CN111547145A

CN111547145A - Multi-mode driving crawler-type electric carrying device and method

Info

Publication number: CN111547145A
Application number: CN202010457014.1A
Authority: CN
Inventors: 刘东升; 刘聪莹
Original assignee: Beijing Linbda Co ltd
Current assignee: Beijing Linbda Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-08-18

Abstract

The invention discloses a multi-mode driving crawler-type electric carrying device and an operation control and sharing management method thereof, wherein the multi-mode driving crawler-type electric carrying device is provided with a top cover, a left side wing and a right side wing which are close to the ground, a push rod is arranged to ensure that a carrying platform keeps a horizontal or slightly forward-inclined state in the stair climbing process, and a front auxiliary balancing component and a rear auxiliary balancing component ensure that the operation process is safe and stable, so that a common wheelchair, personnel or heavy objects can be carried conveniently to; the stair is suitable for climbing stairs with the inclination angle of the inclined plane of the stair section smaller than 45 degrees, ancient building stairs and existing corridor stairs without elevator residential buildings. The intelligent mobile phone is used as a controller, the use is convenient, the two-dimensional code can be scanned to be networked with the operation server, and the sharing management is realized; when the foldable chair is idle, the foldable chair can be folded, and occupies less space; the intelligent identification of high-definition camera images is realized, and the intelligent identification can automatically drive the elevator to go up and down stairs, avoid obstacles and turn according to a target floor instruction, the current environment state and/or a preset identifier to reach a destination; and the device can also be driven manually by a mobile phone and remotely, and is easy for large-scale production and marketized operation.

Description

Multi-mode driving crawler-type electric carrying device and method

Technical Field

The invention relates to the field of electric carrying devices, in particular to a multi-mode driving crawler-type electric carrying device which is suitable for stairs, corridors, ramps, flat ground and grasslands, and is particularly suitable for carrying common wheelchairs or heavy objects in corridors of old districts.

Background

The existing small high-rise residence (2-6 floors) has the key problem that the vertical traffic problem of the small high-rise residence is puzzling the old in cities and towns because no elevator is installed; even young people have difficulty in carrying heavy objects upstairs and downstairs. The electric vehicle solution is difficult to popularize for the following reasons: at present, the electric carrying device for climbing stairs in the market is mainly divided into the following two main schemes: one is a rail type stair climbing vehicle, a special rail along a stair handrail provides a reverse acting force corresponding to driving force to drive a load, but the mounting work amount is large, and the occupied corridor space is also large; the other type is an independent stair climbing machine, mainly comprises a stair climbing wheelchair and a stair climbing machine for carrying heavy objects, and the additional manual real-time control crawler-type stair climbing device is used for driving the load in the wheelchair or the stair climbing machine; other building machine principles of climbing mainly are following several structures: the simulation type structure simulating the climbing of the stairs, the deformable wheel, the three-wheel or five-wheel star wheel type structure, the spiral arm type structure of the Archimedes spiral line shape and the wheel structure capable of being stretched when climbing stairs or crossing obstacles are simulated, but the simulation type structure cannot be applied to market due to high complexity, poor reliability, poor universality under the conditions of different stair specifications in various scenes, overhigh cost and the like.

The method of the crawler-type electric carrying device only has two modes of manual handrail handle control and wheelchair rocker and switch combination control, and the crawler-type electric carrying device with an automatic driving function is not found, namely: the control method of the crawler-type electric carrying device is not needed, which is the same as that of a common elevator, only needs to input a target floor, can automatically deliver a user or a heavy object to the target floor and can safely and emergently stop in time; the closest patents are: a stair climbing method and apparatus (application No. 201811102213X) capable of automatically adjusting steering, but still having to have a robust person to control the handle of the hand-rail, and no function of automatically driving to the destination according to the current ambient environment parameters automatically recognized or read. In the aspect of automatic driving of automobiles, the technology is mature and develops rapidly. In the automatic driving, a road marking extraction method based on a forward high-definition camera (application number 2016100298946), a high-definition camera 3D target detection system based on deep learning (application number 201811652842X) and other patent documents have already been introduced, but no automatic driving method exists in the field of crawler-type electric carriers.

Disclosure of Invention

The present invention is directed to a track-type electric vehicle and method for solving at least one of the problems set forth above.

In order to achieve the purpose, the invention adopts the following preferred technical scheme:

a tracked electric vehicle comprising: the device comprises a track assembly, a driving mechanism, a control mechanism, a loading platform, an auxiliary balance assembly and a power supply assembly; the crawler assemblies at least comprise a group of main body crawler assemblies, and each main body crawler assembly comprises a main body crawler frame, main driving wheels and main crawlers, wherein the main driving wheels are arranged in parallel left and right; the driving mechanism is arranged in a cavity in the middle of the crawler belt assembly and is connected with the control mechanism and the crawler belt assembly; the control mechanism comprises a controller and a main controller which are connected with each other, and the main controller is also arranged in the cavity in the middle of the crawler assembly and is connected with the driving mechanism and the loading platform; the carrying platform is arranged above the crawler belt assembly; the auxiliary balance assembly comprises an auxiliary balance bracket and a roller and is positioned at least one end of the crawler assembly; the power supply assembly at least comprises a voltage conversion circuit and is connected with the driving mechanism and the control mechanism; the method is characterized in that:

the driving mechanism comprises at least two groups of first motor first speed reducers and second motor second speed reducers which are in transmission connection with the left crawler driving wheel and the right crawler driving wheel respectively;

the control mechanism further includes: a sensor; the controller and the sensors are respectively connected with the main controller, and the sensors comprise at least one angle sensor and at least two distance measuring sensors; the angle sensor is arranged on the loading platform main body and transmits the angle information between the current state of the loading platform main body and the horizontal plane to the main controller; the at least two distance measuring sensors comprise a front-end distance measuring sensor and a rear-end distance measuring sensor, and the front-end distance measuring sensor is arranged at the front end of a track frame main body of the track type electric carrying device or the front end of the auxiliary balance bracket and faces downwards, or front-down or rear-down; the rear end distance measuring sensor is arranged at the rear end of the crawler frame main body of the crawler type electric carrying device; the controller is communicated with the main controller, and transmits an operation instruction of a user to the main controller, the main controller controls the driving mechanism and controlled parts in the loading platform according to a preset program, a sensor signal and the operation instruction of the user, and the controlled parts comprise a driving motor and a balance push rod assembly;

the carrying platform comprises a carrying platform main body and a platform push rod assembly; the platform push rod assembly at least comprises a main push rod, and two ends of the main push rod are respectively hinged with the bottom of the crawler frame and the carrying platform main body; the front end of the carrying platform main body is hinged with the front end of the crawler frame, and a main controller of the control mechanism controls an included angle between the carrying platform main body and the crawler frame by controlling the platform push rod assembly, so that the carrying platform main body is kept horizontal or inclined forwards in the load-carrying operation process;

the auxiliary balancing assembly further comprises: an auxiliary balance drive assembly; the front end of the auxiliary balance bracket is hinged with the roller, and the rear end of the auxiliary balance bracket is hinged with a transverse shaft at one end of a crawler frame in the crawler assembly and is in power connection with the auxiliary balance driving assembly; the auxiliary balance driving assembly is connected with the control mechanism.

Further, the crawler-type electric carrying device is characterized in that: the carrier platform body includes: the top cover and the side wings form the main body of the loading platform and are fixedly connected with each other or can be connected in a folding way and/or can be connected in a dismounting way; the side wings are positioned on two sides of the top cover and are lower than the top cover.

Further, the crawler-type electric carrying device is characterized in that: the auxiliary balancing assembly comprises a front end auxiliary balancing assembly and a rear end auxiliary balancing assembly; the rear end of the front end auxiliary balance assembly is mounted at the front end of the crawler frame of the crawler assembly, and the rear end of the rear end auxiliary balance assembly is mounted at the rear end of the crawler frame of the crawler assembly and is respectively in power connection with the auxiliary balance driving assemblies.

Further, the crawler-type electric carrying device is characterized in that: the auxiliary balancing assembly is further characterized by: the auxiliary balance assembly is a group of controlled folding crawler frames and driving wheels, driven wheels and crawler belts which are arranged in parallel left and right; the auxiliary balance support and the roller of the auxiliary balance assembly are arranged in the main body, the controlled folding crawler frame and the driven wheel are arranged in the main body, and the driving wheel of the controlled folding crawler frame is coaxially linked with the driving wheel or the driven wheel in the main body crawler assembly and has the same outer diameter; the auxiliary balance driving assembly comprises a group of third motors and third speed reducers or push rods; the included angle between the controlled folding crawler frame and the crawler frame in the crawler assembly is adjusted; the controlled folding is that: the control mechanism of the crawler-type electric carrying device controls at least one group of third motors and third speed reducers or push rods of the driving mechanism, which are in transmission connection with the driving wheels of the controlled folding crawler frame, according to signals of an angle sensor and/or a rotation angle sensor and/or a distance measuring sensor and/or a camera and/or a preset control program, so as to drive the controlled folding crawler frame to rotate to a necessary angle around the crawler frame shaft, and realize auxiliary balance in the running process of the crawler-type electric carrying device; the push rod is hinged with a track frame and an auxiliary balance bracket of the track assembly respectively;

and/or the track frame of the track assembly further comprises at least two sets of complementary pulley assemblies arranged in parallel in a direction downwardly supporting the track;

and/or the track of the track assembly is an inner flat track with perforations corresponding to the profile of the drive wheel teeth.

Optionally, the tracked electric vehicle further comprises: the carrier platform further comprises:

a front end fixing member; the front end fixing member includes: the structure part is fixedly connected with the crawler frame, and the buffer damping installation space and/or the portable handle part are/is used for installing a distance measuring sensor and/or a camera;

and/or the push rod assembly of the object carrying platform comprises at least one object carrying platform auxiliary push rod besides a main push rod; the bottom of the rear part of the crawler frame is connected with the boosting groove at the bottom of the main body of the object carrying platform; when the push rod assembly is combined with the pressure sensor for use, the connecting shaft seat between the main push rod and the loading platform main body is a pair of parallel rails allowing the connecting shaft to slide back and forth in the connecting shaft seat;

and/or fixing holes and/or fixers for tying, hooking, inserting and pulling for fixing carrying heavy objects or wheelchairs or persons;

and/or a stop at the front end of the carrier platform body; the stopper is detachably connected with the carrying platform or is connected with the carrying platform in a foldable manner through a hinge;

and/or a kick-back cover; the bounce back cover comprises: the spring return cover body, the spring return cover shaft, the elastic piece and the spring return cover shaft seat; the missile returning cover body is hinged with a missile returning cover shaft seat which is arranged on the loading platform, corresponds to the auxiliary balance assembly and is connected to the loading platform, through the missile returning cover shaft, and is jacked upwards by the auxiliary balance frame when the front end of the auxiliary balance frame is higher than the horizontal position of the missile returning cover, and is restored to the original position by an elastic piece near the hinged position of the missile returning cover when the front end of the auxiliary balance frame moves downwards after being jacked.

Further, the crawler-type electric carrying device is characterized in that: the sensor of the control mechanism is further characterized by: the range finding sensor can be high definition digtal camera, laser rangefinder sensor, supersound rangefinder sensor, laser rangefinder radar, and/or the sensor still includes: at least two pressure sensors, and/or at least one rotation angle sensor, and/or at least one track tension monitor, and/or at least one positioning module;

at least one of the high-definition cameras is arranged on at least one of the front side, the rear side, the left side and the right side of the crawler-type electric carrying device, the obtained image information is transmitted to the main controller, the main controller records and identifies the image information, and the spatial distance information and/or the position information between the crawler-type electric carrying device and the obstacle or the marker are obtained; the marker is a guide rail or a marker band arranged along the direction of the handrail of the corridor, and is used as a special marker of a camera and/or a distance measuring sensor in the optimized technical scheme, so that the distance measuring precision of the camera and/or the distance measuring sensor arranged on the left side surface and/or the right side surface of the crawler-type electric carrying device can be improved, and/or the position marker arranged on the guide rail helps the main controller to identify the current position information of the crawler-type electric carrying device in an image transmitted by the camera;

the at least two pressure sensors are respectively arranged at the hinge at the front end of the crawler frame and the balance push rod and/or the auxiliary push rod of the loading platform at the rear end and are used for measuring the total weight of the main body of the loading platform and the load of the main body;

the corner sensor is a corner encoder and/or a potentiometer arranged near a hinged shaft at the rear end of a bracket of the auxiliary balance assembly, and/or more than one Hall sensor and/or a travel switch type and/or an optoelectronic coupling type positioner which are arranged in an arc shape on a rotating plane corresponding to the controlled folding crawler frame;

the track tensioning monitor comprises at least one set of correlation photoelectric sensors, each set of correlation photoelectric sensor comprises a light emitting diode and a photoelectric converter, and the correlation photoelectric sensors are respectively arranged at the upper parts of the middles of left and right guard plates in each of the left and right parts of the track frame and are close to the upper half height position of the tensioned track;

the positioning module includes: the system comprises a satellite positioning module and a base station positioning module; the input/output control module is connected with the main controller or is directly connected with the main control unit of the main controller in the main controller together with the communication module.

Further, the crawler-type electric carrying device is characterized in that: the controller of the control mechanism is a wired and/or wireless special controller and/or an intelligent mobile communication terminal provided with an electric carrying application program;

the wired and/or wireless dedicated controller comprises: a complete machine and environment state display, target floor input and emergency stop/start module;

the electric launch application, comprising: the system comprises an identity authentication module, a motion control module and an exchange resource transfer module; the identity authentication module comprises a registration module and a login module; the motion control module includes: the system comprises a display module, a destination input module, a manual control instruction simulation rocker input module and a speed and direction control instruction input module; the switching resource transfer module comprises: the system comprises a statistical calculation module and an exchange resource transfer instruction transceiving module, wherein the statistical calculation module is used for calculating the electric carrying use fee which should be paid by the electric carrying user according to the distance of the electric carrying device controlled and used by the electric carrying application program and the regulation of a business agreement, and the operation server end completes the transfer and recording of corresponding exchange resources; the intelligent mobile communication terminal which is provided with the electric carrying application program and completes registration and login is in communication connection with the main controller of the crawler-type electric carrying device through a Bluetooth technology, and/or a wireless fidelity (WIFI) technology, and/or a 3G/4G/5G mobile communication technology.

A method for controlling the operation of a crawler-type electric vehicle, mainly comprising the following steps:

1) beginning: the main controller triggers an automatic driving process according to the instruction of the controller and the current position of the whole machine; if the destination information in the instruction of the controller is the same as the current position, prompting the user to input the destination information again on the controller;

2) judging the current environment and self-checking the whole machine: the main controller inquires and receives sensor information such as a camera, a distance measuring sensor, an angle sensor and the like, comprehensively judges whether the current complete machine state and the environment are normal or not and is consistent with the current complete machine position information stored in the main controller when the last operation process is finished; controlling each part of the driving mechanism to perform micro-motion so as to enable each sensor to detect corresponding signal change degree; if the master controller sends out a driving signal and does not detect the change of the corresponding sensor signal, the master controller is abnormal; if the abnormality occurs for the first time, the main controller gives a reminding alarm to the user controller and the operation management server through the communication module, and the step is restarted; if the abnormality occurs twice continuously, the formal alarm is carried out and the automatic driving process is ended as described above; executing an emergency stop or restart operation instruction of the controller by using the available interrupt from beginning to end;

3) determining a direction of travel and automatically traveling: judging the advancing direction in time according to signals of a camera and a distance measuring sensor, determining the advancing speed, respectively controlling the respective steering and rotating speed of a left motor and a right motor in a driving mechanism, judging whether the object reaches the front of a step surface or not according to the intelligent identification marker information of the image of the camera and the signals of the distance measuring sensor, and determining whether an included angle between an object carrying platform main body and a track frame of a track assembly needs to be adjusted by a balance push rod of the object carrying platform or not according to the signals of an angle sensor so as to ensure the horizontal angle of the object carrying platform main body;

4) going up and down stairs: if the ladder is up and down or still on the ladder, driving the corresponding auxiliary balance support or auxiliary balance crawler frame to rotate to an angle matched with the plane of the ladder slope and the platform in the position environment of the ladder where the complete machine is currently located according to signals of the camera and/or the distance measuring sensor, and accordingly controlling the complete machine to keep stable balance in the process of up and down stairs; the driving mechanism continuously ensures that the whole machine turns in time at proper speed and correct running direction in the processes of going up and down stairs; an auxiliary push rod or a carrying platform balance push rod is driven according to an angle sensor signal to adjust an included angle between the carrying platform main body and a crawler frame of the crawler assembly in time, and the horizontal angle of the carrying platform main body in the process that the whole machine goes up and down stairs is ensured;

5) and (4) ending: the main controller judges whether the whole machine reaches a target specified by the instruction of the controller according to reference object information, ranging sensor information and comprehensive calculation in the camera image; if the wheelchair reaches the target, the auxiliary balance assembly is leveled, and the main body of the loading platform is put down, so that the side wings of the loading platform are close to the plane where the whole wheelchair is located as much as possible, and a user can conveniently pull out the wheelchair from the whole wheelchair or unload a load; then, entering an ending, dormant or idle state; if the target is not reached, returning to the step 3 to continue the process.

Further, in the method for automatically driving the crawler-type electric carrying device, the step of going downstairs comprises the following steps:

1) starting: confirming to enter a downstairs program according to the instruction of the controller and the current environment parameters of the whole machine read by the high-definition camera; a first motor and a second motor of the driving mechanism respectively drive the crawler to rotate and move backwards, and the turning and advancing angles and strokes are judged and determined according to signals of the high-definition camera and the ranging sensor, so that the rear part of the whole machine is opposite to a first descending step of the stair;

2) when the ranging point continuously running to the rear end ranging sensor just passes over the edge of the 1 st descending step of the stair and corresponds to the table top of the 2 nd descending step, namely: when the signal of the rear-end distance measuring sensor jumps to the 7 th threshold value or more, the whole machine pauses or slowly runs and enters a third balancing module, namely: controlling the descending transition process that the gravity center of the whole machine moves from the plane of the corridor platform to the middle part of the inclined plane of the stair;

3) the bottom surface of the rear auxiliary balance assembly of the whole machine is downwards rotated to be parallel to the inclined plane of the step section under the feedback control of reference object information identification in a frame image of a high-definition camera from the angle close to 90 degrees during turning; the front auxiliary balancing component rotates downwards, so that the downward rotation angle of the front auxiliary balancing component approaches or reaches the maximum preset angle in the downstairs process, the front end of the whole machine is lifted, and the bottom surface of the main crawler belt is parallel to the inclined plane of the stair section; meanwhile, the balance push rod pushes the rear part of the top cover to rise, so that the main body of the loading platform is kept horizontal; meanwhile, the rear auxiliary balancing component rotates upwards, and the bottom surface of the rear auxiliary balancing component is kept parallel to the inclined surface of the step section in the lifting process of the front end of the whole machine;

4) the whole machine slowly moves backwards, the front auxiliary balance crawler assembly upwards rotates at a speed matched with the speed of the whole machine slowly moving backwards, the bottom surface of the main crawler is ensured to be continuously parallel to the inclined plane of the stair of the section, and the gravity center of the whole machine moves from the plane of the platform of the stair to be close to and cross the edge of the first descending step; the balance push rod pushes the rear part of the top cover during the whole downstairs process, and the main body of the loading platform is kept horizontal continuously according to the feedback information of the angle sensor;

5) the whole machine continuously operates backwards, the preposed auxiliary balancing component continuously rotates upwards, and when the front end of the crawler passes through the edge of the first descending step and the gravity center of the whole machine is located on the inclined plane of the stair through the signal fluctuation curve of the rear-end distance measuring sensor, the operation speed and the operation time of the crawler and the image recognition of the rear camera, the preposed auxiliary balancing component also rotates upwards to gradually reach the preset parallel inclination angle, and a third balancing module is completed;

6) when the camera image identification and/or the information obtained by the distance measuring sensor prompt the main controller: the front end of the rear auxiliary balancing component enters a fourth balancing module when the front end of the rear auxiliary balancing component crosses the edge of the lowest step of the stair section; the rear auxiliary balancing component rotates upwards and is matched with the backward running speed of the whole machine, so that the end of the rear auxiliary balancing component is contacted with or close to the lower platform plane parallel to the lowest step plane of the stair section and continues to move backwards approximately horizontally without influencing the parallel contact between the bottom surface of the crawler belt of the whole machine and the inclined plane of the stair section; when the information prompt obtained by camera image recognition or the signal curve stopping period fluctuation of the rear-end distance measuring sensor is kept smaller than the 6 th threshold value, the rear end of the main crawler belt is in contact with the lower platform plane;

7) the first motor and the second motor drive the whole machine to continuously run backwards and upwards rotate the rear auxiliary balancing component to a position close to 90 degrees so as to avoid touching the corridor wall on the platform at the lower part of the corridor; the preposed auxiliary balancing component is rotated upwards at a speed matched with the backward running speed of the whole machine, so that the bottom surface of the preposed auxiliary balancing component is ensured to be in parallel contact with the inclined surface of the corridor, and the bumping of the front part of the whole machine in the process of transition from the inclined surface elevation angle of the corridor to the horizontal plane at the bottom of the corridor is reduced; meanwhile, the auxiliary push rod and the balance push rod push the rear part of the top cover to gradually reduce the included angle between the loading platform and the bottom surface of the crawler according to the feedback signal of the angle sensor, so that the loading platform main body is continuously kept horizontal; when the main body of the loading platform is parallel to the current plane of the corridor platform and the bottom surface of the main crawler belt is completely fallen on the plane of the corridor platform, the fourth balancing module is completed;

8) the whole machine judges whether a target is reached or not and whether a turn is needed or not according to signals of the high-definition camera and/or the ranging sensor; if the target is not reached, the backward operation is continued; if turning is needed, the auxiliary balance assembly is rotated upwards to reduce the vertical projection area of the whole machine, and the auxiliary balance assembly moves backwards to be aligned with the next step; repeating the steps 2 to 8, and continuing the process of going downstairs; and ending when the target is reached.

Further, in the method for automatically driving the crawler-type electric carrier, the step of going upstairs in the step of "going upstairs and downstairs" includes:

1) starting: confirming to enter a upstairs program according to the instruction of the controller and the current environment parameters of the whole machine read by the high-definition camera; the auxiliary balance driving assembly drives the front auxiliary balance assembly to rotate upwards to a preset inclination angle parallel to the inclined plane of the stair, the whole machine forwards or turns, the whole machine is enabled to be over against a first ascending step of the stair, and a program enters a first balance module, namely: controlling the upward transition process that the gravity center of the complete machine with the load moves from the plane of the corridor platform to the middle part of the slope of the stair of the section;

2) the whole machine moves forwards, an auxiliary crawler belt of a front auxiliary balance crawler belt frame or a main crawler belt of a front inclined type whole machine presses a first upward step and then presses the edge of the step to rotate, the crawler belt frame main body is driven to incline upwards, and meanwhile, in the whole upstairs going process, an auxiliary push rod and a balance push rod control the loading platform main body to keep a horizontal state according to signal feedback of an angle sensor;

3) the main controller controls the preposed auxiliary balancing assembly to rotate downwards according to the preset requirement that the distance measurement of the front end of the preposed auxiliary balancing assembly in the front-end distance measurement sensor signal is greater than a 1 st threshold value and less than a 4 th threshold value or the signal information of the high-definition camera until the crawler frame main body is parallel to the inclined plane of the stair and continues to advance; if the whole machine is provided with the rear auxiliary balancing component, the rear auxiliary balancing component rotates downwards to keep the front end of the rear auxiliary balancing component in right contact with the plane of the platform according to the signal information of the high-definition camera; the first balancing module is now complete;

4) when the whole machine moves up to the position near the uppermost step of the stair, the signal of the distance measuring sensor at the forefront stops periodic change, and the condition that the signal continuously approaches and exceeds the 4 th threshold value occurs, or the current environmental parameters acquired by a high-definition camera start to enter the process that the second balancing module controls the gravity center of the whole machine with the load to be transited from the inclined plane to the upper platform plane of the stair step;

5) when the travel calculated by multiplying the travel speed and the travel time of the whole machine reaches a preset travel, the signal of the front-end distance measuring sensor also reaches a preset 5 th threshold value, and the front auxiliary balancing component rotates downwards until the signal of the front-end distance measuring sensor is smaller than the 2 nd threshold value and is larger than or equal to the 1 st threshold value, namely the front end of the front auxiliary balancing component is close to but just does not touch a corridor platform plane flush with the uppermost step plane of the section of stairs; then, the front end of the main crawler belt also reaches the step edge of the uppermost step of the stair where the main crawler belt is positioned, wherein the step edge is flush with the plane of the platform of the corridor;

6) when the complete machine runs to the state that the distance between the estimated gravity center of the complete machine with load on the inclined plane of the stair and the edge of the uppermost step of the stair section is smaller than a preset gravity center conversion threshold value, the complete machine stops or slowly advances;

7) the auxiliary balancing component rotates upwards to a range larger than the 2 nd threshold and smaller than the 3 rd threshold, and the current user moves forward by adjusting the gravity center of the whole machine (the whole machine with the rear auxiliary balancing component controls the rear auxiliary balancing component to rotate downwards to a negative angle area and presses the step edge on the step section inclined plane to push the rear end of the whole machine to lift upwards) so that the front end of the front auxiliary balancing component is pressed downwards to contact the plane of the corridor platform, therefore, the signal of the front-end distance measuring sensor becomes smaller than the 1 st threshold, the gravity center of the whole machine already enters the plane of the corridor platform, the main crawler belt only contacts with one step edge at the top of the stair at the moment, and the rear end of the bottom surface of the main crawler belt leaves the inclined plane of the stair;

8) after the signal of the front-end distance measuring sensor becomes smaller than the 1 st threshold value and keeps a preset gravity center stability confirmation time limit, the whole machine moves forwards; the front auxiliary balance crawler assembly rotates upwards, at the moment, the signal of the front-end distance measuring sensor is still continuously smaller than a 1 st threshold value, namely the front end of the auxiliary balance assembly continuously presses the plane of the corridor platform, and the front-end distance measuring sensor continuously rotates upwards along with the front auxiliary balance crawler frame, and meanwhile, the gravity center of the whole machine continuously moves forwards on the plane of the corridor platform (the whole machine with the rear auxiliary balance assembly controls the rear auxiliary balance assembly to rotate upwards to a positive angle area) until the signal stop period fluctuation of the rear-end distance measuring sensor becomes a continuous minimum value, which indicates that the rear end of the whole machine also reaches the plane of the corridor platform, and the working process of the second balance module is completed;

9) if the user does not arrive at the destination, the complete machine identifies the read environmental parameters according to the signal information of the reference objects or the identifiers, such as the handrail tracks and/or the guide lines and/or the two-dimensional codes or the environmental parameter table, received by the high-definition camera and the ranging sensor, automatically turns or moves ahead, and repeats the steps from 2 to 9 before arriving at the step surface of the next step section, and the arrival at the destination is finished.

The obstacle avoidance control method in the whole machine advancing process comprises the following steps: 1) establishing a road condition database of the obstacle clearing state: after ensuring that a specific overall machine traveling path keeps a barrier clearing state, entering a mode of establishing a barrier clearing state road condition database, running back and forth along the traveling path, and respectively storing uplink and downlink barrier clearing state road condition databases, for example, respectively storing barrier clearing state road condition data in the processes of going upstairs and going downstairs into respective databases; the obstacle clearance state road condition data comprises reference object data which are identified by a high-definition camera and correspond to each current position data in the advancing process, such as data of a wall of a step window; 2) real-time road condition identification and obstacle avoidance processing: and the whole machine which completes the establishment of the database compares the real-time road condition identification data of the high-definition camera with the road condition data of the obstacle clearing state of the current position in the database in the advancing process of opening the obstacle avoiding function, and stops advancing to give a reminding prompt or execute a preset obstacle avoiding scheme if the obvious difference is caused by the shielding.

The scheme provided by the invention has at least one of the following benefits: 1) the crawler-type electric carrying device can enable users in most common wheelchairs to drive in or out of the crawler-type electric carrying device by themselves, and the whole stair climbing process does not need operation or assistance of other people; 2) the auxiliary balance assembly of the crawler-type electric carrying device can avoid ' toppling or bumping ' when the crawler-type electric carrying device is switched between the inclined plane of the ladder and the plane of the platform at the front and the rear of the ladder in the process of climbing stairs '; 3) the crawler-type electric carrying device with the controlled folding auxiliary balance assembly and the well T-shaped connecting frame can fold the front auxiliary balance assembly and the rear auxiliary balance assembly into the crawler frame when the crawler-type electric carrying device is idle, and particularly the crawler-type electric carrying device with the straight crawler frame of the auxiliary balance crawler assembly with the U-shaped crawler frame has smaller volume after being folded, thereby reducing the occupied space when the crawler-type electric carrying device is idle and being convenient to carry and transport; 4) the crawler-type electric carrying device of the straight crawler frame main body can enable a user to freely select to get on or off the crawler-type electric carrying device from the front end or the rear end (namely: driving in or out of the crawler-type electric carrying device); 5) the crawler-type electric carrying device provided with the pressure sensor can monitor whether the load is overloaded or not and whether the gravity center of the load deviates from a normal range or not, so that voice or image-text information reminding is given out to ensure the normal work of the crawler-type electric carrying device; 6) the crawler-type electric carrying device provided with the crawler tensioning monitor can timely monitor whether the tensioning degree of the crawler meets the normal working requirement, and when the tensioning degree reaches or exceeds the limit value of the normal tensioning degree, the phenomenon that the crawler shields the light beam of a light emitter of a photoelectric sensor of the crawler tensioning monitor can occur, namely, a main controller reminds a user through sound, light or text information of a controller and reminds an operation service provider to timely adjust the tensioning screw of the crawler tensioning slider component through a communication module, so that the safety and reliability are improved, and the service life of the crawler is prolonged; 7) the crawler-type electric carrying device provided with a non-contact sensor such as a high-definition camera or a laser ranging sensor or the crawler-type electric carrying device provided with a contact displacement sensor and/or a pressure sensor matched with a handrail track can realize full-automatic controlled operation including climbing, turning, obstacle avoidance, descending and charging in the whole climbing process of the crawler-type electric carrying device by combining intelligent image recognition, statistical analysis and calculation and control signal processing and transmission in a main controller; therefore, the complete machine can be automatically driven to reach the destination according to the target floor or target position instruction sent by the user from the controller; 8) if the controller of the crawler-type electric carrying device is an intelligent mobile communication terminal provided with an electric carrying application program, such as a smart phone provided with a Bluetooth communication function and provided with the electric carrying application program, a user of the crawler-type electric carrying device is in communication connection with a main controller of the crawler-type electric carrying device through mobile phone Bluetooth communication or WIFI after registering and logging in the smart phone, and sends instructions such as a target floor to the main controller, and the main controller automatically controls the running process of the crawler-type electric carrying device according to environmental information acquired by a high-definition camera and a laser ranging sensor and information such as a pressure sensor, an angle sensor, a current and a voltage sensor and the like in the whole vehicle and keeps the level of a carrying platform and the balance of the whole vehicle; the intelligent mobile phone can read and display the running states of the crawler-type electric carrying device, such as the battery power, the driving current, the current floor and the like, and the trouble of losing, damaging, maintaining and the like of a special controller can be avoided; 9) a user can scan the two-dimensional code on the crawler-type electric carrying device by using a smart phone provided with an electric carrying application program, register and log in a cloud server of an operation management system of the crawler-type electric carrying device, and log in and communicate with the cloud server of the operation management system of the crawler-type electric carrying device to acquire sharing use permission of the crawler-type electric carrying device; and the transfer of exchange resources is completed after the crawler-type electric carrying device is used, so that the sharing management, the operation maintenance management and the safety guarantee management of the crawler-type electric carrying device can be facilitated; 10) the mobile phone with the manual control simulation rocker input module and the speed and direction control input module can realize remote automatic driving on a complete machine with high-definition camera image automatic identification and navigation by means of 5G communication.

Drawings

FIG. 1 is a top left rear view of a tracked electric vehicle of the front inclined track frame;

FIG. 2 is a left rear lower bottom view of the tracked electric carrier of the front inclined track frame;

FIG. 3 is a left front bottom view of a tracked electric vehicle having front and rear auxiliary counterbalance assemblies for a front inclined track frame;

FIG. 4 is a rear left side view of the flat track frame showing the carrier platform of the tracked electric vehicle in an extended position;

FIG. 5 is a schematic view of an operation management server of the electric vehicle;

FIG. 6 is a front right top plan view of a closed position of a carrier platform of the tracked electric vehicle of the flat track frame;

FIG. 7 is a user end controller Application (APP) level diagram for an electric vehicle;

FIG. 8 is a left rear lower bottom view of a flat track frame of a crawler type electric carrier in a spread state of a loading platform;

FIG. 9 is an exemplary illustration of a module connection for a tracked electric vehicle assembly;

FIG. 10 is a top, rear, left side view of the flat track frame showing the carrier platform of the tracked electric vehicle in an extended position;

FIG. 11 is an exemplary illustration of an assembly of a track and track support plate pulley assembly of the track assembly;

FIG. 12 is a view of the bottom left rear view of a tracked electric vehicle including a front-inclined track frame with a push rod driven auxiliary balance support;

fig. 13 is an exemplary illustration of a ready state of the tracked electric vehicle in a corridor;

FIG. 14 is a flow chart of the general steps corresponding to the method for automatically driving the tracked electric vehicle;

FIG. 15 is a schematic diagram of internal modules of a master and peripheral related modules of the master;

FIG. 16 is a schematic view of a track-mounted electric vehicle operation management system.

The hundreds digit of the reference number is the component code: the device comprises a crawler belt assembly 1, a driving mechanism 2, a control mechanism 3, a loading platform 4, an auxiliary balance assembly 5 and a power supply assembly 6; 101 track frame body, 102 drive wheel of body, 103 driven wheel of body, 104 main track, 105 track support plate pulley assembly (see fig. 10), 1051 main frame of track support plate pulley assembly, 1052 intermediate support of track support plate pulley assembly, 1053 pulley of track support plate pulley assembly, 1054 pulley shaft of track support plate pulley assembly, 106 track tensioning slider assembly, 107 rear end pulley shaft of track frame, 108 front end wheel shaft of track frame, 109 wheel shaft parallel sliding rail portion of track frame, 110 vertical connecting portion in T-shape of well T-shaped connecting portion of track frame, 111 wheel shaft of pinch roller of front inclined track frame, 112 upper transverse beam portion of well T-shaped connecting portion of track frame, 113 upper longitudinal beam portion of well T-shaped connecting portion of track frame body, 114 upper longitudinal beam portion of well T-shaped connecting portion of track frame and rear main shaft, direct or indirect connecting portion through speed reducer, 115 shaft part hinged with the balance push rod of the object carrying platform at the middle bottom of the crawler frame; 201 a first motor, 202 a first speed reducer, 203 a second motor, 204 a second speed reducer, 205 a carrying platform balance push rod, 206 a hinged shaft seat of a sliding rod part of the carrying platform balance push rod, 207 a groove which is arranged at the bottom of the carrying platform and corresponds to an auxiliary push rod, 208 an auxiliary push rod and 209 a parallel sliding rail part of the hinged shaft seat of the sliding rod of the carrying platform balance push rod; 301 a main controller, 302 an angle sensor, 303 a front end ranging sensor, 304 a rear end ranging sensor, 305 a high-definition camera, 306 a light supplement lamp of the high-definition camera, 307 a pressure sensor, 308 a controller, 309 a corner sensor, 310 a track tensioning monitor, 311 a current and voltage monitor, 312 a standby input and output, 313 an audio sensor and a horn; a top cover of a 401 loading platform main body, a side wing of a 402 loading platform main body, a 403 rebound cover, a 404 front end fixing piece, a 4041 front end fixing piece portable handle part, a 405 blocking piece, a hinge of a 406 loading platform main body, a loading fixing hole on a 407 loading platform main body, a side pad accessory of a 408 loading platform main body side wing, wherein the pad load is flush with the top cover, and an inclined plane rear wing accessory of a 409 loading platform main body; 501 auxiliary balance support, 502 front driven wheel or front roller, 503 auxiliary balance track frame, 504 auxiliary balance track, 505 auxiliary balance track tensioning slide block component, 506 auxiliary balance driving motor, 507 auxiliary balance driving speed reducer, 508 auxiliary balance track supporting plate pulley component, 509 auxiliary balance track rear driven wheel or driving wheel, 510 auxiliary balance component driving push rod, 511 auxiliary balance component driving push rod supporting shaft, 512 auxiliary balance component driving push rod supporting shaft seat; 601 charging plug, 602 battery/power management, 603 safety charging socket in corridor; 701 track support plate pulley assembly main frame; 702 a sheave shaft intermediate support frame of a track support plate sheave assembly; 703 pulleys; 704 a pulley shaft; the position on the handrail track in 801 corridor and the handrail track in 802 corridor is marked with two-dimensional codes.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the preferred embodiments of the present invention; it is to be understood that the described embodiments are merely exemplary of the invention that the components of the embodiments of the invention, generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. It should be noted that: like reference numbers and letters designate like items in the following figures. The term "exchange resources" refers to resources used by a user to exchange items, including, but not limited to, user points, credit scores, virtual currency, virtual items, electronic values, or physical currency.

Referring to fig. 9, the assembly of the present invention comprises: the device comprises a crawler belt assembly 1, a driving mechanism 2, a control mechanism 3, a loading platform 4, an auxiliary balance assembly 5 and a power supply assembly 6; these component code numbers are also the hundreds digits of other reference numerals, and the connecting lines of arrows in the figure indicate the connection relationship between the components.

Referring to fig. 16, the operation management system of the crawler-type electric carrier corresponding to the operation management method of the present invention includes: a cloud service device provided with an operation management system, a crawler-type electric carrying device and a controller thereof (taking an intelligent mobile communication terminal as an example), and a mobile communication system between the cloud service device and the crawler-type electric carrying device; the mobile communication system is a mobile communication network system comprising a base station and a network router, wherein the terminal communication is WIFI and/or 3G/4G/5G/millimeter wave communication; the cloud service device comprises: the system comprises a mobile communication operation server, an electric carrying device operation server and an exchange resource management server; the mobile communication operation server is managed by each telecom operator; the electric carrying device operation server is managed by a sharing management operation service provider in charge of the crawler-type electric carrying device, wherein an electric carrying device operation management service end is arranged and is in communication connection with the mobile communication operation server and the exchange resource management server; the exchange resource management server is operated by a power management organization such as a bank and the like, and manages the money and/or credit points in the exchange channel selected by the user.

Referring to fig. 5, the electric carrier operation management server provided in the cloud service device of the present invention includes: the system comprises a communication module, a database module, a safety guarantee operation maintenance module and a central processing module; the communication module, the database module and the safety guarantee operation maintenance module are all connected with the central processing module. The database module comprises user account data management and is used for managing the authority of shared users of the crawler-type electric carrying device and the exchange resource transfer after shared use; the safety guarantee operation maintenance module comprises state parameter data management, maintenance reminding setting and safety protection reminding setting of the crawler-type electric carrying device, is used for monitoring and recording the current state of the crawler-type electric carrying device, predicting possible overall machine faults and safety risks, sending out maintenance or safety inspection reminding to departments responsible for maintaining and protecting the crawler-type electric carrying device, such as a property engineering department, a property central control room or a community security department, through the central processing module, the communication module and the mobile communication system in time, and receiving and recording feedback information of the property engineering department, the property central control room or the community security department; and the communication module is in communication connection with the mobile communication operation server and the exchange resource management server.

Referring to fig. 1, 2, 3, 4, 6, 8, 10, 12, and 13, the carrier platform body of these embodiments includes a top cover 401 and left and right side wings 401 (the side wings are integrally formed with the top cover or are detachably foldable), or a flat top cover 401 (or a side pad attachment 408 is used to pad the side wings 402 of the carrier platform body, and the padded top surface is flush with the top surface of the top cover 401, so as to form a flat carrier platform body) and a detachable rear wing attachment 409 with a slope, so as to be suitable for most common wheelchairs to drive in and out of the carrier platform body, or for weights to be stably placed after being pushed into the carrier platform. The top cover 401 and the left and right side wings 402 of the carrying platform main body of the crawler-type electric carrying device are matched with the structural space among the four wheels of most common wheelchairs. The front end of the loading platform main body is hinged with the front end of the crawler frame, the push rod 205 under the platform main body controls the included angle between the loading platform main body and the crawler frame, and the main controller 301 of the control mechanism controls the push rod 205 to push the loading platform main body according to data such as the signal of the angle sensor 302 installed on the loading platform main body (usually, at the bottom of the loading platform main body), so that the loading platform main body and the ground are kept horizontal when in loading operation (or the loading platform main body and the ground can be kept slightly forward when the stopper 405 arranged at the front end of the loading platform main body is used), thereby the electric loading device keeps the load balanced and stable on the loading platform

main bodies

401 and 402 when in loading operation.

The carrier platform 4 and/or the components of the track assembly 1 of these embodiments are provided with securing holes 407 or fasteners (e.g. hooks) for tying or holding a rope or securing attachment for securing a load.

The left and right driving wheels 102 of these embodiments are respectively connected with the first motor 201 first speed reducer 202 and the second motor 203 second speed reducer 204 of the driving mechanism 2, and are also connected with the caterpillar tracks 104, so the main controller 301 of the control mechanism 3 can respectively control the left and right driving wheels 102 by controlling the first motor 201 first speed reducer 202 and the second motor 203 second speed reducer 204 of the driving mechanism 2, and respectively drive the left and right caterpillar tracks 104 to rotate at the same speed, at a different speed, in the same direction, in the opposite direction, at an accelerated speed, at a decelerated speed, or to stop, thereby realizing the actions of the whole machine such as advancing, turning, backing, accelerating, decelerating, stopping, etc.

The front ends of the embodiments are provided with a front auxiliary balance assembly 5, and under the control of the control mechanism 3, an auxiliary balance push rod 510, or an auxiliary balance driving motor 506 and an auxiliary balance driving speed reducer 507 drives an auxiliary balance bracket 501 of the auxiliary balance assembly 5 to rotate around a track frame front end axle 108 of a track assembly or a special auxiliary balance bracket axle positioned at the lower part of the front end of the electric cargo platform device, so that a roller 502 at the front end of the auxiliary balance bracket 501 is directly or indirectly close to or in contact with the ground or a platform plane at the front and the back of a corridor through an auxiliary balance track 504, and the electric cargo device is prevented from suddenly toppling or bumping over during the mutual transition process of the lower bottom surface of the track assembly between a stair slope and the ground or the platform plane at the front and the back of the corridor.

The ranging sensor in the invention is a laser ranging sensor and/or a high-definition camera with ranging identification function.

The high-definition camera with the ranging identification function is usually matched with a light supplement lamp installed near the high-definition camera for use, and the distance between the object to be ranged and the high-definition camera is identified and calculated by identifying the size ratio of the object to be ranged in an image obtained by the high-definition camera and combining preset empirical data and the installation position and direction angle parameters of the camera; or the distance measuring device is matched with a light supplement lamp installed near the object to be measured, the projection size of the object to be measured in the light irradiation area of the light supplement lamp on the nearby plane of the object to be measured in the image acquired by the high-definition camera is identified, and the distance between the object to be measured and the nearby target plane is identified and calculated by combining preset empirical data.

Referring to the embodiment of fig. 1, 2, 3 and 11, the front end distance measuring sensor 303 is installed downward or forward downward near the axle at the obtuse angle of the front inclined track frame at the front end of the track frame, namely scheme 1-1; another embodiment 1-2 is to mount the front end distance measuring sensor 303 downward or forward and downward at the front end of the

auxiliary balancing bracket

501 or 503 in the front end auxiliary balancing unit 5. In the two sub-division schemes, the main function of the front end distance measuring sensor 303 is to measure and calculate, indirectly or directly, a distance between the auxiliary balance roller 502 in the front end auxiliary balance assembly 5 and the ground or the stair surface or the corridor platform plane (referred to as a 'target plane') towards which the distance measuring sensor faces, and a distance between the front end of the track frame and the target plane, that is: in the scheme 1-1, the information of the front end ranging sensor 303, namely the distance between the front end of the track frame at the installation position of the front end ranging sensor 303 and the target plane, is required to be combined with the information about the corner position of the front auxiliary balance assembly 5 relative to the track frame from the corner sensor 309 to calculate the distance between the auxiliary balance roller 502 in the front auxiliary balance assembly 5 and the target plane; in the schemes 1-2, the information of the front end distance measuring sensor 303 installed at the front end of the auxiliary balance bracket 501 close to the auxiliary balance roller 502 is only required to be taken as the distance between the auxiliary balance roller 502 in the front end auxiliary balance assembly 5 and the target plane, and the information about the corner position of the front auxiliary balance assembly 5 relative to the track frame from the corner sensor 309 can also be combined to calculate the distance between the front end of the track frame at the installation position of the front end distance measuring sensor 303 and the target plane; moreover, if the distance measuring sensor installed at the front end of the track frame in the embodiment 1-1 is a high-definition camera with a distance measuring and identifying function, in combination with a light supplement lamp arranged near the front end auxiliary balance roller, the shadow feature of the auxiliary balance roller on the target plane near the auxiliary balance roller in the image is obtained, and the distance between the rear end of the track frame at the installation position of the rear-end distance measuring sensor 304 and the target plane is calculated. Either of the two distances described in this section may be used as reference data for controlling the rotation angle of the front-end auxiliary balancing assembly. The corner of the front-end auxiliary balance assembly is used for preventing the lower bottom surface of the crawler belt assembly from suddenly toppling or bumping in the process of mutual transition between the inclined plane of the stair and the ground or the plane of the platform in front of and behind the corridor. Of course, as described above, the rear end distance measuring sensor 304 may be the front end of the auxiliary balance bracket 501 installed near the roller 502 of the rear end auxiliary balance assembly 5, and thus the "distance between the rear end of the track frame and the target plane" may be calculated by combining the information of the rotation angle sensor 309 installed near the hinge shaft of the rear end auxiliary balance assembly 5, and used as the reference data for controlling the rotation angle of the rear end auxiliary balance assembly 5. The corner of the rear-end auxiliary balance assembly 5 is used for preventing the lower bottom surface of the crawler belt assembly from falling backwards or bumping in the mutual transition process between the inclined plane of the stairs and the ground or the plane of the platforms at the front and the rear of the stairs.

Referring to the embodiments of fig. 1, 2, 3 and 12, the rear end distance measuring sensors 304 are all mounted at the rear end of the intermediate connecting portion of the track frame 101; the rear auxiliary balancer 5 may be attached to the front end thereof so as to be directed downward or obliquely downward.

Referring to fig. 15, the connection relationship between the internal modules (main control unit, communication module, nonvolatile memory, and input/output control) of the main controller 301, the connection relationship between the internal modules of the control mechanism 3, and the connection relationship between the internal modules and the driving mechanism 2 can be more clearly understood.

The controller 308 of these embodiments may be a wired controller connected by wire and disposed on the stopper 405 as shown in fig. 2 and 8, a dedicated controller connected wirelessly and using a wireless signal communication protocol such as WIFI or bluetooth, or a smart phone equipped with an electric carrier application and using functions such as bluetooth for communication. Moreover, when the controller of these embodiments is a smart phone installed with an electric carrying application program and performing communication by using a bluetooth function, the master controller of the crawler-type electric carrying device has a controlled operation function through bluetooth communication with the smart phone, and a user can scan the two-dimensional code on the crawler-type electric carrying device through the smart phone, register and log in an operation management system matched with the electric carrying application program in a cloud server of the crawler-type electric carrying device, thereby acquiring a control use authority for the master controller of the crawler-type electric carrying device, and implementing shared management use of the crawler-type electric carrying device. Referring to fig. 7, the electric vehicle application includes: a transmission layer (TCP/HTTP, RTP/RTCP), a driving layer (APPENDING), a management layer and an application layer; the application layer comprises: the system comprises a complete machine state display module, a current floor display module, a registration login module, a destination input module, a manual driving instruction simulation rocker input module, a speed and direction control module, an emergency stop/start module, a transaction payment module, an information exchange module and the like.

In the vicinity of the push rod of the loading platform body of the embodiments, an auxiliary push rod 208 can be added, and a pressure sensor 307 is arranged below the auxiliary push rod 208; correspondingly, a parallel sliding rail 209 (see fig. 8 and 12) for accommodating a push rod hinge shaft is arranged on the hinge shaft seat 206 between the push rod 205 of the loading platform body and the loading platform body, and the top end of the auxiliary push rod corresponds to the groove 207 (see fig. 12) arranged on the bottom surface of the loading platform body, so that when the auxiliary push rod 208 exerts initial upward jacking force in the groove 207, the push rod 205 only allows a push rod hinge shaft 210 (see fig. 12) to slide forwards in the parallel sliding rail 209 of the hinge shaft seat 206 along with the change of the included angle between the loading platform body and the track frame without driving control, thereby ensuring that the signal of the pressure sensor 307 can represent the weight of the load distributed at the rear part of the loading platform body without being influenced by the push rod 205; therefore, the loading platform main body is pushed by the auxiliary push rod 208 to jack up upwards, so that the 'second half component of the total weight of the loading platform main body and the load thereon' is all borne by the pressure sensor 307 arranged below the auxiliary push rod 208, and the loading platform main body is supported by the groove 207 on the bottom surface of the loading platform main body; the "front half component of the total weight of the carrier body and the load thereon" is measured by at least one pressure sensor 307 arranged in the vicinity of the two hinge axes on the left and right of the front part of said carrier body.

When the top cover 401 is hinged with the left and right hinge shafts 406 or the middle shaft sleeve (not shown in the drawing) through a middle hinge plate (the front side and the rear side of the middle hinge plate are respectively hinged with the left and right hinge shafts 406 or the middle shaft sleeve and the top cover 401 "), only one pressure sensor 307 is needed to be arranged between the middle part of the track frame and the middle hinge plate; when the top cover 401 is hinged to the left and right hinge shafts 406 by two short middle hinge rods, two pressure sensors 307 are needed, which are respectively installed at the left and right sides of the track frame and located at the left and right hinges between the left and right short hinge rods and the front end of the top cover 401. The two short hinged rods are respectively positioned on one side of the front end of the top cover 401 and hinged with two sides of the front end of the crawler frame 101, and the other end of the short hinged rods is hinged with the top cover. Therefore, the "total weight of the loading platform body and the load thereon" can be comprehensively calculated in the master controller from the signals of two or three pressure sensors 307 in the front and back groups, and is used for the overload warning reminder of the electric carrier (sent by a screen and/or a horn mounted on the crawler-type electric carrier or on the controller 308).

The main bearing surface of the planar support plate that supports the track downwardly in these embodiments of the track frame may be a generally smooth surface, and may be either the track support plate pulley assembly 105 or the supplemental counter track support plate pulley assembly 508. The track support plate pulley assembly 105, comprising: a main frame 1051 of the track support plate pulley assembly 105, an intermediate support 1052 of the track support plate pulley assembly, a pulley 1053 of the track support plate pulley assembly, a pulley shaft 1054 of the track support plate pulley assembly (see fig. 11); the supplemental counterbalanced track support plate pulley assembly 508 is similar in construction to track support plate pulley assembly 105 except for its size and appearance. The benefits of this are: the friction resistance between the track 104 or the auxiliary balance track 504 and the track support plate is reduced, the operation efficiency is improved, the battery charging period is prolonged when the battery is fully charged to less than 5% of the total electric quantity each time, and the service lives of the battery and the whole machine are prolonged.

The track frame also has raised edges on both sides of the main bearing surface of the planar support plate that supports the track downward for preventing the track 104 or the auxiliary balance track 504 from sliding left or right on the main bearing surface, especially preventing the track from sliding sideways when the machine is turning. The side sliding of the crawler is limited by baffles near the driving wheel and the driven wheel of the crawler frame, and the crawler baffles which are positioned at the front end and the rear end of the left guard plate and the right guard plate of the crawler frame and are close to the crawler driving wheel and the driven wheel are also arranged.

The

track

104 or 504 of these embodiments may be in the form of a conventional commercially available lateral cleat with both the inside and outside; the crawler belt can also be a crawler belt with longitudinal inner planes and toothed holes, and correspondingly, the driving wheel of the crawler belt also comprises at least two rows of toothed holes; preferably, the track comprises three rows of perforations on the left, middle and right, and three rows of driving teeth on the corresponding driving wheel (see fig. 11), wherein wear-resistant protective buckles are riveted into the perforations, or the track assembly is composed of a driving wheel matched with the track and a driven wheel track frame in a type similar to the track in the 'high-speed rubber track and the preparation method thereof' (application No. 2016111565705). The benefits of this are: the drive wheel with drive teeth cooperates with the track with longitudinal rows of toothed holes and inner longitudinal flats that cooperate with the pulley dimensions of the track shoe pulley assembly 105 and the auxiliary counter track shoe pulley assembly 508 to achieve lower track friction losses overall machine power losses, longer charge cycles, battery and track life.

Referring to fig. 8, the rotation angle sensor 309 is more than one reflective or correlation photoelectric coupling positioner which is arranged on the track frame 101 near the hinged rotating shaft at the rear end of the bracket of the auxiliary balance assembly 5 or the auxiliary balance track frame and is arranged in an arc shape corresponding to the rotating plane of the controlled folding track frame; the device can also be a rotation angle encoder, and/or a potentiometer, and/or more than one Hall sensor and/or a travel switch which are arranged corresponding to the arc shape on the rotating plane of the controlled folding crawler frame.

Referring to fig. 8 and 12, in each of the left and right portions of the track frame of these embodiments, the upper middle portion of the left and right fenders is mounted near the height of the upper half of the tensioned track, and a track tension monitor 310 is mounted; the track tensioning monitor 310 comprises at least one set of correlation photoelectric sensors, each set of correlation photoelectric sensor comprises a light emitting diode and a photoelectric converter, and the light emitting diode and the photoelectric converter are respectively arranged on the left side and the right side of the track; the better proposal is that two sets of photoelectric sensors are arranged in parallel one above the other; the photoelectric sensor is characterized in that the opposite light beam of the light emitting diode of the photoelectric sensor can be blocked by the tensioned crawler belt and cannot be received by the photoelectric converter on the opposite side of the light emitting diode; the characteristic of the installation position of the set of photoelectric sensor is that the opposite light beam of the light emitting diode of the photoelectric sensor is not blocked by the tensioned crawler belt and can be received by the photoelectric converter opposite to the light emitting diode; when the tension degree of the crawler is slightly lower than the normal range, the light beam of the lower photoelectric sensor is also shielded by the crawler, namely the main controller sends an alarm that the crawler is loosened; when the tension degree of the crawler is excessively lower than a normal range or even the crawler is broken, the light beam of the photoelectric sensor is shielded by the outer teeth of the crawler intermittently or even not shielded by the upper half part of the crawler, namely the main controller sends out that the crawler is seriously loosened or even the crawler is broken to give an alarm; in a more preferred scheme, on the basis of the scheme, a set of crawler tooth monitoring photoelectric sensors are arranged above the photoelectric sensors and aligned to the height of the middle position of the outer teeth of the crawler belt, so as to form a more preferred crawler belt tensioning monitor, and in the running process of the crawler belt, light beams of the crawler tooth monitoring photoelectric sensors are continuously shielded and passed through by gaps between the outer teeth of the crawler belt and the outer teeth, so that whether the tension degree of the crawler belt and the tooth form of the outer teeth of the crawler belt meet the normal working requirement can be timely monitored, when the tension degree reaches or exceeds the normal tension degree limit value, or when a square wave signal of the crawler tooth monitoring photoelectric sensors in the more preferred crawler belt tensioning monitor generates periodic irregular abnormality when the whole machine runs at a constant speed, namely, a master controller reminds a user through sound, light or text information of the controller, and reminds an operator to timely adjust a tensioning screw, a tension screw and a tension of a crawler belt tensioning slider, Or the outer teeth of the crawler belt and the driving tooth holes at the relevant positions are checked, or the driving teeth of the driving wheel are checked, so that the safety and reliability of the whole crawler belt are improved, and the service life of the crawler belt is prolonged.

The trailing axle of these embodiments is typically disposed in parallel tracks and is pushed forward by the tensioning bolts in the track

tensioning slide assemblies

106 or 505 through trailing axle bore bearings in the tensioning slides. The benefits are: the user can adjust the tensioning degree of the crawler belt by screwing the tensioning bolt, so that the crawler belt can keep proper tensioning force; but also used for loosening and loading and unloading the crawler belt when replacing the crawler belt.

The stoppers 405 of these embodiments can be selectively and fixedly arranged above and/or on both sides of the front end of the track frame, and in this case, the stoppers 405 can also be used as handrails for manually controlling the overall direction and/or fixing the load; alternatively, as shown in fig. 2, 8, 10 and 12, the stopper is hinged to the front end of the main body of the loading platform or the track frame, and is a foldable and detachable stopper 405 that can be folded, laid flat, lifted and locked; the stop member 405 may also be provided with a holder for placing the controller 308 thereon, or may be fixedly connected directly to the controller 308.

Any one of the front, rear, left and right sides of the track frame in the track assembly of the embodiments can be selectively installed with a high-definition camera 506 and a light supplement lamp 507 (the specific installation position of the light supplement lamp is determined according to the measurement purpose of the high-definition camera 506, and is not necessarily close to the high-definition camera 506 as shown in the figure), and is used for ranging, obstacle avoidance, security protection, and obtaining the information of the floor position of the corridor where the complete machine is currently located: 1) the functions of distance measurement and obstacle identification and obstacle avoidance of the high-definition camera 506 are described when the high-definition camera 506 is used as a distance measurement sensor; namely: the method comprises the steps of obtaining size information in an image of a measured target and projection size information on a target plane through cooperation with a light supplement lamp installed nearby the measured target, and calculating the distance and the direction from the measured target to a high-definition camera installation position and the distance from the measured target to the target plane, wherein specific details can be found in a high-definition camera 3D target detection system (application number 201811652842X) based on deep learning and the related contents; 2) the security function of the high-definition camera 506 is realized by transmitting an image acquired by the high-definition camera 506 to an operation management server or a community security center through a 4G/5G mobile communication module or a high-fidelity wireless communication module (WIFI module) in the main controller 301; 3) the function of the high-definition camera 506 for acquiring the information of the floor position of the corridor where the whole machine is located has two implementation ways: firstly, identifying and recording environmental characteristics (steps, handrails, platforms and the like) in the operation process by using intelligent image identification software in a main controller 301, and counting and calculating the passing distance to confirm the corridor floor where the whole machine is located; and secondly, a position identification picture (such as a two-dimensional code containing current position information or a number or a symbol representing a specific position in a floor or a corridor) which is preset at a proper position in the corridor is utilized, and the main controller 301 acquires, identifies and utilizes the position identification picture through the high-definition camera 506 and is used for sending control signals such as speed reduction, turning, stopping and the like to a driving mechanism in time, or sending an image-text and/or voice prompt (sent through a screen and/or a loudspeaker mounted on the crawler-type electric carrying device or the controller 308) for the arrival of the current floor and/or the target floor, and the like. The meaning of the function of acquiring the position information of the floor of the corridor where the complete machine is located is not only: the automatic control device is used for the complete machine to automatically control and reach a target floor and display the position of the current corridor floor where the complete machine is located, and is characterized in that: when the whole machine needs to be charged, the whole machine automatically reaches the floor position where the charging socket 603 is located (see fig. 13), and under the assistance of the real-time information of the high-definition camera 506, the automatic butt connection between the charging plug 601 of the whole machine and the charging socket 603 is completed.

Example 1: referring to fig. 1, 2, 3 and 12, the tracked electric carriers are all front inclined track frames. The front inclined crawler frame comprises a crawler frame front part inclined towards the front upper part, and is used for pressing a front crawler belt on the step edge of a stair when the platform starts to climb upwards and driving the front end of the crawler belt type electric carrying device to move upwards in an inclined manner; the first motor 201, the first speed reducer 202, the second motor 203 and the second speed reducer 204 which are positioned at the rear part of the crawler frame respectively drive the left driving wheel 102 and the right driving wheel 102, and the two driving wheels 102 respectively drive the left crawler 104 and the right crawler 104 to rotate, so that the whole machine (namely the crawler type electric carrying device) can move forward and backward and turn; the pinch rollers (under the front cover portion of the track frame and therefore not shown) on pinch roller shaft 111 shown in fig. 1 allow more room above the front of the overall machine than without the pinch rollers, so that the space of the carrier body is larger. A front auxiliary balancing assembly 5, which is a bracket roller type auxiliary balancing assembly 5 (refer to fig. 1, 2, 3 and 12) composed of a smooth auxiliary balancing bracket 501 and a front end roller 502, or a crawler type auxiliary balancing assembly 5 similar to fig. 4, 6, 8, 10 and 13; the auxiliary balance bracket 501 or the auxiliary balance track frame 503 of the bracket roller type auxiliary balance assembly 5 or the crawler type auxiliary balance assembly 5 is driven by a driving push rod 510 of the auxiliary balance assembly or an auxiliary balance driving motor 506 through an auxiliary balance driving speed reducer 507 to push or rotate, so that the rear end of the auxiliary balance bracket 501 or the auxiliary balance track frame 503 rotates around a front end wheel shaft 108 of the crawler frame of the crawler assembly or a special auxiliary balance bracket shaft positioned at the lower part of the front end of the electric loading platform device, and the rollers or driven wheels 502 at the front end of the auxiliary balance bracket 501 or the auxiliary balance track frame 503 directly or indirectly approach or contact with the ground or the front and rear platform planes of a corridor through the auxiliary balance track 504, thereby avoiding the lower bottom surface of the crawler assembly in the process of mutual transition between a stair slope and the ground or the front and rear platform planes of the corridor, the crawler-type electric carrying device suddenly topples or bumps.

In the electric vehicle embodiment of the forward inclined track frame shown in fig. 3, not only the forward auxiliary balancing assembly 5 as described above, but also the rear crawler auxiliary balancing assembly 5; an auxiliary balance driving motor 506 and an auxiliary balance driving speed reducer 507 in the rear auxiliary balance assembly 5 drive an

auxiliary balance bracket

501 or 503 in the rear auxiliary balance assembly 5 to rotate around a rear end wheel shaft 107 of the crawler frame, so that the bottom surface of the front end of the roller 502 or the auxiliary balance crawler 504 at the front end of the rear auxiliary balance assembly 5 keeps a proper distance from the ground or a stair slope or a platform plane at the front and the rear of a corridor, and the complete machine is prevented from falling backwards or bumping.

With reference to fig. 3, the tracked electric vehicle equipped with the rear auxiliary balancing assembly 5, in its idle state and in the turning state of the corridor platform, can be turned upwards to a position folded upwards as shown in fig. 3, at an angle greater than 0 degrees and close to 90 degrees with the bottom surface of the track frame, in order to reduce the space occupation; the 0 degree is an angle when the auxiliary balance bracket 501 or the auxiliary balance track frame 503 is parallel to the track frame 101 of the track assembly after the auxiliary balance assembly 5 is unfolded; meanwhile, the rebounding cover 403 positioned at the rear part of the top cover is jacked up by the longitudinal beam part in the auxiliary balance bracket 501 or the auxiliary balance crawler frame 503 of the rear-end auxiliary balance assembly 5, so that the occupation of the longitudinal space of the whole machine can be reduced, and particularly, when the whole machine turns on a small platform between two stairs in a corridor, the occupation of the longitudinal space of the whole machine is more necessary; when the crawler-type electric carrying device provided with the rear-end auxiliary balance assembly 5 is in a ready state for a user to get on and off the whole machine or in a loaded running process, and the rear auxiliary balance crawler frame 503 or the auxiliary balance support 501 is not in contact with the rebounding cover 403, the rebounding cover 403 is driven by the elastic piece of the rebounding cover to return to a position parallel to the plane of the top cover 401.

Referring to fig. 3, the process of removing and replacing the track of the crawler type electric carrier of the front-inclined track frame will be described. The belt removing process comprises the following steps: the screw caps or the C-shaped rings at two ends of the hinged shaft of the two hinged top covers are detached to draw out the hinged shaft, or the fixing bolt sleeved between the top cover shaft sleeve on the front end wheel shaft of the crawler frame and the top cover is detached, the slide block screw of the driven wheel shaft is loosened, the distance between the driven wheel and the driving wheel is reduced, the crawler belt is loosened, the driven wheel and the crawler belt are pushed backwards, the rear end of the crawler belt is separated from the driving wheel to separate from a crawler belt supporting plate, the crawler belt is moved forwards, the crawler belt is separated from the driven wheel, and. The track installation process is the reverse of the belt removal process.

Scheme 2: with reference to fig. 4, 6, 8, 10, 13, other common features of these embodiments include: the straight crawler frame 101 is provided with a front crawler auxiliary balance assembly 5; fig. 8 and 10 thereof also include the crawler-type auxiliary assembly 5 in the rear position. The auxiliary balance driving wheel 509 of the auxiliary balance track 504 in the front crawler auxiliary balance assembly 5 is coaxially linked with the same outer diameter of the driving wheel or driven wheel in the driving mechanism 2, namely: the auxiliary balance drive wheel 509 is also toothed and is capable of transmitting the power of the track 104 to the auxiliary balance track 504 via the auxiliary balance drive wheel 509. Therefore, when the complete machine is positioned on a stair platform and begins to climb stairs, the auxiliary balance crawler 504 can drive the front end of the complete machine to lift up to a first-level stair and move forwards by using the power displacement which is transmitted by the auxiliary balance driving wheel 509 and has the same linear velocity as the crawler 104; in addition, at the uppermost stage of each stage, the auxiliary driving components (the auxiliary balance driving motor 506 and the auxiliary balance driving speed reducer 507) of the auxiliary balancing component 5 are controlled by the main controller 301 to realize the auxiliary balancing function of the whole machine, and the auxiliary balancing crawler 504 can also drive the whole machine to move forward when contacting and pressing on a target plane.

Corresponding to the front auxiliary balance assembly 5, the front end fixing plate 404 of the loading platform is also provided with a left bouncing cover and a right bouncing cover 403 corresponding to the auxiliary balance track 504, and when the upper plane of the auxiliary balance track 504 is higher than the plane of the front end fixing plate 404, the left bouncing cover and the right bouncing cover are jacked up by a longitudinal beam part in the auxiliary balance track frame 503 of the front auxiliary balance assembly 5; when the crawler-type electric carrying device equipped with the rear-end auxiliary balance assembly 5 is in a ready state for a user to get on and off the whole machine or in a loaded operation process, and the front auxiliary balance crawler frame 503 is not in contact with the rebounding covers 403, the rebounding covers 403 are driven by the elastic pieces of the left and right rebounding covers 403 to return to a position parallel to the plane of the front end fixing plate 404.

With reference to fig. 8 and 10, the complete machine further comprises a rear auxiliary balancing assembly 5; the rear auxiliary balancing assembly 5 drives the

auxiliary balancing bracket

501 or 503 in the rear auxiliary balancing assembly 5 to rotate around the rear end wheel axle 107 of the track frame by the auxiliary balancing driving motor 506 and the auxiliary balancing driving speed reducer 507 in the rear auxiliary balancing assembly 5, so that the roller 502 or the auxiliary balancing track 504 in the rear auxiliary balancing assembly 5 keeps a proper distance from the ground or a slope of a staircase or a platform plane in front of and behind a corridor, and backward toppling or bumping of the whole machine is avoided.

With reference to fig. 8 and 10, the tracked electric vehicle equipped with the rear auxiliary balancing assembly 5, in its idle condition and in the turning condition of the corridor platform, can be turned upwards to a position folded upwards as shown in fig. 3, at an angle greater than 0 degrees and close to 90 degrees with the bottom surface of the track frame, in order to reduce the space occupation; especially when turning on a small platform between two stairs in a corridor, it is more necessary to reduce the longitudinal space occupation of the whole machine; meanwhile, the rebounding cover 403 positioned at the rear part of the top cover is jacked up by the auxiliary balance bracket 501 of the rear-end auxiliary balance assembly 5 or the longitudinal beam part in the auxiliary balance track frame 503, so that the longitudinal space occupation of the whole machine can be reduced; when the crawler-type electric carrying device provided with the rear-end auxiliary balance assembly 5 is in a ready state for a user to get on and off the whole machine or in a loaded running process, and the rear auxiliary balance crawler frame 503 or the auxiliary balance support 501 is not in contact with the rebounding cover 403, the rebounding cover 403 is driven by the elastic piece of the rebounding cover to return to a position parallel to the plane of the top cover 401. The front auxiliary balancing assembly 5 and the auxiliary balancing crawler support 503 of the rear auxiliary balancing assembly 5 are both of a structure with a U-shaped longitudinal section, so that when the whole machine is in an idle state or a transported state, the main controller 301 can control the auxiliary driving assemblies (the auxiliary balancing driving motor 506 and the auxiliary balancing driving speed reducer 507) of the auxiliary balancing assembly 5 to rotate the front auxiliary balancing assembly 5, an included angle between the upper surface of the auxiliary balancing crawler 504 folded onto the auxiliary balancing crawler support 503 and the crawler 104 is 0 degree, and meanwhile, an installation space is reserved for the parts of the driving mechanism 2, the control mechanism 3, the power supply assembly 6 and the like in the crawler frame 101; therefore, the intermediate connection portion of the left and right crawler support plates of the crawler frame 101 is adjusted to be a hanging bracket portion that is approximately well-shaped in plan view and approximately T-shaped in side view, referred to as well-T-shaped bracket portion for short, and includes: a vertical connecting part 110 in a T shape of the T-shaped well connecting part of the track frame, an upper beam part 112 of the T-shaped well connecting part of the track frame, an upper longitudinal beam part 113 of the T-shaped well connecting part of the track frame, and an indirect connecting part 114 between the upper longitudinal beam and the rear main shaft of the T-shaped well connecting part of the track frame directly or through a speed reducer; thereby reducing the occupied space of the whole machine in an idle state or a transportation state and being convenient for storage, transportation and carrying. The electric carrying device of the straight crawler frame has the advantages that the crawler type front auxiliary balance assembly 5 has the function of driving the whole machine to climb up stairs of the front inclined crawler frame in the scheme 1, and can be folded and unfolded forwards to be straightened, so that a user of a common wheelchair can drive in and out of the main body of the carrying platform from the rear end of the whole machine, and can drive in and out of the left and right side wings 402 of the carrying platform of the whole machine from the front end of the whole machine when the front auxiliary balance assembly 5 is straightened to be parallel to the crawler frame 101, great convenience is provided for the user, and particularly when front, rear, left and right wheels of the common wheelchair are driven in and out of the left and right side wings 402 of the whole machine on a corridor platform with narrow space.

The process of changing the track 104 of the track-type electric carrier of the flat track frame is described. The belt removing process comprises the following steps: removing screw caps or C-shaped rings at two ends of the hinging shafts of the two hinged top covers 401 to draw out the hinging shafts 406 of the loading platform main body, or removing fixing bolts sleeved between top cover shaft sleeves on the front end wheel shafts of the track frames and the top covers, and removing the top covers 401; and loosening screws of the track tensioning slider assembly 106 of the driven wheel shaft to reduce the distance between the driven wheel 103 and the driving wheel 102 and loosen the track 104, pushing the driven wheel and the track backwards to separate the rear end of the track 104 from the driving wheel 102 to be separated from the track supporting plate, moving the track forwards to separate from the driven wheel 103, and detaching the track. The track 104 installation process is reversed from its removal process.

The belt changing process of the auxiliary balance track 504 in the auxiliary balance assembly 5 of the crawler-type electric carrier of the flat-track type crawler frame is described. The belt removing process comprises the following steps: loosening the screws of the track tensioning slider assemblies 106 of the track frame front end wheel shafts 108 of the track assemblies, loosening the screws of the track tensioning slider assemblies 505 of the auxiliary balancing assemblies 5, removing the C-shaped rings of the track frame front end wheel shafts 108, extracting the track frame front end wheel shafts 108, taking out the rear ends of the auxiliary balancing assemblies 5, pushing the driven wheels 502 and the auxiliary balancing tracks 504 in the auxiliary balancing assemblies 5 backwards, and separating the rear ends of the tracks 504 in the auxiliary balancing assemblies 5 from the driving wheels in the auxiliary balancing assemblies 5 and the supporting plate pulley assemblies 508 of the auxiliary balancing tracks in the auxiliary balancing assemblies 5; the track 504 of the auxiliary balance assembly 5 is moved forward, the track 504 of the auxiliary balance assembly is disengaged from the driven wheel 502 of the auxiliary balance assembly, and the track 504 of the auxiliary balance assembly is removed. The track 504 in the supplemental counterbalance assembly is installed as opposed to its removal.

Referring to fig. 14, the automatic driving method according to the present invention includes the following steps:

1) beginning: the main controller 301 triggers an automatic driving process according to the instruction of the controller and the current position of the whole machine; if the destination information in the instruction of the controller is the same as the current position, prompting the user to input the destination information again on the controller; the current position information of the whole machine is the position information which is stored in the main controller and obtained in the last operation process;

2) judging the current environment and self-checking the whole machine: the main controller 301 inquires and receives sensor information such as a high-definition camera, a ranging sensor and an angle sensor, comprehensively judges whether the current complete machine state and the environment are normal or not, and whether the current complete machine state and the environment are consistent with the current complete machine position information stored in the main controller when the last operation process is finished or not; the control of the micro-motion of each part of the driving mechanism enables each sensor to detect the corresponding signal change degree, such as: the push rod and the auxiliary push rod respectively act to enable the angle sensor to respectively detect corresponding changes of a horizontal angle signal of the loading platform main body when the push rod and the auxiliary push rod respectively act, the auxiliary balance driving assembly acts to enable the distance measuring sensor and the corner sensor to detect corresponding changes of a distance and a corner signal, and a left motor and a right motor of the driving mechanism respectively act to enable the high-definition camera to detect corresponding changes of a reference object in an environment image; if the master controller 301 sends out the driving signal and does not detect the change of the corresponding sensor signal, it is abnormal; if the abnormality occurs for the first time, the main controller gives a reminding alarm to the user controller and the operation management server through the communication module, and the step is restarted; under normal conditions, if the abnormality occurs twice continuously, the formal alarm is carried out and the automatic driving process is ended as described above, and the operation management server informs the property engineering department or the complete machine owner to take corresponding measures such as maintenance and the like; executing an emergency stop or restart operation instruction of the controller by using the available interrupt from beginning to end; 3) determining a direction of travel and automatically traveling: namely, the application of the automatic driving technology in the automobile field in the crawler-type electric carrying field is disclosed in a road marking extraction method (application number 2016100298946) based on a forward high-definition camera and a high-definition camera 3D target detection system (application number 201811652842X) based on deep learning in automatic driving; the traveling direction reference object in the module for determining the traveling direction and automatically traveling is changed from the road marking in the automobile field into an armrest guide rail 801 or a two-dimensional code 802 or other similar traveling direction reference objects which are arranged on the walls of the passageway on the armrest on the stairs in advance (such as eye-catching lines attached to the left side and the right side of the stairs: guide lines); in the module for determining the traveling direction and automatically traveling, the traveling direction and the traveling speed are determined in time according to signals of the high-definition camera and the distance measuring sensor, the respective steering and rotating speeds of the left motor and the right motor in the driving mechanism 2 are respectively controlled, whether the vehicle reaches the front of a step surface is determined in time according to signals of the high-definition camera and the distance measuring sensor, whether an included angle between the main body of the loading platform and the track frame 101 of the track assembly needs to be adjusted according to signals of the angle sensor so as to ensure the horizontal angle of the main body of the loading platform (because the whole vehicle may run on a rough road surface), and whether an alarm or even a stop is required according to signals of other sensors (for example, the signal of the voltage current sensor exceeds a safety; the advancing comprises advancing and retreating the turning; 4) going up and down stairs: if the stairs needing to go up and down are reached, the corresponding auxiliary balance bracket 501 or auxiliary balance crawler frame 503 is rotated to an angle matched with the current position of the stairs of the complete machine by a driving assembly (a push rod 510 or an auxiliary balance driving motor 506) in the auxiliary balance assembly according to signals of a high-definition camera and a ranging sensor, so that the complete machine is controlled to keep stable balance in the processes of going up and down the stairs (the front auxiliary balance assembly 5 of the complete machine of the straight crawler frame can also play a role of driving the front end of the complete machine to climb the stairs forwards and upwards); the driving mechanism 2 continuously ensures that the whole machine turns in time and in the correct running direction in the processes of going up and down stairs; and the auxiliary push rod 208 or the push rod 205 is driven according to the signal of the angle sensor 302 to adjust the included angle between the main body of the loading platform and the track frame 101 of the track assembly in time, so as to ensure the horizontal angle of the main body of the loading platform (the top cover 401 and the side wing 402) during the up-and-down stairs process of the whole machine. The angle matched with the current step position of the complete machine comprises the angle that when the complete machine is positioned at the position of the first step going upstairs from the plane, the auxiliary balance bracket 501 or the auxiliary balance crawler frame 503 of the front auxiliary balance assembly 5 is rotated to be parallel to the inclined plane of the stairs; and the machine is positioned at the position to transfer the estimated center of gravity of the machine containing the load from the inclined plane of the stairs to the plane of the platform above the stair section, and the auxiliary balance bracket 501 or the auxiliary balance track frame 503 of the preposed auxiliary balance assembly 5 is rotated to: a proper angle is formed between the track frame 101 and the track frame to ensure that the pitching amplitude of the gravity center of the complete machine in the transfer process between the inclined surface of the corridor and the plane of the corridor platform is less than 27 mm; 5) and (4) ending: if the target is reached, the following steps are carried out: the main controller judges that the whole machine reaches a target specified by a controller instruction according to the reference object real-time information in the high-definition camera image, the distance measurement sensor signal and the comprehensive calculation, for example, the whole machine reaches a target floor, namely, the whole machine enters an end state, namely, the whole machine enters an unloading ready state, so that a user can conveniently drive out of a wheelchair from the whole machine or unload a load; in the unloading ready state, namely the leveling auxiliary balance assembly 5, the loading platform main body is put down, so that the side wings 402 of the loading platform are close to the plane of the whole machine as much as possible, and a user can conveniently pull out the wheelchair from the whole machine or unload loads; then, entering a finishing, charging, sleeping or idle state; if the target is not reached, returning to the step 3 to continue the process.

The more detailed going upstairs step in the complete machine using method for the straight crawler frame with the front crawler auxiliary balance assembly 5 and the rear ranging sensor arranged at the rear end of the crawler frame 101 is as follows: 1) according to a target floor instruction sent by a user with right of use through the controller 308 to go upstairs, and according to signals detected by a distance measuring sensor, an angle sensor, a pressure sensor, a corner sensor and a high-definition camera of the complete machine, the current environmental state and the self state of the complete machine are judged, and if the complete machine is in an idle folding state, the front auxiliary balance track frame is unfolded to a load loading and unloading ready state of the complete machine parallel to the main track frame; at the moment, the bottom of the top cover is contacted with top cover supporting points on two sides of the rear part of the crawler frame; 2) a user drives four wheels of the wheelchair into side wings 402 on two sides of a top cover 401 of the loading platform towards the front of the whole wheelchair, or places heavy objects on the top cover and ties a safety belt; after the high definition digtal camera image recognition information and the pressure sensor signal prompt user have finished the load and install, send characters and voice prompt on the controller: please tie the safety belt and grab the handrail; 3) the auxiliary push rod 208 jacks up the top cover 401 and the side wings 402, so that the bottom of the top cover is separated from a supporting point at the rear part of the crawler frame by 1 mm to 5 mm, signals of a pressure sensor 307 arranged at the front part under the top cover and a pressure sensor 307 arranged under the auxiliary push rod are inquired and received by the main controller 301, the total load weight of the loading platform is calculated, and the gravity center position of the whole machine containing the load carrying the people or the objects is estimated according to the data difference of the pressure sensors at the front and rear positions; the auxiliary balance driving motor 506 drives the auxiliary balance crawler frame or the auxiliary balance support to rotate downwards and upwards, the front end of the crawler frame main body 101 is lifted and falls down, meanwhile, the auxiliary push rod 208 and the balance push rod 205 jack the top cover and the side wings and retract, so that the object carrying platform main body is still horizontal, a voice prompt of 'self-checking in' is sent out, the working states of all sensors are monitored, and the self-checking process before going upstairs is completed; in the current self-checking process and the subsequent whole process of the whole machine operation, if the load exceeds a preset load, or the gravity center position of the whole machine with the load exceeds a preset safety range, or the main body of the carrying platform exceeds a levelness safety range, or a sensor signal exceeds a normal range, namely the load is abnormal, namely a reminding alarm is given and the self-checking is carried out again, corresponding characters and voice warnings are sent out on the controller and are uploaded to an operation management server through a communication module and a communication network; if all the indexes are normal after the self-checking process, prompting that all the states are normal on the controller by using voice and characters or an indicator lamp, and entering the next step; if the abnormality still exists, the alarm is formally given and the machine is stopped, and the alarm is uploaded and sent to the operation management server, and the operation management server informs a maintenance responsible person (such as a property engineering department or a complete machine owner) to take maintenance measures in time; 4) the driving motor 506 drives the auxiliary balance track frame 503 to rotate upwards to a preset inclination angle parallel to the inclined plane of the stairs through the speed reducer, and at this time, the rebound cover 403 is jacked up by the auxiliary balance track frame 503; the first and second motors drive the main track to rotate forwards through the speed reducer and the driving wheel, current advancing parameter information obtained by calculation is judged and determined according to information after signal image recognition of the front, back, left and right high-definition cameras 305 or read environmental parameters, the distance to be advanced or the angle of turning is determined, the complete machine is enabled to be over against a first ascending step of the stair, and a program enters the first balance module, namely: controlling the upward transition process that the gravity center of the complete machine with the load moves from the plane of the corridor platform to the middle part of the slope of the stair of the section; 5) the driving mechanism drives the crawler 104 to enable the whole machine to move forwards, the crawler 504 of the auxiliary balance crawler frame 503 presses the first upward step and then presses the step to rotate, so that the crawler frame main body is driven to incline upwards, and meanwhile, the auxiliary push rod 208 and the balance push rod 205 are controlled by driving signals sent by the main controller after being judged according to signals of the angle sensor 302, so that the loading platform main body is pushed to lift upwards to keep the horizontal state of the top cover 401 and the side wing 402; 6) the main controller is used for controlling the auxiliary balancing crawler frame 503 according to the preset requirement that the signal of the front end ranging sensor 303 installed at the front end of the auxiliary balancing crawler frame 503 is larger than the 1 st threshold and smaller than the 4 th threshold or the signal information of the front high-definition camera (for example: after debugging, presetting environmental parameter prompt information in a two-dimensional code at the position, and/or identifying position and shape parameters of reference objects, steps and front auxiliary balance components at the left and right sides in front in a frame image), controlling the auxiliary balance crawler frame 503 to rotate downwards until the crawler frame main body 101 is parallel to the inclined plane of the stair and continues to advance, and periodically changing that a signal of the rear-end distance measuring sensor 304 becomes large and then becomes small and large again, at this time, the bottom surface of the crawler 104 of the crawler frame main body is attached to the edge of the step of the stair and is parallel to the inclined plane of the stair; in the process, the main controller gradually controls the front auxiliary balance crawler frame 503 to rotate to a preset parallel inclination angle by using a feedback signal of the corner sensor 309 and/or a corner stroke calculated from a time speed starting from a positioning point, and/or signal fluctuation data of a front end distance measuring sensor, and/or a program preset in the main controller 301 and a pre-read environmental parameter, namely, the bottom surface of the crawler 504 of the auxiliary balance crawler frame 503 is also attached to the edge of a stair step and is parallel to the stair inclined plane, and the crawler 104 is also parallel to the stair inclined plane, so that a first balance module is completed; 7) when the whole machine moves up to the position near the uppermost step of the stair, the signal of the distance measuring sensor 303 at the frontmost end stops periodic change, and the condition that the signal continuously approaches and exceeds the 4 th threshold value occurs, and the signal starts to enter a second balancing module: controlling the ascending process of the gravity center of the complete machine with the load to be stably transited from the inclined plane to the plane of the corridor platform; 8) when the travel calculated by multiplying the running speed and the running time of the first motor and the second motor reaches a preset travel, the signal of the front-end distance measuring sensor 303 also reaches a preset 5 th threshold value, and the auxiliary balance driving motor 506 starts to drive the auxiliary balance track frame 503 to rotate downwards until the signal of the front-end distance measuring sensor is smaller than the 2 nd threshold value and is larger than or equal to the 1 st threshold value, namely the front end of the track of the auxiliary balance track frame is close to but just does not touch a corridor platform plane flush with the uppermost step plane of the stair section; then, the front end of the crawler frame main body crawler 104 also reaches the step edge of the uppermost step of the stair where the front end is flush with the plane of the corridor platform; 9) when the estimated distance between the center of gravity of the complete machine with load on the inclined plane of the stair and the edge of the uppermost step of the stair section is smaller than a preset center of gravity conversion threshold value, the first motor and the second motor stop or slowly run, and the controller sends out voice and text prompts that the handrail is required to be grabbed and the center of gravity is transferred to the plane of the corridor platform; 10) the auxiliary balance crawler frame 503 is rotated upwards to a range that the 2 nd threshold is larger than the 3 rd threshold, and the center of gravity of the complete machine is adjusted to move forwards by the current user (the complete machine with the rear auxiliary balance component 5 controls the rear auxiliary balance component to rotate downwards to a negative angle area and presses the step edge on the step section inclined plane to push the back end of the complete machine to lift upwards), so that the front end of the crawler 504 of the auxiliary balance crawler frame is pressed downwards to contact with the plane of the stair platform, the signal of the front end distance measuring sensor becomes smaller than the 1 st threshold, the center of gravity of the complete machine enters the plane of the stair platform, the crawler 104 of the crawler frame main body is only contacted with the uppermost step edge of the stair, and the back end of the bottom surface of the crawler 104 of the crawler frame main body leaves the stair inclined plane; 11) after the signal of the front-end distance measuring sensor becomes smaller than the 1 st threshold value and keeps a preset gravity center stability confirmation time limit, the first motor and the second motor continue to drive the whole machine to move forwards; the front auxiliary balance driving motor 506 drives the front auxiliary balance crawler frame 503 to rotate upwards, at this time, the signal of the front end distance measuring sensor 303 is still continuously smaller than the 1 st threshold value, namely, the front end of the crawler 504 of the auxiliary balance crawler frame continuously presses the plane of the corridor platform, and along with the upward continuous rotation of the auxiliary balance crawler frame, the balance push rod 205 is controlled to be recovered to ensure that the top cover 401 and the side wing 402 are still horizontal, and simultaneously the gravity center of the whole machine continuously moves forwards on the plane of the corridor platform (the whole machine with the rear auxiliary balance assembly is also used for controlling the rear auxiliary balance assembly to rotate upwards to a positive angle area), until the stop period fluctuation of the signal of the rear end distance measuring sensor 304 becomes a continuous minimum value, which indicates that the rear end of the whole machine also reaches the plane of the corridor platform, and the working process of the second; 12) the whole machine judges according to the signal information of the reference object or the marker such as the handrail track and/or the guide line and/or the two-dimensional code received by the high-definition camera and the ranging sensor, if the user does not reach the target floor, the front end of the preposed auxiliary balancing component is automatically turned up, turned or moved forwards, and the step 4 to 13 are repeated before the step surface of the next step section, so that the stair climbing operation is completed; 14) if the user arrives at the target floor, the whole machine returns to the load loading and unloading ready state, the controller 308 sends out voice and text to remind that the user asks for safety when getting off the vehicle, the user unlocks the safety belt, the wheelchair can leave the whole machine when directly driving forwards or backwards, and then the use process of the whole machine is confirmed to be completed on the controller 308; the complete machine confirms that no load exists on the complete machine and a user leaves the complete machine according to signals of the front, back, left and right high-definition cameras and signals of the pressure sensor 307, then the complete machine enters an idle power-saving state, or runs to a charging position according to the requirements of insufficient battery capacity and charging requirement of the power supply assembly, and enters a charging state by butting a matched charging socket or a charging contact.

In the process of going upstairs and downstairs of the whole machine, if an emergency stop instruction of the controller 308 is received, the whole machine enters an emergency stop interrupt processing module: saving current environment data (current environment information around the complete machine acquired by a high-definition camera, a sound monitor and a ranging sensor) and complete machine working state parameters, stopping the driving mechanism 2 and the auxiliary balance driving, sending the current environment data and the complete machine working state parameters to an operation management server, and waiting for a starting instruction of the controller 308; if the starting instruction after the emergency stop is received, the interrupted upstairs going process is continued; if the starting instruction after the emergency stop is not received after the preset time limit (for example, 3 minutes) is exceeded, the operation management server side notifies a maintenance responsible person (for example, a property engineering department or a complete machine owner).

The whole machine is similar to the process of going upstairs in the process of going downstairs, except the idle folding state, the main controller supports the rear part of the loading platform main body through the auxiliary balance push rod 208 and/or the balance push rod 205 according to the signal of the angle sensor, so that the loading platform main body is kept horizontal to the ground. Here, for a complete machine having both a front auxiliary balancing assembly 5 and a rear auxiliary balancing assembly 5, and having distance measuring sensors 303 and 304 at the front and the rear of the complete machine and a high-definition camera 305 at the front and the rear of the complete machine, the steps of the automatic driving example method for the downstairs process are briefly described as follows: 1) according to boarding instructions sent by an user who has completed registration and login at an operation management server and obtained the use right of the whole machine through the controller 308, and signals detected by four distance measuring sensors and/or high-definition cameras at the front, the back, the left and the right of the whole machine, the current environment state of the whole machine is judged, and if the whole machine is still in an idle folding state, namely when the two auxiliary balancing assemblies at the front and the back and the main track frame 101 are at about minus 180 degrees, the auxiliary balancing track frame 503 is unfolded to a load loading and unloading ready state parallel to the main track frame 101; at the moment, the bottom of the top cover is contacted with the supporting points at the two sides of the rear part of the crawler frame 101; 2) a user drives four wheels of the wheelchair to side wings at two sides of a top cover of the carrying platform towards the rear side of the whole wheelchair, or the user stands on the top cover or stands on two side wings by two feet respectively, or weights are placed on the top cover, and a safety belt is tied; the safety belt is connected with the whole machine through a loading fixing hole 407 on the loading platform main body on the loading platform or a stopper 405; text and voice prompts are issued on the controller 308: please tie the safety belt and grab the handrail, and start self-checking at present; 3) the auxiliary push rod 208 pushes up the top cover and the side wings, so that the bottom of the top cover is 1 mm to 30 mm away from the rear fulcrum of the track frame (namely: the lower limit of the weight measurement supporting area is equal to the upper limit of the weight measurement supporting area), the pressure sensor 307 measures the total load weight of the loading platform and estimates the gravity center position of the whole machine carrying people or loaded objects according to the data difference of the pressure sensors at the front and rear positions; the auxiliary balance driving motor 506 drives the front auxiliary balance crawler frame to rotate downwards and upwards, so that the front end of the crawler frame main body 101 is lifted and falls down; meanwhile, the auxiliary push rod 208 supports the top cover 401 upwards from the lower limit of the weight measurement supporting area and exceeds the upper limit of the weight measurement supporting area, the balance push rod 205 jacks up the top cover 401 and then retracts, and the auxiliary push rod 208 supports the top cover 401 from the upper limit of the weight measurement supporting area and retracts downwards and returns to the lower limit of the weight measurement supporting area, so that the main body of the loading platform is still horizontal; other sensors such as a corner sensor 309 and the like are detected, and the self-checking process before going downstairs is completed; if the result is normal, entering the next step; if the abnormal condition exists, the warning is given out in a reminding mode and self-checking is carried out again, if the abnormal condition still exists, the warning is given out in a formal mode, the automatic driving process is ended, and the operation management server side informs the property engineering department or the complete machine owner to take corresponding measures such as maintenance and the like; 4) the first and second motors of the driving mechanism drive the caterpillar band 104 to rotate and move backwards through the speed reducer and the driving wheel 102, and judge and determine the turning angle and the turning stroke according to the signals of the front-back, left-right distance measurement/high-definition cameras and/or the pre-read environmental parameters, so that the rear part of the whole machine is just opposite to the first descending step of the stair, and a voice horn on the controller 308 or the main controller sends out a text or voice prompt: please grab the handrail to keep balance; 5) when the distance measuring point which continues to run to the rear distance measuring sensor 304 just crosses the edge of the 1 st descending step of the stair corresponds to the table top of the 2 nd descending step, namely: when the signal of the rear ranging sensor 304 is greater than or equal to the 7 th threshold (a step height + the installation height of the rear ranging sensor-allowance), the control mechanism 3 starts to pause or slowly operate the first and second motors, and enters a third balancing module: controlling the descending transition process that the gravity center of the whole machine moves from the plane of the corridor platform to the middle part of the inclined plane of the stair; the step plane of the 1 st descending step is the upper platform plane of the descending stair of the section; 6) the bottom surface of a rear auxiliary balance assembly 5 of the whole machine is downwards rotated to be parallel to the inclined plane of the step section under the identification of reference object information in a frame image of a high-definition camera and the feedback control of a corner sensor from the angle close to 90 degrees during turning; the front auxiliary balance driving motor 506 drives the front auxiliary balance track frame 503 of the whole machine to rotate downwards, so that the downward rotation angle of the front auxiliary balance assembly approaches or reaches the maximum preset angle (for example, minus 95 degrees) in the downstairs process, the front end of the track frame main body 101 is lifted, the bottom surface of the track 104 is parallel to the inclined plane of the stair of the section, and the front end of the track frame main body 101 is not excessively lifted; meanwhile, the rear auxiliary balancing component rotates upwards, and the bottom surface of the rear auxiliary balancing component is kept parallel to the inclined surface of the step section in the lifting process of the front end of the whole machine; 7) The whole machine slowly runs backwards, the front auxiliary balance crawler frame 503 rotates upwards at a speed matched with the speed of the slow running of the whole machine backwards (the matched speed of the front auxiliary balance crawler frame and the rear auxiliary balance crawler frame is determined by calculation and experiments), the bottom surface of the crawler 104 is ensured to be continuously parallel to the inclined plane of the stair of the section, and the gravity center of the whole machine moves to be close to and cross the edge of the first descending step from the plane of the platform of the corridor; during the whole downstairs process, the auxiliary push rod 208 and/or the balance push rod 205 push the rear part of the top cover 401, and timely adjust according to feedback information of two angle sensors which are mutually complemented and referred, so that the main body of the loading platform is continuously kept horizontal; 8) the first and second motors drive the whole machine to continue to operate backwards, and the front auxiliary balance track frame 503 continues to rotate upwards, and through the signal fluctuation curve of the rear ranging sensor 304, the track operating speed, the operating time and the image data pattern recognition of the rear high-definition camera 305, it is comprehensively confirmed that when the front end of the track 104 also reaches the first descending step edge and the center of gravity of the whole machine has fallen on the slope of the stairs, the front auxiliary balance assembly also rotates upwards to reach the preset inclination angle at which the bottom surface of the front auxiliary balance assembly is parallel to the bottom surface of the main track, and meanwhile, the balance push rod 205 pushes the rear part of the top cover 401 to keep the main body of the cargo platform continuously in a horizontal state, so as to complete the third balance module, that is: controlling the downward transition process of moving the gravity center of the whole machine from the platform plane at the upper part of the corridor to the middle upper part of the inclined plane of the stair; 9) when the information that rear high definition digtal camera image data discernment obtained points out the master controller: when the roller 502 of the rear auxiliary balance bracket 501 or the front end of the crawler 504 of the rear auxiliary balance crawler frame 503 has passed over the edge of the lowest step of the current stair section, the whole machine enters a fourth balance module: controlling the downward transition process that the gravity center of the complete machine moves from the middle lower part of the inclined plane of the stair to the plane of the platform at the lower part of the corridor; the rear auxiliary balance bracket 501 or the rear auxiliary balance crawler frame 503 rotates upwards and is matched with the backward running speed of the whole machine, so that the front end of the roller 502 of the rear auxiliary balance bracket 501 or the front end of the crawler 504 of the rear auxiliary balance crawler frame 503 contacts with or is close to the lower platform plane parallel to the lowest step plane of the stair section and continues to move backwards approximately horizontally without influencing the parallel contact between the bottom surface of the crawler 104 of the whole machine and the slope of the stair section; when the information prompt (such as two-dimensional code information attached to the handrail track or the wall of the corridor) obtained by image recognition of the rear or side high-definition camera or the signal curve of the rear-end distance measuring sensor stops periodic fluctuation and is kept smaller than the 6 th threshold value, the rear end of the bottom surface of the crawler 104 runs on the plane of the platform at the lower part of the corridor; 10) the first motor and the second motor drive the whole machine to continuously run backwards, the running speed of the rear auxiliary balance driving motor 506 is adjusted, and the rear auxiliary balance bracket 501 or the rear auxiliary balance crawler frame 503 is enabled to upwards rotate to a position close to 90 degrees so as to avoid touching the corridor wall on the platform at the lower part of the corridor, especially reduce the occupation of the plane space of the whole machine when the whole machine turns and runs to the next corridor section and avoid touching the corridor wall on the platform at the lower part of the corridor section; the front auxiliary balance crawler frame 503 is rotated upwards in a way of matching with the backward and downward running speed of the whole machine, so that the bottom surface of the front auxiliary balance crawler 504 is ensured to be in parallel contact with the inclined surface of the corridor, and the bumping of the front part of the whole machine in the process of transition from the elevation angle of the inclined surface of the corridor to the horizontal plane at the bottom of the corridor in the elevation angle of the bottom surface of the crawler 104 is reduced; meanwhile, the auxiliary push rod 208 and the balance push rod 205 push the rear part of the top cover 401 to keep the loading platform body horizontal; 11) when the top cover 401 of the loading platform main body is supported by the auxiliary push rod 208 and is recovered to be near the lower limit of the weight measurement supporting area, the loading platform is parallel to the current corridor platform plane, the bottom surface of the crawler 104 of the crawler frame main body also completely falls on the corridor platform plane, and the fourth balance module is completed, namely: controlling the downward transition process that the gravity center of the complete machine moves from the middle lower part of the inclined plane of the stair to the platform plane at the lower part of the corridor at the section; 12) if the user does not reach the target floor, the whole machine judges whether turning is needed or not according to signals of the high-definition camera and the ranging sensor and by combining preset program parameters; if turning is needed, the front auxiliary balance assembly 5 and the rear auxiliary balance assembly 5 are rotated upwards to form a proper angle between 20 degrees and 90 degrees with the bottom surface of the crawler 104, for example, an angle of 80 degrees, so that the vertical projection area of the whole machine is reduced, and the whole machine can be conveniently turned in a narrow space of a corridor to be aligned to the next step; repeating the steps 4 to 12, and continuing the process of going downstairs; ending when the target is reached; 13) and (4) ending: if the user arrives at the target floor, the whole machine adjusts the angle states of the front auxiliary balance crawler frame 503 and the rear auxiliary balance bracket 501 according to the current environment condition, so that the whole machine returns to the loading and unloading ready state, the controller 308 sends out voice and character reminding, the user unloads the safety belt, the wheelchair can leave the whole machine when directly driving forwards or backwards, and then the use process of the whole machine is confirmed to be completed on the controller 308; the whole machine confirms that no load exists on the whole machine and a user leaves the whole machine according to signals of front, back, left and right high-definition cameras and a distance measuring sensor and signals of a pressure sensor, and uploads information to an operation management server; then the whole machine enters a power-saving dormant or idle standby state; or according to the charging requirement of the power supply assembly with insufficient battery capacity, the whole machine is operated to reach a charging position, the charging plug 601 of the whole machine is butted with the matched charging socket 603, and the charging state is entered; 14) the operation management server side carries out exchange resource transfer for the complete machine user and the operation manager and/or the user in the current process according to the agreement approved by the two parties in advance and the confirmation of the user to the complete machine use process.

The preferred scheme of this embodiment is characterized by: the crawler-type front auxiliary balance assembly 5 is characterized in that a left driving wheel and a right driving wheel of the auxiliary balance crawler frame are coaxially linked with a driving wheel or a driven wheel in the main body crawler assembly respectively, and the outer diameters of the left driving wheel and the right driving wheel are the same; the lower part of a smooth auxiliary balance bracket 501 of the smooth rear auxiliary balance assembly 5 is on the same straight line with the ground contact surface of the front end roller 502, the rear end of the smooth auxiliary balance bracket 501 is mounted at the rear end of the track frame 101 of the track assembly and is used as a support shaft of the smooth rear auxiliary balance assembly 5, and the auxiliary balance driving motor 506 and the auxiliary balance driving speed reducer 507 drive the auxiliary balance bracket 501 of the rear auxiliary balance assembly 5 to rotate around the support shaft at the rear end of the track frame.

To clearly indicate the meaning and relative size of the various thresholds, the exemplary list is as above (exemplary value units are: millimeters).

The fully automatic driving type crawler type electric carrying device is characterized in that: the system has the automatic identification capability of corridor and step environments and the accurate positioning function of a 5G base station, namely, the left and right edges of corridor steps in images acquired by at least two front and back high-definition cameras and the plane intersection line of a corridor platform environment space are used as reference objects, the directions of advancing, retreating and turning are automatically identified, and the complete automatic driving of the whole machine can be realized by matching data acquired by a distance measuring sensor, an angle sensor and a corner sensor, so that the initial installation and debugging aiming at specific corridor or step environments are not needed. The preset automatic driving crawler-type electric carrying device is characterized in that: a left guide line and a right guide line or a handrail track are required to be preset in the running environment of the whole machine, and at least one parameter table containing the steps and the transition space or two-dimensional codes containing parameter contents in the parameter table are arranged near the left guide line and the right guide line at the starting position and the stopping position of each step and the turning space; therefore, before the complete machine is used for the first time, the left and right guide lines and the parameter table or the two-dimensional code (refer to fig. 13) which is easily recognized and read by a high-definition camera of the complete machine need to be preset; the parameter table of the step section comprises: the total height, the inclined plane length and the number of steps of the step section; the turning space is summarized as the combination of a big rectangle with a small rectangle subtracted from the middle and a trapezoid with a common bottom edge, and the parameter table comprises: the length and width of the big rectangle and the small rectangle, the height of the trapezoid and the length of the upper edge of the trapezoid are all the same; the complete machine calculates the travel distance, the turning time and the turning angle position of the auxiliary balancing component 5 at each time point in each operation stage according to the parameters read on site.

In the description of the present invention, it is to be understood that the terms "intermediate," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise; the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected or detachably connected or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The emphasis of each embodiment in the present specification is on the difference from the other embodiments, and the same and similar parts between the respective embodiments can be referred to each other. Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in random access memory, read only memory, electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable magnetic disk, a CD-ROM, or any other form of storage medium known in the art.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are only illustrative and not restrictive, for example: the first and second motors and the speed reducer may be two groups of electromagnetic power-off braking motors, or a hydraulic power pump, and are combined with the speed reducer, the angle sensor may be a one-axis two-axis or three-axis angle sensor, such as a gyroscope, and may also be two types of angle sensors with mutually complementary performances, which are respectively connected to the master controller to improve the control accuracy and reliability, the push rod may be an electric push rod, or a hydraulic push rod with hydraulic power provided by an electric hydraulic machine, and those skilled in the art can make many forms without departing from the spirit and the scope of the invention as claimed.

Claims

1. A multi-mode steered tracked electric vehicle comprising: the device comprises a track assembly, a driving mechanism, a control mechanism, a loading platform, an auxiliary balance assembly and a power supply assembly; the crawler assemblies at least comprise a group of main body crawler assemblies, and each main body crawler assembly comprises a main body crawler frame, main driving wheels and main crawlers, wherein the main driving wheels are arranged in parallel left and right; the driving mechanism is arranged in a cavity in the middle of the crawler belt assembly and is connected with the control mechanism and the crawler belt assembly; the control mechanism comprises a controller and a main controller which are connected with each other, and the main controller is also arranged in the cavity in the middle of the crawler assembly and is connected with the driving mechanism and the loading platform; the carrying platform is arranged above the crawler belt assembly; the auxiliary balance assembly comprises an auxiliary balance bracket and a roller and is positioned at least one end of the crawler assembly; the power supply assembly at least comprises a voltage conversion circuit and is connected with the driving mechanism and the control mechanism; the method is characterized in that:

2. The tracked electric vehicle of claim 1, further characterized by: the carrier platform body includes:

the top cover and the side wings form the main body of the loading platform and are fixedly connected with each other or can be connected in a folding way and/or can be connected in a dismounting way; the side wings are positioned on two sides of the top cover and are lower than the top cover.

3. A tracked electric vehicle according to claim 1 or claim 2, further characterized by: the auxiliary balancing assembly comprises a front end auxiliary balancing assembly and a rear end auxiliary balancing assembly; the rear end of the front end auxiliary balance assembly is mounted at the front end of the crawler frame of the crawler assembly, and the rear end of the rear end auxiliary balance assembly is mounted at the rear end of the crawler frame of the crawler assembly and is respectively in power connection with the auxiliary balance driving assemblies.

4. A tracked electric vehicle according to any one of claims 1 to 3, further characterized by: the auxiliary balancing assembly is further characterized by: the auxiliary balance assembly is a group of controlled folding crawler frames and driving wheels, driven wheels and crawler belts which are arranged in parallel left and right; the auxiliary balance bracket and the roller of the auxiliary balance assembly are arranged in the auxiliary balance bracket, and the controlled folding crawler frame is used for adjusting the included angle between the controlled folding crawler frame and the crawler frame in the crawler assembly; the driving wheel of the controlled folding crawler frame is coaxially linked with the driving wheel or the driven wheel in the main body crawler assembly, and the outer diameters of the driving wheel and the driven wheel are the same; the auxiliary balance driving assembly comprises at least one group of third motor and third speed reducer or push rod; the controlled folding is that: the control mechanism of the crawler-type electric carrying device controls at least one group of third motors and third speed reducers or push rods of the driving mechanism, which are in transmission connection with the driving wheels of the controlled folding crawler frame, according to signals of an angle sensor and/or a rotation angle sensor and/or a distance measuring sensor and/or a camera and/or a preset control program, so as to drive the controlled folding crawler frame to rotate to a necessary angle around the crawler frame shaft, and realize auxiliary balance in the running process of the crawler-type electric carrying device; the push rod is hinged with a track frame and an auxiliary balance bracket of the track assembly respectively;

5. A tracked electric vehicle according to any one of claims 1 to 5, further characterized by: the carrier platform further comprises:

and/or a stop at the front of the subject platform body; the stopper is detachably connected with the carrying platform or is connected with the carrying platform in a foldable manner through a hinge;

6. A tracked electric vehicle according to any one of claims 1 to 5, further characterized by: the sensor of the control mechanism is further characterized by: the range finding sensor can be high definition digtal camera, laser rangefinder sensor, supersound rangefinder sensor, laser rangefinder radar, and/or the sensor still includes: at least two pressure sensors, and/or at least one rotation angle sensor, and/or at least one track tension monitor, and/or at least one positioning module;

7. A tracked electric vehicle according to any one of claims 1 to 6, further characterized by: the controller of the control mechanism is a wired and/or wireless special controller and/or an intelligent mobile communication terminal provided with an electric carrying application program; the wired and/or wireless dedicated controller comprises: the system comprises a complete machine and environment state display module, a target floor input module, a manual control rocker and an emergency stop/start module;

8. A method for controlling the operation of a tracked electric vehicle as claimed in any one of claims 1 to 7, characterized by essentially comprising the steps of:

4) going up and down stairs: if the ladder needs to be lifted up and down or still on the ladder, driving the corresponding auxiliary balance support or auxiliary balance crawler frame to rotate to an angle matched with the plane of the ladder slope and the platform in the position environment of the ladder where the complete machine is located currently according to the image identification information of the camera and/or the signals of the distance measuring sensor, and accordingly controlling the complete machine to keep stable balance in the processes of lifting up and down the ladder; the driving mechanism continuously ensures that the whole machine turns in time at proper speed and correct running direction in the processes of going up and down stairs; an auxiliary push rod or a carrying platform balance push rod is driven according to an angle sensor signal to adjust an included angle between the carrying platform main body and a crawler frame of the crawler assembly in time, and the horizontal angle of the carrying platform main body in the process that the whole machine goes up and down stairs is ensured;

5) and (4) ending: the main controller judges whether the whole machine reaches a target specified by the controller instruction or not according to the camera image identification information and the comprehensive calculation; if the wheelchair reaches the target, the auxiliary balance assembly is leveled, and the main body of the loading platform is put down, so that the side wings of the loading platform are close to the plane where the whole wheelchair is located as much as possible, and a user can conveniently pull out the wheelchair from the whole wheelchair or unload a load; then, entering an ending, dormant or idle state; if the target is not reached, returning to the step 3 to continue the process.

9. The method of automated driving of a tracked electric vehicle of claim 8, further characterized by:

the step of going downstairs in the step of' going upstairs and downstairs comprises the following steps:

10. The method of automated driving of a tracked electric vehicle of claim 8, further characterized by:

the step of going upstairs in the step of 'going upstairs and downstairs running' comprises the following steps:

11. An obstacle avoidance control method applied to a traveling process of a crawler-type electric vehicle according to any one of claims 1 to 7, characterized in that: the method comprises the following steps: 1) establishing a road condition database of the obstacle clearing state: after ensuring that a specific overall machine traveling path keeps a barrier clearing state, entering a mode of establishing a barrier clearing state road condition database, running back and forth along the traveling path, and respectively storing uplink and downlink barrier clearing state road condition databases, for example, respectively storing barrier clearing state road condition data in the processes of going upstairs and going downstairs into respective databases; the obstacle clearance state road condition data comprises reference object data which are identified by a high-definition camera and correspond to each current position data in the advancing process, such as data of a wall of a step window; 2) Real-time road condition identification and obstacle avoidance processing: and the whole machine which completes the establishment of the database compares the real-time road condition identification data of the high-definition camera with the road condition data of the obstacle clearing state of the current position in the database in the advancing process of opening the obstacle avoiding function, and stops advancing to give a reminding prompt or execute a preset obstacle avoiding scheme if the obvious difference is caused by the shielding.