WO2024103469A1

WO2024103469A1 - Intelligent walking stick navigation robot having walking aid function and daily carrying function

Info

Publication number: WO2024103469A1
Application number: PCT/CN2022/138188
Authority: WO
Inventors: 王通; 罗朝晖; 尚鹏; 苏栋楠; 吴继鹏; 曾梓琳; 王俊伟
Original assignee: 深圳先进技术研究院
Priority date: 2022-11-15
Filing date: 2022-12-09
Publication date: 2024-05-23
Also published as: CN115755902A

Abstract

An intelligent walking stick navigation robot having a walking aid function and a daily carrying function, comprising a telescopic walking stick, a basket (1), and a moving chassis (2). The moving chassis (2) is fixed to the lower portion of the telescopic walking stick; the basket (1) is arranged on the moving chassis (2); a camera (4) and a radar (5) are mounted on the basket (1); a control cabinet (19) and a plurality of motors (20) are arranged on the moving chassis (2); motor shafts are connected to rollers; and a control system is integrated in the control cabinet (19). The control system acquires data collected by the camera (4), the radar (5), a health monitoring module (6), an infrared temperature sensor (7), and a blood oxygen sensor (16), respectively. A rocker (11) controls the operations of the motors (20) by means of the control system. The control system controls the robot according to an instruction acquired by a voice microphone (17). For scenes where the elderly go shopping, see a doctor, pick up medicine, etc., the intelligent walking stick navigation robot having a walking aid function and a daily carrying function can guide the elderly directly to a destination, and thus has an active guiding function.

Description

An intelligent walking-assisting and life-carrying navigation robot with a cane

Technical Field

The invention relates to an intelligent crutch-type walking-assisting and life-carrying navigation robot.

Background technique

The elderly group has gradually become a group that cannot be ignored. The elderly's guardianship, companionship, walking assistance, grocery shopping, medical treatment, medicine purchase and some daily life difficulties have become increasingly hot topics. First of all, after aging, the body's functions weaken, and walking often requires the support of a cane, otherwise the elderly are likely to fall. Secondly, when the elderly go out to buy groceries and shopping, their physical strength is limited, and now there are fewer and fewer salespeople working in shopping malls. Faced with large shopping malls, vegetable markets, hospitals, etc., how to accurately reach the destination for shopping, medical treatment, and buying groceries for the elderly, and guide the elderly to the destination in their hearts (or shopping mall supermarket shelves, hospital departments), and reduce physical expenditure, has also become a problem; when buying daily necessities, food, medicine bottles, etc. in the mall, the elderly use their hands to extract them, which is more physically demanding and dangerous; at the same time, the elderly's eyesight will be significantly reduced, and it is also particularly important to avoid obstacles when walking.

technical problem

The present invention proposes an intelligent crutch-type walking-assisting and life-carrying navigation robot, which can guide the elderly to directly reach the destination for shopping, seeing a doctor, taking medicine, etc., and has a powered accompanying system carrying a shopping basket and an active guiding function.

Technical Solutions

The technical solution of the present invention to solve the above problems is: an intelligent crutch-type walking-assisting and life-carrying navigation robot, which is special in that:

It includes a retractable walking stick, a shopping basket and a motion chassis; the motion chassis is fixed to the lower part of the retractable walking stick, the shopping basket is arranged on the motion chassis, an openable cover is arranged above the shopping basket, a binocular depth camera is installed in front of the shopping basket to determine whether the destination has been reached; a laser radar is installed below the shopping basket camera to determine surrounding obstacles;

The upper part of the handle of the retractable cane is provided with a health monitoring module and an infrared temperature sensor, the lower part of the handle is provided with a bell button, and the handle is provided with a joystick and a display screen in front of the health monitoring module. The joystick is used to manually operate the robot, and the display screen is used to display the health parameter data monitored by the health monitoring module and the infrared temperature sensor; a platform is provided on the upper part of the cane, on which an emergency stop button and a storage box are provided, and a blood oxygen sensor is installed under the storage box for collecting heart rate and blood oxygen data; a voice microphone is installed at the bottom of the platform; a speaker is provided on the upper part of the cane, and the speaker is used for ringing and voice broadcasting;

A control cabinet and multiple motors are provided on the motion chassis, the motor shafts are connected to rollers, and a control system is integrated in the control cabinet; the control system obtains data collected by the binocular depth camera, laser radar, health monitoring module, infrared temperature sensor, and blood oxygen sensor respectively, and the joystick controls the operation of the motor through the control system; the control system controls the robot according to the instructions obtained by the voice microphone.

Furthermore, the above-mentioned control system includes modules such as stm32 data acquisition board, stm32 terminal control board, Raspberry Pi, 5G NBIOT, UWB wireless positioning, GPS module and drive control board; the motor is a power motor with a 500-line encoder.

Furthermore, the robot downloads offline maps through the Raspberry Pi's WIFI, relies on the GPS module for navigation, and relies on the point cloud data collected by the camera and radar for analysis on the Raspberry Pi. It can avoid obstacles in real time and adjust the planned route when encountering puddles or road breaks.

When the robot arrives at a shopping mall or hospital, it can use the Raspberry Pi's WiFi to access the local LAN, obtain the approximate range of obstacles and destinations through the fingerprint method, and calculate the path using the Dijkstra algorithm. During operation, it continuously obtains point cloud information on the path through radar and cameras, and continuously provides feedback and revisions to the previous path. At the same time, it will determine the detailed information of the item through a network search based on the objects recognized by the camera on the path, mark the path, and save the latest path data as an offline map.

Furthermore, the robot obtains health parameters such as pulse, body temperature, heart rate, and blood oxygen measured by the health monitoring module (JFH11), infrared temperature sensor, and blood oxygen sensor through the stm32 data acquisition board, and then transmits them back to the server through the 5G NBIOT module. The guardian and attending physician of the elderly can view the health status of the elderly in real time through the mobile phone APP. At the same time, the real-time images transmitted back by the camera can allow the guardian to clearly understand the environmental geographical information of the elderly in real time. If the health parameters exceed the normal value, an early warning will be issued, and the guardian and the elderly will be prompted and alarmed. The speaker placed in the middle of the cane will be used to remind the elderly. The elderly can use the bell button on the cane to send a signal to the STM32 terminal control board, so that the speaker will ring and remind people around.

Furthermore, the stm32 terminal control board of the robot is based on the MCU with CONTEXM4 as the core processor. The onboard MPU6050 integrates a 6-axis motion processing component to obtain the three-axis speed and gyroscope information of the walker to obtain the walker posture information, and feedback the robot controller through TCP/IP communication to monitor the safety of the car posture, and then transmit it to the cloud server through the 5G NB‑IOT communication module so that remote users can view the real-time situation. Through the TCP/IP communication port, the odometer information is sent to obtain the motion control instructions of the Raspberry Pi through the closed-loop position PID according to the real-time road conditions. The stm32 terminal control board obtains the odometer information of the four drive motors through the PWM capture function, uses PI control to perform speed closed-loop control of the four servo motors, and outputs PWM waves to the drive control board through the MCU STM32F407 to control the motors.

Furthermore, the robot maintains the distance between the robot and the patient through ultra-wideband wireless communication technology (UWB). The UWB positioning system can update the location information in real time. The elderly carry wireless tags to achieve real-time and accurate positioning of the elderly. After obtaining the data, a dual closed-loop control method with angle and position separation is designed to ensure that the robot system follows the user's movement trend without causing obstacles to the user's movement. At the same time, α and β are designed to adjust the sensitivity of angle and distance control to prevent the steering and distance control from changing too quickly.

Furthermore, the height of the upper part and the lower part of the walking stick is adjusted by a spring button.

Furthermore, the shopping basket is provided with a partition in the middle, which divides the shopping basket into several spaces, so that items can be stored in a classified manner.

Furthermore, a cushion is provided on the upper surface of the cover plate above the shopping basket, and the elderly can sit on the cushion to rest; a hook is provided on the upper part of the retractable walking stick, and the shopping basket can be hung on the hook on the walking stick if there is not enough space in the shopping basket.

Furthermore, in order to prevent the robot from acting as a walking stick and causing obstacles to the elderly's walking, a concave structure with a depth of 10 cm is designed on the motion chassis and the shopping basket close to the human body.

Beneficial Effects

Advantages of the present invention:

1. The present invention proposes an intelligent crutch-type walking aid and life-carrying navigation robot, which combines the designs of a cane, a walking aid and a powered shopping basket, so that the robot can adapt to more complex application scenarios.

2. The present invention can adaptively follow the movement speeds of different elderly people, as well as the movements of elderly people with different levels of mental fatigue.

3. The present invention determines the health status of the elderly through health signals and provides a platform for the elderly to take a short rest.

4. The present invention can have both indoor and outdoor navigation modes.

5. The present invention analyzes real-time road conditions through cameras and radars, effectively avoiding obstacles in advance.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is an overall structural diagram of an intelligent cane-type walking-assisting and life-carrying navigation robot according to an embodiment of the present invention;

Fig. 2 is a coordination diagram of the control system;

FIG3 is a diagram showing the relationship between the modules within the control system;

FIG. 4 is a logic diagram of a UWB positioning system.

As shown in the figure:

1-shopping basket; 2-sports chassis; 3-cover; 4-camera; 5-radar; 6-health monitoring module; 7-infrared temperature sensor; 8-upper part of the cane; 9-lower part of the cane; 10-ring button; 11-joystick; 12-display screen; 13-platform; 14-emergency stop button; 15-storage box; 16-blood oxygen sensor; 17-voice microphone; 18-speaker; 19-control cabinet; 20-motor; 21-spring button; 22-partition; 23-hook; 24-through hole.

Embodiments of the present invention

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

Some existing walkers or shopping carts for the elderly have a single function setting, and most of them rely on the elderly to give an active signal as a control signal to control the robot to move, while the robot itself does not have an active guidance function. As a result, the elderly often get lost in complex environments such as shopping malls and hospitals, and cannot reach the shelves or departments they want to reach, wasting a lot of time and putting the elderly in a dangerous state. In order to prevent the elderly from being unclear about their own physical conditions in this situation and in daily life, and the walking stick with health monitoring lacks power and stability. The present invention combines health monitoring, walking assistance and automatic navigation shopping cart guidance, and reasonably coordinates the relationship between the various systems, so that the robot of the present invention can adapt to more complex application scenarios.

Referring to Fig. 1, the present invention provides an intelligent crutch-type walking-aiding and life-carrying navigation robot, comprising a retractable cane, a shopping basket 1 and a motion chassis 2; the motion chassis 2 is fixed to the lower part of the retractable cane, the shopping basket 1 is arranged on the motion chassis 2, an openable and closable cover 3 is provided above the shopping basket 1, a camera 4 is installed in front of the shopping basket 1 to determine whether the destination has been reached; a radar 5 is installed below the camera 4 of the shopping basket 1 to determine surrounding obstacles. A health monitoring module 6 (JFH11) and an infrared temperature sensor 7 are provided on the upper part of the handle of the retractable walking stick, a bell button 10 is provided on the lower part of the handle, and a joystick 11 and a display screen 12 are provided on the handle in front of the health monitoring module 6. The joystick 11 is used to manually operate the robot, and the display screen 12 is used to display the health parameter data monitored by the health monitoring module 6 and the infrared temperature sensor 7. A platform 13 is provided on the upper part 8 of the walking stick, and an emergency stop button 14 and a storage box 15 are provided on the platform 13. The small object box can hold some small things, such as first aid medicine bottles, etc. The emergency stop button 14 is used for emergency braking in emergency situations. A blood oxygen sensor 16 is installed under the storage box 15 for collecting heart rate and blood oxygen data; a voice microphone 17 is installed at the bottom of the platform 13; a speaker 18 is provided on the upper part 8 of the cane, and the speaker 18 is used for ringing and voice broadcasting; a control cabinet 19 and multiple motors 20 are provided on the motion chassis 2, and the motor shafts are connected to rollers. A control system is integrated in the control cabinet 19; the control system obtains data collected by the camera 4, radar 5, health monitoring module 6, infrared temperature sensor 7, and blood oxygen sensor 16 respectively, and the joystick 11 controls the operation of the motor 20 through the control system; the control system controls the robot according to the instructions obtained by the voice microphone 17.

As a preferred embodiment of the present invention, the camera 4 is a binocular depth camera, and the radar 5 is a laser radar, which integrates radar and visual point cloud data for obstacle avoidance control. The laser radar and binocular depth camera complement each other to obtain a better obstacle avoidance effect.

As a preferred embodiment of the present invention, referring to FIG3 , the control system includes an stm32 data acquisition board, an stm32 terminal control board, a Raspberry Pi, a 5G NBIOT, a UWB wireless positioning, a GPS module and a drive control board, and four power motors with 500-line encoders are installed on the motion chassis.

Specifically, referring to FIG3 , the robot downloads offline maps through the WIFI interface of the Raspberry Pi, relies on the GPS module for navigation, and relies on the point cloud data collected by the camera 4 and the radar 5 for analysis on the Raspberry Pi. Considering the first principle of the robot, it needs to obtain the user's consent before making the execution action, so that the motion command can be executed. In order to avoid the failure to update the road sign information on the map in time, the real-time obstacle avoidance encounters puddles or road breaks, etc., and the planned route can be adjusted.

When the robot comes to a shopping mall or hospital, it can use the WiFi of the Raspberry Pi to access the local LAN and obtain the indoor layout. If the elderly need to shop, they only need to say the goods they need to buy through the microphone. The robot can take the elderly to the destination through the indoor information of the shopping mall, and avoid obstacles through the binocular camera and laser radar installed on the shopping basket. Finally, the camera is used to identify whether the goods arriving at the destination are what the elderly need to buy. The robot obtains the approximate range of obstacles and the destination through the fingerprint method, and calculates the path using the Dijkstra algorithm. During the operation, the robot continuously obtains the point cloud information on the path through the radar 5 and the camera 4, and continuously feedbacks and revises the previous path. At the same time, it will determine the detailed information of the item through the network search based on the objects identified by the camera 4 on the path, and mark the path, and save the latest path data as an offline map. Relying on the fingerprint method to arrive near the destination, the robot still cannot obtain accurate destination information at this time. The robot first relies on its own radar and camera to automatically search the path through RRT and move slowly in the area. This process is also a learning process for the robot. The image information of the camera is matched with the received purpose instruction until the match is successful. In the hospital, the elderly can be accurately taken to the department where the elderly are going to see a doctor. After the purchase, the robot will remind the elderly to put the items into the shopping cart. The pressure detection module placed at the bottom of the shopping cart collects pressure data through the IO port of the Raspberry Pi. When leaving the mall to go to the next destination or go home, it will calculate the distance from the mall to home based on the weight of the items in the basket and the robot itself and the distance from the mall to home obtained by the GPS module. Then, according to the power supply voltage collected by the voltage acquisition module, the remaining power is calculated and an early warning is given to remind that charging is required. Generally, if the voltage is lower than 10v, the elderly will be reminded to charge. The GPS sensor obtains the user's current latitude and longitude location information, and the STM32 data acquisition board obtains the module information through the serial port and transmits it to the cloud server through the 5G NB‑IOT communication module, effectively preventing users from getting lost and not being rescued when traveling alone. If there is someone in front of you during exercise, you can use the bell button on the cane to send a signal to the STM32 terminal control board, so that the speaker rings and reminds people around you.

Specifically, referring to Figure 3, the robot obtains the pulse, body temperature, heart rate, and blood oxygen health parameters measured by the health monitoring module 6, the infrared temperature sensor 7, and the blood oxygen sensor 16 through the stm32 data acquisition board, and then transmits them back to the server through the 5G NBIOT module. The user's guardian and attending physician can view the user's health status in real time through the mobile phone APP. At the same time, the real-time picture transmitted back by the camera 4 allows the guardian to clearly understand the user's environmental geographical information in real time; if the health parameters exceed the normal value, an early warning will be issued, and the guardian and the user will be prompted and alarmed. The user will be prompted by the speaker 18 placed in the middle of the cane. The user can send a signal to the STM32 terminal control board through the ring button 10 on the cane, so that the speaker 18 rings to alert people around.

This part completes the collection and upload of the user's physiological health data, realizes health signal monitoring and early warning. The health data acquisition board is equipped with stm32f103 as MCU for data collection and conversion. The health detection module uses serial port transmission to obtain pulse signals, the infrared temperature measurement module obtains user temperature data through the I2C bus, the GPS location information is transmitted to the data acquisition board through the serial port, and then transmitted to the Raspberry Pi for navigation control. The blood oxygen heart rate module is an integrated sensor that can simultaneously obtain heart rate, pulse oxygen saturation, blood perfusion index and other data through the serial port. The data is packaged and transmitted to the cloud server through the 5G NB-IOT communication module, so that family members and attending doctors can understand the physical condition of the elderly in real time. At the same time, suggestions can be made to the elderly remotely, and the suggestions can be played to the elderly through the voice module. When a sudden change in physiological conditions is detected (heart rate rises, body temperature rises, etc.), the robot starts the braking function, and the stm32 terminal control board reminds the elderly to rest through the voice module.

Specifically, referring to FIG3 , the stm32 terminal control board of the robot is a core processor of the MCU with CONTEXM4 as the core, and the onboard MPU6050 integrates a 6-axis motion processing component to obtain the three-axis speed and gyroscope information of the walker to obtain the walker posture information, and feedback the robot controller through TCP/IP communication to monitor the safety of the car posture, and then transmit it to the cloud server through the 5G NB‑IOT communication module so that remote users can view the real-time situation; through the TCP/IP communication port, send the odometer information to obtain the motion control instructions of the Raspberry Pi through the closed-loop position PID according to the real-time road conditions; the stm32 terminal control board obtains the odometer information of the four drive motors 20 through the PWM capture function, uses PI control to perform speed closed-loop control on the four servo motors 20, and outputs PWM waves to the drive control board through the MCU STM32F407 to control the motor 20. The driver adopts the WSDC2412D high-current 12A/24V dual-channel DC brushed motor driver, which can output power up to 290W, providing power guarantee for driving servo control. The four servo motors are M60 motors, with a 1:47 reducer added, and the output rated torque reaches 145.4 kg.cm, ensuring the mechanical power of the walking aid system. PI closed-loop control effectively avoids the stability of the walking aid, preventing the walker from flying and slipping. The user can control the forward, backward, left and right turns of the walking aid system through the joystick. The control board collects the joystick control data through the AD channel to determine the user's movement intention and send out a PWM drive signal. At the same time, a voice control function is set on the terminal control board. When the user speaks the corresponding command (forward, backward, left turn, right turn, stop, etc.), the walking aid system will also generate PWM waves to drive the servo motor to move.

Specifically, referring to Figures 3 and 4, during the navigation and accompanying process, the distance and angle between the robot and the elderly are determined by the UWB wireless positioning module, the position and angle between the robot and the elderly are set, and the PID control is used to maintain a stable distance and angle during the robot's movement, and to perform stable following and navigation control. The robot uses the ultra-wideband wireless communication technology UWB to maintain the distance between the robot and the patient. The UWB positioning system can update the location information in real time. The elderly carry a wireless tag to achieve real-time and accurate positioning of the elderly. After obtaining the data, a dual closed-loop control method with angle and position separation is designed to ensure that the robot system follows the movement trend of the elderly, and at the same time, it will not cause obstacles to the user's movement. At the same time, α and β are designed to adjust the sensitivity of angle and distance control to prevent steering and distance control from changing too quickly.

As a preferred embodiment of the present invention, the upper part 8 of the cane is sleeved with the lower part 9 of the cane. Referring to Figures 1 and 2, the upper part 8 of the cane is sleeved into the lower part 9 of the cane, and through holes 24 are provided at corresponding positions of the two. The spring button 21 is provided in the through hole 24 of the lower part 9 of the cane. After adjusting to a suitable height, the through holes 24 of the two overlap, and the front end of the spring button 21 extends out of the through hole of the upper part 8 of the cane to complete the height adjustment.

As a preferred embodiment of the present invention, referring to FIG. 1 , the shopping basket 1 is provided with a partition 22 in the middle to divide the shopping basket 1 into several spaces, so that items can be stored in a classified manner.

As a preferred embodiment of the present invention, referring to FIG1 , a cushion is provided on the upper surface of the cover plate 3 above the shopping basket 1, and the user can sit on the cushion to rest; a hook 23 is provided on the upper part of the retractable walking stick, and if there is not enough space in the shopping basket 1, the walking stick can be hung on the hook 23 on the walking stick.

As a preferred embodiment of the present invention, referring to FIG. 1 , in order to prevent the robot from acting as a walking stick and causing obstacles to the elderly walking, a concave structure with a depth of 10 cm is designed near the human body of the motion chassis 2 and the shopping basket 1, and the two sides of the concave structure are chamfered at 45 degrees.

The above descriptions are merely embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related system fields, are also included in the protection scope of the present invention.

Claims

An intelligent walking-assisting and life-carrying navigation robot with a cane, characterized in that:

The invention comprises a retractable walking stick, a shopping basket (1) and a moving chassis (2); the moving chassis (2) is fixed to the lower part of the retractable walking stick, the shopping basket (1) is arranged on the moving chassis (2), an openable and closable cover (3) is arranged above the shopping basket (1), a camera (4) is installed in front of the shopping basket (1) for determining whether the destination has been reached; a radar (5) is installed below the camera (4) of the shopping basket (1) for determining surrounding obstacles;

The upper part of the handle of the retractable walking stick is provided with a health monitoring module (6) and an infrared temperature sensor (7), the lower part of the handle is provided with a ringing button (10), and the handle is provided with a joystick (11) and a display screen (12) in front of the health monitoring module (6), the joystick (11) is used to manually operate the robot, and the display screen (12) is used to display the health parameter data monitored by the health monitoring module (6) and the infrared temperature sensor (7); a platform (13) is provided on the upper part (8) of the walking stick, an emergency stop button (14) and a storage box (15) are provided on the platform (13), and a blood oxygen sensor (16) is installed under the storage box (15) for collecting heart rate and blood oxygen data; a voice microphone (17) is installed at the bottom of the platform (13); a speaker (18) is provided on the upper part (8) of the walking stick, and the speaker (18) is used for ringing and voice broadcasting;

The motion chassis (2) is provided with a control cabinet (19) and a plurality of motors (20), the motor shafts being connected to rollers, and a control system being integrated in the control cabinet (19); the control system respectively acquires data collected by the camera (4), the radar (5), the health monitoring module (6), the infrared temperature sensor (7), and the blood oxygen sensor (16); the joystick (11) controls the operation of the motor (20) through the control system; and the control system controls the robot according to instructions acquired by the voice microphone (17).
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 1 is characterized in that:

The control system includes an stm32 data acquisition board, an stm32 terminal control board, a Raspberry Pi, a 5G NBIOT, UWB wireless positioning, a GPS module and a drive control board.
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 2 is characterized in that:

The robot downloads offline maps through the Raspberry Pi's WIFI, relies on the GPS module for navigation, and relies on the point cloud data collected by the camera (4) and the radar (5) to analyze on the Raspberry Pi, and avoids obstacles in real time. If it encounters a puddle or a broken road, it can adjust the planned route;

When the robot arrives at a shopping mall or hospital, it can use the Raspberry Pi's WiFi to access the local LAN, obtain the approximate range of obstacles and the destination through the fingerprint method, and calculate the path using the Dijkstra algorithm. During operation, the robot continuously obtains point cloud information on the path through the radar (5) and the camera (4), and continuously provides feedback and revisions to the previous path. At the same time, it can determine the detailed information of the object through the network search based on the object recognized by the camera (4) on the path, mark the path, and save the latest path data as an offline map.
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 3 is characterized in that:

The robot obtains the pulse, body temperature, heart rate and blood oxygen health parameters measured by the health monitoring module (6), the infrared temperature sensor (7) and the blood oxygen sensor (16) through the STM32 data acquisition board, and transmits them back to the server through the 5G NBIOT module. The user's guardian and attending physician can view the user's health status in real time through the mobile phone APP. At the same time, the real-time picture transmitted back by the camera (4) allows the guardian to clearly understand the user's environmental geographical information in real time. If the health parameters exceed the normal value, an early warning will be issued, and the guardian and the user will be prompted and alarmed. The user will be prompted through the speaker (18) placed in the middle of the walking stick. The user can send a signal to the STM32 terminal control board through the ring button (10) on the walking stick, so that the speaker (18) will ring to alert people around.
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 4 is characterized in that:

The stm32 terminal control board of the robot is based on an MCU with a CONTEXM4 core as the core processor, and the onboard MPU6050 integrates a 6-axis motion processing component to obtain the three-axis speed and gyroscope information of the walker to obtain the walker posture information, and feed back the robot controller through TCP/IP communication to perform safety monitoring of the vehicle posture, and then transmit it to the cloud server through the 5G NB-IOT communication module so that remote users can view the real-time situation; through the TCP/IP communication port, the odometer information is sent to obtain the motion control instructions of the Raspberry Pi through the closed-loop position PID according to the real-time road conditions; the stm32 terminal control board obtains the odometer information of the four drive motors (20) through the PWM capture function, uses PI control to perform speed closed-loop control on the four servo motors (20), and outputs PWM waves to the drive control board through the MCU STM32F407, thereby controlling the motors (20).
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 5 is characterized in that:

The robot maintains the distance between the robot and the patient through ultra-wideband wireless communication technology (UWB). The UWB positioning system can update the location information in real time. The user carries a wireless tag to achieve real-time and accurate positioning of the user. After obtaining the data, a dual closed-loop control method with angle and position separation is designed to ensure that the robot system follows the user's movement trend without causing obstacles to the user's movement. At the same time, α and β are designed to adjust the angle and distance control sensitivity to prevent steering and distance control from changing too quickly.
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 6 is characterized in that:

The height of the upper part (8) of the walking stick and the lower part (9) of the walking stick are adjusted by means of a spring button (21).
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 7 is characterized in that:

The shopping basket (1) is provided with a partition (22) in the middle, dividing the shopping basket (1) into a plurality of spaces, so that items can be stored in a classified manner.
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 8 is characterized in that:

The upper surface of the cover plate (3) above the shopping basket (1) is provided with a cushion, on which the user can sit and rest; the upper part of the retractable walking stick is provided with a hook (23), and if there is insufficient space in the shopping basket (1), the walking stick can be hung on the hook (23).
The intelligent crutch-type walking-assisting and life-carrying navigation robot according to claim 9 is characterized in that:

A concave structure is designed on the sports chassis (2) and the shopping basket (1) at the part close to the human body.