CN110464560B - Electric bionic mobile device and control method thereof - Google Patents

Abstract

An electric bionic mobile device is provided with a bearing surface. The electronic bionical mobile device includes: a plurality of multi-stage lifting columns, a peristaltic component and a plurality of electric wheels; the peristaltic assembly comprises at least one guide rail and at least one moving module, wherein the guide rail is arranged between the multi-stage lifting columns so as to guide the moving module to move between the multi-stage lifting columns in the moving direction of the bearing surface.

Description

Electric bionic mobile device and control method thereof

Technical Field

The invention relates to the field of auxiliary moving tools, in particular to an electric bionic moving device capable of being used for all terrains.

Background

Wheelchairs and electric wheelchairs can run on flat roads with gradients less than 12 degrees, but cannot cross when encountering stair steps. Some wheelchairs can climb stairs, but the action amplitude is large, the user experience is poor, and because the amplitude is large, the user's sense of safety is not strong, and accidents are easy to happen.

At present, nearly half urban residents in China still stay in buildings without elevators below 7 floors, people who are disabled and inconvenient to move need a strong person to carry on the back to go down the building, or 4 people can go down the building by lifting a wheelchair. The current situation brings living inconvenience to countless disabled and mobility-impaired people, and even some families have difficulty getting down to the building for a few years due to insufficient nursing staff.

In order to solve the problem of going upstairs and downstairs, crawler-type stair climbing electric wheelchair products are available on the market, for example, a novel crawler-type stair climbing wheelchair control system is disclosed in Chinese patent CN 208823208U. However, the crawler type stair climbing wheelchair has larger jolt amplitude action during running and has low safety coefficient for passengers. In addition, the crawler-type stair climbing wheelchair has the defects of large volume, heavy weight and the like, is inconvenient to store, and is difficult to turn in a common resident stair room due to overlarge volume, so that the crawler-type stair climbing wheelchair is very inconvenient to use.

Therefore, there is a need to provide a new electric bionic mobile device to overcome the above-mentioned drawbacks.

Disclosure of Invention

The invention aims to provide an electric bionic mobile device, which can help disabled and inconveniently-moved persons to walk up and down stairs automatically under the operation of any adult through the whole structural design. Meanwhile, the electric bionic mobile device can be used as an electric vehicle on a flat road through the arrangement of the sensor, and can be always kept horizontally stable through the adjustment of the lifting column when the electric bionic mobile device meets the condition that the road is rugged, so that the electric bionic mobile device can be used as an all-terrain vehicle.

In order to achieve the above object, according to an aspect of the present invention, there is provided an electric bionic mobile device having a bearing surface, including: a plurality of multi-stage lifting columns for supporting the bearing surface and moving the bearing surface in a vertical direction toward or away from a supporting surface; a peristaltic component arranged on the surface of the bearing surface facing the supporting surface; and a plurality of electric wheels, each of the multi-stage lifting columns corresponds to at least one electric wheel, so that the bearing surface moves on the supporting surface; the peristaltic assembly comprises at least one guide rail and at least one moving module, wherein the guide rail is arranged between the multi-stage lifting columns so as to guide the moving module to move between the multi-stage lifting columns in the moving direction of the bearing surface.

In an embodiment of the present invention, the electric bionic moving device may be a bionic stair climbing vehicle, and the bearing surface is a seat. It will be appreciated by those skilled in the art that the electric bionic moving apparatus may be a multifunctional bed, and the carrying surface is a bed surface. The bearing surface may be any other suitable component or part for movement as desired.

In one embodiment of the present invention, the peristaltic assembly further comprises a driving module driving the moving module to move along the guide rail between the plurality of stages of lifting columns in a moving direction of the bearing surface.

In an embodiment of the present invention, the peristaltic assembly further includes at least one omni-wheel, and the omni-wheel is connected to the moving module, so that the moving module drives the omni-wheel to move between the multi-stage lifting columns in a moving direction of the bearing surface.

In an embodiment of the invention, the electric moving device further comprises a height sensor for measuring the height of the mounting position of the height sensor to a horizontal plane.

In one embodiment of the present invention, a ranging sensor is disposed on at least one of the plurality of multi-stage lifting columns.

In an embodiment of the present invention, the plurality of multi-stage lifting columns includes a plurality of first multi-stage lifting columns arranged in a row and a plurality of second multi-stage lifting columns arranged in a row; the first multi-stage lifting column is higher than the second multi-stage lifting column in arrangement.

In an embodiment of the present invention, the plurality of multi-stage lifting columns includes a plurality of first multi-stage lifting columns arranged in a row and a plurality of second multi-stage lifting columns arranged in a row; the height variation range of the first multi-stage lifting column is larger than that of the second multi-stage lifting column. In one embodiment of the present invention, the bearing surface is a seat having a back, and the plurality of first multilevel lifting columns arranged in rows are disposed adjacent to the back.

In an embodiment of the invention, the electric bionic mobile device further includes a control component, and the control component controls the multistage lifting column, the electric wheel and the movement of the mobile module.

In an embodiment of the invention, the electric bionic mobile device further includes an angle sensor, and the angle sensor is disposed on the bearing surface and is used for detecting levelness of the bearing surface.

In an embodiment of the present invention, the electric bionic mobile device further includes a power source, and the power source provides power to the control assembly, the plurality of multi-stage lifting columns and the plurality of electric wheels.

According to another aspect of the present invention, there is also provided a control method of an electric bionic mobile device, including:

Detecting the height and the width of the step by a sensor;

adjusting the lifting of the multi-stage lifting column and the movement of the peristaltic component according to the detected step height and step width; and

The step of moving is completed.

In an embodiment of the present invention, the control method includes a first mode, in which the control method includes:

a step of enabling a first lifting column and a corresponding electric wheel of the electric bionic mobile device to be close to a first terrain change position, and obtaining the height H of the first terrain change position through a height sensor;

Shrinking the first lifting column, and obtaining the width W of the first terrain change position through a ranging sensor; wherein the shrinkage of the first lifting column is the height H;

Moving the electric bionic moving device by 1/2W towards the first terrain change position;

A step of raising the first lifting column and the second lifting column simultaneously; wherein the lifting amount of the first lifting column and the second lifting column is the height H; and

And moving the omni-wheel of the electric bionic mobile device to an initial position.

In an embodiment of the present invention, the control method further includes: and judging whether to end the first mode according to the ranging sensor.

In an embodiment of the present invention, when the determination result is that the first mode is continued, the control method further includes:

a step of obtaining the height H' of the second topography change position through a height sensor;

shrinking the first lifting column, and obtaining the width W' of the second topography change position through a ranging sensor; the shrinkage of the first lifting column is the height H';

A step of enabling the electric bionic moving device to move by 1/2W 'towards a second terrain change position, and a step of controlling the omnidirectional wheel to move by 1/2W' towards the second lifting column;

After the omnidirectional wheel moves 1/2W' towards the direction of the second lifting column again, the second lifting column is contracted, and the contraction amount is the height H;

moving the whole electric bionic moving device by 1/2W' towards a second topography change position;

A step of raising the first lifting column and the second lifting column simultaneously; wherein the first lifting column and the second lifting column are lifted by the height H'; and

And moving the omni-wheel of the electric bionic mobile device to an initial position. After this step, the step of determining whether to end the first mode is repeated, and if so, the above steps are repeated until the first mode is determined to be ended.

In one embodiment of the present invention, the control method includes a second mode, in which the control method includes:

A step of enabling a second lifting column and a corresponding electric wheel of the electric bionic mobile device to be close to a terrain change position, and obtaining the height H of the terrain change position through a second height sensor;

Moving the omni-wheel to a limit position towards a second lifting column;

Moving the whole electric bionic mobile device towards the direction of the step until the omnidirectional wheel approaches the edge of the step;

A step of lowering the second lifting column downward; wherein the descending amount of the second lifting column is H;

moving the whole electric bionic moving device towards the direction of the step until the measured value of the second height sensor changes; and

A step of contracting the first lifting column and the second lifting column; the shrinkage of the first lifting column and the second lifting column is H.

In the invention, the stair climbing action process ensures that the wheelchair can smoothly pass through stairs and the gravity center of the seat is closer to the ground, so that the gravity center of the wheelchair is lowered, and the running stability of the wheelchair is improved. Meanwhile, the electric bionic mobile device always keeps at least 4 wheels on the steps in the running process, the center point of a user is always in the center of the 4 wheels, and the stability is further enhanced. Therefore, the electric bionic mobile device has the advantages of small action amplitude, small gravity center fluctuation, good stability and reliability.

Drawings

FIGS. 1A and 1B are perspective views of an electric biomimetic mobile device according to an embodiment of the present invention;

FIGS. 2A and 2B are schematic structural views of peristaltic components of an electric biomimetic mobile device according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a multi-stage lifting column of an electric bionic mobile device according to an embodiment of the invention;

FIG. 4 is a flow chart of a control method according to an embodiment of the invention;

fig. 5A to 5M are schematic structural views corresponding to the flowchart shown in fig. 4;

FIG. 6 is a flow chart of a control method according to another embodiment of the invention;

Fig. 7A to 7E are schematic structural views corresponding to the flowchart shown in fig. 6.

Detailed Description

Hereinafter, the technology of the present invention will be described in detail with reference to the specific embodiments. It should be understood that the following detailed description is merely intended to aid those skilled in the art in understanding the invention, and is not intended to limit the invention.

Those skilled in the art will appreciate that the following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the application may be practiced. The directional terms referred to in the present application, such as "up", "down", "front", "back", "left", "right", "top", "bottom", etc., refer only to the directions of the attached drawings. Accordingly, directional terminology is used to describe and understand the application and is not limiting of the application. In addition, the drawings are merely exemplary, and partial structures are omitted or the sizes of partial structures are exaggerated for clarity. And are not intended to illustrate or define the application.

In this embodiment, an electric bionic moving device, in particular a bionic stair climbing vehicle 1 is provided. Fig. 1A and 1B are perspective views of the bionic stair climbing vehicle 1 at different angles. As shown in fig. 1A and 1B, the bionic stair climbing vehicle 1 has a seat 10, and the seat 10 has a backrest 101. The bionic stair climbing vehicle 1 of the bionic stair climbing vehicle 1 further comprises: a plurality of multi-stage lifting columns 20, a peristaltic assembly 30 and a plurality of motorized wheels 40 corresponding to the multi-stage lifting columns 20 and connected for movement.

It will be appreciated by those skilled in the art that for aesthetic and safety reasons, multiple cover plates are included in the perspective views shown in fig. 1A and 1B to conceal the components or portions of the components structure. For example, as shown in FIG. 1A, a cover plate 50a is provided outside the multi-stage lifting column 20, and as shown in FIG. 1B, a cover plate 50B is provided outside the peristaltic assembly 30.

Hereinafter, the peristaltic assembly 30 is described in detail with reference to fig. 2A and 2B as a bionic stair climbing vehicle 1.

As shown in fig. 2A, the peristaltic assembly 30 includes: a guideway 310, a drive module 320, a movement module 330, and an omni-wheel 340. As shown in fig. 2B, the driving module 320 includes a driving motor 321, a linkage belt 322, and a rotating shaft 323, wherein an output shaft 3211 of the driving motor 321 drives the rotating shaft 323 to rotate through the linkage belt 322.

As shown in fig. 2B, the moving module 330 includes a transmission member 331, an omni-wheel mounting member 332, and a sliding block 333, wherein the transmission member 331 is sleeved on the transmission shaft 323 of the driving module 320 and coupled to the transmission shaft 323, so that the transmission member 331 can move along the rotation shaft 323 in the x-axis direction shown in fig. 2B along with the rotation of the rotation shaft 323. It will be appreciated by those skilled in the art that the drive shaft 323 may be a screw, the threads of which are not shown in the drawings for clarity.

As shown in fig. 2B, the omni wheel mounting member 332 is fixedly coupled to the transmission member 331, and the omni wheel 340 is mounted on the omni wheel mounting member 332. Further, the slider 333 is fixedly connected with the omni wheel mounting member 332 and coupled with the guide rail 310 such that the slider 333 slides within the guide rail 310. Therefore, when the transmission member 331 moves, the omni wheel 340 may be driven to move, and the movement stability of the omni wheel 340 is ensured by the sliding block 333 and the guide rail 310.

Thus, with the above-described structure, it is possible to realize that the omni-wheel 340 is driven to move along the x-axis in fig. 2B by the driving motor 321 of the driving module 320.

Of course, as will be appreciated by those skilled in the art, for installation and limitation purposes, the peristaltic assembly 30 may further include a limiting plate 350 disposed at both ends of the rotational shaft 323 as shown in fig. 2A.

In order to achieve the function of ascending and descending steps, as shown in fig. 1B, a protective case 70 is provided on the surface of the backrest 101 of the seat 10 facing the ground, and the protective case 70 can accommodate one end of the interlocking belt 322 and the rotating shaft 323 shown in fig. 2A and 2B.

As shown in fig. 1B, a first height sensor 220 is disposed on a surface of the protective housing 70 facing the bottom surface, for measuring a distance from a mounting position of the first height sensor 220 to the ground, so that when the protective housing faces a step road condition, a height of a step can be calculated by the measured value of the first height sensor 220. The multistage lifting column 20 is described in detail below in connection with fig. 3. And for clarity, components such as the cover plates 50a/50b, frames, etc. are removed. Those skilled in the art will appreciate that such structures as frames are conventional in the art.

As shown in fig. 3, the plurality of multi-stage lifting columns 20 includes a plurality of first multi-stage lifting columns 20a arranged in a row and a plurality of second multi-stage lifting columns 20b arranged in a row. In the present embodiment, the two first multi-stage lifting columns 20a and the two second multi-stage lifting columns 20b are arranged in a row, and the height of the first multi-stage lifting columns 20a is higher than the height of the second multi-stage lifting columns 20b. Meanwhile, in order to realize the function of ascending and descending steps, the first multistage lifting columns 20a having a higher height are arranged in a row closer to the seatback 101.

As shown in fig. 3, each of the first multi-stage lifting columns 20a and each of the second multi-stage lifting columns 20b corresponds to a motorized wheel 40 so that the same can move on a supporting surface such as the ground. It will be appreciated by those skilled in the art that the motorized wheel 40 may be mounted to the multi-stage lift post 20 in any known manner.

Furthermore, a distance measuring sensor 230 is provided on at least one of the first multi-stage lifting columns 20a and/or the second multi-stage lifting columns 20b for measuring the position of the distance measuring sensor 230 to a blocking surface. For example, as shown in fig. 3, in the present embodiment, the distance measuring sensor 230 is provided at the connection of each of the first multi-stage elevating columns 20a and the corresponding electric wheel 40; on the second multistage lift cylinder 20b, the distance measuring sensor 230 is provided on an additionally provided pulley protection cover 410. It will be appreciated by those skilled in the art that, in fact, the sliding wheel protecting cover 410 is an unnecessary component, and the ranging sensor 230 disposed on the second multi-stage lifting column 20b may be disposed at the connection between the second multi-stage lifting column 20b and the corresponding electric wheel 40. In this way, the width of a step can be measured by the distance measuring sensor 230 by a method described in detail below while the bionic stair climbing vehicle 1 faces the step.

Further, as shown in fig. 3, a second height sensor 240 is provided on a surface of the ranging sensor 230 of the second multistage lift cylinder 20b facing the bottom surface for height detection in a second mode described in detail below.

Further, as shown in fig. 1B, an angle sensor 60 is provided on a lower surface of the seat 10, for example, the cover plate 50B of fig. 1B, for detecting the levelness of the seat 10. Furthermore, as will be appreciated by those skilled in the art, the bionic stair-climbing vehicle 1 further includes a power source for supplying power to the electric components such as the driving motor 321, the first and second multi-stage elevating columns 20a and 20b, and a controller for receiving and processing the detection data of the angle sensor 60, the first height sensor 220, the distance sensor 230, etc., and controlling operations of the driving motor 321 and the multi-stage elevating columns 20a and 20 b. The power supply and the controller are conventional components in the art, and the setting position and the specific model can be adjusted according to actual needs, and are not described herein.

In the present embodiment, a control method of the bionic stair climbing vehicle 1 as an electric bionic moving device is also provided. The control method includes a first mode (i.e., stair climbing mode) and a second mode (i.e., downstairs mode).

The following describes in detail the control method of the electric bionic mobile device in the stair climbing mode when the electric bionic mobile device is used as a bionic stair climbing vehicle 1 with reference to fig. 4 and fig. 5A to 5M. The control method comprises the following steps:

S10: when the stair climbing mode is entered, the first lifting column 20a and the corresponding electric wheel 40 thereof are made to approach the steps, and the first height sensor 220 is used for obtaining the height H of the first step; wherein the omni-wheel is located at a starting position parallel to the electric wheel 40 corresponding to the first lifting column 20 a;

S11: the first elevating column 20a is contracted by the height H, and the width W of the first step is obtained by the ranging sensor 230;

s12: the bionic stair climbing vehicle 1 moves towards the direction of the steps, and the moving distance is 1/2W;

S13: the first lifting column 20a and the second lifting column 20b are lifted along the z-axis direction at the same time, and the lifting amount is the height H;

S14: the whole bionic stair climbing vehicle 1 moves towards the steps, and the moving distance is 1/2W;

S15: causing the omni-wheel 340 to move to the starting position;

s16: judging whether to end the stair climbing mode according to the measured value obtained by the ranging sensor 230;

s17: determining the height H' of the next step by the height sensor; shrinking the first elevating column 20a by the height H 'and obtaining the width W' of the next step by the ranging sensor 230;

s18: the bionic stair climbing vehicle 1 moves towards the direction of the steps, the moving distance is 1/2W', and the omni-wheel 340 is controlled to move towards the direction of the second lifting column 20 b;

s19: a step of moving the omni-wheel again toward the second elevating column 20b by 1/2W', and then contracting the second elevating column 20b by a step height H;

s20: controlling the whole bionic stair climbing vehicle 1 to move towards the steps;

S21: a step of raising the first lifting column 20a and the second lifting column 20b simultaneously; wherein the first lifting column 20a and the second lifting column 20b are lifted by the height H'; and

S22: and moving the omni-wheel of the electric bionic mobile device to an initial position.

The determination step of step S16 is then repeated, and when it is determined that the stair climbing mode is continued, steps S17 to S22 are repeated until it is determined that the stair climbing mode is ended.

Hereinafter, a specific operation process of the bionic stair climbing vehicle 1 according to the present embodiment will be described in detail with reference to fig. 4 to 5M.

As shown in fig. 5A, when the bionic stair climbing vehicle 1 travels on a flat ground, the omni-wheel is located at a position parallel to the electric wheel 40 near the seatback 101 (the omni-wheel coincides with the electric wheel 40 in fig. 5A), which is defined as a start position. When the angle sensor 60 detects that the seat 10 is in an unbalanced state, that is, the seating plane of the seat 10 is in a non-horizontal state, the controller controls the first multi-stage lifting columns 20a and the second multi-stage lifting columns 20b to extend and retract in the z-axis direction shown in fig. 5A until the angle sensor 60 detects that the seating plane of the seat 10 is restored to the balanced state, that is, the seating plane of the seat 10 is in a horizontal state.

When the bionic stair climbing vehicle 1 shown in fig. 5A is in the forward process, it is determined that the bionic stair climbing vehicle 1 encounters a step according to the shortened distance between the electric wheel 40 and the obstacle in front detected by the ranging sensor 230, so as to enter a stair climbing mode. Or when the user sets the bionic stair climbing vehicle 1 to enter the stair climbing mode, as shown in fig. 4 and 5B, step S10 is performed: the bionic stair climbing vehicle 1 is first adjusted to approach the detected step by the chair back 101, so that the first lifting column 20a of the bionic stair climbing vehicle 1 and the corresponding electric wheel 40 approach the step. At this time, the height H of the one-step is obtained by the difference between the current measured value and the previous measured value of the first height sensor 220.

Next, as shown in fig. 4 and 5C, step S11 is performed: the first lifting column 20a is contracted along the z-axis direction shown in fig. 5C, and the contraction amount is the step height H. At this time, as shown in fig. 5C, the first lifting column 20a and the corresponding electric wheel 40 are located at the step edge, and the omni-wheel 340 is used to replace the electric wheel 40 so that the seat 10 is balanced. At this time, the measured value of the ranging sensor 230 is the width W of the step.

Subsequently, as shown in fig. 4 and 5D, step S12 is performed: the creeping bionic stair climbing vehicle 1 moves towards a step along the x-axis direction in the figure, and the moving distance is 1/2W. At this time, the first lifting column 20a and the corresponding electric wheel 40 are located on the first step and at 1/2W of the step.

Then, as shown in fig. 4 and 5E, step S13 is performed: the first lifting column 20a and the second lifting column 20b are lifted along the z-axis direction in the figure, the lifting amount is the step height H, and the omni-wheel 340 is suspended and located at the step edge.

Next, as shown in fig. 4 and 5F, step S14 is performed: the whole bionic stair climbing vehicle 1 moves towards the step along the x-axis direction in fig. 5E through the electric wheel 40 corresponding to the first lifting column 20a and the electric wheel 40 corresponding to the second lifting column 20b until reaching the position shown in fig. 5F. At this time, the first lifting column 20a and the corresponding electric wheel 40, and the omni-wheel 340 are located on the step, and the second lifting column 20b is located on the original plane.

Next, as shown in fig. 4 and 5G, step S15 is performed: so that the omni-wheel 340 moves to a home position, i.e., as shown in fig. 5G, the omni-wheel is located in parallel with the motorized wheel 40 near the seat back 101 (the omni-wheel coincides with the motorized wheel 40 in fig. 5G). At this time, crawling of one step is completed.

Subsequently, as shown in fig. 4, step S16 is performed: whether the next step exists is judged according to the detection result of the ranging sensor 230. When the detection value of the distance measuring sensor 230 suddenly increases sharply, it is determined that there is no step in front, and the stair climbing mode is ended. Those skilled in the art will appreciate that the data increases sharply, e.g., the detection value of the ranging sensor 230 increases abruptly by several or several tens of times.

When it is determined that there is a step based on the distance measurement sensor 230, as shown in fig. 4 and 5H, step S17 is performed: determining a height H' of a next step by the first height sensor 220; the first elevating column 20a is contracted by the height H 'and the width W' of the next step is obtained by the ranging sensor 230. It will be appreciated by those skilled in the art that the height H' may be determined from a comparison of the current measurement of the first height sensor 220 with the measurement of the first height sensor 220 in step S13 shown in fig. 5E.

Then, as shown in fig. 4 and 5I, step S18 is performed: the bionic stair climbing vehicle 1 moves towards the step direction along the x-axis direction in the figure, the moving distance is 1/2W', and meanwhile, the omni-wheel 340 is controlled to move towards the second lifting column 20b along the x-axis direction in the figure. At this time, the omni-wheel 340 is kept in a state of abutting against the step, and the electric wheel 40 corresponding to the second lifting column 20b is abutted against the first step, and the first lifting column 20a and the electric wheel 40 corresponding thereto are located on the second step at 1/2W' of the step.

Next, as shown in fig. 4 and 5J, step S19 is performed: the omni-wheel 340 is controlled to move again 1/2W' toward the second elevating column 20b, and then the second elevating column 20b is contracted in the z-axis direction shown in fig. 5J by the step height H. In step S19, the omni-wheel 340 replaces the corresponding electric wheel 40 of the second lifting column 20b to support the bionic stair climbing cart 1.

Subsequently, as shown in fig. 4 and 5K, step S20 is performed: the bionic stair climbing vehicle 1 is controlled to move 1/2W' towards the steps along the x-axis direction in the figure, so that as shown in fig. 5K, the omni-wheel 340 and the electric wheel 40 corresponding to the second lifting column 20b are located on the first step, and the electric wheel 40 corresponding to the first lifting column 20a is located on the second step.

Then, as shown in fig. 4 and 5L, the first lifting column 20a and the second lifting column 20b are lifted by a height H', and at this time, as shown in fig. 5L, the omni wheel 340 is located at the edge of the second step;

Next, as shown in fig. 4 and 5M, the omni-wheel is returned to the home position, that is, as shown in fig. 5M, the omni-wheel is located in parallel with the electric wheel 40 near the seatback 101 (the omni-wheel coincides with the electric wheel 40 in fig. 5M).

And then repeating the judging step of the step S16, and repeating the steps S17 to S22 when the stair climbing mode is required to be continued until the stair climbing mode is judged to be ended.

It will be appreciated by those skilled in the art that the control method of the bionic stair climbing vehicle 1 in the downstair mode is a reverse step to the stair climbing mode.

Specifically, the control method is in a second mode (downstairs mode), and mainly comprises the following steps:

S30: when entering the downstairs mode, the second lifting column 20b and the corresponding electric wheel 40 are made to approach the step, and the height H of the first step is obtained by the second height sensor 240; wherein the omni-wheel is located at a starting position parallel to the electric wheel 40 corresponding to the first lifting column 20 a;

S31: causing the omni-wheel 340 to move toward the second elevating column 20b to an extreme position;

s32: the whole bionic stair climbing vehicle 1 moves towards the direction of the steps until the omnidirectional wheels 340 are close to the edges of the steps, and then the second lifting columns 20b are lowered along the z-axis direction in the figure, wherein the lowering amount is H; at this time, the electric wheel 40 of the second elevating column 20b contacts the next step;

S33: moving the whole bionic stair climbing vehicle 1 toward the direction of the step until the measured value of the second height sensor 240 changes;

S34: the first lifting column 20a and the second lifting column 20b are contracted along the z-axis direction in the figure, and the contraction amount is H; at this time, the omni-wheel 340 contacts the step.

The following describes in detail the control method of the electric bionic mobile device according to the present invention in the downstairs mode when the electric bionic mobile device is used as a bionic stair climbing vehicle 1 with reference to fig. 6 and fig. 7A to fig. 7E.

As shown in fig. 7A, when the bionic stair climbing vehicle 1 travels on a flat ground, the omni-wheel is located at a position parallel to the electric wheel 40 near the seatback 101 (the omni-wheel coincides with the electric wheel 40 in fig. 7A), which is defined as a start position. When the angle sensor 60 detects that the seat 10 is in an unbalanced state, that is, the seating plane of the seat 10 is in a non-horizontal state, the controller controls the first multi-stage lifting columns 20a and the second multi-stage lifting columns 20b to extend and retract in the z-axis direction shown in fig. 5A until the angle sensor 60 detects that the seating plane of the seat 10 is restored to the balanced state, that is, the seating plane of the seat 10 is in a horizontal state.

When the measurement value of the second height sensor 240 suddenly increases during the forward movement of the bionic stair climbing vehicle 1 shown in fig. 7A, it is determined that the bionic stair climbing vehicle 1 encounters a downstairs, and thus enters a downstairs mode. Or when the user sets the bionic stair climbing vehicle 1 to enter the downstairs mode by himself, as shown in fig. 6 and fig. 7B, step S30 is performed: the stair-climbing vehicle 1 is first adjusted to bring the second lifting column 20b and its corresponding motorized wheel 40 closer to the step. At this time, the height H of the first step is obtained by the difference between the current measured value and the previous measured value of the second height sensor 240; the omni wheel is located at a starting position parallel to the electric wheel 40 corresponding to the first lifting column 20 a;

next, as shown in fig. 6 and 7C, step S31 is performed: the omni-wheel 340 moves toward the second elevating column 20b to a limit position.

Subsequently, as shown in fig. 6 and 7D, step S32 is performed: the whole bionic stair climbing vehicle 1 moves towards the direction of the steps until the omnidirectional wheels 340 are close to the edges of the steps, and then the second lifting columns 20b are lowered along the z-axis direction in the figure, wherein the lowering amount is H; at this time, the electric wheel 40 of the second elevating column 20b contacts the next step;

Then, as shown in fig. 6 and 7D, step S33 is performed: moving the whole bionic stair climbing vehicle 1 toward the direction of the step until the measured value of the second height sensor 240 changes;

Next, as shown in fig. 6 and 7E, step S34 is performed: the first lifting column 20a and the second lifting column 20b are contracted along the z-axis direction in the figure, and the contraction amount is H; at this time, the omni-wheel 340 contacts the step.

Thus, the first-stage stair downstairs is completed. And repeating the steps, and the detailed description is omitted.

In addition, in this embodiment, the bionic stair climbing vehicle 1 may further include an alarm (not shown). When it is determined that a step exists according to the distance measuring sensor 230 and the detection value of the first height sensor 220 is not changed, it is determined that the step height exceeds the creeping range of the bionic stair climbing vehicle 1, and then the alarm is given.

The invention has been described with respect to the above-described embodiments, however, the above-described embodiments are merely examples of practicing the invention. It must be noted that the disclosed embodiments do not limit the scope of the invention. On the contrary, modifications and equivalent arrangements included within the spirit and scope of the claims are intended to be included within the scope of the invention.

Claims (13)

1. An electric biomimetic movement device having a bearing surface, the electric biomimetic movement device comprising: a plurality of multi-stage lifting columns for supporting the bearing surface and moving the bearing surface in a vertical direction toward or away from a supporting surface;

a peristaltic component arranged on the surface of the bearing surface facing the supporting surface; and

The plurality of electric wheels are corresponding to at least one electric wheel, so that the bearing surface moves on the supporting surface; wherein,

The peristaltic component comprises a guide rail, a driving module, a moving module and an omnidirectional wheel; the guide rail is arranged between the multi-stage lifting columns so as to guide the moving module to move between the multi-stage lifting columns in the moving direction of the bearing surface; the omnidirectional wheel is connected with the moving module, so that the moving module drives the omnidirectional wheel to move between the multi-stage lifting columns in the moving direction of the bearing surface; the driving module drives the moving module to move between the multi-stage lifting columns along the guide rail in the moving direction of the bearing surface, and comprises a driving motor, a linkage belt and a rotating shaft, wherein an output shaft of the driving motor drives the rotating shaft to rotate through the linkage belt; the mobile module comprises a transmission member, an omni-wheel mounting member and a sliding block, wherein the transmission member is sleeved on the rotating shaft of the driving module and is coupled with the rotating shaft.

2. The electric biomimetic movement device of claim 1, further comprising a height sensor for measuring the height of the mounting location of the height sensor to a horizontal plane.

3. The electric biomimetic movement device of claim 1, wherein a ranging sensor is provided on at least one of the plurality of multi-stage lifting columns.

4. The electric biomimetic movement device of claim 1, wherein the plurality of multi-stage lifting columns comprises a plurality of first multi-stage lifting columns arranged in a row and a plurality of second multi-stage lifting columns arranged in a row; the first multi-stage lifting column is higher than the second multi-stage lifting column in arrangement.

5. The electric biomimetic movement device of claim 1, wherein the plurality of multi-stage lifting columns comprises a plurality of first multi-stage lifting columns arranged in a row and a plurality of second multi-stage lifting columns arranged in a row; the height variation range of the first multi-stage lifting column is larger than that of the second multi-stage lifting column.

6. The electric biomimetic movement device of claim 4 or 5, wherein the bearing surface is a seat having a back, and the plurality of first multilevel lifting columns arranged in rows are disposed adjacent to the back.

7. The electric biomimetic movement device of claim 1, further comprising a control assembly that controls movement of the multi-stage lifting column, the motorized wheel, and the movement module.

8. The electric biomimetic movement device of claim 1, further comprising an angle sensor disposed on the bearing surface for detecting the levelness of the bearing surface.

9. A control method of the electric bionic mobile device according to any one of claims 1 to 8, comprising:

Detecting the height and the width of the step by a sensor;

adjusting the lifting of the multi-stage lifting column and the movement of the peristaltic component according to the detected step height and step width; and completing the moving step.

10. The control method according to claim 9, characterized in that the control method includes a first mode in which the control method includes:

a step of enabling a first lifting column and a corresponding electric wheel of the electric bionic mobile device to be close to a first terrain change position, and obtaining the height H of the first terrain change position through a first height sensor;

shrinking the first lifting column, and obtaining the width W of the first topography change position through a ranging sensor; wherein the shrinkage of the first lifting column is the height H;

Moving the electromotive bionic moving device by 1/2W towards the first terrain change position;

A step of raising the first lifting column and the second lifting column at the same time; the lifting amount of the first lifting column and the second lifting column is the height H; and

And moving the omni-wheel of the electric bionic mobile device to an initial position.

11. The control method according to claim 10, characterized in that the control method further comprises: and judging whether to end the first mode according to the ranging sensor.

12. The control method according to claim 11, wherein when the determination result is to continue the first mode, the control method further comprises:

A step of obtaining the height H' of the second topography change position through the first height sensor;

shrinking the first lifting column, and obtaining the width W' of the second topography change position through a distance measuring sensor; wherein the shrinkage of the first lifting column is a height H';

Moving the electro-motion bionic moving device by 1/2W 'towards the second terrain change position, and controlling the omni-wheel to move by 1/2W' towards the second lifting column;

After the omnidirectional wheel moves 1/2W' towards the direction of the second lifting column again, the second lifting column is contracted, and the contraction amount is H;

Moving the whole electric bionic moving device 1/2W' towards the second terrain change position;

A step of raising the first lifting column and the second lifting column at the same time; the lifting height H' of the first lifting column and the second lifting column; and

And moving the omni-wheel of the electric bionic mobile device to an initial position.

13. The control method according to claim 9, characterized in that the control method includes a second mode in which the control method includes:

A step of enabling a second lifting column and a corresponding electric wheel of the electric bionic mobile device to be close to a terrain change position, and obtaining the height H of the terrain change position through a second height sensor;

Moving the omni-wheel to a limit position towards a second lifting column;

Moving the whole electric bionic mobile device towards the direction of the step until the omnidirectional wheel approaches the edge of the step;

A step of lowering the second lifting column downward; wherein the descending amount of the second lifting column is H;

moving the whole electric bionic moving device towards the direction of the step until the measured value of the second height sensor changes; and

A step of contracting the first lifting column and the second lifting column; the shrinkage of the first lifting column and the second lifting column is H.