CN108245327A - Barrier-crossing type multifunctional stretcher and rescue method - Google Patents

Abstract

The invention relates to a barrier-crossing multifunctional stretcher and a rescue method, the barrier-crossing multifunctional stretcher comprises a stretcher main body, wherein a shovel plate, an auxiliary supporting plate, a sensor assembly and the like are arranged on the stretcher main body, the multifunctional stretcher can search nearby life bodies through the sensor assembly, move the life bodies to wounded positions and then correspondingly process the wounded conditions of the wounded in different degrees, can be adjusted and planned according to different road conditions, and has strong adaptability to terrain environment; when a common wounded person is arranged, the patient is directly lifted to a stretcher; when settling special wounded, judge wounded's posture earlier, the shovel board of reuse stretcher carries out the lifting to the patient and removes, and the rotation mode of rethread difference is to special wounded overturn, makes special wounded keep face up under the condition that the health does not have great removal, reduces the secondary injury as far as, has effectively improved the security of rescue in-process.

Description

One kind is across barrier formula multifunctional stretcher and rescue method

Technical field

The present invention relates to medical aid equipment technical fields, more particularly to a kind of across barrier formula multifunctional stretcher and rescue side Method.

Background technology

To meet state of an illness needs, lie down convenient for patient and the wounded, stretcher can be equipped in ambulance, but because of stretcher own wt Heavier, when carrying, is laborious, and part the wounded can usually indulge in because fracture or body part bleeding are when reasons are not easy to manually lift Accidentally long time, the body of state and mobile the wounded careful as possible when rescue personnel needs to keep the wounded's injury, but move Inevitably occur the secondary injury to the wounded's body during dynamic, especially lifting the wounded and be placed on the wounded Two processes of stretcher are easily caused to squeeze or be deformed to the wounded's body, thus be badly in need of want it is a kind of can rescuing with safety moving the wounded Protect vehicle and the corresponding vehicle-mounted stretcher with safety protection function.

Have at present a kind of can be included with stretcher of the labor-saving scoop stretcher as described in patent CN201310196747 Stretcher main body, the stretcher main body are laid at least two groups of hook-shaped shovel boards, every group of hook-shaped shovel board upper end warp along its length Horizontal racking device is connect with stretcher main body, with realize hook-shaped shovel board close up or detached job, when in use, first will be on stretcher Portion is placed on sick bed, and each pair of shovel board of three groups of hook-shaped shovel boards is made to be respectively placed in two outside of shoulder, waist and leg of patient, according to The height of patient moves the hook-shaped shovel board being connected with connector by mobile connection part, to reach the length to carrying patient stretcher Degree is adjusted, and then respectively gradually promotes shovel board to shoulder, waist and leg；The invention is easy to operate, but the wounded is shoveled It also needs to the wounded being placed on stretcher after rising, easily causes secondary injury to patient during patient is moved into stretcher, And the wounded is lied down when being in different situations on ground, it is impossible to it is applicable in well, such as the wounded lies face down and can not stand up, and It needs to lift the wounded and face is placed on stretcher upward, then also need to turn over the wounded after scooping up the wounded using the device Body is very easy to cause secondary injury so that the device has larger limitation when in use.

Medical free body moving platform in existing another kind patent CN201010039575 includes chassis assembly, can carry out Movable panel is adjusted to appropriate location during use, is then slowly inserted into human body phase by upright post sleeve, movable panel of elevating movement etc. Position is answered, mover starts, and slowly lifts people and realizes lifting by pushing hands mobile platform and Rotary cloumn beam, by conveying patient to mesh Ground, although the invention can mitigate the problem of causing secondary injury to patient in moving process, equally can not to patient into The treatment on special problems such as row turn.

Invention content

It is in view of the above-mentioned problems, good across the barrier multi-functional load of formula it is an object of the present invention to provide a kind of safe, protecting effect Frame and rescue method.

For achieving the above object, the technical solution adopted in the present invention is：One kind is described across barrier formula multifunctional stretcher Multifunctional stretcher includes stretcher main body, installs shovel board group, auxiliary support plate group, supporting mechanism, shovel board contracting in stretcher main body respectively Laying mechanism；Stretcher main body sets at least two cross through hole along its length, and each cross through hole is built-in, and there are two the first drives Dynamic motor, each first driving motor can drive cross bar transverse shifting in cross through hole；

The shovel board scaling device includes cross bar, and the first electric rotating is installed in the end point that cross bar stretches out stretcher body side Machine, the first electric rotating machine are coaxially disposed with cross bar；The output shaft lateral surface of first electric rotating machine and the input terminal of first clutch Connection, the output terminal of first clutch are penetrated in the earhole of one end setting of the first telescopic rod；First telescopic rod is vertical with cross bar Setting；

At least two shovel board groups and at least two auxiliary support plate groups are arranged in the lower section of stretcher main body along its length, Each shovel board group includes two hook-shaped shovel boards, and the hook-shaped shovel board is by second clutch and is arranged on the first telescopic rod other end The second electric rotating machine connection；Each auxiliary support plate group includes two arc-shaped auxiliary support plates, and auxiliary support plate passes through the Three clutches are connect with being arranged on the third electric rotating machine of the first telescopic rod other end；Second electric rotating machine and third electric rotating machine Coaxial arrangement；Second electric rotating machine is vertically arranged with the first telescopic rod, be arranged on stretcher main body both sides, it is two first opposite Shovel board group on telescopic rod collectively forms a cylindrical shape with auxiliary support plate group, and the upper semi-circle of cylindrical shape is by two hooks Shape shovel board forms, and lower half circle is made of two auxiliary support plates；

The inner surface of the hook-shaped shovel board and auxiliary support plate is respectively equipped with arc-shaped card slot, the slot bottom dress of arc-shaped card slot There is the second driving motor, connection gear on the output shaft of the second driving motor；The circle that setting can slide along in arc-shaped card slot Arc-shaped guide rail, the convex block of the two sides setting of guide rail are stuck in the groove of arc-shaped card slot two sides corresponding position setting, circular arc The outer surface setting arc-shaped rack of shape guide rail, rack and pinion are meshed, and one or more is equipped on the inner surface of guide rail The arc-shaped strip air bag being set up in parallel；

The rotating mechanism includes being arranged on the 5th electric rotating machine near stretcher front end, the output shaft of the 5th electric rotating machine Detachable connection is formed with the shaft coupling of stretcher front end setting, shaft coupling is fixedly connected with stretcher main body；5th electric rotating machine On moveable electric lifting stand；

The supporting mechanism by totally four the second telescopic rods form before and after being separately positioned at left and right sides of stretcher main body, Second telescopic rod lower end connects omni-directional wheel, and upper end passes through the 4th clutch and the 4th rotation mounted on corresponding position in stretcher main body Rotating motor connects, and the 4th electric rotating machine is horizontally disposed with axially along stretcher horizontal direction；

The tower structure that the stretcher main body (4-1) is spliced for carbon fiber pipe, four angles position of tower structure One straight slot is set respectively, bi-directional expansion bar (6-1) is set in straight slot, a rotor (6- is respectively installed at the both ends of telescopic rod (6-1) 2), weight sensor (6-3), rotor (6-2) common structure of tower structure four corners are set on the omni-directional wheel (4-20) Into more rotary aircrafts.

Preferably, the multifunctional stretcher further includes sensor module and controller；The sensor module includes peace 360 ° of full-view cameras mounted in stretcher body front end and rear end also install thermal imaging system, varifocal camera on full-view camera, Sensor module further includes the pressure-strain piece mounted on stretcher main body front and back, and sensor module and central processing unit lead to Letter connection, central processing unit also respectively with the first driving motor, the first electric rotating machine, first clutch, the first telescopic rod, second Clutch, the second electric rotating machine, third clutch, third electric rotating machine, the second driving motor, the second telescopic rod, omni-directional wheel, The air pressure regulator of four clutches and air bag communicates to connect；The central processing unit also respectively with touch display Screen, the communication connection of wireless signal transceiver module, image processing module, GPS positioning module.

Preferably, suspension assembly is set between first telescopic rod and omni-directional wheel, and suspension assembly includes air spring, resistance Buddhist nun's adjustable shock.

Preferably, striated or graininess skid resistant course, institute are set on the inner surface of the hook-shaped shovel board and auxiliary support plate State the side corresponding position setting bandage of hook-shaped shovel board and auxiliary support plate.

According to it is above-mentioned any one across barrier formula multifunctional stretcher rescue method, the rescue process include common the wounded Step, special the wounded is disposed to dispose step；

Described common the wounded disposes the step to be：Cross bar is collapsible into cross through hole to greatest extent, and the first telescopic rod is received It is reduced to most short, shovel board group and auxiliary support plate group are in below stretcher main body close to each other in petal-shaped is closed；It is mounted on same Hook-shaped shovel board and auxiliary support plate formation approximate ellipse shape close to each other on one the first telescopic rod, opposite is located at stretcher The hook-shaped shovel board and auxiliary support plate of main body opposite side are tightly attached on the outside of approximate ellipse shape；

Second telescopic rod is contacted for the omni-directional wheel of vertical state and its lower end with ground；Medical staff is by controlling four entirely The movement of multifunctional stretcher is realized in rotation to wheel；

Described special the wounded disposes the step to be：When special the wounded is lied down due to inconvenience is lifted or is assisted on ground, doctor Multifunctional stretcher is moved near special the wounded by shield personnel；Then the first driving motor rotates, and drives cross bar to cross through hole Outside is moved, while the first telescopic rod extends, and then the second electric rotating machine drives hook-shaped shovel board rotation, and third electric rotating machine drives Auxiliary support plate rotates, and the hook-shaped shovel board of stretcher body side is made to stop operating after forming semicircle with auxiliary support plate, is hooked at this time Shape shovel board lower end contacts ground, and special the wounded is exactly among the shovel board group of both sides；

Second telescopic rod is shunk, and makes omni-directional wheel liftoff, then the bottom end of lifting support is contacted with ground, while the 4th electric rotating Motor-driven work rotates the second telescopic rod to horizontality, and then lifting support slowly moves, and stretcher main body is made to be located at special the wounded Top；

First driving motor rotates, and cross bar is driven then to drive and hook by the first telescopic rod to cross through hole medial movement Shape shovel board and auxiliary support plate are drawn close together to centre, and the hook-shaped shovel board and auxiliary support plate for making both sides form a circle, will hinder Person shovels from the ground；

Special the wounded's set-up procedure is including lying down adjustment process, lie prone down adjustment process, adjustment process of lying on one's side；

The adjustment process of lying down is：Special the wounded protrudes its surface to lie down state, air bag inflation at this time The inner surface of hook-shaped shovel board or auxiliary support plate, special the wounded's body are contacted with air bag；

Rotating mechanism drives stretcher main body, hook-shaped shovel board, auxiliary support plate rotation, while the second driving motor rotates, band Dynamic guide rail is reversely rotated relative to the 5th electric rotating machine, i.e., guide rail is identical with the rotating speed of the 5th electric rotating machine but direction of rotation phase Instead so that stretcher main body overturns 180 °, and special the wounded remains face upward；

Described adjustment process of lying prone down is：Special the wounded is the state of lying prone down at this time, and air bag is deflated, and is less than its surface The inner surface of hook-shaped shovel board or auxiliary support plate, special the wounded's body are contacted with the inner surface of hook-shaped shovel board or auxiliary support plate； Rotating mechanism drives stretcher main body, hook-shaped shovel board, auxiliary support plate rotation, and the second driving motor is failure to actuate, then hook-shaped shovel board and Auxiliary support plate drives special the wounded to overturn together, makes special the wounded and 180 ° of the overturning jointly of stretcher main body；

The adjustment process of lying on one's side is：Special the wounded is side state at this time；Air bag is first deflated, and makes its surface low In hook-shaped shovel board or the inner surface of auxiliary support plate, special the wounded's body and the inner surface of hook-shaped shovel board or auxiliary support plate connect It touches；Rotating mechanism drives stretcher body rotation, and the second driving motor is failure to actuate, then hook-shaped shovel board and auxiliary support plate drive together Special the wounded's overturning, makes it overturn as face upward；Then air bag is inflated, its surface is made to protrude hook-shaped shovel board or auxiliary branch The inner surface of fagging is simultaneously contacted with special the wounded's body；Guide rail is identical with the rotating speed of the 5th electric rotating machine but direction of rotation on the contrary, So that stretcher main body is overturn to 180 °, and the wounded remains the state of face upward；

After special the wounded's set-up procedure, stretcher reset process is also carried out, stretcher reset process is：First driving electricity Machine rotates, and cross bar is driven to move outward, the wounded is gently placed in stretcher main body；Then the first electric rotating machine rotates, and makes hook-shaped Shovel board and auxiliary support plate are rotated along the axis of cross bar, and from the forepart of stretcher main body or rear portion around stretcher main body to stretcher master The lower section of body, then cross bar is shunk inwardly, while hook-shaped shovel board and auxiliary support plate are mutually drawn close to form closure petal-shaped；The Two telescopic rods rotate to be vertical state and the omni-directional wheel of its lower end contacts again with ground；

After stretcher reset process, special the wounded is transported to designated position by stretcher, is transported process and is disposed step with common the wounded Rapid process is consistent.

Preferably, described common the wounded is disposed in step, and after common the wounded, which is lifted, to be put into stretcher main body, pressure should Become piece and send pressure change signal to central processing unit, central processing unit starts 360 ° of full-view cameras and around being shot Ambient image passes to image processing module, and image processing module creates stretcher according to ambient enviroment image in virtual environment Ambient enviroment threedimensional model includes at least stretcher surrounding road model, the barrier model on road in threedimensional model；Then in Stretcher present position that central processor is sent according to GPS positioning module and the destination locations inputted in touching display screen Travelling route is calculated, then omni-directional wheel is controlled to walk according to travelling route；

In walking process, the adjustment four second in real time of road surface shape of the central processing unit in surrounding road model The length of telescopic rod makes stretcher main body remain horizontality；Central processing unit is also monitored on road in real time in walking process Barrier model, when there is barrier model in front of the travelling route, then central processing unit plans travelling route again, then Control omni-directional wheel walks on according to new travelling route cut-through object, until designated position is arrived in walking.

Preferably, described special the wounded is disposed in step, the shaft coupling of multifunctional stretcher front end and the 5th electric rotating machine Connection, then central processing unit startup thermal imaging system, finds the vital movement body near stretcher, and get the bid in surrounding road model Go out the position of life mobile, then show surrounding road model and vital movement body on a display screen；Medical staff is more One of special the wounded succoured as needs is clicked in a vital movement body；Then central processing unit control omnidirectional moves in turn Make, make near stretcher bulk motion to special the wounded.

Preferably, described special the wounded is disposed in step, and after special the wounded is scooped up, varifocal camera shooting is special The pose presentation of the wounded, and pose presentation is sent to central processing unit, which is sent to image by central processing unit Processing module identifies the posture of special the wounded to lie down state or the state of lying prone down or side state；Subsequently into special the wounded Set-up procedure.

Preferably, described special the wounded is disposed in step, lie on one's side adjustment process when, air bag inflation makes it Surface protrudes the inner surface of hook-shaped shovel board or auxiliary support plate, and special the wounded's body is contacted with air bag；

Rotating mechanism drives stretcher main body, hook-shaped shovel board, auxiliary support plate rotation, while the second driving motor rotates, band Dynamic guide rail is reversely rotated relative to the 5th electric rotating machine, guide rail is different from the rotating speed of the 5th electric rotating machine and direction of rotation on the contrary, While so that stretcher main body is overturn to 180 °, special the wounded is overturn to facial state upward.

Preferably, described special the wounded is disposed in step, and central processing unit starts thermal imaging system, is found near stretcher Then vital movement body judges multiple vital movement body profiles near stretcher, when judging the profile for human body contour outline When, varifocal camera is directed at the human body contour outline and is persistently taken pictures certain time, if in the time human body contour outline be in lie down or It lies prone down or side state and no movement, then the special the wounded succoured the vital movement body as needs.

The invention has the advantages that：Multifunctional stretcher can be handled the wound of the different conditions of the injury accordingly, general The logical wounded can directly lift and be placed in stretcher main body, special the wounded in lie low, lie prone down, lie on one's side when, multifunctional stretcher To be scooped up and special the wounded be rotated to be lying status, then put down gently in stretcher main body, the body of special the wounded during rotation The stretcher part being in contact with it does not relatively move or relative rotation, effectively increases the safety during rescue, reduces two Secondary injury；Multifunctional stretcher can automatic moving to designated position, and be to move horizontally, improving the safety of rescue process Property.

Description of the drawings

Fig. 1 is multifunctional stretcher front view；

Fig. 2 is multifunctional stretcher left view；

Fig. 3 is guide rail and hook-shaped shovel board structure diagram；

Fig. 4 is caught in hook-shaped shovel board groove schematic diagram for guide rail；

Fig. 5 is multifunctional stretcher contraction state schematic diagram；

Fig. 6 is multifunctional stretcher expanded schematic diagram；

Fig. 7 is electric lifting stand front view；

Fig. 8 is electric lifting stand left view；

Fig. 9 is that multifunctional stretcher closes up schematic diagram when the wounded is face-up；

Figure 10 is that multifunctional stretcher rotates schematic diagram when the wounded is face-up；

Figure 11 is that multifunctional stretcher rotates 180 ° when the wounded is face-up；

Figure 12 makes the wounded fall in stretcher main body schematic diagram for driving cross bar to both sides movement；

Figure 13 restPoses schematic diagram for multifunctional stretcher；

Figure 14, which is that hook-shaped shovel board is opposite with guide rail in Figure 10, reversely rotates schematic diagram；

Multifunctional stretcher closes up schematic diagram when Figure 15 is the wounded's face down；

Multifunctional stretcher rotates schematic diagram when Figure 16 is the wounded's face down；

Figure 17 is that hook-shaped shovel board rotates jointly schematic diagram with guide rail in Figure 16；

Figure 18 is multifunctional stretcher process for using figure；

Figure 19 multifunctional stretcher control circuit schematic diagrams.

Specific embodiment

It is a kind of across barrier formula multifunctional stretcher as shown in Fig. 1-Figure 19, including stretcher main body 4-1, divide on stretcher main body 4-1 It An Zhuan not shovel board group, auxiliary support plate group, supporting mechanism, shovel board scaling device, sensor module and controller；Stretcher main body 4- 1 sets at least two cross through hole 4-2, each cross through hole 4-2 built-in along its length, and there are two the first driving motor 4- 3, each first driving motor 4-3 can drive cross bar 4-4 transverse shiftings in cross through hole 4-2；

Brshless DC motor, such as river in Jiangsu Province which flows into the Huangpu River of Shanghai outstanding person's 110BL03-630 type brushless direct-currents may be used in the first driving motor 4-3 Motor or river in Jiangsu Province which flows into the Huangpu River of Shanghai outstanding person's 86BLF130 types brshless DC motor or the direct current generator of other models and fixation are than formula retarder It is used cooperatively, the power supply of the first driving motor 4-3 can be mounted in the lithium battery or iron lithium phosphate of stretcher ontology corresponding position Battery, can also the power supply of external plug form.

The shovel board scaling device includes cross bar 4-4, and cross bar 4-4 stretches out the end point installation the of stretcher main body 4-1 sides One electric rotating machine 4-6, the first electric rotating machine 4-6 and cross bar 4-4 is coaxially disposed；The output shaft lateral surface of first electric rotating machine 4-6 It is connect with the input terminal of first clutch 4-18, one end that the output terminal of first clutch 4-18 penetrates the first telescopic rod 4-5 is set In the earhole put；First telescopic rod 4-5 and cross bar 4-4 is vertically arranged；

The first clutch 4-18 can be more friction plate clutch or the bitubular clutch of electromagnetic coupling formula；Institute The the first telescopic rod 4-5 stated can select the industrial automation electric pushrod U7 systems of ANT-52 types electric pushrod or Te Muyou companies The electric pushrod of row or other models can also select the electric pushrod or hydraulic push rod of suitable types；

As shown in Figure 1, at least two shovel board groups and at least two are arranged in the lower section of stretcher main body 4-1 along its length A auxiliary support plate group, each shovel board group include two hook-shaped shovel board 4-7, and the hook-shaped shovel board 4-7 passes through second clutch 4-8 It is connect with the second electric rotating machine 4-9 for being arranged on the first telescopic rod 4-5 other ends；Each auxiliary support plate group includes two circular arcs Shape auxiliary support plate 4-10, auxiliary support plate 4-10 are by third clutch 4-11 and are arranged on the first telescopic rod 4-5 other ends The 4-12 connections of third electric rotating machine；Second electric rotating machine 4-9 and third electric rotating machine 4-12 is coaxially disposed；Second electric rotating machine 4-9 is vertically arranged with the first telescopic rod 4-5, is arranged on stretcher main body 4-1 both sides, opposite two the first telescopic rod 4-5 Shovel board group and auxiliary support plate group collectively form a cylindrical shape, the upper semi-circle of cylindrical shape is by two hook-shaped shovel board 4- 7 compositions, lower half circle are made of two auxiliary support plate 4-10；

The stretcher main body 4-1 is the tower structure that carbon fiber pipe is spliced, and four angles position of tower structure is divided Not She Zhi a straight slot, each rotor of installation one 6-2 in the both ends of setting bi-directional expansion bar 6-1, telescopic rod 6-1, described in straight slot Omni-directional wheel 4-20 on weight sensor 6-3, the rotor 6-2 of tower structure four corners is set to collectively form more rotary wind types flights Device；In order to improve load bearing effect, can also straight slot be set in the both sides of stretcher main body 4-1, it in this way can be in tower structure Six rotor 6-2 are installed on one side, form six rotary aircrafts；

Bi-directional expansion bar 6-1 can be one sleeve of intermediate setting, and the upper and lower end of sleeve leads to respectively with two threaded rods Cross threaded connection, rotating threaded rod can be realized flexible, can also use existing BL-B452 types telescopic rod, can also use The bi-directional expansion bar of electrodynamic type bi-directional expansion bar or fluid pressure type double piston-rod；HAWK-1080 carbon fibre can be used in the rotor 6-2 Lifting airscrew or JXF unmanned plane blades are tieed up, coordinates the more rotor PMU control modules of big boundary A2 types, realizes that 4 shaft types or 6 shaft types fly The assembling of row device；Can also directly pacify to fly rotor and the drive dynamic control device of plant protection unmanned plane to replace rotor 6- using Weifang 2, realize flight function；

Weight sensor 6-3 can be Ou Luda AT8502 weight sensors or peaceful Ke Li KM01C weight transmitters or its The weight sensor of his model, the parameter that weight sensor is sent directly can be shown or be sent by display screen connected to it To microcontroller, handled by microcontroller；

When normal movement after the wounded is carried on stretcher, omni-directional wheel 4-20 carryings have the barriers such as stair when encountering front When, tower structure surface is stretched out in the one or both sides of bi-directional expansion bar, rotor 6-2 is made to expose tower structure surface, then Start rotor 6-2, make stretcher ontology 4-1 by upward tractive force, when weight sensor 6-3 shows the carrying of omni-directional wheel 4-20 When less than certain value or being 0, then rotor 6-2 is kept to stablize rotation, at this moment medical staff only needs gently to make power, you can lifts load Frame and across barrier, is realized across barrier function；When rotor 6-2, weight sensor and microcontroller or central processing unit are used cooperatively When, stretcher short distance can also be realized automatically across barrier.

As Figure 3-Figure 4, the inner surface of the hook-shaped shovel board 4-7 and auxiliary support plate 4-10 is respectively equipped with arc-shaped The slot bottom of card slot 4-12, arc-shaped card slot 4-12 are equipped with the second driving motor 4-13, on the output shaft of the second driving motor 4-13 Connection gear 4-14；The arc-shaped rail 4-15 that setting can slide along in arc-shaped card slot 4-12, the two sides of guide rail 4-15 The convex block of setting is stuck in the groove of arc-shaped card slot 4-12 two sides corresponding position setting, the outer surface of arc-shaped rail 4-15 Arc-shaped rack 4-16, rack 4-16 is set to be meshed with gear 4-14, it is there are one installations or more on the inner surface of guide rail 4-15 A arc-shaped strip air bag 4-17 being set up in parallel；

The guide rail 4-15, rack 4-16, gear 4-14 can bases《Mechanical design handbook》The calculating side of middle recommendation Method carries out corresponding design and calculates, and guide rail can also select existing upper silver EG guide track series or MG guide track series or other brands Guide rail and sliding block；High elastic rubber material or the encryption of high resiliency Kafra fiber layer may be used in the air bag 4-17 Coating is sealed as pneumatophore, then corresponding position sets pressure regulator valve, intake valve, outlet on the air inlet of pneumatophore and gas outlet The gas supply assemblies such as valve, air pump.

As shown in Figs. 7-8, the rotating mechanism 5 includes being arranged on the 5th electric rotating machine 5-1 near stretcher front end, The output shaft of 5th electric rotating machine 5-1 and the shaft coupling 5-2 of stretcher front end setting form detachable connection, can be bolt-types Connection or the connection of electric-controlled mechanical lock construction；Shaft coupling 5-2 and stretcher main body 4-1 is welded or is bolted to connection；5th rotation Rotating motor 5-1 is mounted on moveable electric lifting stand 5-3, and electric lifting stand 5-3 can be electric pallet truck, can also It is AGV formula hoistable platforms；

The supporting mechanism is by totally four the second telescopic rod 4- before and after being separately positioned at left and right sides of stretcher main body 4-1 19 compositions, the second telescopic rod 4-19 lower ends connection omni-directional wheel 4-20, upper end is by the 4th clutch 4-21 with being mounted on stretcher master 4th electric rotating machine 4-22 connections of corresponding position on body 4-1, the 4th electric rotating machine 4-22 axially along stretcher horizontal direction water Flat setting；

The sensor module includes 360 ° of full-view camera 1-2 mounted on stretcher main body 4-1 front-end and back-end, panorama Thermal imaging system 1-3, varifocal camera 1-4 are also installed, sensor module is further included mounted on stretcher main body 4-1 on camera 1-2 The pressure-strain piece 1-11 of front and back, sensor module and central processing unit 1-1 communication connections；

It is as shown in figure 19, central processing unit 1-1 also respectively with the first driving motor 4-3, the first electric rotating machine 4-6, the One clutch 4-18, the first telescopic rod 4-5, second clutch 4-8, the second electric rotating machine 4-9, third clutch 4-11, third Electric rotating machine 4-12, the second driving motor 4-13, the second telescopic rod 4-19, omni-directional wheel 4-20, the 4th clutch 4-21, Yi Jichong The air pressure regulator communication connection of gas air bag 4-17；The central processing unit 1-1 also respectively with touching display screen 1-5, nothing Line signal transmitting and receiving module 1-6, image processing module 1-7, GPS positioning module 1-8 communication connections；Central processing unit 1-1 can be Wave filter, the signal handling equipments such as signal amplifier are encapsulated inside it, it also can also outer signal processing equipment.

Fluorite C6P panorama type IP Cameras may be used in the full-view camera 1-2, which is provided simultaneously with infrared Night vision component can be shot at night, can also use 360 ° of panorama automobile data recorders of Han Qi companies, which removes Outside with camera function, also with wireless signal transceiver, touch display unit and image processing apparatus, the recorder The image processing apparatus of carrying can combine range sensor, and ambient enviroment outdoor scene and obstacle are shown in touch display unit Object, and plan driving route；The thermal imaging system 1-3 can be F1ir One formulas infrared thermographies or The thermal imaging system of Fotric 233 or other models, this two thermal imaging system can automatically determine target range simultaneously Imaging data is wirelessly sent to cloud server, the thermal imaging profile in picture can also be extracted；

The pressure-strain piece 1-11 can be BF1K-3AA or BF350-3AA type resistive pressure foil gauges, can also It is the pressure-strain piece of other models；NI PXI-6238 boards may be used in the central processing unit 1-1, can also use NC-PCI-6509 boards, and coordinate the graphics processing card being adapted with two kinds of boards or Mitsubishi FX1S types PLC controls Device or Mitsubishi PLC FX3U-32MR/ES programmable controllers, and PLC controller and CMUCAM3 picture recognition modules are connected It connects, realizes analysis to image, modeling function.

The central processing unit 1-1 can also be the MPC574xB-C-G type MCU of NXP companies, which can be straight It connects and is communicated to connect with the camera of MXP companies and range sensor, and MCU internal calculations realize automatic Pilot, therefore profit again It can be completely achieved the automatic control function of multifunctional stretcher after being applied in combination with the MCU, camera, range sensor of the said firm, MCU can also carry out virtual three-dimensional modeling to the ambient enviroment that camera acquires simultaneously, be provided using NXP companies Automated Drive Kit softwares realize the Dummy modeling process of stretcher ambient enviroment.

The central processing unit 1-1, touching display screen 1-5, wireless signal transceiver module 1-6, image processing module The automated driving system that 1-7, GPS positioning module 1-8 can also use other autonomous driving vehicles to use directly is replaced, such as make The surrounding road environment of multifunctional stretcher is can be completely achieved with the control system and software of published Google's autonomous driving vehicle Modeling process and automatic running process.

Each application valve body and air pump and central controller the 1-1 communication connection of the air bag 4-17 is simultaneously controlled by it System.

When being given first aid to using multifunctional stretcher, omni-directional wheel 4-20, the first driving electricity can be controlled manually by medical staff The electrical equipments such as machine 4-3, the first telescopic rod 4-5 or by above-mentioned electrical equipment and MSC51 series or other models list Piece machine communicates to connect, and the control signal input of microcontroller connect with controller, is inputted pair by medical staff's operation and control device The startup of each electrical equipment or control instruction；Can also increase sensor module and central controller, realize multifunctional stretcher Automatically walk and automation realize that special the wounded disposes step；

It is art technology using controlling each electrical equipment manually or controlling the technology of each electrical equipment using microcontroller Personnel can on the basis of existing technology, with reference to the control process that present specification is directly realized by, therefore to simplify the explanation, this Application only realizes that the automatic control process of multifunctional stretcher is described to increasing sensor module and central controller one.

As shown in figure 18, the rescue method across barrier formula multifunctional stretcher includes common the wounded and disposes step, spy Different the wounded disposes step；

As shown in Figure 5, common the wounded placement step is：Cross bar 4-4 is collapsible into cross through hole to greatest extent In 4-2, the first telescopic rod 4-5 is retracted to most short, and shovel board group and auxiliary support plate group are in below stretcher main body 4-1 in being closed flower Petaloid is close to each other；The hook-shaped shovel board 4-7 and auxiliary support plate 4-10 being mounted on same first telescopic rod 4-5 are mutually leaned on Near to form approximate ellipse shape, the opposite hook-shaped shovel board 4-7 and auxiliary support plate 4-10 positioned at stretcher main body 4-1 opposite sides is tight It is attached on the outside of approximate ellipse shape；

Second telescopic rod 4-19 is contacted for the omni-directional wheel 4-20 of vertical state and its lower end with ground；When common the wounded is lifted After being put into stretcher main body, pressure-strain piece 1-11 sends pressure change signal, central processing unit 1-1 to central processing unit 1-1 The environmental view Image relaying for starting 360 ° of full-view camera 1-2 and being shot gives image processing module 1-7, image procossing mould Block 1-7 creates stretcher ambient enviroment threedimensional model in virtual environment, is included at least in threedimensional model according to ambient enviroment image Barrier model on stretcher surrounding road model, road；Then central processing unit 1-1 is sent according to GPS positioning module 1-8 The destination locations inputted in stretcher present position and touching display screen 1-5 calculate travelling route, then control omnidirectional Wheel 4-20 walks according to travelling route；

In walking process, the adjustment four in real time of road surface shapes of the central processing unit 1-1 in surrounding road model The length of second telescopic rod 4-19 makes stretcher main body 4-1 remain horizontality；Central processing unit 1-1 is also in walking process Barrier model on monitoring road in real time, when there is barrier model in front of the travelling route, then central processing unit 1-1 is again It plans travelling route, then omni-directional wheel 4-20 is controlled to walk on according to new travelling route cut-through object, until walking is arrived Designated position；The calculating process of cut-through object can refer to the calculating side of pilotless automobile cut-through object in the prior art The method of method or sweeping robot cut-through object；

The wounded can also preferably keep the wounded's body surface in moving process by controlling fan and electric heating wire The temperature of ambient enviroment is in a more suitable constant temperature section.

Described special the wounded disposes the step to be：It is more when special the wounded is lied down due to inconvenience is lifted or is assisted on ground The shaft coupling 5-2 and the 5th electric rotating machine 5-1 of 4 front end of function stretcher, then central processing unit 1-1 startups thermal imaging system 1-3, seeks The vital movement body near stretcher is looked for, the position for the life mobile that then gets the bid out in surrounding road model, and by surrounding road Model and vital movement body are shown on display screen 1-5；Medical staff clicks one of work in multiple vital movement bodies For the special the wounded for needing to succour；Then central processing unit 1-1 controls omni-directional wheel 4-20 actions, moves to stretcher main body 4-1 Near special the wounded；

Determine special the wounded process can also automation mechanized operation, central processing unit 1-1 start thermal imaging system 1-3, find Vital movement body near stretcher, then image processing module 1-7 multiple vital movement body profiles near stretcher are sentenced It is disconnected, when judging the profile for human body contour outline, varifocal camera 1-4 is directed at the human body contour outline and is persistently taken pictures certain time, It lies down or lies prone down or side state and no movement if human body contour outline is in the time, using the vital movement body as needs Special the wounded of relief.

First driving motor 4-3 is rotated, and drives cross bar 4-4 mobile to cross through hole 4-2 outsides, while the first telescopic rod 4- 5 elongations, then the hook-shaped shovel board 4-7 rotations of the second electric rotating machine 4-9 drives, third electric rotating machine 4-12 drive auxiliary support plate 4- 10 rotations make the hook-shaped shovel board 4-7 and auxiliary support plate 4-10 of stretcher main body 4-1 sides stop operating after forming semicircle, at this time Hook-shaped shovel board 4-7 lower ends contact ground, and special the wounded is exactly among the shovel board group of both sides；

Second telescopic rod 4-19 is shunk, and makes omni-directional wheel 4-20 liftoff, then the bottom end of lifting support 5-3 is contacted with ground, together When the 4th electric rotating machine 4-22 act, the second telescopic rod 4-19 is rotated to horizontality, then lifting support 5-3 is slowly moved It is dynamic, stretcher main body 1-1 is made to be located above special the wounded；

First driving motor 4-3 is rotated, and drives cross bar 4-4 to cross through hole 4-2 medial movements, then flexible by first Bar 4-5 drives hook-shaped shovel board 4-7 and auxiliary support plate 4-10 to be drawn close together to centre, makes the hook-shaped shovel board 4-7 and auxiliary of both sides Support plate 4-10 forms a circle, by the wounded's shovel from the ground；Varifocal camera 1-4 shoots the pose presentation of special the wounded, and will Pose presentation is sent to central processing unit 1-1, which is sent to image processing module 1-7 by central processing unit 1-1, knows Do not go out the posture of special the wounded to lie down state or the state of lying prone down or side state；Subsequently into special the wounded's set-up procedure；

Special the wounded's set-up procedure is including lying down adjustment process, lie prone down adjustment process, adjustment process of lying on one's side；

As Figure 9-Figure 11, the adjustment process of lying down is：Special the wounded is lies down state, air bag at this time 4-17 is inflated, its surface is made to protrude the inner surface of hook-shaped shovel board 4-7 or auxiliary support plate 4-10, special the wounded's body and inflating air Capsule 4-17 is contacted；

Rotating mechanism 5 drives stretcher main body 4-1, hook-shaped shovel board 4-7, auxiliary support plate 4-10 rotations, while the second driving Motor 4-13 is rotated, and guide rail 4-15 is driven to be reversely rotated relative to the 5th electric rotating machine 5-1, i.e. guide rail 4-15 and the 5th electric rotating The rotating speed of machine 5-1 is identical but direction of rotation is opposite so that stretcher main body 4-1 overturns 180 °, and special the wounded remains face State upward；

As shown in Figure 15-Figure 17, the adjustment process of lying prone down is：At this time special the wounded be the state of lying prone down, inflating air Capsule 4-17 deflates, the inner surface that its surface is made to be less than hook-shaped shovel board 4-7 or auxiliary support plate 4-10, the wounded's body and hook-shaped shovel board The inner surface of 4-7 or auxiliary support plate 4-10 contact；Rotating mechanism 5 drives stretcher main body 4-1, hook-shaped shovel board 4-7, Auxiliary support Plate 4-10 is rotated, and the second driving motor 4-13 is failure to actuate, then hook-shaped shovel board 4-7 and auxiliary support plate 4-10 drive special wound together Person overturns, and makes special the wounded and stretcher main body 4-1 180 ° of overturnings jointly；

The adjustment process of lying on one's side is：Special the wounded is side state at this time；Air bag 4-17 first deflates, and makes its table Face is less than the inner surface of hook-shaped shovel board 4-7 or auxiliary support plate 4-10, special the wounded's body and hook-shaped shovel board 4-7 or Auxiliary support The inner surface contact of plate 4-10；Rotating mechanism 5 drives stretcher main body 4-1 rotations, and the second driving motor 4-13 is failure to actuate, then hook-shaped Shovel board 4-7 and auxiliary support plate 4-10 drives special the wounded to overturn together, it is made to overturn as face upward；Then air bag 4- 17 inflations make its surface protrude the inner surface of hook-shaped shovel board 4-7 or auxiliary support plate 4-10 and are contacted with special the wounded's body；It leads Rail 4-15 is identical with the rotating speed of the 5th electric rotating machine 5-1 but direction of rotation is opposite so that and stretcher main body 4-1 is overturn to 180 °, and The wounded remains the state of face upward；

The adjustment of lying on one's side can also carry out in the following way：Air bag 4-17 is inflated, and is protruded its surface and is hooked The inner surface of shape shovel board 4-7 or auxiliary support plate 4-10, special the wounded's body are contacted with air bag 4-17；

Rotating mechanism 5 rotates, while guide rail 4-15 is reversely rotated relative to the 5th electric rotating machine 5-1, guide rail 4-15 and The rotating speed of five electric rotating machine 5-1 is different and direction of rotation is opposite so that while stretcher main body 4-1 is overturn, special the wounded is opposite In ground also in a degree of overturning, when stretcher main body 4-1 is overturn to 180 ° together, special the wounded is overturn to face upward.

As illustrated by figs. 12-13, after special the wounded's set-up procedure, stretcher reset process is also carried out, stretcher resets Step is：First driving motor 4-3 is rotated, and cross bar 4-4 is driven to move outward, the wounded is gently placed on stretcher main body 4-1；So The first electric rotating machine 4-6 rotates afterwards, and hook-shaped shovel board 4-7 and auxiliary support plate 4-10 is made to be rotated, and from load along the axis of cross bar 4-4 The forepart or rear portion of frame body 4-1 is received inwardly around stretcher main body 4-1 to the lower section of stretcher main body 4-1, then cross bar 4-4 Contracting, while hook-shaped shovel board 4-7 and auxiliary support plate 4-10 mutually draw close to form closure petal-shaped；Second telescopic rod 4-19 is rotated to be The omni-directional wheel 4-20 of vertical state and its lower end is contacted again with ground；

After stretcher reset process, special the wounded is transported to designated position by stretcher, is transported process and is disposed step with common the wounded Rapid process is consistent.

Multifunctional stretcher can be handled the wounded of the different conditions of the injury accordingly, and the common wounded can directly lift and be placed on load On frame body, special the wounded in lie low, lie prone down, lie on one's side when, multifunctional stretcher can be scooped up and by special the wounded Rotate to be lying status, then put down gently in stretcher main body, rotate and the process of putting down gently do not need to special the wounded body movement, effectively The safety during rescue is improved, reduces secondary injury.

Preferably embodiment is：Suspension assembly, suspension group are set between the first telescopic rod 4-5 and omni-directional wheel 4-20 Part includes air spring, adjustable-damping shock absorber；In the process of walking, central processing unit 1-1 can be according to road surface feelings for stretcher Condition adjusts the rigidity of air spring and the damped coefficient of damper in real time, so that omni-directional wheel 4-20 is preferably adapted to road surface, together When effectively reduce the vertical vibration of stretcher ontology, improve comfort.

Preferably embodiment is：Striated is set on the inner surface of the hook-shaped shovel board 4-7 and auxiliary support plate 4-10 Or graininess skid resistant course, skid resistant course can be the elastic plastic materials that rubber material or polymer composite are made, institute State the side corresponding position setting bandage of hook-shaped shovel board 4-7 and auxiliary support plate 4-10；When special the wounded and stretcher ontology are common During rotation, skid resistant course and bandage can allow special the wounded to be fitted closely with hook-shaped shovel board 4-7 or auxiliary support plate 4-10 without phase It mutually slides, improves overturning efficiency；Based on the same principle, air bag surface can also set mutually isostructural skid resistant course.

Claims (10)

1. It is 1. a kind of across barrier formula multifunctional stretcher, it is characterised in that：The multifunctional stretcher (4) includes stretcher main body (4-1), stretcher Shovel board group, auxiliary support plate group, supporting mechanism, shovel board scaling device are installed respectively in main body (4-1)；Stretcher main body (4-1) edge Its length direction sets at least two cross through hole (4-2), and each cross through hole (4-2) is built-in, and there are two the first driving motors (4-3), each first driving motor (4-3) can drive a cross bar (4-4) in cross through hole (4-2) interior transverse shifting；

   The shovel board scaling device includes cross bar (4-4), and cross bar (4-4) stretches out the end point installation of stretcher main body (4-1) side First electric rotating machine (4-6), the first electric rotating machine (4-6) are coaxially disposed with cross bar (4-4)；First electric rotating machine (4-6) it is defeated Shaft lateral surface is connect with the input terminal of first clutch (4-18), and the output terminal of first clutch (4-18) penetrates first and stretches In the earhole of one end setting of bar (4-5)；First telescopic rod (4-5) is vertically arranged with cross bar (4-4)；

   At least two shovel board groups and at least two auxiliary support plates are arranged in the lower section of stretcher main body (4-1) along its length Group, each shovel board group include two hook-shaped shovel boards (4-7), and the hook-shaped shovel board (4-7) passes through second clutch (4-8) and setting It is connected in second electric rotating machine (4-9) of the first telescopic rod (4-5) other end；Each auxiliary support plate group is arc-shaped including two Auxiliary support plate (4-10), auxiliary support plate (4-10) is by third clutch (4-11) and is arranged on the first telescopic rod (4-5) Third electric rotating machine (4-12) connection of the other end；Second electric rotating machine (4-9) is coaxially disposed with third electric rotating machine (4-12)； Second electric rotating machine (4-9) is vertically arranged with the first telescopic rod (4-5), be arranged on stretcher main body (4-1) both sides, opposite two Shovel board group on a first telescopic rod (4-5) collectively forms a cylindrical shape, the upper half of cylindrical shape with auxiliary support plate group Circle is made of two hook-shaped shovel boards (4-7), and lower half circle is made of two auxiliary support plates (4-10)；

   The inner surface of the hook-shaped shovel board (4-7) and auxiliary support plate (4-10) is respectively equipped with arc-shaped card slot (4-12), circular arc The slot bottom of shape card slot (4-12) is equipped with the second driving motor (4-13), connection gear on the output shaft of the second driving motor (4-13) (4-14)；The arc-shaped rail (4-15) that setting can slide along in arc-shaped card slot (4-12), the two sides of guide rail (4-15) The convex block of setting is stuck in the groove of arc-shaped card slot (4-12) two sides corresponding position setting, outside arc-shaped rail (4-15) Surface setting arc-shaped rack (4-16), rack (4-16) are meshed with gear (4-14), pacify on the inner surface of guide rail (4-15) The arc-shaped strip air bag (4-17) being set up in parallel equipped with one or more；

   The rotating mechanism (5) includes the 5th electric rotating machine (5-1) being arranged near stretcher front end, the 5th electric rotating machine (5- 1) output shaft and the shaft coupling (5-2) of stretcher front end setting form detachable connection, shaft coupling (5-2) and stretcher main body (4-1) is fixedly connected；5th electric rotating machine (5-1) is on moveable electric lifting stand (5-3)；

   The supporting mechanism is by front and rear totally four the second telescopic rod (4- for being separately positioned at left and right sides of stretcher main body (4-1) 19) it forms, the second telescopic rod (4-19) lower end connection omni-directional wheel (4-20), upper end is by the 4th clutch (4-21) with being mounted on In stretcher main body (4-1) corresponding position the 4th electric rotating machine (4-22) connection, the 4th electric rotating machine (4-22) axially along load Frame horizontal direction is horizontally disposed with；

   The stretcher main body (4-1) is the tower structure that carbon fiber pipe is spliced, and four angles position of tower structure is respectively One straight slot is set, bi-directional expansion bar (6-1) is set in straight slot, a rotor (6-2) is respectively installed at the both ends of telescopic rod (6-1), Weight sensor (6-3), multiple rotors (6-2) common structure of tower structure four corners are set on the omni-directional wheel (4-20) Into more rotary aircrafts.
2. It is 2. according to claim 1 a kind of across barrier formula multifunctional stretcher, it is characterised in that：The multifunctional stretcher also wraps Include sensor module and controller；The sensor module includes complete mounted on 360 ° of stretcher main body (4-1) front-end and back-end Scape camera (1-2) also installs thermal imaging system (1-3), varifocal camera (1-4), sensor module on full-view camera (1-2) Further include the pressure-strain piece (1-11) mounted on stretcher main body (4-1) front and back, sensor module and central processing unit (1-1) communicate to connect, central processing unit (1-1) also respectively with the first driving motor (4-3), the first electric rotating machine (4-6), first Clutch (4-18), the first telescopic rod (4-5), second clutch (4-8), the second electric rotating machine (4-9), third clutch (4- 11), third electric rotating machine (4-12), the second driving motor (4-13), the second telescopic rod (4-19), omni-directional wheel (4-20), the 4th The air pressure regulator of clutch (4-21) and air bag (4-17) communicates to connect；The central processing unit (1-1) also divides Not with touching display screen (1-5), wireless signal transceiver module (1-6), image processing module (1-7), GPS positioning module (1- 8) it communicates to connect.
3. It is 3. according to claim 1 a kind of across barrier formula multifunctional stretcher, it is characterised in that：First telescopic rod (4-5) Suspension assembly is set between omni-directional wheel (4-20), and suspension assembly includes air spring, adjustable-damping shock absorber.
4. It is 4. according to claim 1 a kind of across barrier formula multifunctional stretcher, it is characterised in that：The hook-shaped shovel board (4-7) and Striated or graininess skid resistant course, the hook-shaped shovel board (4-7) and auxiliary branch are set on the inner surface of auxiliary support plate (4-10) The side corresponding position setting bandage of fagging (4-10).
5. 5. according to any one in claim 1 to claim 4 across the rescue method for hindering formula multifunctional stretcher, feature exists In：The rescue process includes common the wounded and step, special the wounded is disposed to dispose step；

   Described common the wounded disposes the step to be：Cross bar (4-4) is collapsible into greatest extent in cross through hole (4-2), and first stretches Contracting bar (4-5) is retracted to most short, and shovel board group and auxiliary support plate group are in below stretcher main body (4-1) mutual in petal-shaped is closed It is close；The hook-shaped shovel board (4-7) and auxiliary support plate (4-10) being mounted on same first telescopic rod (4-5) are close to each other Approximate ellipse shape is formed, opposite is located at the hook-shaped shovel board (4-7) of stretcher main body (4-1) opposite side and auxiliary support plate (4- 10) it is tightly attached on the outside of approximate ellipse shape；

   Second telescopic rod (4-19) is contacted for the omni-directional wheel (4-20) of vertical state and its lower end with ground；Medical staff passes through control The movement of multifunctional stretcher is realized in the rotation of four omni-directional wheels (4-20) of system；

   Described special the wounded disposes the step to be：When special the wounded is lied down due to inconvenience is lifted or is assisted on ground, medical care people Multifunctional stretcher is moved near special the wounded by member；Then the first driving motor (4-3) rotates, and drives cross bar (4-4) to horizontal stroke It is mobile on the outside of to through-hole (4-2), while the first telescopic rod (4-5) extends, then the second electric rotating machine (4-9) drives hook-shaped shovel board (4-7) is rotated, and third electric rotating machine (4-12) drives auxiliary support plate (4-10) to rotate, and makes the hook of stretcher main body (4-1) side Shape shovel board (4-7) stops operating after forming semicircle with auxiliary support plate (4-10), at this time hook-shaped shovel board (4-7) lower end contact Ground, special the wounded are exactly among the shovel board group of both sides；

   Second telescopic rod (4-19) is shunk, and makes omni-directional wheel (4-20) liftoff, then the bottom end of lifting support (5-3) is contacted with ground, 4th electric rotating machine (4-22) action simultaneously, by the second telescopic rod (4-19) rotation to horizontality, then lifting support (5-3) It is slowly mobile, make stretcher main body (1-1) above special the wounded；

   First driving motor (4-3) rotates, and cross bar (4-4) is driven then to be stretched to cross through hole (4-2) medial movement by first Contracting bar (4-5) drives hook-shaped shovel board (4-7) and auxiliary support plate (4-10) to be drawn close together to centre, makes the hook-shaped shovel board of both sides (4-7) and auxiliary support plate (4-10) form a circle, by the wounded's shovel from the ground；

   Special the wounded's set-up procedure is including lying down adjustment process, lie prone down adjustment process, adjustment process of lying on one's side；

   The adjustment process of lying down is：Special the wounded makes its surface dash forward to lie down state, air bag (4-17) inflation at this time Go out the inner surface of hook-shaped shovel board (4-7) or auxiliary support plate (4-10), special the wounded's body is contacted with air bag (4-17)；

   Rotating mechanism (5) drives stretcher main body (4-1), hook-shaped shovel board (4-7), auxiliary support plate (4-10) rotation, while second Driving motor (4-13) rotates, and guide rail (4-15) is driven to be reversely rotated relative to the 5th electric rotating machine (5-1), i.e. guide rail (4-15) It is identical with the rotating speed of the 5th electric rotating machine (5-1) but direction of rotation is opposite so that stretcher main body (4-1) overturns 180 °, and special The wounded remains face upward；

   Described adjustment process of lying prone down is：Special the wounded is the state of lying prone down at this time, and air bag (4-17) is deflated, and makes its surface low In hook-shaped shovel board (4-7) or the inner surface of auxiliary support plate (4-10), special the wounded's body and hook-shaped shovel board (4-7) or auxiliary branch The inner surface contact of fagging (4-10)；Rotating mechanism (5) drives stretcher main body (4-1), hook-shaped shovel board (4-7), auxiliary support plate (4-10) is rotated, and the second driving motor (4-13) is failure to actuate, then hook-shaped shovel board (4-7) and auxiliary support plate (4-10) drive together Special the wounded's overturning makes special the wounded and stretcher main body (4-1) 180 ° of overturning jointly；

   The adjustment process of lying on one's side is：Special the wounded is side state at this time；Air bag (4-17) is first deflated, and makes its surface Less than hook-shaped shovel board (4-7) or the inner surface of auxiliary support plate (4-10), special the wounded's body and hook-shaped shovel board (4-7) or auxiliary The inner surface contact of support plate (4-10)；Rotating mechanism (5) drives stretcher main body (4-1) to rotate, the second driving motor (4-13) It is failure to actuate, then hook-shaped shovel board (4-7) and auxiliary support plate (4-10) drive special the wounded to overturn together, make its overturning for facial court On；Then air bag (4-17) is inflated, its surface is made to protrude the inner surface of hook-shaped shovel board (4-7) or auxiliary support plate (4-10) And it is contacted with special the wounded's body；Guide rail (4-15) is identical with the rotating speed of the 5th electric rotating machine (5-1) but direction of rotation is on the contrary, make Stretcher main body (4-1) overturning is obtained to 180 °, and the wounded remains the state of face upward；

   After special the wounded's set-up procedure, stretcher reset process is also carried out, stretcher reset process is：First driving motor (4-3) is rotated, and cross bar (4-4) is driven to move outward, the wounded is gently placed in stretcher main body (4-1)；Then the first electric rotating Machine (4-6) rotates, and makes the axis rotation of hook-shaped shovel board (4-7) and auxiliary support plate (4-10) along cross bar (4-4), and from stretcher master The forepart or rear portion of body (4-1) are around stretcher main body (4-1) to the lower section of stretcher main body (4-1), and then cross bar (4-4) is inwardly It shrinks, while hook-shaped shovel board (4-7) and auxiliary support plate (4-10) are mutually drawn close to form closure petal-shaped；Second telescopic rod (4- 19) omni-directional wheel (4-20) for rotating to be vertical state and its lower end contacts again with ground；

   After stretcher reset process, special the wounded is transported to designated position by stretcher, is transported process and is disposed step mistake with common the wounded Journey is consistent.
6. 6. a kind of rescue method across barrier formula multifunctional stretcher according to claim 5, it is characterised in that：Described is common The wounded is disposed in step, and after common the wounded, which is lifted, to be put into stretcher main body, pressure-strain piece (1-11) is to central processing unit (1- 1) pressure change signal is sent, central processing unit (1-1) starts 360 ° of full-view cameras (1-2) and the ambient enviroment shot Image passes to image processing module (1-7), and image processing module (1-7) is created according to ambient enviroment image in virtual environment It builds stretcher ambient enviroment threedimensional model, stretcher surrounding road model, the barrier model on road is included at least in threedimensional model； Then the stretcher present position and touching display screen (1- that central processing unit (1-1) is sent according to GPS positioning module (1-8) 5) destination locations inputted in calculate travelling route, then omni-directional wheel (4-20) are controlled to walk according to travelling route；

   In walking process, road surface shape of the central processing unit (1-1) in surrounding road model adjustment four in real time the The length of two telescopic rods (4-19) makes stretcher main body (4-1) remain horizontality；Central processing unit (1- in walking process 1) the also barrier model on monitoring road in real time, when there is barrier model in front of the travelling route, then central processing unit (1- 1) travelling route is planned again, then omni-directional wheel (4-20) is controlled to walk on according to new travelling route cut-through object, directly Designated position is arrived to walking.
7. 7. a kind of rescue method across barrier formula multifunctional stretcher according to claim 5, it is characterised in that：Described is special The wounded is disposed in step, the shaft coupling (5-2) of multifunctional stretcher (4) front end and the connection of the 5th electric rotating machine (5-1), then central Processor (1-1) starts thermal imaging system (1-3), finds the vital movement body near stretcher, and marked in surrounding road model Then the position of vital movement body includes surrounding road model and vital movement body on display screen (1-5)；Medical staff exists One of special the wounded succoured as needs is clicked in multiple vital movement bodies；Then central processing unit (1-1) controls Omni-directional wheel (4-20) acts, and stretcher main body (4-1) is made to move near special the wounded.
8. 8. a kind of rescue method across barrier formula multifunctional stretcher according to claim 7, it is characterised in that：Described is special The wounded is disposed in step, and after special the wounded is scooped up, varifocal camera (1-4) shoots the pose presentation of special the wounded, and will Pose presentation is sent to central processing unit (1-1), which is sent to image processing module by central processing unit (1-1) (1-7) identifies the posture of special the wounded to lie down state or the state of lying prone down or side state；It is adjusted subsequently into special the wounded Step.
9. 9. a kind of rescue method across barrier formula multifunctional stretcher according to claim 8, it is characterised in that：Described is special The wounded is disposed in step, lie on one's side adjustment process when, air bag (4-17) inflation makes its surface protrude hook-shaped shovel board (4- 7) or the inner surface of auxiliary support plate (4-10), special the wounded's body are contacted with air bag (4-17)；

   Rotating mechanism (5) drives stretcher main body (4-1), hook-shaped shovel board (4-7), auxiliary support plate (4-10) rotation, while second Driving motor (4-13) rotate, drive guide rail (4-15) is reversely rotated relative to the 5th electric rotating machine (5-1), guide rail (4-15) and The rotating speed of 5th electric rotating machine (5-1) is different and direction of rotation is opposite so that while stretcher main body (4-1) overturning is to 180 °, Special the wounded is overturn to facial state upward.
10. 10. a kind of rescue method across barrier formula multifunctional stretcher according to claim 7, it is characterised in that：The spy Different the wounded is disposed in step, and central processing unit (1-1) starts thermal imaging system (1-3), finds the vital movement body near stretcher, so Multiple vital movement body profiles near stretcher are judged afterwards, when judging the profile for human body contour outline, by varifocal phase Machine (1-4) is directed at the human body contour outline and persistently takes pictures certain time, if human body contour outline is in and lies down or lie prone down or side in the time Sleeping state and no movement, the then special the wounded succoured the vital movement body as needs.