Remain receiving and transporting device and operation control method thereof

Abstract

The invention provides a remains receiving and transporting device and an operation control method thereof. The remains receiving and transporting device comprises a stretcher, a power crawler belt and a supporting frame installed on the power crawler belt, and the stretcher is installed at the top of the supporting frame; the support frame is a connecting rod mechanism and is connected with an inclination driving mechanism for driving the support frame to act so as to enable the stretcher to incline horizontally or forwards; the vision sensor determines the terrain within a set distance in front of the advancing position, and determines whether the remains receiving and transporting device travels on downstairs, stair turning platforms or flat ground according to the terrain within the set distance, so that the state of the remains receiving and transporting device is adjusted, and the gravity center is kept stable. Compared with a power crawler and a resistance crawler, the power crawler-type stair-climbing robot is provided with only one crawler, so that the power crawler-type stair-climbing robot is simple in structure, light and small in turning radius, the stretcher can incline forwards, the overall size is smaller, and the power crawler-type stair-climbing robot is convenient to use. And operation of the remains receiving and transporting device in narrow and small spaces such as a stair turning platform is facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of corpse transportation, and in particular relates to a corpse transportation device and an operation control method thereof. Background Art

[0002] The funeral industry involves the handling of bodies, which involves handling in different scenarios. For people who died in hospitals, the transporters can take the bodies away via elevators; for people who died in residential buildings, especially in high-rise buildings, although there are elevators, other owners are reluctant to take the bodies away from the elevators, so the transporters can only take the bodies downstairs via the stairs.

[0003] CN202210357004.X discloses a body transport device, which has a power track installed under a load-bearing plate for placing the body through a first lifting mechanism, and a resistance track installed in front of the power track through a second lifting mechanism. A power wheel that can walk on the ground is provided at the front end of the load-bearing plate, and a universal wheel whose working surface can rotate relative to the power track is connected to the front end of the power track. Figure 1 As shown in Figure 11, when it turns from going down the stairs to the stair rest platform (stair turning platform), the load-bearing plate is tilted, the resistance track is retracted upward and does not contact the ground, the power wheel at the front end touches the ground and walks on the ground, and the universal wheel at the front end of the resistance track extends out to contact the ground, supported by the power wheel and the universal wheel. However, this structure causes the turning radius of the body transporting device to be larger, and the rear end of the power track extends more outside the load-bearing plate, so that the front and rear dimensions are larger in the inclined state. When the size of the stair rest platform is small, it cannot be turned by itself due to the large size and large turning radius, and it is necessary to manually lift the load-bearing plate to turn, which is inconvenient to operate; and two sets of tracks, the resistance track and the power track, are provided, and the overall structure is relatively bulky and not light enough. Summary of the invention

[0004] The present invention aims to solve the technical problems existing in the prior art, and the purpose of the present invention is to provide a corpse transporting device and an operation control method thereof.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical scheme: a body transport device, comprising a stretcher for carrying a body, a power track capable of running on the ground and stairs, and a support frame mounted on the power track, wherein the stretcher is mounted on the top of the support frame; the support frame comprises a connecting rod mechanism connecting the power track and the stretcher, wherein the connecting rod mechanism is connected to a tilting driving mechanism driving the connecting rod mechanism to make the stretcher horizontal or tilted forward; when the body transport device is running on the ground, the connecting rod mechanism is fully unfolded and the stretcher is in a horizontal state; when the body transport device is running on stairs or stair turning platforms, the stretcher tilts forward to make the body transport device in a bent state;

[0006] During the operation of the body receiving and transporting device, the following operation control method is adopted: a visual sensor is set in front of the moving position of the body receiving and transporting device to determine the terrain within a set distance in front of the moving position, and the set distance is greater than the diameter of the stair turning platform; according to the terrain within the set distance, it is determined whether the body receiving and transporting device is going downstairs, on the stair turning platform, or on flat ground; if it is going downstairs, the body receiving and transporting device is bent, and the angle θ1 between the stretcher and the power track is ≤45°; if it is on the stair turning platform, the body receiving and transporting device is bent and the angle between the stretcher and the power track meets 45°≤θ1≤60°; if it is traveling on flat ground, the body receiving and transporting device is fully opened and the stretcher is parallel to the power track.

[0007] The above technical scheme relies on power tracks to go down stairs, turn at stair turning platforms, and travel on flat ground. Compared with the prior art that sets two sets of tracks, power tracks and resistance tracks, the present invention only sets one set of tracks, which is simple in structure and light. Moreover, the present invention relies on power tracks for turning, and the turning radius is smaller than that of the prior art that turns by power wheels and universal wheels. The stretcher can be tilted forward through a connecting rod mechanism. Since only one set of power tracks is provided, when the stretcher tilts forward, the front and rear dimensions of the body transporting device are smaller, which is conducive to the operation of the body transporting device in narrow spaces such as stair turning platforms. Moreover, when the body transporting device is going down stairs, on stair turning platforms, or traveling on flat ground, the angles between the stretcher and the power tracks are different, and the states of the body transporting device are different, which makes the center of gravity more stable.

[0008] In another preferred embodiment of the present invention, a method is provided for determining whether the body transport device is traveling downstairs, on a stair turning platform, or on flat ground according to the terrain at a set distance: S11, obtaining a topographic map within a first set distance range, if the topographic map contains only a single graphic except for walls and guardrails, executing step S12, otherwise, executing step S13; S12, obtaining a gradient image of the topographic map, if the gradient image is a step-down, it is traveling downstairs; S13, obtaining a topographic map within a second set distance range, the second set distance being greater than the first set distance, and in the topographic map within the second set distance range, if there are discontinuous position steps in the gradient image of the topographic map, it is a stair turning platform, otherwise it is on flat ground.

[0009] The above technical solution determines whether the body transporting device is going downstairs, on a stair turning platform, or on flat ground by obtaining a topographic map within a first set distance range, obtaining a topographic map within a second set distance range, and obtaining a gradient image of the topographic map. The method is simple and highly reliable.

[0010] In another preferred embodiment of the present invention, when going downstairs, the slope of the stairs is obtained by the slope of two step points of the gradient image. Get the weight m of the body on the stretcher, and adjust the inclination angle between the stretcher and the chassis according to the weight. Among them, m0 is the weight threshold.

[0011] In the above technical solution, when the body transporting device goes downstairs, the inclination angle between the stretcher and the chassis is adjusted according to the slope of the stairs and the weight of the body to make the center of gravity more stable.

[0012] In a preferred embodiment of the present invention, the connecting rod mechanism includes a telescopic main rod inclined from bottom to top and from front to rear, an upper connecting rod whose lower end rotates with the telescopic main rod, and a lower connecting rod whose upper end is rotatably connected to the upper connecting rod, the lower end of the telescopic main rod is rotatably connected to the power track, the upper end of the telescopic main rod is rotatably connected to the stretcher, the upper end of the upper connecting rod is rotatably connected to the stretcher, and the lower end of the lower connecting rod is connected to the power track; the telescopic main rod is driven to extend and retract by the tilting drive mechanism, the lower connecting rod does not move, and the upper connecting rod can move with the telescopic main rod to make the stretcher horizontal or tilted forward.

[0013] According to the above technical solution, when adjusting the forward tilting angle of the stretcher, the lower connecting rod does not move, but plays a supporting role to improve the stability of the stretcher. The upper connecting rod moves by extending and retracting the telescopic main rod, and the telescopic main rod and the upper connecting rod drive the stretcher to move to adjust the forward tilting angle of the stretcher. The structure is simple and the operation is reliable.

[0014] In a preferred embodiment of the present invention, two telescopic main rods are symmetrically arranged along the width direction of the stretcher, each of the two telescopic main rods is connected to an upper connecting rod, each of the two upper connecting rods is connected to a lower connecting rod, and the two telescopic main rods are synchronously extended and retracted.

[0015] The above technical solution has two sets of connecting rod mechanisms symmetrical along the width direction of the stretcher, thereby improving the supporting strength of the stretcher.

[0016] In a preferred embodiment of the present invention, the telescopic main rod includes a lower main rod whose lower end is rotatably connected to the power track, and an upper main rod whose upper end is slidable relative to the lower main rod and rotatably connected to the stretcher, and the upper connecting rod is rotatably connected to the lower main rod of the telescopic main rod; the upper main rod is driven to extend upward by the tilting drive mechanism, and the forward tilting angle of the stretcher is increased; the upper main rod is driven to retract downward by the tilting drive mechanism, and the forward tilting angle of the stretcher is reduced.

[0017] In the above technical solution, when the upper main rod is extended upward, the angle at which the stretcher tilts forward increases, and when the upper main rod is retracted downward, the angle at which the stretcher tilts forward decreases, and the operation is stable.

[0018] In a preferred embodiment of the present invention, a connecting rod is fixedly connected to the upper main rod of the telescopic main rod, and the tilting drive mechanism is a first telescopic cylinder installed on the lower main rod and connected to the connecting rod. The first telescopic cylinder drives the upper main rod to slide relative to the lower main rod to extend and retract the telescopic main rod; and / or the lower main rod adopts a slide rail structure with a slide groove, and a sliding block that cooperates with the slide groove and can slide on the lower main rod is fixedly connected to the upper main rod.

[0019] In the above technical solution, the first telescopic cylinder is connected to the connecting rod fixedly connected to the upper main rod, and the telescopic main rod is extended and retracted by driving the connecting rod. When two telescopic main rods are provided, both telescopic main rods are driven by the first telescopic cylinder, and the synchronization is good. The extension and retraction of the upper main rod are guided by the slider and the slide groove, so that its movement is smoother.

[0020] In a preferred embodiment of the present invention, the lower connecting rod includes an upper rod portion whose upper end is rotatably connected to the upper connecting rod, and a lower rod portion whose lower end is rotatably connected to the power track through a sixth rotating shaft. The lower end of the upper rod portion is rotatably connected to the upper end of the lower rod portion, and the lower rod portion is connected to a folding drive mechanism which drives it to rotate around the sixth rotating shaft so that the lower connecting rod can be expanded or folded. When the lower connecting rod is folded, the angle between the lower rod portion and the upper rod portion decreases; when the lower connecting rod is expanded, the angle between the lower rod portion and the upper rod portion increases.

[0021] The above technical solution divides the lower connecting rod into two parts, the upper rod part and the lower rod part, and sets a folding drive mechanism so that the lower connecting rod can be unfolded or folded. When the body transporting device is used to transport the body, the lower connecting rod is unfolded to adjust the stretcher to a horizontal or forward tilted use state, and the lower connecting rod supports the stretcher through the upper connecting rod and the telescopic main rod to improve the stability of the stretcher; when the body transporting device is not needed, the body transporting device is placed in a bent state, and the body transporting device can be folded by folding the lower connecting rod to reduce the height and volume, making it easy to carry and store; and the folding drive mechanism and the tilting drive mechanism are operated at the same time, so that the height of the stretcher can be adjusted to improve practicality.

[0022] In another preferred embodiment of the present invention, the folding drive mechanism includes a second telescopic cylinder, one end of the second telescopic cylinder is rotatably connected to the lower rod portion, and one end of the second telescopic cylinder away from the lower rod portion is rotatably connected to the power track; by extending the telescopic shaft of the second telescopic cylinder, the angle between the lower rod portion and the upper rod portion is reduced; by shortening the telescopic shaft of the second telescopic cylinder, the angle between the lower rod portion and the upper rod portion is increased.

[0023] In the above technical solution, the folding drive mechanism adopts a second telescopic cylinder, and the two ends of the second telescopic cylinder are respectively rotatably connected to the lower rod and the power track. Therefore, by extending and retracting the second telescopic cylinder, the lower connecting rod can be expanded / folded to expand / fold the body transport device. The structure is simple and the operation is reliable.

[0024] In another preferred embodiment of the present invention, two power tracks are arranged at intervals along the width direction of the stretcher, a load-bearing shell is provided outside the power tracks, a connecting plate is fixedly connected between the load-bearing shells of the two power tracks, and the lower end of the support frame is connected to the load-bearing shell; and / or the power track includes a front flat section in contact with the ground, and an upwardly inclined rear section located on the rear side of the front flat end; and / or the bottom of the stretcher has a slide rail extending along its length direction, and an adjusting slider is provided at the connection between the support frame and the stretcher, and the adjusting slider is slidably connected to the slide rail and fixed by a fastener.

[0025] In the above technical solution, the load-bearing shell can protect the track and also serve as a load-bearing mechanism to support the support frame and the stretcher. A connecting plate is arranged between the load-bearing shells of the two power tracks, which has better integrity. The arrangement of the rear warped section can reduce the footprint of the new track structure compared to the entire straight section. When the stretcher is tilted forward through the support frame for use, the overall volume is smaller, which is conducive to the operation of the body transport device in narrow spaces such as stair platforms. By arranging slide rails and adjustment sliders and changing the distance between the adjustment sliders, the angle range of the stretcher's forward tilt can be adjusted to meet different needs and improve practicality.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the body transporting device of the embodiment, in which the body transporting device is fully unfolded and the stretcher is in a horizontal state.

[0029] Figure 2 1 is a side view schematic diagram of a body transport device according to an embodiment of the present invention. Figure 1 , the body transport equipment is fully unfolded and the stretcher is in a horizontal position.

[0030] Figure 3 1 is a side view schematic diagram of a body transport device according to an embodiment of the present invention. Figure 2 , the stretcher is in a forward tilted state and the lower connecting rod is in an extended state.

[0031] Figure 4 It is a schematic diagram of the state of the body transporting device of the embodiment when it is fully folded.

[0032] The figure marks in the drawings of the specification include: power track 10, front flat section 101, rear tilted section 102, load-bearing shell 11, connecting plate 12, support frame 20, telescopic main rod 21, lower main rod 211, upper main rod 212, connecting rod 213, slide groove 214, slider 215, mounting frame 216, upper connecting rod 22, lower connecting rod 23, upper rod part 231, lower rod part 232, support block 233, tilting drive mechanism (first telescopic cylinder) 24, folding drive mechanism (second telescopic cylinder) 25, support block 26, stretcher 30, slide rail 31, adjusting slider 32, first rotating shaft 41, second rotating shaft 42, third rotating shaft 43, fourth rotating shaft 44, fifth rotating shaft 45, sixth rotating shaft 46, seventh rotating shaft 47, eighth rotating shaft 48, ninth rotating shaft 49. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0034] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and 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 should not be understood as a limitation on the present invention.

[0035] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0036] The invention provides a corpse transporting device and an operation control method thereof.

[0037] like Figure 1-Figure 3As shown, in a preferred embodiment, the body transport device includes a stretcher 30 for carrying the body, a power crawler 10 capable of running on the ground and stairs, and a support frame 20 installed on the power crawler 10, the stretcher 30 is installed on the top of the support frame 20, and the power crawler 10 supports the stretcher 30 through the support frame 20. Two power crawlers 10 are arranged at intervals along the width direction of the stretcher 30, and a load-bearing shell 11 is provided outside the power crawler 10. A connecting plate 12 is fixedly connected between the load-bearing shells 11 of the two power crawlers 10, and the lower end of the support frame 20 is connected to the load-bearing shell 11.

[0038] The support frame 20 includes a connecting rod mechanism connecting the power track 10 and the stretcher 30, and the connecting rod mechanism is connected to a tilting driving mechanism 24 that drives the connecting rod mechanism to make the stretcher 30 horizontal or tilted forward. Figure 1 and Figure 2 As shown, when the body transport device is running on the ground, the connecting rod mechanism is fully unfolded and the stretcher 30 is in a horizontal state; Figure 3 As shown, when the body transporting device is running on the stairs or the stair turning platform, the stretcher 30 tilts forward so that the body transporting device is in a bent state.

[0039] With such a technical solution, only the power crawler 10 is provided, and the power crawler 10 is relied on to go down the stairs, turn at the stair turning platform, and travel on the flat ground. The structure is simple, light, and the turning radius is small. The present invention allows the stretcher 30 to tilt forward through a connecting rod mechanism to meet the use of different scenarios. For example, when running on the ground, the stretcher 30 is in a horizontal state, and the stretcher 30 tilts forward when going downstairs and on the stair turning platform. Especially when running on a narrow stair turning platform, the angle of the stretcher 30 tilting forward is increased, so that the bending angle is larger, the front and rear dimensions of the body transport device are reduced, and the volume is reduced. It can turn smoothly on the narrow stair turning platform by itself without manual assistance.

[0040] like Figure 1-Figure 3 As shown, in the present invention, the connecting rod mechanism includes a telescopic main rod 21 tilted from bottom to top and from front to back, an upper connecting rod 22 whose lower end is rotatably connected to the telescopic main rod 21 through a first rotating shaft 41, and a lower connecting rod 23 whose upper end is rotatably connected to the upper connecting rod 22 through a second rotating shaft 42, the lower end of the telescopic main rod 21 is rotatably connected to the load-bearing housing 11 of the power crawler 10 through a third rotating shaft 43 (specifically, a support seat can be installed on the load-bearing housing 11, and the third rotating shaft 43 can be rotatably installed in the support seat), the upper end of the telescopic main rod 21 is rotatably connected to the stretcher 30 through a fourth rotating shaft 44, the upper end of the upper connecting rod 22 is rotatably connected to the stretcher 30 through a fifth rotating shaft 45, and the lower end of the lower connecting rod 23 is connected to the load-bearing housing 11 of the power crawler 10. When the connecting rod mechanism is fully deployed, the upper connecting rod 22 tilts from bottom to top and from back to front, and the lower connecting rod 23 supports the upper connecting rod 22 from bottom to top and from back to front.

[0041] The telescopic main rod 21 is driven to extend and retract by the tilting driving mechanism 24, and the lower connecting rod 23 does not move (the lower connecting rod 23 plays a supporting role to maintain the stability of the connecting rod mechanism), and the upper connecting rod 22 can move with the telescopic main rod 21 to make the stretcher 30 horizontal or tilt forward. Figure 2 and Figure 3 As shown, for example, when the angle of the stretcher 30 tilting forward increases by telescoping the telescopic main rod 21, under the support of the lower connecting rod 23, the position of the second rotating shaft 42 is fixed, the telescoping main rod 21 causes the upper connecting rod 22 to rotate counterclockwise around the second rotating shaft 42, the lower end of the upper connecting rod 22 causes the lower end of the telescoping main rod 21 to rotate counterclockwise around the third rotating shaft 43, and the upper end of the upper connecting rod 22 and the upper end of the telescoping main rod 21 cause the stretcher 30 to rotate counterclockwise around the fourth rotating shaft 44. As the angle of the stretcher 30 tilting forward increases, the angle between the stretcher 30 and the telescoping main rod 21 gradually decreases until the stretcher 30 and the telescoping main rod 21 are nearly parallel, and the stretcher 30 can no longer tilt forward.

[0042] Preferably, two telescopic main rods 21 are symmetrically arranged along the width direction of the stretcher 30 , each of the two telescopic main rods 21 is connected to an upper connecting rod 22 , each of the two upper connecting rods 22 is connected to a lower connecting rod 23 , and the two telescopic main rods 21 are synchronously telescopic.

[0043] like Figure 1-Figure 3 As shown, in the present invention, the telescopic main rod 21 includes a lower main rod 211 whose lower end is rotatably connected to the power track 10, and an upper main rod 212 whose upper end is slidable relative to the lower main rod 211 and rotatably connected to the stretcher 30, and the upper connecting rod 22 is rotatably connected to the lower main rod 211 of the telescopic main rod 21. The upper main rod 212 is driven to extend upward by the tilting driving mechanism 24, and the angle of the stretcher 30 tilting forward is increased under the transmission action of the upper connecting rod 22; the upper main rod 212 is driven to retract downward by the tilting driving mechanism 24, and the angle of the stretcher 30 tilting forward is reduced under the transmission action of the lower connecting rod 23.

[0044] Among them, a connecting rod 213 extending along the width direction of the stretcher 30 is fixedly connected to the upper main rod 212 of the telescopic main rod 21, and both ends of the connecting rod 213 are respectively fixedly connected to the upper main rod 212 of the two telescopic main rods 21. The tilting drive mechanism 24 is a first telescopic cylinder (such as an electric push rod) installed on the lower main rod 211 and connected to the connecting rod 213. Specifically, a mounting frame 216 fixedly connected to the lower main rod 211 can be provided to install the first telescopic cylinder 24. The first telescopic cylinder 24 drives the upper main rod 212 to slide relative to the lower main rod 211 to extend and retract the telescopic main rod 21.

[0045] like Figure 1As shown, preferably, the lower main rod 211 adopts a slide rail structure with a slide groove 214, and a slider 215 that cooperates with the slide groove 214 and can slide on the lower main rod 211 is fixed to the upper main rod 212, and the slider 215 and the slide groove 214 guide the extension and retraction of the upper main rod 212, so that its movement is smoother. More preferably, the lower end of the first telescopic cylinder 24 is hinged to the mounting frame 216, and the upper end of the first telescopic cylinder 24 is hinged to the connecting rod 213, so that when the extension and retraction of the upper main rod 212 are not parallel to the lower main rod 211 due to processing errors of various components, the first telescopic cylinder 24 can be swung to adapt.

[0046] like Figure 1 , Figure 2 and Figure 4 As shown, in another preferred embodiment, the lower connecting rod 23 includes an upper rod portion 231 whose upper end is rotatably connected to the upper connecting rod 22 via a second rotating shaft 42, and a lower rod portion 232 whose lower end is rotatably connected to the load-bearing shell 11 of the power track 10 via a sixth rotating shaft 46. The lower end of the upper rod portion 231 is rotatably connected to the upper end of the lower rod portion 232 via a seventh rotating shaft 47, and the lower rod portion 232 is connected to a folding drive mechanism 25 for driving it to rotate so that the lower connecting rod 23 can be expanded or folded.

[0047] like Figure 3 and Figure 4 As shown, the lower connecting rod 23 is Figure 3 Shown expanded state collapsed to Figure 4 In the folded state shown in FIG. 1 , the folding drive mechanism 25 drives the lower rod 232 to rotate clockwise around the sixth rotation axis 46, and the lower rod 232 causes the upper rod 231 to rotate counterclockwise around the seventh rotation axis 47, so that the angle between the lower rod 232 and the upper rod 231 is reduced, and the folding of the lower connecting rod 23 reduces the angle of the upper connecting rod 22, the telescopic main rod 21 and the stretcher 30 as a whole and gradually folds them horizontally; the lower connecting rod 23 is folded by Figure 4 Shown collapsed, expands to Figure 3 In the unfolded state shown, the folding drive mechanism 25 drives the lower rod 232 to rotate counterclockwise around the sixth rotation axis 46, and the lower rod 232 causes the upper rod 231 to rotate clockwise around the seventh rotation axis 47, so that the angle between the lower rod 232 and the upper rod 231 increases. The unfolding of the lower connecting rod 23 increases the overall forward tilt angle of the upper connecting rod 22, the telescopic main rod 21 and the stretcher 30.

[0048] It should be noted that when the body transporting device is used to transport a body, usually, when adjusting the forward tilt angle of the stretcher 30, the folding drive mechanism 25 does not work, the lower connecting rod 23 is in the unfolded state and does not move, and only the tilting drive mechanism 24 works to extend and retract the telescopic main rod 21 to drive the upper connecting rod 22 and the stretcher 30 to move. However, according to actual conditions, the folding drive mechanism 25 and the tilting drive mechanism 24 can also work to adjust the height of the stretcher 30, for example, Figure 2 As shown, the tilting drive mechanism 24 operates to extend the telescopic main rod 21 (at this time, the height position of the fourth rotating shaft 44 increases), so that the stretcher 30 rotates counterclockwise around the fourth rotating shaft 44 by a certain angle, and at the same time, the folding drive mechanism 25 operates to increase the unfolding angle of the lower connecting rod 23 (at this time, the height position of the fifth rotating shaft 45 increases), so that the stretcher 30 rotates clockwise around the fifth rotating shaft 45 by a certain angle, thereby increasing the height of the stretcher.

[0049] like Figure 1 and Figure 2 As shown, in the present invention, the folding drive mechanism 25 includes a second telescopic cylinder (such as an electric push rod), one end of the second telescopic cylinder 25 is rotatably connected to the lower rod portion 232, and specifically, a support block 233 fixed to the lower rod portion 232 can be provided to install the second telescopic cylinder 25, the second telescopic cylinder 25 and the support block 233 are rotatably connected via an eighth rotating shaft 48, and one end of the second telescopic cylinder 25 away from the lower rod portion 232 is rotatably connected to the connecting plate 12 of the power track 10 via a ninth rotating shaft 49. By extending the telescopic axis of the second telescopic cylinder 25, the lower rod 232 rotates clockwise around the sixth rotation axis 46, and the lower rod 232 causes the second telescopic cylinder 25 to rotate clockwise around the ninth rotation axis 49, and at the same time, the lower rod 232 causes the upper rod 231 to rotate counterclockwise around the second rotation axis 42, so that the angle between the lower rod 232 and the upper rod 231 is reduced; by shortening the telescopic axis of the second telescopic cylinder 25, the lower rod 232 rotates counterclockwise around the sixth rotation axis 46, and the lower rod 232 causes the second telescopic cylinder 25 to rotate counterclockwise around the ninth rotation axis 49, and at the same time, the lower rod 232 causes the upper rod 231 to rotate clockwise around the second rotation axis 42, so that the angle between the lower rod 232 and the upper rod 231 is increased.

[0050] like Figure 1 As shown, in another preferred embodiment, the power crawler 10 includes a front flat section 101 in contact with the ground, and an upwardly inclined rear section 102 located at the rear side of the front flat end. Compared with the entire straight section, the arrangement of the rear section 102 can reduce the footprint of the new crawler structure. When the stretcher 30 is tilted forward for use through the support frame 20, the overall volume is smaller, which is conducive to the operation of the body transport device in a narrow space such as a staircase turning platform.

[0051] like Figure 1As shown, in another preferred embodiment, the bottom of the stretcher 30 has a slide rail 31 extending along its length direction, and an adjusting slider 32 is provided at the connection between the support frame 20 and the stretcher 30. The adjusting slider 32 is slidably connected to the slide rail 31 and fixed by a fastener (such as a bolt). Specifically, the upper end of the telescopic main rod 21 is rotatably connected to an adjusting slider 32 on the rear side through a fourth rotating shaft 44, and the upper end of the upper connecting rod 22 is rotatably connected to an adjusting slider 32 on the front side through a fifth rotating shaft 45.

[0052] When assembling the body transporting device, by moving the position of the adjusting slider 32 on the slide rail 31, on the one hand, the distance between the two adjusting sliders 32 in the length direction of the stretcher 30 can be adjusted to adjust the angle range of the stretcher 30 tilting forward; on the other hand, the front and rear positions of the stretcher 30 relative to the power track 10 can be adjusted. When the stretcher 30 is unfolded at the maximum forward tilting angle, the front end of the stretcher 30 is close to the front end of the power track 10, so that the structure of the body transporting device in the bent state is more compact. In addition, the rear section of the power track 10 is an upwardly tilted rear section 102, which further reduces the size in the front and rear direction, and is particularly suitable for narrow space on stair turning platforms.

[0053] Further preferably, after the distance between the two adjusting sliders 32 in the length direction of the stretcher 30 is determined, in addition to fixing the position of the adjusting sliders 32 by bolts, in order to increase stability, a support block 26 is provided to fix the distance between the two adjusting sliders 32, and the front and rear ends of the support block 26 can be respectively fixed to the two adjusting sliders 32, or as Figure 1 As shown, the front and rear ends of the support block 26 are respectively sleeved on the fourth rotating shaft 44 and the fifth rotating shaft 45.

[0054] During the operation of the body transport device of the present invention, the following operation control method is adopted:

[0055] A visual sensor (such as a radar) is arranged in front of the moving position of the body transporting device to determine the terrain within a set distance in front of the moving position, and the set distance is greater than the diameter of the stair turning platform;

[0056] According to the terrain within the set distance, determine whether the body transport device is traveling downstairs, on a staircase turning platform, or on flat ground;

[0057] If the body transport device is on the lower floor, the body transport device is in Figure 3 In the bent state shown in FIG. 1 , the angle θ1 between the stretcher 30 and the power track 10 is ≤45°. If the body transport device is on a staircase turning platform, the body transport device is in a bent state and the angle between the stretcher 30 and the power track 10 meets 45°≤θ1≤60°. If the body transport device is traveling on flat ground, the body transport device is in a bent state. Figure 2 The fully opened state is shown with the stretcher 30 parallel to the power track 10 .

[0058] Among them, the method of determining whether the body transport device is traveling downstairs, on a staircase turning platform, or on flat ground according to the terrain of the set distance:

[0059] S11, obtaining a topographic map within a first set distance range, if there is only a single graphic in the topographic map except for walls and guardrails, executing step S12, otherwise, executing step S13;

[0060] S12, obtaining a gradient image of the topographic map, if the gradient image is a step-down, it means going downstairs;

[0061] S13, obtaining a topographic map within a second set distance range, wherein the second set distance is greater than the first set distance, and preferably the second set distance is twice the first set distance. In the topographic map within the second set distance range, if there are discontinuous position steps in the gradient image of the topographic map, it is a stair turning platform, otherwise it is flat ground.

[0062] Preferably, when going downstairs, the slope of the stairs is obtained by the slope of two step points of the gradient image of the topographic map. (Generally, the slope of stairs is 30°-40°);

[0063] The weight m of the body on the stretcher is obtained (it can be obtained through a weight sensor. Specifically, the weight sensor can be arranged between the support frame 20 and the stretcher 30. For example, a mounting plate is fixedly connected to the two slide rails 31, and a mounting plate is also fixedly connected to the bottom of the stretcher 30. The weight sensor is arranged between the two mounting plates, so that the weight of the body can be transmitted to the weight sensor through the stretcher). According to the weight of the body, the inclination angle between the stretcher and the chassis is adjusted to Here, m0 is the weight threshold, for example, 30 kg.

[0064] In the description of this specification, the description with reference to the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0065] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A body transport device, characterized in that: It comprises a stretcher for carrying remains, a power crawler capable of running on the ground and stairs, and a support frame installed on the power crawler, wherein the stretcher is installed on the top of the support frame; The support frame includes a connecting rod mechanism connecting the power crawler and the stretcher, and the connecting rod mechanism is connected to a tilting drive mechanism that drives the movement thereof to make the stretcher horizontal or tilt forward; When the body transporting device is running on the ground, the connecting rod mechanism is fully unfolded and the stretcher is in a horizontal state; When the body transporting device is running on a staircase or a stair turning platform, the stretcher tilts forward so that the body transporting device is in a bent state; During the operation of the body transport device, the following operation control method is adopted: A visual sensor is arranged in front of the moving position of the body transporting device to determine the terrain within a set distance in front of the moving position, wherein the set distance is greater than the diameter of the stair turning platform; According to the terrain within the set distance, determine whether the body transport device is traveling downstairs, on a staircase turning platform, or on flat ground; If going downstairs, the body transporting device is in a bent state, and the angle between the stretcher and the power track is θ1≤45°. If on a stair turning platform, the body transporting device is in a bent state, and the angle between the stretcher and the power track meets the requirement of 45°≤θ1≤60°. If driving on flat ground, the body transporting device is in a fully open state, and the stretcher is parallel to the power track.

2. A corpse transport device according to claim 1, characterized in that: Method for determining whether the body transport device is traveling downstairs, on a staircase turning platform, or on flat ground according to the terrain of the set distance: S11, obtaining a topographic map within a first set distance range, if there is only a single graphic in the topographic map except for walls and guardrails, executing step S12, otherwise, executing step S13; S12, obtaining a gradient image of the topographic map, if the gradient image is a step-down, it means going downstairs; S13, obtaining a topographic map within a second set distance range, wherein the second set distance is greater than the first set distance, and in the topographic map within the second set distance range, if there are discontinuous position steps in the gradient image of the topographic map, it is a stair turning platform, otherwise it is flat ground.

3. A corpse transport device according to claim 2, characterized in that: When going downstairs, the slope of the stairs is obtained by the slope of the two step points of the gradient image. Get the weight m of the body on the stretcher, and adjust the inclination angle between the stretcher and the chassis according to the weight. Here, m0 is the weight threshold, for example, 30 kg.

4. A corpse transport device according to claim 1, characterized in that: The connecting rod mechanism includes a telescopic main rod inclined from bottom to top and from front to rear, an upper connecting rod whose lower end rotates with the telescopic main rod, and a lower connecting rod whose upper end is rotatably connected to the upper connecting rod, the lower end of the telescopic main rod is rotatably connected to the power crawler, the upper end of the telescopic main rod is rotatably connected to the stretcher, the upper end of the upper connecting rod is rotatably connected to the stretcher, and the lower end of the lower connecting rod is connected to the power crawler; The telescopic main rod is driven to extend and retract by the tilting driving mechanism, the lower connecting rod does not move, and the upper connecting rod can move together with the telescopic main rod to make the stretcher horizontal or tilt forward.

5. A corpse transport device according to claim 4, characterized in that: Two telescopic main rods are symmetrically arranged along the width direction of the stretcher, each of the two telescopic main rods is connected to an upper connecting rod, each of the two upper connecting rods is connected to a lower connecting rod, and the two telescopic main rods are synchronously telescopic.

6. The body transport device according to claim 4, characterized in that: The telescopic main rod comprises a lower main rod whose lower end is rotatably connected to the power track, and an upper main rod whose upper end is slidable relative to the lower main rod and rotatably connected to the stretcher, and the upper connecting rod is rotatably connected to the lower main rod of the telescopic main rod; The upper main rod is driven to extend upward by the tilting driving mechanism, and the angle at which the stretcher tilts forward increases; The upper main rod is driven to retract downward by the tilting driving mechanism, and the forward tilting angle of the stretcher is reduced.

7. A corpse transport device according to claim 6, characterized in that: A connecting rod is fixedly connected to the upper main rod of the telescopic main rod, and the tilting drive mechanism is a first telescopic cylinder installed on the lower main rod and connected to the connecting rod. The first telescopic cylinder drives the upper main rod to slide relative to the lower main rod to extend and retract the telescopic main rod; and / or the lower main rod adopts a slide rail structure with a slide groove, and a sliding block that cooperates with the slide groove and can slide on the lower main rod is fixedly connected to the upper main rod.

8. A corpse transport device according to any one of claims 4 to 7, characterized in that: The lower connecting rod comprises an upper rod portion whose upper end is rotatably connected to the upper connecting rod, and a lower rod portion whose lower end is rotatably connected to the power track via a sixth rotating shaft, wherein the lower end of the upper rod portion is rotatably connected to the upper end of the lower rod portion, and the lower rod portion is connected to a folding driving mechanism that drives it to rotate around the sixth rotating shaft so as to expand or fold the lower connecting rod; When the lower connecting rod is retracted, the angle between the lower rod portion and the upper rod portion decreases; When the lower connecting rod is unfolded, the angle between the lower rod portion and the upper rod portion increases.

9. A corpse transport device according to claim 8, wherein the folding drive mechanism comprises a second telescopic cylinder, one end of the second telescopic cylinder is rotatably connected to the lower rod, and one end of the second telescopic cylinder away from the lower rod is rotatably connected to the power crawler; By extending the telescopic shaft of the second telescopic cylinder, the angle between the lower rod and the upper rod is reduced; By shortening the telescopic axis of the second telescopic cylinder, the angle between the lower rod portion and the upper rod portion is increased.

10. A corpse transport device according to any one of claims 1 to 7, characterized in that: Two power crawlers are arranged at intervals along the width direction of the stretcher, a load-bearing shell is arranged outside the power crawler, a connecting plate is fixedly connected between the load-bearing shells of the two power crawlers, and the lower end of the support frame is connected to the load-bearing shell; and / or the power crawler includes a front flat section in contact with the ground, and an upwardly inclined rear section located at the rear side of the front flat end; And / or the bottom of the stretcher has a slide rail extending along its length direction, and the connection between the support frame and the stretcher is provided with an adjusting slider, and the adjusting slider is slidably connected to the slide rail and fixed by a fastener.

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