Automatic getting-on and getting-off device, system and method

Abstract

The invention discloses an automatic getting-on and getting-off device, system and method. The lifting mechanism is arranged on the support and provided with a lifting driving part and a lifting part, and the lifting driving part is used for driving the lifting part to move between a first position and a second position; the connecting rod mechanism is arranged on the lifting part and provided with a connecting rod driving part and a connecting rod assembly, one end of the connecting rod assembly is rotationally connected with the lifting part, and the connecting rod driving part is used for driving the connecting rod assembly to be switched between a third position and a fourth position; the platform mechanism is provided with a platform driving part and a platform, the platform driving part is connected with the other end of the connecting rod assembly and used for driving the platform to move between the fifth position and the sixth position, and the platform is used for bearing the unmanned vehicle; the automatic getting-on and getting-off device comprises a folded state and an unfolded state. The automatic getting-on and getting-off device is compact in structure, suitable for a narrow space and easy and convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of boarding and alighting of an unmanned vehicle, and in particular to an automatic boarding and alighting device, system and method. Background Art

[0002] In the prior art, the transportation of unmanned vehicles generally relies on vehicle transportation methods. Among them, shelters, box-type workstations and vans are currently the main carriers used to load unmanned vehicles. Conventional loading methods include using tailgate structures, hoisting mechanisms, or building ramp structures on platforms. However, these loading methods have the problems of bulky additional loading structures, high space requirements for the use environment, and cumbersome loading processes during the unmanned vehicle boarding and disembarking process, which are not conducive to efficient operations. Therefore, there is an urgent need for an automatic boarding and disembarking device that can solve the above problems to improve the loading and unloading efficiency and convenience of unmanned vehicles. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems that the loading structure added by the existing unmanned vehicle loading method is bulky, has high requirements on the space occupied by the use environment, and the loading process is cumbersome, which is not conducive to efficient operation. The present invention provides an automatic loading and unloading device with a compact structure, suitable for small spaces, and simple and convenient to use.

[0004] To solve the above technical problems, an embodiment of the present invention discloses an automatic boarding and disembarking device, comprising: a bracket extending along a first direction; a lifting mechanism, arranged on the bracket, comprising a lifting drive unit and a lifting unit, wherein the lifting drive unit is used to drive the lifting unit to move between a first position and a second position along the first direction; a connecting rod mechanism, arranged on the lifting unit, comprising a connecting rod drive unit and a connecting rod assembly, one end of the connecting rod assembly is rotatably connected to the lifting unit, and the connecting rod drive unit is used to drive the connecting rod assembly to switch between a third position and a fourth position; a platform mechanism, comprising a platform drive unit and a platform, wherein the platform drive unit is connected to the other end of the connecting rod assembly, and is used to drive the platform to switch between a fifth position and a third position along the second direction. and a sixth position, the platform is used to carry an unmanned vehicle, and the first direction intersects with the second direction; wherein the automatic boarding and disembarking device includes a folded state and an unfolded state; in the folded state, the platform is retracted relative to the connecting rod assembly, the platform is in the fifth position, the connecting rod assembly is folded relative to the lifting part, the connecting rod assembly is in the third position, the lifting part rises relative to the bracket, and the lifting part is in the first position; in the unfolded state, the platform extends relative to the connecting rod assembly, the platform is in the sixth position, the connecting rod assembly is unfolded relative to the lifting part, the connecting rod assembly is in the fourth position, the lifting part descends relative to the bracket, and the lifting part is in the second position.

[0005] By adopting the above technical scheme, in the process of using the automatic boarding and exiting device in the embodiment of the present application, on the one hand, the platform can be extended horizontally through the platform driving unit, and then the connecting rod driving unit and the lifting driving unit respectively drive the connecting rod assembly and the lifting unit to drive the platform mechanism to expand outward and downward, so as to place the platform so that the automatic boarding and exiting device is in an expanded state, so that the unmanned vehicle can smoothly enter and exit the platform; on the other hand, the platform can also be retracted horizontally through the platform driving unit, and then the connecting rod driving unit and the lifting driving unit respectively drive the connecting rod assembly and the lifting unit to drive the platform mechanism to retract inward and upward, so as to recover the platform and put the automatic boarding and exiting device in a retracted state, so that the unmanned vehicle can be smoothly recovered into the cabin of the van.

[0006] In summary, compared with the conventional method of unmanned vehicle getting on and off by adding a tailgate structure, a lifting mechanism or setting a ramp structure on a van, the automatic getting on and off device in the embodiment of the present application can be used to get unmanned vehicles on and off by folding and unfolding the interconnected lifting mechanism, connecting rod mechanism and platform mechanism. The operation is convenient, and the automatic getting on and off device has a compact structure and does not require a large space.

[0007] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the lifting drive unit comprises: a slide rail, wherein the slide rail extends along the first direction and is disposed on a side of the bracket facing the lifting unit, wherein the lifting unit is slidably connected to the slide rail, and the lifting unit can move upward or downward along the first direction relative to the slide rail; and a lifting motor, wherein the bracket has an installation space, wherein the lifting motor is accommodated in the installation space, wherein the lifting motor is transmission-connected to the lifting unit, and wherein the lifting motor is used to drive the lifting unit to move upward or downward along the first direction relative to the slide rail.

[0008] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the lifting portion comprises: a middle portion, extending along the first direction and slidably connected to the slide rail; a side portion, extending along the second direction toward the bracket, and along a third direction, the side portions are arranged on opposite sides of the middle portion, and the third direction intersects with the second direction, and the third direction intersects with the first direction; in the folded state, along the second direction, the middle portion is located at the front side of the bracket, and along the third direction, the side portions on both sides are spaced apart from the bracket; in the expanded state, along the first direction, the bottom of the middle portion is spaced apart from the bottom of the bracket, and the bottom of the side portion is spaced apart from the bottom of the bracket.

[0009] By adopting the above technical solution, when the automatic boarding and disembarking device of the embodiment of the present application is in a folded state, the middle part and two side parts of the lifting part can be covered on the outside of the bracket to reduce the occupied space of the automatic boarding and disembarking device of the embodiment of the present application.

[0010] According to another specific embodiment of the present invention, the embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the connecting rod driving part is respectively arranged on the side parts of the two sides along the third direction; the connecting rod driving part on each side includes a push rod and a connecting rod driving motor; the push rod extends along a fourth direction, one end of the push rod is connected to the connecting rod assembly, and the other end is connected to the connecting rod driving motor, and the connecting rod driving motor is connected to the corresponding side part, and is used to drive the push rod to push the connecting rod assembly to rotate along a fifth direction, the fourth direction intersects with the third direction, and the fifth direction surrounds the third direction.

[0011] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the connecting rod assembly is arranged on opposite sides of the middle portion along the third direction; the connecting rod assembly on each side includes a first connecting rod, a second connecting rod and a follower arm; the two ends of the first connecting rod are respectively hinged to the middle portion and the platform driving portion, and the two ends of the second connecting rod are respectively hinged to the middle portion and the platform driving portion, and the connecting rod assembly also includes a follower arm, and the two ends of the follower arm are respectively connected to the first connecting rod and the second connecting rod; in the folded state, along the second direction, the second connecting rod and the middle portion are arranged on opposite sides of the first connecting rod; in the expanded state, the second connecting rod is configured to rotate along the fifth direction under the push of the push rod, so as to drive the first connecting rod to expand outward relative to the middle portion.

[0012] By adopting the above technical solution, the follower arm of the embodiment of the present application is respectively arranged on the first connecting rod and the second connecting rod, so as to provide the supporting force between the first connecting rod and the second connecting rod. Moreover, the first connecting rod, the second connecting rod and the follower arm of the embodiment of the present application jointly form a four-bar linkage, which optimizes the movement effect of the connecting rod assembly of the embodiment of the present application, making the movement of the connecting rod assembly smoother and more labor-saving.

[0013] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the connecting rod mechanism also includes a reinforcing beam, which is arranged between the second connecting rods on both sides along the third direction, and the end of the reinforcing beam is connected to one end of the push rod.

[0014] By adopting the above-mentioned technical scheme, the reinforcing beam of the embodiment of the present application is arranged between the second connecting rods on both sides, and the left and right ends of the reinforcing beam are respectively connected to the second connecting rods, and pass through the corresponding second connecting rods to be rotatably connected to one end of the push rods on both sides to enhance the stability of the connecting rod assembly of the embodiment of the present application when it rotates along the fifth direction.

[0015] According to another specific embodiment of the present invention, the embodiment of the present invention discloses an automatic boarding and disembarking device, wherein the platform driving unit comprises: a translational slide rail, wherein the translational slide rail extends along the second direction and is arranged on the side of the platform facing the platform driving unit, and the platform can move along the second direction relative to the translational slide rail; and a translational motor, wherein the platform driving unit has an accommodating space, wherein the translational motor is accommodated in the accommodating space, wherein the translational motor is connected to the platform, and wherein the translational motor is used to drive the platform to move along the second direction relative to the translational slide rail.

[0016] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and getting on system, comprising: the automatic boarding and getting on device described in any of the above embodiments; a controller, connected to the lifting drive unit, the connecting rod drive unit and the platform drive unit, and used for remotely controlling the automatic boarding and getting on device to switch between the deployed state and the folded state.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a method for automatic boarding and exiting a vehicle, adopting the automatic boarding and exiting device described in any of the above embodiments, and the method includes: S101: controlling the lifting part to be in the first position; S102: controlling the connecting rod assembly to be in the third position; S103: controlling the platform to be in the fifth position; S104: controlling the platform to be in the sixth position; S105: controlling the connecting rod assembly to be in the fourth position; S106: controlling the lifting part to be in the second position.

[0018] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a method for automatic boarding and exiting a vehicle, wherein the above-mentioned S101 and S103 are repeated, and the automatic boarding and exiting device is switched from the deployed state to the retracted state.

[0019] According to another specific embodiment of the present invention, an embodiment of the present invention discloses an automatic boarding and exiting method, wherein the above-mentioned S104 and S106 are repeated, and the automatic boarding and exiting device is switched from the folded state to the unfolded state. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1A A three-dimensional diagram 1 showing an automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0021] Figure 1B A second perspective view of the automatic boarding and disembarking device according to an embodiment of the present invention is shown, wherein the automatic boarding and disembarking device is in a folded state;

[0022] Figure 2A A three-dimensional diagram showing a bracket, a lifting mechanism and a connecting rod mechanism of the automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0023] Figure 2B A second perspective view showing the bracket, lifting mechanism and connecting rod mechanism of the automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in a folded state;

[0024] Figure 2C A three-dimensional diagram showing a bracket and a lifting mechanism of an automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0025] Figure 2D A three-dimensional diagram showing a lifting mechanism and a connecting rod mechanism of an automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0026] Figure 3A A three-dimensional diagram showing a lifting mechanism, a connecting rod mechanism and a platform mechanism of an automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0027] Figure 3B A three-dimensional diagram showing a lifting mechanism, a connecting rod mechanism and a platform driving part of an automatic boarding and disembarking device according to an embodiment of the present invention is shown, wherein the automatic boarding and disembarking device is in an unfolded state;

[0028] Figure 4A A third perspective view showing the automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in an unfolded state;

[0029] Figure 4B A perspective view 4 showing the automatic boarding and disembarking device according to an embodiment of the present invention, wherein the automatic boarding and disembarking device is in a folded state;

[0030] Figure 4C A bottom view of the automatic vehicle boarding and disembarking device according to an embodiment of the present invention is shown, wherein the automatic vehicle boarding and disembarking device is in an unfolded state. DETAILED DESCRIPTION

[0031] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0032] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0033] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0035] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] refer to Figure 1A and Figure 1B, this application provides an automatic boarding and alighting device 1, including: a bracket 10, a lifting mechanism 20, a link mechanism 30, and a platform mechanism 40. Among them, the bracket 10 extends along a first direction (shown as the Z direction in FIG. 1). Exemplarily, the first direction Z in the embodiment of this application is the height direction of the bracket 10.

[0038] Reference Figure 1A And in combination with Figure 1B , along a second direction (shown as the Y direction in FIG. 1), the above-mentioned lifting mechanism 20 is arranged on the side of the bracket 10 close to it. The lifting mechanism 20 has a lifting driving part 21 and a lifting part 22, and the bracket 10 has an installation space 101. Exemplarily, the bracket 10 in the embodiment of this application is composed of a plate-shaped profile extending along the first direction Z and two "I"-shaped profiles symmetrically arranged along the third direction X on the plate-shaped profile, and the above-mentioned plate-shaped profile and the two "I"-shaped profiles jointly define the installation space 101 in the embodiment of this application. The installation space 101 extends along the first direction Z and is used to accommodate the lifting driving part 21. The lifting part 22 is slidably connected to the bracket 10, and the lifting driving part 21 is used to drive the lifting part 22 to move between a first position and a second position along the first direction Z. Exemplarily, the installation space 101 in the embodiment of this application is rectangular, the lifting driving part 21 is located at the top of the installation space 101, the second direction Y is the thickness direction of the bracket 10, and the second direction Y is perpendicular to the first direction Z. Equivalently, the lifting driving part 21 in the embodiment of this application is installed in the installation space 101, and the lifting driving part 21 is传动连接 with the lifting part 22, so that the lifting driving part 21 can drive the lifting part 22 to move up or down along the first direction Z.

[0039] As Figure 1A shown, the lifting part 22 in the embodiment of this application further includes an intermediate part 2201 and side parts 2202 arranged on both sides of the intermediate part 2201 along the third direction X. The side parts 2202 extend towards the bracket 10 along the second direction Y. Exemplarily, the intermediate part 2201 in the embodiment of this application is a "square"-shaped profile extending along the first direction Z, and the two side parts 2202 are "7"-shaped profiles symmetrically arranged on both sides of the "square"-shaped profile along the third direction X. And the intermediate part 2201 and the two side parts 2202 jointly form a frame shape with a notch along the second direction Y, so that the two "7"-shaped profiles (i.e., the side parts 2202) are spaced from the two "I"-shaped profiles of the bracket 10 to avoid interference between the lifting part 22 and the bracket 10 when the lifting part 22 moves along the first direction Z. Based on this, the intermediate part 2201 and the two side parts 2202 of the lifting part 22 in the embodiment of this application can cover the outside of the bracket 10 to reduce the occupied space of the automatic boarding and alighting device 1 in the embodiment of this application.

[0040] In addition, the middle portion 2201 of the lifting portion 22 of the embodiment of the present application further includes two "L"-shaped profiles symmetrically arranged on the "mouth"-shaped profile along the third direction X, and has two plate-shaped profiles extending along the third direction X and spaced apart along the first direction Z, so as to enhance the structural strength of the lifting portion 22 and improve the stability of the connection between the lifting portion 22 and the connecting rod assembly 32. However, the embodiment of the present application does not specifically limit the structure of the bracket 10 and the lifting portion 22, as long as the lifting portion 22 is connected to the bracket 10 and moves upward or downward along the first direction Z under the drive of the lifting drive unit 21.

[0041] Continue to refer Figure 1A , along the second direction (as shown in the Y direction in FIG. 1 ), the above-mentioned connecting rod mechanism 30 is arranged between the lifting mechanism 20 and the platform mechanism 40. Specifically, the connecting rod mechanism 30 has a connecting rod driving part 31 and a connecting rod assembly 32. Along the third direction (as shown in the X direction in FIG. 1 ), the connecting rod driving part 31 is arranged on the opposite sides of the lifting part 22, that is, each connecting rod driving part 31 is arranged on the side part 2202 of the lifting part 22, and is connected to the connecting rod assembly 32 for driving the connecting rod assembly 32 to switch between the third position and the fourth position. One end 3201 of the connecting rod assembly is rotatably connected to the middle part 2201 of the lifting part 22, and the other end 3202 of the connecting rod assembly is connected to the platform mechanism 40. Exemplarily, the middle part 2201 of the lifting part 22 of the embodiment of the present application extends along the first direction Z, and one end 3201 of the connecting rod assembly is connected to the bottom of the first direction Z of the middle part 2201 of the lifting part 22.

[0042] Equivalently, the connecting rod driving part 31 of the embodiment of the present application is installed on the side portion 2202 of the lifting part 22, and the connecting rod driving part 31 is transmission-connected with the connecting rod assembly 32, and the connecting rod assembly 32 is hinged with the bottom of the middle portion 2201 of the lifting part 22, so that the connecting rod driving part 31 can drive the connecting rod assembly 32 to rotate relative to the lifting part 22 along the fifth direction R, so that the connecting rod assembly 32 can drive the platform mechanism 40 to descend along the first direction Z in a manner of opening outward relative to the lifting part 22 along the fifth direction R, and the connecting rod assembly 32 can also play the role of extending the platform mechanism 40. On the contrary, the connecting rod assembly 32 can also drive the platform mechanism 40 to rise along the first direction Z in a manner of retracting inward relative to the bracket 10 along the fifth direction R, and can play the role of retracting the platform mechanism 40.

[0043] Continue to refer Figure 1B The platform mechanism 40 has a platform driving unit 41 and a platform 42. Specifically, along the first direction (eg Figure 1B The platform driving unit 41 is provided at the lower side of the platform 42, and the upper side of the platform 42 is used to carry the unmanned vehicle. The platform driving unit 41 is connected to the other end 3202 of the connecting rod assembly, and is used to drive the platform 42 to move along the second direction (as shown in the Z direction). Figure 1B The platform 42 of the embodiment of the present application is located in a plane (as shown in the Y direction) between the fifth position and the sixth position. Figure 1A Midplane C and Figure 1B The middle plane D) is always kept parallel to the horizontal plane. Equivalently, the platform driving unit 41 of the embodiment of the present application is connected with the platform 42 in a transmission manner, so that the platform driving unit 41 can drive the platform 42 to extend and retract along the second direction Y.

[0044] For example, Figure 1B As shown, when the lifting part 22 is in the first position, the middle part 2201 of the lifting part 22 is located at the front side of the bracket 10 along the second direction Y. When the connecting rod assembly 32 is in the third position, the connecting rod assembly 32 extends along the first direction Z, and the connecting rod assembly 32 and the middle part 2201 of the lifting part 22 abut against each other along the second direction Y. The angle between the extension direction of the connecting rod assembly 32 (approximately the second direction Y) and the extension direction of the lifting part 22 (i.e., the second direction Y) approaches 0°. When the platform 42 is in the fifth position, the platform 42 is located above the lifting part 22 along the first direction, the platform 42 is in plane C, and plane C is parallel to the horizontal plane. The angle between the extension direction of the platform driving part 41 (i.e., the first direction Z) and the extension direction of the connecting rod assembly 32 is α1, and α1=90°, so that the platform 42 can be well used to carry the unmanned vehicle.

[0045] That is, when the lifting part 22 is in the first position, the connecting rod assembly 32 is in the third position, and the platform 42 is in the fifth position, the platform driving part 41 of the embodiment of the present application drives the platform 42 to move inward along the second direction Y to the retracted fifth position, the connecting rod driving part 31 drives the connecting rod assembly 32 to be retracted inward along the fifth direction R to the third position, and the lifting driving part 21 drives the lifting part 22 to move upward along the first direction Z to the first position, so that the automatic boarding and disembarking device 1 of the embodiment of the present application is in a retracted state as a whole, for example, the platform 42 carrying the unmanned vehicle is retracted into the workstation.

[0046] For example, Figure 1A As shown, when the lifting part 22 is in the second position, the lifting part 22 is located at the bottom of the bracket 10 along the first direction Z, and the bottom 22011 of the middle part 2201 is spaced from the bottom 1001 of the bracket 10. When the connecting rod assembly 32 is in the fourth position, the angle between the extension direction of the connecting rod assembly 32 and the extension direction of the lifting part 22 is an obtuse angle α2, and α2 includes 91° to 95°, so that when the connecting rod assembly 32 is unfolded, the platform 42 can be well supported. When the platform 42 is in the sixth position, the platform 42 is located below the bracket 10 along the first direction Z, and the platform 42 is in a plane D, which is parallel to the horizontal plane, so that the platform 42 can be well used to carry the unmanned vehicle.

[0047] That is, when the lifting part 22 is in the second position, the connecting rod assembly 32 is in the fourth position, and the platform 42 is in the sixth position, the platform driving part 41 of the embodiment of the present application drives the platform 42 to extend outward along the second direction Y to the sixth position 31 drives the connecting rod assembly 32 to expand outward along the fifth direction R to the fourth position, and the lifting driving part 21 drives the lifting part 22 to move downward along the first direction Z to the second position. The automatic boarding and disembarking device 1 of the embodiment is in an overall deployed state, for example, the platform 42 carrying the unmanned vehicle is deployed outside the workstation and lowered to the ground for the unmanned vehicle to automatically drive out.

[0048] The embodiment of the present application does not limit the type of workstation, as long as it can be used to load unmanned vehicles. For example, it can be a cabin or box-type workstation, or it can also be a van, etc. In addition, the embodiment of the present application does not specifically limit the structure of the unmanned vehicle installed, for example, it can also be a drone, etc., or even any movable object that can be carried on the platform 42.

[0049] For the sake of convenience, the following examples are given using a van and an unmanned vehicle.

[0050] For example, the platform 42 of the embodiment of the present application has an inclined surface (not shown in the figure), and the unmanned vehicle can drive into or out of the platform 42 through the inclined surface.

[0051] Thus, in the process of using the automatic boarding and disembarking device 1 in the embodiment of the present application, on the one hand, the platform 42 can be extended horizontally through the platform driving unit 41, and then the connecting rod driving unit 31 and the lifting driving unit 21 respectively drive the connecting rod assembly 32 and the lifting unit 22 to drive the platform mechanism 40 to expand outward and downward, so as to place the platform 42 so that the automatic boarding and disembarking device 1 is in an expanded state, so that the unmanned vehicle can smoothly enter and exit the platform 42; on the other hand, the platform 42 can also be retracted horizontally through the platform driving unit 41, and then the connecting rod driving unit 31 and the lifting driving unit 21 respectively drive the connecting rod assembly 32 and the lifting unit 22 to drive the platform mechanism 40 to retract inward and upward, so as to recover the platform 42 and put the automatic boarding and disembarking device 1 in a retracted state, so that the unmanned vehicle can be smoothly recovered into the cabin of the van.

[0052] In summary, compared with the conventional unmanned vehicle getting on and off method by adding a tailgate structure, a lifting mechanism or setting a ramp structure on a van, the automatic getting on and off device 1 of the embodiment of the present application can be used to get unmanned vehicles on and off by folding and unfolding the interconnected lifting mechanism 20, the connecting rod mechanism 30 and the platform mechanism 40, and the operation is convenient. The automatic getting on and off device 1 has a compact structure and does not require a large space. It is suitable for unmanned vehicles to get on and off in a limited space (for example, a small space).

[0053] The structures and working principles of the lifting mechanism 20, the connecting rod mechanism 30 and the platform mechanism 40 of the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0054] refer to Figure 2A and Figure 2B In some possible implementations, the lifting drive unit 21 of the embodiment of the present application includes a slide rail 211 and a lifting motor 212 .

[0055] Specifically, Figure 2A As shown in FIG. 1 , the lifting part 22 is fixedly connected to the lifting driving part 21, and the lifting motor 212 of the lifting driving part 21 drives the lifting part 22 through the slide rail 211, so that the lifting part 22 can move between the first position and the second position along the first direction (such as Figure 2A The device moves up and down (as shown in the Z direction).

[0056] Among them, Figure 2B As shown, when the lifting part 22 is located at the first position, the middle part 2201 of the lifting part 22 is located at the front side of the bracket 10 along the second direction Y, and the connecting rod assembly 32 is retracted to abut against the lifting part 22. Figure 2A As shown, when the lifting portion 22 is located at the second position, the top 22012 of the middle portion 2201 of the lifting portion 22 is located at the bottom 1001 of the bracket 10 .

[0057] Continue to refer Figure 2A The slide rail 211 extends along the first direction Z and is disposed on one side of the bracket 10 facing the middle portion 2201 of the lifting portion 22. Exemplarily, the slide rail 211 of the embodiment of the present application further includes a first slider 2110, which can slide on the slide rail 211. The first slider 2110 is fixedly connected to the middle portion 2201 of the lifting portion 22, and is used to guide the lifting portion 22 to move up and down along the first direction Z on the slide rail 211.

[0058] The above-mentioned lifting motor 212 is accommodated at the top of the installation space 101. The lifting motor 212 is connected to the lifting part 22 via a first screw rod 2120 arranged along the first direction Z. The lifting motor 212 is used to drive the first screw rod 2120 to rotate so as to convert the circumferential motion of the first screw rod 2120 into the up and down linear motion of the lifting part 22. At the same time, the joint guidance of the first slider 2110 and the first screw rod 2120 in the embodiment of the present application can improve the stability of the lifting part 22 during the up and down movement along the first direction Z. Exemplarily, the number of the slide rails 211 in the embodiment of the present application is two, and each slide rail 211 is provided with a first slider 2110, the number of the first screw rod 2120 is one, and the two slide rails 211 are arranged along the third direction (such as Figure 2A The first screw rod 2120 is provided at two opposite sides thereof (as shown in the X direction).

[0059] For example, Figure 2C As shown, the lifting part 22 of the embodiment of the present application also includes a first connecting plate 221 corresponding to the first screw rod 2120, and the first connecting plate 221 is centered and fixedly arranged at the top 22012 of the middle part 2201. The first connecting plate 221 passes through the hole provided at the top 22012 of the middle part 2201 along the second direction Y, and is fixedly connected to the plate-shaped profile at the top 22012 of the middle part 2201, so that the lifting part 22 can move synchronously with the first connecting plate 221. The first connecting plate 221 is provided with a through hole corresponding to the first screw rod 2120, so that the first connecting plate 221 can be sleeved on the first screw rod 2120 along the first direction Z, and is transmission-connected to the first screw rod 2120 through a screw nut (not shown in the figure), so that the first screw rod 2120 can drive the first connecting plate 221 to move along the first direction Z, thereby driving the lifting part 22 to move upward or downward along the first direction Z.

[0060] And, if Figure 2C As shown, the lifting motor 212 of the embodiment of the present application further includes a first gear box 2121. The lifting motor 212 is arranged along the first direction Z, that is, the output shaft (not shown in the figure) of the lifting motor 212 extends along the first direction Z, and is arranged with the first screw rod 2120 at intervals along the second direction Y, and is located on opposite sides of the plate-shaped profile of the bracket 10. The first gear box 2121 is arranged at the top 1002 of the bracket 10, and is respectively connected to the output shaft of the lifting motor 212 and the first screw rod 2120. Therefore, the lifting motor 212 of the embodiment of the present application can drive the output shaft to rotate, so as to drive the first screw rod 2120 to rotate through the first gear box 2121, so that the lifting part 22 of the embodiment of the present application follows the first connecting plate 221 to move upward or downward along the first direction Z.

[0061] It should be noted that the embodiment of the present application does not limit the structure of the lifting drive unit 21, and any structure that can realize the lifting unit 22 moving up and down along the first direction belongs to the protection scope of the present application. For example, it can also include one, three, four or more slide rails 211; or it can also include two, three, four or more first screw rods 2120.

[0062] refer to Figure 2D Combined with Figure 2A and Figure 2B In some possible implementations, the connecting rod driving unit 31 of the embodiment of the present application includes a push rod 311 and a connecting rod driving motor 312 .

[0063] Specifically, Figure 2B and Figure 2D As shown, along the third direction (such as Figure 2B and Figure 2DThe connecting rod driving part 31 is fixedly connected to the opposite sides of the lifting part 22 (as shown in the X direction). The connecting rod driving part 31 on each side includes a push rod 311 and a corresponding connecting rod driving motor 312. Figure 2A As shown, the push rod 311 moves along the fourth direction (such as Figure 2D The push rod 311 extends in the fifth direction (as shown in the direction E), one end 31101 of the push rod 311 is connected to the connecting rod assembly 32, and the other end 31102 of the push rod 311 is connected to the connecting rod driving motor 312. The connecting rod driving motor 312 is used to drive the push rod 311 to push the connecting rod assembly 32 along the fifth direction (as shown in the direction E). Figure 2A The fourth direction E is rotated (as shown in the R direction) to enable the connecting rod assembly 32 to switch between the third position and the fourth position. Exemplarily, the fourth direction E intersects with the third direction X, and the fifth direction R surrounds the third direction X.

[0064] Among them, Figure 2B As shown, when the connecting rod assembly 32 is in the third position, the connecting rod assembly 32 is retracted to abut against the lifting portion 22. Figure 2A As shown, the connecting rod assembly 32 is located at the fourth position, at which time the connecting rod assembly 32 is unfolded.

[0065] Continue to refer Figure 2D Combined with Figure 2A , along the third direction (such as Figure 3A The connecting rod assembly 32 is arranged on opposite sides of the lifting part 22 (shown in the X direction). The connecting rod assembly 32 on each side includes a first connecting rod 3211, a second connecting rod 3221 and a follower arm 323, and the first connecting rod 3211 is located above the second connecting rod 3221.

[0066] Specifically, Figure 2D and Figure 2A As shown, the connecting rod assembly 32 also includes a first hinge shaft 3212 corresponding to the first connecting rod 3211, and a second hinge shaft 3222 corresponding to the second connecting rod 3221. The first hinge shaft 3212 and the second hinge shaft 3222 are fixedly connected to the lifting part 22 along the first direction (such as Figure 3A At the bottom of the platform 41 (shown in the Z direction), both ends of the first connecting rod 3211 are respectively hinged to the first hinge shaft 3212 and the platform driving part 41, and both ends of the second connecting rod 3221 are respectively hinged to the second hinge shaft 3222 and the platform driving part 41.

[0067] For example, Figure 2C and Figure 2DAs shown, the bottom of the "L"-shaped profile on each side of the middle part 2201 of the lifting part 22 is respectively provided with a first hinge hole 3213 and a second hinge hole 3223. The first hinge hole 3213 corresponds to the first hinge shaft 3212, so that the first hinge shaft 3212 can pass through the first hinge holes 3213 on both sides along the third direction X and be hinged to the first connecting rod 3211. Similarly, the second hinge hole 3223 corresponds to the second hinge shaft 3222, so that the second hinge shaft 3222 can pass through the second hinge holes 3223 on both sides along the third direction X and be hinged to the second connecting rod 3221. Thus, the connecting rod assembly 32 of the embodiment of the present application can be retracted or unfolded relative to the lifting part 22 under the drive of the connecting rod driving part 31, that is, the connecting rod assembly 32 can be switched between the third position and the fourth position.

[0068] The two ends of the above-mentioned follower arm 323 are respectively hinged to the first connecting rod 3211 and the second connecting rod 3221. Exemplarily, the follower arms 323 on both sides are respectively arranged outside the first connecting rod 3211 and the second connecting rod 3221 in parallel and obliquely to provide a supporting force between the first connecting rod 3211 and the second connecting rod 3221. In addition, the first connecting rod 3211, the second connecting rod 3221 and the follower arm 323 of the embodiment of the present application together form a four-bar linkage, which optimizes the movement effect of the connecting rod assembly 32 of the embodiment of the present application, making the movement of the connecting rod assembly 32 smoother and more labor-saving.

[0069] For example, Figure 2D As shown, in some possible implementations, the link mechanism 30 of the embodiment of the present application further includes a reinforcing beam 33. Specifically, along the third direction (such as Figure 3A The reinforcing beam 33 is arranged between the second connecting rods 3221 on both sides, and the left and right ends of the reinforcing beam 33 are respectively connected to the second connecting rods 3221, and are rotatably connected to one ends 31101 of the push rods 311 on both sides through the corresponding second connecting rods 3221 to enhance the stability of the connecting rod assembly 32 of the embodiment of the present application when rotating along the fifth direction R.

[0070] Exemplarily, hinge supports 331 are provided at the left and right ends of the reinforcing beam 33 and the top of the "7"-shaped profiles of the two side portions 2202 of the lifting portion 22, and one end 31101 of the push rod 311 on each side is hinged to the hinge support 331 at the reinforcing beam 33, and the connecting rod driving motor 312 on each side is hinged to the hinge support 331 at the top of the "7"-shaped profile of the side portion 2202, so that the connecting rod driving motor 312 can drive the push rod 311 to telescopically move along the fourth direction E, thereby driving the connecting rod assembly 32 to rotate along the fifth direction R, and then the connecting rod assembly 32 switches between the third position and the fourth position.

[0071] It should be noted that the embodiment of the present application does not limit the structure of the connecting rod driving part 31 and the connecting rod assembly 32. Any structure that can realize the rotational movement of the connecting rod assembly 32 along the fifth direction and drive the platform 42 to expand outward or retract inward falls within the protection scope of the present application.

[0072] Continue to refer Figure 3A and Figure 3B Combined with Figure 1A and Figure 1B In some possible implementations, the platform driving unit 41 of the embodiment of the present application includes a translation rail 411 and a translation motor 412 .

[0073] Specifically, Figure 3A As shown, the platform 42 is fixedly connected to the platform driving unit 41, and the translation motor 412 of the platform driving unit 41 drives the platform 42 through the translation slide rail 411, so that the platform 42 can move along the second direction (such as Figure 3A The device moves back and forth (as shown in the Y direction).

[0074] Among them, Figure 1B and Figure 3B As shown, when the platform 42 is in the fifth position, the platform 42 is located above the bracket 10, and the platform 42 is retracted into the cabin of the van. Figure 3A As shown, when the platform 42 is located at the sixth position, the platform 42 is extended out of the compartment of the van under the drive of the platform driving part 41 and the driving of the connecting rod assembly 32 .

[0075] like Figure 1A and Figure 3B As shown, the above-mentioned translation rail 411 extends along the second direction Y and is arranged on the side of the platform 42 facing the platform driving unit 41. Exemplarily, the translation rail 411 of the embodiment of the present application also includes a second slider 4110, which can slide on the translation rail 411, and the second slider 4110 is fixedly connected to the platform 42, and is used to guide the platform 42 to move forward and backward along the second direction Y on the translation rail 411.

[0076] Exemplarily, the platform driving part 41 of the embodiment of the present application includes two plate-shaped profiles extending along the second direction Y, and has two concave profiles extending along the third direction X and spaced between the two plate-shaped profiles along the second direction Y, so as to enhance the structural strength of the platform driving part 41 and improve the stability of the connection between the platform driving part 41 and the connecting rod assembly 32. In addition, the plate-shaped profile and the concave profile jointly define the accommodation space 4101 of the embodiment of the present application, the accommodation space 4101 extends along the second direction Y, and the translation motor 412 is installed in the accommodation space 4101.

[0077] Furthermore, the translation motor 412 of the embodiment of the present application is connected to the platform 42 through the second screw rod 4120 arranged along the second direction Y, and the translation motor 412 is used to drive the second screw rod 4120 to rotate, so as to convert the circumferential motion of the second screw rod 4120 into the forward and backward linear motion of the platform 42. At the same time, the joint guidance of the second slider 4110 and the second screw rod 4120 in the embodiment of the present application can improve the stability of the platform 42 during the forward and backward motion along the second direction Y.

[0078] For example, Figure 3B As shown, each of the above-mentioned plate-shaped profiles is provided with a plate profile extending along the second direction Y on one side away from the accommodating space 4101, and the translational slide rail 411 is provided on the plate profile, that is, each plate profile is used to carry the corresponding translational slide rail 411. In addition, each plate profile is provided with a limiter 414 at both ends in the second direction Y to limit the second slider 4110 on the translational slide rail 411 from escaping from the translational slide rail 411 along the second direction Y, thereby limiting the travel of the second slider 4110.

[0079] In addition, as mentioned above, the other end 3202 of the connecting rod assembly of the embodiment of the present application is connected to the platform driving part 41. That is, each connecting rod assembly 32 is hinged to the platform driving part 41.

[0080] Specifically, Figure 3A and Figure 3B As shown, the connecting rod assembly 32 on each side also includes a third hinge shaft 3214 corresponding to the first connecting rod 3211, and the connecting rod assembly 32 also includes a fourth hinge shaft 3224 corresponding to the second connecting rod 3221. The third hinge shaft 3214 and the fourth hinge shaft 3224 are fixed to one end of the platform driving part 41 close to the connecting rod assembly 32, the two ends of the first connecting rod are respectively hinged to the first hinge shaft 3212 and the third hinge shaft 3214, and the two ends of the second connecting rod 3221 are respectively hinged to the second hinge shaft 3222 and the fourth hinge shaft 3224.

[0081] For example, Figure 3A and Figure 3BAs shown, each plate-shaped profile of the platform driving part 41 is provided with a third hinge hole and a fourth hinge hole (not shown in the figure) at one end close to the connecting rod assembly 32. The third hinge hole corresponds to the third hinge shaft 3214, so that the third hinge shafts 3214 on both sides can pass through the third hinge holes on both sides along the third direction X, and be hinged to the first connecting rod 3211. Similarly, the fourth hinge hole corresponds to the fourth hinge shaft 3224, so that the fourth hinge shaft 3224 can pass through the fourth hinge holes on both sides along the third direction X, and be hinged to the second connecting rod 3221. Thus, the platform driving part 41 of the embodiment of the present application can be folded or unfolded relative to the lifting part 22 when the connecting rod assembly 32 is switched between the third position and the fourth position, and can always remain parallel to the horizontal plane, so that the platform 42 can be well used to carry the unmanned vehicle.

[0082] For example, Figure 3B As shown, the platform driving part 41 of the embodiment of the present application also includes a second connecting plate 413 corresponding to the second screw rod 4120, and the second connecting plate 413 is centered and fixedly arranged at the bottom of the platform 42. The second connecting plate 413 is provided with a connecting surface on one side facing the platform 42 along the first direction Z, and the connecting surface is fixedly connected to the bottom of the platform 42, so that the platform 42 can move synchronously with the second connecting plate 413. The second connecting plate 413 is provided with a through hole corresponding to the second screw rod 4120, so that the second connecting plate 413 can be sleeved on the second screw rod 4120 along the second direction Y, and is connected to the second screw rod 4120 through a screw nut (not shown in the figure), so that the second screw rod 4120 can drive the second connecting plate 413 to move along the second direction Y, thereby driving the platform 42 to extend or retract along the second direction Y.

[0083] And, if Figure 3B As shown, the translation motor 412 of the embodiment of the present application further includes a second gear box 4121. The translation motor 412 is arranged along the second direction Y and is fixedly connected to the inner wall of the plate-shaped profile through a motor bracket, that is, the output shaft (not shown in the figure) of the translation motor 412 extends along the second direction Y and is spaced apart from the second lead screw 4120 along the third direction X. The second gear box 4121 is arranged on the concave profile close to one side of the connecting rod assembly 32, and is respectively connected to the output shaft of the translation motor 412 and the second lead screw 4120. Thus, the translation motor 412 of the embodiment of the present application can drive the output shaft to rotate, so as to drive the second lead screw 4120 to rotate through the second gear box 4121, thereby making the platform 42 of the embodiment of the present application extend or retract along the second direction Y following the second connecting plate 413.

[0084] For example, Figure 1B and Figure 3AAs shown, the number of the translation rails 411 in the embodiment of the present application is two, each of the translation rails 411 is provided with two second sliders 4110, the number of the second screw rod 4120 is one, and the two translation rails 411 are moved along the third direction (such as Figure 1B The second lead screw 4120 is provided at opposite sides thereof (as shown in the X direction).

[0085] It should be noted that the embodiment of the present application does not limit the structure of the platform driving part 41, and any structure that can realize the forward and backward movement of the platform 42 along the second direction belongs to the protection scope of the present application. For example, it can also include one, three, four or more translation rails 411; or it can also include two, three, four or more second screw rods 4120.

[0086] refer to FIG. 4A to FIG. 4C The automatic boarding and disembarking device 1 of the embodiment of the present application further includes: a first sensor 51 , a second sensor 52 , a third sensor 53 , a fourth sensor 54 , a fifth sensor 55 and a sixth sensor 56 .

[0087] Specifically, Figure 4A and Figure 4B As shown, the bracket 10 of the embodiment of the present application is provided with a first sensor 51 and a second sensor 52. Figure 4A The first sensor 51 and the second sensor 52 are arranged at intervals on the outer side of the "I"-shaped profile of the bracket 10. The first sensor 51 is used to detect whether the lifting part 22 moves to the first position, and the second sensor 52 is used to detect whether the lifting part 22 moves to the second position.

[0088] Exemplarily, the first sensor 51 and the second sensor 52 of the embodiment of the present application are both pressure-sensitive sensors. When the upper end of the "7"-shaped profile of the side 2202 of the lifting part 22 abuts against the first sensor 51, the first sensor 51 detects that the lifting part 22 moves to the first position. When the upper end of the "7"-shaped profile of the side 2202 of the lifting part 22 abuts against the second sensor 52, the second sensor 52 detects that the lifting part 22 moves to the second position.

[0089] like Figure 4B As shown, the lifting part 22 and the connecting rod assembly 32 of the embodiment of the present application are respectively provided with a third sensor 53 and a fourth sensor 54. Figure 4B The third sensor 53 and the fourth sensor 54 are arranged at intervals on the upper end of the "7"-shaped profile of the side portion 2202 of the lifting portion 22, close to the side of the connecting rod assembly 32. The third sensor 53 is used to detect whether the connecting rod assembly 32 moves to the third position, and the fourth sensor 54 is used to detect whether the connecting rod assembly 32 moves to the fourth position.

[0090] Exemplarily, the third sensor 53 and the fourth sensor 54 of the embodiment of the present application are both pressure-sensitive sensors. When the connecting rod assembly 32 rotates along the fifth direction R until the upper end of the first connecting rod 3211 abuts against the third sensor 53, the third sensor 53 detects that the connecting rod assembly 32 moves to the third position. When the connecting rod assembly 32 rotates along the fifth direction R until the lower end of the first connecting rod 3211 abuts against the fourth sensor 54, the fourth sensor 54 detects that the connecting rod assembly 32 moves to the fourth position.

[0091] like Figure 4C As shown, the platform driving unit 41 of the embodiment of the present application is provided with a fifth sensor 55 and a sixth sensor 56. For example, along the second direction (such as Figure 4C The two concave profiles of the platform driving part 41 are respectively provided with a fifth sensor 55 and a sixth sensor 56. The fifth sensor 55 is used to detect whether the platform 42 moves to the fifth position, and the sixth sensor 56 is used to detect whether the platform 42 moves to the sixth position.

[0092] For example, Figure 4C and Figure 3B As shown, the fifth sensor 55 and the sixth sensor 56 of the embodiment of the present application are both pressure-sensitive sensors, and the second connecting plate 413 is also provided with a pressing member extending along the third direction X. When the second connecting plate 413 moves along the second direction Y on the second screw rod 4120 until it abuts against the fifth sensor 55, since the platform 42 moves synchronously with the second connecting plate 413, the fifth sensor 55 detects that the platform 42 moves to the fifth position. When the second connecting plate 413 moves along the second direction Y on the second screw rod 4120 until it abuts against the sixth sensor 56, similarly, the sixth sensor 56 detects that the platform 42 moves to the sixth position.

[0093] In addition, in order to enable the automatic boarding and disembarking device 1 of the embodiment of the present application to be stably deployed and folded in the event of a power outage, so that the unmanned vehicle can automatically board and disembark, and avoid dangerous situations caused by power outages, in this embodiment, the lifting motor 212, the connecting rod drive motor 312, and the translation motor 412 are all provided with manual rotating shafts, and each manual rotating shaft is coaxially connected to the motor shaft.

[0094] For the convenience of description, the following description is made by taking the connecting rod driving motor 312 as an example.

[0095] For example, one end of the manual rotating shaft of the present embodiment extends into the manual interface of the connecting rod driving motor 312 to be coaxially connected with the motor shaft of the connecting rod driving motor 312. The end section of the other end of the manual rotating shaft is a polygonal structure, which is convenient for cooperation with a universal wrench, and the manual rotating shaft can be rotated by the wrench to rotate the motor shaft of the connecting rod driving motor 312. However, it is not limited to this. In other embodiments, the end section of the end of the manual rotating shaft extending out can also be other structures, such as semicircular, elliptical, and irregular shapes, as long as the manual rotating shaft can be rotated during manual operation.

[0096] This embodiment provides a manual rotating shaft on the lifting motor 212, the connecting rod driving motor 312 and the translation motor 412. In the event of a power outage, the manual rotating shaft can be manually operated to drive the motor to rotate, so that the automatic boarding and disembarking device 1 can be stably unfolded and folded, and emergency operation can be achieved to avoid dangerous situations such as jamming caused by power outages. The operation is convenient, safe and reliable.

[0097] The embodiment of the present application further provides an automatic boarding and getting on system, comprising the automatic boarding and getting on device 1 described in any possible implementation manner described above.

[0098] The embodiment of the present application also provides a method for automatic boarding and exiting a vehicle, which adopts the automatic boarding and exiting device 1 described in any possible implementation manner described above.

[0099] The method for automatically getting on and off a vehicle in an embodiment of the present application includes:

[0100] S101: Control the lifting unit to be in the first position.

[0101] Here, when the automatic boarding and disembarking device 1 of the embodiment of the present application is in the folded state, the lifting part 22 of the lifting mechanism 20 is in the first position. Exemplarily, the lifting part 22 is located at the top of the bracket 10 under the driving of the lifting driving part 21. It is detected whether the lifting part 22 moves to the position. If it does not move to the position, the next operation is performed after the fault is handled.

[0102] S102: The control link assembly is in the third position.

[0103] Here, when the automatic boarding and disembarking device 1 of the embodiment of the present application is in the folded state, the connecting rod assembly 32 is in the third position. For example, the connecting rod assembly 32 is abutted against the lifting part 22 under the drive of the connecting rod driving part 31. It is detected whether the connecting rod assembly 32 moves to the position. If it does not move to the position, the next operation is performed after the fault is handled.

[0104] S103: Control the platform to be in the fifth position.

[0105] Here, when the automatic boarding and disembarking device 1 of the embodiment of the present application is in the folded state, the platform 42 is in the fifth position. Exemplarily, the platform 42 is located above the bracket 10 under the drive of the platform driving unit 41 to be folded back into the cabin of the van. It is detected whether the platform 42 is moved into position. If it is not moved into position, the next operation is performed after the fault is handled.

[0106] S104: The control platform is in the sixth position.

[0107] Here, when the automatic boarding and disembarking device 1 of the embodiment of the present application is in the deployed state, the platform 42 of the platform mechanism 40 is in the sixth position. Exemplarily, the platform 42 moves outward along the second direction under the drive of the platform driving unit 41. It is detected whether the platform 42 moves into position. If not, the next operation is performed after the fault is handled.

[0108] S105: The control link assembly is in the fourth position.

[0109] When the automatic boarding and disembarking device 1 of the embodiment of the present application is in the deployed state, the connecting rod assembly 32 is in the fourth position. For example, the connecting rod assembly 32 is separated from the lifting part 22 under the driving of the connecting rod driving part 31 to be deployed from the cabin of the van to the outside of the cabin. It is detected whether the connecting rod assembly 32 is moved to the position. If it is not moved to the position, the next operation is performed after the fault is handled.

[0110] S106: Control the lifting part to be in the second position.

[0111] When the automatic boarding and disembarking device 1 of the embodiment of the present application is in the unfolded state, the lifting part 22 is in the second position. For example, the lifting part 22 is located at the bottom of the bracket 10 under the drive of the lifting driving part 21. It is detected whether the lifting part 22 moves to the position. If it does not move to the position, the next operation is performed after the fault is handled.

[0112] Thus, by repeating the above steps S101 to S103, the automatic boarding and getting-on device 1 of the embodiment of the present application can be switched from the deployed state to the retracted state. Conversely, by repeating the above steps S104 to S106, the automatic boarding and getting-on device 1 of the embodiment of the present application can be switched from the retracted state to the deployed state.

[0113] Exemplarily, the automatic boarding and getting on system of the embodiment of the present application further includes a controller, which is electrically connected to a plurality of driving parts (for example, a lifting driving part 21, a connecting rod driving part 31 and a platform driving part 41) and corresponding sensors (for example, a first sensor 51, a second sensor 52, a third sensor 53, a fourth sensor 54, a fifth sensor 55 and a sixth sensor 56) of the automatic boarding and getting on device 1, so that the automatic boarding and getting on system of the embodiment of the present application can execute the above-mentioned steps S101 to S103 through the remote control controller so that the automatic boarding and getting on device 1 can be folded with one click, or, execute the above-mentioned steps S104 to S106 through the controller so that the automatic boarding and getting on device 1 can be unfolded with one click. Therefore, when the user uses the automatic boarding and exiting device 1 of the embodiment of the present application, the user can complete the position and locking check of the unmanned vehicle outside the cabin of the van, and can remotely control the unmanned vehicle to be accurately placed from outside the cabin into the cabin through the automatic boarding and exiting device 1. Compared with the prior art in which the position and locking status of the unmanned vehicle can only be observed by the user entering the cabin or outside the cabin through the cabin door, the automatic boarding and exiting device 1 of the embodiment of the present application can realize unmanned operation, and the operation is simple and convenient.

[0114] In summary, the automatic boarding and disembarking method of the embodiment of the present application is easy to use, and can automatically control the unmanned vehicle to be pushed out directly from the cabin of a workstation (such as a van) and lowered to the ground outside the cabin, or the unmanned vehicle can be carried from the ground to the cabin to realize unmanned operation.

[0115] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. An automatic boarding and disembarking device, characterized in that: include: A bracket extending along a first direction; A lifting mechanism, provided on the bracket, comprising a lifting driving part and a lifting part, wherein the lifting driving part is used to drive the lifting part to move between a first position and a second position along the first direction; A connecting rod mechanism is provided on the lifting part, and comprises a connecting rod driving part and a connecting rod assembly, one end of the connecting rod assembly is rotatably connected to the lifting part, and the connecting rod driving part is used to drive the connecting rod assembly to switch between the third position and the fourth position; A platform mechanism comprises a platform driving part and a platform, wherein the platform driving part is connected to the other end of the connecting rod assembly and is used to drive the platform to move between a fifth position and a sixth position along a second direction, wherein the platform is used to carry an unmanned vehicle, and the first direction intersects with the second direction; wherein The automatic boarding and disembarking device includes a folded state and an unfolded state; In the folded state, the platform is retracted relative to the connecting rod assembly, the platform is in the fifth position, the connecting rod assembly is folded relative to the lifting part, the connecting rod assembly is in the third position, the lifting part rises relative to the bracket, and the lifting part is in the first position; In the deployed state, the platform extends relative to the connecting rod assembly and is in the sixth position, the connecting rod assembly is deployed relative to the lifting part and is in the fourth position, the lifting part descends relative to the bracket and is in the second position.

2. The automatic boarding and disembarking device according to claim 1, characterized in that: The lifting drive unit comprises: A slide rail extending along the first direction and provided on a side of the bracket facing the lifting part, the lifting part being slidably connected to the slide rail, and the lifting part being able to move upward or downward along the first direction relative to the slide rail; A lifting motor, wherein the bracket has an installation space, the lifting motor is accommodated in the installation space, the lifting motor is transmission-connected to the lifting part, and the lifting motor is used to drive the lifting part to move upward or downward relative to the slide rail along the first direction.

3. The automatic boarding and disembarking device according to claim 2, characterized in that: The lifting part comprises: A middle portion extending along the first direction and slidably connected to the slide rail; a side portion extending toward the bracket along the second direction, the side portion being disposed on opposite sides of the middle portion along a third direction, the third direction intersecting the second direction, and the third direction intersecting the first direction; In the folded state, along the second direction, the middle portion is located at the front side of the bracket, and along the third direction, the side portions on both sides are spaced apart from the bracket; In the expanded state, along the first direction, the bottom of the middle portion is spaced apart from the bottom of the bracket, and the bottom of the side portion is spaced apart from the bottom of the bracket.

4. The automatic boarding and disembarking device according to claim 3, characterized in that: Along the third direction, the connecting rod driving parts are respectively arranged on the sides of the two sides; The connecting rod driving part on each side includes a push rod and a connecting rod driving motor; The push rod extends along a fourth direction, one end of the push rod is connected to the connecting rod assembly, and the other end is connected to the connecting rod driving motor, and the connecting rod driving motor is connected to the corresponding side portion, and is used to drive the push rod to push the connecting rod assembly to rotate along a fifth direction. The fourth direction intersects with the third direction, and the fifth direction surrounds the third direction.

5. The automatic boarding and disembarking device according to claim 4, characterized in that: Along the third direction, the connecting rod assembly is disposed on opposite sides of the middle portion; The connecting rod assembly on each side includes a first connecting rod, a second connecting rod and a follower arm; The two ends of the first connecting rod are respectively hinged to the middle part and the platform driving part, the two ends of the second connecting rod are respectively hinged to the middle part and the platform driving part, the connecting rod assembly also includes a follower arm, the two ends of the follower arm are respectively connected to the first connecting rod and the second connecting rod; In the retracted state, along the second direction, the second connecting rod and the middle portion are arranged on opposite sides of the first connecting rod; In the expanded state, the second connecting rod is configured to rotate along the fifth direction under the push of the push rod to drive the first connecting rod to expand outward relative to the middle portion.

6. The automatic boarding and disembarking device according to claim 5, characterized in that: The connecting rod mechanism also includes a reinforcing beam, which is arranged between the second connecting rods on both sides along the third direction, and an end of the reinforcing beam is hinged to one end of the corresponding push rod.

7. The automatic vehicle boarding and disembarking device according to claim 2, characterized in that: The platform driving unit comprises: a translation rail extending along the second direction and disposed on a side of the platform facing the platform driving unit, wherein the platform can move along the second direction relative to the translation rail; The translation motor, the platform driving part has a containing space, the translation motor is contained in the containing space, the translation motor is connected to the platform, and the translation motor is used to drive the platform to move along the second direction relative to the translation slide rail.

8. An automatic boarding and disembarking system, characterized in that: include: The automatic boarding and disembarking device according to any one of claims 1 to 7; The controller is connected with the lifting drive unit, the connecting rod drive unit and the platform drive unit, and is used for remotely controlling the automatic boarding and disembarking device to switch between the deployed state and the folded state.

9. A method for automatically getting on and off a vehicle, characterized in that: Using the automatic boarding and disembarking device according to any one of claims 1 to 7, the automatic boarding and disembarking method comprises: S101: controlling the lifting unit to be in the first position; S102: controlling the connecting rod assembly to be in the third position; S103: controlling the platform to be in the fifth position; S104: controlling the platform to be in the sixth position; S105: controlling the connecting rod assembly to be in the fourth position; S106: Control the lifting part to be in the second position.

10. The method for automatically getting on and off a vehicle as claimed in claim 9, characterized in that: The above steps S101 to S103 are repeated, and the automatic boarding and disembarking device is switched from the deployed state to the retracted state.

11. The method for automatically getting on and off a vehicle as claimed in claim 9, characterized in that: The above steps S104 to S106 are repeated, and the automatic boarding and disembarking device is switched from the folded state to the unfolded state.

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