Self-propelled self-balancing type ambulance stretcher

Abstract

The invention relates to the technical field of intelligent control and vehicle engineering, and provides a self-balancing type ambulance stretcher. An existing wheel stretcher is difficult to keep a platform stable under complex terrains, limitation exists in remote control and automatic management of the wheel stretcher, and the requirements of efficient rescue and transportation cannot be met. Through cooperative work of the drive-by-wire chassis and the self-balancing system, dynamic stability and accurate control of the stretcher platform are achieved; real-time data transmission and coordination between the chassis and the self-balancing system are ensured by using an Ethernet communication protocol; a self-balancing system is combined with a position-rotation resolving algorithm, the posture of a servo motor driving crank mechanism can be adjusted according to real-time sensor data, and the stability of the platform under complex terrains and load changes is ensured. The system coordinates all parts to work through the vehicle control unit (VCU), the maneuverability, flexibility and safety of the wheel stretcher are enhanced, and technical guarantee is provided for efficient rescue transportation.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, in particular to a self-propelled self-balancing emergency stretcher. Background Art

[0002] With the rapid development of medical equipment and intelligent control technology, the application of self-balancing systems and wire-controlled chassis technology in special vehicle design is becoming more and more widespread. In the field of emergency treatment, the performance of ambulance stretcher, as an important medical transportation equipment, directly affects the rescue efficiency and patient safety. However, the existing ambulance stretcher design still has many shortcomings in actual use, mainly manifested in poor stability, insufficient adaptability to complex environments, and low intelligence in operation.

[0003] Traditional ambulance stretcher vehicles mostly rely on manual propulsion or a single electric drive mode. It is difficult to maintain the dynamic balance of the platform in complex terrain or emergency situations, and patients are prone to secondary injuries due to the tilt or shaking of the stretcher. At the same time, such equipment usually lacks an efficient self-balancing system and intelligent control module, and cannot adapt to complex road conditions and a variety of emergency rescue scenarios. In addition, traditional designs mostly rely on mechanical structures to achieve basic functions, and do not fully combine modern sensor technology and intelligent control algorithms, resulting in limitations in the response speed, stability, and ease of use of the equipment.

[0004] The self-balancing function of existing emergency stretcher vehicles often remains at the passive adjustment stage, using a single sensor for basic posture detection without integrating multimodal sensors and intelligent control algorithms, such as fuzzy logic control or deep learning algorithms, making it impossible to achieve precise control in complex scenarios. At the same time, most traditional stretcher vehicles do not consider the intelligent coordination of differential steering and power distribution in chassis design, making it difficult for the vehicle to operate stably in high-slope, slippery or obstacle-filled environments. In addition, the lack of remote control and automatic driving functions also makes it difficult for existing equipment to be quickly deployed and operated during emergency rescue.

[0005] Therefore, there is an urgent need for an ambulance stretcher vehicle that integrates wire-controlled chassis technology, an efficient self-balancing system and an intelligent control algorithm, which can achieve dynamic stability of the platform in complex environments and has accurate path planning and remote operation functions, thereby improving rescue efficiency and ensuring the safety and comfort of patient transportation. Summary of the invention

[0006] The purpose of the present invention is to provide a self-propelled self-balancing ambulance stretcher vehicle, which, by integrating wire-controlled chassis technology, a self-balancing system and an intelligent control module, can achieve stable operation, rapid deployment and efficient guarantee of patient transportation in complex environments, thereby solving the problems of poor stability, insufficient environmental adaptability, complex operation and low intelligence in the prior art.

[0007] To achieve the above-mentioned purpose, the present invention provides a self-propelled self-balancing ambulance stretcher, including a two-layer architecture: a hardware layer and a control layer. The hardware layer includes a wire-controlled chassis, a self-balancing system, a stretcher housing and wheels. The wire-controlled chassis is configured with a driving wheel and a control interface, which is used to carry the self-balancing system and realize the mobile function of the stretcher; the self-balancing system includes an upper platform (stretcher support platform), a lower platform (base), a posture sensor, a crank mechanism and a servo motor, the upper platform is used to support the stretcher and provide a dynamic balancing function, the tilt angle is detected in real time by the posture sensor, and the crank mechanism and the servo motor coordinately adjust the posture of the platform; the stretcher housing is used to protect the internal structure and provide external support; the wheels are used to realize the ground movement function of the stretcher.

[0008] The control layer includes the communication control module, the self-balancing system module, the driving mode management module, the power-on self-test module, the remote control communication module and the automatic driving system interface module. The communication control module realizes high-speed communication and dynamic coordination between the wire-controlled chassis and the self-balancing system through the vehicle control unit (VCU) and the EtherCAT bus. The self-balancing system module adjusts the posture of the stretcher support platform in real time based on the inverse algorithm. The driving mode management module supports the switching of remote control driving, automatic driving and emergency braking modes to ensure the flexibility and safety of operation. The power-on self-test module is used to perform a comprehensive test of the wire-controlled chassis and the self-balancing system after the vehicle is powered on to ensure the normal operation of the equipment. The remote control communication module receives remote commands through the wireless communication protocol to achieve precise control of the vehicle's drive, steering and braking, and at the same time feedback the vehicle status information in real time. The automatic driving system interface module receives path planning data through the CAN communication interface to control the vehicle's automatic driving operation.

[0009] The stretcher of the present invention further adopts PID control algorithm and fuzzy logic algorithm to adjust the attitude of the self-balancing system in real time. The PID control algorithm generates accurate adjustment instructions according to the inclination data, while the fuzzy logic algorithm dynamically adjusts the output of the servo motor according to the inclination error, terrain changes and platform load to ensure the stability of the platform in complex environments. In addition, the communication control module realizes high-speed data transmission and closed-loop feedback between the attitude sensor and the servo motor through the EtherCAT bus, thereby improving the control accuracy.

[0010] Through innovative hardware architecture and intelligent control module design, the present invention significantly improves the adaptability and operational convenience of the ambulance stretcher in complex scenarios, providing safe and efficient technical guarantees for modern medical rescue.

[0011] Furthermore, the present invention performs multi-dimensional optimization design on the hardware and control system of the stretcher trolley to meet various requirements of practical applications in complex environments.

[0012] The wire-controlled chassis uses two independent motor electronic control systems, each with a rated power of 2kW and a total power of 4kW, which can achieve performance indicators of a rated motor speed of 3000rpm and a maximum speed of not less than 4000rpm. Through calculation, combined with a tire rolling radius of 0.203m and a speed ratio of 20.8, the system can ensure that the stretcher vehicle has a maximum climbing gradient of 15°, a maximum speed of 11km / h on flat roads, and a maximum speed of not less than 5km / h on off-road or ramps, significantly improving the vehicle's adaptability and maneuverability in complex terrains, meeting the needs of medical rescue environments for efficient mobility.

[0013] The power system uses two power battery systems and is integrated into a single box. The capacity of each battery is 51.2V45Ah, and the total capacity reaches 4.6kWh. The dynamic conversion of charge and discharge of the two batteries is achieved through an internal switching circuit. In working mode, one group of batteries is powered and the other group of batteries is charged at the same time. It can provide at least 10km of endurance under full load, which exceeds the minimum endurance requirement of the technical requirements. In order to further reduce the weight of the stretcher and improve the convenience of operation, the present invention also proposes an alternative battery replacement mode design, cancels the on-board range extension mode, and transfers the generator and backup battery to external equipment to reduce the weight of the vehicle, reduce operating noise, and realize rapid battery replacement.

[0014] To meet the needs of extended range, the wire-controlled chassis has reserved space for the installation of a gasoline generator, which supports the installation of a generator with a maximum size of 520mm×400mm×300mm. The charging system input uses 220VAC provided by the mains or diesel engine, and the battery is charged by a 3kW on-board charger. The charger and the battery exchange real-time data through the CAN communication interface to ensure the safety and efficiency of the charging process.

[0015] In terms of safety design, emergency stop switches are installed at both ends of the chassis to quickly cut off the power supply of the drive system in an emergency. At the same time, an automatic emergency stop function in case of signal loss is designed in the control software. When the remote control signal or unmanned driving signal is lost, the chassis automatically enters the emergency braking mode to ensure the safety of personnel and equipment during the operation of the stretcher.

[0016] The self-balancing system can receive real-time signals from the chassis controller, and solve the position information and rotation angle through the motion control module, and use the servo motor and the reduction mechanism to drive the crank mechanism to perform telescopic movements. This design allows the stretcher support platform to achieve a front and rear pitch angle of ±20° and a left and right tilt angle of ±20°, meeting the stability and horizontal maintenance requirements of the rescue stretcher in complex terrain. In addition, the foldable design of the stretcher support platform makes the equipment more compact during transportation and storage, and the stability after unfolding can adapt to various emergency scenarios.

[0017] Preferably, the present invention further proposes a posture control module based on an inverse algorithm, combined with PID control and fuzzy logic algorithm, to make real-time adjustments for different terrains, loads and dynamic inclination errors. PID control is used to refine the accuracy of posture adjustment, while the fuzzy logic algorithm dynamically adjusts the output power of the servo motor through parameters such as inclination error and load to ensure the rapid response and dynamic stability of the stretcher platform.

[0018] Preferably, the present invention can introduce the optimization concept of automobile frame structure and balance shaft in the hardware design of the stretcher trolley to ensure its load-bearing capacity, stability and structural reliability in complex rescue environments, specifically including: the frame of the stretcher trolley serves as its basic structure, straddling between the front and rear wheels to provide basic support and framework for the vehicle. The frame structure consists of longitudinal beams and cross beams, which are connected to the front and rear wheels through a suspension device. Its design emphasizes the balance between strength and rigidity, which can not only withstand the load and impact during the operation of the stretcher trolley, but also maintain the precise relative position between the functional modules, thereby ensuring the stable operation of the self-balancing function. The frame design of the stretcher trolley aims at lightweight, and is made of high-strength and low-density materials. At the same time, the layout of the longitudinal beams and cross beams is optimized, so that the weight of the vehicle can be effectively reduced while maintaining high strength and rigidity, meeting the requirements of rapid deployment and flexible operation in rescue missions.

[0019] The balance mechanism of the stretcher achieves dynamic balance adjustment through a servo motor and a crank mechanism, and its design is inspired by the disconnected balance shaft in heavy vehicles. The disconnected balance shaft reduces weight by optimizing the structure and has efficient load dispersion and stability. The present invention adopts a similar principle and achieves dynamic pitch and tilt adjustment in the frame through the coordinated control of the crank mechanism and the servo motor, which can not only adapt to the complex terrain changes in the rescue environment, but also keep the platform stable in an emergency.

[0020] In addition, the self-balancing system of the present invention is closely integrated with the frame structure, and the stress and deformation of the frame are monitored in real time through sensors, and the relevant data are transmitted to the control system for dynamic optimization of the servo motor output parameters. This design not only improves the stability of the stretcher in complex terrain and load changes, but also enhances its service life and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of the present invention, the drawings required for use in the embodiments or exemplary descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained according to the drawings without paying creative work.

[0022] Figure 1 Overall design drawing of the stretcher in transport state

[0023] Figure 2 Design drawing of the drive-by-wire chassis

[0024] Figure 3 Design drawing of the self-balancing system

[0025] Figure 4 Schematic diagram of electrical connections for the main system equipment of the wire-controlled chassis

[0026] Figure 5 Communication control flow chart between chassis and self-balancing system

[0027] Figure 6 This is the functional block diagram of the remote controller

[0028] Legend:

[0029] 1. Wire-controlled chassis; 2. Self-balancing system; 201. Upper platform (stretcher support platform); 202. Lower platform (base); 203. Posture sensor; 204. Crank mechanism; 205. Servo motor; 3. Stretcher body; 4. Wheels.

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] Figure 1The overall appearance design diagram of the stretcher in the transport state shows the overall appearance design of a self-propelled self-balancing ambulance stretcher. In this embodiment, the stretcher adopts a two-layer architecture: a hardware layer and a control layer. The hardware layer includes a wire-controlled chassis 1, a self-balancing system 2, a stretcher shell 3 and wheels 4. The wire-controlled chassis 1 provides the stretcher with basic mobile functions. It is equipped with a drive wheel and a control interface, and realizes power transmission through a drive motor to support the ground movement of the stretcher. The self-balancing system 2 cooperates with the upper platform (stretcher support platform) 201 and the lower platform (base) 202, combined with a posture sensor 203, a crank mechanism 204 and a servo motor 205 to achieve balance adjustment of the stretcher in rugged terrain or inclined environments. The stretcher shell 3 is used to protect the internal structure and provide overall support. Its design focuses on lightweight and durability, and can effectively prevent damage to internal components from external impacts. The wheels 4 are installed on the wire-controlled chassis 1, providing excellent ground mobility performance and supporting a variety of complex terrain conditions.

[0035] With the support of the hardware layer, the control layer realizes the real-time coordination of the hardware components through the vehicle control unit (VCU) and the EtherCAT bus. The VCU receives the real-time tilt angle data from the attitude sensor, transmits the control instructions through the EtherCAT bus, and dynamically adjusts the servo motor 205 to drive the crank mechanism 204 to achieve the attitude adjustment of the upper platform 201, thereby maintaining the dynamic balance of the stretcher support platform. The design of the stretcher car shell 3 not only ensures the stability of the equipment, but also reserves an expansion interface for installing other necessary components, such as emergency lighting systems and additional medical equipment.

[0036] Through the close integration of hardware and control, this design not only ensures the flexibility and reliability of the stretcher, but also significantly improves its ability to adapt to complex terrain during the transportation of the wounded.

[0037] Figure 2 The overall structural design of the stretcher chassis is shown. The chassis adopts a modular design to meet the requirements of light weight and high strength. Its core is the frame and the disconnected balance shaft. The disconnected balance shaft reduces the design of the connecting shaft at both ends, which reduces the weight while improving the load-bearing capacity and stability. The frame consists of longitudinal beams and cross beams, providing a solid support frame that can withstand dynamic loads and the impact of uneven roads.

[0038] The drive system uses two sets of motor electronic control units, with a single motor power of 2kW and a total power of 4kW, which supports the vehicle to achieve a maximum climbing gradient of 15°, a maximum speed of 11km / h on flat roads, and a maximum speed of 5km / h on off-road slopes, ensuring that the power performance meets the use requirements. The power battery system adopts a design of alternating charging and discharging of two sets of batteries, each with a capacity of 4.6kWh, which can ensure that the vehicle can last 10km under full load. In addition, the chassis has reserved a quick-change battery mode interface to facilitate rapid replacement of batteries in the use scenario. To improve safety, emergency brake switches are set on both sides of the chassis to disconnect the drive circuit and cooperate with the emergency stop function in the control system. Once the remote control signal is interrupted or the control system detects an abnormality, the vehicle will automatically stop to ensure safe operation. At the same time, the chassis also reserves a gasoline generator installation position to meet the backup power supply needs in special circumstances. Through optimized design, the chassis has achieved lightweight, modular and multi-functional compatibility, providing reliable technical support for the efficient transportation of stretcher vehicles in complex scenarios.

[0039] Figure 3 The core structure and working principle of the self-balancing system are demonstrated. It is mainly composed of a stretcher support platform 201, a base 202, a posture sensor 203, a crank mechanism 204 and a servo motor 205. The system ensures the smooth operation of the stretcher in complex terrain or dynamic environment by adjusting the platform posture in real time. The self-balancing system works based on the kinematic inverse algorithm. Specifically, the platform first detects the current tilt angle through the posture sensor 203 and transmits the collected data to the control system. The control system calls the kinematic inverse module to generate the expected servo motor rotation angle signal according to the target posture. After receiving the signal, the servo motor 205 drives the tilt and pitch adjustment of the stretcher support platform 201 through the crank mechanism 204.

[0040] In order to achieve high-precision control, the system introduces closed-loop control logic. The control system compares the expected servo motor angle signal with the angle signal collected by the actual sensor to form a deviation, and calculates the corrected control instruction through the PID control algorithm. The above control instructions are executed by the servo motor 205, thereby dynamically adjusting the posture of the stretcher platform to ensure its balance in static and dynamic environments. Due to space limitations and high efficiency requirements, the system uses an asymmetric hydraulic cylinder as the power execution unit. The asymmetric hydraulic cylinder is designed with an area gradient ratio matching, which can effectively reduce the pressure jump of the piston rod during reversing and avoid impact on the system.

[0041] In this embodiment, the key control principle of the self-balancing system is based on the dynamic model of the valve-controlled asymmetric hydraulic cylinder. The system generates the desired hydraulic cylinder displacement signal by calling the kinematic inverse module of the platform. After the signal is input into the real-time control computer, the real-time control computer converts it into the desired voltage signal, and forms a deviation signal after comparing it with the hydraulic cylinder displacement signal collected by the actual sensor. The deviation signal is input into the controller, and the controller further solves the control quantity to drive the valve-controlled asymmetric hydraulic cylinder system to realize control adjustment.

[0042] Since the hydraulic servo drive system uses an asymmetric hydraulic cylinder, in order to avoid the impact of pressure jump on the system caused by the piston rod when switching, the system uses an asymmetric valve that matches the area gradient ratio of the asymmetric hydraulic cylinder. The transfer function of its dynamic model is:

[0043]

[0044] Among them, Y(s) is the displacement response of the hydraulic cylinder and is the dynamic output of the system. L K is the external load force, which characterizes the dynamic characteristics of the platform. al 、x b are the valve control gain and valve core displacement respectively. A1 and A2 are the piston area parameters of the asymmetric hydraulic cylinder. V0 is the initial oil chamber volume of the hydraulic cylinder. β e K is the hydraulic elastic modulus. cl is the damping coefficient of the system. h , h is the natural frequency and damping ratio of the system.

[0045] In this embodiment, in order to further improve the dynamic response performance and stability of the hydraulic servo system, the self-balancing system adopts a dynamic pressure feedback correction mechanism. The core principle of dynamic pressure feedback is to feed back the pressure difference signal of the two chambers of the hydraulic cylinder to the input end of the servo valve after passing through the differential correction device, thereby forming a pressure differential feedback closed-loop control. This feedback mechanism can significantly improve the damping ratio of the system and effectively improve the dynamic error caused by the nonlinear characteristics of the system. Through this feedback mechanism, the system can adjust the input signal of the hydraulic servo valve in real time, dynamically compensate for the control error caused by load changes and nonlinear characteristics, thereby further improving the stability of the stretcher platform in complex environments.

[0046] In specific applications, the dynamic pressure feedback mechanism works with the platform's kinematic inverse module and servo motor control unit to dynamically adjust the position and posture of the crank mechanism. In complex terrain or load changes, the mechanism can quickly respond to external disturbances to ensure that the platform remains stable within the range of 20°±2° for the front and rear pitch angle and 20°±2° for the left and right tilt angle.

[0047] Figure 4The overall architecture of the vehicle control unit (VCU) in the stretcher vehicle wire control system is demonstrated. The system realizes comprehensive control of vehicle drive, steering, self-balancing and remote communication through multi-module integrated design. As the core component, the vehicle control unit connects various execution modules through a high-speed bus and coordinates the dynamic response of the chassis, wheels and self-balancing platform in real time. The architecture design adopts modular and hierarchical control methods to ensure that each functional module can operate independently and work together through the central control unit.

[0048] The input signals of the vehicle controller include attitude sensors, remote control signals, and path planning data of the autonomous driving system; the output signals are responsible for controlling the dynamic adjustment of the servo motor, wheel drive system, and crank mechanism. The control strategy integrates real-time data acquisition, closed-loop feedback control, and fault self-checking mechanism. The system improves the safety and operational reliability of the vehicle through redundant design and rapid response capabilities.

[0049] See also Figure 5 , Figure 6 The control system of the stretcher is based on the wire-controlled chassis and self-balancing system, relying on industrial-grade Ethernet to achieve high-speed data transmission and real-time coordinated control. The wire-controlled chassis maintains communication connection with the self-balancing system through Ethernet, transmits the motion state of the chassis (such as vehicle speed, steering angle) and the posture data of the self-balancing platform (such as tilt angle, angular acceleration), and makes real-time adjustments based on the dynamic feedback of the vehicle. Ethernet uses the EtherCAT protocol, and its microsecond data cycle meets the system's needs for high-frequency sensor data transmission under complex working conditions, while ensuring the coordinated consistency of the chassis and the self-balancing system.

[0050] The core of the self-balancing system is the attitude control logic based on the position-rotation solution algorithm. The algorithm establishes a kinematic model between the stretcher support platform and the chassis, and uses the tilt angle and acceleration data collected by the attitude sensor 203 to calculate the target displacement of the crank mechanism 204 and the target control instructions of the servo motor 205. Specifically, the solution algorithm converts the sensor data into the displacement and speed instructions of each servo motor by solving the kinematic equations in real time to achieve precise adjustment of the platform pitch and tilt angles. In order to improve the control accuracy, the algorithm integrates gain compensation and error feedback mechanisms, and reduces the dynamic deviation in attitude adjustment by compensating for the nonlinear characteristics of the crank mechanism.

[0051] In order to cope with the uncertainty of the external environment and load changes, the solution algorithm preferably uses extended Kalman filtering technology to filter sensor noise and improve robustness to external interference. When the platform is operating in complex terrain, the system can achieve precise balance of attitude by dynamically adjusting the output of the servo motor based on the terrain change data collected in real time. The platform's pitch angle and left and right tilt angle can reach ±20°, both meeting the operational requirements in complex scenarios.

Claims

1. A self-propelled self-balancing ambulance stretcher, characterized in that: The stretcher vehicle comprises a two-layer architecture: a hardware layer and a control layer; The hardware layer includes: A wire-controlled chassis (1), a self-balancing system (2), a stretcher housing (3), and wheels (4); the wire-controlled chassis (1) is provided with a driving wheel and a control interface, and is used to carry the self-balancing system (2) and realize the movement function of the stretcher; the self-balancing system (2) comprises an upper platform (201), a lower platform (202), a posture sensor (203), a crank mechanism (204), and a servo motor (205); the upper platform (201) is used to support the stretcher and provide a self-balancing function; the lower platform (202) is installed on the wire-controlled chassis The upper platform (201) is provided with a support plate (1); the attitude sensor (203) is used to detect the inclination angle of the upper platform (201) in real time and feed the data back to the control layer; the crank mechanism (204) is driven by a servo motor (205) and can adjust the attitude of the upper platform (201) to maintain balance; the stretcher trolley shell (3) is installed on the wire-controlled chassis (1) to protect the internal structure and provide external support; the wheels (4) are arranged on the wire-controlled chassis (1) to realize the ground movement function of the stretcher trolley; The control layer includes: A communication control module: realizing real-time communication between the wire-controlled chassis (1) and the self-balancing system (2), wherein the communication control module comprises a vehicle control unit (VCU) and an EtherCAT bus, wherein the vehicle control unit is used to receive information fed back by the self-balancing system and comprehensively adjust the chassis movement, and at the same time transmit the movement instructions of the chassis domain controller to the self-balancing system, so as to dynamically control the balance state of the stretcher platform; Self-balancing system module: receives static or dynamic posture adjustment instructions from the communication control module, generates the balance adjustment action of the stretcher platform through the inverse algorithm, adjusts the relative position of the upper platform and the lower platform in real time, and realizes the dynamic stability of the stretcher platform; Driving mode management module: used to switch between remote control driving mode, automatic driving mode and emergency braking mode. The driving mode priority is set such that the emergency braking mode is higher than the remote control driving mode, and the remote control driving mode is higher than the automatic driving mode. Power-on self-test module: After the vehicle is powered on, it will conduct a comprehensive test on the chassis steering, braking, lighting and self-balancing system to comprehensively judge the driving and working status of the vehicle; Remote control communication module: Receives remote control commands based on wireless communication protocols and converts them into control signals, which are sent to the VCU to execute vehicle driving, steering and braking operations, while providing real-time feedback on key vehicle status information, including battery power, vehicle speed and platform angle; Autonomous driving system interface module: Receives path planning data through the CAN communication interface, and feeds back the vehicle's real-time operating status, including brake master cylinder pressure, wheel speed and platform angle, and controls the vehicle to achieve autonomous driving according to the planned path instructions.

2. The self-propelled self-balancing ambulance stretcher according to claim 1, characterized in that: The control system uses a PID control algorithm to perform real-time posture adjustment on the self-balancing system (2); the posture sensor (203) transmits tilt angle data to the control system; and the servo motor (205) adjusts the posture of the stretcher support platform (201) through a crank mechanism (204) according to instructions generated by the control system.

3. The self-propelled self-balancing ambulance stretcher according to claim 1, characterized in that: The control system realizes high-speed data transmission through an EtherCAT bus, and the EtherCAT bus is used to transmit the tilt angle data of the attitude sensor (203) and the control instructions of the servo motor (205) in real time, and uses closed-loop feedback to improve control accuracy.

4. The self-propelled self-balancing ambulance stretcher according to claim 1, characterized in that: The control system activates a safety locking mode in a fault state, fixes the tilting state of the stretcher support platform (201) through a mechanical locking mechanism, and sends a warning signal.

5. The self-propelled self-balancing ambulance stretcher according to claim 1, characterized in that: The control-by-wire chassis (1) and the self-balancing system (2) work in coordination via a vehicle control unit (VCU). The VCU receives real-time tilt angle data from a posture sensor (203), generates a control signal according to vehicle speed and terrain conditions, and coordinates the driving of the control-by-wire chassis (1) and the posture adjustment of the self-balancing system (2) via an EtherCAT bus.

6. The self-propelled self-balancing emergency stretcher according to claim 1, characterized in that: The control-by-wire chassis (1) comprises a differential steering system, a drive motor and a brake system. The control system realizes remote control of the differential steering and drive system through a remote controller, and reserves an automatic driving interface, and uses a CAN bus to realize data communication with an automatic driving computing unit.

7. The self-propelled self-balancing ambulance stretcher according to claim 1, characterized in that: The control system comprises a power-on self-check module, which diagnoses the steering, braking, lighting and drive systems of the wire-controlled chassis (1) and displays the self-check result using a status indicator light.

Images