Automatic stair-climbing transport vehicle system and control method

Abstract

The invention provides an automatic stair-climbing transport vehicle system and a control method. The system comprises a stair-climbing vehicle, and landmark points arranged at stairway entrances, stairway corners and stairway ends of all floors; the stair climbing vehicle comprises a stair climbing vehicle body, a cargo box is fixedly installed on the stair climbing vehicle body, the body is connected with one end of a crawler belt in a hinged mode, the other end of the crawler belt is connected through a jacking electric cylinder, and the jacking electric cylinder stretches out and draws back to drive the crawler belt to rotate around the hinged point of the crawler belt and the body. One end of the supporting device is connected with the body in a hinged mode, the other end of the supporting device is connected with the body through a driving electric cylinder, the supporting device rotates around the hinged point through stretching and retracting of the driving electric cylinder, two driving motor wheels and two universal wheels are arranged below the body, the driving motor wheels are connected with the driving electric cylinder, and a laser sensor and a binocular camera are arranged above the container. An upper computer is arranged in the container, and a displayer is arranged on the outer side of the container. The stair-climbing transport vehicle can automatically walk across floors.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an automatic stair climbing transport vehicle system and a control method. Background Art

[0002] At present, multifunctional autonomous mobile robots in complex environments have always been one of the hot issues in robot research. In particular, the research on obstacle-crossing robots is of great significance for expanding the robot's operating space and operating in environments that are inaccessible or inconvenient for humans to reach. Obstacle-crossing robots can also be used for some dangerous and difficult operations in industry, which can not only improve the quality and output of products, but also have great significance for ensuring personal safety, improving the working environment, reducing labor intensity, improving labor productivity, saving raw materials and reducing production costs. Among them, when mobile robots are engaged in various response tasks, stairs are the most common obstacles in the man-made environment and one of the most difficult obstacles to cross. Special robots have broad prospects in the fields of climbing stairs, inspection and exploration, rescue and bomb disposal, special photography, special transportation, etc.

[0003] The biggest problem for robots in stairwells is positioning. Since the spatial information of the stairs on each floor is almost identical, the robot cannot locate the floor through the scanned laser point cloud data or image data. At the same time, ordinary wheeled robots cannot meet the functional requirements of climbing stairs. Summary of the invention

[0004] In view of this, the present invention aims to overcome the deficiencies of the above-mentioned problems in the prior art and proposes an automatic stair climbing transport vehicle system and a control method.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A first aspect of the present invention provides an automatic stair climbing transport vehicle system, comprising a stair climbing vehicle and landmark points arranged at the stair entrances, stair corners, and stair ends of each floor;

[0007] The stair climbing vehicle comprises a stair climbing vehicle body, a cargo box is fixedly installed on the stair climbing vehicle body, the body is connected to one end of the crawler track by an articulation, and the other end is connected by a lifting electric cylinder, the extension and retraction of the lifting electric cylinder drives the crawler track to rotate around the hinge point with the body, a supporting device is installed in front of the stair climbing vehicle, one end of the supporting device is connected to the body by an articulation, and the other end is connected to the body by a driving electric cylinder, the extension and retraction of the driving electric cylinder causes the supporting device to rotate around the hinge point, two driving motor wheels and two universal wheels are arranged below the body, the driving motor wheels are connected to the driving electric cylinder, a laser sensor and a binocular camera are arranged above the cargo box, a host computer is arranged in the cargo box, a display is arranged outside the cargo box, a map construction module, an action control module, a perception module, and a decision-making module are arranged in the host computer, the laser sensor is used to collect environmental information, the binocular camera is used to collect posture information, and the map construction module is used to perform SLAM mapping according to point cloud data collected by the laser sensor.

[0008] Furthermore, the host computer adopts a NUC micro computing unit.

[0009] Furthermore, the host computer is connected to an external monitoring system via a router.

[0010] A second aspect of the present invention provides a method for controlling an automatic stair climbing transport vehicle, comprising the following steps:

[0011] Step 1: Build the map:

[0012] Assume that the starting position is the first floor and the end position is the Nth floor. Perform laser slam mapping at the starting and end positions. The map of each floor covers the entire floor corridor, room, and staircase information to ensure that the robot can travel to any position on the same floor.

[0013] Set a QR code on the wall of the staircase in the corridor on the first floor to start climbing the stairs, and a QR code on the end of the stairs at the end of the staircase from the first floor to the second floor; and a QR code on the end of climbing the stairs at the corridor on the second floor;

[0014] Record the coordinates of the first floor corridor QR code position in the 1st floor map (x1, y1), and the coordinates of the second floor corridor QR code position in the 2nd floor map (x2, y2), set the coordinates of the 1st floor starting position (xs, ys), and the coordinates of the 2nd floor end position (xd, yd);

[0015] The robot is driven from the first floor to the second floor in the corridor by positioning through the QR code, and the corridor map is connected with the first floor map and the second floor map through (x1, y1) and (x2, y2) to form a three-dimensional map;

[0016] When planning the path from the starting point (xs, ys) to the end point (xd, yd), the path from (xs, ys) to (x1, y1) on the first floor is planned, and the first floor corridor is reached. Then, the QR code markers are sequentially tracked to the second floor corridor (x2, y2), and then the path from (x2, y2) to (xd, yd) on the second floor is planned to achieve cross-floor three-dimensional space path planning.

[0017] Repeat the above steps to create all floor maps;

[0018] Step 2: During the walking stage on the flat ground, the wheel-driven cargo box lifting electric cylinder is retracted, the four wheels support the ground, and the crawler part is stored in the chassis and leaves the ground;

[0019] Step 3: Stair climbing preparation stage:

[0020] First, the vehicle moves from the starting point to the staircase of the current floor. The binocular camera scans the QR code on the wall to obtain the floor location information, calculates the lateral and longitudinal distances between the stair climbing vehicle and the QR code, and adjusts the vehicle position and posture according to the lateral and longitudinal distances so that the stair climbing vehicle faces the stairs and is in the middle of the stairs.

[0021] When the position and posture of the stair climbing transport vehicle are adjusted, the host computer sends a command to move in a crawler driving mode;

[0022] Step 4: End of stair climbing:

[0023] When the stair climbing vehicle is about to reach the end of the stairs, the binocular camera scans the QR code on the wall, indicating that the stairs are about to end. The stair climbing vehicle completes the climbing operation until the track is completely detached from the stairs. When the stair climbing vehicle is detached from the stairs, the binocular camera scans the QR code on the wall to inform the vehicle that the climbing process has ended. The host computer automatically switches the map to the map of this building and continues to repeat steps 2-4 until it reaches the set position.

[0024] Compared with the prior art, the automatic stair climbing transport vehicle system and control method described in the present invention have the following advantages:

[0025] The intelligent stair-climbing cargo transport vehicle of the present invention is an intelligent product that integrates intelligence, convenience, and efficiency, and realizes the rapid and accurate transportation of goods between different floors, serving the "smart community". The intelligent stair-climbing cargo transport vehicle can use wheels to travel on flat ground to move goods quickly. The advantage of wheels is that they can travel smoothly and have a relatively large carrying capacity, which is suitable for transporting goods on flat ground. When climbing stairs, the intelligent stair-climbing cargo transport vehicle can use crawler tracks to travel to cope with the complex terrain and height changes of the stairs. The advantage of crawler tracks is that they can firmly grasp the stairs, making the intelligent stair-climbing cargo transport vehicle more stable and safer when climbing or descending the stairs.

[0026] The stair climbing vehicle of the present invention can obtain floor information and stair information by means of the QR code in the stairwell, switch different floor maps for different floors, and realize cross-floor map fusion. At the same time, by means of the QR code in the stairwell, the stair climbing vehicle can obtain the horizontal and vertical position information of the stairwell, realize the wheel-track mode switching in turn, and the support device shrinks to help the stair climbing vehicle realize automatic walking in the stairwell, connect the maps of different floors, and realize cross-floor transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 This is a schematic structural diagram of the automatic stair climbing transport vehicle of the present invention;

[0029] Figure 2 It is a schematic diagram of the system architecture of the present invention;

[0030] Figure 3 It is a schematic diagram of the location of landmark points of the present invention;

[0031] Figure 4 It is a schematic diagram of the transport wheel state of the present invention;

[0032] Figure 5 This is a schematic diagram of the transport vehicle of the present invention starting to climb stairs;

[0033] Figure 6 This is a schematic diagram of the support device landing at the end of stair climbing according to the present invention;

[0034] Figure 7 It is a schematic diagram of the hardware connection of the present invention.

[0035] Description of Reference Numerals

[0036] 1- cargo box; 2- crawler tracks; 3- driving electric cylinder; 4- lifting electric cylinder; 5- supporting device; 6- driving motor wheel; 7- universal wheel; 8- hinge point; 9- QR code for starting climbing stairs; 10- QR code for ending climbing stairs; 11- QR code for leaving stairs. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0040] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0041] Based on the problem that robots have difficulty in walking and positioning in stairwells, the present invention proposes an automatic stair climbing transport vehicle system based on QR code and laser slam positioning and its positioning method. The system uses two driving modes, wheeled and crawler, to achieve stair climbing. At the same time, it uses QR code marks and laser slam positioning to achieve automatic switching of multi-floor maps, so that the robot can walk across floors.

[0042] The automatic stair climbing transport vehicle system of the present invention comprises a stair climbing vehicle and landmark points arranged at the stair entrance of each floor, the stair corner, and the end of the stair.

[0043] The stair climbing vehicle comprises a stair climbing vehicle body, on which a cargo box 1 is fixedly installed, the body is connected to one end of a crawler track 2 by an articulated manner, and the other end is connected by a lifting electric cylinder 4, the extension and retraction of the lifting electric cylinder 4 drives the crawler track 2 to rotate around a hinge point 8 with the body, a supporting device 5 is installed in front of the stair climbing vehicle, one end of the supporting device 5 is connected to the body by an articulated manner, and the other end is connected to the body by a driving electric cylinder 3, the extension and retraction of the driving electric cylinder 3 causes the supporting device 5 to rotate around the hinge point, two driving motor wheels 6 and two universal wheels 7 are arranged below the body, the driving motor wheels 6 are connected to the body, a laser sensor and a binocular camera are arranged above the cargo box 1, a host computer is arranged in the cargo box 1, a display is arranged outside the cargo box 1, a map construction module, an action control module, a perception module, and a decision-making module are arranged in the host computer, the laser sensor is used to collect environmental information, the binocular camera is used to collect posture information, and the map construction module is used to perform SLAM mapping according to point cloud data collected by the laser sensor.

[0044] The transport vehicle of the present invention has a switchable chassis design with both wheels and tracks. After the camera reads the landmark QR code, the switching mechanism is activated to facilitate the chassis switching to a tracked vehicle or a wheeled chassis. Figure 1 As shown. Its driving motor power is 1000W, and its climbing load reaches 50Kg, and the angle can be 30°.

[0045] LeiShen 16-line laser radar can meet the requirements of 0.04° circumferential angular resolution;

[0046] Intel's binocular depth camera can reach a minimum depth of 10cm, with an image accuracy of 1280x720@30fps, a viewing angle of 86°x57°, and supports gyroscope function;

[0047] The upper computer on the vehicle uses a NUC micro-computing unit, which supports Intel i5 and above CPUs, 16G memory and 256G solid-state hard disk, and can achieve optimized indoor and outdoor data analysis;

[0048] The body bracket supports multi-cabin functions and is made of metal or aluminum alloy;

[0049] The vehicle provides a display device that supports a resolution of 1920x1080;

[0050] Provide 4G router, which can achieve system monitoring performance indoors and outdoors.

[0051] The realization of the autonomous positioning and navigation function of the transport vehicle requires that the transport vehicle can first create a map based on the environment, and then use the map for positioning, so as to achieve the effect of simultaneous positioning and simultaneous mapping. In order to achieve the effect of indoor mapping, this system is further divided into two parts.

[0052] Indoor flat area: functions such as Figure 2 The input is a 16-line laser sensor and a binocular camera. After the input, the environment information and posture information are collected respectively, and the SLAM map is constructed based on the point cloud data collected by the laser radar.

[0053] For indoor stair climbing: place landmarks (QR codes) at the entrance, corner and end of the stairs to indicate the location, corner and end of the stairs. Figure 3 As shown, when the stair climbing vehicle arrives at the stair entrance, the camera reads the QR code 9 for starting to climb the stairs, and the system notifies the stair climbing vehicle to start the corresponding action, and the system changes from wheeled support to tracked support. When the climbing is about to end, the QR code 10 for ending the climbing is posted at the end of the stairs, and the stair climbing vehicle puts down the support device and continues to move forward to ensure the stability of the vehicle body. When the crawler is completely separated from the stairs, according to the information of the QR code 11 of the wall separating from the stairs, the support device is retracted, and the corresponding floor is leveled. The system changes from tracked support to wheeled support and performs wheeled driving.

[0054] The hardware connection diagram of the stair climbing transport vehicle system of the present invention is as follows: Figure 7 shown.

[0055] The stair climbing transport vehicle system control method of the present invention specifically comprises the following steps:

[0056] 1. Map preparation stage

[0057] Assume that the building has two floors (e.g. the starting position is on the 1st floor and the end position is on the 2nd floor). First, laser slam mapping is performed on the 1st floor and the 2nd floor respectively. The map of each floor covers the entire floor corridor, room, and corridor information to ensure that the robot can travel to any position on the same floor. Then, a QR code for the start of climbing stairs is posted on the wall at the starting position of the stairs in the 1st floor corridor; a QR code for the end of stairs is posted at the end of the stairs from the 1st floor to the 2nd floor; and a QR code for the end of climbing stairs is posted at the corridor position on the 2nd floor. Record the coordinates (x1, y1) of the QR code position of the 1st floor corridor in the 1st floor map, and the coordinates (x2, y2) of the QR code position of the 2nd floor corridor in the 2nd floor map. Assume the coordinates of the starting position of the 1st floor (xs, ys) and the coordinates of the end position of the 2nd floor (xd, yd). QR code positioning in the corridor can help the robot travel from the 1st floor to the 2nd floor. The corridor map can be connected to the 1st floor map and the 2nd floor map through (x1, y1) and (x2, y2), respectively, to form a three-dimensional map. When planning the path from the starting point (xs, ys) to the end point (xd, yd), the path from (xs, ys) to (x1, y1) on the first floor is planned, and then the path to the first floor corridor is reached by tracking the QR code markers in sequence to the second floor corridor (x2, y2), and then the path from (x2, y2) to (xd, yd) on the second floor is planned to achieve cross-floor three-dimensional space path planning. The same is true for multi-floor map construction and path planning, and vice versa for going downstairs.

[0058] 2. Flat ground walking stage

[0059] When walking on flat ground, wheel drive is adopted, the cargo box lifting electric cylinder is retracted, four wheels (two motor wheels and two universal wheels) support the ground, and the track part is stored in the chassis (main body) and separated from the ground. The drive motor wheel 6 is composed of two customized brushless DC motors and brushless DC motor controllers. The parameters of the brushless DC motor are 4 inches (width is 97mm, diameter is 115mm) 48V300W DC reduction motor, the motor speed is 1~2m / s, and the motor output length is 300mm. The brushless DC motor controller is a DC24~48V brushless DC motor controller with an output power of 350W and a limiting current of 13A. The brushless DC motor is installed on the chassis of the stair climbing robot. The two brushless DC motors, the motor controller and the universal wheels on the robot chassis together constitute a flat ground power device, such as Figure 4 As shown in the figure, the brushless DC motor uses differential control to drive the climbing robot to move in a plane.

[0060] The laser slam positioning method is adopted. The laser radar on the top of the cargo box scans the surrounding environment information, builds maps for navigation, and identifies obstacles, so that it can drive from any room to any room on the same floor. The two DC motors move forward when they are at the same speed, turn when they are at different speeds, and can turn on the spot in extreme cases.

[0061] 3. Stair climbing preparation stage

[0062] When the stair climbing vehicle receives a destination that is not on the same floor (e.g. the starting point is on the 1st floor and the end point is on the 2nd floor), the path planning calculates three paths and splices them together to achieve cross-floor path driving. The three paths are: the path from the starting point to the 1st floor staircase entrance, the path from the 1st floor staircase entrance to the 2nd floor staircase entrance, and the path from the 2nd floor staircase entrance to the end point. From the starting point to the 1st floor staircase entrance, since it is driving on the same floor, the wheeled method is adopted. Under the laser slam positioning method, it first drives from the starting point to the 1st floor staircase entrance.

[0063] When the stair climbing vehicle reaches the staircase on the first floor, the binocular camera scans the QR code on the wall to obtain the floor location information. If the QR code cannot be scanned, the stair climbing vehicle will rotate in place at the staircase on the first floor to search for the QR code. After scanning the QR code, the vehicle stops rotating, calculates the horizontal and vertical distances between the stair climbing vehicle and the QR code, and adjusts the vehicle position and posture according to the horizontal and vertical distances so that the stair climbing vehicle faces the stairs and is in the middle of the stairs.

[0064] When the position and posture of the stair climbing vehicle are adjusted, the computing platform sends a command, and the electric cylinder for lifting the cargo box extends. Since the wheels are installed on the cargo box, the wheels are off the ground and the crawler tracks are in contact with the ground. At this time, it is in crawler driving mode. Figure 5 As shown. The lifting controller (lifting electric cylinder) is started to support the climbing crawler to the ground. At this time, the 48V brushless DC reduction motor drives the crawler to drive the climbing robot to complete the climbing operation. The leveling power device is now suspended and no longer works. The crawler includes two main crawlers and two auxiliary crawlers. The two auxiliary crawlers are added on both sides of the main crawler to increase the width of the climbing mechanism of the climbing vehicle chassis (the width is basically the same as the width of the vehicle's cargo box). The two additional auxiliary crawlers can use the same transmission structure as the original crawler to ensure that they move synchronously with the original crawler. The positions of the added auxiliary crawlers and the original crawler are staggered front and back. The effective climbing crawler length can reach 60cm to 65cm, which can basically cover three steps of stairs and ensure the stability of the center of gravity of the vehicle body during the climbing process.

[0065] When the cargo box is lifted up, the crawler tracks start and the stair-climbing robot walks up the stairs. The crawler tracks are in the form of convex teeth with fixed spacing, which can ensure that the crawler teeth bite the stairs without sliding down.

[0066] 4. The end of stair climbing

[0067] When the stair climbing vehicle is about to reach the end of the stairs, a QR code is posted on the wall, indicating that the stairs are about to end. At this time, the support device in front of the stair climbing vehicle will be lowered. The support device is to solve the problem that when the stair climbing vehicle moves to the end of the stairs, there is no support device, causing the front of the vehicle to fall rapidly to the ground. This device does not work when the stair climbing vehicle is in a planar motion. When the stair climbing vehicle is in a climbing operation, it supports the front of the vehicle body when it reaches the end of the stairs, and slowly makes the front of the vehicle contact with the ground under the action of the body weight to complete the climbing operation. Figure 6 shown.

[0068] At this time, the stair climbing vehicle continues to move forward on the crawler tracks until the crawler tracks are completely detached from the stairs. When the stair climbing vehicle detaches from the stairs, there will be another QR code on the wall, informing the vehicle that the stair climbing process has ended and that it has reached the designated staircase entrance on the second floor. According to the information in the QR code, the stair climbing vehicle retracts the support device, retracts the cargo box lifting cylinder, and the lifting controller retracts the stair climbing crawler tracks into the robot chassis. At this time, the leveling power device starts to control the robot to move in a plane. At this time, the computing platform will automatically switch the map to the second floor map, and the stair climbing vehicle will drive to the end position on the second floor on the wheels and laser slam, completing a work process.

[0069] The climbing process for the remaining floors is similar and will not be elaborated on here.

[0070] The stair climbing transport vehicle of the present invention has two walking modes, wheels and crawlers, which are automatically switched according to different road conditions. Since laser slam cannot construct a three-dimensional multi-floor map, the present invention adopts a laser slam and a two-dimensional code joint positioning method to realize the construction of a three-dimensional multi-floor map. When walking on the flat floor, wheels are used, and the terrain and road conditions are accurately identified by laser slam positioning technology to realize automatic driving. When in the stairwell, the camera recognizes the stair QR code mark, and the intelligent stair climbing cargo transport vehicle switches to crawler mode and automatically adjusts the body posture and speed according to the floor and position information of the QR code to climb the stairs and ensure the stable transportation of the goods. After climbing the stairs, the map of different floors is switched according to the position and floor information of the QR code information posted at the staircase entrance of different floors. The intelligent stair climbing cargo transport vehicle can automatically switch to the map of the corresponding floor, realize autonomous navigation, follow the preset path planning, accurately reach the destination, and realize the fast, efficient and safe cross-floor transportation of goods. By using the QR code positioning technology in the corridor, the laser slam maps of different floors are connected through the corridor position to form a three-dimensional multi-floor map, which helps the stair climbing transport vehicle to realize automatic walking across floors.

[0071] All matters not mentioned above are prior art.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic stair climbing transport vehicle system, characterized in that: Including stair climbing vehicles, and landmarks set at the entrance of each staircase, stair corners, and the end of the stairs; The stair climbing vehicle comprises a stair climbing vehicle body, a cargo box is fixedly installed on the stair climbing vehicle body, the body is connected to one end of the crawler track by an articulation, and the other end is connected by a lifting electric cylinder, the extension and retraction of the lifting electric cylinder drives the crawler track to rotate around the hinge point with the body, a supporting device is installed in front of the stair climbing vehicle, one end of the supporting device is connected to the body by an articulation, and the other end is connected to the body by a driving electric cylinder, the extension and retraction of the driving electric cylinder causes the supporting device to rotate around the hinge point, two driving motor wheels and two universal wheels are arranged below the body, the driving motor wheels are connected to the driving electric cylinder, a laser sensor and a binocular camera are arranged above the cargo box, a host computer is arranged in the cargo box, a display is arranged outside the cargo box, a map construction module, an action control module, a perception module, and a decision-making module are arranged in the host computer, the laser sensor is used to collect environmental information, the binocular camera is used to collect posture information, and the map construction module is used to perform SLAM mapping according to point cloud data collected by the laser sensor.

2. The automatic stair climbing transport vehicle system according to claim 1, characterized in that: The host computer adopts NUC micro computing unit.

3. The automatic stair climbing transport vehicle system according to claim 1, characterized in that: The host computer is connected to the external monitoring system via a router.

4. A control method for an automatic stair climbing transport vehicle, characterized in that: The steps include: Step 1: Build the map: Assume that the starting position is the first floor and the end position is the Nth floor. Perform laser slam mapping at the starting and end positions. The map of each floor covers the entire floor corridor, room, and staircase information to ensure that the robot can travel to any position on the same floor. Set a QR code on the wall of the staircase in the corridor on the first floor to start climbing the stairs, and a QR code on the end of the stairs at the end of the staircase from the first floor to the second floor; and a QR code on the end of climbing the stairs at the corridor on the second floor; Record the coordinates of the first floor corridor QR code position in the 1st floor map (x1, y1), and the coordinates of the second floor corridor QR code position in the 2nd floor map (x2, y2), set the coordinates of the 1st floor starting position (xs, ys), and the coordinates of the 2nd floor end position (xd, yd); The robot is driven from the first floor to the second floor in the corridor by positioning through the QR code, and the corridor map is connected with the first floor map and the second floor map through (x1, y1) and (x2, y2) to form a three-dimensional map; When planning the path from the starting point (xs, ys) to the end point (xd, yd), the path from (xs, ys) to (x1, y1) on the first floor is planned, and the first floor corridor is reached. Then, the QR code markers are sequentially tracked to the second floor corridor (x2, y2), and then the path from (x2, y2) to (xd, yd) on the second floor is planned to achieve cross-floor three-dimensional space path planning. Repeat the above steps to create all floor maps; Step 2: During the walking stage on the flat ground, the wheel-driven cargo box lifting electric cylinder is retracted, the four wheels support the ground, and the crawler part is stored in the chassis and leaves the ground; Step 3: Stair climbing preparation stage: First, the vehicle moves from the starting point to the staircase of the current floor. The binocular camera scans the QR code on the wall to obtain the floor location information, calculates the lateral and longitudinal distances between the stair climbing vehicle and the QR code, and adjusts the vehicle position and posture according to the lateral and longitudinal distances so that the stair climbing vehicle faces the stairs and is in the middle of the stairs. When the position and posture of the stair climbing transport vehicle are adjusted, the host computer sends a command to move in a crawler driving mode; Step 4: End of stair climbing: When the stair climbing vehicle is about to reach the end of the stairs, the binocular camera scans the QR code on the wall, indicating that the stairs are about to end. The stair climbing vehicle completes the climbing operation until the track is completely detached from the stairs. When the stair climbing vehicle is detached from the stairs, the binocular camera scans the QR code on the wall to inform the vehicle that the climbing process has ended. The host computer automatically switches the map to the map of this building and continues to repeat steps 2-4 until it reaches the set position.

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