Automatic stair-climbing control system of crawler stair-climbing machine and crawler stair-climbing machine

Abstract

The invention relates to the technical field of intelligent crawler-type stair-climbing transportation equipment, and discloses an automatic stair-climbing control system of a crawler-type stair-climbing machine and the crawler-type stair-climbing machine, and the automatic stair-climbing control system comprises a remote controller which is used for receiving user input and sending a mode control signal; the main control module is in communication connection with the remote controller and is used for executing automatic or manual control logic according to the mode control signal; the tilt angle sensor is used for detecting the tilt angle of the crawler stair-climbing machine platform relative to the horizontal plane and sending angle data to the main control module; the ultrasonic sensor is used for detecting the change of the distance between the front end or the rear end of the crawler stair-climbing machine and the edge of a step and sending distance measurement information to the main control module; and the platform adjusting module is connected with the main control module. Through automatic leveling of the platform and linkage control of the auxiliary wheels, accurate matching of angle adjustment and auxiliary supporting in the upstairs and downstairs going process is achieved, so that the loading stability is improved, and the operation risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent tracked stair-climbing transportation equipment, and specifically to an automatic stair-climbing control system for a tracked stair-climbing machine and a tracked stair-climbing machine. Background Art

[0002] Currently, most tracked stair-climbing devices adopt a drive mechanism with a fixed structure. Although they have a certain ability to climb stairs, they still mainly rely on manual operation for the recognition and response at transition sections such as the edge of the steps. Existing products judge the end of the stairs through laser ranging or mechanical triggering methods, and when a preset distance is detected, the user manually controls the extension and retraction of the auxiliary wheels. Although such technologies are feasible in low-load or simple environments, their stability and safety are significantly insufficient in heavy-load transportation or complex stair structures.

[0003] In terms of structure, the control of the auxiliary wheels of traditional devices has no systematic connection with the adjustment of the platform attitude. The platform angle is fixed, lacking the ability of adaptive adjustment, and unable to ensure the balance state of the goods on stairs with different slopes; the actions of the auxiliary wheels are mostly single-trigger commands, not forming a closed-loop control with the actual terrain information, lacking precise timing matching; the controller generally only processes the output signals of a single sensor, and cannot realize the dynamic center-of-gravity judgment and automatic recovery of the auxiliary structure during the downstairs process. These problems directly lead to the malfunction of the device at critical positions, unstable center-of-gravity conversion, and are extremely prone to faults such as item slipping, accidental contact of the auxiliary wheels with the ground, or retraction and extension errors, restricting the practicability and safety of the device in heavy-load transportation and high-frequency usage scenarios. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automatic stair-climbing control system for a tracked stair-climbing machine and a tracked stair-climbing machine, which solves the problems in the prior art that the platform horizontal adjustment and the timing linkage control of the auxiliary wheels cannot be realized during the process of going up and down stairs, resulting in unstable transportation, complex operation, and low safety.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: An automatic stair-climbing control system for a tracked stair-climbing machine and a tracked stair-climbing machine, comprising:

[0006] A remote control module, used for receiving user input and sending a mode control signal;

[0007] A main control module, communicatively connected to the remote control, and used for executing automatic or manual control logic according to the mode control signal;

[0008] An inclination sensor module, used for detecting the inclination angle of the platform of the tracked stair-climbing machine relative to the horizontal plane and sending the angle data to the main control module;

[0009] An ultrasonic sensor module, which is used to detect the distance change between the front end or the rear end of the crawler stair-climbing machine and the edge of the step, and send the ranging information to the main control module;

[0010] A platform adjustment module, which is connected to the main control module and is used to adjust the platform attitude according to the angle information provided by the tilt sensor;

[0011] An auxiliary wheel control module, which is used to control the extension and retraction of the auxiliary wheel according to the instruction of the main control module;

[0012] A crawler drive module, which is used to drive the crawler to move forward or backward, and is communicatively connected to the main control module.

[0013] Preferably, after receiving the trigger signal that the front end or the rear end of the crawler stair-climbing machine detected by the ultrasonic sensor exceeds the platform edge, the main control module automatically identifies that it enters the upstairs or downstairs state, and synchronously triggers the platform adjustment module and the auxiliary wheel control module to perform corresponding actions based on this identification state.

[0014] Preferably, the main control module sets a target platform tilt angle in the automatic control mode, and the platform adjustment module performs feedback control based on the error between the real-time angle value provided by the tilt sensor and the target angle value.

[0015] Preferably, the auxiliary wheel control module controls the actions of the auxiliary wheel in the following states:

[0016] When the main control module identifies that the crawler stair-climbing machine is in the upstairs or downstairs state and the platform angle adjustment is completed, the auxiliary wheel performs the extension operation;

[0017] When the main control module identifies that the crawler stair-climbing machine returns to the horizontal platform area and the device is in the stop state, the auxiliary wheel performs the retraction operation.

[0018] Preferably, the crawler drive module starts the forward or backward movement only under the following conditions:

[0019] The auxiliary wheel is in the fully extended state;

[0020] The platform angle has been adjusted to the set target value;

[0021] The ultrasonic sensor confirms that the front end or the rear end of the device has partially entered the stair area.

[0022] Preferably, after detecting that the crawler stair-climbing machine has completed the upstairs and downstairs actions, the main control module immediately controls the crawler drive module to stop the action, and at the same time controls the auxiliary wheel control module to perform the retraction action, and sends the current state information to the remote controller for status display.

[0023] Preferably, the measurement accuracy of the inclination sensor is ±0.5 degrees, and it has a sampling frequency of not less than 10 Hz, and can continuously output the platform pitch angle signal to the main control module.

[0024] Preferably, the measurement range of the ultrasonic sensor is from 0.05 meters to 2 meters, the measurement accuracy is not less than ±1 centimeter, and it has a function of detecting the distance from the edge and dynamic judgment, and is used to identify whether the tracked stair-climbing machine crosses the stair edge and enters the up-and-down stair state.

[0025] Preferably, the main control module executes the following control process in the automatic control mode:

[0026] Receive the automatic mode instruction sent by the remote control;

[0027] Collect and fuse the detection data of the inclination sensor and the ultrasonic sensor in real time;

[0028] Judge whether it is in the initial stage of going upstairs or downstairs;

[0029] Control the auxiliary wheel control module to extend the auxiliary wheels;

[0030] Control the platform adjustment module to adjust the platform angle to the target angle;

[0031] Control the tracked drive module to start the moving operation;

[0032] After identifying the up-and-down stair state, control the tracked drive module to stop moving and control the auxiliary wheels to retract.

[0033] A tracked stair-climbing machine, comprising:

[0034] It is provided with a platform for carrying items;

[0035] A battery for providing the required power;

[0036] A tracked walking mechanism is installed at the bottom of the machine body and is used to drive the tracked stair-climbing machine to move forward and backward on a horizontal ground and stairs. The tracked walking mechanism includes a tracked assembly and a drive motor, and the drive motor is electrically connected to the main control module;

[0037] A platform adjustment mechanism is arranged between the machine body and the platform. The platform adjustment mechanism includes an inclination sensor for adjusting the inclination angle of the platform relative to the horizontal plane. The platform adjustment mechanism includes an electric rotary push rod and an angle feedback interface, and the angle feedback interface is electrically connected to the inclination sensor;

[0038] An auxiliary mechanism is arranged at the front and rear ends of the tracked walking mechanism and is used to support the stability of the whole machine's center of gravity during the up-and-down stair process of the tracked stair-climbing machine. The auxiliary mechanism includes a drive telescopic assembly and auxiliary wheels, and the drive telescopic assembly is electrically connected to the main control module;

[0039] A remote controller, including a display component and a direction control component, is used to send a running mode switching signal and a traveling direction control signal to the main control module.

[0040] An ultrasonic sensor is arranged at the front end of the machine body and is used to detect the distance information between the tracked stair-climbing machine and the edge of the stairs, and is used to judge whether the tracked stair-climbing machine enters the up-stair or down-stair state.

[0041] A main control module is installed inside the machine body and is used to receive the control instructions input by the remote controller and control the coordinated actions of the tracked traveling mechanism, the platform adjustment mechanism, and the auxiliary mechanism. The main control module is electrically connected to the inclination sensor and the ultrasonic sensor.

[0042] An inclination sensor is arranged on the platform and is used to detect the pitch angle of the platform relative to the horizontal plane and send the angle signal to the main control module.

[0043] The present invention provides a tracked stair-climbing machine automatic stair-climbing control system and a tracked stair-climbing machine. It has the following beneficial effects:

[0044] 1. The present invention realizes the automatic operation of the whole process of going up and down stairs through the coordinated control of multiple sensors. From the extension and retraction of the auxiliary wheels to the real-time adjustment of the platform attitude, no manual intervention is required. Compared with the prior art that only triggers a single action at a specific moment, it effectively solves the technical problems of complex operation and dependence on human judgment.

[0045] 2. The present invention adopts an automatic platform angle adjustment mechanism to ensure that the platform is always relatively horizontal during the loading process, and can prevent items from sliding or tipping over in an inclined state. Compared with the state where the platform of traditional equipment is fixed, the present invention significantly improves the stability and safety during the transportation process, especially suitable for scenarios with heavy loads or easily offset goods.

[0046] 3. The present invention introduces an ultrasonic ranging module to accurately identify the critical points of going up and down stairs, and combines a control algorithm to drive the auxiliary wheels to perform dynamic actions, ensuring that the auxiliary structure accurately intervenes at key positions. This method overcomes the pain point that it is difficult to grasp the extension timing of the auxiliary wheels in the prior art and improves the reliability of the whole machine passing through the edge of the stairs.

[0047] 4. The present invention realizes the linkage between the up and down stair center of gravity monitoring and the auxiliary mechanism through an automatic control system, and retracts the auxiliary wheels after the center of gravity of the trolley is completely transferred to the step or the stairs, ensuring the continuity of movement and the safety of the structure. Traditional technologies often rely on manual cooperation to judge the timing, and the present invention significantly reduces the operation risk, especially reducing the risk coefficient brought by multiple manual handling when carrying heavy loads. Description of the Drawings

[0048] Figure 1Schematic diagram of the present invention.

[0049] Among them, 1. Battery; 2. Crawler traveling mechanism; 3. Platform adjustment mechanism; 4. Auxiliary wheel; 5. Remote controller; 6. Tilt sensor; 7. Ultrasonic sensor; 8. Platform; 9. Driving telescopic assembly. Specific implementation manner

[0050] Next, in combination with the attached drawings of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0051] Please refer to the attached Figure 1 , the embodiment of the present invention provides an automatic climbing control system for a crawler climbing machine, including:

[0052] A remote controller module, configured to receive user input and send a mode control signal;

[0053] This embodiment details the specific implementation solution of the remote controller module in the automatic climbing control system of the crawler climbing machine, including its functions, working principles, and connection relationships with other parts of the system. The remote controller module is mainly used to receive the control signals input by the user and transmit the control instructions to the main control module through wireless communication to achieve the control of the crawler climbing machine. The following is a detailed description of the technical features, working principles, and implementation process of this module.

[0054] The remote controller module includes a signal receiving part, a signal processing part, a display part, and a power supply module. The signal receiving part is responsible for receiving user operation inputs and converting them into electrical signals. The signal processing part processes and analyzes the received electrical signals and sends the processed control signals to the main control module according to the mode selected by the user (for example: automatic mode or manual mode). The display part is used to display the working status of the crawler climbing machine in real time, including information such as battery power, current mode, and system fault prompts. The power supply module provides necessary power support for each component of the remote controller module.

[0055] First, the remote controller module establishes a wireless connection with the main control module through a wireless communication module. When the user inputs an operation instruction through the direction control button or touch screen, the signal receiving part converts the instruction into an electrical signal. Subsequently, the signal processing part analyzes these signals, determines whether they are mode switching instructions or motion control instructions, and sends the corresponding instructions to the main control module through wireless signals. After receiving the instructions, the main control module performs corresponding operations, such as starting or stopping the crawler, adjusting the platform angle, and controlling the telescopic movement of the auxiliary wheel.

[0056] The working modes of the remote control module include the automatic mode and the manual mode. In the automatic mode, the remote control is mainly used to switch the working mode and set the initial parameters, and the system will automatically control the tracked stair-climbing machine to complete the up and down stair actions. In the manual mode, the remote control allows the user to directly control the traveling direction, speed, and platform adjustment of the tracked stair-climbing machine, providing a more flexible operation method.

[0057] During the wireless communication process between the remote control module and the main control module, the signal processing unit adopts the following algorithm flow for signal parsing and instruction transmission:

[0058] First, the remote control module receives the control instructions input by the user and converts them into electrical signals through the signal receiving unit. For each control signal, the signal processing unit will determine whether it is a mode switching signal or a direction control signal. The specific judgment method is as follows:

[0059] If the input signal belongs to the mode switching instruction, it is judged whether to switch to the automatic mode or the manual mode through the mode switching algorithm. The calculation relationship of this process is as follows:

[0060]

[0061] Among them, M new represents the new working mode, M auto is the automatic mode, and M manual is the manual mode.

[0062] If the input signal is a motion control instruction, the motion control of the track or platform is performed according to the intensity and direction of the signal. The signal processing algorithm for motion control is as follows:

[0063] S motion = K motion ·(D input - D current );

[0064] Among them, S motion is the motion signal output, K motion is the motion control gain coefficient, D input is the motion instruction value input by the user, and D current is the motion data in the current state (such as the track position or the platform angle).

[0065] Through this algorithm, the remote control module can accurately convert the user input into the actual motion commands of the machine, ensuring the precise control of the tracked stair-climbing machine.

[0066] The structure of the remote control module and the main control module achieve data exchange through a wireless communication module. The signal receiving part and the signal processing part are connected by a data bus to ensure the rapid transmission of signals from the receiving part to the processing part. There is also a clear connection relationship between the signal processing part, the display part, and the signal output part to ensure the synchronous processing of control instructions and status display. The power module provides stable power support for the entire remote control module. There is a clear signal transmission path between the input part of the remote control and the input interface of the main control module to ensure the seamless transmission of operation instructions.

[0067] In a practical application scenario, when the user inputs an automatic mode switching signal through the remote control, after the signal receiving part converts the signal into an electrical signal, the signal processing part analyzes it and finds that it is a mode switching signal, then executes the mode switching algorithm and sets it to the automatic mode. At this time, the remote control module sends this mode switching signal to the main control module through wireless communication. After receiving the signal, the main control module starts to automatically control the tracked stair-climbing machine to perform up and down stair operations. At this time, the user does not need to perform any manual operations, and the tracked stair-climbing machine can automatically complete the entire up and down stair process.

[0068] Through the above implementation method, the remote control module can achieve efficient interaction with the tracked stair-climbing machine. Through the close connection with the main control module via wireless communication, the remote control module can accurately receive and convert the user's control instructions and transmit them to the main control module to ensure the real-time control of the tracked stair-climbing machine. This module not only supports the switching between automatic mode and manual mode, but also can flexibly adjust the movement trajectory, speed, and platform angle of the tracked stair-climbing machine, so as to achieve efficient and stable up and down stair operations.

[0069] This implementation method has high adaptability and reliability, can provide stable control effects in different environments, and has simple and intuitive operations, making it easy for users to master. Through this solution, technicians can complete the actual development and debugging of the remote control module according to the disclosed technical content to ensure the smooth operation of the equipment.

[0070] The main control module, communicatively connected to the remote control, is used to execute automatic or manual control logic according to the mode control signal;

[0071] This implementation method details the structure, working principle, and implementation process of the main control module in the control system of the tracked stair-climbing machine. As the brain of the system, the main control module is responsible for receiving signals from the remote control module and the sensor module and performing corresponding control operations. The following is a detailed disclosure of the technical characteristics, algorithm flow, and physical connection relationship of the main control module.

[0072] The main control module includes: a signal input unit, a signal processing unit, a motion control unit, a platform adjustment unit, an auxiliary wheel control unit, and a communication interface unit. The signal input unit receives data from the remote control module and various sensors. The signal processing unit is responsible for analyzing and processing the input signals to generate control signals. The motion control unit adjusts the motion state of the crawler walking module according to the calculation results of the main control module. The platform adjustment unit adjusts the angle of the platform through electric drive. The auxiliary wheel control unit is used to adjust the telescopic operation of the auxiliary wheels. The communication interface unit is used for data exchange with the remote control module and the sensor module.

[0073] First, the signal input unit establishes a connection with the remote control module through a wireless communication interface and receives control instructions from the user. At the same time, the signal input unit also receives real-time data from various sensors (such as the inclination sensor module and the ultrasonic sensor module). The data of these sensors includes information such as the platform tilt angle and the distance from the edge of the stairs.

[0074] Next, the signal processing unit analyzes and processes these signals. For example, the signals from the remote control module can be used for mode switching (automatic mode or manual mode), and the signal processing unit determines the working mode based on these signals. The data provided by the sensor module will be used to judge the current stair state and environment of the crawler stair climber. For example, the distance information of the ultrasonic sensor can help determine whether the crawler stair climber is approaching the edge of the stairs, and the angle data provided by the inclination sensor helps judge the tilt of the platform. The signal processing unit generates corresponding control instructions by combining these data through built-in algorithms.

[0075] Mode switching judgment

[0076] After receiving the mode switching signal from the remote control module, the signal processing unit determines whether to switch to the automatic mode or the manual mode through the mode switching algorithm. The calculation relationship for mode switching is as follows:

[0077]

[0078] Among them, M new represents the new working mode, M auto is the automatic mode, and M manual is the manual mode. This step ensures that the main control module can freely switch between the automatic and manual modes.

[0079] Motion control decision

[0080] The signal processing unit also generates control instructions for the crawler to move according to the feedback data of the sensors. For example, the distance information of the stair edge provided by the ultrasonic sensor module helps to determine whether the crawler climbing machine enters the stair area, and the angle data provided by the inclination sensor module helps to determine whether the platform needs to be adjusted. Based on these data, the motion control unit generates control signals for the crawler to move. The specific control model is as follows:

[0081] S motion = K motion ·(D input - D current );

[0082] Among them, S motion is the output of the motion signal, K motion is the motion control gain coefficient, D input is the motion instruction value input by the user, and D current is the motion data in the current state (such as the crawler position or the platform angle). Through this model, the main control module can accurately adjust the traveling direction and speed of the crawler.

[0083] Platform adjustment algorithm

[0084] After receiving the data from the inclination sensor module, the main control module adjusts the angle of the platform through the platform adjustment unit. The goal of platform adjustment is to make the platform consistent with the stair slope to avoid excessive inclination. The algorithm relationship of platform adjustment is as follows:

[0085] A adjust = K adjust ·(A target - A current );

[0086] Among them, A adjust is the adjusted platform angle, A target is the target platform angle (calculated according to the stair slope), A current is the current platform angle, and K adjust is the adjustment gain coefficient. This algorithm ensures that the platform can be continuously and stably adjusted to avoid instability caused by excessive inclination of the platform.

[0087] Auxiliary wheel control algorithm

[0088] During the up and down stair operations of the crawler climbing machine, the control of the auxiliary wheels is the key to ensuring the stability of the equipment. The signal processing unit judges the operation of the auxiliary wheels according to the states of platform adjustment and crawler movement. When the crawler climbing machine is in the up or down stair state, the auxiliary wheels will automatically extend to provide additional stability. The algorithm of auxiliary wheel control is as follows:

[0089]

[0090] Among them, W action represents the operating state of the auxiliary wheel, extend represents the extension operation, and retract represents the retraction operation. This algorithm ensures that the working state of the auxiliary wheel matches the crawler walking state.

[0091] The main control module exchanges data with the remote control module and various sensor modules through the signal input unit. The signal input unit receives the control instructions from the remote control module and the environmental data provided by the sensor modules. The signal processing unit processes these signals through algorithms, generates control instructions, and executes corresponding actions through the motion control unit, platform adjustment unit, and auxiliary wheel control unit. All components of the main control module are connected through a data bus to ensure smooth information flow and rapid processing.

[0092] In actual use, after the user switches to the automatic mode through the remote control module, the main control module receives this signal and executes the mode switching algorithm. The system starts to automatically detect the edge of the stairs and the inclination angle of the platform. When the ultrasonic sensor detects that the crawler stair climber is about to contact the stairs, the main control module adjusts the crawler walking speed through the motion control unit, and at the same time adjusts the platform angle through the platform adjustment unit to match the slope of the stairs. The auxiliary wheel automatically extends during this process to provide stable support. Throughout the process, the main control module continuously receives sensor data and adjusts the operation in real time to ensure the stable operation of the device.

[0093] This embodiment ensures that the main control module can efficiently and stably manage various functions of the crawler stair climber. Through intelligent algorithms and precise control, the main control module can adjust the crawler walking, platform angle, and auxiliary wheel state in real time, enabling the device to adapt to different stair environments and complete complex up and down stair tasks. This embodiment has high reliability and flexibility and can meet the requirements of various application scenarios.

[0094] Through the above detailed technical features and implementation processes, those skilled in the art can complete the implementation of the main control module based on the disclosure of the present invention and ensure the stability and efficiency of the crawler stair climber system.

[0095] An inclination angle sensor module, which is used to detect the inclination angle of the crawler stair climber platform relative to the horizontal plane and send the angle data to the main control module;

[0096] This embodiment details the implementation scheme of the inclination angle sensor module in the crawler stair climber control system. The inclination angle sensor module is used to monitor the pitch angle of the crawler stair climber platform relative to the horizontal plane in real time and transmit the collected angle information to the main control module to adjust the platform angle and ensure the stability of the device. The following is the detailed disclosure of the technical features, core algorithms, calculation relationships, and physical connections of this module.

[0097] The inclination angle sensor module includes: a sensor element, a signal conditioning unit, a data processing unit, and an output interface unit. The sensor element is used to sense the angle change of the platform relative to the ground, and usually inertial sensors such as accelerometers or gyroscopes are adopted. The signal conditioning unit is used to convert the analog signal output by the sensor into a digital signal. The data processing unit processes and calculates these signals, and finally outputs the inclination angle data of the platform. The output interface unit transmits the processed data to the main control module for subsequent control decision-making.

[0098] First of all, the sensor element detects the angle change of the platform in real time and converts the angle data into an analog signal. The signal conditioning unit amplifies, filters, and performs analog-to-digital conversion on these analog signals to ensure the accuracy and stability of data transmission. The data processing unit receives the converted digital signal and further analyzes the data according to the preset algorithm to calculate the current inclination angle of the platform.

[0099] The core algorithm of the inclination angle sensor module is to calculate the pitch angle of the platform based on the acceleration data output by the sensor. Assume that the output data of the sensor includes the acceleration values in two directions: a x and a y , then the calculation formula for the platform inclination angle is as follows:

[0100]

[0101] where θ represents the tilt angle of the platform, a x and a y are the acceleration data of the sensor in the horizontal and vertical directions respectively. Through this formula, the inclination angle sensor module can calculate the pitch angle of the platform relative to the horizontal plane in real time.

[0102] In order to further improve the stability and accuracy of the data, the data processing unit uses a weighted average algorithm to filter multiple sampled data. The calculation formula for the filtered inclination angle value is as follows:

[0103] θ filtered =α·θ new +(1 - α)·θ previous ;

[0104] where θ filtered is the filtered inclination angle value, θ new is the currently calculated inclination angle value, θ previous is the inclination angle value at the previous moment, and α is the filtering coefficient (0 < α < 1). This filtering process helps to reduce the fluctuations caused by sensor noise, thereby providing more stable inclination angle data.

[0105] The sensor element of the inclination sensor module is connected to the signal conditioning unit through a circuit. The signal conditioning unit converts the analog signal into a digital signal and then transmits it to the data processing unit. The data processing unit transfers the processed inclination data to the main control module through the output interface unit. After receiving the inclination data, the main control module adjusts the posture of the tracked stair-climbing machine and the platform angle according to the system requirements.

[0106] The inclination sensor module is connected to the main control module through a bus or a dedicated interface to ensure the real-time and stability of data transmission. After receiving the data from the inclination sensor, the main control module performs the platform angle adjustment operation. If the inclination angle of the platform exceeds the set safety range, the main control module will issue an alarm signal and adjust the platform to prevent the equipment from tipping over.

[0107] In practical applications, when the tracked stair-climbing machine runs into the stair area, the inclination sensor module continuously monitors the inclination angle of the platform. For example, when the equipment starts to go upstairs, the inclination angle of the platform will gradually increase. The inclination sensor module detects the inclination change of the platform in real time and transmits the data to the main control module. After receiving the inclination data, the main control module adjusts the angle of the platform through the platform adjustment unit to match the slope of the stairs to ensure the stability and safety of the equipment.

[0108] After the equipment completes the upstairs operation, the inclination sensor module continues to monitor the platform angle and feeds it back to the main control module in real time according to the changes of the platform. If the equipment enters the downstairs stage, the inclination sensor module will adjust the detection value in real time to ensure that the angle of the platform will not tilt excessively and avoid the equipment from tipping over. Through this real-time feedback mechanism, the inclination sensor module provides key support for the smooth operation of the tracked stair-climbing machine.

[0109] The inclination sensor module effectively ensures the stability of the platform of the tracked stair-climbing machine during the up and down stair process through precise angle detection and real-time data processing. Through real-time inclination monitoring and filtering processing, it can effectively reduce noise interference, provide accurate inclination data, ensure that the main control module can adjust the platform angle in real time, and avoid the platform from tilting too much or too little. The efficient operation of this module can ensure that the equipment can maintain good stability in different stair environments, reduce the risk of equipment tipping over, and further improve the safety and reliability of the tracked stair-climbing machine.

[0110] Through the above technology disclosure, a complete implementation scheme of the inclination sensor module is provided, covering the core algorithm, calculation relationship and connection relationship of the physical structure, ensuring that those skilled in the art can implement this technical solution according to this content and complete the actual development and application of the inclination sensor module.

[0111] The ultrasonic sensor module is used to detect the distance change between the front end or the rear end of the tracked stair-climbing machine and the edge of the step, and send the ranging information to the main control module;

[0112] This embodiment details the implementation scheme of the ultrasonic sensor module in the crawler stair-climbing machine control system. The ultrasonic sensor module is used to detect the distance between the crawler stair-climbing machine and the stair edge or other obstacles, and transmit this data to the main control module for motion control and environmental perception. The following is a detailed disclosure of the technical features, core algorithms, calculation relationships, and physical connections of this module.

[0113] The ultrasonic sensor module includes: an ultrasonic transmitting unit, a receiving unit, a signal conditioning section, a data processing section, and an output interface section. The ultrasonic transmitting unit emits ultrasonic signals outward and receives the echo signals reflected from the object through the receiving unit. The signal conditioning section converts the received echo signals into electrical signals, and the data processing section analyzes these signals, calculates the distance between the object and the sensor, and transmits this data to the main control module through the output interface section.

[0114] First, the ultrasonic transmitting unit emits ultrasonic signals at a certain frequency. The signals propagate to the object and are reflected. The receiving unit receives the reflected echo signals and converts them into electrical signals. The signal conditioning section amplifies, filters, and digitizes the electrical signals to improve the signal quality and stability. The data processing section receives the processed signals and calculates the distance between the object and the sensor based on the propagation time of the echo signals.

[0115] The core algorithm of the ultrasonic sensor module calculates the distance based on the time difference of the echo signals. Assume the propagation speed of the ultrasonic signal is v sound , and the transmission time is t echo . Then the distance D between the sensor and the object can be calculated by the following formula:

[0116]

[0117] where D is the distance between the object and the sensor, v sound is the propagation speed of the ultrasonic signal, and t echo is the time required for the signal to travel from transmission to receiving the echo. Since the signal needs to travel back and forth from transmission to reception, the divisor of 2 is used in the distance calculation formula.

[0118] To improve the accuracy of distance measurement, the ultrasonic sensor module uses multiple sampling points to average the echo time, reducing errors caused by noise or changes in the reflection environment. The filtered distance calculation formula is as follows:

[0119]

[0120] where D filtered is the filtered distance value, D iThe distance obtained from the i-th sampling, and n is the number of samplings. This filtering process helps to reduce the fluctuations caused by environmental factors or signal interference, and improve the stability and accuracy of the measurement results.

[0121] The ultrasonic sensor module realizes the transmission and reception of signals through the electrical connection between the ultrasonic transmitting unit and the receiving unit. The signal conditioning unit is connected to the receiving unit to process the echo signal. The processed signal calculates the distance between the object and the sensor through the data processing unit, and is transmitted to the main control module through the output interface unit. The main control module adjusts the motion state of the tracked stair-climbing machine or issues a warning signal according to the distance information provided by the ultrasonic sensor.

[0122] The connection method between the ultrasonic sensor module and the main control module usually adopts a serial communication interface, such as I2C or UART, to ensure the real-time and reliability of signal transmission. After receiving the distance data provided by the ultrasonic sensor module, the main control module can work in cooperation with other sensor modules (such as inclination sensors) to achieve complex motion control strategies.

[0123] In practical applications, when the tracked stair-climbing machine approaches the stairs or obstacles, the ultrasonic sensor module will measure the distance to the obstacles in real time. For example, when the device approaches the edge of the stairs, the ultrasonic sensor module detects the distance to the edge of the stairs and transmits this data to the main control module. The main control module judges whether it is necessary to adjust the speed or direction of the tracked movement according to the distance information to avoid collision or deviation from the safe track.

[0124] Assume that the distance detected by the ultrasonic sensor module to the edge of the stairs is D threshold , the main control module will determine the motion strategy of the tracked stair-climbing machine according to this data. If the distance is less than the set safety distance D threshold , the main control module will adjust the traveling speed of the tracked through the motion control unit to avoid getting closer to the edge of the stairs. If the distance is greater than D threshold , the system will continue to travel along the original path.

[0125] The ultrasonic sensor module can efficiently and accurately detect the distance between the tracked stair-climbing machine and the stairs or obstacles, and feedback the data to the main control module. This function can effectively avoid collisions between the device and obstacles, and provide important support for the smooth operation of the tracked stair-climbing machine. Through the filtering algorithm and multiple samplings, the ultrasonic sensor module can improve the accuracy and stability of the measurement results, thereby reducing the influence of the external environment on the measurement results and ensuring the safety and reliability of the device in various environments.

[0126] Through the above technical disclosure, a complete implementation solution for the ultrasonic sensor module is provided, covering the core algorithm, calculation relationship, and physical connection relationship, ensuring that those skilled in the art can implement this technical solution based on this content and complete the actual development and application of the ultrasonic sensor module.

[0127] The platform adjustment module, connected to the main control module, is used to adjust the platform attitude according to the angle information provided by the tilt sensor.

[0128] This embodiment details the implementation solution of the platform adjustment module in the crawler stair-climbing machine control system. The platform adjustment module is used to accurately adjust the angle of the crawler stair-climbing machine platform according to the real-time data provided by the tilt sensor module and the ultrasonic sensor module, ensuring that the platform matches the slope of the stairs and avoiding excessive tilting or overturning of the platform. The following is a detailed disclosure of the technical features, core algorithm, calculation relationship, and physical connection of this module.

[0129] The platform adjustment module includes: a platform adjustment motor, an angle sensor, a control circuit, and a feedback system. The platform adjustment motor is used to drive the angle adjustment of the platform, the angle sensor is used to monitor the current tilt angle of the platform, the control circuit is used to receive signals from the main control module and control the operation of the motor, and the feedback system is used to transmit the adjusted platform angle information back to the main control module for further control.

[0130] First, the angle sensor monitors the current angle of the platform in real time and transmits the data to the main control module. The main control module calculates the required target platform angle based on the data provided by the tilt sensor and the ultrasonic sensor module. Then, the main control module controls the platform adjustment motor through the control circuit to adjust the platform to the target angle. The angle change during the adjustment process is transmitted to the main control module through the feedback system to ensure the accuracy of the platform adjustment.

[0131] The speed and accuracy of the platform adjustment are achieved by adjusting the control signal of the motor. The control circuit adjusts according to the calculated angle difference and the required speed. The relationship between the adjustment amount of the motor and the angle difference can be expressed by the following formula:

[0132] V motor =K motor ·Δθ;

[0133] where V motor is the control signal of the motor, K motor is the gain coefficient of the motor, and Δθ is the angle that the platform needs to be adjusted. This formula ensures that the motor can accurately adjust according to the platform adjustment amount, avoiding excessive or insufficient adjustment.

[0134] The platform adjustment module provides real-time feedback on the angle change of the platform through an angle sensor to ensure that the angle of the platform always remains within a predetermined range. The angle sensor transmits real-time angle data to the main control module. The main control module calculates the target angle based on this data and controls the operating state of the platform adjustment motor through a control circuit. The platform adjustment motor drives the angle change of the platform, and the feedback system returns the angle information of the adjusted platform to the main control module to form a closed-loop control.

[0135] This module cooperates with other sensor modules (such as ultrasonic sensor module and tilt sensor module) to ensure that the tracked stair-climbing machine always maintains a stable posture during the stair-climbing process. The control circuit is connected to the main control module through a bus, receives instructions from the main control module, and executes corresponding motor control operations.

[0136] The auxiliary wheel control module is used to control the extension and retraction of the auxiliary wheels according to the instructions of the main control module;

[0137] This embodiment details the implementation scheme of the auxiliary wheel control module in the control system of the tracked stair-climbing machine. The auxiliary wheel control module is used to automatically extend and retract the auxiliary wheels during the up and down stair process of the tracked stair-climbing machine to provide additional stability and support, preventing the device from tipping over or becoming unstable due to a tilted or uneven stair environment. The following is a detailed disclosure of the technical features, core algorithms, calculation relationships, and physical connections of this module.

[0138] The auxiliary wheel control module includes: an auxiliary wheel motor, a telescopic mechanism, a control circuit, and a sensor feedback system. The auxiliary wheel motor is used to drive the extension and retraction of the auxiliary wheels. The telescopic mechanism controls the extension or retraction of the auxiliary wheels through a mechanical structure. The control circuit is used to receive signals from the main control module and control the operating state of the auxiliary wheel motor. The sensor feedback system is used to monitor the operating state of the auxiliary wheels in real time and feedback the data to the main control module.

[0139] First, the main control module determines whether to enable the auxiliary wheels based on the current motion state and the tilt of the platform. When the tracked stair-climbing machine is in the up and down stair state, the auxiliary wheel control module drives the auxiliary wheel motor to extend the auxiliary wheels through the control circuit. When the device stops stably on a flat ground or reaches a certain angle, the auxiliary wheels retract. The sensor feedback system monitors the state of the auxiliary wheels in real time and transmits the data to the main control module to ensure that the operation of the auxiliary wheels matches the needs of the device.

[0140] The auxiliary wheel control module is connected to the telescopic mechanism through the auxiliary wheel motor to control the extension and retraction of the auxiliary wheels. The main control module issues a motor control signal through the control circuit to drive the operation of the auxiliary wheel motor. The sensor feedback system transmits real-time information back to the main control module by detecting the operating state of the auxiliary wheels to ensure that the control system can accurately judge the state of the auxiliary wheels.

[0141] The connection between the auxiliary wheel control module and the main control module is carried out through a bus or a communication interface to ensure the real-time performance and stability of signal transmission. The auxiliary wheel control module also works in coordination with other modules such as the tilt sensor and the motion sensor to ensure that the auxiliary wheel can extend or retract at the correct timing, thereby providing support for the stability of the tracked stair-climbing machine.

[0142] In practical applications, assume that the tracked stair-climbing machine is going up or down the stairs, and the tilt angle of the platform is θ platform = 10°. At this time, the main control module determines that the tilt angle of the platform is greater than the set threshold θ platform = 5°, and the tracked stair-climbing machine is going upstairs (i.e., θ platform = moving up). According to the auxiliary wheel control algorithm, the main control module commands the auxiliary wheel to extend to provide additional stability. The auxiliary wheel motor starts to extend the auxiliary wheel, and precisely adjusts the driving force of the motor through the control circuit to make the auxiliary wheel smoothly extend to the required position.

[0143] When the tracked stair-climbing machine stops on a flat ground or reaches the set safe angle, the main control module determines that the angle of the platform is lower than the set threshold and commands the auxiliary wheel to retract. The auxiliary wheel motor starts to retract the auxiliary wheel according to the control signal to complete the entire telescoping process.

[0144] The auxiliary wheel control module can intelligently control the telescoping of the auxiliary wheel according to the real-time motion state and platform angle of the tracked stair-climbing machine. Through precise algorithms and motor control, the module can automatically extend the auxiliary wheel when needed to provide stability and prevent the device from tipping over. The real-time feedback mechanism of this module enables the device to make adaptive adjustments according to different environmental conditions, improving the safety and stability of the tracked stair-climbing machine.

[0145] Through the above technical disclosure, a complete implementation solution of the auxiliary wheel control module is provided, covering the core algorithm, calculation relationship, and physical connection relationship, ensuring that those skilled in the art can implement this technical solution according to this content and complete the actual development and application of the auxiliary wheel control module.

[0146] The tracked drive module is used to drive the track to move forward or backward and is communicatively connected to the main control module;

[0147] This embodiment details the implementation solution of the tracked drive module in the control system of the tracked stair-climbing machine. The tracked drive module is used to provide power for the track, enabling the tracked stair-climbing machine to move smoothly on different terrains such as stairs and ramps. The tracked drive module includes parts such as a drive motor, a track system, a power transmission device, sensors, and a control circuit. The following is a detailed disclosure of the technical features, core algorithm, calculation relationship, and physical connection of this module.

[0148] The crawler drive module includes: a drive motor, a crawler system, a power transmission device, and a control circuit. The drive motor provides the power required for the crawler stair climber. The crawler system provides traction by contacting the ground with the crawlers. The power transmission device transmits the power of the motor to the crawlers. The control circuit receives instructions from the main control module and controls the operation of the motor. Sensors are used to monitor the motion state of the crawlers in real time and feedback data to the main control module.

[0149] First, the drive motor receives a control signal from the main control module and drives the power transmission device to transmit power to the crawler system. The crawlers contact the ground to generate traction, driving the crawler stair climber to move along the stairs or the ground. The sensors monitor the state of the crawlers in real time and feedback data to the main control module to ensure that the motion of the crawlers meets the predetermined requirements.

[0150] The drive motor of the crawler drive module is connected to the crawler system through the power transmission device, providing the power required for the crawlers. The control circuit receives the control signal from the main control module and adjusts the power output of the motor to control the speed and traction of the crawlers. Sensors are used to monitor the motion state of the crawlers (such as speed, traction, etc.) in real time and transmit the feedback information to the main control module to help adjust the operating parameters of the crawlers.

[0151] The crawler drive module is connected to the main control module through a bus or a communication interface to ensure the real-time and accurate transmission of signals. The main control module dynamically adjusts the output of the motor according to the feedback information of the crawler system to ensure that the crawler stair climber can operate smoothly and stably when climbing stairs or on other terrains.

[0152] In practical applications, assume that the crawler stair climber is going upstairs and the current speed of the crawlers is v current = 0.5 m / s, and the target speed is v current = 1.0 m / s. According to the motor control algorithm, the main control module calculates the motor control signal V motor = K motor ·(1.0 - 0.5) to increase the motor output power so that the crawlers reach the target speed. At the same time, the friction coefficient μ between the crawlers and the ground and the inclination angle θ of the platform will affect the magnitude of the traction. Through the power transmission device, the crawler drive module adjusts the traction to ensure the stable operation of the equipment on the slope of the stairs.

[0153] When the crawler stair climber enters a flat ground, the main control module adjusts the output power of the motor according to the ground condition and the platform angle, so that the crawlers continue to move forward smoothly without excessive traction. The sensors continuously monitor the speed and traction of the crawlers and feedback the information to the main control module to achieve automatic adjustment and stable operation.

[0154] The crawler drive module can adaptively adjust the movement state of the crawlers according to the tilt angle of the platform and the ground friction through precise motor control and traction adjustment. On different terrains such as stairs and ramps, the module can provide stable driving force to ensure the stability and safety of the crawler stair climber. This module works in coordination with the real-time feedback mechanism of the main control module and the sensor module, and can dynamically adjust parameters such as the speed and traction of the crawlers to ensure the stable operation of the device in complex environments.

[0155] Through the above technical disclosure, a complete implementation solution of the crawler drive module is provided, covering the core algorithm, calculation relationship and physical connection relationship, ensuring that those skilled in the art can implement this technical solution according to this content and complete the actual development and application of the crawler drive module.

[0156] A crawler stair climber, comprising:

[0157] There is a platform 8 for carrying items;

[0158] A battery 1 for providing the required power;

[0159] A crawler walking mechanism 2 is installed at the bottom of the body and is used to drive the crawler stair climber to move forward and backward on a horizontal ground and stairs. The crawler walking mechanism 2 includes a crawler assembly and a driving motor, and the driving motor is electrically connected to the main control module;

[0160] A platform adjustment mechanism 3 is arranged between the body and the platform 8. The platform adjustment mechanism 3 includes an inclination sensor 6 for adjusting the tilt angle of the platform 8 relative to the horizontal plane. The platform 8 adjustment mechanism includes an electric rotary push rod and an angle feedback interface, and the angle feedback interface is electrically connected to the inclination sensor 6;

[0161] An auxiliary mechanism 4 is arranged at the front and rear ends of the crawler walking mechanism 2 and is used to support the stability of the overall center of gravity during the process of the crawler stair climber going up and down stairs. The auxiliary mechanism 4 includes a driving telescopic assembly 9 and auxiliary wheels, and the driving telescopic assembly 9 is electrically connected to the main control module;

[0162] A remote controller 5 includes a display component and a direction control component, and is used to send a running mode switching signal and a traveling direction control signal to the main control module;

[0163] An ultrasonic sensor 7 is arranged at the front end of the body and is used to detect the distance information between the crawler stair climber and the edge of the stairs, and is used to judge whether the crawler stair climber enters the up or down state;

[0164] The main control module is installed inside the body and is used to receive the control instructions input by the remote controller 5 and control the coordinated actions of the crawler walking mechanism 2, the platform adjustment mechanism 3 and the auxiliary mechanism 4. The main control module is electrically connected to the inclination sensor 6 and the ultrasonic sensor 7;

[0165] An inclination sensor 6 is disposed on the platform 8 and is used to detect the pitch angle of the platform 8 relative to the horizontal plane and send an angle signal to the main control module.

[0166] The body is the main part of the tracked stair-climbing machine and undertakes the function of bearing the load. The upper part of the platform can be used for carrying objects, and the electric control system, sensors and driving devices are distributed inside the body. The overall design focuses on stability and rigidity to ensure that the machine can drive stably on the stairs.

[0167] The tracked traveling mechanism 2 is installed at the bottom of the body. This mechanism drives the track to move forward or backward through a driving motor, helping the tracked stair-climbing machine to move smoothly on the ground and stairs. The design of the track ensures sufficient grip and stability on different terrains. The driving motor is connected to the main control module to achieve flexible control.

[0168] The platform adjustment mechanism 3 is located between the body and the platform. Its main function is to adjust the tilt angle of the platform according to the data of the sensor to adapt to the slope changes of different stairs. This mechanism precisely adjusts the platform angle through an electric rotating component and is connected to the inclination sensor 6 through a feedback interface to ensure that the platform is always within the set angle range.

[0169] The auxiliary wheels 4 are located at the front and rear ends of the tracked stair-climbing machine and play a role in supporting and stabilizing during the process of going up and down the stairs. Through the telescopic connecting rod, the auxiliary wheels can extend or retract according to the instructions of the main control module to ensure balance in different states. The design of the auxiliary wheels can effectively prevent the stair-climbing machine from tipping over in a complex stair environment.

[0170] The main control module is the brain of the system and is responsible for overall coordinating the work of each module. By receiving the instructions of the remote controller 5, the main control module decides the operations of the tracked traveling, platform adjustment and auxiliary wheels. The main control module conducts data exchange and control with all sensors such as the inclination sensor 6, ultrasonic sensor 7 and driving components to ensure the automatic operation of the stair-climbing machine.

[0171] The remote controller 5 communicates with the main control module through wireless signals and sends control instructions. Through the remote controller, the user can select the automatic or manual mode and adjust the speed and direction of going up and down the stairs. The remote controller also includes a display component, which can display the device status in real time to facilitate the operator to understand the operating condition of the device.

[0172] The inclination sensor 6 detects the pitch angle of the platform 8 relative to the ground in real time and transmits the data to the main control module. This module ensures that the angle adjustment of the platform will not be excessive, thus avoiding the instability or overturning of the machine caused by excessive inclination.

[0173] The ultrasonic sensor 7 detects the distance to the edge of the stairs through the sensors at the front and rear ends. When it detects that the tracked stair climber is about to touch the edge of the stairs, the system automatically determines whether it is in the up or down state and adjusts the corresponding actions. This provides the stair climber with an accurate stair recognition function and avoids the difficulty of adapting to the irregular shape of the stairs.

[0174] Working principle: After the system is started, the main control module obtains the data of the stair edge and the platform inclination angle through the ultrasonic sensor and the inclination sensor. At this time, the auxiliary wheels automatically extend to provide initial stable support for the device. During the stair climbing process, the platform adjustment mechanism continuously adjusts the platform angle according to the feedback inclination angle data to ensure that the platform always remains consistent with the stair slope and prevent the platform from tilting excessively and causing instability. When the platform angle is adjusted to the appropriate position, the tracked walking mechanism starts to work, and the tracked motor drives the tracks to move forward. At this time, the ultrasonic sensor ensures that the machine maintains an appropriate distance from the stair edge to avoid accidents caused by being too close to the edge. When the stair climber completes the ascent or descent of a step, the main control module detects the state changes of the platform and the auxiliary wheels and automatically adjusts the speed and direction of the tracked walking to ensure smooth up and down movements. After completing the up and down movements, the tracked walking mechanism stops working, and the auxiliary wheels retract to their original positions, and the device enters the standby mode. Through the remote control, the operator can switch the operation mode of the device or view the device status at any time.

[0175] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The automatic climbing control system of crawler stair climbing machine is characterized by: include: A remote controller for receiving user input and sending mode control signals; A main control module, connected to the remote controller for executing automatic or manual control logic according to the mode control signal; The inclination sensor is used to detect the inclination of the crawler stair climbing machine platform relative to the horizontal plane and send the angle data to the main control module; Ultrasonic sensor, used to detect the distance change between the front or rear end of the crawler stair climber and the edge of the step, and send the distance measurement information to the main control module; A platform adjustment module, connected to the main control module, for adjusting the platform posture according to the angle information provided by the inclination sensor; The auxiliary wheel control module is used to control the extension and retraction of the auxiliary wheels according to the instructions of the main control module; The crawler track driving module is used to drive the crawler track to move forward or backward and is connected to the main control module for communication.

2. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1 is characterized in that: After receiving the trigger signal from the ultrasonic sensor that the front or rear end of the crawler stair climber exceeds the edge of the platform, the main control module automatically identifies it as entering the upstairs or downstairs state, and based on the identified state, synchronously triggers the platform adjustment module and the auxiliary wheel control module to perform corresponding actions.

3. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1 is characterized in that: The main control module sets the target platform inclination angle in the automatic control mode, and the platform adjustment module performs feedback control based on the error between the real-time angle value provided by the inclination sensor and the target angle value.

4. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1 is characterized in that: The auxiliary wheel control module controls the auxiliary wheel action in the following states: When the main control module identifies that the crawler stair climbing machine is in an ascending or descending state and the platform angle adjustment is completed, the auxiliary wheels perform an extending operation; When the main control module recognizes that the crawler stair climbing machine has returned to the horizontal platform area and the device is in a stopped state, the auxiliary wheels perform a recovery operation.

5. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1, characterized in that: The track drive module only starts forward or reverse motion under the following conditions: The training wheels are fully extended; The platform angle has been adjusted to the set target value; The ultrasonic sensor confirms that the front or rear end of the device has partially entered the stair area.

6. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1, characterized in that: After detecting that the crawler stair climbing machine has completed the up-and-down movement, the main control module immediately controls the crawler drive module to stop the movement, and at the same time controls the auxiliary wheel control module to perform the recovery movement, and sends the current status information to the remote control for status display.

7. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1, characterized in that: The measurement accuracy of the inclination sensor is ±0.5 degrees, and it has a sampling frequency of not less than 10 Hz, and can continuously output the platform pitch angle signal to the main control module.

8. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1, characterized in that: The ultrasonic sensor has a measuring range of 0.05 meters to 2 meters, a measuring accuracy of not less than ±1 centimeter, and has distance edge detection and dynamic judgment functions, which are used to identify whether the crawler stair climbing machine has crossed the edge of the stairs and entered the up-and-down state.

9. The automatic stair climbing control system of the crawler stair climbing machine according to claim 1, characterized in that: The main control module performs the following control process in the automatic control mode: Receive automatic mode commands from the remote control; Collect and fuse the detection data of the tilt sensor and the ultrasonic sensor in real time; Determine whether you are in the initial stage of going up or down the stairs; Controlling the auxiliary wheel control module to execute auxiliary wheel extension; Control the platform adjustment module to adjust the platform angle to the target angle; Controlling the crawler drive module to start the moving operation; After the state of going upstairs or downstairs is identified, the crawler drive module is controlled to stop the action and the auxiliary wheels are controlled to be recovered.

10. A crawler stair climbing machine, used for the crawler stair climbing machine automatic stair climbing control system according to claims 1-9, characterized in that: include: A platform (8) is provided for carrying items; A battery (1) for providing the required power; A crawler walking mechanism (2) is installed at the bottom of the machine body and is used to drive the crawler stair climbing machine to realize forward and backward movement on a horizontal ground and stairs. The crawler walking mechanism (2) includes a crawler assembly and a drive motor, and the drive motor is electrically connected to the main control module; A platform adjustment mechanism (3) is arranged between the machine body and the platform (8), the platform adjustment mechanism (3) comprises an inclination sensor (6) for adjusting the inclination angle of the platform (8) relative to the horizontal plane, the platform (8) adjustment mechanism comprises an electric rotary electric push rod and an angle feedback interface, the angle feedback interface is electrically connected to the inclination sensor (6); The auxiliary mechanism (4) is arranged at the front and rear ends of the crawler walking mechanism (2) and is used to support the stability of the center of gravity of the entire machine when the crawler stair climbing machine goes up and down stairs. The auxiliary mechanism (4) includes a drive telescopic assembly (9) and auxiliary wheels. The drive telescopic assembly (9) is electrically connected to the main control module. A remote controller (5), comprising a display component and a direction control component, used for sending an operation mode switching signal and a travel direction control signal to the main control module; An ultrasonic sensor (7) is arranged at the front end of the machine body, and is used to detect the distance information between the crawler stair climbing machine and the edge of the stairs, and is used to determine whether the crawler stair climbing machine has entered an ascending or descending state; A main control module is installed inside the machine body and is used to receive control instructions input by a remote controller (5) and control the coordinated actions of the crawler walking mechanism (2), the platform adjustment mechanism (3) and the auxiliary mechanism (4). The main control module is electrically connected to the inclination sensor (6) and the ultrasonic sensor (7); The tilt sensor (6) is arranged on the platform (8) and is used to detect the pitch angle of the platform (8) relative to the horizontal plane and send an angle signal to the main control module.

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