CN108189041B - Outdoor guide type walking robot - Google Patents
Outdoor guide type walking robot Download PDFInfo
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- CN108189041B CN108189041B CN201711445154.1A CN201711445154A CN108189041B CN 108189041 B CN108189041 B CN 108189041B CN 201711445154 A CN201711445154 A CN 201711445154A CN 108189041 B CN108189041 B CN 108189041B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- Mechanical Engineering (AREA)
- Nursing (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The application discloses outdoor guide type walking robot relates to walking assistive device field. Including draw gear and running gear, draw gear includes tractor, force sensor, walking button and controller, the tractor is fixed on force sensor, force sensor and controller signal connection, sends stop signal to the controller when the tension value that force sensor received reaches preset tension value, sends standby signal to running gear after the controller received stop signal, walking button and controller signal connection send walking signal to the controller after the walking button is pressed, and the controller sends start signal to running gear after receiving walking signal, running gear makes the robot stop the walking after receiving standby signal, running gear makes the robot walk after receiving start signal. The invention solves the technical problem that the guiding robot in the prior art cannot effectively guide the old, and is suitable for walking with the old.
Description
Technical Field
The invention relates to the field of walking auxiliary appliances, in particular to an outdoor guiding type walking robot.
Background
With the progress of social aging and economic development, children leave home to work, so that more and more old people are at home independently, and the old people have difficulty in living alone due to the decline of various body functions of the old people along with the aging of the bodies, for example, the common alzheimer disease in the old people, also called senile dementia, is clinically reflected in comprehensive dementia such as dysmnesia, aphasia, disuse, agnosia, visual space skill damage, executive dysfunction, personality and behavior change, in life, children find that early alzheimer patients mainly show memory decline, for example, the answered things are frequently forgotten, leave behind keys, and go wrong when coming home, so that a robot is needed to point to the old people who go home.
The existing guidance-type robots are all made for a shop to solicit customers or for customers to explain commodity information, such as airport guidance service robots and wharf guidance service robots. If the common outdoor robot is used for carrying the old people, the speed of the robot cannot adapt to the speed of the old people, so that the robot and the old people walk away, and the effect of guiding the old people cannot be achieved.
Disclosure of Invention
The invention aims to provide an outdoor guiding type walking robot to solve the technical problem that a guiding robot in the prior art cannot effectively guide the old.
Outdoor guide type walking robot in this scheme, including draw gear and running gear, draw gear includes tractor, force sensor, walking button and controller, the tractor is fixed on force sensor, force sensor and controller signal connection, sends stop signal to the controller when the tension value that force sensor received reaches preset tension value, sends standby signal to running gear after the controller receives stop signal, walking button and controller signal connection, walking button send walking signal to controller after being pressed, the controller sends start signal to running gear after receiving walking signal, running gear makes the robot stop the walking after receiving standby signal, running gear makes the robot walk after receiving start signal.
When the robot leads the old man when the outdoor walking, the old man meets the obstacle and can pull open the distance with the robot after delaying, until losing the robot with following, when using the outdoor guide type walking robot of this scheme the old man takes up the tractor, start the walking after pressing the walking button, when the distance of old man and robot is greater than the length of tractor, the tractor produces the pulling force to tension sensor, the old man does not follow the robot, make the tractor to the pulling force that tension sensor produced bigger and bigger, when reaching preset tension value up to the tension value, the robot stops and waits for the old man, the old man presses the walking button after chasing up the robot, the robot begins the walking again.
Fixing the tractor on the tension sensor, so that the tension sensor can detect the tension applied to the tractor; after the tension sensor is in signal connection with the controller, when the tension value received by the tension sensor reaches a preset tension value, a signal can be sent to the controller; the controller receives the stop signal and then controls the walking device to stop walking, so that the robot can stop walking to wait for the old when the old does not follow the robot and brings tension to the tractor.
The outdoor guide type walking robot of this scheme of use through the tractor of setting on the robot for the robot can judge the distance of robot and old man, thereby when being pulled open with the distance of old man, can stop the action and wait for the old man, presses the walking button again and makes the robot continue the walking after up the robot until the old man, thereby has solved the unable effectual technical problem who guides the old man of guide robot among the prior art.
Further, be equipped with the sensor No. one that is used for detecting the old man and whether grasps the tractor on the tractor, sensor No. one detects the old man and does not grasp the tractor, sends stop signal to controller.
After the arrangement, when the old people carelessly loosen hands, the first sensor sends a stop signal to the controller, so that the controller sends a standby signal to the walking device to control the robot to stop moving for waiting for the old people, or the old people actively loosen hands to control the robot to stop moving.
Further, the connection between the traction device and the robot is detachable, and when the traction device is subjected to pulling force exceeding 40 newtons, the traction device is separated from the robot.
When a person is not aware of the retractor between the robot and the elderly and collides with the retractor, the retractor including the retractor is separated from the robot, thereby preventing the elderly from being carried over by the retractor when the retractor receives other force.
Further, the traction device is connected to the center of the top end of the robot.
Compared with the traction device arranged on the chassis of the robot, the traction device is arranged at the center of the top end of the robot, and the tractor can freely change directions around the robot and cannot be wound on the robot or clamped by the robot when the old rotates around the robot.
Further, the outdoor guiding type walking robot in this scheme still includes timing device, and the controller sends the timing signal to timing device after receiving stop signal, and timing device sends the walking signal to the controller 10s after receiving the timing signal.
After the setting, the robot waits for 10s after stopping walking, if the old chases the robot in 10s, the old presses the walking button again, and the robot continues to walk after 10s, so as to remind the old to continue walking.
Further, outdoor guide type walking robot in this scheme still includes directional hand, directional robot's the place ahead of directional hand.
After the robot is arranged in this way, the old can judge the advancing direction through the pointing of the pointing hand, and the old is prevented from knowing the correct advancing direction after waiting for the robot to walk.
Further, be equipped with the warning light that can show the tractor profile on the tractor, the warning light is opened always during the robot operation.
The tractor arranged in this way is easy to stimulate the eyeballs of human beings visually, so that people can notice the tractor and the old people pulling the tractor, the old people are prevented from being knocked down because the old people do not notice the tractor, and the old people can find the tractor more easily when not pulling the tractor compared with the tractor without a prompting lamp.
Drawings
Fig. 1 is a perspective view schematically showing an outdoor guide type walking robot of embodiment 1 of the present invention;
fig. 2 is a front view of a walking apparatus of embodiment 2 of the outdoor guide type walking robot of the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
reference numerals in the drawings of the specification include: the device comprises an arm 1, a walking device 2, a tractor 3, a first sensor 4, a tension sensor 5 and a walking button 6.
Example 1 is substantially as shown in figure 1:
outdoor guide type walking robot in this embodiment, including draw gear, 2 timing devices of running gear and directional hand, draw gear includes tractor 3, force sensor 5, walking button 6 and controller, this embodiment draw gear is metal rubber hinge formula track, and the tractor is the stay cord, be connected for dismantling the connection between draw gear and the robot, when the pulling force that tractor 3 received surpassed 40 newtons, draw gear separates from the robot, is connected for the flexure strip buckle between draw gear and the robot in this embodiment, when tractor 3 received 40 newtons's power, the flexure strip buckle was loosened, reaches the effect that makes the draw gear atress then separate from the robot, draw gear connects at robot top center, directional hand indicates the place ahead to the robot.
Tractor 3 is fixed on tension sensor 5, be equipped with on tractor 3 and be used for detecting the old man and whether grasp a sensor 4 of tractor 3, a sensor 4 detects the old man and does not grasp tractor 3, send stop signal to the controller, a sensor 4 can be photosensitive sensor or temperature sensor, use photosensitive sensor as a sensor 4 in this embodiment, when the old man takes up tractor 3, the hand is held the photosensitive sensor and is made photosensitive sensor can not receive light, the pine hand then receives light, consequently, photosensitive sensor sends stop signal to controller after receiving light, be equipped with the warning light that can show tractor 3 profile on tractor 3, the warning light is opened always at the robot during operation.
The tension sensor 5 is in signal connection with the controller, the preset tension value in the embodiment is 15 newtons, the tension sensor 5 sends a stop signal to the controller when receiving a tension of 15 newtons, the controller sends a standby signal to the walking device 2 after receiving the stop signal, the walking button 6 is in signal connection with the controller, the walking button 6 is pressed and sends a walking signal to the controller, the controller sends a timing signal to the timing device after receiving the stop signal, the timing device sends a walking signal to the controller 10s after receiving the timing signal, the controller sends a start signal to the walking device 2 after receiving the walking signal, the walking device 2 stops walking after receiving the standby signal, and the walking device 2 walks after receiving the start signal.
When the robot leads the old man when the outdoor walking, the old man meets the obstacle and delays back and can pull open the distance with the robot, until losing the robot with following, when using the outdoor guide type walking robot of this scheme the old man takes up tractor 3, begin the walking after pressing walking button 6, when the distance of old man and robot is greater than tractor 3's length, tractor 3 produces the pulling force to tension sensor 5, the old man does not follow the robot, make tractor 3 bigger and bigger to the pulling force that tension sensor 5 produced, when the pulling force reaches 15 newtons, the robot stops and waits for the old man, the old man pushes down walking button 6 after chasing up the robot, the robot begins the walking once more.
Fixing the tractor 3 on the tension sensor 5, so that the tension sensor 5 can detect the tension applied to the tractor 3; after the first sensor 4 is arranged on the tractor 3, when the old people carelessly loosen hands, the first sensor 4 sends a stop signal to the controller, so that the controller sends a standby signal to the walking device 2 to control the robot to stop moving for waiting for the old people, or the old people actively loosen hands to control the robot to stop moving; after the connection between the traction device and the robot is set as a detachable connection, when someone does not notice the tractor 3 between the robot and the old and collides with the tractor 3, the traction device including the tractor 3 is separated from the robot, thereby preventing the old from being carried over by the tractor 3 when the tractor 3 is subjected to other forces; compared with the traction device arranged on the chassis of the robot, the traction device is arranged at the center of the top end of the robot, and the tractor 3 cannot be wound on the robot along with the rotation of the old around the robot; after the timer is set, the old man waits for 10s after the robot stops walking, if the old man catches up with the robot within 10s, the walking button 6 is pressed again, and after 10s, the robot continues to walk to remind the old man to continue walking; after the tension sensor 5 is in signal connection with the controller, when the tension applied to the tension sensor 5 reaches 15 newtons, a signal can be sent to the controller; the controller receives the stop signal and then controls the walking device 2 to stop walking, so that the robot can stop walking and wait for the old when the old does not follow the robot and brings tension to the tractor 3, and after the pointing hand is arranged on the robot, the old can judge the advancing direction through the pointing direction of the pointing hand, and the old is prevented from knowing the correct advancing direction after waiting for the robot to walk; after the indicator light capable of displaying the profile of the tractor 3 is arranged on the tractor 3, the tractor 3 can easily stimulate the eyeballs of human beings visually, so that the human beings can notice the tractor 3 and the old people pulling the tractor 3, thereby preventing the old people from being knocked down because the old people do not notice the old people, and meanwhile, compared with the tractor 3 without the indicator light, the old people can also find the tractor 3 to pick up more easily when the tractor 3 is not pulled up.
Example 2, the reference numbers of this example are tire 7, fender 8, connecting rod 9, spring 10, slide bar 11, pressure-sensitive sensor 12, rubber pad 13, non-skid block 14.
As shown in fig. 2, this embodiment is substantially the same as embodiment 1, except that the walking device of the outdoor guiding type walking robot is a tire 7 and a fender 8, the fender 8 is fixedly connected with the lower part of the robot, the tire 7 is connected below the fender 8, a connecting rod is connected between the tire 7 and the fender 8, anti-slip blocks 14 are arranged on two sides of the fender 8, wherein the anti-slip blocks 14 are made of trapezoidal rubber, a layer of rubber pad 13 is arranged on the fender 8, a spring 10 for buffering is arranged at the joint of the tire 7 and the fender 8, a pressure-sensitive sensor 12, a controller and a sliding rod 11 are further arranged on the fender 8, the pressure-sensitive sensor 12 is in signal connection with the controller, and the controller controls the connecting rod to lift upwards after receiving a pressure sudden change signal sent by the pressure-sensitive sensor 12, so that the tire 7 presses the rubber pad 13 on the fender.
After the arrangement, the pressure brought to the pressure-sensitive sensor 12 by the friction force exerted on the ground by the slide measuring rod 11 is reduced, so that the controller can control the connecting rod to be lifted upwards in the road sliding process, the distance between the tire 7 connected to the connecting rod and the fender 8 is reduced, the connecting rod is lifted upwards all the time, the tire 7 connected to the connecting rod is also pressed on the rubber pad 13 at the bottom end of the fender 8 all the time, the phenomenon that the whole robot is driven to vibrate after the rotating tire 7 is contacted with the fender 8 is avoided, the tire 7 is lifted until the anti-skid block 14 is contacted with the ground, and the whole weight of the robot is pressed on the anti-skid block 14, so that the purpose of enabling the tire 7 to slide at a reduced speed is achieved.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. The outdoor guiding type walking robot comprises a walking device and is characterized by further comprising a traction device, wherein the traction device comprises a tractor, a tension sensor, a walking button and a controller, the tractor is fixed on the tension sensor, the tension sensor is in signal connection with the controller, the tension sensor sends a stop signal to the controller when the tension value reaches a preset tension value, the controller sends a standby signal to the walking device after receiving the stop signal, the walking button is in signal connection with the controller, the walking button sends a walking signal to the controller after being pressed, the controller sends a starting signal to the walking device after receiving the walking signal, the walking device stops walking after receiving the standby signal, and the walking device walks after receiving the starting signal;
the traction device is detachably connected with the robot, and when the traction force applied to the traction device exceeds 40 newtons, the traction device is separated from the robot;
the tractor is provided with a prompting lamp capable of displaying the outline of the tractor, and the prompting lamp is always turned on during the running period of the robot;
the walking device is a tire and a fender, the fender is fixedly connected with the lower part of the robot, the tire is connected below the fender, a connecting rod is connected between the tire and the fender, anti-skidding blocks are arranged on two sides of the fender, the anti-skidding blocks are made of trapezoidal rubber, a layer of rubber pad is arranged on the fender, a spring for buffering is arranged at the joint of the tire and the fender, a pressure-sensitive sensor is further arranged on the fender, a controller and a measuring sliding rod are arranged on the fender, the pressure-sensitive sensor is in signal connection with the controller, the controller controls the connecting rod to be lifted upwards after receiving a pressure sudden change signal sent by the pressure-sensitive sensor, and the tire is pressed to the rubber.
2. The outdoor guiding type walking robot according to claim 1, characterized in that: be equipped with the sensor No. one that is used for detecting the old man and whether grasps the tractor on the tractor, sensor No. one detects the old man and does not grasp the tractor, sends stop signal to controller.
3. The outdoor guiding type walking robot according to claim 1, characterized in that: the traction device is connected to the center of the top end of the robot.
4. The outdoor guiding type walking robot according to claim 1, characterized in that: the outdoor guiding type walking robot further comprises a timing device, the controller sends a timing signal to the timing device after receiving the stop signal, and the timing device sends a walking signal to the controller 10s after receiving the timing signal.
5. The outdoor guiding type walking robot according to claim 1, characterized in that: the outdoor guide type walking robot further includes a pointing hand, which is directed to the front of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445154.1A CN108189041B (en) | 2017-12-27 | 2017-12-27 | Outdoor guide type walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445154.1A CN108189041B (en) | 2017-12-27 | 2017-12-27 | Outdoor guide type walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189041A CN108189041A (en) | 2018-06-22 |
| CN108189041B true CN108189041B (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711445154.1A Active CN108189041B (en) | 2017-12-27 | 2017-12-27 | Outdoor guide type walking robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109285398A (en) * | 2018-12-05 | 2019-01-29 | 安徽鑫巨源电子科技有限公司 | A kind of trailing type interaction explanation projecting method |
| CN114012759B (en) * | 2021-12-08 | 2023-06-06 | 北京哈崎机器人科技有限公司 | Robot motion control assembly and robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004174176A (en) * | 2002-11-24 | 2004-06-24 | Shohei Sato | Visually challenging person and healthy person guide device |
| CN101947182B (en) * | 2010-09-26 | 2012-06-13 | 东南大学 | Intelligent guide man-machine interaction device |
| CN202044481U (en) * | 2011-04-02 | 2011-11-23 | 罗青林 | Blind person guiding vehicle |
| JP2017192680A (en) * | 2016-04-18 | 2017-10-26 | 清徳 平塚 | Stick with automatic brake and stop wheel |
| KR20170127591A (en) * | 2016-05-11 | 2017-11-22 | 문건 | Health care robot |
| CN107374923A (en) * | 2017-08-30 | 2017-11-24 | 太仓博轩信息科技有限公司 | A kind of intelligent blind-guiding alarming method for power and its system based on robot |
| CN107440891B (en) * | 2017-09-11 | 2020-04-28 | 西安智财全技术转移中心有限公司 | Intelligent sharing blind-guiding robot based on data analysis |
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| CN108189041A (en) | 2018-06-22 |
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