CN-121989212-A - Intelligent interaction mechanical arm system in vehicle seat cabin

CN121989212ACN 121989212 ACN121989212 ACN 121989212ACN-121989212-A

Abstract

The application discloses an intelligent interaction mechanical arm system in a vehicle cabin, which relates to the technical field of intelligent cabins and comprises a mechanical arm and a central controller, wherein the mechanical arm is arranged in a central armrest box or a seat side part in the vehicle cabin, when the mechanical arm is in a non-interaction state, the mechanical arm is positioned in the central armrest box or clings to the seat side part, the central controller is arranged in an original controller installation area in the vehicle cabin, the central controller and all connecting cables are arranged in the central controller, and in a hidden state, when the central controller determines that a vehicle is in a dangerous state based on a vehicle dynamic signal, the mechanical arm is controlled to return to the non-interaction state, the central controller is linked with the original controller of the vehicle, and the interactive equipment in the vehicle cabin is controlled in a linked manner.

Inventors

LIU ZHONGLEI
WANG DAHAO
SUN YUYUE

Assignees

北京交通大学

Dates

Publication Date: 20260508
Application Date: 20260401

Claims (10)

1. An intelligent interactive robotic arm system in a vehicle cabin, the intelligent interactive robotic arm system in a vehicle cabin comprising: the mechanical arm is arranged in the central armrest box or on the side part of the seat in the vehicle seat cabin, and is positioned in the central armrest box or clings to the side part of the seat when the mechanical arm is in a non-interactive state; The central controller is arranged in an original controller installation area in the vehicle cabin and is respectively in communication connection with the original controller of the vehicle and the mechanical arm, and the central controller, the original controller installation area, the original controller of the vehicle, a connecting cable between the central controller and the original controller of the vehicle and a connecting cable between the central controller and the mechanical arm are all arranged in a cavity in the vehicle cabin and are in a hidden state; the central controller is used for being linked with the original controller of the vehicle, carrying out linkage control on interactable equipment in the vehicle cabin, and controlling the mechanical arm to return to a non-interaction state when the danger of the vehicle is determined based on the dynamic signal of the vehicle, wherein the interactable equipment comprises the mechanical arm and the original interaction equipment of the vehicle.
2. The intelligent inter-robot system of claim 1, wherein the base of the robot is fixedly mounted to the center armrest box internal frame when the robot is mounted within the center armrest box within the vehicle cabin, and wherein the base of the robot is fixedly mounted to the seat side frame when the robot is mounted to the seat side within the vehicle cabin.
3. The intelligent inter-robot system in a vehicle cabin of claim 1, wherein the center armrest box has a cover panel that when in an open state, the center armrest box is in an open state, and when in a closed state, the center armrest box is in a closed state; The intelligent interaction mechanical arm system in the vehicle seat cabin further comprises: The servo driver is arranged on an inner framework of the central armrest box or an original controller installation area in a vehicle cabin, is in communication connection with the central controller and is used for receiving an opening and closing instruction issued by the central controller, when the mechanical arm is required to be converted from a non-interactive state to an interactive state, the opening and closing instruction is an opening cover plate, the cover plate is in an opening state, and when the mechanical arm is required to be converted from the interactive state to the non-interactive state, the opening and closing instruction is a closing cover plate, and the cover plate is in a closing state; The driving component is arranged on the inner framework of the central armrest box, is in communication connection with the servo driver, is in driving connection with the cover plate, and is used for executing a control instruction issued by the servo driver and driving the cover plate to rotate so as to enable the cover plate to be in an open state or a closed state; The encoder is arranged on the output shaft of the driving component, is in communication connection with the servo driver and is used for feeding back the rotation angle and the rotation speed of the cover plate to the servo driver; wherein, the connecting cable between central controller and the servo driver, the connecting cable between servo driver and the drive part and the connecting cable between servo driver and the encoder are all built-in the inside cavity of vehicle cabin, are in hidden state.
4. The intelligent inter-robot system in the vehicle cabin of claim 1, wherein the end of the robot has a male head, one end of the functional module has a female seat, the male head and the female seat are mated and plugged, the functional module is mounted at the end of the robot, and the central controller is in communication connection with the functional module through the robot.
5. The intelligent interactive robotic arm system of claim 1, wherein the vehicle dynamics signal comprises a pre-crash time, a longitudinal acceleration, and an airbag trigger flag signal of the vehicle, and wherein the central controller is configured to parse the pre-crash time, the longitudinal acceleration, and the airbag trigger flag signal, determine a vehicle safety level, and determine that the vehicle is at risk when the vehicle safety level is at risk, stop the interaction task of the robotic arm, and control the robotic arm to return to a non-interaction state.
6. The intelligent interactive robotic arm system of claim 1, wherein the central controller is configured to determine that the robotic arm needs to be converted from a non-interactive state to an interactive state when the user issues a wake-up voice, clicks a virtual button of the central control screen, makes a wake-up gesture, or touches a wake-up area, and control the robotic arm to move to place the robotic arm in an initial position.
7. The intelligent interactive mechanical arm system in the vehicle cabin according to claim 1, wherein the mechanical arm is provided with a sensing module, the sensing module is in communication connection with a central controller, and a connecting cable between the central controller and the sensing module is arranged in a cavity in the vehicle cabin and a cavity in the mechanical arm and is in a hidden state; The sensing module comprises a camera and a depth sensor, the camera is used for shooting an environment image in the vehicle cabin, and the depth sensor is used for determining the distance between the depth sensor and a position point in the vehicle cabin; The central controller is used for determining the interaction intention of the user based on the interaction voice, the environment image and the distance sent by the user, sending out a control instruction for completing the interaction intention of the user, controlling the mechanical arm to move along the interaction track, and simultaneously controlling the function module to act so as to complete interaction.
8. The intelligent interactive robotic arm system of claim 7, wherein the central controller is configured to determine whether there is a risk of collision during movement of the robotic arm along the interaction trajectory based on the interaction trajectory, the environmental image, and the distance before controlling movement of the robotic arm along the interaction trajectory, and to regenerate the interaction trajectory and reissue a control command for completing the user's interaction intent when there is a risk of collision.
9. The intelligent interactive mechanical arm system in the vehicle cabin according to claim 7, wherein the central controller is configured to determine whether a deviation exists between an actual motion trajectory of the mechanical arm and the interactive trajectory when the mechanical arm is controlled to move along the interactive trajectory, or determine whether an obstacle located on the interactive trajectory exists based on the environmental image and the distance, and if so, adjust the interactive trajectory and control the mechanical arm to move along the adjusted interactive trajectory.
10. The intelligent interactive robotic arm system of claim 7, wherein the sensing module further comprises a force sensor for acquiring actual interactive force of the robotic arm; the central controller is used for comparing the actual interaction force with the expected interaction force when the mechanical arm is controlled to move along the interaction track, controlling the mechanical arm to stop moving or adjusting the interaction track based on the comparison result, and controlling the mechanical arm to move along the adjusted interaction track.

Description

Intelligent interaction mechanical arm system in vehicle seat cabin Technical Field The application relates to the technical field of intelligent cabins, in particular to an intelligent interaction mechanical arm system in a vehicle cabin. Background Along with the evolution of the intelligent cabin (the cabin of the vehicle facing intelligent driving) to the third living space (refer to the novel living scene space which is formed by taking the cabin of the vehicle as a carrier except a family (a first space) and a workplace (a second space), the vehicle-mounted service robot (such as a mechanical arm) is regarded as a key for improving the user experience. However, most of the current solutions are "peripheral" or "retrofit" mechanical arms, which have fundamental drawbacks, in particular as follows: (1) The integrated level is low, the interior decoration is damaged, the independent mechanical arm and the connecting wire are externally arranged in the vehicle seat cabin, the integrated level is low, and the integrity, luxury feeling and design aesthetic feeling of the vehicle interior decoration are damaged; (2) The structural rigidity and reliability are doubtful that the simple hanging mode is difficult to ensure the long-term stability and precision of the mechanical arm under the complex vibration and impact load of the vehicle; (3) The potential safety hazard is prominent, namely the exposed moving part of the mechanical arm is a dangerous source under the emergency working condition of the vehicle and lacks of deep cooperation with a vehicle safety system; (4) The function is isolated, the data fusion and linkage control are difficult to be carried out with the original interaction equipment (belonging to the original vehicle-mounted system) of the vehicles such as the seats, the air conditioner, the lamplight, the vehicle machine and the like, and the experience of the fracture is realized; (5) Space encroachment, the additional mechanical arm is an equipment which occupies limited space in the vehicle seat cabin, and riding comfort and convenience are affected. Disclosure of Invention The application aims to provide an intelligent interaction mechanical arm system in a vehicle cabin, which can solve the fundamental defects of low integration level, damage to interior decoration, structural rigidity and reliability doubt, outstanding potential safety hazard, isolated function and space occupation. In order to achieve the above object, the present application provides the following. The application provides an intelligent interaction mechanical arm system in a vehicle cabin, which comprises: the mechanical arm is arranged in the central armrest box or on the side part of the seat in the vehicle seat cabin, and is positioned in the central armrest box or clings to the side part of the seat when the mechanical arm is in a non-interactive state; The central controller is arranged in an original controller installation area in the vehicle cabin and is respectively in communication connection with the original controller of the vehicle and the mechanical arm, and the central controller, the original controller installation area, the original controller of the vehicle, a connecting cable between the central controller and the original controller of the vehicle and a connecting cable between the central controller and the mechanical arm are all arranged in a cavity in the vehicle cabin and are in a hidden state; the central controller is used for being linked with the original controller of the vehicle, carrying out linkage control on interactable equipment in the vehicle cabin, and controlling the mechanical arm to return to a non-interaction state when the danger of the vehicle is determined based on the dynamic signal of the vehicle, wherein the interactable equipment comprises the mechanical arm and the original interaction equipment of the vehicle. According to the specific embodiments provided by the application, the application has the following technical effects. The application provides an intelligent interaction mechanical arm system in a vehicle cabin, which comprises a mechanical arm and a central controller, wherein the mechanical arm is arranged in a central armrest box or a side part of a seat in the vehicle cabin, when the mechanical arm is in a non-interaction state, the mechanical arm is positioned in the central armrest box or is closely attached to the side part of the seat, the central controller is arranged in an original controller installation area in the vehicle cabin, and the central controller and all connecting cables are arranged in a hidden state, so that the problems of low integration level, damage to an interior decoration, doubtful structural rigidity and reliability and space occupation are avoided, and when a vehicle exists on the basis of a vehicle dynamic signal, the central controller controls the mechanical arm to return to a non-interaction state, is positioned in