Wheel capable of climbing stairs and vehicle capable of climbing stairs

Abstract

The present invention discloses a wheel capable of climbing stairs, wherein the wheel is provided with a support rod which rotates synchronously with the wheel and can be switched between a supporting state and a non-supporting state, wherein the support rod protrudes out of the outer edge of the wheel in the supporting state, and the support rod does not protrude out of the outer edge of the wheel in the non-supporting state. The wheel capable of climbing stairs of the present invention is provided with a support rod which rotates synchronously with the wheel. When the support rod protrudes out of the outer edge of the wheel, the support rod is in a supporting state relative to the wheel, and when the support rod rotates with the wheel and abuts against the surface of the upper stair, the wheel uses the supporting end of the support rod as a rotation fulcrum, which is convenient for the wheel to run on the stairs; when the support rod does not protrude out of the outer edge of the wheel, the support rod is in a non-supporting state relative to the wheel, the wheel contacts the road surface, and the wheel uses the wheel axle as a rotation fulcrum, which is conducive to the stable operation of the wheel on the road surface. The wheel capable of climbing stairs has a simple structure and reliable operation.

Description

Technical Field

[0001] The invention relates to a vehicle, in particular to a wheel capable of climbing stairs and a vehicle capable of climbing stairs. Background Art

[0002] The existing wheels are round, which is conducive to rolling on the road surface, but the wheels are not suitable for the operation environment of stairs or steps. Similarly, vehicles equipped with the round wheels, such as wheelchairs, shopping carts, carts, baby strollers or luggage, are also inconvenient to operate on stairs or steps.

[0003] At present, a planetary wheel (stair climbing wheel) in the shape of an equilateral triangle is launched on the market. This wheel can run on stairs or steps, effectively solving the problem of vehicles climbing stairs, but it has the following problems: poor stability and large impact force. In addition, when a vehicle equipped with this planetary wheel moves on a bumpy road, the three rollers of the planetary wheel are prone to alternately contact the road surface around the rotating shaft, causing the vehicle body to bump up and down, unstable operation, poor user experience, and its operating performance is not as good as that of ordinary round wheels.

[0004] In order to enable the wheel to run stably on the road surface as well as on stairs or steps, the existing round wheels need to be innovated. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a wheel which can stably run on the road surface and climb stairs.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a wheel that can climb stairs, wherein the wheel is provided with a support rod that rotates synchronously with the wheel and can be switched between a supporting state and a non-supporting state, wherein the support rod protrudes out of the outer edge of the wheel in the supporting state, and the support rod does not protrude out of the outer edge of the wheel in the non-supporting state.

[0007] Compared with the prior art, the present invention has the following beneficial effects: the wheel capable of climbing stairs of the present invention is provided with a support rod, which rotates synchronously with the wheel. When the support rod protrudes out of the outer edge of the wheel, the support rod is in a supporting state relative to the wheel, and when the support rod rotates with the wheel and abuts against the surface of the upper stair, the wheel uses the supporting end of the support rod as a rotation fulcrum, which is convenient for the wheel to run on the stairs; when the support rod does not protrude out of the outer edge of the wheel, the support rod is in a non-supporting state relative to the wheel, the wheel contacts the road surface, and the wheel uses the wheel axle as a rotation fulcrum, which is conducive to the stable operation of the wheel on the road surface. The wheel capable of climbing stairs has a simple structure and reliable operation.

[0008] Preferably, the number of the support rods is at least two and they are evenly distributed on the wheel.

[0009] Preferably, the wheel is provided with an end cover, the support rod is rotatably connected to the end cover of the wheel through a pin shaft, and the end cover is provided with a first limiting hole and a second limiting hole; the support rod includes a fixed end and a supporting end respectively located on both sides of the pin shaft, and an elastic telescopic pin is installed at the fixed end of the support rod; the elastic telescopic pin rotates around the pin shaft together with the support rod, and can be positioned in the first limiting hole or the second limiting hole, when the elastic telescopic pin rotates around the pin shaft and is positioned in the first limiting hole, the supporting end of the support rod rotates to the outside of the outer edge of the wheel; when the elastic telescopic pin rotates around the pin shaft and is positioned in the second limiting hole, the supporting end of the support rod rotates to the inside of the outer edge of the wheel.

[0010] Preferably, the wheel is provided with an end cover, and the support rod is telescopically connected to the end cover of the wheel through a crank slider mechanism; the crank slider mechanism includes a crank, a connecting rod hinged to the crank, and a slider hinged to the connecting rod, and the support rod is fixedly connected to the slider and can move along the guide rail.

[0011] The present invention also provides a vehicle capable of climbing stairs, comprising a frame and a first wheel mounted on the frame, wherein the first wheel is the wheel described above.

[0012] Preferably, the vehicle is a trolley, a retractable pull rod is provided at the first end of the frame, and the first wheel is mounted on the second end of the frame; there are two first wheels, which are mounted on the frame opposite to each other.

[0013] Preferably, the wheel is a hub motor wheel, and a power supply and an operation control device are installed on the frame.

[0014] Preferably, the frame is mounted with a second wheel via a folding mechanism.

[0015] Preferably, it also includes a camera module, an image processing module, and a control module. The camera module is used to collect real-time image information of the target object and send it to the image processing module. The image processing module signal is connected to the control module. The control module controls the rotation of the two hub motor wheels according to the image recognition information of the image processing module.

[0016] Preferably, it also includes a signal tag, a receiver, and a microprocessor. The signal tag is worn on the user's body and sends a signal. The receiver is installed on the frame and transmits the signal sent by the signal tag to the microprocessor. The microprocessor calculates and processes the signal and controls the rotation of the two hub motor wheels according to the signal processing information. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional schematic diagram of the wheel capable of climbing stairs of the present invention;

[0018] Figure 2It is a schematic diagram of the connection between the support rod of the present invention and the wheel;

[0019] Figure 3 It is a schematic diagram of the wheels capable of climbing stairs of the present invention being in a supporting state;

[0020] Figure 4 It is a schematic diagram of the wheels capable of climbing stairs of the present invention being in a non-supporting state;

[0021] Figure 5 It is a schematic diagram of another embodiment of the present invention in which the wheels capable of climbing stairs are in a supporting state;

[0022] Figure 6 is a schematic diagram of another embodiment of the present invention in which the wheels capable of climbing stairs are in a non-supporting state;

[0023] Figure 7a-7c A schematic diagram of the stair climbing process of a wheel capable of climbing stairs using two support rods;

[0024] Figure 8 A schematic diagram of the structure of a wheel capable of climbing stairs using three support rods;

[0025] Fig. 9 It is a three-dimensional schematic diagram of the stair-climbing trolley of the present invention;

[0026] Fig.10 It is a schematic diagram of the connection between the first wheel, the storage plate and the column in the present invention;

[0027] Fig.11 It is a three-dimensional schematic diagram of the stair-climbing trolley of the present invention in a folded state;

[0028] Figure 12a-Figure 12c A schematic diagram of the stair climbing process of the stair-climbing trolley of the present invention;

[0029] Fig.13 It is a schematic diagram of the stair-climbing trolley of the present invention in an unfolded state;

[0030] Fig.14 It is a schematic diagram of the connection between the folding mechanism and the frame of the present invention. In the figure, when the elastic telescopic pin 53 is positioned in the second positioning hole 55, the second wheel 42 is in the first unfolded state relative to the frame 3. DETAILED DESCRIPTION

[0031] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, but the scope of protection of the present invention is not limited. It should be noted that the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "upper", "lower", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. The terms "first" and "second" are only used to simplify the textual description to distinguish similar objects, and cannot be understood as a sequence relationship between specific orders.

[0032] See also Figure 1 and Figure 2 The present embodiment provides a wheel 1 capable of climbing stairs, and the wheel 1 can be improved in structure on the basis of a circular wheel in the prior art. The wheel 1 is provided with a support rod 2 which rotates synchronously with the wheel and can be switched between a supporting state and a non-supporting state. When the support rod 2 protrudes out of the outer edge of the wheel 1, the support rod 2 is in a supporting state relative to the wheel 1. When the support rod 2 rotates with the wheel 1 and abuts against the surface of the upper stair, the wheel 1 uses the support end 22 of the support rod 2 as a rotation fulcrum, which is convenient for the wheel 1 to run on the stairs; when the support rod 2 does not protrude out of the outer edge of the wheel 1, the support rod 2 is in a non-supporting state relative to the wheel 1, the outer edge of the wheel contacts the road surface, and the wheel 1 uses the wheel axle as a rotation fulcrum, which is conducive to the stable operation of the wheel 1 on the road surface. The wheel 1 capable of climbing stairs has a simple structure and reliable operation.

[0033] In this embodiment, the wheel 1 is provided with an end cover 11, and the support rod 2 is rotatably connected to the end cover 11 of the wheel 1 through a pin shaft 14, and the end cover 11 is provided with a first limiting hole 12 and a second limiting hole 13. The support rod 2 includes a fixed end 21 and a support end 22 respectively located on both sides of the pin shaft 14, and an elastic telescopic pin 23 is installed on the fixed end 21 of the support rod 2. The elastic telescopic pin 23 includes a handle end, a positioning end and a telescopic spring. The user manually applies force to pull the handle end of the elastic telescopic pin 23, so that the positioning end of the elastic telescopic pin 23 can be separated from the limiting hole of the end cover 11; when the user releases the handle end, the positioning end is positioned in the limiting hole of the end cover 11 through the extension force of the telescopic spring. The elastic telescopic pin 23 rotates around the pin shaft 14 together with the support rod 2, and can be positioned in the first limiting hole 12 or the second limiting hole 13. When the elastic telescopic pin 23 rotates around the pin shaft 14 and is positioned in the first limiting hole 12, the support end 22 of the support rod 2 rotates to the outside of the outer edge of the wheel (such as Figure 3 As shown in FIG. 1 , the support rod 2 is in a supporting state. When the elastic telescopic pin 23 rotates around the pin shaft 14 and is positioned in the second limiting hole 13, the supporting end 22 of the support rod 2 rotates to the inner side of the outer edge of the wheel (as shown in FIG. Figure 4As shown in the figure, the support rod 2 is in a non-supporting state. The support rod 2 is switched between the supporting state and the non-supporting state by the user manually adjusting the elastic telescopic pin 23.

[0034] See also Figure 5 and Figure 6 In another embodiment, the wheel 1 is provided with an end cover 11, and the support rod 2 is telescopically connected to the end cover 11 of the wheel 1 through a crank slider mechanism. The crank slider mechanism includes a crank 24, a connecting rod 25 hinged to the crank 24, and a slider 26 hinged to the connecting rod 25. The support rod 2 includes a fixed end 21 and a supporting end 22. The fixed end 21 of the support rod 2 is fixedly connected to the slider 26, so that the support rod 2 can move along the guide rail 27 with the slider 26. The crank 24 is connected to the output shaft of the motor (not shown in the figure), and by controlling the forward and reverse rotation of the motor, the support end 22 of the support rod 2 can be extended or retracted to the outer edge of the wheel 1. When the motor rotates forward, the support end 22 of the support rod 2 slides along the guide rail 27 and protrudes out of the outer edge of the wheel 1 (such as Figure 5 When the motor is reversed, the support end 22 of the support rod 2 slides along the guide rail 27 and shrinks to the outer edge of the wheel 1 (as shown in FIG. 1 ). Figure 6 As shown in the figure, the support rod 2 is in a non-supporting state. The support rod 2 is switched between the supporting state and the non-supporting state by the user controlling the motor to rotate. Of course, the user can also manually rotate the crank to switch the support rod 2 between the supporting state and the non-supporting state.

[0035] In this embodiment, the diameter of the wheel, the number of support rods 2 used, and the length of the support rods protruding from the outer edge of the wheel can be calculated according to the size of the step height H and the step surface D of the stairs. Figure 7a As shown in the figure, there are two support rods 2, which are evenly distributed on the wheel 1, and the wheel diameter: step surface = 1.1-1.2:1, and the length of the support rod protruding from the outer edge of the wheel: step height = 0.18-0.19:1, which can ensure that the wheel 1 can climb to the next step by turning 180 degrees. When step height: step surface = 1:1.2-1.5 (such as Figure 8 As shown in the figure, there are three support rods 2, which are evenly distributed on the wheel 1, with a wheel diameter: step surface = 1.5-1.6:1, and a length of the support rod 2 protruding from the outer edge of the wheel 1: step height = 0.05-0.15:1, which can ensure that the wheel 1 can climb to the next step after turning 120 degrees. When step height: step surface = 1:3-4, there is one support rod 2, which can ensure that the wheel 1 can climb to the next step after turning one circle. The support end 22 of the support rod 2 is equipped with a rubber block, which can achieve the buffering of the wheel 1 to the contact surface and prevent the support end 22 from damaging the contact surface.

[0036] See also Figures 7a to 7cIn this embodiment, when the support rod 2 is in the supporting state, the wheel 1 is close to the lowest staircase, and the support end 22 of the support rod 2 is against the surface of the upper staircase. The wheel 1 uses the support end 22 of the support rod 2 as a rotation fulcrum to achieve the wheel 1 climbing to the upper staircase. The structure is simple and can quickly climb stairs. Of course, in order for the wheel 1 to be adapted to stairs of other sizes, the support end 22 of the support rod 2 can be set to be retractable to lengthen or shorten the length protruding from the outer edge of the wheel.

[0037] The present invention also provides a stair-climbing vehicle using the above-mentioned wheel 1, wherein the stair-climbing wheel 1 is mounted on a vehicle frame. The vehicle may be a wheelchair, a shopping cart, a handcart, a child stroller or a suitcase. The stair-climbing vehicle can run on stairs or steps when the support rod 2 is in a supporting state, and can also run on the road surface when the support rod 2 is in a non-supporting state.

[0038] See also Fig. 9 and Fig.10 In this embodiment, the vehicle that can climb stairs is a trolley, which is conducive to the trolley carrying goods on the stairs and saves the user's physical strength. The trolley includes a pull rod 31 that is telescopically connected to the first end of the frame 3, a first wheel 41 installed at the second end of the frame 3, and a storage plate 32 installed at the second end of the frame 3 for carrying goods. The first wheel 41 is the above-mentioned wheel 1 that can climb stairs. The number of the first wheels 41 is two, and they are relatively installed on the frame 3 to improve the stability of the vehicle body. The frame 3 is provided with two oppositely arranged columns 33, and a hollow through-portion is formed between the two columns 33. The two rotating seats 34 of the storage plate 32 are respectively hinged to the two columns 33 through a pin 35. Each first wheel 41 is connected to the column 33 through a wheel fork 43. An angle torsion device 36 is sleeved on the column 33, and the wheel fork 43 is fixedly connected to the angle torsion device 36. Each first wheel 41 is rotatably connected to the column 33 through the angle torsion device 36. The two first wheels 41 can be accommodated in the through-portion between the two upright posts 33 to reduce the volume when folded.

[0039] See also Fig.10 and Fig.11In this embodiment, the rotating seat 34 of the storage plate 32 is provided with a limiting groove 37 for fixing the rotation angle of the first wheel 41 in the working state, and the angle twisting device 36 is provided with a positioning block 38 clamped in the limiting groove 37. When the user twists the storage plate 32 to fold it, the positioning block 38 is separated from the limiting groove 37, and the torsion spring in the angle twisting device 36 causes the first wheel 41 to rotate relative to the column 33 and rotate to the through-portion between the two columns 33. The storage plate 32 is foldably connected to the frame 3. The storage plate 32 is provided with an avoidance notch 39 for accommodating the wheel fork 43, which is conducive to the folding of the first wheel 41 between the two columns 33. The folding volume of the cart in the idle state is further reduced, and it is conducive to reducing the storage space. On the contrary, when the user reversely twists the storage plate 32 to unfold it, the torsion spring in the angle twisting device 36 causes the first wheel 41 to rotate in the opposite direction relative to the column 33 and perpendicular to the frame 3. When the positioning block 38 is clamped in the limiting groove 37, the trolley can be unfolded.

[0040] See also Figures 12a to 12c In this embodiment, when the user pulls the trolley upstairs, the two first wheels 41 are close to the lowest staircase. The user manually adjusts the state of the support rod 2 so that the support rod 2 is in a supporting state. The user is on a higher staircase relative to the first wheel 41. The user pulls the pull rod 31 so that the support end 22 of the support rod 2 is against the surface of the upper staircase. The user applies a large force so that the first wheel 41 uses the support end 22 of the support rod 2 as a rotation fulcrum, so that the first wheel 41 climbs to the upper staircase. Repeating the operation multiple times can enable the trolley to climb to the upper floor. When the trolley reaches the corresponding target floor, the user adjusts the support rod 2 to a non-supporting state, and pulls the trolley pull rod 31 to stably run on the road surface.

[0041] When the user pulls the trolley downstairs, the support rod 2 is first adjusted to the supporting state. The user is on a higher staircase relative to the first wheel 41, and slightly pushes and pulls the trolley to the lowest staircase by coordinating the trolley's own gravity and flipping the support rod 2. The user controls the tilting direction of the trolley during the descent to prevent the trolley from tipping over. When the trolley reaches the target road surface, the user adjusts the support rod 2 to the non-supporting state and pulls or pushes the trolley pull rod 31 to move on the road surface.

[0042] See again Fig. 9 In this embodiment, the first wheel 41 of the trolley is a powered wheel, such as a wheel hub motor wheel. A power supply 39 and an operation control device (not shown in the figure) are installed on the frame 3. The operation control device is installed on the pull rod 31 and is connected to the wheel hub motor wheel by signal. The power supply 39 can provide working power to the two wheel hub motor wheels, and the user can realize the rotation of the two wheel hub motor wheels by operating the operation control device. This is beneficial to saving the user's physical strength, especially convenient for the trolley to run on stairs.

[0043] See also Fig.13 and Fig.14 In this embodiment, a second wheel 42 is mounted on the frame 3, and the number of the second wheels 42 is two. The second wheel 42 is a universal wheel. The second wheel 42 is connected to the frame 3 through a folding mechanism 5. The folding mechanism 5 includes a fixed seat 51 fixedly connected to the frame 3 and a top rod 52 hinged to the fixed seat 51. The second wheel 42 is connected to the bottom end of the top rod 52. The fixed seat 51 is provided with three positioning holes for limiting the rotation angle of the top rod 52 relative to the fixed seat 51, and the top rod 52 is provided with an elastic telescopic pin 53 for positioning in the positioning hole. The setting position of each positioning hole corresponds to the rotation angle of the top rod 52 relative to the fixed seat 51. The user manually adjusts the elastic telescopic pin 53 to realize the state of the second wheel 42 being unfolded or folded relative to the frame 3. Among them, when the elastic telescopic pin 53 is positioned at the first positioning hole 54, the second wheel 42 is in a folded state relative to the frame 3; when the elastic telescopic pin 53 is positioned at the second positioning hole 55, the second wheel 42 is in a first unfolded state relative to the frame 3; when the elastic telescopic pin 53 is positioned at the third positioning hole 56, the second wheel 42 is in a second unfolded state relative to the frame 3. Both the first unfolded state and the second unfolded state can make the frame 3 tilted to the road surface, and the tilt angle of the frame 3 in the second unfolded state is greater than the tilt angle of the frame 3 in the first unfolded state, which is conducive to users of different heights using the trolley. The two second wheels 42 are in a folded state to facilitate the trolley to run on the stairs, prevent the second wheels 42 from bumping against the stairs, or save storage space when the trolley is stored. In the unfolded state, the two second wheels 42 can cooperate with the two first wheels 41 to jointly bear the gravity of the frame 3 and the goods, so that when the user pulls or pushes the trolley to run on the road surface, the user's physical exertion is reduced. Of course, when the trolley is running on the road, the two second wheels 42 can also be in a folded state, which mainly depends on the user's needs, such as when the trolley is in an empty state or the cargo is light.

[0044] In this embodiment, the trolley also includes a camera module 6, an image processing module, and a control module. The camera module 6 is used to collect real-time image information of the target object and send it to the image processing module. The image processing module signal is connected to the control module. The control module controls the rotation of the two wheel hub motor wheels according to the image recognition information of the image processing module, and the two universal wheels are driven by the rotation of the two wheel hub motor wheels. When the trolley runs on the road, it can follow the user's movement through visual following control, freeing the user's hands; the trolley can be turned when the two wheel hub motor wheels rotate at differential speeds.

[0045] It should be noted that the target object may be a user using a trolley or other mobile device. The other mobile device may be another trolley, so that multiple trolleys can move together with the user in a front-to-back queue.

[0046] The power supply 39 installed on the frame 3 provides working power to the camera module 6, the image processing module and the control module. The camera module 6 is installed on the side of the first end of the frame 3, and the camera module 6 is a camera. The camera module 6 is used to capture image information of the target object when it moves, and send the image information to the image processing module. Of course, the camera module 6 can also be an intelligent terminal device, such as a smart phone, a tablet computer or a camera. A fixing for installing the intelligent terminal device is provided on the frame 3 or the pull rod 31, and the user can install the intelligent terminal device on the fixing. The production cost of the trolley is reduced, and it is convenient for the public to use. The camera module 6 is wired to the control module, and the control module controls the opening and closing of the camera module 6. Compared with wireless connection, wired connection is not affected by the strength of the wireless communication signal, which ensures the reliability of signal transmission and improves the speed of information transmission.

[0047] The image processing module includes a first recognition function module for recognizing the shape information of the target to be followed, and a second recognition function module for recognizing the color information within the shape of the target to be followed. The first recognition function module recognizes the shape information of the target object according to the image information captured by the camera module 6; the second recognition function module is used to recognize the color information within the shape. The first recognition function module and the second recognition function module are distinguished by function, not by physical entity. In other words, the first recognition function module and the second recognition function module can be the same physical entity or two different physical entities.

[0048] Before the trolley starts to follow the target object, the camera module 6 collects the image information of the target object and sends it to the image processing module; the first recognition function module recognizes the shape information of the target object according to the image information captured by the camera module 6, and uses it as the shape reference information; the second recognition function module is used to recognize the color information in the shape, and uses it as the color reference information; when the trolley moves, the camera module 6 collects the shape information and color information of the target object in real time, and sends the shape information collected in real time to the image processing module as the shape comparison information, and sends the color information collected in real time to the image processing module as the color comparison information; the first recognition function module compares the shape comparison information with the shape reference information, and the second recognition function module compares the color comparison information with the color reference information. When the shape information and the color information are consistent, the control module controls the two wheel hub motor wheels to rotate and follow the target object. In this embodiment, the image processing module only recognizes the shape information and the color information in the shape, and does not recognize the background information collected in real time by the camera module 6, and the information that the color in the shape changes with the light, so the time of the recognition operation can be reduced, which is conducive to improving the following sensitivity of the trolley.

[0049] In another embodiment, the trolley further includes a signal tag, a receiver, and a microprocessor. The signal tag is worn on the user's body and sends a signal, and the receiver is mounted on the frame 3 and transmits the received signal sent by the signal tag to the microprocessor. The microprocessor calculates and processes the signal and controls the rotation of the two wheel hub motor wheels according to the signal processing information, and the two universal wheels are driven by the rotation of the two wheel hub motor wheels. When the trolley runs on the road, it can follow the user's movement through ultra-wideband wireless control, freeing the user's hands; the trolley can be turned when the two wheel hub motor wheels rotate at a differential speed.

[0050] It should be noted that: the ultra-wideband wireless control method can assist the above-mentioned visual following control method to jointly realize the movement control of the trolley, thereby improving the operation stability of the trolley during automatic following.

[0051] The power supply 39 installed on the frame 3 provides working power to the microprocessor and the receiver. Specifically, the power supply 39 is converted into 3.3V DC power by a DC voltage regulator through a POE interface to power the microprocessor and other devices. The microprocessor adopts a chip STM32F series with a CortexM3 core, a 32-bit ARM microcontroller. The receiver and the microprocessor use an SPI interface for ultra-wideband wireless signal data communication. In this embodiment, a storage module is also provided, which is connected to the microprocessor through an SPI interface to realize data storage and processing of the system.

[0052] UWB technology is a wireless technology with high transmission rate (up to 1000Mbps), low transmission power, strong penetration ability, and is based on extremely narrow pulses without carrier. It is these advantages that make it obtain more accurate results in the field of indoor positioning. Based on the TDOA ranging positioning algorithm commonly used in UWB positioning algorithms, specifically the arrival time difference algorithm, it is less affected by external factors, has low positioning error, is insensitive to channel fading, has low interception capability, low system complexity, and can provide centimeter-level positioning accuracy. The positioning accuracy reached 1CM during the test. The receiver receives the signal sent by the signal tag through the antenna, processes the arrival time of different signals, generates an arrival time difference data packet, and transmits the data packet to the microprocessor. The microprocessor calculates the location information based on the data in the data packet. The microprocessor can calculate the actual distance value between the cart and the user based on the location information. The storage module stores the distance setting threshold between the cart and the user. The microprocessor compares the actual distance value with the distance setting threshold. When the actual distance value is greater than the distance setting threshold, the microprocessor controls the wheels of the two hub motors to accelerate rotation to reach the distance setting threshold; when the actual distance value is less than the distance setting threshold, the microprocessor controls the wheels of the two hub motors to decelerate rotation to reach the distance setting threshold.

[0053] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention; therefore, although the present invention has been described in detail in this specification with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can still be modified or replaced by equivalents; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A wheel capable of climbing stairs, characterized in that: The wheel is provided with a support rod which rotates synchronously with the wheel and can be switched between a supporting state and a non-supporting state, wherein the support rod protrudes out of the outer edge of the wheel in the supporting state and does not protrude out of the outer edge of the wheel in the non-supporting state; When the step height: step surface of the stairs is 1:1, the number of the support rods is two, the two support rods are evenly distributed on the wheel, the wheel diameter: step surface is 1.1-1.2:1, and the length of the support rod protruding from the outer edge of the wheel: step height is 0.18-0.19:1; When the step height of the stairs: the step surface = 1: 1.2-1.5, the number of the support rods is three, the three support rods are evenly distributed on the wheel, the wheel diameter: the step surface = 1.5-1.6: 1, and the length of the support rod protruding from the outer edge of the wheel: the step height = 0.05-0.15: 1; When the step height: step surface of the stairs = 1:3-4, the number of the supporting rod is one.

2. The stair-climbing wheel according to claim 1, characterized in that: The wheel is provided with an end cover, the support rod is rotatably connected to the end cover of the wheel through a pin shaft, and the end cover is provided with a first limiting hole and a second limiting hole; the support rod comprises a fixed end and a supporting end respectively located on both sides of the pin shaft, and an elastic telescopic pin is installed on the fixed end of the support rod; The elastic telescopic pin rotates around the pin shaft together with the support rod and can be positioned in the first limiting hole or the second limiting hole. When the elastic telescopic pin rotates around the pin shaft and is positioned in the first limiting hole, the supporting end of the support rod rotates to the outside of the outer edge of the wheel; when the elastic telescopic pin rotates around the pin shaft and is positioned in the second limiting hole, the supporting end of the support rod rotates to the inside of the outer edge of the wheel.

3. The wheel capable of climbing stairs according to claim 1, characterized in that: The wheel is provided with an end cover, and the support rod is telescopically connected to the end cover of the wheel through a crank slider mechanism; The crank slider mechanism comprises a crank, a connecting rod hinged to the crank and a slider hinged to the connecting rod, and the support rod is fixedly connected to the slider and can move along the guide rail.

4. A vehicle capable of climbing stairs, characterized in that: The vehicle comprises a frame and a first wheel mounted on the frame, wherein the first wheel is the wheel according to any one of claims 1 to 3.

5. The stair-climbing vehicle according to claim 4, characterized in that: The vehicle is a trolley, a retractable pull rod is provided at the first end of the frame, and the first wheel is installed at the second end of the frame; there are two first wheels, which are installed on the frame opposite to each other.

6. The stair-climbing vehicle according to claim 5, characterized in that: The wheel is a hub motor wheel, and a power source and an operation control device are installed on the frame.

7. The stair-climbing vehicle according to claim 6, characterized in that: The frame is equipped with a second wheel via a folding mechanism.

8. The stair-climbing vehicle according to claim 7, characterized in that: It also includes a camera module, an image processing module, and a control module. The camera module is used to collect real-time image information of the target object and send it to the image processing module. The image processing module signal is connected to the control module. The control module controls the rotation of the two hub motor wheels according to the image recognition information of the image processing module.

9. The stair-climbing vehicle according to claim 7, characterized in that: It also includes a signal tag, a receiver, and a microprocessor. The signal tag is worn on the user's body and sends a signal. The receiver is installed on the frame and transmits the signal sent by the signal tag to the microprocessor. The microprocessor calculates and processes the signal and controls the rotation of the two hub motor wheels according to the signal processing information.

Images