Wheelchair facilitating getting on and off

Abstract

The invention provides a wheelchair facilitating getting on and off. The wheelchair comprises a frame body, a seat plate, a moving mechanism, a transferring mechanism, a lifting mechanism and a controller. The moving mechanism and the transferring mechanism are arranged on the frame body. The moving mechanism drives the wheelchair to move. The transferring mechanism comprises multiple sections of arm rods, the multiple sections of arm rods are rotationally connected, the transferring mechanism is detachably connected with the seat plate, and the transferring mechanism enables the seat plate to stretch out of the outer side of the frame body; the lifting mechanism is connected between the frame body and the transfer mechanism; the controller is connected with the moving mechanism, the transferring mechanism and the lifting mechanism. A user and the seat plate can be conveniently transferred to a vehicle through the transfer mechanism, and then the seat plate is detached; or the chair plate is recovered to the wheelchair main body, and the chair plate is connected with the transfer mechanism; and the convenience of getting on and off the vehicle by the user who is inconvenient to move is improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of wheelchairs, and particularly to a wheelchair facilitating getting on and off a vehicle. Background Art

[0002] Currently, there are mainly the following several ways for a wheelchair to get on and off a vehicle: (1) using a detachable flat plate as a ramp and pushing the wheelchair into the vehicle along the ramp; (2) stretching out a lifting platform from the vehicle to lift the entire wheelchair into the vehicle; (3) manually carrying the user from the wheelchair to the vehicle seat. The first and second methods require additional wheelchair accommodation space in the vehicle, and the third method has the problem of inconvenience in getting on and off the vehicle. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of protection of the claims.

[0004] An object of the present application is to solve at least to a certain extent one of the technical problems existing in the related art. Embodiments of the present application provide a wheelchair facilitating getting on and off a vehicle, which can improve the convenience of getting on and off the vehicle.

[0005] An embodiment of the present application, a wheelchair facilitating getting on and off a vehicle, includes:

[0006] A frame;

[0007] A seat board for a user to sit on;

[0008] A moving mechanism disposed on the frame for driving the wheelchair to move;

[0009] A transfer mechanism disposed on the frame, the transfer mechanism includes multiple arm rods rotatably connected to each other, the transfer mechanism is detachably connected to the seat board, and the transfer mechanism is used to extend the seat board out of the outside of the frame;

[0010] A lifting mechanism connected between the frame and the transfer mechanism;

[0011] An environment sensor for obtaining environmental information around the wheelchair;

[0012] A controller connected to the environment sensor, the moving mechanism, the transfer mechanism, and the lifting mechanism;

[0013] Wherein, the controller determines the first coordinate of the vehicle door and the second coordinate of the vehicle seat surface according to the environmental information, controls the moving mechanism to drive the wheelchair to move to the front of the vehicle door according to the first coordinate and the second coordinate, controls the lifting mechanism to adjust the transfer mechanism to a target height, and controls the transfer mechanism to place the seat board through the vehicle door onto the vehicle seat surface.

[0014] According to an embodiment of the present application, the multi-section arm rods of the transfer mechanism extend to the outside of the frame body, connect the arm rods to the seat board, and the multi-section arm rods retract to place the seat board on the frame body.

[0015] According to an embodiment of the present application, when the seat board is located inside the frame body, the first arm rod and the second arm rod are folded in half, and the first arm rod and the second arm rod are on the same side of the seat board.

[0016] According to an embodiment of the present application, when the seat board is located inside the frame body, the first arm rod and the second arm rod are perpendicular to each other, the first arm rod is located behind the seat board, and the second arm rod is located on the left or right side of the seat board.

[0017] According to an embodiment of the present application, a first jack plate is provided at one end of the transfer mechanism connected to the seat board, the first jack plate is provided with jacks, the seat board is connected with a first seat board connecting member, and the first seat board connecting member is provided with a hook member, and the hook member is inserted into the jacks.

[0018] According to an embodiment of the present application, a second jack plate is provided at one end of the transfer mechanism connected to the seat board, the second jack plate is provided with round holes, the seat board is connected with a second seat board connecting member, and the second seat board connecting member is provided with column members, and the column members are inserted into the round holes.

[0019] According to an embodiment of the present application, the frame body is provided with a telescopic rod, and the end of the telescopic rod is connected to a support wheel; the telescopic rod is used to extend the support wheel to the outside of the frame body.

[0020] According to an embodiment of the present application, the moving mechanism is provided with driving wheels and follower wheels, and the driving wheels are connected to a driver.

[0021] According to an embodiment of the present application, the seat board is provided with a backrest, and the backrest is rotatably connected to the seat board.

[0022] The above solution has at least the following beneficial effects: It can determine the coordinates of the car door and the car seat surface according to environmental information, control the moving mechanism to drive the wheelchair to move to the front of the car door based on the coordinates of the car door and the car seat surface, control the lifting mechanism to adjust the transfer mechanism to the target height, and control the transfer mechanism to place the seat board through the car door onto the car seat surface; when the user needs to get on the car, the user sits on the seat board, moves to the side of the vehicle through the moving mechanism, raises the transfer mechanism and the seat board to an appropriate height through the lifting mechanism, the multi-section arm rods rotate and cooperate with each other, extend the seat board outside the frame body, extend the seat board and the user sitting on the seat board into the car through the car door, and detach the seat board from the transfer mechanism to complete the action of getting on the car; when the user needs to get off the car, the multi-section arm rods of the transfer mechanism extend outside the frame body and into the car body, connect the transfer mechanism with the seat board, the multi-section arm rods rotate and cooperate with each other, recover the seat board and the user sitting on the seat board from the car to the wheelchair through the car door, and raise the transfer mechanism and the seat board to an appropriate height through the lifting mechanism to complete the action of getting off the car. There is no need to create an additional space in the car to accommodate the wheelchair, and the convenience of users with mobility difficulties when getting on and off the car is improved through this wheelchair. Description of the Drawings

[0023] The drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification. They are used together with the embodiments of the present application to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0024] Figure 1 It is a structural diagram of a wheelchair facilitating getting on and off the car;

[0025] Figure 2 It is a structural diagram of the transfer mechanism and the lifting mechanism;

[0026] Figure 3 It is a structural diagram of the telescopic rod;

[0027] Figure 4 It is a state diagram when the wheelchair is used for getting on and off the car and the wheelchair is in the state of the transfer mechanism being combined with the seat board;

[0028] Figure 5 It is a state diagram when the wheelchair is used for getting on and off the car and the wheelchair is in the state of the transfer mechanism being separated from the seat board;

[0029] Figure 6 It is a state diagram when the wheelchair is used for getting on and off the bed. Detailed Embodiments

[0030] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] It should be noted that although the functional modules are divided in the device schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division in the device or a different sequence in the flowchart. Terms such as "first" and "second" in the specification, claims or the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0032] The embodiments of the present application will be further described below in conjunction with the accompanying drawings.

[0033] An embodiment of the present application provides a wheelchair that facilitates getting on and off.

[0034] Refer to Figure 1 , the wheelchair includes: a frame body 100, a seat plate 200, a moving mechanism 300, a transfer mechanism 500, a lifting mechanism 400, an environmental sensor and a controller.

[0035] Among them, the seat plate 200 is used for the user to sit on; the moving mechanism 300 is arranged on the frame body 100, and the moving mechanism 300 is used to drive the wheelchair to move; the transfer mechanism 500 is arranged on the frame body 100, the transfer mechanism 500 includes multiple arm rods, and the multiple arm rods are rotatably connected to each other. The transfer mechanism 500 is detachably connected to the seat plate 200, and the transfer mechanism 500 is used to extend the seat plate 200 outside the frame body 100; the lifting mechanism 400 is connected between the frame body 100 and the transfer mechanism 500; the controller is connected to the moving mechanism 300, the transfer mechanism 500 and the lifting mechanism 400; the environmental sensor is used to obtain the environmental information around the wheelchair; the controller is connected to the environmental sensor, the moving mechanism 300, the transfer mechanism 500 and the lifting mechanism 400. Among them, the controller determines the first coordinate of the car door and the second coordinate of the car seat surface according to the environmental information, controls the moving mechanism 300 to drive the wheelchair to move to the front of the car door according to the first coordinate and the second coordinate, controls the lifting mechanism 400 to adjust the transfer mechanism 500 to the target height, and controls the transfer mechanism 500 to place the seat plate 200 through the car door onto the car seat surface.

[0036] Exemplarily, the environmental sensor is a binocular camera that acquires environmental images as environmental information. The controller receives the environmental images and performs image analysis on the environmental images using image analysis techniques to determine the first coordinates of the vehicle door and the second coordinates of the vehicle seat surface. For the target features of the vehicle door and the seat, feature vectors that can represent information such as their shapes, textures, colors, etc. are extracted. For example, the edge contour of the vehicle door, the shape of the handle, etc., and the surface texture of the seat, the shape of the backrest 210, etc. The convolutional neural network in deep learning is used to automatically learn the feature representation. Using a pre-trained classifier or recognition model, the extracted features are analyzed and judged to determine whether there are vehicle doors and seats in the image, and they are classified and located. For the vehicle door, its position can be determined by recognizing features such as its edge contour and handle; for the seat, its coordinates can be determined by analyzing features such as its surface texture and the shape of the backrest 210. A suitable coordinate system is established in the image, usually with the upper left corner or the center point of the image as the origin, and the horizontal and vertical directions are the X-axis and Y-axis respectively. According to the actual size of the vehicle and the parameters of the camera, the image coordinate system is converted into the actual coordinate system of the vehicle so as to obtain the coordinates of the vehicle door and the seat in the actual space of the vehicle. According to the results of target detection and recognition, the key point coordinates of the vehicle door and the seat are determined in the image, such as the four corner points of the vehicle door, the center point of the seat, etc. Then, through the coordinate system conversion formula, the image coordinates of these key points are converted into the coordinates in the actual coordinate system of the vehicle, so as to obtain the accurate positions of the vehicle door and the seat surface.

[0037] When the user needs to get on the vehicle, the user sits on the seat plate 200, moves to the side of the vehicle through the moving mechanism 300, raises or lowers the transfer mechanism 500 and the seat plate 200 to a suitable height through the lifting mechanism 400, the multi-section arm rods rotate and cooperate with each other, extend the seat plate 200 outside the frame body 100, and stretch the seat plate 200 and the user sitting on the seat plate 200 into the vehicle through the vehicle door, detach the seat plate 200 from the transfer mechanism 500 to complete the getting-on action. Additionally, other parts of the wheelchair except the seat plate 200 can be placed behind the vehicle to facilitate the transportation of the wheelchair.

[0038] When the user needs to get off the vehicle, the multi-section arm rods of the transfer mechanism 500 extend outside the frame body 100 and into the vehicle body, connect the transfer mechanism 500 with the seat plate 200, the multi-section arm rods rotate and cooperate with each other, and retrieve the seat plate 200 and the user sitting on the seat plate 200 from the vehicle through the vehicle door onto the wheelchair, and raise or lower the transfer mechanism 500 and the seat plate 200 to a suitable height through the lifting mechanism 400 to complete the getting-off action.

[0039] There is no need to create additional space for the wheelchair inside the vehicle, and the user can sit on the car seat. The wheelchair improves the convenience of users with mobility difficulties when getting on and off the vehicle, enabling the user to transfer freely and smoothly between the car and the wheelchair.

[0040] It can be understood that the controller analyzes according to the first coordinate of the car door to determine whether the opening width of the car door allows the seat plate 200 to pass through. When the opening width of the car door is less than the sum of the width of the seat plate 200 and the preset additional width, the getting-on-and-off operation is performed; when the opening width of the car door does not meet the width for the seat plate 200 to pass through, the getting-on-and-off operation is not executed.

[0041] The seat plate 200 can be provided with a support mechanism such as a support bracket. The support mechanism can be supported on the bottom plate of the back seat of the car and other parts, or can rely on other load-bearing positions on the vehicle body, which can effectively prevent the wheelchair from tipping over during transfer.

[0042] The moving mechanism 300 is installed on the chassis of the frame 100. The moving mechanism 300 can be electric or can use a manual wheel. The electric moving mechanism 300 can be controlled by the user through a control handle or can be controlled by a control device behind the wheelchair. A controller is installed at the rear of the wheelchair, and the controller can be operated by someone other than the user. The operation handle is wirelessly communicatively connected to the controller of the wheelchair.

[0043] The moving mechanism 300 is provided with a driving wheel 310 and a follower wheel 320, and the driving wheel 310 is connected to a driver. Specifically, a moving chassis structure with two hub motors driving the driving wheels 310 at the rear and five follower wheels 320 at the front is adopted.

[0044] Refer to Figure 3 , the chassis of the frame 100 is provided with a telescopic rod 600, and the end of the telescopic rod 600 is connected to a support wheel 610; the telescopic rod 600 is used to extend the support wheel 610 outside the frame 100. An extended structure is adopted to give it a larger grounding range, which can effectively prevent the wheelchair from tipping over during transfer. When the transfer mechanism 500 transfers the seat plate 200 to the left, the telescopic rod 600 extends to the left; when the transfer mechanism 500 transfers the seat plate 200 to the right, the telescopic rod 600 extends to the right.

[0045] Refer to Figure 2 , the lifting mechanism 400 uses an electric push rod 410 as the lifting power. The lifting mechanism 400 is fixed to the chassis through a fixed column 420. The electric push rod 410 can push the lifting slider to move up and down, and then make the transfer mechanism 500 and the seat plate 200 connected to the lifting slider move up and down.

[0046] To withstand a huge overturning moment, heavy-duty guide rails 430 are installed between the fixed vertical column 420 and the lifting slider to cope with the change in the direction of the overturning moment during the transfer of the seat plate 200. Two pairs of heavy-duty guide rails 430 are adopted, and the directions of the two pairs of heavy-duty guide rails 430 are perpendicular.

[0047] The lifting mechanism 400 ensures that the passenger can be lifted from the wheelchair to a height higher than the car seat and finally lowered so that the seat plate 200 and the backrest 210 are placed on the car seat. The lifting device can be manual or electric.

[0048] The lifting mechanism 400 can enable the user to adapt to different scenarios, such as adapting to tables of different heights.

[0049] The lifting mechanism 400 can be applied to ordinary cars and larger cars such as minibuses. The former requires a smaller lifting distance of the lifting mechanism 400 than the latter.

[0050] For the transfer mechanism 500, the arm rod includes a first arm rod 510 and a second arm rod 520. The first arm rod 510 is connected to the frame 100 through a first rotating pair 530, the first arm rod 510 is connected to the second arm rod 520 through a second rotating pair 540, and the second arm rod 520 is connected to the seat plate 200 through a third rotating pair.

[0051] On the one hand, the transfer mechanism 500 is mainly located on the left or right side of the seat plate 200. When the seat plate 200 is located inside the frame 100, the first arm rod 510 and the second arm rod 520 are folded in half and are on the same side of the seat plate 200.

[0052] On the other hand, the transfer mechanism 500 is mainly located at the rear side of the seat plate 200. When the seat plate 200 is located inside the frame 100, the first arm rod 510 and the second arm rod 520 are perpendicular, the first arm rod 510 is located at the rear side of the seat plate 200, and the second arm rod 520 is located on the left or right side of the seat plate 200.

[0053] The first rotating pair 530, the second rotating pair 540, and the third rotating pair all include a rotating shaft and a motor. The motor drives the rotating shaft to rotate, thereby realizing the rotation of the first arm rod 510, the second arm rod 520, and the frame 100. When the rotating pair of the transfer mechanism 500 is driven by a power device, the power can be in the form of a combination of a motor and a reducer, or can be driven by an electric push rod 410, a hydraulic cylinder, etc. Each rotating pair also uses an encoder and other devices to measure the angles of each joint and transmit relevant angle data to the control system.

[0054] The transfer mechanism 500 and the seat plate 200 are detachably connected through a coupling mechanism.

[0055] The transfer mechanism 500 can enable the seat board 200 together with the user to achieve mutual transfer between the wheelchair and the car seat. The transfer mechanism 500 has three degrees of freedom, namely forward and backward movement, left and right movement, and rotation about the vertical axis.

[0056] In practical applications, the wheelchair will be parked beside the opened door of the back seat of the car. Usually, the door cannot be fully opened. Therefore, the seat board 200 together with the user generally cannot directly achieve a smooth transfer between the wheelchair and the car seat by translation. Therefore, it is necessary to adopt a transfer mechanism 500 with three degrees of freedom to achieve the transfer, and the seat board 200 and the user are extended into the car to complete the transfer.

[0057] The transfer mechanism 500 can be a single-arm structure, that is, a structure composed of a rotating pair and a support arm, or a double-arm structure can also be adopted to improve the overall stiffness of the support arm.

[0058] Each rotating pair of the transfer mechanism 500 can be powered or unpowered. When powered, multiple joints can be linked by manual control to achieve forward and backward movement, left and right movement, and rotation about the vertical axis, so as to achieve the transfer between the car seat and the wheelchair; it can also detect the surrounding space through sensors such as binocular cameras and automatically plan the path to achieve an automated transfer. When unpowered, the resistance moment received by each rotating pair is not large, and the transfer can be achieved by manual force.

[0059] Referring to Figure 4 and Figure 5 On the one hand, the coupling mechanism includes a first socket plate and a seat board connecting member 551, and the seat board connecting member 551 is the first seat board connecting member. One end of the transfer mechanism 500 connected to the seat board 200 is provided with a first socket plate, the first socket plate is provided with a socket, the first seat board connecting member is connected to the seat board 200, the first seat board connecting member is provided with a hook member, and the hook member is inserted into the socket. The hook of the hook member extends downward. When the seat board 200 and the transfer mechanism 500 are in a disassembled state and it is necessary to connect the seat board 200 and the transfer mechanism 500, the seat board 200 is placed on the car seat in a stationary state, and the lifting mechanism 400 drives the transfer mechanism 500 and the coupling mechanism to rise, so that the hook member is inserted into the socket, and then the transfer mechanism 500 is connected to the seat board 200. When the seat board 200 and the transfer mechanism 500 are in a combined state and it is necessary to separate the seat board 200 and the transfer mechanism 500, the seat board 200 is placed on the car seat, and the lifting mechanism 400 drives the transfer mechanism 500 and the coupling mechanism to descend, so that the hook member is disengaged from the socket, and then the transfer mechanism 500 is separated from the seat board 200.

[0060] It is understandable that the coupling mechanism further includes a locking mechanism, which can be a threaded locking mechanism, a snap locking mechanism, etc. The first jack plate and the hook member are locked by the locking mechanism to prevent accidental detachment.

[0061] On the other hand, the coupling mechanism includes a second jack plate and a seat plate connecting member 551, and the seat plate connecting member 551 is a second seat plate connecting member. One end of the transfer mechanism 500 connected to the seat plate 200 is provided with a second jack plate, the second jack plate is provided with a round hole, the second seat plate connecting member is connected to the seat plate 200, and the second seat plate connecting member is provided with a column member, and the column member is inserted into the round hole. The column member extends downward. When the seat plate 200 and the transfer mechanism 500 are in a disassembled state and it is necessary to connect the seat plate 200 and the transfer mechanism 500, the seat plate 200 is placed on the vehicle seat in a stationary state, and the lifting mechanism 400 drives the transfer mechanism 500 and the coupling mechanism to rise, so that the column member is inserted into the round hole, and then the transfer mechanism 500 and the seat plate 200 are connected together. When the seat plate 200 and the transfer mechanism 500 are in a combined state and it is necessary to separate the seat plate 200 and the transfer mechanism 500, the seat plate 200 is placed on the vehicle seat, and the lifting mechanism 400 drives the transfer mechanism 500 and the coupling mechanism to descend, so that the column member disengages from the round hole, and then the transfer mechanism 500 and the seat plate 200 are separated.

[0062] Through the cooperation of the column member and the round hole, the seat plate 200 can rotate around the column member.

[0063] The frame 100 and the seat plate 200 are connected and separated by the coupling mechanism. When connecting through the coupling mechanism, sufficient stiffness and strength can be provided for the seat plate 200 and the backrest 210, and at the same time, the simplicity of separation can be realized.

[0064] The seat plate 200 is provided with a backrest 210, and the backrest 210 is rotatably connected to the seat plate 200. When transferring the user from the wheelchair to the bed, the backrest 210 is rotated so that the backrest 210 and the seat plate 200 are in a plane, so that the user can lie flat on the plane formed by the seat plate 200 and the backrest 210.

[0065] Refer to Figure 6 , when the user needs to go to bed, the user sits on the seat plate 200, moves to the side of the bed through the moving mechanism 300, raises the transfer mechanism 500 and the seat plate 200 to an appropriate height through the lifting mechanism 400, the multi-section arm rods rotate and cooperate with each other, extend the seat plate 200 outside the frame 100, transfer the seat plate 200 and the user sitting on the seat plate 200 to the bed, detach the seat plate 200 from the transfer mechanism 500, complete the action of going to bed, and rotate the backrest 210 so that the backrest 210 and the seat plate 200 are in a plane.

[0066] When the user needs to get out of bed, rotate the backrest 210 so that the backrest 210 is perpendicular to the seat board 200; extend the multi-section arm of the transfer mechanism 500 to the outside of the frame 100, connect the transfer mechanism 500 to the seat board 200, rotate and cooperate with the multi-section arms to recover the seat board 200 and the user sitting on the seat board 200 onto the wheelchair, and lift the transfer mechanism 500 and the seat board 200 to an appropriate height through the lifting mechanism 400 to complete the action of getting out of bed.

[0067] The controller is connected to the mobile mechanism 300, the transfer mechanism 500, and the lifting mechanism 400; the controller is connected to the environmental sensor, and the environmental sensor is used to obtain the environmental information around the wheelchair. The controller calculates the control signal of the wheelchair based on the environmental information obtained by the environmental sensor, and sends the control signal to the mobile mechanism 300, the transfer mechanism 500, and the lifting mechanism 400 to control the movement of the mobile mechanism 300, the transfer mechanism 500, and the lifting mechanism 400.

[0068] The movement and transfer actions of the wheelchair can also be remotely controlled, and two-way interactive audio and video communication with the passenger can also be achieved through devices such as cameras and monitors. The wheelchair can achieve automatic navigation and movement, and can complete automatic docking beside the vehicle seat, deployment of the support mechanism, and then realize automatic transfer, as well as automatic separation of the combination mechanism through supporting devices such as lidar and binocular cameras.

[0069] When the user gets out of the car, the transfer mechanism 500 can be connected by manual operation of the connecting mechanism, can also be docked through manual control, or can be automatically docked through detection devices.

[0070] This wheelchair is equipped with a transfer and lifting device, so it can be used in various scenarios such as the user going to the toilet, entering the bathtub in a lying or sitting posture, and taking a shower in a semi-sitting and semi-standing posture.

[0071] The lifting mechanism 400 and the telescopic rod 600 are connected to the frame 100 through a convenient tightening and loosening mechanism, which is convenient for disassembly and assembly and can be placed separately after disassembly.

[0072] The above is a specific description of the preferred embodiment of the present application, but the present application is not limited to the embodiment. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A wheelchair that is easy to get on and off, characterized in that: include: Frame; A seat board, the seat board is used for a user to sit on; A moving mechanism, the moving mechanism is arranged on the frame, and the moving mechanism is used to drive the wheelchair to move; A transfer mechanism, the transfer mechanism is arranged on the frame, the transfer mechanism comprises a plurality of arm sections, the plurality of arm sections are rotatably connected to each other, the transfer mechanism is detachably connected to the seat plate, and the transfer mechanism is used to extend the seat plate out of the frame; A lifting mechanism connected between the frame and the transfer mechanism; An environmental sensor, the environmental sensor is used to obtain environmental information around the wheelchair; A controller connected to the environmental sensor, the moving mechanism, the transfer mechanism and the lifting mechanism; Among them, the controller determines the first coordinate of the vehicle door and the second coordinate of the vehicle seat surface according to the environmental information, controls the moving mechanism to drive the wheelchair to the front of the vehicle door according to the first coordinate and the second coordinate, controls the lifting mechanism to adjust the transfer mechanism to the target height, and controls the transfer mechanism to place the seat board through the vehicle door and onto the vehicle seat surface.

2. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The multi-section arm of the transfer mechanism extends to the outside of the frame, connects the arm with the seat board, and the multi-section arm is retracted to make the seat board located on the frame.

3. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The arm comprises a first arm and a second arm, the first arm is connected to the frame through a first rotation pair, the first arm is connected to the second arm through a second rotation pair, and the second arm is connected to the seat plate through a third rotation pair.

4. The wheelchair that is easy to get on and off according to claim 2, characterized in that: When the seat plate is located at the inner side of the frame, the first arm and the second arm are folded in half, and the first arm and the second arm are located at the same side of the seat plate.

5. The wheelchair that is easy to get on and off according to claim 2, characterized in that: When the seat plate is located at the inner side of the frame, the first arm and the second arm are vertically arranged, the first arm is located at the rear side of the seat plate, and the second arm is located at the left side or the right side of the seat plate.

6. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The end of the transfer mechanism connected to the seat board is provided with a first socket plate, the first socket plate is provided with a socket, the seat board is connected to a first seat board connecting member, the first seat board connecting member is provided with a hook, and the hook is inserted into the socket.

7. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The end of the transfer mechanism connected to the seat plate is provided with a second jack plate, the second jack plate is provided with a circular hole, the seat plate is connected to a second seat plate connecting piece, the second seat plate connecting piece is provided with a column, and the column is inserted into the circular hole.

8. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The moving mechanism is provided with a driving wheel and a follower wheel, and the driving wheel is connected to the driver.

9. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The frame body is provided with a telescopic rod, and the end of the telescopic rod is connected to the supporting wheel; the telescopic rod is used to extend the supporting wheel out of the outside of the frame body.

10. The wheelchair that is easy to get on and off according to claim 1, characterized in that: The seat plate is provided with a backrest, and the backrest is rotatably connected to the seat plate.

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