Stair climbing device control system

Abstract

A stair climbing device control system, comprising a stair climbing device for performing walking and stair climbing and descending actions, and a control unit, the control unit comprising a controller, a floor information collection module for obtaining stair information, a motor drive module for driving a plurality of motors to perform lifting actions, and a power module for providing working power for other modules; the stair climbing device comprises a rack, a front support assembly, and a rear support assembly, the front support assembly is located at the front side of the bottom of the rack to support the front side of the rack, the rear support assembly is located at the rear side of the bottom of the rack to support the rear side of the rack, and the control unit is arranged in the rack. The utility model embodiment integrates the controller, the motor drive module and the power module in the integrated control unit, simplifies the system structure, improves the response speed and the control coordination ability, and overcomes the defects of the dispersed function of the existing equipment control unit and the slow response.

Description

Technical Field

[0001] This utility model relates to the field of travel equipment technology, specifically to a control system for a stair-climbing device. Background Technology

[0002] With the increasing trend of population aging, the demand for age-friendly assistive devices is constantly growing. Among them, stair climbing devices, as an important assistive tool to solve the problem of people with mobility impairments going up and down stairs, have received widespread attention and application.

[0003] However, existing stair-climbing devices lack effective means of collecting floor information, cannot accurately sense parameters such as step height and step distance, and are difficult to achieve intelligent adaptation to different stair environments. Furthermore, the main control unit in existing equipment is functionally dispersed and does not form an effective integrated structure. The system response is slow, and it is difficult to coordinate multiple motors to perform lifting or moving actions synchronously, resulting in unstable equipment operation and a poor user experience.

[0004] Therefore, there is an urgent need to provide a stair-climbing device control system that is structurally robust, capable of acquiring stair information, can drive multiple motors to lift and lower in tandem, and integrates a single main control unit, in order to improve the stability, adaptability, and safety of the device during the process of going up and down stairs. Utility Model Content

[0005] This application provides a control system for a stair-climbing device, the technical solution of which is as follows: It includes a stair-climbing device for performing walking and climbing actions, and a main control unit, which includes: Controller; Floor information collection module, used to obtain staircase information; The motor drive module is used to drive multiple motors to perform lifting and lowering actions; The power module is used to provide operating power to other modules; The stair-climbing device includes a frame, a front support assembly, and a rear support assembly. The front support assembly is located at the front bottom of the frame to support the front side of the frame, and the rear support assembly is located at the rear bottom of the frame to support the rear side of the frame. The main control unit is located inside the frame.

[0006] Furthermore, the floor information collection module includes: The floor movement detection module is used to detect the operating status of the stair climbing equipment, including the upstairs or downstairs status. The first vertical travel detection module is used to obtain the step height information of the current step; The second vertical travel detection module is used to obtain the step height information of the next step; and The horizontal step distance detection module is used to obtain the step length information of the current step.

[0007] Furthermore, the signal input terminal of the main control unit is electrically connected to the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module, respectively. The signal output terminal of the main control unit is electrically connected to the motor drive module. The power supply terminal of the power module is electrically connected to the main control unit, the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, the horizontal step distance detection module, and the motor drive module.

[0008] Furthermore, the floor movement detection module includes an upward trigger detection module and a downward trigger detection module, wherein: The uplink trigger detection module is used to generate an uplink status trigger signal when it detects that the stair-climbing device has advanced to the bottom of the step; The downhill trigger detection module is used to generate a downhill state trigger signal when it detects that the stair-climbing device is approaching the top edge of the step.

[0009] Furthermore, the front support assembly includes a first wheel assembly and a second wheel assembly disposed on the rear side of the first wheel assembly; The rear support assembly includes a third wheel group and a fourth wheel group located behind the third wheel group; The motor drive module is used to control the first wheel group, the second wheel group, the third wheel group, and the fourth wheel group to perform lifting and horizontal movement respectively.

[0010] Furthermore, the first, second, third, and fourth wheel groups are driven by servo motors, hub motors, or brushless DC motors.

[0011] Furthermore, the first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module are one or more combinations of TOF sensors, ultrasonic sensors, lidar, and infrared distance sensors.

[0012] Furthermore, the first wheel assembly is equipped with a diffuse reflection switch or a pressure switch to detect when the first wheel assembly contacts the step surface or the ground.

[0013] Furthermore, the stair-climbing device is also equipped with an alarm, which is connected to the main control unit and is used to sound an alarm when the motor or stair-climbing device is in a dangerous state.

[0014] Furthermore, the stair-climbing device is also equipped with a data transmission module for exchanging data with the software pre-installed in the user terminal. The data transmission module is connected to the controller signal and is one or more of the following: a WIFI module, an Ethernet module, and a mobile communication module.

[0015] This invention, by incorporating a floor information collection module, can perceive parameters such as the height and step distance of stairs in real time, solving the problems of existing stair-climbing devices lacking floor information acquisition methods and being unable to adapt to diverse stair environments. By integrating the controller, motor drive module, and power supply module into a single main control unit, the system structure is simplified, response speed and control coordination capabilities are improved, overcoming the shortcomings of existing equipment's main control unit's dispersed functions and slow response. At the same time, by setting front and rear support components at the front and rear of the frame respectively, effective support is achieved for the stair-climbing device in the front and rear directions, improving the overall stability and structural balance of the equipment during operation, and ensuring the safety and comfort of users during the process of going up and down stairs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a structural block diagram of the main control unit in an embodiment of this utility model; Figure 2 This is a schematic diagram of the structure of the stair-climbing device of this utility model; Figure 3 This is another structural schematic diagram of the stair-climbing device of this utility model.

[0018] Figure label: 100. Controller; 200. Floor information collection module; 210. Floor movement detection module; 220. First vertical travel detection module; 230. Second vertical travel detection module; 240. Horizontal step distance detection module; 300. Motor drive module; 400. Power supply module; 500. Alarm; 600. Data transmission module; 700. Stair climbing device; 710. Frame; 720. Front support assembly; 721. First wheel group; 722. Second wheel group; 730. Rear support assembly; 731. Third wheel group; 732. Fourth wheel group; Detailed Implementation The present invention will be further described in detail below with reference to the accompanying drawings.

[0019] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive element, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. In existing technologies, the demand for age-friendly assistive devices is constantly increasing with the aging population trend, and stair-climbing devices are widely used as important assistive tools for people with mobility impairments to go up and down stairs. However, existing devices suffer from insufficient stair information sensing capabilities, failing to accurately obtain step height and step distance parameters, making it difficult to adapt to different stair environments. Simultaneously, the main control unit of existing devices is functionally fragmented, lacking an integrated structure, resulting in slow system response, difficulty in multi-motor coordinated execution of actions, poor device stability, and a poor user experience. For example, in scenarios involving sudden changes in step height, the device may tilt due to its inability to adjust the support components in time.

[0021] To address the aforementioned issues, the applicant noted that the existing system suffers from response delays due to the separation of information acquisition and control. Analysis revealed that integrating the staircase information acquisition function with the multi-motor drive function into a single main control unit could improve system coordination. Further consideration suggested that installing independent support components on the front and rear sides of the frame and achieving synchronized movement through a unified control module might resolve the issue of operational instability. Based on this, the applicant proposes integrating the information collection, motor drive, and power management modules into the main control unit, and achieving coordinated movement of multiple wheel sets through the structural design of the front and rear support components.

[0022] Reference Figures 1-3 This invention proposes a system including a stair-climbing device for performing walking and ascending / descending actions, and its main control unit. The main control unit includes a controller, a floor information collection module for acquiring stair information, a motor drive module for driving multiple motors to perform lifting and descending actions, and a power supply module for providing power to the modules. The stair-climbing device includes a frame, a front support assembly located at the front of the bottom of the frame, and a rear support assembly located at the rear. The main control unit is located inside the frame.

[0023] The floor information collection module refers to the unit that acquires the geometric parameters of the staircase through sensors or detection devices, which is used to identify the step height and horizontal step distance, and provide data support for motor operation.

[0024] The motor drive module refers to the circuit unit that controls the output power of multiple motors. Specifically, it can be implemented using an H-bridge drive chip, an integrated driver, or a PLC main control unit, and is used to synchronously adjust the lifting speed of the front support assembly and the rear support assembly.

[0025] A power supply module is a power supply unit that provides a stable voltage to the system. It can be implemented using a lithium battery pack or a voltage regulator circuit to ensure that the controller and sensors work continuously.

[0026] The front support assembly refers to the load-bearing structure set at the front end of the frame. Specifically, it may include two independent sets of wheels, which are driven by a motor to achieve lifting or lowering movements. It is used to support the weight of the front of the frame and adapt to changes in steps.

[0027] The rear support assembly refers to the load-bearing structure located at the rear of the frame. Specifically, it may include two sets of wheel sets with drive motors, which work in conjunction with the front support assembly to maintain the frame's balance.

[0028] Specifically, this embodiment of the invention uses a floor information collection module to detect the step height and step distance in real time. The controller generates instructions based on the detection data, and the motor drive module synchronously controls the first and second wheel groups of the front support assembly, and the third and fourth wheel groups of the rear support assembly, to perform lifting and lowering actions. For example, during the ascent, when the front wheel group detects the edge of a step, the controller drives the rear wheel group to rise to the same height as the current step. Then, the front wheel group moves forward to the next step, and the rear wheel group follows synchronously, achieving continuous climbing through alternating actions. The power module provides an independent power supply circuit for each module to prevent voltage fluctuations from causing sensor malfunctions.

[0029] Compared to existing technologies, current systems typically employ independent sensors and distributed controllers, leading to data processing delays and asynchronous actions. This solution, however, uses an integrated main control unit to uniformly process stair information and output drive signals, enabling the four sets of wheels in the front and rear support components to coordinate their movements in real time. For example, in scenarios with inconsistent step heights, existing equipment may experience center of gravity shifts due to wheel lifting height errors, while this system, through unified control, can precisely adjust the lifting amplitude of each wheel set, ensuring the frame remains level at all times.

[0030] Through the above technical solution, this application solves the problem of insufficient adaptability of existing equipment due to incomplete information collection, and realizes rapid response to different stair parameters; through the design of integrated main control unit and modular support components, the accuracy and efficiency of multi-motor coordinated action are improved, effectively preventing tilting or jamming during equipment operation, and enhancing system stability and safety.

[0031] In one embodiment, the floor information collection module further includes a floor movement detection module, a first vertical travel detection module, a second vertical travel detection module, and a horizontal step distance detection module.

[0032] Among them, the floor travel detection module is a device used to identify whether the equipment is in the upstairs or downstairs operating mode; the first vertical travel detection module is a device used to measure the vertical height of the current step; the second vertical travel detection module is a device used to measure the vertical height of the next step; by predicting the height difference of the steps ahead, it provides a reference parameter for motor operation; and the horizontal step distance detection module is a device used to measure the horizontal span of the steps.

[0033] Specifically, when the stair-climbing device begins to move, the floor movement detection module determines whether it is currently in ascending or descending mode by analyzing the contact state between the device and the steps. Subsequently, the first vertical travel detection module collects the current step height data in real time, the second vertical travel detection module simultaneously detects the height data of the next step, and the horizontal step distance detection module continuously acquires the horizontal span data of the steps. This data is transmitted to the controller, where coordinate transformation and path planning calculations generate control commands to coordinate multiple motors to perform a combination of lifting and moving actions. For example, during the ascent process, when an increase in the height of the next step is detected, the controller will adjust the lifting amplitude of the rear wheel assembly in advance to prevent the equipment from tilting.

[0034] Compared to existing technologies, traditional solutions rely on preset stair parameters or detection results from a single height sensor, which cannot cope with variations in step dimensions and can easily lead to deviations in the equipment's trajectory. This solution, by setting up multi-dimensional independent detection modules, achieves synchronous dynamic measurement of the height of the current step, the next step, and the horizontal step distance. This enables the equipment to construct three-dimensional spatial coordinates in real time, effectively adapting to complex scenarios with irregular step dimensions.

[0035] This embodiment can acquire real-time data on the vertical height difference and horizontal span of the staircase structure, providing a precise displacement control benchmark for the motor drive module. This avoids equipment jamming or center of gravity shift caused by changes in step parameters, significantly improving the equipment's adaptability to different types of staircases. Simultaneously, the multi-sensor collaborative detection mechanism reduces the risk of misjudgment caused by a single detection error, enhancing the safety and trajectory stability of the equipment operation.

[0036] This application further proposes that the signal input terminal of the main control unit is electrically connected to the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module, respectively; the signal output terminal of the main control unit is electrically connected to the motor drive module; and the power supply terminal of the power supply module is electrically connected to the main control unit, the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, the horizontal step distance detection module, and the motor drive module. This solves the problem of slow response and asynchronous movement caused by the dispersed functions of the main control unit in existing stair-climbing devices, achieving efficient integration of multi-sensor data and precise coordinated control of multiple motors, ensuring the continuity of movement and operational stability of the stair-climbing device in complex stairwell environments.

[0037] In one embodiment, the floor movement detection module includes an upward trigger detection module and a downward trigger detection module. The upward trigger detection module is used to generate an upward state trigger signal when it detects that the stair climbing device has moved to the bottom of the step, and the downward trigger detection module is used to generate a downward state trigger signal when it detects that the stair climbing device is close to the top edge of the step.

[0038] Specifically, the upward trigger detection module refers to a unit that uses sensors to identify the critical position of the equipment reaching the bottom of the step and generates a signal. When the equipment moves to the bottom edge of the step, it triggers a change in mechanical structure or optical signal to determine the starting point of the upward movement. The downward trigger detection module refers to a unit that uses pressure or position sensors to identify the equipment approaching the top edge of the step. When the equipment reaches the top boundary of the step, it triggers a change in contact signal or distance signal to determine the starting point of the downward movement.

[0039] Specifically, when the equipment moves upwards along the stairs, the upward trigger detection module monitors the contact status between the front wheelset and the bottom of the step in real time. This is achieved, for example, through a contact pressure switch or photoelectric sensor array installed under the wheelset. When the height difference between two consecutive steps disappears and the equipment is in a horizontal support state, the module determines that the equipment has completed the upward movement of the current step and generates a trigger signal to switch the controller to the climbing program for the next step. When the equipment needs to move downwards, the downward trigger detection module uses an edge detection device at the top of the step, such as an infrared distance sensor installed on the side of the wheelset, to measure the horizontal distance between the wheelset and the edge of the step in real time. Before the equipment reaches the top boundary of the step, a trigger signal is generated, causing the controller to adjust the motor torque in advance and switch to the downward control mode.

[0040] Furthermore, the front support assembly includes a first wheel group and a second wheel group located behind the first wheel group, and the rear support assembly includes a third wheel group and a fourth wheel group located behind the third wheel group. The motor drive module is used to control the first wheel group, the second wheel group, the third wheel group and the fourth wheel group to perform lifting and lowering actions and horizontal movement actions respectively.

[0041] The first wheel set refers to the drive unit located at the front end of the bottom of the frame. It can be implemented using a wheel structure combined with an independent suspension mechanism, used to form an initial support point upon contact with the steps during movement. The second wheel set is an auxiliary drive unit added behind the first wheel set along the front side of the bottom of the frame. It can also employ a wheel structure symmetrical to the first wheel set, achieving climbing motion through the alternating lifting of the front and rear wheel sets. The third and fourth wheel sets are drive units located at the rear of the bottom of the frame. They can use the same independent drive structure as the front wheel sets, used to create alternating movement of the rear support point. The motor drive module is a power output unit containing multi-channel control circuitry. It can use branched PWM signals or a PLC main control unit to adjust the speed, torque, and position of each wheel set motor separately, achieving coordinated control of lifting and moving movements.

[0042] Specifically, the first and second wheel sets of the front support assembly are arranged front and back along the direction of travel, and the third and fourth wheel sets of the rear support assembly are also arranged in a front-to-back sequence. When the device begins to climb the steps, the motor drive module first controls the first wheel set to rise to the height of the next step, while the fourth wheel set remains in contact with the current step to maintain balance. Subsequently, the second and third wheel sets perform lifting actions in sequence, forming an alternating support cyclical motion pattern. During this process, each wheel set adjusts its contact state with the step surface through independent lifting and lowering actions, and the horizontal movement is achieved by the rotation drive of the wheel set itself. For example, when the edge of the step is detected, the motor drive module can cut off the horizontal drive signal of a certain wheel set, causing it to only perform vertical lifting and lowering, avoiding collision with the step.

[0043] This embodiment utilizes the alternating lifting and moving motion of the four-wheel set to ensure the device maintains mechanical balance during the ascent and descent of stairs. Simultaneously, the independently controlled wheel structure dynamically adjusts the output parameters of each motor based on real-time collected data on step height and stride distance, thereby adapting to the climbing needs of different stair environments and enhancing the device's operational safety and terrain adaptability.

[0044] Furthermore, the first, second, third, and fourth wheel groups are driven by servo motors, hub motors, or brushless DC motors. Panasonic's MSMD042P1U servo motor is preferred. This motor has a power rating of 40W, a rated speed of 3000rpm, and a matching encoder resolution of up to 2500PPR, providing excellent position accuracy and response speed.

[0045] It should be noted that a servo motor refers to a motor with a closed-loop control system, specifically a permanent magnet synchronous motor with an encoder. It can precisely adjust output torque, speed, and position according to control signals, making it suitable for lifting motion control requiring high-precision position adjustment. A hub motor is a drive unit integrated inside the wheel assembly, specifically a disc motor with a built-in reduction mechanism. It directly drives the wheel assembly to rotate, reducing the space occupied by transmission components. A brushless DC motor is a DC motor using electronic commutation, specifically a three-phase star winding structure combined with Hall effect sensors. It features low electromagnetic interference and high speed stability, suitable for power requirements of long-term continuous operation.

[0046] This embodiment can select an appropriate drive method according to the actual use scenario, improve the environmental adaptability of the power system while maintaining the structural compactness, effectively solve the problems of insufficient control accuracy, high energy consumption or frequent maintenance caused by the single type of motor in the prior art, and enhance the motion coordination and operational reliability of the equipment in different stair structures.

[0047] In one embodiment, the first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module are one or more combinations of TOF sensor, ultrasonic sensor, lidar, and infrared distance sensor.

[0048] In specific implementation, a TOF sensor is preferred, and the preferred TOF sensor is the STMicroelectronics VL53L1X laser time-of-flight sensor.

[0049] It should be noted that TOF sensors refer to ranging devices based on the time-of-flight principle. Specifically, they can achieve non-contact distance measurement by emitting light pulses and calculating the reflection time, and are suitable for height detection on steps made of different materials. Ultrasonic sensors refer to devices that calculate distance using the reflection time of sound waves. Specifically, they can achieve obstacle detection by emitting high-frequency sound waves and receiving the echo, and are stable under complex lighting conditions. LiDAR refers to devices that construct three-dimensional spatial data through laser scanning. Specifically, they can acquire step contour information through multi-beam lasers to achieve high-precision step distance measurement. Infrared distance sensors refer to ranging devices based on changes in the intensity of infrared light reflection. Specifically, they can achieve low-cost environmental perception by emitting modulated infrared light and detecting the intensity of the reflected signal.

[0050] In one embodiment, a diffuse reflection switch or a pressure switch is provided on the first wheel assembly to detect contact between the first wheel assembly and the step surface or the ground.

[0051] It should be noted that a diffuse reflection switch is a sensor that determines the presence of an object by detecting the light signal reflected by the object. Specifically, it can be implemented by combining an infrared transmitter and a receiver. When the first set of switches comes into contact with the step surface or the ground, the reflected light signal is captured by the receiver and a trigger signal is generated.

[0052] It should be noted that a pressure switch is a sensor that is triggered by detecting changes in mechanical pressure. Specifically, it can be implemented using an elastic diaphragm and a contact structure. When the first wheel assembly comes into contact with the step surface or the ground, the pressure change causes the contacts to close or open, thereby generating a status signal.

[0053] In specific implementations, the diffuse reflection switch can be the E3Z-D61 infrared diffuse reflection photoelectric switch manufactured by Omron, and the pressure switch can be the miniature pressure trigger switch of the Honeywell SX01 series.

[0054] In practical implementation, after installing a diffuse reflection switch or pressure switch on the first set of wheels, when the equipment moves to the edge of the step, the signal generated by the first set of wheels contacting the step surface or the ground is transmitted to the main control unit in real time. The main control unit determines whether the first set of wheels is in an effective support state based on the signal, and coordinates the lifting and lowering actions of the subsequent sets of wheels based on this state. For example, if the first set of wheels contacts the step surface, the main control unit can trigger the rear support assembly to perform a lifting action to avoid collision; if the first set of wheels does not detect a contact signal, the main control unit can adjust the drive strategy to prevent the equipment from tilting.

[0055] In one embodiment, the stair-climbing device is equipped with an alarm, which is connected to the main control unit for signaling. The alarm is used to sound an alarm when the motor or stair-climbing device is in a dangerous state. The dangerous state refers to an abnormal operation that may cause equipment damage or personal injury, such as motor overheating, overload, device tilt angle exceeding a threshold, or wheel assembly detaching from the edge of the step. The device operating parameters can be monitored in real time by sensors.

[0056] In practice, alarms can be implemented using sound and light alarms, buzzers, or vibration devices, transmitting danger signals to users through sound, light, or tactile feedback.

[0057] Preferably, the alarm device can be the Jiangsu Changzhou Yuzhong KY-2012 type audible and visual alarm device.

[0058] Specifically, when the main control unit receives an abnormal signal from the motor temperature sensor, current detection module, or attitude sensor, it immediately triggers an alarm and simultaneously sends a stop command to the motor drive module. For example, if the front support component of the stair-climbing device detaches from the edge of the step, causing a shift in the center of gravity, the tilt sensor detects an attitude change exceeding a preset angle. The main control unit immediately activates the audible and visual alarm and cuts off the motor power to prevent the equipment from tipping over. After the alarm signal is generated, the main control unit can simultaneously record the fault code and upload it to a preset maintenance platform or preset user terminal via the data transmission module.

[0059] In some specific implementations, the alarm may include multiple alarm modes, activating a low-frequency buzzer when the motor temperature reaches 60°C, and switching to a high-frequency alarm and forcibly shutting down the machine when the temperature exceeds 80°C. The alarm may also integrate LED indicators, displaying red and yellow dual-color warnings according to different fault types. Furthermore, the alarm can be linked with a mobile communication module to send real-time location information to the bound user terminal when the alarm is triggered.

[0060] In one embodiment, the stair-climbing device is further provided with a data transmission module, which is signal-connected to the controller and used to exchange data with software pre-installed in the user terminal. The data transmission module is one or more of a WIFI module, an Ethernet module, and a mobile communication module.

[0061] It should be noted that the data transmission module refers to the communication unit that enables information exchange between the device and external terminals. Specifically, it can be implemented using a WIFI module, an Ethernet module, or a 4G / 5G mobile communication module, and is used to transmit the device's operating status, step parameters, and control commands in real time.

[0062] User terminals refer to mobile or fixed terminals with control software installed. Specifically, they can be smartphones, tablets, or dedicated remote controls. Pre-installed software enables a human-machine interface, allowing users to view device status and send operation commands.

[0063] Pre-installed software refers to applications integrated into the user terminal. Specifically, these can be applications developed based on Android or iOS systems, used to parse sensor data transmitted by the device and generate a visual user interface, supporting users to remotely adjust device operating parameters.

[0064] Specifically, the data transmission module establishes a connection with the user terminal via a standard communication protocol. When the device moves up or down stairs, the main control unit sends real-time collected motor operation data, step height information, and alarm status to the user's mobile app via the Wi-Fi module. The user can view the device's current location, remaining battery power, and step parameters on the app interface, and select the travel mode via a drop-down menu. For example, when an abnormal step height is detected, the app will display a parameter correction interface. After the user inputs the adjustment value, the mobile communication module sends the new parameters back to the main control unit, triggering the motor drive module to recalculate the lifting and lowering stroke.

[0065] Compared to existing technologies, traditional stair-climbing devices only support local physical button operation and cannot achieve remote status monitoring and parameter adjustment. This solution integrates a multi-mode communication module, enabling the device to actively push operational data to the user terminal while simultaneously receiving control strategies from the cloud.

[0066] Preferably, the use of an Ethernet module can ensure high-stability communication in indoor fixed scenarios, while the mobile communication module ensures wide-area coverage in outdoor environments, thus solving the problem of insufficient adaptability of a single communication method.

[0067] This embodiment enables two-way interaction of equipment operation data, allowing users to monitor the stair-climbing device's operating status in real time and adjust control parameters promptly. The combined design of multiple communication modules enhances the system's adaptability to different application scenarios, while the pre-installed software's visual interface lowers the operational threshold and improves human-machine interaction efficiency and equipment control reliability.

[0068] The above is only used to illustrate the technical solution of this utility model and not to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A stair climbing device control system, characterized by, It includes a stair-climbing device for performing walking and climbing actions, and a main control unit, the main control unit comprising: Controller; Floor information collection module, used to obtain staircase information; The motor drive module is used to drive multiple motors to perform lifting and lowering actions; The power module is used to provide operating power to other modules; The stair-climbing device includes a frame, a front support assembly, and a rear support assembly. The front support assembly is located at the front bottom of the frame to support the front side of the frame, and the rear support assembly is located at the rear bottom of the frame to support the rear side of the frame. The main control unit is located inside the frame.

2. The stair climbing device control system of claim 1, wherein, The floor information collection module includes: The floor movement detection module is used to detect the operating status of the stair climbing equipment, which includes the upstairs or downstairs status. The first vertical travel detection module is used to obtain the step height information of the current step; The second vertical travel detection module is used to obtain the step height information of the next step; and The horizontal step distance detection module is used to obtain the step length information of the current step.

3. The stair climbing device control system of claim 2, wherein, The signal input terminal of the main control unit is electrically connected to the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module, respectively. The signal output terminal of the main control unit is electrically connected to the motor drive module. The power supply terminal of the power module is electrically connected to the main control unit, the floor travel detection module, the first vertical travel detection module, the second vertical travel detection module, the horizontal step distance detection module, and the motor drive module.

4. The stair climbing device control system of claim 2, wherein, The floor movement detection module includes an upward trigger detection module and a downward trigger detection module, wherein: The up-climbing trigger detection module is used to generate an up-climbing state trigger signal when it detects that the stair-climbing device has advanced to the bottom of the step; The downhill trigger detection module is used to generate a downhill state trigger signal when it detects that the stair climbing device is approaching the top edge of the step.

5. The stair climbing device control system of claim 1, wherein, The front support assembly includes a first wheel set and a second wheel set disposed on the rear side of the first wheel set; The rear support assembly includes a third wheel group and a fourth wheel group disposed behind the third wheel group; The motor drive module is used to control the first wheel group, the second wheel group, the third wheel group and the fourth wheel group to perform lifting and lowering actions and horizontal movement actions respectively.

6. The stair climbing device control system of claim 5, wherein, The first wheel group, the second wheel group, the third wheel group, and the fourth wheel group are driven by servo motors, hub motors, or brushless DC motors.

7. The stair climbing device control system of claim 4, wherein, The first vertical travel detection module, the second vertical travel detection module, and the horizontal step distance detection module are one or more combinations of TOF sensor, ultrasonic sensor, lidar, and infrared distance sensor.

8. The stair climbing device control system of claim 5, wherein, The first wheel assembly is equipped with a diffuse reflection switch or a pressure switch to detect when the first wheel assembly contacts a step surface or the ground.

9. The stair climbing device control system of claim 1, wherein, The stair-climbing device is also equipped with an alarm, which is connected to the controller and is used to sound an alarm when the motor or stair-climbing device is in a dangerous state.

10. The stair climbing device control system of claim 1, wherein, The stair-climbing device is also equipped with a data transmission module, which is connected to the controller and is used to exchange data with the software pre-installed in the user terminal. The data transmission module is one or more of the following: a WIFI module, an Ethernet module, and a mobile communication module.

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