、13GL阻尼錢化’補償使用者施力,避免 上坡時供給機器人1〇〇的推力不足,以及下坡時機器人1〇〇因 為重量與加速度之關係,拉扯使用者而發生危險。 綜。以上關於本發明機狀之決策方式以及動作模式’本發明考慮到 一般使用者係為老人或者行鮮便者_係,為敎絲式導引方式在長 期使用下’以造成使用者運娜調力退化,因此伽使用者的推動力作 為前進的動力’錢具復健之效,轉使时肌力並防止官能退化;同時, 本發明考慮到傳統被動式機器人又無法如主赋般可⑽使用者輕鬆駕 权,因此採職動式馬達依照得_f訊機出符合需求的補償力,以彌 補協調力不夠與力氣不足個者之需求;再者,其感知制者身體語言所 發出的補償力卿,可以減輕使用麵作貞擔,其具有良好的績性以及 穩定度,並配合增設避障控制增進使用安全。 以上所述之實施例僅係為說明本發明之技術思想及特點,其目的在使 熟習此項技藝之人士能夠瞭解本發明之内容並據以實施,當不能以之限定 本發明之專利細,即大凡依本發騎麻之騎所作之鱗變化或修 飾’仍應涵蓋在本發明之專利範圍内。 【圖式簡單說明】 第-瞻知由Dub〇Wsky等人提出之—種主動式照護機器人結構示. 第二圖為習知由Himta等人提出之—種被動式職機器人結構示意圖。 第二圓為本發明實施例之立體組合圖。 、 第四圓為本發明實施例之立體分解圖。 201038262 第五圓為本發明機器人之握力感測器示意圖。 第六圖為本發明機器人底架之下視圖。 第七(a)圖及第七(b)圖為本發明機器人之測距感測器裝設位置示意圖》 第八圖為本發明之控制方塊圖。 第九(a)圖為本發明反作用力與加速度關係示意圖》 第九(b)圖為本發明阻尼值與握力關係示意圖。 第十圖為本發明狀態訊號之狀態關係示意圖。 ^ 第十一 (a)圖〜第十一 (f)圖為本發明假設障礙物模式示意圖。 第十二(4圖為本發明之下坡地面狀態偵測示意圖。 第十二(b)圖為本發明之上坡地面狀態偵測示意圖。 【主要元件符號說明】 1 _M機器人原型 12 電荷耦合元件 11 超音波感測器 13 電荷耦合元件(CCD) 2 RT機器人 〇 100互動式照護機器人 110架體 • » 112握桿 115手扶架 119 内管 123R、123L 輔助輪 ^ 111底架 113支架 117 外管 120輪子 121轉向輪 13 201038262 130R、130L 被動式馬達 131R、131L 皮帶 140R ' 140L 握力感測器 141 上測片 143後測片 150a〜i 測距感測器 160a ' 160b 人距感測器 170 加速度計 180中控器 181R' 181L 電路板 142 前測片 S1〜S5 偵測區域 182R' 182L 控制盒 14Walker, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 3871-3876, 2004] 'Super ❹m as the flank side, which has the obstacle-avoidance function of 'News', but the difference is the RT machine 2 is a passive type of __, which does not have an active power source, but the damping force is used to improve the lifting force required by the heavy frame, so that the user is easy to control, thereby integrating the ability of sensing and motion coordination. Furthermore, M〇rrfs et al. later proposed a home care robot that switches active, passive or forced mode by means of a two-stage handle (in the figure), which uses an auxiliary system to correct the user's walking trajectory in the active mode; In passive mode, the user can freely control the direction of travel; in forced mode, the user is forced to walk completely on the pre-s and path. 'There is no offset [''a R〇b〇tic Walker That Provides Guidance, , Proe. of IEEE international Conference on Robotics and Automation, 2003, pp25-30] ° The aforementioned care robots each have their advantages, so that the present invention further proposes an interactive care robot to combine the active mode and the passive mode to care for the robot The advantage is to develop another home care robot that is more suitable for people with reduced mobility. SUMMARY OF THE INVENTION The main object of the present invention is to provide an interactive care robot with obstacle avoidance and force sense decision, which senses the intention and driving force of the user's body language, thereby generating power to assist the user to advance, and when using When the intention of the body language changes, the speed of the advancement is slowed down or the vehicle is used to coordinate the coordination of the user's senses and to train the muscle strengthening and the conduction of the nerve conduction system. The secondary object of the present invention is to provide an interactive care robot with obstacle avoidance and force sense decision-making, which has good support and stability, and is provided with obstacle avoidance control, speed control and power compensation mechanism when the ground is tilted. To allow users to smoothly pass the slopes and obstacles. 201038262 A further object of the present invention is to provide an interactive care robot with obstacle avoidance and force sense decision-making, which has the advantages of easy operation and high degree of freedom. To achieve the above objective, the present invention discloses an interactive care robot with obstacle avoidance and force sense decision, comprising: a frame body, a plurality of wheels, at least two passive motors, at least one grip force sensor, and at least one ranging sensor. And a central controller β and two passive motors respectively drive the left and right wheel speeds' and obtain a reaction force value; and the grip force sensor can sense the magnitude and direction of the user's force, thereby determining that the user intends to issue a control signal The distance measuring sensor is installed in front of the frame body, and sends a dodging signal when there is an obstacle in front; the central controller is electrically coupled to the passive motor and the grip force sensor to the anti-ranging sensor. Used to integrate all the messages to judge the robot to perform the action. When there is no reaction force (indicating that the force is not applied), the passive motor damping value will be the maximum, the wheel is locked, the robot is stationary; when the reaction force is detected, and the control signal is reacted The user intends to advance, the central controller commands the motor to reduce the damping value, and the wheel rotates at a constant speed. In the middle process, if the dodging signal is received, the dodge is prioritized before continuing. ; If front-line state, received the exception grip strength values, indicating that the user is in tension, timely reduce motor passive damping value in order to preserve the safety of users. Q The detailed description of the specific examples and the accompanying drawings will make it easier for the reviewing committee to understand the purpose, technical content, characteristics and effects of the creation. [Embodiment] The present invention is an interactive care robot designed to avoid obstacles and make a sense of force in consideration of problems caused by a user's physical condition and environmental obstacles different from those of ordinary people. Please refer to the schematic diagrams of the present invention shown in the third and fourth figures. The interactive care robot 100 of the present invention comprises: a frame body 110, a plurality of wheels 120, two passive motors 130R, 130L, two grip force sensors 140R, 140L, a plurality of distance measuring sensors i5〇a~150i, two 5 201038262 Human distance sensors 160a, 160b, an accelerometer 170, a tilt sensor (not shown), a central controller 180, and a housing 190. The frame body 110 is composed of a chassis 111, a bracket 113 whose bottom end is connected to the chassis 1H, and a supporting frame 115 which is horizontally connected to the top of the bracket 113. The chassis U1 is a U. The font is used to cover the user's footsteps from collision; the bracket U3 is sleeved and combined by an outer tube 117 and an inner tube 119, and is intended to change the height of the handrail ns with the user's body, and the outer tube 117 bottom The end system is pivotally connected to the base in, and the top end of the inner tube 119 is connected to the center pole of the handrail 115. Thus, the distance between the bracket Π3 and the user can be finely adjusted, and the upper and lower fine adjustment of the handrail 115 relative to the user. In addition, the handrail 115 is also generally u-shaped, and the left and right outer ends of the opening form two lateral grips 112. The wheels 120 include two steering wheels 121, which are respectively disposed at the left front and the right front of the bottom end of the chassis 111, and can be rotated to change the forward direction, and the two auxiliary wheels 123R and 123L are respectively disposed at the left rear of the bottom end of the chassis hi. And the right rear' provides four stable support points. The passive motors 13〇R and 13〇L are disposed on the two sides of the chassis m. In consideration of the assembly position and cost, the present embodiment adopts a small-volume compliant servo motor, and cooperates with the belts 131R and 131L to connect the transmission shaft with An auxiliary wheel 123R_, 123L · axle, to achieve the power transmission effect, under the influence of no external force, the passive motor 13 〇 R, 13 〇 L damping value will be the largest, can not drive the auxiliary wheel 123R, 123L rotation, the frame 11 The crucible will be in a stationary state, and an encoder provided in the passive motors 130R, 130L can obtain a reaction shaft-reaction force value. With the fifth figure, as shown in the figure, the live condition of the grip sensor 140R, 140L actually attached to the grip is composed of an upper test piece 14 and a front test piece 142 and a rear test piece M3. Multi-directional sensor; the upper test piece 14ι corresponds to the position of the user's tiger's mouth, and the front and rear test pieces M2 and 143 are located next to the upper test piece 141 to sense the force of the finger; and through experiments, when the user gets up or left 201038262 When the user feels the downward pressure, when the user intends to advance, the front test piece 142 is given a force application value greater than the rear test # 143 chew force value; when the user intends to stop, the front test piece 142 measures the force applied. The value is smaller than the measured force value measured by the rear test piece 143. Regardless of the state, the grip force sensor M〇R, 14 team system will generate the control gamma number for expressing the user state, and the grip force _ device is a multi-directional force. The combination of the number of the sensors is not the focus of the present invention. There are many similar types of sensing sheets on the market that can achieve the same purpose, and therefore replacement of similar structures should be included in the spirit of the present invention. Continuing with the sixth figure, together with the seventh (a) and seventh figures, the present invention uses a total of nine ranging sensors 150a to 150i, and the object is a reflection type such as an ultrasonic wave, a laser or an infrared sensor. The sensors are arranged around the chassis 111 at intervals of 22.5 degrees to obtain a detection range of 18 degrees in front of the frame, and all the ranging sensors 150a to 150i are projected toward the front ground, and The projection distance is set to the standard projection length dH, and the distance of the front obstacle can be determined by the reflected wave return time to obtain an dodging signal. Furthermore, as shown in the third and fourth figures, in the present embodiment, the device two-person sensors 160a, 160b are on the support 113 and the human-distance sensors I60a, 160b are oriented toward the user, Q. It is a kind of reflective sensor, such as laser, infrared or ultrasonic sensor, and the human distance sensor 160a can detect the user's upper body. The human distance sensor i6〇b can detect the user's lower body distance. According to the difference between the upper and lower distances and the time, a status signal is issued, which is about whether the user is sitting, going, standing or walking. In particular, the sensor characteristics are different, and the sensing characteristics, distance, and range are also different. Therefore, the distance measuring sensor and the position setting of the human distance sensor are not limited by the present invention, and are required and required. And make the appropriate settings. In addition, the accelerometer 170 is electrically coupled to an auxiliary wheel 123R rotating shaft, and can count the rotation speed of the auxiliary wheel 123R to obtain a speed signal of the robot 1 〇〇 acceleration, and the actual system adopts the 7 201038262 axis coder, and of course For other functional products of the same function, the tilt sensor (not shown) is mounted on the chassis m of the frame body to detect the inclination of the road surface of the robot 100, and the gyroscope or the two axes can be mainly used. Acceleration II and other products reach, false | ^ ground level, when the robot 100 is on the slope section, it will send a tilt signal to express the angle between the current position and the horizontal plane. Secondly, the central controller 180 includes two circuit boards 181R and 181L disposed at the bottom end of the frame body 11 and two control boxes 182R and 182L, and the two circuit boards 181R and isi are respectively electrically connected according to their left and right positions. Coupling grip force sensors 14〇R, 140L, distance sensors i5〇a~I50i, human distance sensors 160a, 160b, accelerometer 170, tilt sensor 'and two passive motors 13〇R, 13 The encoder of 〇L is used to read all the signals for logical judgment and operation, and the two control boxes 182R and 182L are electrically coupled to the two passive motors 130R and 130L, and the current magnitude can be changed to change the damping values of the passive motors 130R and 130L. . The housing 19 is aesthetically pleasing and has the benefit of a protective structure, which covers all the frames and the parts of the sensor that are easily damaged, and the other purpose is to protect the user's operation. Uncomfortable. Through the structural description of an embodiment of the present invention, the general structure of the present invention can be understood. Before the operation of the present invention, as shown in the eighth figure, the logic circuit of the circuit boards 181R, 181L and the control box 182R are assumed. The 182L forms a main control unit 200, the control signals of the grip force sensors 140R and 140L, the state signals of the human distance sensors 160a and 160b, and the damping value feedback of the passive motors 130R and 130L constitute the intention determination unit 300, and the distance sensing is performed. The dodging signal of the devices 150a to 150i, the speed signal of the accelerometer 170, and the tilt signal of the tilt sensor form the obstacle sensing unit 400. In conjunction with the structure of the third and fourth figures, as follows, it is further explained how the meaning determining unit 3〇〇 affects the main control unit 200 to judge the control. With reference to the ninth (a) diagram, the ninth (b) diagram, and the tenth 201038262 diagram, in the standard state, the initial state of each value is set in the main control unit 200, and the received signal data and the initial state setting value are compared. The robot 1〇〇 motion analysis is as follows; Static: As shown in the ninth (a) diagram, the motor i30R, 13〇L reaction force value is zero, the damping value is the largest, and the auxiliary wheels 123L, 123R are locked. 'The frame no is static. At this time, regardless of the magnitude of the control signal return force and the status signal, the frame 110 is not affected. Get up: With the tenth figure, when the status signal responds that the user is not sitting down, and the upper test piece 141 feels a little pressure, 'because the reaction force of the motors 130R, 130L increases, this condition is that the user is ready to get up' It is most necessary to stabilize the supporting force to ensure safety. Therefore, the damping values of the motors 130R and 130L are increased, and the auxiliary wheels 123L and 123R are locked, so that the system assumes a stable stationary state, and the user can use the force to force the body to get up. Forward moment: When the status signal shows the standing state, the reaction force value increases continuously, which also means that the thrust received by the robot 100 continues to increase. 'When the thrust exceeds a standard value, and as shown in the ninth (a) diagram, the main control unit 200 It is judged whether the control signal is received at the same time, and if the control signal shows that the front test piece 142 measures a force greater than the standard value P〇 as shown in the figure IX (b), the force measured by the test piece 143 is compared. Standard value p. (The force measured when no force is applied) is small. Moreover, the difference between the two sensors 142 and 143 is greater than zero, which means that the user wants to advance 'to make the motor 130R, 130L lower the damping value, so that the user can easily Push the robot 100 forward. Walking: The status signal indicates that the user is in the walking state, and the gripping force value of the control signal is maintained at the set value Ρ, and the fixed value is maintained between the set values A. The passive motors 130R and 130L control the auxiliary wheels 123L, 123R to drive the robot at a constant speed. 100 forward. 9 201038262 Stopping moment: When the state of the city is displayed, the value of the counter-force is decreasing, indicating that the pushing force is reduced. Moreover, the gripping force of the measuring piece 143 after the control signal is measured is greater than the standard value p. Then, the grip strength measured by the test piece 142 is less than the standard value 卩. And the difference between the grip strengths of the front and rear test pieces 142, 143 is less than 〇, indicating that the user is ready to stop the pace, at this time, the main control unit 200 commands the motors i30R, 13〇L to gradually increase the damping value until the auxiliary wheels 123R, 123L are locked. . Emergency: When the system is in a sudden situation, the body is self-aged because of the nervous body leaning forward and increasing the grip. When the detection status signal is in a state of tension, and the grip strength is large, it indicates that there is an unclear situation that makes the user nervous. Avoid danger. At this time, increase the damping value and lock the auxiliary wheels 123R and 123L. Turn left and right: When the state is walking, the left hand pressure on the left hand force force is greater than the grip force value applied to the right hand force sensor 14〇R, indicating that the user wants to turn left. The central control unit 200 sends the user a left turn signal to increase the damping of the left motor 13 to force the left auxiliary wheel 123L to stop. Because the right auxiliary wheel 123 is still in a rotating relationship, the robot 100 will turn left. On the other hand, when turning right, the right auxiliary wheel (2) is stopped by the same reason, and the left auxiliary wheel 12 drives the robot to turn right. It can be seen from the above strategy that the present invention does not provide active power guidance, but allows the user to operate the robot more easily, taking into account the user's physical condition. The structure of the third and the _ is matched as follows, and then the obstacle sensing unit 4 〇〇 is further controlled to control the relationship with the main control unit 2 . Encounter obstacles ·············································································································· S1, the ranging sensor 150c is provided with a detecting area S2, the ranging sensor 15〇d and the ranging sensor 150f are provided with a detecting area, and the ranging sensor 15〇g is provided with a detecting area. S4, the ranging sensor 15〇h and the ranging sensor 15〇i are provided with a detection area S5; in addition, in this embodiment, the six most common obstacle modes are built in, such as the eleventh (a) Figure 11 - Figure 11 (f) is used to simplify the processing of the main control unit 2'. Thus, when the fine areas S1 to S5 return the dodge signal, the signal generation areas S1 to S5 are obtained. Knowing the obstacle at the angle of the left side of the robot 1 or the angle of the right side, and calculating the obstacle distance according to the reflection time, determining which obstacle mode is applicable, and then the priority is controlled by the main control unit 2〇〇, and the passive motor 130R is controlled. 130L stops the auxiliary wheels 123R, 123L on the side where the obstacle is located to change the forward direction of the robot 1 , and the robot 1〇 The 〇 steering system is related to the detection distance. When the distance is shorter, the speed of changing the damping value is faster, and the robot 100 is turned faster to avoid collision, and vice versa. There are slopes or stairs in front of 0: refer to the twelfth (8) and twelfth (9) drawings, and with the seventh (9), the ground is also regarded as a kind of obstacle. When setting the distance measuring sensor: i50a~150i, A standard projection length dH has been set for the barrier-free fashion, and if the dodge signal is returned, the distance obtained by the conversion is greater than the standard distance dH, which is also dl> (JH, as shown in the twelfth (8) figure, Obstructions or downhills can alert the user to the attention. Conversely, as shown in the twelfth (b), the side distance d2 is less than the standard distance, indicating that there is an obstacle or an uphill state. 11 201038262 Slope road end: true When going uphill and downhill, you can turn the accelerometer 1? feed speed signal to control the passive motor 13GR, 13GL damping money to compensate the user's force, avoid the insufficient thrust of the robot 1 上 when going uphill, and downhill When the robot 1 拉 pulls the user due to the relationship between the weight and the acceleration, the danger occurs. The above is the decision mode and the operation mode of the machine of the present invention. The present invention considers that the general user system is old. Or the fresh-keeping person _ system, for the long-term use of the silk-guided way to cause the user to degrade the force, so the driving force of the gamma user as the driving force for the advancement of the money, the transfer effect At the same time, the present invention considers that the conventional passive robot can't be as easy as the main one. (10) The user can easily control the power, so the mining motor can meet the demand compensation force according to the machine. In order to make up for the lack of coordination and the lack of strength; in addition, the compensation of the body language of the sensory system can reduce the use of face-to-face, which has good performance and stability, and with the addition The obstacle avoidance control enhances the safety of use. The embodiments described above are only for explaining the technical idea and the features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement it according to </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; The structure of the active care robot proposed by Dub〇Wsky et al. The second figure is a schematic diagram of a passive type of robot proposed by Himta et al. The second circle is a three-dimensional combination diagram of the embodiment of the present invention. The fourth circle is an exploded perspective view of the embodiment of the present invention. 201038262 The fifth circle is a schematic diagram of the grip sensor of the robot of the present invention. The sixth figure is a bottom view of the robot chassis of the present invention. The seventh (b) is a schematic diagram of the position of the distance measuring sensor of the robot of the present invention. The eighth figure is a control block diagram of the present invention. The ninth (a) figure is a schematic diagram of the relationship between the reaction force and the acceleration of the present invention. (b) The figure is a schematic diagram showing the relationship between the damping value and the grip strength of the present invention. The tenth figure is a schematic diagram showing the state relationship of the state signal of the present invention. ^ The eleventh (a) to eleventh (f) are the assumed obstacle modes of the present invention. schematic diagram. Twelfth (Fig. 4 is a schematic diagram of the detection of the state of the slope below the ground according to the present invention. The twelfth (b) is a schematic diagram of the state detection of the overslope ground according to the present invention. [Description of the main components] 1 _M robot prototype 12 charge coupling Component 11 Ultrasonic Sensor 13 Charge-Coupled Element (CCD) 2 RT Robot 〇 100 Interactive Care Robot 110 Frame • » 112 Grip 115 Handrail 119 Inner Tube 123R, 123L Auxiliary Wheel ^ 111 Chassis 113 Bracket 117 Outer tube 120 wheel 121 steering wheel 13 201038262 130R, 130L Passive motor 131R, 131L Belt 140R '140L Grip force sensor 141 Upper test piece 143 Rear test piece 150a~i Distance measuring sensor 160a '160b Human distance sensor 170 Accelerometer 180 central controller 181R' 181L circuit board 142 front test piece S1~S5 detection area 182R' 182L control box 14