Method and device for climbing stairs with automatic steering adjustment

A stair-climbing device and automatic adjustment technology, applied in two-dimensional position/channel control, motor vehicles, transportation and packaging, etc., can solve the problems of low safety factor, unsafe, inconvenient human operation, etc., and achieve a convenient physical state monitoring, high safety and stability coefficient, and good monitoring reliability

Active Publication Date: 2021-10-08
CHENGDU SHANSHEN TRACK TRAFFIC EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Method and device for climbing stairs with automatic steering adjustment
  • Method and device for climbing stairs with automatic steering adjustment
  • Method and device for climbing stairs with automatic steering adjustment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as figure 1 As shown, a stair-climbing device that can automatically adjust steering includes a loading platform 7, a push rod, a crawler chassis 15, a left motor 131, and a right motor 141. The rear end of the platform and the rear end of the crawler chassis pass through a bearing or a rotating sleeve The tube structure 18 is connected, and wheels 19 are arranged on the left and right sides of the front and rear ends of the chassis 15, and track belts 16 are respectively wound on the left wheel 19 and on the right wheel 19, and the inner teeth of the track belt 16 adopt HTD -M teeth, the left motor 131 drives the left wheel 19 to rotate, and the right motor 141 drives the right wheel to rotate, characterized in that:

[0039] A three-axis sensor is provided on the stair climbing device to detect whether the forward direction of the stair climbing device deviates;

[0040] When an offset is detected, the control device automatically judges the offset direction and o...

Embodiment 2

[0067] According to the technical solution of the present invention, there is also provided a stair climbing method that can automatically adjust the steering, and judge whether the forward direction of the stair climbing device deviates and The degree of deviation; when the deviation is detected, the control device automatically controls the steering and rotation speed of the left motor and / or the right motor according to the direction of deviation and the degree of deviation, so as to realize the steering adjustment in the process of climbing stairs.

[0068] The travel mode of the stair climbing device includes a forward mode, a backward mode, a left-turn mode, and a right-turn mode, wherein the first drive current and the second drive current respectively drive the forward rotation or reverse rotation of the left motor and the right motor, thereby realizing forward rotation , back, turn left or right;

[0069] The first drive current and the second drive current are respec...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/075G05D1/02
CPCB62D55/075G05D1/021
Inventor 武向东刘亚权李仕伟杨泽平龙杨浩鹏王梅徐超
Owner CHENGDU SHANSHEN TRACK TRAFFIC EQUIP CO LTD
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