Carrying equipment comprising pneumatic balancing device

Abstract

The invention discloses carrying equipment comprising a pneumatic balancing device, which comprises a carrying platform suitable for carrying personnel and goods; the grounding device is arranged at the lower part of the carrying platform and is suitable for being in contact with the ground; the grounding state detection device is arranged on the grounding device; the posture detection device is arranged on the grounding device; the pneumatic balancing device is arranged above the carrying platform and is connected with the carrying platform; the pneumatic balance device is electrically connected with the ground contact state detection device and the posture detection device so as to adjust the contact state of the ground contact device and the ground according to the detection result of the ground contact state detection device and maintain balance of the carrying platform according to the detection result of the posture detection device. The carrying equipment comprising the pneumatic balancing device has the advantages of being high in terrain adaptability, good in carrying stability and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation, and in particular to a transport device comprising a pneumatic balancing device. Background Art

[0002] In related technologies, ground transportation equipment such as electric vehicles have poor adaptability to road terrain. When driving on uneven, flooded, or icy roads, their grip and driving stability will be affected, making them prone to slipping or even tipping over. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a carrier including a pneumatic balancing device, which has the advantages of strong terrain adaptability and good carrying stability.

[0004] To achieve the above-mentioned purpose, according to an embodiment of the present invention, a carrying equipment including a pneumatic balancing device is proposed, and the carrying equipment including the pneumatic balancing device includes: a carrying platform, wherein the carrying platform is suitable for carrying people and goods; a ground contact device, wherein the ground contact device is arranged at the lower part of the carrying platform and is suitable for contacting the ground; a ground contact state detection device, wherein the ground contact state detection device is arranged on the ground contact device and is suitable for detecting the contact state of the ground contact device with the ground; a posture detection device, wherein the posture detection device is arranged on the ground contact device and is suitable for detecting the posture of the ground contact device; a pneumatic balancing device, wherein the pneumatic balancing device is arranged above the carrying platform and connected to the carrying platform, and the pneumatic balancing device is electrically connected to the ground contact state detection device and the posture detection device, respectively, to adjust the contact state of the ground contact device with the ground according to the detection result of the ground contact state detection device and maintain the balance of the carrying platform according to the detection result of the posture detection device.

[0005] The carrying equipment including the pneumatic balancing device according to the embodiment of the present invention has the advantages of strong terrain adaptability, good carrying stability, etc.

[0006] In addition, the carrier including the pneumatic balancing device according to the above embodiment of the present invention may also have the following additional technical features:

[0007] According to one embodiment of the present invention, the pneumatic balancing device is a drone unit.

[0008] According to one embodiment of the present invention, the UAV unit includes a frame and a plurality of rotor devices, the plurality of rotor devices are arranged at intervals on the frame, and the frame is connected to the carrying platform.

[0009] According to one embodiment of the present invention, the pneumatic balancing device maintains the ground contact device in contact with the ground according to a detection result of the ground contact state detection device.

[0010] According to one embodiment of the present invention, the posture detection device is an inertial posture sensor.

[0011] According to one embodiment of the present invention, the ground contact state detection device includes a laser distance measuring device, a strain sensor and a visual sensor.

[0012] According to one embodiment of the present invention, the ground contact device is a wheel or a support member suitable for supporting the carrying platform.

[0013] According to one embodiment of the present invention, a seat is provided on the carrying platform.

[0014] According to one embodiment of the present invention, the pneumatic balancing device is further adapted to drive the carrying platform to move and brake the carrying platform.

[0015] According to one embodiment of the present invention, a platform movement control device is provided on the carrier platform, and the platform movement control device communicates with the pneumatic balancing device.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0018] Figure 1 2 is a schematic structural diagram of a carrier including a pneumatic balancing device according to an embodiment of the present invention.

[0019] Figure 2 1 is a schematic diagram of a partial structure of a carrier including a pneumatic balancing device according to an embodiment of the present invention.

[0020] Reference numerals: carrier equipment 1 including a pneumatic balancing device, carrier platform 10 , ground contact device 20 , pneumatic balancing device 30 , frame 31 , rotor device 32 , coupling device 33 . DETAILED DESCRIPTION

[0021] This application is based on the discovery and understanding of the following facts and issues:

[0022] In related technologies, ground transportation equipment such as electric vehicles have poor adaptability to road terrain. When driving on uneven, flooded, or icy roads, their grip and driving stability will be affected, making them prone to slipping or even tipping over.

[0023] Although flying carriers such as drones in related technologies can avoid being affected by terrain, their usage scenarios are limited by factors such as flight control. In addition, their own carrying stability is poor and they are easily affected by airflow.

[0024] The following describes embodiments of the present invention in detail. 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships 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, rather than indicating or implying 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 limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0027] The following describes a carrier 1 including a pneumatic balancing device according to an embodiment of the present invention with reference to the accompanying drawings.

[0028] like Figure 1 and Figure 2As shown, the carrying equipment 1 including the pneumatic balancing device according to an embodiment of the present invention includes a carrying platform 10 , a ground contact device 20 , a ground contact state detection device, a posture detection device and a pneumatic balancing device 30 .

[0029] The carrying platform 10 is suitable for carrying people and cargo. A ground contact device 20 is provided at the lower portion of the carrying platform 10 and is suitable for contacting the ground. The ground contact state detection device is provided on the ground contact device 20 and is suitable for detecting the contact state of the ground contact device 20 with the ground. The posture detection device is provided on the ground contact device 20 and is suitable for detecting the posture of the ground contact device 20. A pneumatic balancing device 30 is provided above the carrying platform 10 and is connected to the carrying platform 10. The pneumatic balancing device 30 is electrically connected to the ground contact state detection device and the posture detection device, respectively, to adjust the contact state of the ground contact device 20 with the ground according to the detection results of the ground contact state detection device and to maintain the balance of the carrying platform 10 according to the detection results of the posture detection device.

[0030] Specifically, the pneumatic balancing device 30 uses air power, and the power required for maintaining the height and adjusting the posture of the carrying platform 10 is at least partially provided by the pneumatic balancing device 30 .

[0031] When the posture detection device detects that the ground contact device 20 tilts to one side, the pneumatic balancing device 30 provides power to the opposite side to compensate for the posture of the ground contact device 20 and the carrying platform 10 to prevent the ground contact device 20 and the carrying platform 10 from tipping over.

[0032] When facing a pothole road, when the ground contact state detection device detects that the contact degree of the ground contact device 20 with the ground is reduced, for example, when the contact force of the ground contact device 20 with the ground is reduced; or when facing a convex road, when the ground contact state detection device detects that the contact degree of the ground contact device 20 with the ground is increased, for example, when the contact force of the ground contact device 20 with the ground is increased, the pneumatic balancing device 30 promptly adjusts the height of the ground contact device 20 and the carrying platform 10 to keep the contact state of the ground contact device 20 with the ground relatively stable.

[0033] According to the embodiment of the present invention, the carrying equipment 1 including the pneumatic balancing device is provided with a ground contact device 20, a ground contact state detection device, a posture detection device and a pneumatic balancing device 30. The ground contact state detection device is used to detect the contact state of the ground contact device 20 with the ground, the posture detection device is used to detect the posture of the ground contact device 20, and the pneumatic balancing device 30 is used to adjust the contact state and posture of the ground contact device 20 with the ground according to the detection results of the ground contact state detection device and the posture detection device. Compared with the ground carrying equipment in the related art, when facing uneven, flooded and icy roads, the pneumatic balancing device 30 can be used to timely adjust the contact state of the ground contact device 20 with the ground and the posture of the carrying platform 10, thereby preventing the carrying platform 10 from tipping over and improving the carrying stability of the carrying platform 10, so that the carrying equipment 1 including the pneumatic balancing device has good terrain adaptability and stability.

[0034] Furthermore, by utilizing the pneumatic balancing device 30 to adjust the contact state between the ground contact device 20 and the ground, the ground contact device 20 can be maintained on the ground as much as possible, so that the carrier 1 including the pneumatic balancing device can keep traveling on the ground. Compared with the flying carrier in the related art, it can avoid being restricted by flight control and the like. Moreover, the ground contact device 20 is maintained on the ground, which can provide support for the carrier platform 10, thereby improving the carrying stability of the carrier platform 10 and reducing the influence of airflow on the stability of the carrier platform 10.

[0035] Therefore, the carrying equipment 1 including the pneumatic balancing device according to the embodiment of the present invention has the advantages of strong terrain adaptability, good carrying stability, etc.

[0036] The following describes a carrier 1 including a pneumatic balancing device according to a specific embodiment of the present invention with reference to the accompanying drawings.

[0037] In some specific embodiments of the present invention, Figure 1 and Figure 2 As shown, the carrying equipment 1 including the pneumatic balancing device according to an embodiment of the present invention includes a carrying platform 10 , a ground contact device 20 , a ground contact state detection device, a posture detection device and a pneumatic balancing device 30 .

[0038] Advantageously, as Figure 1 and Figure 2 As shown, the pneumatic balancing device 30 is a drone unit. In this way, the drone unit can be used to provide power for maintaining the posture and height of the carrier platform 10, which facilitates the application and setting of the pneumatic balancing device 30.

[0039] More advantageously, if Figure 1 and Figure 2As shown, the drone unit includes a frame 31 and multiple rotor devices 32. The multiple rotor devices 32 are spaced apart on the frame 31, and the frame 31 is connected to the carrier platform 10. This can form a multi-rotor drone, using the lift of the rotor devices 32 to provide power for maintaining the height and attitude of the carrier platform 10.

[0040] Specifically, if Figure 2 As shown, the carrier platform 10 and the frame 31 can be connected via a coupling 33. The coupling 33 is configured to allow the carrier platform 10 to swing relative to the frame 31 in the pitch and roll directions of the frame 31, while restricting rotation of the carrier platform 10 relative to the frame 31 in the heading direction of the frame. For example, the coupling 33 can be a cross-axis coupling or an 8-shaped flexible coupling. This allows the frame 31 and the carrier platform 10 to self-adjust in roll and pitch, improving the stability and reliability of the carrier platform 10, reducing attitude adjustment delays, enhancing flight controllability, and improving wind resistance and energy efficiency.

[0041] Optionally, the pneumatic balancing device 30 maintains contact between the ground contact device 20 and the ground based on the detection results of the ground contact state detection device. For example, when the contact between the ground contact device 20 and the ground decreases, the pneumatic balancing device 30 can lower the height of the carrying platform 10 to maintain the ground contact device 20 on the ground. This allows the carrying equipment 1 including the pneumatic balancing device to maintain ground travel, providing support for the carrying platform 10 and improving stability.

[0042] Specifically, the posture detection device is an inertial posture sensor, so that the posture of the ground contact device 20 can be detected by detecting the inertia of the ground contact device 20 .

[0043] More specifically, the ground contact status detection device includes a laser rangefinder, a strain sensor, and a visual sensor. This allows the contact status of the ground contact device 20 with the ground to be detected by measuring distance, contact force, and visual motion. For example, as the platform 10 rises, the laser rangefinder will detect an increase in distance to the ground, the strain sensor will detect a decrease in contact force, and the visual sensor can determine that the ground contact device 20 is in the ascending state based on image changes.

[0044] In some embodiments, the ground contact device 20 is a wheel, which not only provides support for the carrying platform 10, but also reduces the friction between the ground contact device 20 and the ground, and can also detect the contact state with the ground according to the tire pressure and other methods.

[0045] In other embodiments, the ground contact device 20 is a support member suitable for supporting the carrying platform 10 , which can also provide support for the carrying platform 10 .

[0046] Advantageously, seats are provided on the carrying platform 10. This makes it easy for people to ride and improves the comfort and stability of people when riding.

[0047] Specifically, the pneumatic balancing device 30 is also suitable for driving the carrier platform 10 to move and braking the carrier platform 10. Specifically, the pneumatic balancing device 30 is a drone unit and can adopt the same movement and braking methods as the drone unit during horizontal flight. This not only eliminates the need for other power devices and reduces the overall weight of the carrier equipment 1 containing the pneumatic balancing device, but also avoids conflicts between power provided by multiple different power sources, facilitating the control of the travel, attitude, direction, and braking of the carrier equipment 1 containing the pneumatic balancing device. In addition, because the travel, braking, attitude, and altitude maintenance of the carrier equipment 1 containing the pneumatic balancing device all rely on the pneumatic balancing device 30, it will not be affected by road conditions such as uneven ground, accumulated water, and ice, and can further improve the terrain adaptability and carrying stability of the carrier equipment 1 containing the pneumatic balancing device.

[0048] More specifically, the platform 10 is equipped with a platform motion control device that communicates with the pneumatic balancing device 30. Specifically, the platform motion control device can utilize the same movement and braking methods used to control the drone unit. This facilitates the operator on the platform 10 to operate the pneumatic balancing device 30, thereby controlling the movement and braking of the vehicle 1 including the pneumatic balancing device.

[0049] Specifically, the platform movement control device can be provided with a prompt device that can emit sound and / or light prompts. When the detection values ​​of the ground contact status detection device and the posture detection device are greater than the predetermined values, a prompt is issued to enable the driver to adjust the driving status in time.

[0050] Other structures and operations of the carrier 1 including the pneumatic balancing device according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0051] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0052] While 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 invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A carrier comprising a pneumatic balancing device, characterized in that: include: A carrying platform, wherein the carrying platform is suitable for carrying people and goods; A ground contact device, the ground contact device being arranged at the lower portion of the carrying platform and being adapted to contact the ground; a ground contact state detection device, the ground contact state detection device being provided on the ground contact device and being adapted to detect a contact state between the ground contact device and the ground; a posture detection device, the posture detection device being provided on the ground contact device and being adapted to detect the posture of the ground contact device; A pneumatic balancing device is provided above the carrying platform and connected to the carrying platform. The pneumatic balancing device is electrically connected to the ground contact state detection device and the posture detection device respectively to adjust the contact state between the ground contact device and the ground according to the detection result of the ground contact state detection device and maintain the balance of the carrying platform according to the detection result of the posture detection device.

2. The carrier comprising a pneumatic balancing device according to claim 1, characterized in that: The pneumatic balancing device is a drone unit.

3. The carrier comprising a pneumatic balancing device according to claim 2, wherein: The UAV unit includes a frame and a plurality of rotor devices, wherein the plurality of rotor devices are arranged at intervals on the frame, and the frame is connected to the carrying platform.

4. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The pneumatic balancing device maintains the ground contact device in contact with the ground according to a detection result of the ground contact state detection device.

5. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The posture detection device is an inertial posture sensor.

6. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The ground contact state detection device includes a laser distance measuring device, a strain sensor and a visual sensor.

7. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The ground contact device is a wheel or a support member suitable for supporting the carrying platform.

8. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The carrying platform is provided with seats.

9. The carrier comprising a pneumatic balancing device according to claim 1, wherein: The pneumatic balancing device is further adapted to drive the carrying platform to move and brake the carrying platform.

10. The carrier comprising a pneumatic balancing device according to claim 9, wherein: The carrying platform is provided with a platform movement control device, and the platform movement control device communicates with the pneumatic balancing device.

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