An automatic body transfer device

Abstract

The application discloses a kind of automatic corpse transfer device, it is related to corpse transport field.The device includes corpse placing bin, base, front segment drive lifting module, middle segment driven lifting module and rear segment drive lifting module and control system being independently set in sequence along the length direction of base, corpse placing bin is installed on base, three groups of lifting modules can be independently lifted along vertical direction, the bottom of each lifting module is equipped with walking mechanism, respectively with three groups of lifting modules electric connection, so that walking mechanism realizes ground movement, barrier crossing and the state switching of carriage inside support separation.The device realizes bionic crossing through three groups of independent lifting wheel modules, automatically gets on and off, solves artificial handling problem;Through side support limiting plate, the inner wall of carriage is pressed outward, combined with the retraction of lifting module to form rigid fixation, eliminate transport shaking;Integrated corpse carrier eliminates multiple replacement in transfer, avoids cross-infection risk.

Description

Technical Field

[0001] This invention relates to the field of body transportation, and in particular to an automatic body transfer device. Background Technology

[0002] Body transport is a core part of the funeral service process. Currently, the industry commonly uses ordinary hand-pushed body carriers for short-distance body transport. These carriers have a simple structure, mainly consisting of a frame, wheels fixed to the bottom of the frame, and a body tray placed on the frame. They can only be pushed on flat ground. In the actual transport process, after the body is retrieved from the hospital morgue, it must first be placed on this type of hand-pushed carrier, pushed to the hearse, and then separated. Two to four staff members then manually lift the body tray or the body to a pre-installed special body storage compartment inside the hearse. Upon arrival at the funeral home, the body must again be manually lifted and transferred from the storage compartment inside the hearse to a transport vehicle inside the funeral home. The entire process requires multiple manual handling of the body. In addition, traditional hearses must have a special body storage compartment installed in the cargo compartment to be used. Many ordinary modified vehicles or temporarily used vehicles cannot undertake transport tasks because they are not equipped with the corresponding storage compartment, and most storage compartments do not have integrated cooling functions, failing to meet the needs of short-term temporary preservation of the body.

[0003] However, the existing transport vehicles used in the aforementioned technologies cannot autonomously cross obstacles such as thresholds and curbs, nor can they autonomously load and unload from the hearse. They must be manually lifted and transported, which is not only labor-intensive and inefficient but also prone to causing displacement or damage to the body, failing to meet the ethical requirements of the funeral industry. Secondly, existing transport vehicles still rely on rollers to support the body on the hearse floor after entering the vehicle, making them prone to slipping and swaying during movement, posing safety hazards and failing to provide rigid fixation. Thirdly, existing technologies require the fixed installation of a dedicated placement compartment inside the hearse, resulting in poor versatility and incompatibility with different hearse models. Furthermore, the separate structure of the placement compartment and the transport vehicle necessitates multiple handling of the body, increasing the risk of cross-infection. Finally, existing placement compartments cannot move as an integrated unit with the transport vehicle, making it difficult to integrate additional functions such as cooling, and thus failing to meet the needs of temporary body preservation. To address these issues, this invention provides an automatic body transport device to solve the aforementioned problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automated body transport device. It solves the problems of existing transport vehicles being unable to autonomously cross obstacles such as thresholds and curbs, or to independently load and unload from funeral vehicles, requiring manual lifting for transport. This is not only labor-intensive and inefficient, but also prone to causing body displacement or impact, failing to meet ethical requirements in the funeral industry. Secondly, existing transport vehicles still rely on rollers for support after entering the vehicle, making them prone to slipping and swaying during movement, posing safety hazards and failing to achieve rigid fixation. Thirdly, existing technologies require a dedicated placement compartment to be fixed inside the funeral vehicle, resulting in poor versatility and incompatibility with different funeral vehicle models. Furthermore, the separate structure of the placement compartment and the transport vehicle necessitates multiple body handlings, increasing the risk of cross-infection. Finally, existing placement compartments cannot move as an integrated unit with the transport vehicle, making it difficult to integrate additional functions such as cooling.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic body transport device, comprising a body placement chamber, a base, a front drive lifting module, a middle driven lifting module, and a rear drive lifting module arranged independently along the length of the base, and a control system. The body placement chamber is installed on the base. The three lifting modules can be independently raised and lowered in the vertical direction. Each lifting module has a walking mechanism installed at its bottom, which is electrically connected to the three lifting modules respectively. This mechanism is used to control the three lifting modules to lift and lower in coordination according to different working conditions, enabling the walking mechanism to switch between ground movement, obstacle crossing, and unsupported state within the carriage, while keeping the body placement chamber level throughout the process.

[0006] Preferably, the walking mechanism includes two front drive wheels installed at the bottom of the front drive lifting module, two middle driven wheels installed at the bottom of the middle driven lifting module, and two rear drive wheels installed at the bottom of the rear drive lifting module. Each of the front and rear drive wheels has a built-in drive motor. The front drive lifting module, middle driven lifting module, and rear drive lifting module are all connected to the base via power cylinders. The cylinder body of the power cylinder is fixed to the base, and the piston rod is fixedly connected to the top of the corresponding lifting module. Visual sensors are installed at both the front and rear ends of the base. These visual sensors are electrically connected to the control system and are used to detect the height of the rear sill of the hearse, the size of any obstruction, and the relative position of the device to the vehicle body.

[0007] Preferably, the device also includes two sets of side support limiting plates symmetrically arranged on the left and right sides of the base. The side support limiting plates are electrically connected to the control system and can be rotated outward or retracted inward in the horizontal direction. After the device enters the carriage and is positioned, the control system controls the two side support limiting plates to extend outward until they press against the inner walls of the carriage, automatically centering the base and forming a multi-point rigid support. Each set of side support limiting plates includes a servo motor, a rotating plate, and a support plate. The servo motor is fixedly installed on the side wall of the base. The two ends of the rotating plate are respectively hinged to the output shaft of the servo motor and the support plate. The rotating plate is fixedly connected to the power output end of the servo motor. The rotating plate rotates and expands the support plate outward under the rotation of the servo motor.

[0008] Preferably, a rubber anti-slip pad is fixed to the bottom of the base. The rubber anti-slip pad is used for the first anti-slip fixation when the base contacts the ground. The outer end of the side support limiting plate is also provided with a rubber anti-slip pad. After the side support limiting plate is pressed and fixed, the control system also controls the three sets of lifting modules to retract upwards synchronously, so that all walking mechanisms are removed from the carriage floor, and the entire load of the device is transferred to the rigid support structure formed by the base and the side support limiting plate to complete the secondary fixation.

[0009] Preferably, visual sensors are installed at both the front and rear ends of the base. The visual sensors are electrically connected to the control system and are used to detect the height of the rear sill of the hearse, the size of the obstruction, and the relative position of the device and the carriage. A level detection module is also provided in the base. The level detection module feeds back the tilt angle of the body placement chamber detected in real time to the control system. The control system dynamically adjusts the extension and retraction height of the three sets of lifting modules according to the feedback to keep the body placement chamber in a horizontal state throughout the process.

[0010] Preferably, the control system includes a detection unit, a control unit, a level detection unit, and a storage unit; The detection unit is used to acquire the height of the lifting module, the operation of the walking mechanism, environmental information, and the tilt angle collected by the horizontal detection module. The control unit is used to generate and execute control commands; The horizontal detection module is electrically connected to the control system and is used to detect the tilt angle of the body placement chamber in real time. The control system adjusts the height of the three sets of lifting modules according to the feedback from the horizontal detection module to keep the body placement chamber horizontal. The storage unit is used to store funeral vehicle parameters and preset control procedures.

[0011] Preferably, the side support limiting plate includes a front side support limiting plate and a rear side support limiting plate that can be controlled independently; the control system is configured to execute the following automatic loading and centering fixing process: S1. Docking preparation: The visual sensor detects the height of the rear sill of the hearse and the width of the carriage. The control system adjusts the initial height of the three sets of lifting modules so that the bottom of the device is flush with the floor of the carriage. At the same time, it controls all side support limit plates to retract inward to the minimum width. S2. Bionic crossing and segmented center entry: S21. The front drive lifting module retracts upward to raise its walking mechanism and rest against the edge of the rear door sill. At the same time, the control system controls the front side support limit plate to rotate outward and support it on both sides of the rear door of the carriage, completing the front centering and retraction. S22. The middle section driven lifting module and the rear section driven lifting module work together to drive the device forward; S23. The middle section driven lifting module retracts upward to suspend its walking mechanism in the air, and is supported and driven to cross by the front section drive lifting module and the rear section drive lifting module; S24. Before the rear drive lifting module retracts upward, the control system controls the rear side support limit plate to rotate outward and support it on both sides of the rear door of the carriage. After the rear is centered, it retracts. Then the rear drive lifting module retracts upward to suspend its walking mechanism in the air. It is supported and driven to cross by the front drive lifting module and the middle driven lifting module. At this point, the entire device enters the carriage. S25. The device continues to move forward a preset distance until the vision sensor detects that the front end of the device has reached a predetermined position inside the carriage; S3. Pre-centering: The control system controls all side support limit plates to extend outward, press against the left and right inner walls of the carriage, and retract after centering and positioning. S4. Double Fixation: The control system controls the three sets of lifting modules to retract upwards synchronously, so that the walking mechanism is removed from the car floor and the bottom of the base contacts the floor; then it controls all the side support limit plates to extend outwards again, pressing the inner wall of the car to complete the final rigid fixation. Throughout the process, the lifting modules are adjusted based on feedback from the level detection module to keep the body placement chamber level.

[0012] Preferably, the control system is further configured to perform the following automatic disembarkation method: T1. Release the fixation: The control system controls the three sets of lifting modules to extend downwards synchronously so that the walking mechanism contacts the floor and lifts the device, and then controls the side support limit plate to extend outwards and detach from the inner wall of the carriage. T2. Exiting the carriage: The control system drive device moves in the opposite direction, controlling the three sets of lifting modules to extend and retract independently in sequence to smoothly cross the rear threshold; T3. Recovery Status: After the device has completely left the carriage, the control system controls the three sets of lifting modules to extend synchronously to the ground and move to the correct height.

[0013] Preferably, the control system is further configured to perform the following obstacle-crossing methods: U1. Obstacle Detection: When the vision sensor detects an obstacle in front, the control system calculates the obstacle parameters and adjusts the initial height of the three sets of lifting modules; U2. Sequential Crossing: The control system independently retracts and extends three sets of lifting modules in sequence, and the drive device crosses the obstacles one wheel at a time; U3. Full-process leveling: The height of the three sets of lifting modules is adjusted in real time during the crossing process to keep the body placement chamber in a horizontal state.

[0014] The technical effects and advantages of this invention are as follows: This automated body transport device features three independently vertically lifting modules and drive and driven walking mechanisms installed at their bottoms. Under the coordinated perception of visual sensors and a level detection module, the control system dynamically adjusts the device to autonomously perform biomimetic crossing actions and maintain the body placement platform level throughout the process. This solves the problems of existing transport vehicles being unable to autonomously cross thresholds and get on and off vehicles, requiring repeated manual lifting of bodies, which results in high labor intensity, low efficiency, easy damage to the body, and non-compliance with funeral ethics.

[0015] This automated body transport device features symmetrically arranged outwardly extending side support limiting plates on both sides of the base, with anti-slip pads at their outer ends and the bottom of the base. After entering the carriage, the side support limiting plates press against the inner wall of the carriage to achieve automatic centering and multi-point rigid support. Subsequently, all lifting modules are retracted upwards, causing the walking mechanism to detach from the floor and the load to be completely transferred to the rigid support structure formed by the base and side support plates. This effectively forms an integral and rigidly fixed device with the carriage during transportation, solving the problem that existing transport vehicles still rely on rollers to contact the floor after entering the vehicle, leading to easy slippage and shaking during driving, serious safety hazards, and inability to achieve reliable fixation.

[0016] This type of automated body transport device integrates the body placement compartment, lifting and walking system, lateral fixation system, and control system into a single automated transport vehicle. The device itself has the ability to move and get on and off vehicles autonomously, enabling the entire transport process to be completed without changing vehicles and with the body always placed in the same compartment. This solves the problems of existing technologies that require the pre-installation of a special placement compartment in the hearse, have poor versatility and cannot be adapted to ordinary vehicles, and have a high risk of cross-infection of germs due to repeated handling of the body.

[0017] This type of automated body transport device integrates the body placement chamber and the transport vehicle into a single structure, providing a stable platform for the installation of functional modules such as cooling and disinfection. This enables the transport device to perform additional functions such as temporary body preservation and hygiene control while completing the transport task. It solves the problem that existing placement chambers and transport vehicles are separate and cannot be moved in an integrated manner, making it difficult to meet the needs of short-term body preservation and epidemic prevention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall front structure of the present invention; Figure 2 This is a schematic diagram of the overall side structure of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the present invention; Figure 4 This is a schematic diagram of the exploded structure of the present invention.

[0020] In the diagram: 1. Body placement chamber; 2. Base; 21. Handle; 22. Mounting plate; 23. Rubber anti-slip mat; 3. Power cylinder; 4. Front drive lifting module; 41. Front drive wheel; 5. Middle driven lifting module; 51. Middle driven wheel; 6. Rear drive lifting module; 61. Rear drive wheel; 7. Side support limit plate; 71. Servo motor; 72. Rotating plate; 73. Support plate; 8. Vision sensor. Detailed Implementation

[0021] 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.

[0022] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] This invention discloses an automated body transport device, according to the attached... Figures 1 to 3 As shown, the system includes a body placement chamber 1, a base 2, a front drive lifting module 4, a middle driven lifting module 5, and a rear drive lifting module 6, which are independently arranged along the length of the base 2, and a control system. The body placement chamber 1 is installed on the base 2. All three lifting modules can be lifted and lowered independently in the vertical direction. Each lifting module has a walking mechanism installed at its bottom, which is electrically connected to the three lifting modules. This mechanism is used to control the three lifting modules to lift and lower in coordination according to different working conditions, so that the walking mechanism can switch between ground movement, obstacle crossing, and unsupported state within the carriage, keeping the body placement chamber 1 horizontal throughout the process.

[0024] In this embodiment, the front-end driving lifting module 4, the middle-end driven lifting module 5, and the rear-end driving lifting module 6 are arranged sequentially along the length of the base 2. All three lifting modules can be lifted and lowered independently in the vertical direction. The bottom is equipped with a walking mechanism consisting of a front drive wheel 41, a middle driven wheel 51, and a rear drive wheel 61. Under the control of the control system, the three lifting modules work together to perform biomimetic crossing steps, enabling the device to autonomously complete all actions such as ground movement, crossing thresholds and curbs, and getting on and off the hearse. There is no need for manual lifting of the body, which fundamentally eliminates the problems of body bumping and labor intensity during the transfer and meets the requirements of funeral ethics. The body placement compartment 1 and the base 2 are detachable as a whole, so there is no need to pre-fix a special placement compartment in the hearse. The body only needs to be placed once to complete the entire transfer from the morgue to the funeral home. This solves the problems of poor universality of the existing technology, inability to adapt to different models of hearses, and the need for multiple manual handling of the body, reducing the risk of cross-infection of germs.

[0025] According to the appendix Figures 1 to 4 As shown, the walking mechanism further includes two front drive wheels 41 installed at the bottom of the front drive lifting module 4, two middle driven wheels 51 installed at the bottom of the middle driven lifting module 5, and two rear drive wheels 61 installed at the bottom of the rear drive lifting module 6. The front drive wheels 41 and the rear drive wheels 61 are all equipped with drive motors. The front drive lifting module 4, the middle driven lifting module 5, and the rear drive lifting module 6 are all connected to the base 2 through a power cylinder 3. The cylinder body of the power cylinder 3 is fixed to the base 2, and the piston rod is fixedly connected to the top of the corresponding lifting module. The front and rear ends of the base 2 are equipped with vision sensors 8. The vision sensors 8 are electrically connected to the control system and are used to detect the height of the rear sill of the hearse, the size of the obstruction, and the relative position of the device and the carriage.

[0026] In this embodiment, the visual sensor 8 detects the height of the rear door sill of the hearse, the size of the obstruction, and the relative position of the device and the carriage in real time. The horizontal detection module detects the tilt angle of the body placement chamber 1 in real time. The control system dynamically adjusts the extension and retraction height of the three sets of lifting modules according to the detection information, keeping the body placement chamber 1 in a horizontal state throughout the process, ensuring a smooth and safe transfer of the body.

[0027] According to the appendix Figures 1 to 4As shown, further, it also includes two sets of side support limiting plates 7 symmetrically arranged on the left and right sides of the base 2. The side support limiting plates 7 are electrically connected to the control system and can be rotated outward or retracted inward in the horizontal direction. After the device enters the carriage and is positioned, the control system controls the two side support limiting plates 7 to extend outward until they press against the inner walls of the left and right sides of the carriage, automatically centering the base 2 and forming a multi-point rigid support fixation. Each set of side support limiting plates 7 includes a servo motor 71, a rotating plate 72 and a support plate 73. The servo motor 71 is fixedly installed on the side wall of the base 2. The two ends of the rotating plate 72 are respectively hinged to the output shaft of the servo motor 71 and the support plate 73. The rotating plate 72 is fixedly connected to the power output end of the servo motor 71. The rotating plate 72 rotates the support plate 73 outward under the rotation of the servo motor 71.

[0028] In this embodiment, the control system controls the three sets of lifting modules to retract upwards in sync, so that the walking mechanism is completely detached from the floor of the carriage. At the same time, the side support limiting plates 7, which are symmetrically arranged on both sides of the base 2, retract inwards and press against the inner wall of the carriage, forming a multi-point rigid support and fixation with the joint action of the base 2 and the side support limiting plates 7. This solves the problem that existing transfer vehicles rely on roller support and are prone to sliding and shaking, which poses a safety hazard.

[0029] According to the appendix Figures 1 to 3 As shown, a rubber anti-slip pad 23 is fixed to the bottom of the base 2. The rubber anti-slip pad 23 is used to provide the first anti-slip fixation when the base 2 contacts the ground. The outer end of the side support limiting plate 7 is also provided with a rubber anti-slip pad 23. After the side support limiting plate 7 is pressed and fixed, the control system also controls the three sets of lifting modules to retract upwards synchronously, so that all walking mechanisms are removed from the carriage floor, and the entire load of the device is transferred to the rigid support structure formed by the base 2 and the side support limiting plate 7 to complete the secondary fixation.

[0030] According to the appendix Figures 1 to 3 As shown, visual sensors 8 are installed at both the front and rear ends of the base 2. The visual sensors 8 are electrically connected to the control system and are used to detect the height of the rear sill of the hearse, the size of the obstruction, and the relative position of the device and the carriage. A horizontal detection module is also installed inside the base 2. The horizontal detection module feeds back the tilt angle of the body placement chamber 1 detected in real time to the control system. The control system dynamically adjusts the extension and retraction height of the three sets of lifting modules according to the feedback to keep the body placement chamber 1 in a horizontal state throughout the process. The control system includes a detection unit, a control unit, and a storage unit. The detection unit is used to acquire the height of the lifting modules, the operation of the walking mechanism, and environmental information. The control unit is used to generate and execute control commands. The storage unit is used to store the hearse parameters and preset control procedures.

[0031] It should be emphasized that the control system includes a detection unit, a control unit, a level detection unit, and a storage unit; The detection unit is used to acquire information such as the height of the lifting module, the operation of the walking mechanism, environmental information, and the tilt angle collected by the horizontal detection module. The control unit is used to generate and execute control commands; The horizontal detection module is electrically connected to the control system and is used to detect the tilt angle of the body placement chamber 1 in real time. The control system adjusts the height of the three lifting modules according to the feedback from the horizontal detection module to keep the body placement chamber 1 horizontal. The storage unit is used to store funeral vehicle parameters and preset control procedures.

[0032] It should be particularly emphasized that the side support limiting plate 7 includes an independently controllable front side support limiting plate and a rear side support limiting plate; the control system is configured to perform the following automatic loading and centering fixing process: S1. Docking preparation: Vision sensor 8 detects the height of the rear sill of the hearse and the width of the carriage. The control system adjusts the initial height of the three sets of lifting modules so that the bottom of the device is flush with the floor of the carriage. At the same time, it controls all side support limit plates to retract inward to the minimum width. S2. Bionic crossing and segmented center entry: S21. The front drive lifting module 4 retracts upward to raise its walking mechanism and rest against the edge of the rear door sill. At the same time, the control system controls the front side support limit plate to rotate outward and support it on both sides of the rear door of the carriage, completing the front centering and retraction. S22. The middle section driven lifting module 5 and the rear section driven lifting module 6 work together to drive the device forward; S23. The middle section driven lifting module 5 retracts upward to suspend its walking mechanism in the air, and is supported and driven to cross by the front section driving lifting module 4 and the rear section driving lifting module 6. S24. Before the rear drive lifting module 6 retracts upward, the control system controls the rear side support limit plate to rotate outward and support it on both sides of the rear door of the carriage. After the rear is centered, it retracts. Then the rear drive lifting module 6 retracts upward so that its walking mechanism is suspended in the air. It is supported and driven to cross by the front drive lifting module 4 and the middle driven lifting module 5. At this point, the entire device enters the carriage. S25. The device continues to move forward a preset distance until the vision sensor 8 detects that the front end of the device has reached a predetermined position inside the carriage; S3. Pre-centering: The control system controls all side support limit plates to extend outward, press against the left and right inner walls of the carriage, and retract after centering and positioning. S4. Double Fixing: The control system controls the three sets of lifting modules to retract upwards synchronously, so that the walking mechanism is removed from the floor of the carriage and the bottom of the base 2 contacts the floor; then it controls all the side support limit plates to extend outwards again, pressing the inner wall of the carriage to complete the final rigid fixation. Throughout the process, the lifting modules are adjusted based on feedback from the level detection module to keep the body placement chamber 1 level. The control system is also configured to perform the following automatic disembarkation methods: T1. Release the fixation: The control system controls the three sets of lifting modules to extend downwards synchronously so that the walking mechanism contacts the floor and lifts the device, and then controls the side support limit plate 7 to extend outwards and detach from the inner wall of the carriage. T2. Exiting the carriage: The control system drive device moves in the opposite direction, controlling the three sets of lifting modules to extend and retract independently in sequence to smoothly cross the rear threshold; T3. Recovery Status: After the device has completely left the carriage, the control system controls the three sets of lifting modules to extend synchronously to the ground level. The control system is also configured to perform the following obstacle-crossing methods: U1. Obstacle Detection: When the vision sensor 8 detects an obstacle in front, the control system calculates the obstacle parameters and adjusts the initial height of the three sets of lifting modules; U2. Sequential Crossing: The control system independently retracts and extends three sets of lifting modules in sequence, and the drive device crosses the obstacles one wheel at a time; U3. Leveling throughout the process: The height of the three sets of lifting modules is adjusted in real time during the crossing process to keep the body placement chamber 1 in a horizontal state.

[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated body transport device, characterized in that, include: Body placement chamber (1); The base (2) is on which the body placement chamber (1) is installed; The front drive lifting module (4), the middle driven lifting module (5) and the rear drive lifting module (6) are independently arranged along the length of the base (2). All three lifting modules can be lifted and lowered independently in the vertical direction. Each lifting module has a walking mechanism installed at the bottom. The control system is electrically connected to the three sets of lifting modules respectively, and is used to control the three sets of lifting modules to lift and lower in coordination according to different working conditions, so that the walking mechanism can switch between ground movement, obstacle crossing and unsupported state in the carriage, and keep the body placement chamber (1) horizontal throughout the process.

2. The automatic body transport device according to claim 1, characterized in that, The walking mechanism includes two front drive wheels (41) installed at the bottom of the front drive lifting module (4), two middle driven wheels (51) installed at the bottom of the middle driven lifting module (5), and two rear drive wheels (61) installed at the bottom of the rear drive lifting module (6). The front drive wheels (41) and the rear drive wheels (61) are all equipped with drive motors.

3. The automatic body transport device according to claim 1, characterized in that, It also includes two sets of side support limiting plates (7) symmetrically arranged on the left and right sides of the base (2). The side support limiting plates (7) are electrically connected to the control system and can rotate outward or inward in the horizontal direction to extend or retract. After the device enters the carriage and is positioned, the control system controls the two side support limiting plates (7) to extend outward until they press against the inner walls of the carriage, automatically centering the base (2) and forming a multi-point rigid support. Each set of side support limiting plates (7) includes a servo motor (71), a rotating plate (72) and a support plate (73). The servo motor (71) is fixedly installed on the side wall of the base (2). The two ends of the rotating plate (72) are respectively hinged to the output shaft of the servo motor (71) and the support plate (73). The rotating plate (72) is fixedly connected to the power output end of the servo motor (71). The rotating plate (72) rotates the support plate (73) outward under the rotation of the servo motor (71).

4. An automatic body transport device according to claim 3, characterized in that, The bottom of the base (2) is fixed with a rubber anti-slip pad (23). The rubber anti-slip pad (23) is used to perform the first anti-slip fixation when the base (2) contacts the ground. The outer end of the side support limiting plate (7) is also provided with a rubber anti-slip pad (23). After the side support limiting plate (7) is pressed and fixed, the control system also controls the three sets of lifting modules to retract upwards in sync, so that all walking mechanisms are removed from the carriage floor and the entire load of the device is transferred to the rigid support structure formed by the base (2) and the side support limiting plate (7) to complete the secondary fixation.

5. An automatic body transport device according to claim 4, characterized in that, The front-end drive lifting module (4), the middle-end driven lifting module (5) and the rear-end drive lifting module (6) are all connected to the base (2) via a power cylinder (3). The cylinder body of the power cylinder (3) is fixed to the base (2), and the piston rod is fixedly connected to the top of the corresponding lifting module.

6. An automatic body transport device according to claim 5, characterized in that, Visual sensors (8) are installed at both the front and rear ends of the base (2). The visual sensors (8) are electrically connected to the control system and are used to detect the height of the rear door sill of the hearse, the size of the obstruction, and the relative position of the device and the carriage. A horizontal detection module is also installed in the base (2). The horizontal detection module feeds back the tilt angle of the body placement chamber (1) detected in real time to the control system. The control system dynamically adjusts the extension and retraction height of the three sets of lifting modules according to the feedback to keep the body placement chamber (1) in a horizontal state throughout the process.

7. An automatic body transport device according to claim 1, characterized in that, The control system includes a detection unit, a control unit, a level detection unit, and a storage unit; The detection unit is used to acquire the height of the lifting module, the operation of the walking mechanism, environmental information, and the tilt angle collected by the horizontal detection module. The control unit is used to generate and execute control commands; The horizontal detection module is electrically connected to the control system and is used to detect the tilt angle of the body placement chamber (1) in real time. The control system adjusts the height of the three sets of lifting modules according to the feedback of the horizontal detection module to keep the body placement chamber (1) horizontal. The storage unit is used to store funeral vehicle parameters and preset control procedures.

8. An automatic body transport device according to claim 6, characterized in that, The side support limiting plate (7) includes a front side support limiting plate and a rear side support limiting plate that can be controlled independently; the control system is configured to perform the following automatic loading and centering fixing process: S1. Docking preparation: The visual sensor (8) detects the height of the rear door sill and the width of the carriage of the hearse. The control system adjusts the initial height of the three sets of lifting modules so that the bottom of the device is flush with the floor of the carriage. At the same time, it controls all side support limit plates to retract inward to the minimum width. S2. Bionic crossing and segmented center entry: S21. The front drive lifting module (4) retracts upward to raise its walking mechanism and rests against the edge of the rear door sill. At the same time, the control system controls the front side support limit plate to rotate outward and support it on both sides of the rear door of the carriage, completing the front centering and retraction. S22. The middle section driven lifting module (5) and the rear section driven lifting module (6) work together to move the device forward; S23. The middle section driven lifting module (5) retracts upward to suspend its walking mechanism in the air, and is supported and driven to cross by the front section driving lifting module (4) and the rear section driving lifting module (6); S24. Before the rear drive lifting module (6) retracts upward, the control system controls the rear side support limit plate to rotate outward and support it on both sides of the rear door of the carriage. After the rear is centered, it retracts. Then the rear drive lifting module (6) retracts upward so that its walking mechanism is suspended in the air. It is supported and driven to cross by the front drive lifting module (4) and the middle driven lifting module (5). At this point, the entire device enters the carriage. S25. The device continues to move forward a preset distance until the vision sensor (8) detects that the front end of the device has reached a predetermined position inside the carriage; S3. Pre-centering: The control system controls all side support limit plates to extend outward, press against the left and right inner walls of the carriage, and retract after centering and positioning. S4. Double fixing: The control system controls the three sets of lifting modules to retract upwards synchronously, so that the walking mechanism is removed from the floor of the carriage and the bottom of the base (2) contacts the floor; Then, control all the side support limit plates to extend outward again, press against the inner wall of the carriage, and complete the final rigid fixation; Throughout the process, the lifting modules are adjusted based on the feedback from the horizontal detection module to keep the body placement chamber (1) horizontal.

9. An automatic body transport device according to claim 8, characterized in that, The control system is also configured to perform the following automatic disembarkation method: T1. Release the fixation: The control system controls the three sets of lifting modules to extend downwards in sync, so that the walking mechanism contacts the floor and lifts the device, and then controls the side support limit plate (7) to retract inwards and detach from the inner wall of the carriage. T2. Exiting the carriage: The control system drive device moves in the opposite direction, controlling the three sets of lifting modules to extend and retract independently in sequence to smoothly cross the rear threshold; T3. Recovery Status: After the device has completely left the carriage, the control system controls the three sets of lifting modules to extend synchronously to the ground and move to the correct height.

10. An automatic body transport device according to claim 6, characterized in that, The control system is also configured to perform the following obstacle-crossing methods: U1. Obstacle detection: When the visual sensor (8) detects an obstacle in front, adjust the initial height of the three sets of lifting modules; U2. Sequential Crossing: The control system independently retracts and extends three sets of lifting modules in sequence, and the drive device crosses the obstacles one wheel at a time; U3. Leveling throughout the process: Adjust the height of the three sets of lifting modules in real time during the crossing process to keep the body placement chamber (1) in a horizontal state.

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