CN115213922B

CN115213922B - Robot walking assistant

Info

Publication number: CN115213922B
Application number: CN202211025929.0A
Authority: CN
Inventors: 张呈昆; 路易斯·阿尔弗雷多·马特奥斯·古兹曼; 丁厚柱; 修震; 谭欢
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2025-07-22
Anticipated expiration: 2042-08-25
Also published as: CN115213922A

Abstract

The invention provides a robotic walking assistant comprising a wheeled base including a base and one or more position-adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base in a direction parallel to a surface over which the wheeled base moves, a body disposed in a vertical direction on the wheeled base and having at least one handle, one or more drive feet connected to the base, and a control system receiving command instructions, wherein in response to a rest mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move downward into contact with the surface. The robotic walking assistant has a lifting mechanism that allows the robotic walking assistant to have a limited height, which facilitates stability of the robotic walking assistant during movement and travel.

Description

Robot walking assistant

Technical Field

The present invention relates to mobile robots, and more particularly, to an intelligent robotic walking assistant that can provide walking assistance, walking training, and fall prevention.

Background

Walking is one of the most important abilities to enable people to remain independent and healthy throughout their lives. Unfortunately, many people lose walking ability due to accidents or diseases. As society ages, the number of elderly people with walking dysfunction increases rapidly. In addition, the risk of death or serious injury to the elderly is highest due to falls, and the risk increases with age.

Recent advances in robotics provide an innovative solution to alleviate these challenges by improving the quality of life of the elderly and prioritizing their dignity and independence. Therefore, robot walking assistants have attracted considerable attention in recent years. A robotic walking assistant may be designed to help support a portion of the weight of a user to reduce the load on the user's legs while walking, thereby reducing fatigue and physical effort. For example, robotic walking assistants typically include wheels for movement and a vertical body with a handle that allows a user to push the robotic walking assistant while walking.

However, due to the fixed nature of the wheels and the vertical body, these robotic walking assistants may lack sufficient stability when they provide a seat that allows the user to sit down. In addition, these robotic walking assistants may face the problem that larger stride individuals tend to kick the back of the robotic walking assistant while walking.

Accordingly, there is a need to provide a robotic walking assistant that overcomes the above-described problems.

Disclosure of Invention

Accordingly, the present invention provides a robotic walking assistant to solve the above-mentioned problems.

To achieve the above objects, the present invention provides a robotic walking assistant comprising a wheeled base including a base and one or more position-adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base in a direction parallel to a surface over which the wheeled base moves, a body disposed in a vertical direction on the wheeled base and having at least one handle, one or more drive feet connected to the base, and a control system receiving command instructions, wherein in response to a resting mode command instruction the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move downward into contact with the surface, wherein in response to a walking assist mode command instruction the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move upward away from the surface, and wherein in response to the autonomous mode command the control system is configured to move the one or more drive feet to the extended position and instruct the one or more drive feet to move upward.

Optionally, the one or more wheels are slidable relative to the base in a direction inclined outwardly relative to the direction of movement of the wheeled base.

Optionally, the robotic walking assistant further comprises one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels between the retracted position and the extended position.

Optionally, the robotic walking assistant further comprises a foldable seat rotatably connected to the main body, wherein the control system instructs the foldable seat to rotate between a folded position and an unfolded position.

Optionally, the robotic walking assistant further comprises a camera rotatably mounted on top of the main body, wherein the control system instructs the camera to face forward to detect objects in front of the wheeled base and instructs the camera to face backward to detect a user at the rear of the wheeled base.

Optionally, the at least one handle is slidable relative to the body.

The invention also provides a robotic walking assistant comprising a wheeled base comprising a base and one or more wheels movably and rotatably mounted on the base, the one or more wheels being configured to move on a surface relative to the base to form different sets of support points at different locations on the surface, a body disposed in a vertical direction and having at least one handle, a lifting mechanism disposed on the wheeled base, the lifting mechanism configured to move the body up and down, one or more drive feet connected to the base, the one or more drive feet being movable up and down in a vertical direction, wherein in response to a resting mode command instruction the one or more wheels are configured to move down to contact the surface, wherein in response to a walking assist mode command instruction the one or more wheels are configured to move to the first position, and the one or more drive feet are configured to move up to the first position, and in response to the one or more autonomous mode commands the one or more drive feet are configured to move up to the first position.

Optionally, the robotic walking assistant further comprises one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels to move relative to the base.

The invention also provides a robotic walking assistant comprising a wheeled base comprising a base, one or more first wheels rotatably connected to the base, and one or more second wheels movably and rotatably connected to the base, the one or more second wheels being slidable relative to the base to form an adjustable distance between the one or more first wheels and the one or more second wheels, an elongate body having at least one handle, one or more drive feet connected to the base, and a lifting mechanism disposed on the wheeled base, the lifting mechanism configured to move the body up and down, wherein the one or more second wheels are configured to move to a first position in response to a stationary mode command, and the one or more drive feet are configured to move down to contact a surface upon which the wheeled base moves, wherein the one or more second wheels are configured to move to the first position in response to a walking assistance mode, and the one or more drive feet are configured to move up and the surface in response to an autonomous mode.

The technical scheme of the invention has the advantages that the robot walking assistant is provided with the lifting mechanism, and the lifting mechanism enables the robot walking assistant to have limited height, which is beneficial to the stability of the robot walking assistant in the moving and advancing processes. The lifting mechanism may be actuated to adjust the robotic walking assistant to different heights, allowing the robotic walking assistant to flexibly accommodate users of different heights. Furthermore, the robotic walking assistant has feet movable in a vertical direction, which can be made with a larger supporting polygon than the wheels, and the robotic walking assistant can have increased static stability.

Drawings

The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the disclosure and to enable a person skilled in the pertinent art to make and use the disclosure. In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort.

Fig. 1 is a perspective view of a robotic walking assistant according to an embodiment of the invention.

Fig. 2 is a schematic perspective view of another angle of the robot walking assistant.

Fig. 3 is a perspective view of the robot walking assistant, in which a side cover of the robot walking assistant is omitted.

Fig. 4 is a perspective view showing an internal structure of the robot walking assistant.

Fig. 5 is another angular perspective view of the internal structure of the robotic walking assistant.

Fig. 6 is a schematic view of the internal structure of the wheeled base of the robot walking assistant.

Fig. 7 is another angular perspective view of the internal structure of the wheeled base of the robotic walking assistant.

Fig. 8 is a plan view showing the robotic walking assistant in two different states.

Fig. 9 is a schematic view of the robot walking assistant in the walking assist mode.

Fig. 10 is a schematic view of the robot walking assistant in a rest state.

Fig. 11 is a schematic block diagram of a robotic walking assistant according to one embodiment.

Fig. 12 is a schematic flow chart of a method for controlling a robotic walking assistant according to one embodiment.

Fig. 13 is a schematic view showing an operation mode of the robot walking assistant according to an embodiment.

Fig. 14 illustrates an exemplary scenario when a robotic walking assistant is working to provide walking assistance/training to a user.

Fig. 15 illustrates an exemplary scenario when the robotic walking assistant is operating in an autonomous mode.

FIG. 16 is a flow chart illustrating a method of creating a walking schedule according to one embodiment.

Fig. 17 is a schematic flow chart of a method for controlling a robotic walking assistant according to one embodiment.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The present disclosure is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements. It should be noted that references to "an" embodiment in the present invention are not necessarily to the same embodiment, and such references may mean "at least one" embodiment.

Although specific configurations and arrangements are discussed, it should be understood that this is done for illustrative purposes only. One skilled in the relevant art will recognize that other configurations and arrangements may be used without departing from the spirit and scope of the disclosure. It will be apparent to those skilled in the relevant art that the present disclosure may also be used in a variety of other applications.

It is noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiments described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

Generally, terms may be understood, at least in part, from the use of context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending at least in part on the context. Similarly, terms such as "a" or "an" may also be understood to convey a singular usage or a plural usage, depending at least in part on the context. Furthermore, the term "based on" may be understood as not necessarily intended to convey an exclusive set of factors, and may conversely allow for the presence of additional factors not necessarily explicitly described, again depending at least in part on the context.

Although the features and elements of the present disclosure are described as embodiments in particular combinations, each feature or element can be used alone or in other various combinations within the principles of the present disclosure, the maximum extent of which is indicated by the broad, general meaning of the terms in which the appended claims are expressed.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Figures 1 and 2 are isometric views of a robotic walking assistant 100 that may help support a portion of a user's weight to reduce the load on the user's legs as the user (e.g., a caregiver or patient) walks. The robotic walking assistant 100 may provide support/guidance during walking of people so that they can maintain balance and walk safely. In one embodiment, the robotic walking assistant 100 may be used in a venue such as a healthcare venue, an aged care venue, an assisted living venue, or the like to assist an aged person as he walks. However, the robotic walking assistant 100 may be used in other locations. For example, the robotic walking assistant 100 may provide walking assistance, walking training, and fall prevention in a hospital for a person who temporarily loses walking ability due to an accident or disease.

In one embodiment, the robotic walking assistant 100 may include a wheeled base 10, a body 20 positioned on the wheeled base 10, a lift mechanism 30 (see fig. 8) positioned on the wheeled base 10, and a control system (see fig. 11). The control system receives command instructions from the host computer and a Graphical User Interface (GUI) displayed on displays 82 and 83 to allow a user (e.g., healthcare professionals and caregivers) to directly control the robotic walking assistant 100. In response to the command instructions, control system 40 controls movement of wheeled base 10, lift mechanism 30, and/or other mechanical or software aspects of robotic walking assistant 100. In one embodiment, the lifting mechanism 30 may be omitted.

Referring to fig. 3, wheeled base 10 provides a movement mechanism for robotic walking assistant 100 to move from one location to another. In one embodiment, wheeled base 10 includes a base 11, two differential drive wheel mechanisms 12, and one or more other wheels connected to base 10. Wheel mechanism 12 allows wheel base 10 to move along a desired path while the one or more other wheels enable balancing and stability of wheel base 10. The one or more other wheels may be casters or omni-directional drive wheels. In one embodiment, each wheel mechanism 12 is slidable relative to the base 11 between a retracted position (see FIG. 8) and an extended position (see FIG. 8) in a direction substantially parallel to a surface (e.g., a floor) over which the wheel base 10 moves. Further description of wheeled base 10 is provided below.

In one embodiment, the main body 20 is located on top of the wheeled base 10 and is disposed in a vertical direction. The main body 20 includes at least one handle 21, and the user can hold the at least one handle 21 while walking/standing, so that the robot walking assistant 100 provides upward supporting force to the user, thereby helping the user to keep balance while walking or standing. The robot walking assistant with at least one handle 21 is like a crutch, and can ensure the stability of the user walking.

In one embodiment, the lifting mechanism 30 is connected between the wheeled base 10 and the body 20. Referring to fig. 8, the body 20 is movable up and down in a vertical direction shown in the y-axis between a retracted position and an extended position by actuation of the elevating mechanism 30. In this retracted position, the lifting mechanism 30 provides the robotic walking assistant 100 with a limited height, which facilitates stability of the robotic walking assistant 100 during movement and travel. The lifting mechanism 30 may be actuated to adjust the robotic walking assistant 100 to different heights so that the robotic walking assistant 100 may flexibly accommodate users of different heights. Further description of the lift mechanism 30 is provided below.

In one embodiment, the robotic walking assistant may include sensors that enable the robotic walking assistant 100 to sense the environment in which the robotic walking assistant 100 is operating. In one embodiment, the sensor may comprise a ranging sensor that does not require physical contact with the object being sensed. They allow the robot walking assistant 100 to perceive an obstacle without actually touching it. As shown in fig. 2, the ranging sensors may include an Infrared (IR) sensor 74, an ultrasonic sensor 75, one or more light detection and ranging (LiDAR) sensors 73, near Field Communication (NFC), and RFID sensors/readers. In one embodiment, the sensors may include Inertial Measurement Unit (IMU) sensors and cameras 72. Each IMU sensor includes at least one accelerometer and at least one gyroscope. One or more LiDAR sensors 73 are used to create an environment map. In conjunction with IMU sensor 76, lidar sensor 73 is used to determine the real-time position of robotic walking assistant 100 in an environment map. The data from the ranging sensors and cameras 72 are used to detect obstacles, such as bumps (bumps), overhung objects, spills (spills), and other hazards during movement of the robotic walking assistant 100, and the robotic walking assistant 100 may alert a user to bypass the detected obstacles. These sensors may be located along the wheeled base 10 or other locations of the robotic walking assistant 100. Further description of these sensors is provided below.

A control system 40 (see fig. 11) is electrically connected to the wheeled base 10, the lifting mechanism 30 and the sensors for receiving command instructions (command instructions) to control the robotic walking assistant 100. The command instructions may be received from the control system 40 in response to movement/action of the robotic walking assistant 100, or the control system 40 may receive command instructions from a host computer wirelessly or through a wired connection or through a GUI on the displays 82 and 83, and the control system 40 may also receive command instructions directly from the user. For example, the robotic walking assistant 100 may detect whether the handle 21 is held by the user. In some modes, control system 40 receives command instructions after the user holds handle 21. The control system 40 controls the movement of the wheel base 10 in response to the command instruction and controls the elevating mechanism 30 to drive the movement of the main body 20. Further description of control system 40 is provided below.

In one example, wheeled base 10 may be a differential drive platform. Referring to fig. 1 and 2, in one embodiment, the wheeled base 10 includes two independently driven wheel mechanisms 12 and one caster mechanism 13. The two wheel mechanisms 12 are disposed at opposite sides of the wheel base 10 with a spacing therebetween, and their rotation axes are aligned with each other and extend in the width direction of the wheel base 10. The caster mechanism 13 may comprise an omni-wheel and be disposed near an end of the wheeled base 10 opposite the wheel mechanism 12. It should be noted that the number and arrangement of the wheel mechanism 12 and the caster mechanism 13 may be changed according to actual needs. For example, in an alternative embodiment, two wheel mechanisms 12 and two caster mechanisms 13 may be provided at the four corners of the wheeled base 10, respectively.

In one embodiment, the chassis 11 may include a chassis body 110 (see fig. 4) and a chassis housing 111 (see fig. 3) surrounding and coupled to the chassis body 110. Referring to fig. 5 and 6, the base body 110 may include a base plate 112 and a plurality of support bars protruding from the base plate 112. In one embodiment, each wheel mechanism 12 may be movably coupled to the base body 110 by a linear actuator 14. The two linear actuators 14 are respectively fixed to two support rods 113a at one end of the base plate 112. The linear actuator 14 includes a motor 141, a tube 142, and an output shaft 143 slidably connected to the tube 142. The output shaft 143 is slidable relative to the tube 142 by driving of the motor 141.

The wheel mechanisms 12 are respectively connected to the ends of the output shafts 143. In this embodiment, each output shaft 143 (see fig. 6) extends in a direction inclined with respect to the moving direction M (see fig. 5) of the wheeled base 10 and parallel to the surface S (see fig. 5) on which the wheeled base 10 moves. The moving direction M here means a traveling direction in which the wheel base 10 moves in a straight line. In response to the command instructions, control system 40 may control motor 141 to drive output shaft 143 in a linear motion to move wheel mechanism 12 relative to wheel base 10 between a retracted position (see FIG. 8) and an extended position (see FIG. 8) and in directions L1 and L2 (see FIG. 5) substantially parallel to surface S. As shown in fig. 5, the directions L1 and L2 are inclined outward with respect to the moving direction M of the wheel base 10.

Referring to fig. 7, in one embodiment, each wheel mechanism 12 may include a wheel mount 121, a wheel 122 rotatably connected to the wheel mount 121, and a wheel shroud 123 (see fig. 3) fixed to the wheel mount 121. The wheel mount 121 may include two spaced apart and connected vertical plates 1211 and 1212. The two vertical plates 1211 and 1212 define the space in which the wheel 122 rotates. In one embodiment, the wheel 122 is rotatably coupled to the plate 1211 and a motor may be provided within the wheel 122 for driving the wheel 122 to rotate. The motor within the wheel 122 may be electrically coupled to the control system 40. In conjunction with the control system 40, sensors and motors, the robotic walking assistant 100 may operate in an autonomous mode and autonomously move along a determined path. The caster mechanism 13 may include a fixing member 131 fixed to the bottom of the bottom plate 112 of the base 11, a wheel mount 132 connected to the fixing member 131 and rotatable about a substantially vertical axis, and a wheel 133. The wheel 133 is connected to the wheel mount 132 and is rotatable about a generally horizontal axis. With this arrangement, the wheel 133 has two degrees of freedom, and thus can align itself with the traveling direction. In one embodiment, each of the wheel mechanisms 12 and 13 may include a suspension system that allows for smoother travel across small gaps, carpeting, cushions, and floor defects. Each suspension system may include springs and/or dampers. The springs allow the wheels 122 and 133 to move upward to absorb jolts and reduce shocks, while the dampers prevent bouncing up and down. Various suspension systems have been marketed and proposed in a number of publications and are not described in detail herein.

When the two wheels 122 and 133 are in contact with the surface S, three points of support are formed between the wheels 122, 133 and the surface S. For example, when the wheel mechanism 12 is in the retracted position, two support points a (see fig. 6 and 8) are formed between the wheel 122 and the surface S, and one support point C (see fig. 8) is formed between the wheel 133 and the surface S. When the wheel mechanism 12 is in the extended position, two support points B (see fig. 8) are formed between the wheel 122 and the surface S. That is, because the wheel 122 can move relative to the base 11, different sets of support points (e.g., first set of support points a and C and second set of support points B and C) can be formed between the wheels 122, 133 and the surface S.

Since the wheels 122 are movable relative to the base 11, the distance between the wheels 122, 133 is adjustable. Specifically, as shown in fig. 8, the distance between each wheel 122 and wheel 133 may be increased from D1 to D2 by moving the wheels 122 from the retracted position to the extended position. Since the output shaft 143 of the fifth wheel mechanism 12 extends in a direction inclined with respect to the moving direction M (see fig. 5) of the wheel base 10, the wheel 122 is slidable with respect to the base 11 in a direction inclined outward with respect to the moving direction M of the wheel base 10. As a result, the distance D3 (see fig. 6) between the two wheels 122 increases after the wheels 122 move from the retracted position to the extended position. Thus, as the wheel 122 moves from the retracted position to the extended position, the three sides of the support polygon (i.e., triangle) formed by the three support points between the connecting wheels 122, 133 and the surface S increases. As a result, the area of the support polygon formed by the connection support points B and C is larger than the area of the support polygon formed by the connection support points a and C.

The robotic walking assistant 100 as described in the above embodiments is a machine standing on a triangle footprint (triangular footprint) and having an adjustable height. The center of gravity of the robot walking assistant 100 moves when the main body 20 moves up and down or the robot walking assistant 100 supports a part of the weight of a user pushing the robot walking assistant 100 or sitting on a seat (to be described later) of the robot walking assistant 100. However, as long as the center of gravity of the robotic walking assistant 100 remains within the support polygon formed by the three support points between the fifth wheels 122, 133 and the surface S, the robotic walking assistant 100 remains upright and does not topple over. Although the center of gravity of the robotic walking assistant 100 moves upward as the main body 20 moves or the user sits on the seat of the robotic walking assistant 100, the support polygon formed by the three support points between the fifth wheels 122, 133 and the surface S has a larger area after the wheels 122 move from the retracted position to the extended position, and the center of gravity of the robotic walking assistant 100 may still fall within the range of the support polygon. Further, when the wheels 122 are moved to their extended positions, the distance between the user supported by the robotic walking assistant and the back of the robotic walking assistant 100 increases as compared to when the wheels 122 are moved to their retracted positions, which may prevent a larger stride user from kicking the back of the robotic walking assistant 100.

Referring to fig. 6 and 7, in one embodiment, wheeled base 10 also includes one or more drive feet 15 connected to base 11. In one embodiment, the number of drive pins 15 may be two. Each driving leg 15 includes a motor 151 (e.g., a linear motor) and a leg 152, the motor 151 being fixed to a vertical rod 113b protruding from the bottom plate 112 of the base 11 and the leg 152, the leg 152 being driven by the motor 151 and movable in a vertical direction between a retracted position (see fig. 8) and an extended position (see fig. 2). During movement of wheeled base 10, feet 152 are controlled by control system 40 to move upwardly to their retracted positions. When a user sits on the seat of robotic walking assistant 100, foot 152 is controlled by control system 40 to move downward to its extended position and into contact with surface S. In this case, the foot 152 provides two additional points of support for the robotic walking assistant 100 in addition to the three points of support provided by the wheels 122 and 133. Since the feet 152 may be made with a larger supporting polygon than the wheels 122 and 133, the robotic walking assistant 100 may have increased static stability, which helps the robotic walking assistant 100 to stay upright with increased stability while the user sits in the seat of the robotic walking assistant 100.

Referring to fig. 4,5 and 8, in one embodiment, the lifting mechanism 30 includes a motor 31 and a lifting mechanism 32. The main body 20 is coupled to the lifting mechanism 32, and the motor 31 is used to drive the lifting mechanism 32 to extend or retract in the vertical direction. The motor 31 may be a linear actuator for applying a pushing or pulling force to the lifting mechanism 32 to drive the lifting mechanism 32 to extend or retract in the vertical direction. In one embodiment, the lifting mechanism 32 may include a screw coupled to an output shaft of the motor 31, and a threaded collar coupled to and slidable along the screw. By the cooperation of the threaded collar with the screw, the rotational movement from the motor 31 is converted into a translational movement. The lifting mechanism 30 can drive the main body 20 to move up and down. In another embodiment, the lifting mechanism 32 may be a scissor lift mechanism (scissor LIFT MECHANISM). Specifically, the lifting mechanism 32 includes one or more pairs of supports rotatably coupled to one another, with each pair of supports forming an intersecting "X" pattern. The arrangement of these pairs of supports is well known and will not be described in detail herein. It should be noted that the screw, the threaded collar, and the scissor lift mechanism are only examples of the lifting mechanism 32, and the lifting mechanism 32 may take other configurations according to actual needs.

Referring to fig. 3-5, in one embodiment, the robotic walking assistant further includes a collapsible seat 50 rotatably connected to the main body 20 and disposed above the two wheels 122. The seat 50 is rotatable between a folded position (see fig. 1 and 9) and an unfolded position (see fig. 10). In one embodiment, the main body 20 may include a main body housing 22 and an inner frame 23, wherein the inner frame 23 is disposed in the main body housing 22 and fixed to the lifting mechanism 30. The inner frame 23 is a hollow rectangular frame, and includes a plurality of vertical rods 231 and a plurality of mutually coupled horizontal rods 232. The inner frame 23 defines a hollow space that allows the inner frame 23 to be fitted over and secured to the upper housing 34 of the lifting mechanism 30. This arrangement allows the main body 20 to move up and down together with the upper housing 34.

In one embodiment, the seat 50 may include a seat shell 51 and a seat body 52 disposed within the seat shell 51. The base 52 has a planar structure and is substantially square. Opposite sides of the base 52 are rotatably connected to the inner frame 23. In one embodiment, two corner bars 233 are connected to the inner frame 23 and are located above the wheels 122. Each of the corner bars 233 includes a horizontal bar 2331 and a vertical bar 2332 protruding from one of the vertical bars 231 of the inner frame 23. Two seat mounts 24 are each secured to a vertical rod 2332, each seat mount 24 including a vertical tab 241. Opposite sides of the base 52 are rotatably connected to the inner side 2411 of the vertical tab 241. By such a configuration, the seat body 52 can be rotated to a folded position in which the seat 50 is slightly inclined with respect to the main body 20, and can be rotated to an unfolded position in which the seat 50 is substantially perpendicular to the main body 20.

In one embodiment, the seat motor 53 is secured to the outside of one of the vertical tabs 241 for driving the rotational movement of the seat 52. The seat motor 53 may be a rotary dc motor that directly drives the seat body 52 to rotate. In another embodiment, a transmission mechanism may be provided between the seat motor 53 and the seat body 52 to transmit the rotational motion from the seat motor 53 to the seat body 52. In one embodiment, limit switches may be provided on the base 52 and the vertical tabs 241. After the seat body 52 is moved to the folded/unfolded position, the limit switch is activated and the control system 40 stops the rotation of the seat 50 according to a signal from the limit switch. The limit switch may be a mechanical, optical or magnetic limit switch. In one embodiment, a stopper may be fixed to the base 52, and the vertical tab 241 is provided with a groove adjacent to the stopper. When the base 52 rotates, one end of the stopper is received and slides in the groove. When the stopper contacts one of the opposite ends of the groove, the rotation of the housing 52 is stopped.

Referring to fig. 1, 3 and 4, in one embodiment, the robotic walking assistant 100 may further include two handrails 60, the handrails 60 being rotatably connected to the inner frame 23 of the main body 20. Two motor mounts 25 are fixed to opposite sides of the inner frame 23, and two connection members 26 are respectively fixed to bottom surfaces of the motor mounts 25. Two armrest mounts 27 are each secured to the connector 26. The armrest mounts 27 are disposed above the two wheels 122 and on opposite sides of the base 52. Each armrest mount 27 may include a vertical tab 271 with two armrests 60 rotatably coupled to the vertical tabs 271, respectively. Each armrest 60 is rotatable relative to the body 20 between a collapsed position (see fig. 3, 4, and 9) and an expanded position (see fig. 10). In the folded position, the armrest 60 may be substantially vertical or slightly inclined relative to vertical. In the deployed position, the armrests 60 are substantially horizontal, which allows a user to place his/her hands on both armrests 60.

In one embodiment, two actuator mounts 28 are secured to the inner frame 23 and the motor mounting member 25 of the body 20. The actuator mounting members 28 are disposed on opposite sides of the seat body 52, below the motor mounting members 25, and opposite the two armrests 60. In one embodiment, each linear actuator 61 may include a motor 62, a tube 63, and a slidingly coupled output shaft 64. The output shaft 64 is slidable relative to the tube 63 by the drive of the motor 62. The armrests 60 are rotatably connected to the ends of the output shafts 64, respectively. When the output shaft 64 slides relative to the tube 63, the armrest 60 is pushed by the output shaft 64 and can rotate relative to the armrest mount 27.

Referring to fig. 3-5 and 8, in one embodiment, two handles 21 are employed. Each of the two handles 21 is slidable relative to the body 20 between a retracted position (see fig. 8 and 10) and an extended position (see fig. 8 and 9). Each hand 21 may include a handle body 211, an upper bar 212, and a lower bar 213. The upper and lower rods 212 and 213 are fixed to upper and lower ends of the handle body 211. The upper and lower rods 212, 213 are substantially parallel to each other. In one embodiment, two linear actuators 214 are each secured to the motor mount 25. Each linear actuator 214 may include a motor 215, a slider 216, and a shaft 217. The slider 216 is slidable along an axis 217. By driving of the motor 215, the shaft 217 rotates to drive the slider 216 to move. One end of the lower rod 213 is fixed to a slider 216 of the corresponding linear actuator 214. Thus, the handle 21 moves with the slider 216 of the linear actuator 214 between the retracted position and the extended position. When the wheel mechanisms 12 are moved to their extended positions, the handles 21 can be moved to their extended positions so that the user can hold the handles 21 upright while grasping them.

Referring to fig. 1 and 4, in one embodiment, the robotic walking assistant 100 may further include a camera 71, the camera 71 being rotatably mounted on top of the main body 20. The camera 71 may be an RGBD camera. Specifically, two supports 29 are fixed to the top of the inner frame 23 of the main body 20. The supports 29 may be disposed in a vertical direction and spaced apart from each other. The camera 71 is disposed between the two supports 29 and rotatably connected to the two supports 29. In one embodiment, the camera head 71 extends in a direction substantially perpendicular to the two support members 29. The camera head 71 is thus rotatable about an axis substantially perpendicular to the two support members 29. In another embodiment, the camera 71 may rotate about a vertical axis. In one embodiment, the robotic walking assistant 100 may further include a motor 711 for rotating the camera 71 to face forward to detect an object in front of the wheeled base 10 and for rotating the camera 71 to face backward to detect a user located behind the wheeled base 10. The camera 71 may also detect fatigue and emotional states of the user. The robotic walking assistant may then perform an action based on the detection result. For example, the robotic walking assistant may alert the user after detecting user fatigue. In one embodiment, a belt drive mechanism may be used to transfer rotational motion from motor 711 to camera 71. Specifically, one end of the camera 71 may be provided with a first timing pulley 712, and a second timing pulley (not shown) is fixed to an output shaft of the motor 711. A timing belt is provided around the first timing pulley 712 and the second timing pulley, which transmits rotational motion from the motor 711 to the camera head 71.

In one embodiment, the range of motion of the camera 71 may be set to 180 degrees. Since the camera 71 is rotatable and can move up and down together with the main body 20, the camera can have a large field of view (FOV). In addition, visual servoing algorithms may be employed to enable the camera to track certain objects.

Referring to FIG. 11, in one embodiment, the control system 40 includes a processor 41 and a memory 42 storing computer readable instructions. The processor 41 runs or executes various software programs and/or instruction sets stored in the memory 42 to perform various functions of the robotic walking assistant 100 and process data. The processor 41 may be a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a programmable logic device, a discrete gate, a transistor logic device, a discrete hardware component, or a combination of some or all of these components. The general purpose processor may be a microprocessor or any conventional processor or the like. Memory 42 may store software programs and/or sets of computer-readable instructions and may include high-speed random access memory and may include non-volatile memory, such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid state storage devices.

The robotic walking assistant 100 further includes a base motion controller 101, a foot motor driver 153, a wheel motor driver 102, a wheel motor driver 103, and a lift motor driver 104 electrically connected to the processor 41, which are electrically connected to the base motion controller 101. The foot motor driver 153 is configured to drive the motor 151 that drives the foot 15. The wheel motor driver 102 is configured to drive a motor 1201, the motor 1201 being configured to drive the rotational movement of the wheel 122. The wheel mechanism motor driver 103 is configured to drive a motor 141, the motor 141 being configured to drive the movement of the wheel mechanism 12. The lift motor driver 104 is configured to drive the motor 31 of the lift mechanism 30.

The robotic walking assistant 100 further includes a body motion controller 301, a seat motor driver 501, a camera motor driver 713, an armrest motor driver 601, and a handle motor driver 210 electrically connected to the processor 41, which are electrically connected to the body motion controller 301. The seat motor driver 501 is for driving the seat motor 53 of the seat 50. The camera motor driver 713 is for driving the motor 711. The handrail motor driver 601 is for driving the motor 62. The motor driver 210 is configured to drive the motor 215.

Referring to fig. 1 and 11, in one embodiment, a robotic walking assistant 100 includes a plurality of sensors 70, including a 3D camera 72, a LiDAR sensor 73, a plurality of IR sensors 74, a plurality of ultrasonic sensors 75, and a plurality of IMU sensors 76. The camera 72 is provided on the main body housing 22 of the main body 20. The IR sensor 74 and the ultrasonic sensor 75 are provided on the base housing 111 of the wheel base 10. IMU sensor 76 is disposed on wheeled base 10. The sensors 72-76 are configured to output data to the control system 40 so that the control system 40 can position, plan motion, track-following control, and obstacle avoidance the robotic walking assistant 100. In one embodiment, an Electrocardiogram (ECG) sensor 77 may be embedded in the handle 21 to measure the heartbeat of a user holding the handle 21. It should be noted that robotic walking assistant 00 may have more sensors than shown.

In one embodiment, the robotic walking assistant 100 further comprises a power supply system 81 that supplies power to all critical components of the robotic walking assistant 100. The power system 81 is mounted in the base 10 and may include a Battery Management System (BMS), one or more power sources (e.g., battery, alternating Current (AC)), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator (e.g., light Emitting Diode (LED)), and any other components related to the generation, management, and distribution of power. The power system 81 may also include a self-charging unit that may be engaged with a docking charging station in a fixed location, thereby allowing the robotic walking assistant 100 to be charged. The battery management system manages the rechargeable battery, for example, preventing the battery from operating outside its safe operating area, monitoring its status, calculating auxiliary data, reporting this data, controlling its environment, validating it, and/or balancing it.

In one embodiment, the robotic walking assistant 100 may also include a front display 82 and a rear display 83. The front display 82 and the rear display 83 may be touch sensitive display devices and each provide an input interface and an output interface between the robotic walking assistant 100 and the user. The front display 82 and the rear display 83 display visual output to the user. Visual output may include graphics, text, icons, video, and any combination thereof. In one embodiment, front display 82 faces the front of robotic walking assistant 100 to display general information or to allow a user remote presentation without active use of walking functions (TELEPRESENCE). The rear display 83 may display walking-related information.

In one embodiment, the robotic walking assistant 100 may also include a speaker 84 and microphone 85 that provide an audio interface between the user and the robotic walking assistant 100. Microphone 85 receives audio data and converts the audio data into electrical signals that are transmitted as commands to control system 40. The speaker 84 converts electrical signals into sound waves that are audible to humans. The speaker 84 and microphone 85 enable voice interaction between the user and the robot walking assistant. The speaker 84 may play music or other audio content to the user for entertainment purposes. The robotic walking assistant 100 may also include a wireless communication interface 86, such as a WiFi and bluetooth module. The robot walking assistant 100 may also include an NFC subsystem 89, and the NFC subsystem 89 may include an NFC chip and an antenna to communicate with another device/tag, which allows the NFC subsystem 89 to have NFC reading functionality. NFC subsystem 89 may be used for authorization purposes. That is, NFC subsystem 89 may be used as a security mechanism to determine user privileges or access levels associated with system resources.

It should be noted that fig. 11 shows only one example of the robotic walking assistant 100, and that the robotic walking assistant 100 may have more or fewer components than shown, may combine two or more components, or may have different component configurations or arrangements. For example, the robotic walking assistant 100 may include a front light belt 87 and a rear light belt 88 (see fig. 1) to illuminate a path for a user when the environment is dark. The robotic walking assistant 100 may include a storage unit for storing items such that the robotic walking assistant 100 may deliver the items to a desired location. The various components shown in fig. 11 may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and/or application specific integrated circuits.

Fig. 12 is a flowchart illustrating a method of controlling the robotic walking assistant 100 according to one embodiment, including the following steps. It should be noted that the order of the steps shown in fig. 12 is not limiting and may be varied according to actual needs. For example, after switching the robot walking assistant 100 to the walking assist mode, the processor 41 may first move the handle 21 and control the lifting mechanism 30 to move the main body 20 to a predetermined height to accommodate users of different heights and arm lengths. However, after the robotic walking assistant 100 in the autonomous mode receives a command instruction to deliver an item, the processor 41 may first move the wheeled base 10 to a determined position.

Step S101, receiving a command instruction.

The processor 41 of the control system 40 receives command instructions. For example, the processor 41 may receive command instructions from a user (e.g., a caregiver) that request the robotic walking assistant 100 to retrieve an object from one location and deliver the object to another location.

Step S201, the wheeled base 10 is moved in response to the first command instruction.

Processor 41 may analyze each command instruction and move wheeled base 10 to a determined position in response to the first command instruction. The first command instruction may include a description of the location that the robotic walking assistant 100 needs to reach. For example, when a user (e.g., seeking a caregiver) requests the robotic walking assistant 100 to take and deliver an object, the first command instruction may include a description of the starting location where the object is stored and the target location to which the object needs to be delivered. Processor 41 may execute software programs and/or sets of instructions stored in memory 42 to perform positioning, motion planning, and trajectory tracking so that wheeled base 10 may determine its real-time position in a known map during movement along the planned path. If there are dynamic obstacles on the planned path, the processor 41 may plan a new path to avoid the obstacle. In other words, the wheel 122 may be controlled to follow a prescribed path that would be adjusted if there were an obstacle on the path. The wheeled base 10 may be autonomously moved to a starting position and then to a target position. Further, the wheel 122 may be controlled by on-screen commands or control inputs inferred from a handle to which a load cell may be attached. This allows the user to directly control the movement of the wheel 122.

In response to the second command instruction, the wheel mechanism 12 is moved relative to the base 11 in step S301. Processor 41 may analyze each command instruction and move wheel mechanism 12 to the retracted position or the extended position in accordance with the second command instruction. The processor 41 may receive a second command instruction from a user (e.g., seeking a caregiver) to move the wheel mechanism 12 to the extended position so that the user may grasp the handle 21 and push the robotic walking assistant 100, or the user may sit on the seat 50. Further, processor 41 may move wheel mechanism 12 to the retracted position when certain conditions are met, such as when robotic walking assistant 100 is moved to a determined position and no further physical tasks are performed.

Step S401 rotates the seat 50 in response to the third command instruction. The processor 41 may analyze each command instruction and rotate the seat 50 to the folded or unfolded position according to the third command instruction. Processor 41 may receive a third command instruction from a user (e.g., seeking a caregiver) to rotate seat 50 to the deployed position so that the user may sit on seat 50. The processor 41 may receive a third command instruction from the user to rotate the seat 50 back to the folded position so that the robotic walking assistant 100 is ready to be pushed by the user. In addition, the processor 41 may rotate the seat 50 when certain conditions are met. For example, when the processor 41 determines that the user is tired from the output of the camera 71, the processor 41 may rotate the seat 50 to the deployed position so that the user may sit on the seat 50.

Step S501 rotates the armrest 60 in response to the fourth command instruction. The processor 41 may analyze each command instruction and rotate the armrest 60 to the collapsed or expanded position in accordance with the fourth command instruction. The processor 41 may receive a fourth command instruction from a user (e.g., seeking a caregiver) to rotate the armrest 60 to the deployed position so that the user may place his/her arm on the armrest 60 while sitting in the seat 50. Further, the processor 41 may rotate the armrest 60 when certain conditions are met. For example, when the seat 50 is rotated to the deployed position, the processor 41 rotates the armrest 60 to the deployed position. When the seat 50 is rotated to the folded position, the processor 41 rotates the armrest 60 to the folded position. The armrest 60 and the seat 50 may be rotated simultaneously to their folded or unfolded positions. But they can be controlled to rotate individually when needed.

Step S601, moving the handle 21 in response to the fifth command instruction. Processor 41 may analyze each command instruction and move handle 21 according to the fifth command instruction. The processor 41 may receive a fifth command instruction from a user (e.g., seeking a caregiver) to move the handle 21 to the extended position so that the user may grasp the handle 21 while walking to push the robotic walking assistant 100. Further, the processor 41 may move the handle 21 when certain conditions are met. For example, when the wheel mechanisms 12 are moved to their extended positions, the processor 41 moves the handles 21 to their extended positions, and when the wheel mechanisms 12 are moved to their retracted positions, the processor 41 moves the handles 21 to their retracted positions.

Step S701, rotating the camera 71 in response to the sixth command instruction. The processor 41 may analyze each command instruction and rotate the camera 71 according to the sixth command instruction. For example, the processor 41 may receive command instructions from a user (e.g., seeking a caregiver) and control the robotic walking assistant 100 to autonomously move between determined locations. In this case, the processor 41 rotates the camera 71 to face forward to detect an object in front of the robot walking assistant 100, thereby enabling the robot walking assistant 100 to sense the environment. The processor 41 may receive command instructions from a user (e.g., seeking a caregiver) requesting the robotic walking assistant 100 to provide assistance while the user is walking, the processor 41 rotating the camera 71 to face rearward to detect facial expressions or other biometric features of the user. As a result, the robotic walking assistant 100 can monitor the fatigue of the user.

Step S801 controls the elevating mechanism 30 to move the main body 20 up and down in response to the seventh command instruction. The processor 41 may analyze each command instruction and control the elevating mechanism 30 to move the main body 20 up and down according to the seventh command instruction. For example, the processor 41 may receive command instructions from a user (e.g., seeking a caregiver) and control the robotic walking assistant 100 to autonomously move between determined locations. In this case, the processor 41 controls the lifting mechanism 30 to move the main body 20 downward to the retracted position so that the robot walking assistant 100 may have a limited height, which is advantageous for the stability of the robot walking assistant 100 during movement and traveling. The processor 41 may receive command instructions from a user (e.g., seeking a caregiver) requesting that the robotic walking assistant 100 provide assistance while the user is walking, the processor 41 may then determine the height of the user and may move the body 20 to extend to the extended position based on the height of the user. In this case, the extended position is not a fixed position and may vary according to the height of the user. With such a configuration, the robotic walking assistant 100 can flexibly accommodate different users of different heights, allowing the different users to walk and propel the robotic walking assistant 100 in a generally upright posture.

In one embodiment, the robotic walking assistant 100 may operate in different modes. For example, as shown in fig. 13, the robotic walking assistant 100 may operate in a first mode or an autonomous mode. In this mode, the control system 40 may perform positioning, motion planning, trajectory tracking control, and obstacle avoidance based on the data output from the sensors 72-76, thereby autonomously moving the robotic assistant 100 between the starting and target positions to perform the designated task. In response to the autonomous mode, the wheel mechanism 12 moves to their retracted position, the feet 152 move upward away from the surface S, the body 20 moves downward to its retracted position, the seat 50 and armrest 60 rotate to their folded positions, the handle 21 moves to their retracted positions, and the camera head 71 is rotated to face forward. The robotic walking assistant 100 may operate in a second mode or sleep mode. In this mode, the robotic walking assistant 100 enters a low power state and maintains this state. When the robotic walking assistant 100 in the first mode does not receive a user input or the robotic walking assistant 100 is charged for a preset period of time (e.g., 10 minutes), the robotic walking assistant 100 is switched to the second mode. The robotic walking assistant 100 may switch to the first mode upon receiving a user command (e.g., a voice command, a touch on the display 82, etc.).

The robotic walking assistant 100 may operate in a third mode or a standing assist mode. In this mode, the wheel mechanism 12 and the handle 21 are moved to their extended positions, which enables the robotic walking assistant 100 to function as a stable structure in which a user can grasp the handle 21 and stand up from a sitting position. After the robotic walking assistant 100 in the first mode approaches the seated user, the robotic walking assistant 100 may switch to the third mode. When there is no physical task, the robotic walking assistant 100 in the third mode may switch to the first mode. The robot walking assistant 100 may operate in the fourth mode or the walking assist mode. In response to the walking assist mode command instruction, the wheel mechanism 12 and the grip 21 are moved to their extended positions, the foot 152 is moved upward away from the surface S, and the main body 20 is moved upward to the extended position according to the height of the user. In this mode, the robotic walking assistant 100 is ready to be propelled by the user and helps to support a portion of the user's weight while walking. After the robotic walking assistant 100 in the first mode approaches a standing user, the robotic walking assistant 100 may switch to the fourth mode. When there is no physical task, the robotic walking assistant 100 in the fourth mode may switch to the first mode.

The robotic walking assistant 100 may operate in a fifth mode or a walking training mode. In response to the walk training mode command instruction, the wheel mechanism 12 and the grip 21 are moved to their extended positions, the foot 152 is moved upward away from the surface S, and the main body 20 is moved upward to the extended position according to the height of the user. In this mode, the robotic walking assistant 100 is ready to be propelled by the user and helps to support a portion of the user's weight while walking. After the robotic walking assistant 100 in the first mode approaches a standing user, the robotic walking assistant 100 may switch to the fifth mode. When there is no physical task, the robotic walking assistant 100 in the fifth mode may switch to the first mode. The walking training mode is different from the walking assist mode in that the robot walking assistant 100 in the walking training mode applies additional resistance to the user, so he/she must make additional effort to push the robot walking assistant forward or left and right. Thereby increasing muscle strength and coordination with sufficient training time. In one embodiment, wheeled base 10 may also include a brake. Processor 41 then controls the brake to press against the moving wheel 122 to generate friction when the robotic walking assistant switches to the walking training mode. In this case, the user needs to apply more pushing force to the robot walking assistant 100, so that the muscular strength and coordination ability can be increased with enough training time.

The robotic walking assistant 100 may operate in a sixth mode or rest mode. In response to the resting mode command instruction, the wheel mechanisms 12 move to their extended positions, the feet 152 move downward to contact the surface S, and the seat 50 and armrest 60 rotate to their deployed positions. The robotic walking assistant 100 is thus ready to take a rest while the user is sitting. The robot walking assistant 100 in the fourth mode may switch to the sixth mode after receiving an instruction of the user or detecting tiredness of the user. The robot walking assistant 100 in the sixth mode may switch to the fourth mode upon receiving an instruction from the user. It should be noted that fig. 13 only shows one example of the operation mode of the robot walking assistant 100, and the robot walking assistant 100 may have more operation modes than shown.

Fig. 14 illustrates nine exemplary scenarios when robotic walking assistant 100 is operating to provide walking assistance/training to a user. Specifically, the first scenario displays that the robotic walking assistant 100 receives a schedule from a user (e.g., seeking a caregiver or patient). The schedule may include descriptions of a travel start time, a travel duration, a start location, a destination location, a travel route, and the like. The front display 82 displays a walk planning user interface that allows a user to create a schedule directly on the robotic walking assistant 100. In another embodiment, the robotic walking assistant 100 may receive a schedule created on a computing device, such as a cellular telephone, laptop computer, desktop computer, or the like, through a wireless or wired connection. In yet another embodiment, when the robotic walking assistant 100 is used in a medical facility, an elderly care facility, or an assisted living facility that includes a central platform that manages the robotic walking assistant 100, the robotic walking assistant 100 may receive a schedule created by a healthcare professional of the central platform. The second scenario shows the robotic walking assistant 100 finding the user (e.g., seeking a caregiver or patient) at a time and place specified by the schedule. A third scenario shows the robotic walking assistant 100 approaching the user and switching to a standing assist mode to assist the user sitting in the chair in standing. The fourth scenario displays robotic walking assistant 100 switching to a walking assistance mode to provide walking assistance to the user. The fifth scenario shows the robotic walking assistant 100 alerting the user when fatigue behavior is detected from the output from the camera 71. The alarm may be visual or audible.

The sixth scenario shows the robotic walking assistant 100 switching to a rest mode so that the user may sit on the seat 50. The seventh scenario shows that the robotic walking assistant 100 continues to escort the user to the destination after the user has had a break. An eighth scenario shows the robotic walking assistant 100 detecting an obstacle/hazard in front of the walking assistant 100 and guiding the user around the obstacle/hazard. The robotic walking assistant 100 may report the obstacle/risk to the central platform. The ninth scenario shows that the robotic walking assistant 100 continues to escort the users until they reach the planned destination.

Fig. 15 illustrates an exemplary scenario when a robotic walking assistant is operating in an autonomous mode in a venue such as a healthcare venue, an geriatric care venue, or an assisted living venue. The first and second scenarios show the robotic walking assistant 100 receiving a request from a first user (e.g., a healthcare professional) to deliver an item to a second user (e.g., seeking a caregiver or patient). In this case, the robot walking assistant 100 may include a storage unit in the main body 20 to store articles such as books, letters, prescription drugs, and the like. The front display 82 may display a user interface that allows for the entry of information about the second user (e.g., the location of the second user). The third scenario shows the robotic walking assistant 100 autonomously moving towards the position of the second user. The third scenario shows the robot walking assistant 100 reaching the location of the second user and informing the second user of the item sent by the first user. The fifth scenario displays that the second user retrieves the delivered item and the robotic walking assistant 100 may record an audio message or a video message of the second user. A sixth scenario shows the robotic walking assistant 100 autonomously moving to the first user and informing the first user that the item has completed delivery and playing an audio message or a video message from the second user.

Fig. 16 is an exemplary flowchart illustrating a method for controlling a robotic walking assistant to receive a walking plan from a central platform, including the following steps. The central platform refers to a platform of places such as medical institutions, aged care institutions and auxiliary living institutions. The central platform may include a plurality of user interfaces generated by the application. The user interface displays information of all tasks that the one or more robotic walking assistants are performing or are ready to perform. The application will be well suited for a healthcare manager or administrator to access the most data rich user interface and have a full knowledge of the overall operation. From priority to authorization, full control is focused on the most efficient workflow. All of these user interfaces provide the care provider with the functionality required for "intelligent logistics," including responding to requests, optimizing mission plans, determining optimized routes, and the like.

Step S171, receiving a walking schedule from the central platform. Processor 41 of control system 40 receives the walking schedule from the central platform. In one embodiment, the walking schedule is created by a healthcare professional on a central platform. The schedule may include descriptions of a travel start time, a travel duration, a start location, a destination location, a travel route, a user location, user identification information, and the like.

Step S172 is to autonomously move to the position of the user (e.g., seeking a caregiver or patient) according to the walking schedule. After step S171, the robot walking assistant 100 switches to the autonomous mode and moves toward the user position specified in the walking plan.

Step S173, locating and identifying the user. In one embodiment, the robotic walking assistant 100 may use facial recognition techniques to locate and identify a user.

Step S174, the user is requested to confirm the walking schedule. The robot walking assistant 100 may display the walking schedule on the front display 82 and may read out the walking schedule. The robotic walking assistant 100 may also provide one or more user interfaces for the user to accept or modify the walking schedule.

And step S175, sending a confirmation result to the central platform. After the user accepts or modifies the walking plan, the robotic walking assistant 100 sends the confirmation result to the central platform.

Fig. 17 is a flowchart illustrating a method of controlling the robotic walking assistant 100 according to one embodiment, which includes the following steps.

Step S181, autonomously moving to the position of the user. In one embodiment, the robotic walking assistant 100 may autonomously move to the user's location according to a pre-planned walking schedule or in response to command instructions from the user.

Step S182, locating and identifying the user. In one embodiment, the robotic walking assistant 100 may use facial recognition techniques to locate and identify a user.

Step S183, judging whether the user stands. If the user is standing, the flow proceeds to step S184.

Step S184 is to switch the robot walking assistant 100 to the walking assist mode while the main body 20 is moved upward to the extended position. In one embodiment, the robotic walking assistant 100 may receive a user profile from the central platform, the user profile including the user's height. The main body 20 is movable upward to an extended position according to the height of the user so that the handle 21 is at a comfortable height for the user. The robotic walking assistant 100 may also provide a user interface for a user to adjust the height of the handle 21. At this time, the processor 41 may control the elevating mechanism 30 to move the body 20 up and down according to the height value input by the user.

Step S186, requesting the user to confirm the current walking event. In one embodiment, the travel schedule may include a plurality of travel events, and the robotic walking assistant 100 may determine a current travel event corresponding to the current time. The travel event may include a description of a destination, a travel route, a travel duration, and the like. In another embodiment, the robotic walking assistant 100 may plan a walking route according to a destination specified in the walking schedule. The robotic walking assistant 100 may display the destination, the planned walking route, the walking speed, and the walking duration on the first display. The robotic walking assistant 100 may also provide one or more user interfaces for the user to accept or modify the displayed parameters.

Step S187, move to the destination. After the user confirms or modifies the current walking event, the robotic walking assistant 100 safeguards the user and moves toward the destination according to the accepted/modified walking event. In one embodiment, the robotic walking assistant 100 may autonomously move and guide the user to a destination along a planned path. In another embodiment, the robotic walking assistant 100 moves only when pushed/pulled by the user. In this case, the rear display 83 may display navigation information to guide the user to the destination along the planned path.

If the user is not standing, the flow proceeds to step S185. Step S185, the robot walking assistant 100 is switched to the standing assist mode. In this mode, the robotic walking assistant 100 may help the user stand. The flow then proceeds to step S184.

It should be appreciated that the above disclosure describes in detail several embodiments of the robotic walking assistant 100 that can provide walking assistance and fall prevention. As described above, the robot walking assistant 100 may be used to assist a living place or a health care place. However, the present invention is not limited thereto. In other exemplary use scenarios, the robotic walking assistant 100 may be used in a hospital.

With the above configuration, the robot walking assistant can promote a positive lifestyle of the elderly. The robotic walking assistant may allow them to do more movement to maintain their mobility. Walking around also provides the elderly, particularly in a pension or assisted living facility, with more opportunities to interact with others, leaving them feel less loneliness. The robot walking assistant also has a fall prevention function. For example, if the robotic walking assistant detects a puddle or slipper en route, a trip hazard signal may be emitted to the elderly.

It is intended that the specification and examples be considered as exemplary only, with a true scope being indicated by the following claims and their equivalents.

The foregoing description, for purposes of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. A robotic walking assistant comprising:

a wheeled base comprising a base and one or more position-adjustable wheels connected to the base, each of the one or more wheels being slidable relative to the base between a retracted position and an extended position in a direction parallel to a surface over which the wheeled base moves;

a main body disposed in a vertical direction, located on the wheel base, and having at least one handle;

one or more drive pins connected to the base, and

A control system that receives command instructions;

Wherein, in response to a rest mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move downward to contact the surface;

wherein, in response to a walk-assist mode command instruction, the control system is configured to move the one or more wheels to the extended position and instruct the one or more drive feet to move upward away from the surface, and

Wherein, in response to an autonomous mode command instruction, the control system is configured to move the one or more wheels to the retracted position and instruct the one or more driven feet to move upward away from the surface;

the robotic walking assistant is further configured to:

controlling the robot walking assistant to autonomously move to the position of the user;

Locating and identifying the user;

Judging whether the user stands, if the user stands, switching the robot walking assistant to a walking assist mode and controlling the main body to move upwards to a preset position, and

After the user confirms or modifies the current walking event, the robotic walking assistant is controlled to escort the user and move toward the destination in accordance with the accepted or modified walking event.

2. The robotic walking assistant of claim 1, wherein the one or more wheels are slidable relative to the base in a direction that is inclined outwardly relative to a direction of movement of the wheeled base.

3. The robotic walking assistant of claim 1, further comprising one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels between the retracted position and the extended position.

4. The robotic walking assistant of claim 1, further comprising a foldable seat rotatably connected to the main body, wherein the control system instructs the foldable seat to rotate between a folded position and an unfolded position.

5. The robotic walking assistant of claim 1, further comprising a camera rotatably mounted on top of the main body, wherein the control system instructs the camera to face forward to detect objects in front of the wheeled base and instructs the camera to face backward to detect users behind the wheeled base.

6. The robotic walking assistant of claim 1, wherein the at least one handle is slidable relative to the main body.

7. A robotic walking assistant comprising:

a wheeled base comprising a base and one or more wheels movably and rotatably mounted on the base, the one or more wheels being configured to move relative to the base over a surface to form different sets of support points at different locations on the surface;

a main body disposed in a vertical direction and having at least one handle;

a lifting mechanism provided on the wheeled base, the lifting mechanism configured to move the main body up and down;

One or more driving feet connected with the base, wherein the one or more driving feet can move up and down along the vertical direction;

wherein, in response to a resting mode command instruction, the one or more wheels are configured to move to a first position and the one or more drive feet are configured to move downward to contact the surface;

Wherein, in response to a walk-assist mode command instruction, the one or more wheels are configured to move to the first position and the one or more drive feet are configured to move upward away from the surface, and

Wherein, in response to the autonomous mode command instruction, the one or more wheels are configured to move to a second position and the one or more drive feet are configured to move upward away from the surface;

the robotic walking assistant is further configured to:

autonomously moving to the user's location;

Locating and identifying the user;

judging whether the user is standing, switching to a walking assist mode if the user is standing, and controlling the main body to move upward to a preset position, and

After the user confirms or modifies the current walking event, the user is escrowed and moved toward the destination according to the accepted or modified walking event.

8. The robotic walking assistant of claim 7, wherein the one or more wheels are slidable relative to the base in a direction that is inclined outwardly relative to the direction of movement of the wheeled base.

9. The robotic walking assistant of claim 7, further comprising one or more linear actuators, wherein the one or more linear actuators are fixed to the base and configured to drive the one or more position-adjustable wheels to move relative to the base.

10. A robotic walking assistant comprising:

a wheeled base comprising a base, one or more first wheels rotatably connected to the base, and one or more second wheels movably and rotatably connected to the base, the one or more second wheels being slidable relative to the base to form an adjustable distance between the one or more first wheels and the one or more second wheels;

an elongated body having at least one handle;

one or more drive pins connected to the base, and

wherein, in response to a resting mode command instruction, the one or more second wheels are configured to move to a first position and the one or more drive feet are configured to move downward to contact a surface over which the wheeled base moves;

Wherein, in response to the walk-assist mode, the one or more second wheels are configured to move to a first position and the one or more drive feet are configured to move upward away from the surface;

Wherein, in response to the autonomous mode command instruction, the one or more second wheels are configured to move to a second position and the one or more drive feet are configured to move upward away from the surface;

the robotic walking assistant is further configured to:

autonomously moving to the user's location;

Locating and identifying the user;