Method and device for climbing stairs with automatic steering adjustment

Abstract

The invention discloses a stair climbing method and device which can automatically adjust steering and is applied to a crawler-type stair climbing vehicle, which can automatically judge whether the forward direction deviates, and automatically or manually adjust the steering during the traveling process. It includes a central control device for judging whether the control message from the front-end operating device includes an emergency stop command; if it is determined that the control message includes an emergency stop command, then stop the left motor and the right motor to perform operations; if it is determined that the control message does not include an emergency stop command, Then drive the left motor and / or the right motor to perform operations according to the control message, and the central control device judges whether the first drive current input to the left motor is overloaded according to the feedback from the first drive current detection device and judges according to the feedback from the second drive current detection device Whether the second drive current input to the right motor is overloaded, if not overloaded, continue to drive the left motor and / or the right motor to perform operations, if overloaded, adjust the first drive current and / or the second drive current by pulse width modulation. The stability coefficient is higher and the driving process is safer.

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 devices can be roughly divided into the following two categories according to their different functions: the first type is mainly used for stair climbing wheelchairs to assist disabled people to go up and down stairs; the second type is mainly used for stair climbing and transporting goods in the stairwell car. At present, stair-climbing devices at home and abroad can be mainly divided into the following three types according to the stair-climbing mode: 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 stair-cli...

AI Technical Summary

Problems solved by technology

[0006] In the crawler type stair climbing device in the prior art at present, 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 device, 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 the climbing device to carry people, wheelchairs, and cargo to climb stairs

[0007] Moreover, the crawler-type stair-climbing device can only move forward (downstairs) and backward (upstairs) due to the single control mode. However, in actual operation, the crawler-type stair-climbing device will inevitably deviate during the climbing process. 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, the conventional stair-climbing device cannot solve this problem by itself, and can only rely on the operator to control the direction manually. The crawler-type stair-climbing device 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

Images