Robotic assistant and method for controlling the same

Patent metadata

Field	Value
Publication number	US-11617705-B2
Application number	US-202117530501-A
Country	US
Kind code	B2
Filing date	Nov 19, 2021
Priority date	Sep 7, 2021
Publication date	Apr 4, 2023
Grant date	Apr 4, 2023

Abstract

A robotic assistant includes a wheeled base, a body positioned on the base, a foldable seat rotatably connected to the body, an actuator to rotate the foldable seat with respect to the body, and a control system that receives command instructions. The actuator is electrically coupled to the control system. In response to the command instructions, the control system is to control the actuator to rotate the foldable seat to a folded position or an unfolded position. The control system is further to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.

First claim

What is claimed is:

1. A robotic assistant, comprising:
a wheeled base;
a body positioned on the base;
a foldable seat rotatably connected to the body;
an actuator configured to rotate the foldable seat with respect to the body;
a control system that receives command instructions, the actuator electrically coupled to the control system;
wherein in response to the command instructions, the control system is configured to control the actuator to rotate the foldable seat to a folded position or an unfolded position;
wherein the control system is further configured to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.

2. The robotic assistant of claim 1 , wherein the foldable seat comprises a hollow seat body and the actuator is arranged within the seat body.

3. The robotic assistant of claim 1 , further comprising two support members fixed to the wheeled base and a first connecting shaft that is connected to one of the two support members, wherein the actuator comprises a rotating output shaft, and the connecting shaft is coaxially connected to the rotating output shaft.

4. The robotic assistant of claim 1 , further comprising two support members fixed to the wheeled base, a second connecting shaft that is connected to one of the two support members, and a torsion spring, wherein the foldable seat is rotatable with respect to the second connecting shaft, the torsion spring is arranged around the second connecting shaft, the torsion spring comprises two ends that respectively abut against the foldable seat and the second connecting shaft.

5. The robotic assistant of claim 1 , wherein the foldable seat comprises a seat body that comprises a seat base and seat cover, the seat base defines a storage space in a lower side and comprises a door rotatably connected to the seat base, and the door is configured to keep the storage space closed.

6. The robotic assistant of claim 1 , further comprising a light sensor arranged within the wheeled base, wherein the light sensor is electrically coupled to the control system, the control system is configured to control the actuator to rotate the foldable seat to the unfolded position in response to the light sensor detecting presence of a user for a preset time period.

7. A robotic assistant, comprising:
a wheeled base;
a foldable seat that is rotatable with respect to the wheeled base;
an actuator configured to rotate the foldable seat with respect to the body;
one or more processors,
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprise:
instructions for receiving a command indicating rotation of the foldable seat;
instructions for sending a position command to the actuator to rotate the foldable seat to a desired position based on the command indicating rotation of the foldable seat;
instructions for detecting whether an external force has applied to the foldable seat; and
instructions for releasing the actuator to allow the foldable seat to be manually rotated in response to detection of the external force.

8. The robotic assistant of claim 7 , wherein the instructions for detecting whether the external force has applied to the foldable seat comprise:
instructions for measuring current of the actuator; and
instructions for determining that the external force has applied to the foldable seat in response to the current of the actuator being greater than a preset value for a preset time period.

9. The robotic assistant of claim 7 , wherein the foldable seat comprises a hollow seat body and the actuator is arranged within the seat body.

10. The robotic assistant of claim 7 , further comprising two support members fixed to the wheeled base and a first connecting shaft that is connected to one of the two support members, wherein the actuator comprises a rotating output shaft, and the connecting shaft is coaxially connected to the rotating output shaft.

11. The robotic assistant of claim 7 , further comprising two support members fixed to the wheeled base, a second connecting shaft that is connected to one of the two support members, and a torsion spring, wherein the foldable seat is rotatable with respect to the second connecting shaft, the torsion spring is arranged around the second connecting shaft, the torsion spring comprises two ends that respectively abut against the foldable seat and the second connecting shaft.

12. The robotic assistant of claim 7 , wherein the foldable seat comprises a seat body that comprises a seat base and seat cover, the seat base defines a storage space in a lower side and comprises a door rotatably connected to the seat base, and the door is configured to keep the storage space closed.

13. The robotic assistant of claim 7 , further comprising a light sensor arranged within the wheeled base, wherein the light sensor is electrically coupled to the control system, the control system is configured to control the actuator to rotate the foldable seat to the unfolded position in response to the light sensor detecting presence of a user for a preset, time period.

14. A method for controlling a robotic assistant, the method comprising:
providing a wheeled base;
providing a foldable seat that is rotatable with respect to the wheeled base;
providing an actuator that is configured to rotate the foldable seat with respect to the body;
receiving a command indicating rotation of the foldable seat;
sending a position command to the actuator to rotate the foldable seat to a desired position based on the command indicating rotation of the foldable seat;
detecting whether an external force has applied to the foldable seat; and
releasing the actuator to allow the foldable seat to be manually rotated in response to detection of the external force.

15. The method of claim 14 , wherein the external force is determined based on current of the actuator.

16. The method of claim 15 , wherein detecting whether the eternal force has applied to the foldable seat comprises:
measuring current of the actuator; and
determining that the external force has applied to the foldable seat in response to the current of the actuator being greater than a preset value for a preset time period.

17. The method of claim 14 , further comprising, after releasing the actuator to allow the foldable seat to be manually rotated in response to detection of the external force,
measuring current of the actuator;
determining a position of the foldable seat; and
performing a compliant control to the foldable seat to compensate for the external force in response to the foldable seat being in a folded position or in an unfolded position.

18. The method of claim 14 , further comprising:
providing a light sensor that is arranged within the wheeled base;
detecting presence of a user using the light sensor; and
controlling the actuator to rotate the foldable seat to the unfolded position in response to detection of presence of the user.

Assignees

• Ubtech North America Res And Development Center Corp
• Ubtech Robotics Corp Ltd

Inventors

• Ding Houzhu
• Ohanian Armen Gardabad
• Laplante Brandon Jon
• Zhang Chengkun
• Xiu Zhen
• Tan Huan

Classifications

• A61H2201/5046

  Touch screens · CPC title

• A61H2201/123

  Linear drive · CPC title

• A61H3/04 Primary

  Wheeled walking aids for patients or disabled persons · CPC title

• A61H2201/5058

  Sensors or detectors · CPC title

• A61H2201/1633

  Seat (A61H2201/0149 takes precedence) · CPC title