Research On The Standing And Walking Assistance Robot With Intelligent Anti-fall Strategies

With the aging of population in China,In the end of 2019,statistics showed 176.03 million are more than 65 years old,recorded 17.8% of China's total population.Therefore China has become the world's most aging population.According to the second national sample survey of disabled people,the number of disabled people in China has reached24.12 million.Simultaneously,the number of paralyzed people of lower limbs caused by stroke,spinal cord injury,and limb injury increases.Wheelchair,as a tool to improve the quality of life of patients with lower extremity dyskinesia,has great social needs and broad market prospects.In view of the problems of self-care and physical and mental health of the elderly,disabled people and stroke hemiplegia patients,this paper studies a standing intelligent walking robot,which can help the patients with lower extremity dyskinesia to complete their daily activities such as bed,toilet,washing,dining,rehabilitation training,outdoor travel and shopping in the mall,so that the patients can basically realize their life Living self-care,reducing labor intensity of artificial nursing,reducing or eliminating the patients' physical and mental pain,and improving the quality of life and happiness index of patients.The biggest feature of standing intelligent walking robot is to realize the adjustment of user's sitting posture,and the structure is compact and suitable for home use.But in the process of posture transformation,the center of gravity of robot and user will be offset.If the anti falling measures are not perfect,it is likely to cause the patient to fall.A large number of cases show that once the patients with sports disabilities fall,the secondary injury is often more serious,sometimes even directly endangering the safety of life.Therefore,for the walking robot with the function of posture transformation,the fall prevention technology is very important.In order to provide users with safe and reliable and superior tools for standing and walking,in the design process of standing intelligent walking aid robot,this paper takes multiple intelligent anti fall safety measures to enable the patients to move flexibly in indoor and outdoor space safely and stably.The main contents of this paper are as follows1)A system planning of the robot with intelligent anti fall function is proposed.The construction method and technical realization of the robot mechanism are given.On the basis of ensuring the function of helping the walking,the omnidirectional movement and intelligent fall proof function of the robot are realized.2)The kinematics of the mobile platform and the supporting mechanism of the walking robot is studied in depth,and the kinematic model of the mobile platform and the supporting mechanism is established.3)The paper studies the safety control strategy of the intelligent fall-proof robot,and plans the corresponding measures to be taken actively when the robot is about to overturn,so as to ensure the safety of users.4)The control system design of walking robot is carried out.In hardware aspect,the motion controller module,motor drive module and sensor module are designed and selected respectively.In software aspect,the software design method of ? c/os-ii operating system and multitasking program is adopted,and tasks are divided according to the system function,and the design of each task module is completed.5)Finally,the experimental research on the intelligent fall-proof robot is carried out.The experiment results verify the ability of the robot in the aspects of convenience,moving walking,sitting posture transformation,climbing performance,obstacle crossing performance and anti falling performance.It also proves the rationality and effectiveness of the paper and technical methods.