CN112089559B - Auxiliary standing device and method based on indoor positioning and artificial intelligence - Google Patents
Auxiliary standing device and method based on indoor positioning and artificial intelligence Download PDFInfo
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- CN112089559B CN112089559B CN202010834305.8A CN202010834305A CN112089559B CN 112089559 B CN112089559 B CN 112089559B CN 202010834305 A CN202010834305 A CN 202010834305A CN 112089559 B CN112089559 B CN 112089559B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
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Abstract
Disclosed are an auxiliary standing device and a method based on indoor positioning and artificial intelligence, wherein, a section support frame is connected with an eight-bar linkage mechanism, when an electric push rod actuates the eight-bar linkage mechanism, the section support frame is actuated by the eight-bar linkage mechanism to support elbows and armpits in the lifting process, a flexible bionic mechanism is rotatably connected with another eight-bar linkage mechanism, the flexible bionic mechanism is driven by a second motor to rotate to fit the back curve of a user, a control panel responds to face recognition data and sends out a starting instruction and generates user pose data, in response to first position data, the control panel sends out a first signal to the electric push rod and a second motor to actuate the eight-bar linkage mechanism, so that the section support frame and the flexible bionic mechanism assist in standing and supporting, in response to second position data, the control panel plans and generates a route track, a rocker is configured to generate a moving instruction to control the auxiliary standing device to move, the driver is arranged on the bottom plate to control the motor to operate based on the route track or the movement command so as to move the wheel.
Description
Technical Field
The invention relates to the technical field of auxiliary appliances, in particular to an auxiliary standing device and an auxiliary method based on indoor positioning and artificial intelligence.
Background
At present, the aging development of China presents the problems of advanced age, high speed, large scale, unbalanced structure and the like. China is gradually entering into an aging society from the population red profit stage, the aging problem is increasingly prominent at present, and the late-year life level and quality of the old are urgently improved effectively. Through investigation, the invention focuses on the problem that the old people have difficulty in standing up. At present, mature products meeting the requirements of domestic actual conditions are still lacking in the market.
At present, most of the devices are mainly fixed and installed, and mainly have the following characteristics: basically, the fixed handrail is installed, the price is low, but the universal applicability is not good, and certain safety problems exist; the popularization rate in families of solitary old people is not high; a few products which are combined with intellectualization and automation exist, but the price is not good, and the common family is difficult to bear.
Therefore, in order to improve the happiness index of the elderly people in the late-year life in the current situation that the population is more and more aged, a product with moderate price and intelligence is urgently needed to assist the elderly people to stand up and move daily, and meet the vital demand of the elderly people in the late-year life.
The above information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is well known to those of ordinary skill in the art.
Disclosure of Invention
In view of the above problems, the present invention is to provide an auxiliary standing device and method thereof based on indoor positioning and artificial intelligence to overcome the above disadvantages of the prior art.
The purpose of the invention is realized by the following technical scheme.
The auxiliary standing device based on indoor positioning and artificial intelligence comprises,
a machine shell which comprises a bottom plate, a side plate and an upper plate,
a plurality of wheels for movement provided on the base plate, the wheels being driven via a motor,
a pair of eight link mechanisms respectively oppositely installed on the upper plate, the eight link mechanisms are actuated to operate through an electric push rod,
a middle section bar supporting rod which is connected between the eight link mechanisms to ensure that the eight link mechanisms synchronously run,
a profile support frame connected to an eight-bar linkage, the profile support frame being actuated via the eight-bar linkage to support the elbow and the underarm during lifting when the eight-bar linkage is actuated by the electric push rod,
the flexible bionic mechanism can be rotationally connected with the other eight-link mechanism and is driven to rotate by the second motor so as to fit the back curve of the user,
an ultrasonic sensor provided on the profile support frame to measure first position data between a user and an auxiliary stand-up device,
a ranging sensor provided at the side plate to collect second position data between the auxiliary standing device and the obstacle,
a camera mounted on the middle section bar support bar for picking up image data,
an artificial intelligence platform connected to the camera to generate face recognition data based on the image data,
a control panel arranged on the bottom plate, one end of the control panel is connected with the artificial intelligence platform, the distance measuring sensor and the ultrasonic sensor, the other end is connected with the electric push rod, the motor and the second motor,
responding to the face recognition data, the control panel sends out a starting instruction and generates user pose data,
responding to the first position data, the control panel sends a first signal to the electric push rod and the second motor to actuate the eight-link mechanism, so that the profile supporting frame and the flexible bionic mechanism assist in standing up and supporting,
in response to the second position data, the control panel generates a route trajectory,
a rocker configured to generate movement commands to control movement of the auxiliary stand-up device,
and the driver is arranged on the bottom plate and used for controlling the motor to operate to move the wheels based on the route track or the movement command.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the auxiliary standing device further comprises,
a power supply for supplying power is accommodated in the housing, the power supply is connected with the motor,
a switch for controlling the on and off of the switch is connected with the power supply,
and the motor support is used for fixedly connecting the motor and the chassis, and the motor is connected with the motor support.
In the auxiliary erecting device based on indoor positioning and artificial intelligence, the motor is fixed on the bottom plate through a screw and a motor base, and a power supply is a rechargeable battery.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the spongy cushion is coated on the section bar supporting frame.
In the auxiliary erecting device based on indoor positioning and artificial intelligence, the eight-connecting-rod mechanism revolute pair adopts a pin shaft, the axial positioning of the pin shaft is realized by a sleeve, and the radial positioning is realized by adding a tetrafluoro plate in an interference fit manner.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the flexible bionic structure is composed of a flexible material and a rigid framework.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the electromagnet is arranged on the section bar supporting frame to lock the flexible bionic protection structure.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the actuating track of the eight-bar linkage mechanism conforms to the standing curve of the mechanical track of a human body.
In the auxiliary standing device based on indoor positioning and artificial intelligence, the auxiliary standing device also comprises,
a drive bevel gear connected to an extension shaft of the motor to receive power,
a driven bevel gear engaging the drive bevel gear to transmit power,
a bearing support which is fixedly connected with the bottom plate through a screw, supports an output shaft of the driven bevel gear,
a steering gear connected to the output shaft to steer,
a steering gear cushion block for lifting the steering gear to adjust the height of the steering gear to be the same with the height of the output shaft and the wheel,
and the steering gear pressing block is used for pressing the steering gear and is arranged on the bottom plate together with the steering gear cushion block and the steering gear through screws.
According to another aspect of the present invention, an assistance method of the auxiliary standing device based on indoor positioning and artificial intelligence comprises the following steps,
in the first step, a command is sent out through a remote controller or voice, a control panel sends out a starting instruction, and user pose data are generated;
in the second step, based on the position data of the user, the auxiliary standing device automatically captures the front face position of the old person by using a face recognition algorithm to adjust the position of the product, and finally the product is parked close to the user;
in the third step, responding to the first position data, the control panel sends a first signal to the electric push rod and the second motor to actuate the eight-link mechanism, so that the sectional material support frame and the flexible bionic mechanism assist in standing up and supporting;
and in the fourth step, the electric push rod switch is closed, and the driver controls the motor to operate based on the route track or the movement command of the rocker so as to move the wheels to realize indoor autonomous movement.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the standing curve according with the human body mechanical trajectory by utilizing the eight connecting rods, so that the old is natural and comfortable in the standing process and has no impact. The eight-link mechanism has strong bearing capacity, is safe and reliable, can reduce the weight of the device and reduce the cost, realizes the omnibearing automatic searching of the old at home by utilizing an automatic positioning and obstacle avoidance algorithm, can be suitable for the old living alone, and greatly reduces the resource pressure of the children or the old care homes and other places.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly apparent, and to make the implementation of the content of the description possible for those skilled in the art, and to make the above and other objects, features and advantages of the present invention more obvious, the following description is given by way of example of the specific embodiments of the present invention.
Drawings
Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. Also, like parts are designated by like reference numerals throughout the drawings.
In the drawings:
FIG. 1 is a schematic diagram of an indoor positioning and artificial intelligence based assisted-standing apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a chassis portion of an indoor location and artificial intelligence based assisted-standing apparatus according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a flexible protection mechanism of an auxiliary stand-up device based on indoor positioning and artificial intelligence according to one embodiment of the invention;
description of the symbols:
1. flexible TPE cushion, 2, spongy cushion, 3, section bar supporting frame, 4, electromagnet, 5-12, eight-link mechanism, 13, side plate and upper plate, 14, motor, 15, rocker, 16, connecting frame, 17, pin shaft, 18, sleeve, 19, camera, 20-21, middle section bar supporting rod, 22, inner side plate, 23, artificial intelligent platform, 24, protective shell, 25, distance measuring sensor, 26, power supply, 27, motor, 28, motor base, 29, wheel, 30, bottom plate section bar supporting rod, 31, shaft coupling, 32, driving bevel gear, 33, driven bevel gear, 34, magnet, 35, driver, 36, control plate, 37, bottom plate, 38, steering gear press block, 39, steering gear cushion block, 40, bearing support, 41, universal wheel connecting frame, 42, universal wheel, 43, rigid framework, 44, flexible mechanism upper shell, 45, flexible mechanism shell, 46. flexible mechanism inferior valve, 47, shaft coupling, 48, motor support.
The invention is further explained below with reference to the figures and examples.
Detailed Description
Specific embodiments of the present invention will be described in more detail below with reference to fig. 1 to 3. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
For the purpose of facilitating understanding of the embodiments of the present invention, the following description will be made by taking specific embodiments as examples with reference to the accompanying drawings, and the drawings are not to be construed as limiting the embodiments of the present invention.
For a better understanding, as shown in fig. 1 to 3, an auxiliary stand-up device based on indoor positioning and artificial intelligence,
a casing which comprises a bottom plate 37, a side plate and an upper plate,
a plurality of wheels 29, wheels 29 for movement being provided on the base plate 37, the wheels 29 being driven via a motor 27,
a pair of eight link mechanisms respectively oppositely installed on the upper plate, the eight link mechanisms are actuated to operate through an electric push rod,
a middle section bar supporting rod which is connected between the eight link mechanisms to ensure that the eight link mechanisms synchronously run,
a section support frame 3 connected with an eight-bar linkage, when the electric push rod actuates the eight-bar linkage, the section support frame 3 is actuated by the eight-bar linkage to support the elbow and the armpit during the lifting process,
a flexible bionic mechanism which is rotatably connected with the other eight-link mechanism and is driven by a second motor 14 to rotate so as to fit the back curve of the user,
an ultrasonic sensor, which is arranged on the profile support frame 3 to measure first position data between a user and an auxiliary stand-up device,
a distance measuring sensor 25 provided at the side plate to collect second position data between the auxiliary standing device and the obstacle,
a camera 19 mounted on the middle profile support bar to extract image data,
an artificial intelligence platform 23 connected to the camera 19 for generating face recognition data based on the image data,
a control board 36 installed on the bottom board 37, wherein one end of the control board 36 is connected with the artificial intelligence platform 23, the distance measuring sensor 25 and the ultrasonic sensor, and the other end is connected with the electric push rod, the motor 27 and the second motor 14,
in response to the face recognition data, the control panel 36 issues an activation instruction and generates user pose data,
in response to the first position data, the control board 36 sends a first signal to said electric push rod and to the second motor 14 to actuate the eight-bar linkage, so that the profile support frame 3 and the flexible biomimetic mechanism assist the rising support,
in response to the second position data, the control panel 36 plans to generate a route trajectory,
a rocker 15 configured to generate movement commands to control the auxiliary stand-up device to move,
and a driver 35 arranged on the bottom plate 37 for controlling the motor 27 to operate to move the wheel 29 based on the route track or the movement command.
In a preferred embodiment of the indoor positioning and artificial intelligence based auxiliary standing device, the auxiliary standing device further comprises,
a power source 26, a power source 26 for supplying power is housed inside the casing, the power source 26 is connected to the motor 27,
a switch for controlling the on and off of the switch is connected to the power source 26,
and the motor 27 support is used for fixedly connecting the motor 27 and the chassis, and the motor 27 is connected with the motor 27 support.
In the preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the motor 27 is fixed on the bottom plate 37 via screws and a motor 27 seat, and the power supply 26 is a rechargeable battery.
In the preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the sponge mat is coated on the section bar support frame 3.
In the preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the eight-connecting-rod mechanism rotating pair adopts a pin shaft, the axial positioning of the pin shaft is realized by a sleeve, and the radial positioning is realized by adding a tetrafluoro plate in an interference fit manner.
In a preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the flexible bionic structure is composed of a flexible material and a rigid skeleton.
In the preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the electromagnet 4 is installed on the section bar supporting frame 3 to lock the flexible bionic protection structure.
In the preferred embodiment of the auxiliary standing device based on indoor positioning and artificial intelligence, the actuating track of the eight-link mechanism conforms to the standing curve of the human body mechanical track.
In a preferred embodiment of the indoor positioning and artificial intelligence based auxiliary standing device, the auxiliary standing device further comprises,
a drive bevel gear 32 connected to an extension shaft of the motor 27 to receive power,
a driven bevel gear 33 engaging the drive bevel gear 32 to transmit power,
a bearing support 40 fixedly connected to the base plate 37 by a screw, the bearing support 40 supporting an output shaft of the driven bevel gear 33,
a steering gear connected to the output shaft to steer,
a steering gear cushion block 39 for lifting the steering gear, wherein the steering gear cushion block 39 is used for adjusting the steering gear to be the same as the output shaft and the axle height of the wheels 29,
a diverter press block 38, a diverter press block 38 for pressing the diverter is mounted on the bottom plate 37 together with the diverter pad 39 and the diverter by screws.
In one embodiment, an auxiliary standing device based on indoor positioning and artificial intelligence comprises a machine shell, a control part, a driving part, a transmission part, an execution part and a detection part.
The flexible TPE cushion 1 is used for fitting the back curve of the old, improving the comfort in the lifting process,
the spongy cushion 2 is used for supporting the old to improve the comfort in the lifting process,
the section bar support frame 3 is used for supporting the elbows and armpits of the old during the lifting process and is connected on the connecting rod 7,
the electromagnet 4 is used for locking the flexible bionic protection structure after being closed, ensures the safety of the old in the standing process, is arranged on the section bar supporting frame 3,
eight-link mechanisms 5-12, which are powered by an electric push rod 10 to enable the tail end to finish a standing curve according with the human body mechanics track and are arranged on the upper plate 13,
side plates and an upper plate 13 for covering the electric equipment and for supporting the eight-bar linkage 5-12 connected to the bottom plate 37,
a motor 14 for driving the flexible bionic mechanism to rotate,
a rocker 15 for controlling the autonomous movement of the device,
the pin shaft 17 is used as a revolute pair of the eight-link mechanism 5-12, the axial positioning is realized by the sleeve 18, the radial positioning is realized by the interference fit of the added tetrafluoro plate,
a sleeve 18, which is used as an axial positioning element for the pin shaft 17,
a camera 19 for extracting image data to complete the face recognition function, which is arranged on the middle section bar supporting rod 20,
the middle section bar supporting rods 20-21 are used for increasing the structural rigidity and ensuring the synchronous operation of the eight-link mechanisms 5-12 at the two sides,
an inner side plate 22 for enclosing the internal electrical equipment,
artificial intelligence platform 23: the face recognition model is run, and the upper computer as the control panel 36 realizes the communication with the control panel 36,
a protective shell 24 for protecting the internal NVIDIA AI platform 23,
and the distance measuring sensor 25 is used for measuring the distance between the device and the obstacle so as to realize the obstacle avoidance function, and is arranged on the side plate 13.
In one embodiment, fig. 2 is a schematic structural diagram of an indoor positioning and artificial intelligence based auxiliary standing device chassis according to an embodiment of the present invention, and as shown in fig. 2, the chassis includes the following structures:
a power source 26, a power source 26 for supplying power and being rechargeable, is housed inside the mobile bottom plate 37,
a motor 27 for providing power, connected to the power source 26,
a motor base 28 for supporting the motor 27 and fixing it on the chassis 37,
a wheel 29 for realizing the indoor movement of the auxiliary standing device and connected with a motor (27) shaft,
a bottom plate profile support bar 30 for supporting the upper plate 13, increasing rigidity, connected to the bottom plate 37 and the upper plate 13 by screws,
the shaft coupling 31 realizes the transmission of the connecting rotating shaft of the motor 27 shaft and the driving bevel gear 32 through the top thread pressing,
a drive bevel gear 32, which is connected to the motor 27,
a driven bevel gear 33, the driven bevel gear 33 engaging with the driving bevel gear 32 is connected with a rotating shaft,
a magnet 34 for fixing the inner plate 22 to the bottom plate 37,
a driver 35 for driving the motor 27 to operate on command, mounted on said base plate 37,
the control board 36: used for controlling the movement of the chassis, the data acquisition and processing of the ultrasonic sensor and the distance measuring sensor 25, the lifting of the electric push rod 10, arranged on the bottom plate 37,
a base plate 37 for mounting the control board 36, the motor 27, the power supply 26, etc., as a moving platform,
a diverter pressure block 38 used for pressing the diverter and improving the structural rigidity, is arranged on the bottom plate 37 together with a diverter cushion block 39 and the diverter through screws,
a steering gear cushion block 39 used for cushioning the steering gear, adjusting the height of the steering gear to be the same with that of the motor 27 shaft and the wheel 29 shaft, installing the steering gear pressing block 38 and the steering gear on the bottom plate 37 through screws,
a bearing support 40 for supporting the driven bevel gear 33 shaft, which is fixedly connected to the bottom plate 37 through a screw,
a universal wheel connecting frame 41 for connecting a universal wheel 42 and the device, which is arranged on the bearing support 40 through screws,
the universal wheel 42 is used for improving the rigidity of the device during operation and is installed on the universal wheel connecting frame 41 through screws.
In one embodiment, fig. 3 is a schematic structural diagram of a flexible bionic protection mechanism of an auxiliary standing device based on indoor positioning and artificial intelligence according to one embodiment of the invention, as shown in fig. 3, comprising the following structures:
the rigid framework 43 is used for supporting the flexible TPE material 1, the flexible TPE material 1 is fixed through an adhesive,
the flexible mechanism upper shell 44 is used for fixing the flexible TPE material 1 and is fixedly connected with the flexible mechanism lower shell 46 and the flexible mechanism outer shell 45 through screws,
a flexible mechanism shell 45 for fixing the flexible mechanism upper shell 44 and the flexible mechanism lower shell 46, fixedly connected with the flexible mechanism lower shell 46 and the flexible mechanism upper shell 44 through screws,
a flexible mechanism lower shell 46 used for fixing the flexible TPE material 1 and fixedly connected with the flexible mechanism upper shell 44 and the flexible mechanism outer shell 45 through screws,
a coupling 47 for connecting the motor 14 with the flexible mechanism housing 45,
a motor bracket 48 for fixing the motor 14 and connected with the connecting frame 16 by screws
The auxiliary standing device based on indoor positioning and artificial intelligence is safe, comfortable and reliable in operation.
In one embodiment, in the auxiliary standing device, a high-precision ultrasonic sensor is matched with a face recognition algorithm, so that the device has high positioning precision.
In one embodiment, in the auxiliary standing device, the eight-link mechanism realizes a track conforming to a standing curve of a human body, so that the old can stand smoothly without impact during the standing process.
In one embodiment, the link 16, the diverter press block 38, the diverter spacer block 39, the universal wheel link 41, and the rigid frame 43 are fabricated by 3D printing.
In one embodiment, in the auxiliary lifting device, the eight-link mechanism is high in rigidity in the force bearing direction, materials are saved, weight is reduced, and meanwhile the eight-link mechanism is safe and reliable.
In one embodiment, the design of the flexible protective structure in the auxiliary stand-up device greatly increases comfort and safety during the auxiliary stand-up process.
The auxiliary method of the auxiliary standing device based on indoor positioning and artificial intelligence comprises the following steps,
in the first step, a command is sent out through a remote controller or voice, a control panel 36 sends out a starting instruction, and user pose data are generated;
in the second step, based on the position data of the user, the auxiliary standing device automatically captures the front face position of the old person by using a face recognition algorithm to adjust the position of the product, and finally the product is parked close to the user;
in the third step, in response to the first position data, the control board 36 sends a first signal to the electric push rod and the second motor 14 to actuate the eight-bar linkage mechanism, so that the profile support frame 3 and the flexible bionic mechanism assist in standing up and supporting;
in the fourth step, the electric push rod switch is turned off, and the driver 35 controls the motor 27 to operate based on the route track or the movement command of the rocker 15 to move the wheel 29 to realize the indoor autonomous movement.
In one embodiment, a method includes,
in the first step, the elderly issue a command through a remote controller or voice, start the device and complete the indoor positioning of the device and the elderly.
In the second step, according to the device obtained in the first step and the indoor coordinates of the old people, the device can be close to the old people at any position in the family without collision, in the process of closing, a camera is used for obtaining a scene image, the face position of the old people is automatically captured by using a face recognition algorithm to adjust the product position and posture, and finally the old people are stopped accurately.
And in the third step, the old puts the armpits and the elbows under the support frame, presses the electric push rod switch, the push rod runs, the flexible protection mechanism runs, and the old is lifted.
In the fourth step, the old man lifts up the back, closes push rod switch, through the motion of rocker or cell-phone APP controlling means, realizes indoor autonomous movement.
The invention is composed of a control part, a driving part, a transmission part, an execution part, a detection part and a shell, wherein the ultrasonic sensor is applied to realize the positioning function of the device and the old through a triangle positioning principle, the Bug algorithm is applied to realize obstacle avoidance and path planning, the face recognition algorithm and PID control are used to realize the final accurate positioning of the old, the electric push rod is applied to drive an eight-link mechanism to realize the standing and lifting function according with the mechanical track of the human body, the flexible bionic structure is applied to realize the protection in the lifting process, the rocker is applied to finish the autonomous movement of the old indoors, and the functions of automatic positioning, auxiliary standing and indoor autonomous movement are finally realized. The auxiliary standing-up device based on indoor positioning and artificial intelligence can relieve the living difficulty of the solitary old people and the pressure of children and the society for nursing the aged.
Industrial applicability
The auxiliary standing device and the method thereof based on indoor positioning and artificial intelligence can be manufactured and used in the field of auxiliary instruments.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. An auxiliary standing device based on indoor positioning and artificial intelligence is characterized in that the device comprises,
a machine shell which comprises a bottom plate, a side plate and an upper plate,
a plurality of wheels for movement provided on the base plate, the wheels being driven via a motor,
a pair of eight link mechanisms respectively oppositely installed on the upper plate, the eight link mechanisms are actuated to operate through an electric push rod,
a middle section bar supporting rod which is connected between the eight link mechanisms to ensure that the eight link mechanisms synchronously run,
a profile support frame connected to an eight-bar linkage, the profile support frame being actuated via the eight-bar linkage to support the elbow and the underarm during lifting when the eight-bar linkage is actuated by the electric push rod,
the flexible bionic mechanism can be rotationally connected with the other eight-link mechanism and is driven to rotate by the second motor so as to fit the back curve of the user,
an ultrasonic sensor provided on the profile support frame to measure first position data between a user and an auxiliary stand-up device,
a ranging sensor provided at the side plate to collect second position data between the auxiliary standing device and the obstacle,
a camera mounted on the middle section bar support bar for picking up image data,
an artificial intelligence platform connected to the camera to generate face recognition data based on the image data,
a control panel arranged on the bottom plate, one end of the control panel is connected with the artificial intelligence platform, the distance measuring sensor and the ultrasonic sensor, the other end is connected with the electric push rod, the motor and the second motor,
responding to the face recognition data, the control panel sends out a starting instruction and generates user pose data,
responding to the first position data, the control panel sends a first signal to the electric push rod and the second motor to actuate the eight-link mechanism, so that the profile supporting frame and the flexible bionic mechanism assist in standing up and supporting,
in response to the second position data, the control panel generates a route trajectory,
a rocker configured to generate movement commands to control movement of the auxiliary stand-up device,
and the driver is arranged on the bottom plate and used for controlling the motor to operate to move the wheels based on the route track or the movement command.
2. The indoor positioning and artificial intelligence based auxiliary stand-up device of claim 1, wherein the auxiliary stand-up device further comprises,
a power supply for supplying power is accommodated in the housing, the power supply is connected with the motor,
a switch for controlling the on and off of the switch is connected with the power supply,
and the motor support is used for fixedly connecting the motor and the chassis, and the motor is connected with the motor support.
3. The indoor positioning and artificial intelligence based auxiliary standing device as claimed in claim 2, wherein the motor is fixed on the base plate via a screw and a motor base, and the power source is a rechargeable battery.
4. The indoor positioning and artificial intelligence based auxiliary standing device as claimed in claim 1, wherein the foam-rubber cushion is wrapped on the profile support frame.
5. The indoor positioning and artificial intelligence based auxiliary standing device as claimed in claim 1, wherein the eight-bar linkage revolute pair is a pin, axial positioning of the pin is achieved by a sleeve, and radial positioning is achieved by adding a tetrafluoro plate in an interference fit manner.
6. The indoor positioning and artificial intelligence based assisted standing device of claim 1, wherein the flexible biomimetic mechanism is composed of a flexible material and a rigid skeleton.
7. The indoor positioning and artificial intelligence based auxiliary standing device as claimed in claim 1, wherein the electromagnet is mounted on the profile support frame to lock the flexible bionic mechanism.
8. The indoor positioning and artificial intelligence based auxiliary standing device according to claim 1, wherein the actuating trajectory of the eight-bar linkage mechanism conforms to a standing curve of a human mechanical trajectory.
9. The indoor positioning and artificial intelligence based auxiliary standing device as claimed in claim 1, wherein the auxiliary standing device further comprises,
a drive bevel gear connected to an extension shaft of the motor to receive power,
a driven bevel gear engaging the drive bevel gear to transmit power,
a bearing support which is fixedly connected with the bottom plate through a screw, supports an output shaft of the driven bevel gear,
a steering gear connected to the output shaft to steer,
a steering gear cushion block for lifting the steering gear to adjust the height of the steering gear to be the same with the height of the output shaft and the wheel,
and the steering gear pressing block is used for pressing the steering gear and is arranged on the bottom plate together with the steering gear cushion block and the steering gear through screws.
10. An assistance method of an indoor positioning and artificial intelligence based assisted standing device according to any one of claims 1-9, comprising the steps of,
in the first step, a command is sent out through a remote controller or voice, a control panel sends out a starting instruction, and user pose data are generated;
in the second step, based on the position data of the user, the auxiliary standing device automatically captures the front face position of the old person by using a face recognition algorithm to adjust the position of the product, and finally the product is parked close to the user;
in the third step, responding to the first position data, the control panel sends a first signal to the electric push rod and the second motor to actuate the eight-link mechanism, so that the sectional material support frame and the flexible bionic mechanism assist in standing up and supporting;
and in the fourth step, the electric push rod switch is closed, and the driver controls the motor to operate based on the route track or the movement command of the rocker so as to move the wheels to realize indoor autonomous movement.
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| CN114786045A (en) * | 2022-03-29 | 2022-07-22 | 歌尔科技有限公司 | Tracking method and device for television stick remote controller and computer readable storage medium |
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