Electric stair-climbing obstacle-crossing wheelchair

Abstract

The invention relates to the field of intelligent transportation equipment, in particular to an electric stair-climbing obstacle-crossing wheelchair which comprises a vehicle body and a seat movably installed on the upper side of the vehicle body, walking mechanisms are arranged on the two sides of the vehicle body, an adjusting mechanism is arranged at the bottom of the seat, and a control module and an environment sensing module are further arranged on the vehicle body and the seat. The walking mechanism comprises crawler belts and Mecanum wheel sets, the crawler belts are arranged on the two sides of the vehicle body, the Mecanum wheel sets are fixedly installed on mechanical arms, and one ends of the mechanical arms rotate through motors to adjust the angle of the vehicle body; the walking mechanism has the functions of silently moving on the flat ground and going up and down stairs, the Mecanum wheel sets achieve in-situ steering and lateral movement, the passing ability in the narrow space is improved, the control module and the environment sensing module are matched, the stairs can be automatically recognized, the crawler belts are automatically switched, the posture is automatically adjusted, and operation is easy.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobility devices, specifically an electric stair-climbing and obstacle-crossing wheelchair. Background Technology

[0002] Currently, many urban residences and communities still lack elevators or have elevators that are not functioning properly, such as during maintenance or power outages. This makes it very difficult for the elderly, people with mobility impairments, or family members carrying heavy objects to travel up and down stairs. Existing electric wheelchairs are mainly used for walking on flat ground and cannot achieve safe and stable climbing up and down stairs. Although some tracked obstacle-crossing wheelchairs can climb stairs, they generally have problems such as complicated operation, high noise on flat ground, large swaying when climbing stairs, inability to perform dynamic posture control, and lack of environmental scheduling and obstacle avoidance capabilities. Therefore, we have proposed an electric stair-climbing obstacle-crossing wheelchair. Summary of the Invention

[0003] The purpose of this invention is to provide an electric stair-climbing and obstacle-crossing wheelchair to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, an electric stair-climbing and obstacle-crossing wheelchair is provided, comprising a vehicle body and a seat movably mounted on the upper side of the vehicle body. The vehicle body has walking mechanisms on both sides, and the seat has an adjustment mechanism at its bottom. The vehicle body and the seat are also provided with a control module and an environmental sensing module. The walking mechanism includes tracks and Mecanum wheelsets. The tracks are located on both sides of the vehicle body, and the Mecanum wheelsets are fixedly mounted on a robotic arm. One end of the robotic arm is rotated by a motor to adjust the angle of the vehicle body. When in flat ground driving mode, the robotic arm descends, and one end of the track lifts off the ground. It is driven by the Mecanum wheel set to move forward, backward, and turn. When in stair-climbing mode, the robotic arm rises or falls, so that the track fits against the surface of the stair treads. The main controller controls the track speed and robotic arm height based on the feedback data from the environmental perception module to keep the seat level.

[0005] Furthermore: the Mecanum wheelset includes a front steering wheel and a rear support wheel, the rear support wheel is provided on one side of the front steering wheel, an anti-tipping wheel is fixedly installed on one end of the rear support wheel, and a mechanical brake is provided on one side of the Mecanum wheelset.

[0006] Furthermore, the environmental perception module includes a camera, a lidar, a gyroscope, and a GPS module. Several of the cameras and lidars are distributed on various surfaces of the vehicle body and seats, while the gyroscope and GPS module are located inside the vehicle body.

[0007] Furthermore, the camera and lidar are used to detect stair edges, step heights, obstacles, and pedestrians, working in conjunction with the control module to achieve path recognition and avoidance.

[0008] Furthermore: the adjustment mechanism includes a mounting platform, which is fixedly installed on the top of the vehicle body. A movable plate is rotatably connected to the upper end of the mounting platform. A lifting push rod is fixedly installed on the top of the movable plate. The movable end of the lifting push rod is fixedly installed at the bottom of the seat. An angle push rod is fixedly installed inside the mounting platform. The movable end of the angle push rod is slidably connected to the lower surface of the movable plate.

[0009] Furthermore, the gyroscope is used to collect the vehicle body posture angle in real time, and in conjunction with the adjustment mechanism, adjusts the seat angle according to the vehicle body posture angle so that the passenger can maintain a basic horizontal position when going up and down stairs.

[0010] Furthermore: the control module includes a control board, a human-machine interface panel, and a voice interaction module; armrests are connected to both sides of the seat by a 90-degree rotation; the human-machine interface panel is fixedly installed on the top of the armrests; and lighting is provided on each side of the vehicle body and seat, as well as at the bottom of the armrests.

[0011] Furthermore: a battery is fixedly installed inside the vehicle body, a charging interface is provided on the outside of the vehicle body, an expansion interface is provided on the outside of the seat, and the battery is equipped with power detection, overvoltage protection, overcurrent protection, and undervoltage protection circuits.

[0012] Furthermore, the seat is equipped with a network communication module, which can interact with another wheelchair or server to realize stairwell scheduling, voice prompts, and obstacle avoidance.

[0013] Furthermore: the vehicle body frame is made of aluminum alloy or carbon fiber material.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, the walking mechanism has the functions of silent movement on flat ground and going up and down stairs. The Mecanum wheel set enables turning and lateral movement on the spot, improving the passability in narrow spaces. With the help of the control module and the environmental perception module, it can automatically identify stairs, automatically switch tracks, and automatically adjust posture, making it easy to operate. 2. Visual + gyroscope closed-loop control ensures the seat remains level during stair climbing, enhancing passenger safety. It is equipped with brakes, safety circuits, and voice prompts. It can be locked in case of power failure and can be used for wheelchair scheduling and obstacle avoidance, improving stairwell access efficiency. The lightweight frame makes it suitable for home, medical, and elderly care facilities. Attached Figure Description

[0015] Figure 1 This is a schematic elevation view of an electric stair-climbing and obstacle-crossing wheelchair according to the present invention; Figure 2 This is a side view of an electric stair-climbing and obstacle-crossing wheelchair according to the present invention; Figure 3 This is a schematic diagram of the adjustment structure in this invention.

[0016] In the diagram: 1. Vehicle body; 2. Seat; 6. Tracks; 7. Mecanum wheel set; 8. Robotic arm; 9. Front steering wheel; 10. Rear support wheel; 11. Anti-reverse wheel; 12. Camera; 13. LiDAR; 16. Human-machine interface panel; 17. Handrail; 18. Lighting; 20. Adjustment mechanism; 21. Mounting platform; 22. Movable plate; 23. Lifting push rod; 24. Angle push rod. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-3 The figure shows a preferred embodiment of the present invention, an electric stair climbing and obstacle crossing wheelchair, including a vehicle body 1 and a seat 2 movably mounted on the upper side of the vehicle body 1. The vehicle body 1 is provided with walking mechanisms on both sides, and the seat 2 is provided with an adjustment mechanism 20 at the bottom. The vehicle body 1 and the seat 2 are also provided with a control module and an environmental sensing module. The walking mechanism includes tracks 6 and Mecanum wheel sets 7. The tracks 6 are provided on both sides of the vehicle body 1, and the Mecanum wheel sets 7 are fixedly mounted on a robotic arm 8. One end of the robotic arm 8 is rotated by a motor to adjust the angle of the vehicle body 1. When in flat ground driving mode, the robotic arm 8 descends, and one end of the track 6 leaves the ground. It is driven by the Mecanum wheel set 7 to move forward, backward, and turn. When in stair-climbing mode, the robotic arm 8 rises or falls, so that the track 6 fits against the surface of the stair steps. The main controller controls the speed of the track 6 and the height of the robotic arm 8 according to the feedback data of the environmental perception module, so that the seat 2 remains horizontal.

[0019] The Mecanum wheelset 7 includes a front steering wheel 9 and a rear support wheel 10. The rear support wheel 10 is provided on one side of the front steering wheel 9. An anti-rollover wheel 11 is fixedly installed on one end of the rear support wheel 10. The Mecanum wheelset 7 is provided with a mechanical brake on one side. When the battery level is lower than a preset threshold or a malfunction occurs, a voice warning will be given in advance, and the motor will lock the brake to prevent it from slipping.

[0020] Specifically, the environmental perception module includes a camera 12, a lidar 13, a gyroscope, and a GPS module. Several cameras 12 and lidar 13 are distributed on various surfaces of the vehicle body 1 and the seat 2, while the gyroscope and GPS module are located inside the vehicle body 1. The cameras 12 and lidar 13 are used to detect stair edges, step heights, obstacles, and pedestrians, and work with the control module to achieve path recognition and avoidance. The gyroscope is used to collect the attitude angle of the vehicle body 1 in real time, and works with the adjustment mechanism 20 to adjust the angle of the seat 2 according to the attitude angle of the vehicle body 1, so that the passenger can maintain a basically horizontal position when going up and down stairs.

[0021] It is understood that the adjustment mechanism 20 includes a mounting platform 21, which is fixedly installed on the top of the vehicle body 1. A movable plate 22 is rotatably connected to the upper end of the mounting platform 21. A lifting push rod 23 is fixedly installed on the top of the movable plate 22. The movable end of the lifting push rod 23 is fixedly installed at the bottom of the seat 2. An angle push rod 24 is fixedly installed inside the mounting platform 21. The movable end of the angle push rod 24 is slidably connected to the lower surface of the movable plate 22. The lifting push rod 23 acts as an electric push rod, directly controlling the height of the seat 2. The bottom of the seat 2 is also provided with retractable guide cylinders on both sides of the lifting push rod 23. The guide cylinders are also installed on the top of the movable plate 22 to make the structure more stable. The angle push rod 24 pushes one end of the movable plate 22 to move, causing the movable plate 22 to rotate around its relatively fixed end, thereby adjusting the angle of the seat 2 so that the passenger can maintain a basically horizontal position when going up and down stairs.

[0022] The control module includes a PLC control board, a human-machine interface panel 16, and a voice interaction module. The two sides of the seat 2 are rotatably connected to armrests 17 for easy access for the user. The human-machine interface panel 16 is fixedly installed on the top of the armrests 17. Lights 18 are also provided on each side of the vehicle body 1 and the seat 2, as well as at the bottom of the armrests 17, for illumination in dim environments. The human-machine interface panel 16 and the voice interaction module can display or prompt battery level, fault, mode status, and obstacle avoidance messages. The movement status or posture of the vehicle body 1 and the seat 2 can also be manually adjusted through the human-machine interface panel 16.

[0023] The battery is fixedly installed inside the vehicle body 1, a charging interface is provided on the outside of the vehicle body 1, an expansion interface is provided on the outside of the seat 2, and the battery is equipped with power detection, overvoltage protection, overcurrent protection and undervoltage protection circuits.

[0024] In this embodiment, the seat 2 is equipped with a network communication module, which can interact with another wheelchair or server to realize stairwell scheduling, voice prompts and obstacle avoidance.

[0025] Specifically, the frame of the vehicle body 1 is made of aluminum alloy or carbon fiber material, which has the characteristics of being lightweight and having a high load-bearing capacity.

[0026] In this embodiment, due to the significant burden of climbing stairs in multi-story buildings, especially when carrying heavy objects, an "electric obstacle-crossing wheelchair that automatically identifies stairs, automatically switches tracks, maintains a level seat, and has voice prompts and obstacle avoidance functions" is proposed, which can be used in homes, elderly care communities, hospitals, disaster emergency environments, etc. Track 6 is a wear-resistant rubber track with built-in hydraulic cushioning. When going up or down stairs, track 6 automatically conforms to the steps. When on flat ground, it switches to a quiet rubber Mecanum wheel set 7. It has the ability to travel on flat ground (forward, backward and turning) and a certain obstacle crossing ability (such as curbs). The speed is 3-5km / h, the maximum load is not less than 120kg, and the range on a single charge is not less than 15km. Before climbing stairs, it can communicate with another wheelchair or a server through the network communication module to know whether there is a wheelchair going up or down the stairs and to understand the environment and conditions.

[0027] Finally, it should be noted that, in order to facilitate a clear demonstration and understanding of the structure of the present invention, the accompanying drawings are not drawn to scale. The drawings may contain enlarged, reduced, or distorted representations of specific components, spacing, or angles. Those skilled in the art should understand that, in actual production or manufacturing, the dimensions, tolerances, and proportional relationships described in this text shall prevail. In the description of the present invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0028] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0029] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. An electric stair-climbing and obstacle-crossing wheelchair, characterized in that, Includes a vehicle body (1) and a seat (2) movably mounted on the upper side of the vehicle body (1). The vehicle body (1) is provided with a walking mechanism on both sides, and the seat (2) is provided with an adjustment mechanism (20) at the bottom. The vehicle body (1) and the seat (2) are also provided with a control module and an environmental perception module. The walking mechanism includes tracks (6) and Mecanum wheel sets (7). The tracks (6) are located on both sides of the vehicle body (1). The Mecanum wheel sets (7) are fixedly mounted on the robotic arm (8). One end of the robotic arm (8) is rotated by a motor to adjust the angle of the vehicle body (1). When in flat ground driving mode, the robotic arm (8) descends, one end of the track (6) leaves the ground, and is driven by the Mecanum wheel set (7) to move forward, backward and turn; When in the up-and-down mode, the robotic arm (8) rises or falls, so that the track (6) fits against the surface of the stair treads. The main controller controls the speed of the track (6) and the height of the robotic arm (8) according to the feedback data of the environmental perception module, so that the seat (2) remains horizontal.

2. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: The Mecanum wheelset (7) includes a front steering wheel (9) and a rear support wheel (10). The rear support wheel (10) is provided on one side of the front steering wheel (9). An anti-tipping wheel (11) is fixedly installed at one end of the rear support wheel (10). A mechanical brake is provided on one side of the Mecanum wheelset (7).

3. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: The environmental perception module includes a camera (12), a lidar (13), a gyroscope, and a GPS module. Several of the cameras (12) and lidar (13) are distributed on each side of the vehicle body (1) and the seat (2), and the gyroscope and GPS module are located inside the vehicle body (1).

4. The electric stair-climbing and obstacle-crossing wheelchair according to claim 3, characterized in that: The camera (12) and lidar (13) are used to detect the edge of the stairs, the height of the steps, the position of obstacles and pedestrians, and work with the control module to realize path recognition and avoidance.

5. The electric stair-climbing and obstacle-crossing wheelchair according to claim 3, characterized in that: The adjustment mechanism (20) includes a mounting platform (21), which is fixedly mounted on the top of the vehicle body (1). A movable plate (22) is rotatably connected to the upper end of the mounting platform (21). A lifting push rod (23) is fixedly mounted on the top of the movable plate (22). The movable end of the lifting push rod (23) is fixedly mounted on the bottom of the seat (2). An angle push rod (24) is fixedly mounted inside the mounting platform (21). The movable end of the angle push rod (24) is slidably connected to the lower surface of the movable plate (22).

6. The electric stair-climbing and obstacle-crossing wheelchair according to claim 3, characterized in that: The gyroscope is used to collect the attitude angle of the vehicle body (1) in real time, and in conjunction with the adjustment mechanism (20), adjusts the angle of the seat (2) according to the attitude angle of the vehicle body (1) so that the passenger can maintain a basic level during the process of going up and down the stairs.

7. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: The control module includes a control board, a human-machine interaction panel (16) and a voice interaction module. The two sides of the seat (2) are connected to armrests (17) by a 90-degree rotation. The top of the armrests (17) is fixedly installed with the human-machine interaction panel (16). Lighting lamps (18) are also provided on each side of the body (1) and the seat (2) and at the bottom of the armrests (17).

8. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: A battery is fixedly installed inside the vehicle body (1), a charging interface is provided on the outside of the vehicle body (1), an expansion interface is provided on the outside of the seat (2), and the battery is equipped with a power detection, overvoltage protection, overcurrent protection and undervoltage protection circuit.

9. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: The seat (2) is equipped with a network communication module, which can interact with another wheelchair or server to realize stairwell scheduling, voice prompts and avoidance.

10. The electric stair-climbing and obstacle-crossing wheelchair according to claim 1, characterized in that: The frame of the vehicle body (1) is made of aluminum alloy or carbon fiber.

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