Climbing device and adaptive method suitable for stepped terrain

Abstract

This invention discloses a climbing device and adaptive method suitable for stepped terrain, comprising a seat assembly forming a support body; a balance adjustment system disposed below the seat assembly, which can be driven to adjust the angle of the seat assembly; a walking drive system equipped with omnidirectional wheels, which cooperates with the seat assembly to drive its movement during use; and a ladder drive system equipped with support rods, which cooperates with the balance adjustment system to drive the seat assembly to complete ladder-climbing movement during use; one of the walking drive system and the ladder drive system is selectively used in conjunction with the seat assembly. This climbing device and adaptive method suitable for stepped terrain can adapt to various terrains, facilitating travel for people with physical disabilities or mobility impairments. In stepped or sloping terrain, the climbing device can first obtain the slope of the stepped or sloping terrain, and then intelligently adjust the horizontal tilt angle of the seat assembly accordingly to prevent tipping during climbing.

Description

Technical Field

[0001] This invention relates to a stair climbing mechanism, and more particularly to a climbing device and adaptive method suitable for stair-type terrain. Background Technology

[0002] With rapid urbanization, elevators are now installed in high-rise buildings and public places to facilitate people's travel. However, some low-rise residential buildings and public places still lack elevators, causing many inconveniences for the elderly and people with disabilities, especially when facing stepped terrain. Although some places have built accessible ramps, these places generally lack them, making it difficult for people to travel. At the same time, existing wheelchairs that can adapt to stepped terrain are generally designed with angle sensors to detect the tilt angle of the wheelchair during the ascent, thereby adjusting the tilt angle of the wheelchair. However, this method poses a risk of the wheelchair tipping over when there is a sudden large angle change during the ascent.

[0003] To address this issue, a climbing device suitable for stepped terrain was designed, which can carry people up the steps to solve the problem of inconvenience for the elderly and people with physical disabilities. At the same time, on stepped or sloping terrain, the slope of the stepped or sloping terrain can be obtained in advance, and then the horizontal tilt angle of the seat component can be intelligently adjusted to prevent tipping during the climbing process. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a climbing device suitable for stepped terrain, which can adapt to stepped terrain and can also travel on flat ground, applicable to various terrains, and beneficial to the travel of people with physical disabilities or the elderly.

[0005] The present invention provides a climbing device suitable for stepped terrain, comprising:

[0006] Seat components form the main support structure;

[0007] A balance adjustment system, located below the seat assembly, can be driven to adjust the angle of the seat assembly;

[0008] The walking drive system is equipped with omnidirectional wheels, which cooperate with the seat assembly and drive the seat assembly to move during use;

[0009] The ladder drive system is equipped with a support rod, which works in conjunction with the balance adjustment system to drive the seat assembly to complete the ladder climbing movement.

[0010] In use, either the walking drive system or the climbing drive system is selected to cooperate with the seat assembly.

[0011] Furthermore, it also includes a terrain detection device, comprising an AI recognition unit and an ultrasonic distance detector. The AI ​​recognition unit is used to acquire graphic information of the steps and its own elevation angle; the ultrasonic distance detector is used to acquire the distance from the AI ​​recognition unit to any step surface.

[0012] Furthermore, the walking drive system includes four walking drive motors, the output shaft of each walking drive motor is connected to a bevel gear, the bevel gear meshes with a transmission gear, and transmits power to the omnidirectional wheel, so that the omnidirectional wheel is driven independently during use.

[0013] Furthermore, the ladder drive system also includes a ladder gear transmission assembly and a ladder drive motor. There are four support rods. The ladder gear transmission assembly includes a drive gear I, a switching gear I, a transmission gear I, and a transmission gear III. The drive gear I is connected to the output shaft of the ladder drive motor. The drive gear I meshes with the switching gear I and the transmission gear I, and transmits power to the transmission gear III and the support rod shaft gear, thereby causing the support rod to perform circular motion and drive the seat assembly to climb.

[0014] Furthermore, the balance adjustment system includes a balance adjustment linkage and a balance adjustment motor. The balance adjustment linkage is located below the seat assembly and can be adjusted by the balance adjustment motor, so that the horizontal tilt angle of the seat assembly is adjustable.

[0015] Furthermore, it also includes a support rod position adjustment device, comprising an adjusting gear transmission assembly and a connecting rod. The adjusting gear transmission assembly includes a drive gear II, a switching gear II, and a transmission gear II. The drive gear II is connected to the output shaft of the ladder drive motor and meshes with the switching gear II and the transmission gear II. The connecting rod is connected to the transmission gear II and the support rod shaft gear, making the position of the support rod adjustable.

[0016] Furthermore, it also includes a walking switching system, including a switching component and a locking component that cooperates with the switching component. The switching component includes a planetary gear, a bevel gear I and a bevel gear II, which are disposed between the driving gear I and the driving gear II, and allow one of the driving gear I and the driving gear II to be driven selectively.

[0017] The locking assembly includes an electric push rod, a slide rail disposed on one side of the ladder drive motor mounting base, a sliding rod, and a locking gear. One end of the sliding rod is connected to the electric push rod, and the other end is connected to the locking gear. The sliding rod is provided with a lug, which is inserted into the slide rail and can move along the slide rail, so that the locking drive can be driven to lock with the switching gear I or the switching gear II.

[0018] Furthermore, it also includes a control unit, which is used for:

[0019] Based on the image information from the AI ​​recognition unit and the distance information from the AI ​​recognition unit to any step surface obtained by the ultrasonic distance detector, the slope information of the stepped terrain is obtained.

[0020] Based on the slope information of the stepped terrain and the image information of the AI ​​recognition unit, the system sequentially sends operation commands to the walking switching system and the balance adjustment system.

[0021] Issue a run command to the ladder drive system or the walking drive system.

[0022] Furthermore, the seat assembly includes a pedal connected to an electric actuator, which allows the pedal to be driven to rise and fall during use.

[0023] An adaptive method of the present invention includes the aforementioned climbing device suitable for stepped terrain, the adaptive method comprising:

[0024] S1. Obtain the terrain image information and the elevation angle information of the AI ​​recognition unit itself based on the AI ​​recognition unit, obtain the distance information from the AI ​​recognition unit to any plane based on the ultrasonic distance detector, and simultaneously obtain the elevation angle information of the AI ​​recognition unit at that distance;

[0025] S2. When the terrain is stepped, firstly, obtain the distance and elevation angle information from the AI ​​recognition unit to the top surface of the first and second steps respectively, and then obtain the distance and elevation angle information from the AI ​​recognition unit to the lowest point of the second step, so as to obtain the slope information of the stepped terrain.

[0026] S3. When the terrain is sloping, obtain the distance and elevation angle information between the AI ​​recognition unit and any two points on the slope, thereby obtaining the slope information of the sloping terrain.

[0027] The beneficial effects of the present invention are as follows: The climbing device of the present invention is suitable for stepped terrain and can adapt to walking on various terrains. At the same time, the slope of the stepped terrain can be obtained first, thereby adjusting the horizontal inclination angle of the climbing device relative to the stepped terrain. Then, it begins to climb along the stepped terrain. During the climbing process, the slope of the stepped terrain is obtained in real time, which is beneficial to subsequent step climbing, avoids the problem of tipping over, and improves the safety of the climbing device. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2This is a schematic diagram of another direction of the present invention;

[0031] Figure 3 for Figure 1 A magnified view of a portion of the image;

[0032] Figure 4 This is a schematic diagram showing the state of the present invention when climbing steps;

[0033] Figure 5 This is a schematic diagram showing the state of the present invention when climbing steps;

[0034] Figure 6 This is a schematic diagram showing the state of the present invention when climbing steps;

[0035] Figure 7 This is a schematic diagram showing the state of the present invention when climbing steps;

[0036] Figure 8 A schematic diagram illustrating the state during the climbing process for this invention;

[0037] Figure 9 This is a schematic block diagram of the control unit;

[0038] Figure 10 An exploded view of the walking switching system;

[0039] Figure 11 This is a schematic diagram of the locking assembly.

[0040] Figure 12 This is a schematic diagram of the ladder driving system and the walking driving system. Detailed Implementation

[0041] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 2 This is a schematic diagram of another direction of the present invention. Figure 3 for Figure 1 A magnified view of a portion of the image. Figure 4 This is a schematic diagram showing the state of the device climbing the steps according to the present invention. Figure 5 This is a schematic diagram showing the state of the device climbing the steps according to the present invention. Figure 6 This is a schematic diagram showing the state of the device climbing the steps according to the present invention. Figure 7 This is a schematic diagram showing the state of the device climbing the steps according to the present invention. Figure 8 This is a schematic diagram illustrating the state during the climbing process of this invention. Figure 9 This is a schematic block diagram of the control unit. Figure 10 An exploded view of the walking switching system. Figure 11 This is a schematic diagram of the locking assembly. Figure 12 This is a structural diagram of the ladder drive component and the walking drive system, as shown below. Figure 1-12 As shown: A climbing device suitable for stepped terrain according to this embodiment includes:

[0042] Seat assembly 1 forms a supporting body; seat assembly 1 includes a seat cushion, backrest, armrests, footrests, and support frame. The seat cushion, backrest, armrests, and footrests are applications of existing technology and will not be described in detail here. The support frame is set under the seat cushion and forms support. The support frame includes a front bottom beam I 103, a front bottom beam II 104, a rear bottom beam I 105, a rear bottom beam II 106, a left side beam 107, and a right side beam 108. In this structure, left and right are only used to distinguish two side beams. The left side beam 107 and the right side beam 108 are respectively set on the left and right sides under the seat. The front bottom beam I 103 and the front bottom beam II 104 are set at the front end under the seat, and the rear bottom beam I 105 and the rear bottom beam II 106 are set at the rear end under the seat.

[0043] The balance adjustment system 4 is located below the seat assembly 1 and can be driven to adjust the angle of the seat assembly 1. The balance adjustment system is a linkage structure, located below the seat cushion, and connected to the left beam 107 and the right beam 108. The balance adjustment system 4 is used to adjust the horizontal tilt angle of the seat assembly 1 relative to the ground, so that the horizontal tilt angle of the seat assembly 1 can be driven to adjust.

[0044] The walking drive system 3 is equipped with omnidirectional wheels 301, which cooperate with the seat assembly 1 and drive the seat assembly 1 to move during use. The omnidirectional wheels 301 are four in number and are set on the support frame, respectively on the left and right sides of the front bottom beam I 103 and the rear bottom beam II 106. The connection method is the application of existing mechanical structure. The walking drive system 3 is suitable for non-stepped terrain. By driving the omnidirectional wheels 301 to move, the seat assembly 1 can be moved. The omnidirectional wheels 301 are existing mechanical structures that can adapt to narrow terrain, facilitate the movement of the climbing device, and improve the usability of the climbing device.

[0045] The ladder driving system 2 is equipped with a support rod 201, which works in conjunction with the balance adjustment system 4 to drive the seat assembly 1 to complete the ladder climbing movement. In this structure, the support rod 201 is driven to climb along the stepped terrain. The front end of the support rod 201 has a rounded transition shape, which is easy to adapt to the stepped terrain, reduces friction with the ground, makes the force even, and improves the stability of climbing. During the climbing process, the support rod 201 makes a circular motion.

[0046] In use, either the walking drive system 3 or the climbing drive system 2 can be used in conjunction with the seat assembly 1. When the terrain is stepped, the walking drive system 3 stops moving and the climbing drive system 2 drives the seat assembly 1 to complete the climbing movement. When the terrain is flat or sloping, the climbing drive system 2 stops running and the walking drive system 3 drives the seat assembly 1 to move.

[0047] In existing technologies, wheelchairs adapted to stepped terrain typically use angle sensors to detect the wheelchair's tilt angle during ascent and adjust accordingly. However, this method poses a risk of tipping over during sudden, large angle changes in ascent. To address this issue, this invention provides a climbing device suitable for stepped terrain, enabling people to climb steps and solving the problem of mobility difficulties for the elderly and people with physical disabilities. Furthermore, on stepped or sloping terrain, the device can first obtain the slope of the terrain and then intelligently adjust the horizontal tilt angle of the seat assembly to prevent tipping over during ascent.

[0048] In this embodiment, a terrain detection device 7 is also included, comprising an AI recognition unit and an ultrasonic distance detector. The AI ​​recognition unit is used to acquire graphic information of the steps and its own elevation angle. The terrain detection device is mounted on the seat assembly 1 and is used to acquire terrain information and, when the terrain is stepped or sloping, the slope information of the terrain. It includes processing devices, etc., which are applications of existing technology and will not be described in detail here. The ultrasonic distance detector is used to acquire the distance from the AI ​​recognition unit to any step surface. The AI ​​recognition unit is an existing camera structure and will not be described in detail here. The AI ​​recognition unit is used to acquire terrain information when the climbing device is walking. When the terrain is stepped, it works with the ultrasonic distance detector to acquire the distance to any point within the field of view of the AI ​​recognition unit and the elevation angle information of the AI ​​recognition unit at that distance. Preferably, the terrain detection device 7 is disposed between the two front omnidirectional wheels.

[0049] In this embodiment, the walking drive system 3 includes four walking drive motors 302. The output shaft of each walking drive motor 302 is connected to a bevel gear 303. The bevel gear 303 meshes with a transmission gear 304 and transmits power to the omnidirectional wheel 301, so that the omnidirectional wheel 301 is driven independently during use. The four walking drive motors are respectively located between the front bottom beam I 103 and the front bottom beam II 104, and between the rear bottom beam I 105 and the rear bottom beam II 106. The four omnidirectional wheels 301 are driven by the four walking drive motors 302, which facilitates adaptation to different walking needs, meets various terrains, and improves the flexibility of the climbing device.

[0050] In this embodiment, the ladder driving system 2 further includes a ladder gear transmission assembly and a ladder drive motor 202. There are four support rods 201. The ladder gear transmission assembly includes a drive gear I 203, a switching gear I 204, a transmission gear I 207, and a transmission gear III 205. The drive gear I 203 is connected to the output shaft of the ladder drive motor 202. The drive gear I 205 meshes with the switching gear I 204 and the transmission gear I 207, transmitting power to the transmission gear III 205 and the support rod shaft gear 206, thereby causing the support rod to perform circular motion and driving the seat assembly 1 to climb. In this structure, during ladder climbing, the relative positions of the support rod shaft gear 206 and the transmission gear III 205 remain unchanged, and the support rod shaft gear 201... 06 meshes with transmission gear Ⅲ205, causing the support rod to perform circular motion. The climbing gear transmission assembly is described with reference to the right front part of the omnidirectional wheel. The climbing gear transmission assembly at the right front part and the gear transmission assembly at the right rear part are connected by a chain drive to transmit power to the gear transmission assembly at the right rear part. At the same time, the power is transmitted to the gear transmission assemblies at the left front and left rear parts through the left front drive gear Ⅰ208. The climbing drive system 2 transmits power to the gear transmission assemblies at the right front, right rear, left front and left rear parts through a climbing drive motor 202, thereby driving the support rod to rotate and perform climbing motion along stepped or sloping terrain. This ensures that the movement frequency of the four support rods is consistent, eliminating the need for multiple power devices. The gear transmission method is an application of existing technology and will not be described in detail here.

[0051] In this embodiment, the balance adjustment system 4 includes a balance adjustment link 401 and a balance adjustment motor 402. The balance adjustment link 402 is located below the seat assembly 1 and can be adjusted by the balance adjustment motor 402, making the horizontal tilt angle of the seat assembly 1 adjustable. In this structure, the balance adjustment link 401 is located below the seat cushion and connected to the left beam 107 and the right beam 108, and can be adjusted by the balance adjustment motor 402. The balance adjustment motor 402 drives a variable-pitch push rod 403, thereby driving the balance adjustment link 401 to change its posture, thereby making the posture (horizontal tilt angle) of the seat assembly 1 adjustable, which is convenient to adapt to different tilt angle changes and prevents the seat assembly 1 from tipping over.

[0052] In this embodiment, a support rod position adjustment device 6 is also included, comprising an adjusting gear transmission assembly and a connecting rod 601. The adjusting gear transmission assembly includes a drive gear II 602, a switching gear II 603, and a transmission gear II 604. The drive gear II 602 is connected to the output shaft of the ladder drive motor 202 and meshes with the switching gear II 603 and the transmission gear II 604. The connecting rod 601 is connected to the transmission gear II 604 and the support rod shaft gear 206, making the position of the support rod 201 adjustable. In this structure, there are four connecting rods. The adjusting gear transmission assembly is described using the structure of the right front part as an example. The drive gear II 602 is connected to the output shaft of the ladder drive motor 202, and the support rods in the right front and right rear parts are... The support rod position is adjusted via chain drive. Power is transmitted through switching gear II 603 to the left front drive gear 605, which in turn transmits power to the adjusting gear transmission assembly at the left front. From there, the power is transmitted via chain drive to the left rear, and finally to the connecting rods 601 at the right rear, left front, and left rear, thus rotating the support rod and adjusting its position. During adjustment, the support rod shaft gear 206 rotates around the transmission gear III 205 (which does not rotate at this time), achieving the same adjustment. This gear transmission method is a current technology and will not be elaborated further. Furthermore, all four support rods transmit power through the same power source, eliminating the need for multiple power sources.

[0053] In this embodiment, a walking switching system 5 is also included, including a switching component and a locking component that cooperates with the switching component. The switching component includes a planetary gear 501, a bevel gear I 502 and a bevel gear II 503, which are disposed between the drive gear I 203 and the drive gear II 602, and allow one of the drive gear I 203 and the drive gear II 602 to be driven selectively.

[0054] The locking assembly includes an electric push rod 504, a slide rail 505 disposed on one side of the ladder drive motor mounting base 2021, a sliding rod 506, and a locking gear 507. One end of the sliding rod 506 is connected to the electric push rod 504, and the other end is connected to the locking gear 507. A lug 5061 is provided on the sliding rod 506. The lug 5061 is inserted into the slide rail 505 and can move along the slide rail 505, so that the locking gear 507 can be driven to engage with the switching gear I 204 or the switching gear. II603 is locked; In this structure, the locking component and the switching component cooperate. When the electric push rod 504 extends, the locking gear 507 locks the switching gear I204, thereby stopping the rotation of the drive gear I203 and allowing the drive gear II602 to continue running, thus enabling the support rod position adjustment device 6 to operate. When the electric push rod 504 retracts, the locking gear 507 locks the switching gear II603, thereby stopping the rotation of the drive gear II602 and allowing the drive gear I203 to continue rotating, thus driving the ladder drive system 2 to operate.

[0055] In this embodiment, a control unit is also included. The control unit is used to control the operation of subsequent programs based on the information from the AI ​​recognition unit and the ultrasonic distance detector. The control unit can be implemented by a general computer system with recognition software, which is an application of the existing intelligent system. It will not be described in detail here.

[0056] Based on the image information from the AI ​​recognition unit and the distance information from the AI ​​recognition unit to any step surface obtained by the ultrasonic distance detector, the slope information of the stepped terrain is obtained.

[0057] Based on the slope information of the stepped terrain and the image information of the AI ​​recognition unit, the system sequentially sends running commands to the walking switching system 5 and the balance adjustment system 4. Based on the image information of the AI ​​recognition unit, the system sends running commands to the walking switching system 5, thereby causing the climbing drive system 2 or the walking drive system 3 to start running. When the system begins to climb along the stepped or sloping terrain, the balance adjustment system 4 can make real-time adjustments based on the slope information calculated by the control unit during the climbing process. It can first adjust the horizontal tilt angle of the seat assembly 1 according to the subsequent slope, thereby improving the sensitivity of the seat assembly 1 in adjusting the horizontal tilt angle and preventing it from tipping over during the climbing process.

[0058] A running command is sent to either the ladder drive system 2 or the walking drive system 3. When the terrain is sloping, the walking drive system 3 and the balance adjustment system 4 start to operate. When the terrain is stepped, the ladder drive system 2 and the balance adjustment system 4 start to operate.

[0059] In this embodiment, the seat assembly includes a pedal 101, which is connected to an electric push rod 102, so that the pedal can be driven to rise and fall during use; the pedal is designed to be driven to rise and fall, so as to adapt to different user needs.

[0060] The present invention also discloses an adaptive method, including the aforementioned climbing device suitable for stepped terrain, the adaptive method comprising:

[0061] S1. The AI ​​recognition unit acquires terrain image information and its own elevation angle information. It also acquires the distance information from the AI ​​recognition unit to any plane using an ultrasonic distance detector, and simultaneously obtains the elevation angle information of the AI ​​recognition unit at that distance. The AI ​​recognition unit and ultrasonic distance detector are used to acquire the distance information from the AI ​​recognition unit to any plane, and simultaneously obtain the elevation angle information of the AI ​​recognition unit at that distance. The AI ​​recognition unit is an application of existing technology and can be a camera; details will not be elaborated here. The ultrasonic distance detector is an existing mechanical structure. The AI ​​recognition unit also includes a processing unit, which acquires elevation angle information, distance information, and graphic information to determine the terrain and calculate the slope information for stepped or sloping terrain.

[0062] S2. When the terrain is stepped, obtain the distance and elevation angle information from the AI ​​recognition unit to the top surface of the first and second steps, respectively, and obtain the distance and elevation angle information from the AI ​​recognition unit to the bottom surface of the second step and the top surface of the second step, respectively, to obtain the slope information of the stepped terrain; based on the graphic information obtained by the AI ​​recognition unit, determine the terrain. When the terrain is stepped, first obtain the distance L from the AI ​​recognition unit to the highest point of the two steps A1 and A2, respectively. A1 and L A2 And elevation angle information α A1 and α A2 Secondly, obtain the distance L from the AI ​​recognition unit to the lowest point of step A2. A21 and elevation angle information α A21 According to the formula for the side length of a triangle, the lengths of the hypotenuse and one leg of the right triangle formed by steps A1 and A2 are obtained respectively, and the slope information of the stepped terrain is obtained according to the Pythagorean theorem.

[0063] S3. When the terrain is sloping, the distance and elevation angle information from the AI ​​recognition unit to any two points on the slope are obtained respectively, so as to obtain the slope information of the sloping terrain. By obtaining the distance from the AI ​​recognition unit to any two points on the slope and the elevation angle information at that distance, the elevation angle information of the slope can be obtained according to the formula of the side length of a triangle. By calculating and obtaining the slope information of the corresponding terrain in advance, the horizontal tilt angle of the seat assembly 1 can be adjusted in advance to improve the adaptation effect to slope changes and prevent the seat assembly 1 from tipping over.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A climbing device suitable for stepped terrain, characterized in that: include: Seat components form the main support structure; A balance adjustment system, located below the seat assembly, can be driven to adjust the angle of the seat assembly; The walking drive system is equipped with omnidirectional wheels, which cooperate with the seat assembly and drive the seat assembly to move during use; The ladder drive system is equipped with a support rod, which works in conjunction with the balance adjustment system to drive the seat assembly to complete the ladder climbing movement. In use, either the walking drive system or the climbing drive system can be used in conjunction with the seat assembly; The ladder drive system also includes a ladder gear transmission assembly and a ladder drive motor. There are four support rods. The ladder gear transmission assembly includes a drive gear I, a switching gear I, a transmission gear I, and a transmission gear III. The drive gear I is connected to the output shaft of the ladder drive motor. The drive gear I meshes with the switching gear I and the transmission gear I, and transmits power to the transmission gear III and the support rod shaft gear, thereby causing the support rod to perform circular motion and drive the seat assembly to climb. It also includes a support rod position adjustment device, comprising an adjustment gear transmission assembly and a connecting rod. The adjustment gear transmission assembly includes a drive gear II, a switching gear II, and a transmission gear II. The drive gear II is connected to the output shaft of the climbing drive motor and meshes with the switching gear II and the transmission gear II. The connecting rod is connected to the transmission gear II and the support rod shaft gear, so that the position of the support rod is adjustable. It also includes a walking switching system, including a switching component and a locking component that cooperates with the switching component. The switching component includes a planetary gear, a bevel gear I and a bevel gear II, which are disposed between the drive gear I and the drive gear II, and allow one of the drive gear I and the drive gear II to be driven selectively. The locking assembly includes an electric push rod, a slide rail disposed on one side of the ladder drive motor mounting base, a sliding rod, and a locking gear. One end of the sliding rod is connected to the electric push rod, and the other end is connected to the locking gear. The sliding rod is provided with a lug, which is inserted into the slide rail and can move along the slide rail, so that the locking drive can be driven to lock with the switching gear I or the switching gear II.

2. The climbing device suitable for stepped terrain according to claim 1, characterized in that: It also includes a terrain detection device, comprising an AI recognition unit and an ultrasonic distance detector. The AI ​​recognition unit is used to acquire graphic information of the steps and its own elevation angle; the ultrasonic distance detector is used to acquire the distance from the AI ​​recognition unit to any step surface.

3. The climbing device suitable for stepped terrain according to claim 1, characterized in that: The walking drive system includes four walking drive motors. The output shaft of each walking drive motor is connected to a bevel gear, which meshes with a transmission gear and transmits power to the omnidirectional wheel, so that the omnidirectional wheel can be driven independently during use.

4. The climbing device suitable for stepped terrain according to claim 1, characterized in that: The balance adjustment system includes a balance adjustment linkage and a balance adjustment motor. The balance adjustment linkage is located below the seat assembly and can be adjusted by the balance adjustment motor, so that the horizontal tilt angle of the seat assembly is adjustable.

5. The climbing device suitable for stepped terrain according to claim 1, characterized in that: It also includes a control unit, which is used for: Based on the image information from the AI ​​recognition unit and the distance information from the AI ​​recognition unit to any step surface obtained by the ultrasonic distance detector, the slope information of the stepped terrain is obtained. Based on the slope information of the stepped terrain and the image information of the AI ​​recognition unit, the system sequentially issues operating commands to the walking switching system and the balance adjustment system. Issue a run command to the ladder drive system or the walking drive system.

6. The climbing device suitable for stepped terrain according to claim 1, characterized in that: The seat assembly includes a pedal connected to an electric actuator, which allows the pedal to be raised and lowered during use.

7. An adaptive method, characterized in that: Including the climbing device suitable for stepped terrain as described in any one of claims 1-6, the adaptive method includes: S1. Obtain the terrain image information and the elevation angle information of the AI ​​recognition unit itself based on the AI ​​recognition unit, obtain the distance information from the AI ​​recognition unit to any plane based on the ultrasonic distance detector, and simultaneously obtain the elevation angle information of the AI ​​recognition unit at that distance; S2. When the terrain is stepped, firstly, obtain the distance and elevation angle information from the AI ​​recognition unit to the top surface of the first and second steps respectively, and then obtain the distance and elevation angle information from the AI ​​recognition unit to the lowest point of the second step, so as to obtain the slope information of the stepped terrain. S3. When the terrain is sloping, obtain the distance and elevation angle information between the AI ​​recognition unit and any two points on the slope, thereby obtaining the slope information of the sloping terrain.

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