CN-224209938-U - Household robot for helping old people

CN224209938UCN 224209938 UCN224209938 UCN 224209938UCN-224209938-U

Abstract

The utility model discloses a household old-helping robot which comprises a movable chassis, an upright post, a vision component, a microphone array, a mechanical arm, a computer, a laser radar and a router, wherein the chassis controller and a Mecanum wheel are arranged in the movable chassis, the vision component and the microphone array are positioned at the top of the upright post and below the vision component, the mechanical arm is arranged in the middle of a support frame above the movable base, the computer is positioned at the rear side of the lower part of the upright post, the chassis controller is connected with the computer, the laser radar is positioned at the front end of the support frame, the router is arranged at one side of the support frame, and the router is connected with the computer. According to the utility model, by arranging the visual component, various daily actions can be timely identified and timely communicated with a user through the computer, the mechanical arm is used for grabbing articles, delivering medicines, teacups and other daily articles for the user, the laser radar provides a basis for real-time obstacle avoidance and autonomous navigation of the robot, and the microphone array realizes voice interaction and source positioning of the robot.

Inventors

ZHANG YUMING
YU KEXIAN
XIE MINGHUI
WANG FEI
ZHANG DAWEI

Assignees

郑州大学

Dates

Publication Date: 20260508
Application Date: 20250526

Claims (10)

1. A home-based aging robot, comprising: The mobile chassis is provided with a chassis controller and Mecanum wheels; The upright posts are arranged at two ends of the top of the support frame above the movable chassis; the visual assembly is positioned at the top of the upright post; a microphone array also mounted on top of the upright, the microphone array being located below the vision assembly; The mechanical arm is arranged in the middle of the support frame above the movable base; The computer is positioned at the rear side of the lower part of the upright post, and the chassis controller is connected with the computer; The laser radar is positioned at the front end of the support frame; and the router is arranged on one side of the supporting frame and is connected with the computer.
2. The home-based aging robot according to claim 1, wherein the mechanical arm is a Kinova mechanical arm, has six degrees of freedom, a maximum load of 2.6kg, a movement space of 90cm, a maximum linear velocity of 20cm/s at the end, a driving voltage of 24VDC, and an average power of 25W.
3. The home-based aging robot of claim 1, wherein the number of the upright posts is two, the top ends of the two upright posts are connected through a connecting plate, a microphone bracket and a camera bracket are mounted on the connecting plate, the camera bracket is located above the microphone bracket, the microphone array is mounted on the microphone bracket, and the vision component is mounted on the camera bracket.
4. The home-based aging robot of claim 1, wherein the microphone array uses an omni-directional microphone array.
5. The home-based aging robot of claim 1, wherein the vision assembly comprises a panoramic camera and an Azure Kinect camera, the panoramic camera is located above the Azure Kinect camera, and the vision assembly is connected to the computer through a USB.
6. The home-based aging robot of claim 1, wherein the mobile chassis comprises a chassis housing, a chassis panel and a chassis bulkhead are provided above the chassis housing, the chassis panel is located above the chassis bulkhead, and a chassis controller and an ultrasonic module controller connected with the computer are provided on the chassis bulkhead.
7. The home-based aging robot of claim 6, wherein a lithium battery is installed at a middle position below the inner chassis partition plate of the chassis housing, four motor drivers are symmetrically arranged at two sides of the lithium battery, the motor drivers are connected with the chassis controller, four motors are arranged at the outer side of a position close to the motor drivers, and each motor is connected with a Mecanum wheel.
8. The home-use old-fashioned robot of claim 7, wherein the motor is mounted on a suspension, the suspension is symmetrically arranged in two, two ends of each suspension are fixedly connected with the chassis partition plate through a U-shaped suspension fixing bracket, and a spring shock absorbing component is arranged between the U-shaped suspension fixing bracket and the suspension.
9. The home-use aging robot of claim 6, wherein the ultrasonic module controller is connected to eight ultrasonic probes, two sets of eight ultrasonic probes are symmetrically mounted on four side plates of the chassis housing, and the ultrasonic probes are located above the chassis partition.
10. The home-based aging robot of claim 6, wherein the mobile chassis further comprises two power distribution boards connected with the lithium battery, namely a large distribution board and a small distribution board, the large distribution board is installed at the bottom of the chassis shell, the large distribution board is connected with a motor, a motor driver, a chassis controller and an ultrasonic module controller inside the chassis shell, the small distribution board is installed on the chassis partition board, the small distribution board is connected with the computer and the vision component, and the router, the laser radar, the microphone array and the mechanical arm are connected with the computer through USB interfaces.

Description

Household robot for helping old people Technical Field The utility model belongs to the technical field of household service robots, and particularly relates to a household old-age assisting robot. Background With the advent of the global aging society, young children are subjected to huge care pressure, meanwhile, part of old people have lower life quality, and the problems of unmanned accompanying, psychological depression, autism and the like influence the physical and psychological health of the old people at any time, so that how to relieve the care pressure of the society, and the problems of high-quality and reliable care and nursing for the old people become urgent to be solved. The home-based old-fashioned robot is one of service robots, and can provide necessary assistance for the daily life of the elderly in the home. However, the functions of the old-people assisting robot in the prior art are generally single, such as only completing the service of reminding the old people of taking medicine and delivering medicine and the service of delivering water regularly, and daily actions such as standing, sitting, falling and the like of the old people cannot be identified and identified, so that diversified needs of the left-behind old people are difficult to meet. Disclosure of utility model In order to solve the problems, the utility model provides a household old-helping robot. The household aging-assisting robot comprises a mobile chassis, an upright post, a vision component, a microphone array, a mechanical arm, a computer, a laser radar and a router, wherein the chassis controller and a Mecanum wheel are arranged in the mobile chassis, the upright post is arranged at two ends of the top of a support frame above the mobile chassis, the vision component is positioned at the top of the upright post, the microphone array is also arranged at the top of the upright post and positioned below the vision component, the mechanical arm is arranged in the middle of the support frame above the mobile base, the computer is positioned at the rear side of the lower part of the upright post, the chassis controller is connected with the computer, the laser radar is positioned at the front end of the support frame, and the router is arranged at one side of the support frame and is connected with the computer. The mechanical arm adopts Kinova mechanical arms, has six degrees of freedom, has a maximum load of 2.6kg, a movement space of 90cm, a maximum linear speed of 20cm/s at the tail end, a driving voltage of 24VDC and an average power of 25W. The stand is two that set up side by side, and the top of two stands is connected through the connecting plate, installs microphone support and camera support on the connecting plate, and the camera support is located the top of microphone support, and microphone array installs on the microphone support, and visual component installs on the camera support. The microphone array uses an omni-directional microphone array. The visual assembly comprises a panoramic camera and an Azure Kinect camera, the panoramic camera is located above the Azure Kinect camera, and the visual assembly is connected with the computer through a USB. The mobile chassis comprises a chassis shell, a chassis panel and a chassis partition board are arranged above the chassis shell, the chassis panel is positioned above the chassis partition board, and a chassis controller and an ultrasonic module controller which are connected with a computer are arranged on the chassis partition board. The lithium battery is arranged in the middle of the lower part of the inner side chassis baffle of the chassis shell, four motor drivers are symmetrically arranged on two sides of the lithium battery, the motor drivers are connected with the chassis controller, four motors are arranged on the outer side of the position close to the motor drivers, and each motor is connected with a Mecanum wheel. The motor is installed on hanging, hangs the symmetry and sets up two, and the both ends that every hung all hang fixed bolster and chassis baffle fixed connection through the U type, all are provided with spring damper between U type suspension fixed bolster and the suspension. The ultrasonic module controller is connected with eight ultrasonic probes, two groups of eight ultrasonic probes are symmetrically arranged on four side plates of the chassis shell, and the ultrasonic probes are positioned above the chassis partition plate. The mobile chassis further comprises two power supply branching plates connected with the lithium battery, namely a large branching plate and a small branching plate, wherein the large branching plate is respectively connected with a motor, a motor driver, a chassis controller and an ultrasonic module controller inside the chassis shell, the small branching plate is respectively connected with a computer and a vision component, and the router, the laser radar, the microphone array and the mechanical ar