Building climbing method and device capable of automatically adjusting and steering

Abstract

The invention discloses a building climbing method and a device for automatically adjusting and steering and applied to a crawler type building climbing vehicle, which can automatically judge whethera deviation occurs in the forward direction and automatically or manually adjust the steering during the traveling process. Includes a central control means for judging whether the control message from the front-end operating means includes an emergency stop command or not; If it is determined that the control message includes an emergency stop command, stopping the operation of the left motor andthe right motor; If it is determined that the control message does not include an emergency stop command, the left motor and / or the right motor are driven to perform an operation according to the control message, and the central control means judges whether the first driving current input to the left motor is overloaded according to the feedback of the first driving current detecting means and judges whether the second driving current input to the right motor is overloaded according to the feedback of the second driving current detecting means, If none of the motors is overloaded, the left motor and / or the right motor are continuously driven to perform operation, and if the motors are overloaded, the first driving current and / or the second driving current are adjusted by pulse width modulation, higher stability factor and safer driving.

Description

technical field [0001] The invention relates to the field of stair climbing vehicles, in particular to a stair climbing method and device capable of automatically adjusting steering. Background technique [0002] Stair climbing equipment can be roughly divided into the following two categories according to their different functions: the first type is mainly used for stair climbing wheelchairs for assisting disabled people to go up and down stairs; the second type is mainly used for stair climbing and carrying goods in the stairwell car. At present, the stair-climbing equipment at home and abroad can be mainly divided into the following three types according to the stair-climbing method: star wheel type, foot type and crawler type. [0003] Star-wheel type: The most common electric stair climbing vehicle on the market uses wheel sets, mainly including three-wheel sets, four-wheel sets, five-wheel sets and multi-wheel sets. The stair-climbing mechanism of the star-wheel type...

AI Technical Summary

Problems solved by technology

[0006] At present, in the crawler-type stair climbing equipment in the prior art, other open-loop control methods such as mechanical switch control or simple relay logic gate circuit control are used to control the upstairs or downstairs of the stair climbing equipment, and its safety factor is low. There are high circuit safety risks in the environment. With the advancement of science and technology, people's daily life is becoming more and more intelligent. If intelligent control technology can be applied to stair climbing vehicles, it will help the disabled and other people to a large extent. It is more convenient for staff who need to use stair climbing equipment to carry people, wheelchairs, and cargo to climb stairs

[0007] Moreover, the crawler-type stair-climbing equipment can only move forward (downstairs) and backward (upstairs) due to its single control mode. However, in actual operation, the crawler-type stair-climbing equipment will inevitably deviate during the climbing In other cases, the reason may be the structural problem of the stairs itself, or the operator's operation problem, or the center of gravity of the occupant is shifted, etc.

However, conventional stair climbing equipment cannot solve this problem by itself, and can only rely on the operator to control the direction manually. The crawler stair climbing equipment is relatively heavy, and it is neither convenient nor safe to operate manually. Therefore, combined with the control chip It is also the focus of the present invention to eliminate potential safety hazards such as deviation correction

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