阅读说明：本技术 一种自动上下车装置及其上下车控制方法 (Automatic getting-on and getting-off device and getting-on and getting-off control method thereof ) 是由 柯健 于 2020-06-22 设计创作，主要内容包括：本申请提供了一种自动上下车装置及其上下车控制方法,可以自动上下车或上下阶梯,无需人员操控,可自主完成上车下车或上下阶梯,为失能人士的日常出行带来了极大的便利,解放了其陪护人员。其解决了现有技术中的用于辅助行走的轮椅所存在的功能单一、不能从多方面提升丧失行走能力的人的自理能力的问题。(The application provides an automatic getting-on and getting-off device and a getting-on and getting-off control method thereof, which can automatically get on and off a vehicle or get on and off stairs without personnel control, can autonomously finish getting on and off the vehicle or getting on and off the stairs, brings great convenience for the daily travel of incapacitated people, and liberates accompanying personnel thereof. The wheelchair solves the problems that the wheelchair for assisting walking in the prior art has single function and can not improve the self-care ability of people losing walking ability from multiple aspects.)

1. An automatic getting on/off device, comprising:

an upper main body (201), the upper main body (201) including an upper main stand, a hip support part (101) for a user to sit on, a back support part (102), and a first wheel assembly (203); the hip supporting part (101) and the back supporting part (102) are fixed on the upper main bracket; the first wheel assembly (203) comprises a leg supporting part (103), at least two first wheel assemblies (104) which are arranged on the left and right of the leg supporting part (103) and close to the ground, a first rotating shaft (105) and a first lifting mechanism; the leg supporting part (103) is connected to the front side of the upper main bracket through the first rotating shaft (105), and the first lifting mechanism is used for driving the leg supporting part (103) to carry the first wheel set (104) to turn up and down around the first rotating shaft (105);

a lower body (202), wherein the lower body (202) comprises a lower main support, a front wheel assembly (204), a front wheel driving mechanism for driving the front wheel assembly (204) to move, a rear wheel assembly (205), a rear wheel driving mechanism for driving the rear wheel assembly (205) to move, a front wheel lifting mechanism, a rear wheel lifting mechanism and a first driving mechanism; the upper main bracket is arranged on the lower main bracket, and the first driving mechanism is used for driving the upper main bracket to slide back and forth on the lower main bracket; the front wheel assembly (204) comprises at least two front wheel sets (106) arranged left and right, and the rear wheel assembly (205) comprises at least two rear wheel sets (107) arranged left and right; the front wheel lifting mechanism is used for driving the front wheel assembly (204) to ascend and descend, and the rear wheel lifting mechanism is used for driving the rear wheel assembly (205) to ascend and descend.

2. The automatic getting on/off device as claimed in claim 1, wherein the upper body (201) further comprises a foot support portion (108), a second rotation shaft (109), and a second driving mechanism, the foot support portion (108) being connected to a lower side of the leg support portion (103) through the second rotation shaft (109), the first wheel set (104) being provided at a lower side of the foot support portion (108); the second driving mechanism is used for driving the foot supporting part (108) to turn over along the second rotating shaft (109).

3. The automatic loading/unloading apparatus according to claim 2, wherein the upper body (201) further comprises armrest portions (110), the armrest portions (110) are provided at left and right sides of the upper main support, and a manual operator (111) for controlling at least one of the first elevating mechanism, the front wheel elevating mechanism, the rear wheel elevating mechanism, the front wheel driving mechanism, the rear wheel driving mechanism, the first driving mechanism, and the second driving mechanism is provided on the armrest portion (110).

4. The automatic getting on/off device as claimed in claim 1, wherein said lower main frame is provided with a slide rail, and said first driving mechanism drives said upper main frame to slide back and forth along said slide rail.

5. The automatic loading and unloading device of claim 1, wherein the upper body (201) further comprises a detection system (112), the detection system (112) comprises at least one of a laser radar, a depth camera and a photo camera, the laser radar is used for scanning the outline to establish the model map, the depth camera is used for acquiring depth information, and the photo camera is used for identifying specific targets.

6. The automatic entry and exit vehicle apparatus as claimed in claim 1, wherein said front wheel lift mechanism includes a third shaft (113), said front wheel lift mechanism being adapted to drive said front wheel assembly (204) up and down about said third shaft (113).

7. The automatic entry and exit apparatus as claimed in claim 1, wherein said rear wheel lift mechanism includes a fourth shaft (114), said rear wheel lift mechanism being adapted to drive said rear wheel assembly (205) up and down about said fourth shaft (114).

8. The automatic entry and exit vehicle device of claim 1 wherein said first wheel assembly (203) further comprises a distance sensor (115) for detecting a distance of the first wheel assembly from a ground surface; and/or the upper main body further comprises a touch display screen (116) used for displaying information to a user and receiving control instructions input by the user; and/or, the automatic getting-on/off device further comprises a battery (117) arranged on the upper main bracket or the lower main bracket.

9. The automatic entry and exit vehicle apparatus of claim 1 wherein at least one of said first lift mechanism, said front wheel lift mechanism, and said rear wheel lift mechanism employs a recliner to drive said first wheel assembly, said front wheel assembly, and said rear wheel assembly up and down, respectively.

10. A method of controlling entry and exit of an automatic entering and exiting vehicle apparatus according to any one of claims 1 to 9, comprising:

the first lifting mechanism drives the first wheel assembly to lift so as to be lifted to be higher than the chassis of the automobile;

the front wheel driving mechanism and/or the rear wheel driving mechanism drives the front wheel set and/or the rear wheel set to move, so that the first wheel assembly enters the vehicle;

the first lifting mechanism drives the first wheel assembly to descend until the first wheel assembly is in contact with the ground in the vehicle;

the first driving mechanism drives the upper main support to slide forwards for a preset distance so that the upper main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to lift so as to be lifted to be higher than the automobile chassis;

the rear wheel driving mechanism drives the rear wheel set to move, so that the lower main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to descend until the front wheel set is in contact with the ground in the vehicle;

the rear wheel lifting mechanism drives the rear wheel assembly to lift so as to lift to be higher than the automobile chassis;

the front wheel driving mechanism drives the front wheel set to move, so that the automatic getting-on and getting-off device integrally enters the vehicle;

the first driving mechanism, the first lifting mechanism and the rear wheel lifting mechanism respectively drive the upper main support, the first wheel assembly and the rear wheel assembly to restore to original positions.

Technical Field

The application relates to an automatic getting-on and getting-off device and a getting-on and getting-off control method thereof, in particular to a wheelchair capable of automatically getting on and getting off.

Background

The walking function is an important function of a human body, and for a person losing the walking function, the movement and the displacement of the person need to be assisted by a wheelchair, but the current wheelchair has a single function and can only solve the displacement problem. Disabled people still need to be assisted by nursing staff to a great extent, and the freedom and autonomy in life are greatly limited. Particularly, the existing wheelchair can not be independently used for getting on or off, and can only enter the vehicle by being assisted by strong people or multiple people, so that great inconvenience is brought to disabled people and accompanying personnel.

The existing wheel chair cannot solve daily living pain points of incapacitated people, such as: the self-care living ability of disabled people is greatly limited by the requirements of getting on or off the bus, getting on or off stairs and the like.

Disclosure of Invention

The application provides an automatic getting-on and getting-off device and a getting-on and getting-off control method, which can realize the function of automatically getting on and off.

The embodiment of the application provides an automatic get on or off device, includes:

an upper main body including an upper main bracket, a hip support part for a user to sit on, a back support part, and a first wheel assembly; the hip supporting part and the back supporting part are fixed on the upper main bracket; the first wheel assembly comprises a leg supporting part, at least two first wheel assemblies arranged on the left and right of the leg supporting part and close to the ground, a first rotating shaft and a first lifting mechanism; the leg supporting part is connected to the front side of the upper main support through the first rotating shaft, and the first lifting mechanism is used for driving the leg supporting part to carry the first wheel set to turn up and down around the first rotating shaft;

the lower main body comprises a lower main support, a front wheel assembly, a front wheel driving mechanism for driving the front wheel assembly to move, a rear wheel assembly, a rear wheel driving mechanism for driving the rear wheel assembly to move, a front wheel lifting mechanism, a rear wheel lifting mechanism and a first driving mechanism; the upper main bracket is arranged on the lower main bracket, and the first driving mechanism is used for driving the upper main bracket to slide back and forth on the lower main bracket; the front wheel assembly comprises at least two front wheel sets arranged left and right, and the rear wheel assembly comprises at least two rear wheel sets arranged left and right; the front wheel lifting mechanism is used for driving the front wheel assembly to ascend and descend, and the rear wheel lifting mechanism is used for driving the rear wheel assembly to ascend and descend.

In one embodiment, the upper body further comprises a foot supporting part, a second rotating shaft and a second driving mechanism, the foot supporting part is connected to the lower side of the leg supporting part through the second rotating shaft, and the first wheel set is arranged on the lower side of the foot supporting part; the second driving mechanism is used for driving the foot supporting part to turn over along the second rotating shaft.

In one embodiment, the upper main body further includes an armrest portion disposed on both sides of the upper main support, and a manual operator for controlling at least one of the first lifting mechanism, the front wheel lifting mechanism, the rear wheel lifting mechanism, the front wheel driving mechanism, the rear wheel driving mechanism, the first driving mechanism, and the second driving mechanism is disposed on the armrest portion.

In one embodiment, a slide rail is arranged on the lower main support, and the first driving mechanism drives the upper main support to slide back and forth along the slide rail.

In an embodiment, the upper main body further comprises a detection system, the detection system is arranged on the main support, and the detection system comprises at least one of a laser radar device, a depth camera and a photographing camera. The laser radar is used for scanning the outline to establish a model map, the depth camera is used for acquiring depth information, and the photographing camera is used for recognizing a specific target.

In one embodiment, the front wheel lifting mechanism comprises a third rotating shaft, and the front wheel lifting mechanism is used for driving the front wheel assembly to lift and lower around the third rotating shaft.

In one embodiment, the rear wheel lifting mechanism includes a fourth rotating shaft, and the rear wheel lifting mechanism is used for driving the rear wheel assembly to ascend and descend around the fourth rotating shaft.

In one embodiment, the first wheel assembly further comprises a distance sensor for detecting the distance of the first wheel assembly from the ground.

In one embodiment, the upper body further comprises a touch display screen for displaying information to a user and receiving a control instruction input by the user.

In one embodiment, the automatic getting on and off device further includes a battery provided on the upper main stand or the lower main stand.

In one embodiment, at least one of the first lifting mechanism, the front wheel lifting mechanism, and the rear wheel lifting mechanism employs a recliner to drive the first wheel assembly, the front wheel assembly, and the rear wheel assembly to rise and fall, respectively.

The embodiment of the application also provides a method for controlling getting on and off of any one of the automatic getting on and off devices, which comprises the following steps:

the first lifting mechanism drives the first wheel assembly to lift so as to be lifted to be higher than the chassis of the automobile;

the front wheel driving mechanism and/or the rear wheel driving mechanism drives the front wheel set and/or the rear wheel set to move, so that the first wheel assembly enters the vehicle;

the first lifting mechanism drives the first wheel assembly to descend until the first wheel assembly is in contact with the ground in the vehicle;

the first driving mechanism drives the upper main support to slide forwards for a preset distance so that the upper main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to lift so as to be lifted to be higher than the automobile chassis;

the rear wheel driving mechanism drives the rear wheel set to move, so that the lower main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to descend until the front wheel set is in contact with the ground in the vehicle;

the rear wheel lifting mechanism drives the rear wheel assembly to lift so as to lift to be higher than the automobile chassis;

the front wheel driving mechanism drives the front wheel set to move, so that the automatic getting-on and getting-off device integrally enters the vehicle;

the first driving mechanism, the first lifting mechanism and the rear wheel lifting mechanism respectively drive the upper main support, the first wheel assembly and the rear wheel assembly to restore to original positions.

In view of the deficiencies in the prior art, the present invention provides an automatic getting-on/off device and a method for controlling getting-on/off of a vehicle, so as to solve the problems of a wheelchair for assisting walking in the prior art that the wheelchair has a single function and cannot improve the self-care ability of a person who loses walking ability from multiple aspects. Need not personnel and control when automatic getting on or off the bus or getting on or off the ladder, can independently accomplish getting on or off the bus or getting on or off the ladder, for the daily trip of disability personage has brought very big facility, has liberated its accompanying person.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an automatic loading/unloading apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of an automatic loading/unloading apparatus according to an embodiment of the present disclosure;

fig. 3-11 are logic diagrams of the automatic getting-on/off device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, for example "first", "second", etc., in this application is used solely to distinguish between the objects depicted and not to imply any order or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The invention of the application aims to provide an automatic getting-on and getting-off device to solve the problems that the wheelchair for assisting walking in the prior art has single function and cannot improve the self-care ability of people losing walking ability from multiple aspects. Need not personnel and control when automatic getting on or off the bus or getting on or off the ladder, can independently accomplish getting on or off the bus or getting on or off the ladder, for the daily trip of disability personage has brought very big facility, has liberated its accompanying person.

Please refer to fig. 1-11, wherein fig. 3-11 are logic diagrams of the operation of the automatic getting-on/off device during loading. The present embodiment provides an automatic getting on/off device including an upper body 201 and a lower body 202.

The upper main body 201 includes an upper main stand, a hip support part 101 for a user to sit on, a back support part 102, and a first wheel assembly 203; the hip support part 101 and the back support part 102 are fixed to the upper main bracket; the first wheel assembly 203 comprises a leg supporting part 103, at least two first wheel assemblies 104 arranged at the left and right of the leg supporting part 103 near the ground, a first rotating shaft 105 and a first lifting mechanism; the leg support 103 is connected to the front side of the upper main frame by the first rotating shaft 105, and the first lifting mechanism is used for driving the leg support 103 to carry the first wheel set 104 and turn up and down around the first rotating shaft 105.

The lower main body 202 comprises a lower main support, a front wheel assembly 204, a front wheel driving mechanism for driving the front wheel assembly 204 to move, a rear wheel assembly 205, a rear wheel driving mechanism for driving the rear wheel assembly 205 to move, a front wheel lifting mechanism, a rear wheel lifting mechanism and a first driving mechanism; the upper main bracket is arranged on the lower main bracket, and the first driving mechanism is used for driving the upper main bracket to slide back and forth on the lower main bracket; the front wheel assembly 204 comprises at least two front wheel sets 106 arranged left and right, and the rear wheel assembly 205 comprises at least two rear wheel sets 107 arranged left and right; the front wheel lifting mechanism is used for driving the front wheel assembly 204 to lift and lower, and the rear wheel lifting mechanism is used for driving the rear wheel assembly 205 to lift and lower.

In one embodiment, when the automatic entry and exit device is driving on a flat ground, the first wheel set 104 may not contact the ground, and only the front wheel set 106 and the rear wheel set 107 may land. The first wheel set 104 is used as an auxiliary function when the automatic getting-on/off device gets on or off.

As shown in fig. 3-5, when the vehicle is loaded, the first lifting mechanism drives the first wheel assembly 203 to rise and rise above the plane of the chassis, and the automatic loading and unloading device continues to advance for a distance.

As shown in fig. 6-7, when the front wheel assembly 106 approaches the obstacle of the chassis, the first lifting mechanism drives the first wheel assembly 203 to descend until it contacts the bottom surface in the vehicle cabin. Then, the first driving mechanism drives the upper main support (i.e. the upper main body 201) to slide forward for a certain distance, the front wheel lifting mechanism drives the front wheel assembly 204 to lift up and lift up to exceed the plane of the chassis, and at this time, the automatic getting-on and getting-off device continues to advance for a certain distance.

As shown in fig. 8-11, when the front wheel set 106 can be placed on the bottom surface of the vehicle cabin, the front wheel lift mechanism drives the front wheel assembly down until the front wheel set 106 contacts the bottom surface of the vehicle cabin. The rear wheel lift mechanism then drives the rear wheel assembly 205 up and up to a point above the plane of the chassis, at which point the automatic vehicle loading and unloading apparatus continues to advance a distance until it is fully up to the plane in the vehicle cabin. Then, the first lifting mechanism, the front wheel lifting mechanism, and the rear wheel lifting mechanism may drive the first wheel assembly 201, the front wheel assembly 202, and the rear wheel assembly 203 to adjust positions, respectively, so as to return to the state shown in fig. 3.

Of course, the actions of the automatic getting-on and getting-off device when getting-off can be performed in the reverse direction of the actions in fig. 3-11 to realize the getting-off action. Similarly, the automatic loading and unloading device is not limited to loading and unloading, and can also be applied to automatic loading and unloading of steps, for example, the automatic loading and unloading device can be used for loading and unloading steps with the height not exceeding 70cm and the width not exceeding 35cm through certain arrangement.

In one embodiment, the first driving mechanism may be disposed at a position shown as 301 in fig. 2, the first lifting mechanism may be disposed at a position shown as 302 in fig. 1, the front wheel lifting mechanism may be disposed at a position shown as 303 in fig. 2, and the rear wheel lifting mechanism may be disposed at a position shown as 304 in fig. 2. First actuating mechanism, first elevating system specifically can adopt direct current motor drive, and front wheel elevating system, rear wheel elevating system can adopt servo motor drive, and front wheel actuating mechanism and rear wheel actuating mechanism can adopt in-wheel motor drive, and of course, in order to realize the drive of actions such as the slip that corresponds, lift, first actuating mechanism, first elevating system, front wheel elevating system, rear wheel elevating system can adopt other common drive configuration schemes in this field, not enumerate one by one in this application.

In one embodiment, the upper body 201 further includes a foot supporting portion 108, a second rotating shaft 109 and a second driving mechanism, the foot supporting portion 108 is connected to the lower side of the leg supporting portion 103 through the second rotating shaft 109, and the first wheel set 104 is disposed at the lower side of the foot supporting portion 108; the second driving mechanism is used for driving the foot supporting part 108 to turn along the second rotating shaft 109. The turning action can be changed by referring to the state of the foot support 108 in fig. 5-6.

In an embodiment, the upper main body 201 further includes a handrail portion 110, the handrail portion 110 is disposed on left and right sides of the upper main support, and the handrail portion 110 is provided with a manual operator 111 for controlling at least one of the first lifting mechanism, the front wheel lifting mechanism, the rear wheel lifting mechanism, the front wheel driving mechanism, the rear wheel driving mechanism, the first driving mechanism, and the second driving mechanism. That is, in some embodiments, the performance of the various actions shown in FIGS. 3-11 may be performed by a user manually controlled via manual operator 111; of course, in other embodiments, the automatic getting-on/off device may automatically and consecutively perform each of the actions of fig. 3-11 until the getting-on/off action is completed.

In one embodiment, a slide rail is arranged on the lower main support, and the first driving mechanism drives the upper main support to slide back and forth along the slide rail.

In one embodiment, the upper body 201 further comprises a detection system 112. In particular, the detection system 112 may include at least one of a laser radar, a depth camera, and a photo camera. The detection system 112 is disposed on the main support, and is used for scanning the surrounding environment of the automatic getting on/off device, detecting depth information, identifying specific targets, and constructing an environment model. The scanning identification of the detection system 112 can assist the automatic getting-on and getting-off device to automatically execute the getting-on and getting-off actions.

In one embodiment, the front wheel lifting mechanism includes a third shaft 113, and the front wheel lifting mechanism is configured to drive the front wheel assembly 204 to ascend and descend about the third shaft 113.

In one embodiment, the rear wheel lifting mechanism includes a fourth shaft 114, and the rear wheel lifting mechanism is configured to drive the rear wheel assembly 205 to ascend and descend about the fourth shaft 114.

In one embodiment, the first wheel assembly 203 further includes a distance sensor 115 for detecting a distance of the first wheel assembly from the ground. Specifically, the distance sensor 115 may be disposed below the lower main bracket for detecting the distance of the first wheel assembly 203 from the ground. The distance sensor 115 may specifically be an ultrasonic ranging sensor. The distance sensor 115 in combination with the detection system 112 can assist in the automatic driving of the automatic entry and exit device. Of course, in order to realize the automatic driving, more sensors may be provided to acquire data of the automatic getting on/off device and the external environment, such as a magnetic proximity sensor, a gyroscope, a temperature sensor, a laser ranging sensor, an inclination sensor, and the like.

In one embodiment, the upper body further includes a touch display 116 for presenting information to a user and receiving control commands input by the user. Of course, the user may control the driving of the automatic entering and exiting device and the entering and exiting of the vehicle by touching the display screen 116, instead of the manual operator 111.

In one embodiment, the automatic getting on and off device further includes a battery 117 provided on the upper main stand or the lower main stand. The battery 117 may be specifically a rechargeable lithium battery. Of course, a power protection system, a DC-DC power conversion module, etc. may be provided accordingly.

In one embodiment, at least one of the first lifting mechanism, the front wheel lifting mechanism, and the rear wheel lifting mechanism employs a recliner to drive the first wheel assembly, the front wheel assembly, and the rear wheel assembly to rise and fall, respectively. Specifically, the angle adjuster can be arranged to rotate for 4 circles inside and 1 circle outside, so that a certain multiple can be amplified by a small force to rotate the folding part according to a preset circle ratio. Meanwhile, the impact of large torque can be borne, and the structure is ingenious and exquisite. The inner surface is a gear structure with internal meshing by one tooth number, the inner gear is one tooth less than the outer gear, and the inner gear is eccentric and can drive the outer gear to rotate when rotating. In one embodiment, the recliner can be provided with a self-locking function, and even if the power is cut off, the folding part is subjected to a large external force and cannot damage the existing state.

Of course, in order to realize the electric driving and control of the automatic getting on and off device, the automatic getting on and off device may further include a navigation system and an electric control system realized by software/hardware, for example, a navigation system formed by a laser radar device, an ultrasonic distance measuring sensor navigation algorithm core board, etc., and a control system formed by an embedded ARM machine system core board, a motor control system, a hub motor, a servo motor, a dc motor, an angle adjuster, a speed reducer, a man-machine interaction interface, a control handle, a photoelectric switch, a magnetic proximity sensor, a magnetic switch, a gyroscope, a temperature sensor, a laser distance measuring sensor, an ultrasonic distance measuring sensor, an inclination angle sensor, etc.

The application also provides a method for controlling getting on and off of the automatic getting on and off device in any one of the embodiments, which comprises the following steps:

the first lifting mechanism drives the first wheel assembly to lift so as to be lifted to be higher than the chassis of the automobile;

the front wheel driving mechanism and/or the rear wheel driving mechanism drives the front wheel set and/or the rear wheel set to move, so that the first wheel assembly enters the vehicle;

the first lifting mechanism drives the first wheel assembly to descend until the first wheel assembly is in contact with the ground in the vehicle;

the first driving mechanism drives the upper main support to slide forwards for a preset distance so that the upper main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to lift so as to be lifted to be higher than the automobile chassis;

the rear wheel driving mechanism drives the rear wheel set to move, so that the lower main support enters the vehicle;

the front wheel lifting mechanism drives the front wheel assembly to descend until the front wheel set is in contact with the ground in the vehicle;

the rear wheel lifting mechanism drives the rear wheel assembly to lift so as to lift to be higher than the automobile chassis;

the front wheel driving mechanism drives the front wheel set to move, so that the automatic getting-on and getting-off device integrally enters the vehicle;

the first driving mechanism, the first lifting mechanism and the rear wheel lifting mechanism respectively drive the upper main support, the first wheel assembly and the rear wheel assembly to restore to original positions.

In a specific application scenario, the automatic getting-on and getting-off device can realize automatic getting-on and getting-off of the automobile without assistance of others, for example, the work logic of getting-on and getting-off is as follows:

1. the device is powered on and starts to operate, in the operation process, the detection system 112 scans and identifies vehicles and judges the distance, the acquired signals are sent to the main control unit, and after the main control unit judges that the vehicle type can be loaded, instructions are fed back to all the control units, so that the device runs to the loading position.

2. And automatically entering a boarding mode, enabling a leg motor, lifting the leg 203 upwards until the leg 203 is flattened, braking the motor, and entering the next step after the leg is confirmed to be higher than the chassis.

3. The hub motor is released from braking and enters an enabling state, the device is driven to move forwards at a constant speed, the leg support plate 203 enters the vehicle, the foot motor is released from braking and enters enabling, the feet 108 descend until being flattened, and after the limiting state is reached, the hub motor enters a braking state.

4. The motor of the middle transverse moving part is enabled to drive the middle moving part 201 to move towards the inside of the vehicle, and after the middle transverse moving part reaches the extreme position, the motor enters a braking state.

5. The leg motor releases the brake, the leg 203 descends until the foot wheel 104 contacts the chassis, the front wheel lifting motor is enabled, the front wheel 106 is lifted to the limit state, and the motor brakes.

6. The hub motor of the rear wheel is released from braking and enters an enabling state to drive the device to move towards the interior of the vehicle until the front wheel 106 completely enters the vehicle, and the rear wheel 107 is braked again.

7. The front wheel lifting motor is enabled to drive the front wheels 106 to descend, so that the motor brakes after the front wheels 106 completely touch the chassis.

8. The rear wheel lift motor is enabled and the rear wheel 107 begins to rise, and after reaching a limit condition, the motor enters a braking condition.

9. The front wheel hub motor is released from braking and enters an enabling state to drive the front wheel 106 to continuously move towards the interior of the vehicle until the rear wheel 107 completely enters the vehicle, and the motor is braked.

10. The middle transverse moving part motor is enabled to drive the middle moving part 201 to move in the opposite direction, and after the initial state is reached, the motor enters a braking state. Of course, the intermediate moving portion 202 may also be driven to move forward.

Correspondingly, the lower vehicle working logic is as follows:

1. the middle transverse moving part 201 is enabled by a motor to drive the middle moving part 201 to move forwards, and after the middle transverse moving part reaches a limit position, the motor enters a braking state.

2. The front wheel hub motor is released from braking and enters an enabling state to drive the front wheel 106 to move towards the outside of the vehicle until the rear wheel 107 completely leaves the inside of the vehicle, and the motor is braked.

3. The rear wheel lift motor is enabled to drive the rear wheel 107 to descend, so that the rear wheel 107 is completely contacted with the ground, and the lift motor brakes.

4. The rear wheel hub motor is released from braking and enabled to drive the whole device to move outwards until the front wheel 106 completely leaves the vehicle, and the motor is braked.

5. The front wheel lift motor is deactivated to enable the front wheel 106 to descend until the front wheel 106 completely lands, and the lift motor brakes.

6. The motor of the middle transverse moving part is released from braking and enters into enabling, and the middle transverse moving part 201 is driven to move to restore the initial position.

7. The hub motor is released from braking, enters into enabling, drives the whole device to be away from the vehicle until the leg part 203 is completely away from the vehicle, and the motor is braked.

8. The leg motor is deactivated and enabled, causing the leg 203 to descend until the initial position is restored.

It should be noted that, for a person skilled in the art, one or more technical features mentioned in the above embodiments may be combined according to actual needs to form a new embodiment, and the new embodiment will have a corresponding technical effect brought by the selected one or more technical features.

The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. It will be apparent to those skilled in the art that a number of simple derivations or substitutions can be made without departing from the inventive concept.