CN109720967B - Stair climbing system - Google Patents
Stair climbing system Download PDFInfo
- Publication number
- CN109720967B CN109720967B CN201910146503.2A CN201910146503A CN109720967B CN 109720967 B CN109720967 B CN 109720967B CN 201910146503 A CN201910146503 A CN 201910146503A CN 109720967 B CN109720967 B CN 109720967B
- Authority
- CN
- China
- Prior art keywords
- stair climbing
- moving
- current
- stair
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Steps, Ramps, And Handrails (AREA)
Abstract
The present invention provides a stair climbing system for moving a moving object in a staircase composed of a plurality of staircase levels, comprising: a plurality of stair climbing devices; a plurality of input devices and a control device, wherein, climbing the building device has: the mobile mechanism is used for bearing a mobile object, the driving mechanism is used for driving the mobile seat to move between the stair layers, and the control device is provided with: a starting floor setting part for setting the floor where the user inputs the target floor as a starting floor, and a path determination part for determining the moving path of the user according to the starting floor and the target floor; a movement instruction forming part for sequentially making each moving mechanism on the moving path perform a movement instruction of corresponding movement according to the moving path; and a moving-side communication unit that transmits a movement command to the corresponding stair climbing device and causes the moving mechanism to move the moving object from the starting floor to the destination floor.
Description
Technical Field
The invention relates to a stair climbing system.
Background
Most old-fashioned resident buildings in China do not have the elevator system of climbing stairs, go upstairs and downstairs more difficultly, especially when needing to carry goods, comparatively hard and accident takes place easily, to resident's daily life, especially old resident's daily life has caused a great deal of inconvenience.
The more stair climbing devices that use at present have two kinds, one kind is install slidable seat additional on the handrail guardrail of stair, but another kind is install the footboard that the translation was installed additional on the handrail guardrail of stair. Although the building climbing device is smaller than a van elevator, the building climbing device is high in installation cost (about dozens of thousands yuan is needed for one unit building), the popularization progress is still slow, and a certain application scale is difficult to form.
In addition, some stair climbing systems which utilize intelligent manipulators to help residents go upstairs and downstairs are also available in the market, but the stair climbing devices in the systems are complex in structure and difficult to install, meanwhile, pedals for people are easy to shake left and right during operation and cannot adjust the direction, and the stair climbing systems are inconvenient to use and have certain limitations.
Disclosure of Invention
In order to solve the problems, the invention adopts the following technical scheme:
the present invention provides a stair climbing system for moving a moving object in a staircase composed of a plurality of staircase levels, comprising: the plurality of stair climbing devices correspond to the stair layers respectively and are arranged on the corresponding stair layers; the input devices are arranged on the stair platforms between the stair floors and are used for allowing a user to input a target floor according to a use requirement; and a control device for controlling the operation of the stair climbing device according to the target floor to allow the stair climbing device to move the mobile object to the target floor, wherein the stair climbing device includes: the moving mechanism is used for bearing a moving object; the driving mechanism is used for driving the moving mechanism to move between the stair layers; a support mechanism for supporting the moving mechanism and the drive mechanism, the control device having: a starting floor setting unit that sets a floor where a user inputs a target floor as a starting floor; a route determination unit that determines a movement route of the user from the start floor and the target floor; a movement instruction forming part for sequentially making each moving mechanism on the moving path perform a movement instruction of corresponding movement according to the moving path; and a moving-side communication unit which transmits a movement command to the corresponding stair climbing device to cause the moving mechanism to move the moving object.
The invention provides a stair climbing system, which can also be characterized in that the stair climbing device is provided with a position acquisition part, a bearing induction part, an operation state acquisition part, a stair climbing side communication part and a stair climbing control part, wherein the position acquisition part is used for acquiring the current position of a moving mechanism; the bearing induction part is used for inducing the current bearing state of the moving mechanism; the operation state acquisition part is used for acquiring the current operation state of the moving mechanism; the stair climbing side communication part reports the current position, the current bearing state and the current running state to the control device, the moving instruction forming part is provided with a current setting unit, a current state judging unit, an instruction generating unit, a bearing judging unit and an instruction control unit, the instruction control unit sequentially sets each stair climbing device as the current stair climbing device according to the moving path control and controls the current state judging unit to judge whether the current stair climbing device is in an idle state or not according to the current running state, when the current stair climbing device is judged to be in the idle state, the instruction control unit controls the instruction generating unit to generate a first moving instruction for enabling a moving mechanism of the current stair climbing device to move to the current stair platform where the moving object is located, and controls the instruction generating unit to send the first moving instruction to the corresponding stair climbing device; the stair climbing control part controls the moving mechanism to move from the current position to the current stair platform according to the received first moving instruction, and controls the stair climbing side communication part to report the current bearing state to the control device; the bearing judging unit judges whether the moving mechanism bears the moving object according to the received current bearing state, when the moving mechanism bears the object, the instruction control unit controls the instruction generating unit to generate a second moving instruction for enabling the moving mechanism of the current stair climbing device to move from the current stair platform to the next stair platform on the moving path, and controls the instruction generating unit to send the second moving instruction to the corresponding stair climbing device; the stair climbing control part controls the moving mechanism to move from the current stair platform to the next stair platform according to the second moving instruction.
The present invention provides a stair climbing system, which may further have a feature that the movement command forming section further has a command control unit that controls the current setting unit to set a current stair climbing device and also controls the current setting unit to set a next stair climbing device of the current stair climbing device on the movement path as a stair climbing preparation device, the command control unit controls the command generating unit to generate a third movement command for moving the movement mechanism of the stair climbing preparation device to a next stair platform while the control command generating unit generates the second movement command, and controls the instruction generating unit to send a third moving instruction to the corresponding stair climbing device, so that when the user finishes moving in the current stair climbing device, the moving mechanism of the ready stair climbing device has reached the next landing so that the user continues to move until the target floor is reached.
The present invention provides a stair climbing system, which may further have a feature in that the stair climbing device further has an obstacle detecting section and an emergency stop control section, the obstacle detecting section has a plurality of infrared sensors for detecting obstacles in various directions on a moving path during movement of the moving mechanism, an obstacle signal generating unit for generating an obstacle signal when the infrared sensors sense the obstacle, and an obstacle signal transmitting unit for transmitting the obstacle signal to the control device, and the emergency stop control section transmits an emergency stop instruction to a corresponding stair climbing device to stop movement of the moving mechanism upon reception of the obstacle signal by the moving-side communication section.
The invention provides a stair climbing system, which can also be characterized in that a user holds an identification card corresponding to the user, the control device comprises a user information storage part and a user information retrieval judgment part, the input device is provided with a device number corresponding to a landing where the input device is positioned, the input device comprises a user information reading module, a floor input module and an input side communication module, the user information storage part stores user identification information of the user corresponding to the stair climbing system, the user information reading module is used for reading the identification card of the current user using the stair climbing system so as to obtain the user information of the user as the current user information, the floor input module is used for the user to input a target floor, the input side communication module sends the device number, the target floor and the current user information to the control device, and the user information retrieval judgment part retrieves the user information storage part according to the received user identification information And determines whether or not a corresponding user exists, and if it is determined that the user exists, the route determination unit determines the movement route of the user based on the starting floor and the target floor.
The present invention provides a stair climbing system, which may also have a feature in which the moving mechanism has: a foldable moving seat having a plurality of joints which are rotatable and telescopic, a moving seat control assembly for controlling the rotation and the telescopic of the joints so as to unfold or fold the moving seat, the control device further having: and the movable seat control part is used for sending an unfolding instruction to the movable seat control assembly and sending a folding instruction to the movable seat control assembly.
The invention provides a stair climbing system, which can also be characterized in that the moving seat control assembly comprises a second driving motor, a third driving motor, a fourth driving motor and a fifth driving motor, the moving seat comprises a first mounting plate, a second mounting plate, a telescopic rod, a connecting rod and a pedal, the first mounting plate is mounted on the second mounting plate through the telescopic rod and a first rotating shaft so as to form a rotatable first joint, the connecting rod is a telescopic round rod and comprises a plurality of connecting sub-rods which are sequentially sleeved and mounted so as to form a telescopic second joint, the upper end of the connecting rod is mounted on the second mounting plate through the second rotating shaft so as to form a rotatable third joint, and the pedal is mounted at the lower end of the connecting rod through the third rotating shaft so as to form a rotatable fourth joint.
The present invention provides a stair climbing system, which may also have the feature wherein the moving mechanism further comprises: the user position identification unit is used for identifying the position of a user when the user uses the stair climbing device as the user position, the movable seat rotating assembly is used for rotating the movable seat so that the movable seat rotates to the direction corresponding to the user, and the movable seat control part can also send a rotating instruction to the movable seat rotating assembly according to the user position.
The invention provides a stair climbing system which can also be characterized in that a driving mechanism comprises at least one group of driving components, a driving screw, a first driving motor and a supporting component, wherein each driving component comprises a bridge frame, a linear slide rail and a slide block matched with the linear slide rail, the supporting mechanism comprises a first door frame type supporting frame and a second door frame type supporting frame, and two ends of the bridge frame are respectively arranged on the first door frame type supporting frame and the second door frame type supporting frame.
Action and Effect of the invention
According to the stair climbing system, the moving object is moved in the stair consisting of the plurality of stair layers, particularly the old and the disabled are helped to go up and down the stairs and residents carry heavy objects, and the control device can control the stair climbing device to move the moving object to the target floor only by inputting the target floor required to be reached through the input device by the user, so that the stair climbing system is simple to operate and brings great convenience to daily life of the residents. The stair climbing device of the stair climbing system is stable in structure and good in bearing effect, ensures the safety of a user when in use, is simple in structure, convenient to install and long in service life, and is suitable for narrow stairs and complex corridor environments of old-fashioned residential buildings. In addition, the stair climbing device of the stair climbing system disclosed by the invention is made of conventional materials, so that the production cost is low, and the stair climbing system is easy to popularize and use.
Drawings
FIG. 1 is a block diagram of the architecture of the stair climbing system of the present invention;
fig. 2 is a block diagram of a stair climbing apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view of the overall structure of the stair climbing device according to the embodiment of the present invention;
FIG. 4 is a schematic view of the mounting structure of the driving mechanism and the moving mechanism according to the embodiment of the present invention;
FIG. 5 is a schematic structural view of a moving mechanism of an embodiment of the present invention;
fig. 6 is a block diagram of a control apparatus of an embodiment of the present invention;
fig. 7 is a flowchart of the operation of the stair climbing system according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the invention easy to understand, the stair climbing system of the invention is specifically described below with reference to the accompanying drawings.
Fig. 1 is a block diagram of the construction of the stair climbing system of the present invention.
As shown in fig. 1, the present invention provides a stair climbing system for moving a moving object in a staircase formed of a plurality of staircase levels, comprising a plurality of stair climbing apparatuses 100, a plurality of input apparatuses 300, and a control apparatus 400. Wherein, the control device 400 is connected to the stair climbing device 100 and the input device 300 via a communication cable or a wireless communication network (e.g., Wifi connection).
Fig. 2 is a block diagram of the stair climbing apparatus according to the embodiment of the present invention.
As shown in fig. 2, the stair climbing device 100 of the present embodiment corresponds to each stair step and is installed on the corresponding stair step, and includes a position acquisition unit 100a, a load sensing unit 100b, an operation state acquisition unit 100c, a stair climbing communication unit 100d, an obstacle detection unit 100e, an emergency stop control unit 100f, a moving mechanism 10, a driving mechanism 20, a support mechanism 30, and a stair climbing control unit 100 g.
The stair climbing control unit 100g includes a single chip microcomputer or a chip with a control program installed therein, and is configured to control operations of the respective components of the stair climbing device 100, and the stair climbing communication unit 100d is configured to exchange data information between the respective components of the stair climbing device 100 and between the stair climbing device 100 and the control device 400.
The position acquiring section 100a has an infrared displacement sensor mounted on the bridge 201 for acquiring the current position of the moving mechanism 10.
The load sensing unit 100b has a gravity sensor installed inside the moving mechanism 10 for sensing the current load state of the moving mechanism 10 according to the magnitude of the gravity applied to the moving mechanism 10.
The operating state acquiring section 100c has a position sensor mounted on the moving mechanism 10 for acquiring the current operating state of the moving mechanism 10.
The obstacle detection unit 100e includes a plurality of infrared sensors, an obstacle signal generation unit, and an obstacle signal transmission unit.
The infrared sensors are installed in various directions of the moving mechanism 10 for detecting obstacles in various directions on a moving path during the movement of the moving mechanism 10.
The obstacle signal generating unit generates an obstacle signal when the infrared sensor senses an obstacle.
The obstacle signal sending unit is used for sending an obstacle signal to the control device, and once the mobile-side communication part receives the obstacle signal, the emergency stop control part sends an emergency stop instruction to the corresponding stair climbing device, so that the movement of the moving mechanism is stopped.
The sudden stop control portion 100f has a sudden stop mechanism for stopping the moving mechanism 10 suddenly and a control module for controlling the sudden stop mechanism, and the sudden stop control portion 100f controls the movement of the moving mechanism 10 by receiving a sudden stop signal generated when the obstacle detecting portion 100e detects the presence of an obstacle. The emergency stop mechanism is an emergency stop mechanism for emergency stopping of a vehicle in the prior art, such as a disc brake used in an automobile or a drum brake used in a bicycle.
The scram control unit 100f also transmits a scram report to the control device 400 after the scram is completed, and the obstacle detection unit 100e also transmits a restart enable signal to the control device 400 to restart the stair climbing device 100 after the obstacle is cleared.
Fig. 3 is a schematic diagram of the overall structure of the stair climbing device according to the embodiment of the invention.
Fig. 4 is a schematic view of the mounting structure of the driving mechanism and the moving mechanism according to the embodiment of the present invention.
Fig. 5 is a schematic structural view of a moving mechanism of an embodiment of the present invention.
As shown in fig. 3 to 5, the moving mechanism 10 is used for carrying a moving object, and includes a moving base and a moving base driving assembly (not shown).
The movable seat comprises a first mounting plate 101, a second mounting plate 102, an expansion rod 103, a connecting rod 104, a pedal 105, a gear turntable 106 and an armrest 107.
The driving assembly comprises a second driving motor, a third driving motor, a fourth driving motor, a fifth driving motor, a sixth driving motor and a seventh driving motor, each driving motor is a servo motor, and the driving assembly is provided with a signal receiving module used for receiving an unfolding instruction or a folding instruction sent by the control device.
The lower surface of the first mounting plate 101 is provided with a first mounting seat 101a and a second mounting seat 101b, and the upper surface of the second mounting plate 102 is provided with a third mounting seat 102a and a fourth mounting seat 102 b.
The telescopic rod 103 is a telescopic circular rod, one end of the telescopic rod 103 is installed on the first installation seat 101a, the other end is installed on the third installation seat 102a, the second installation seat 101b and the fourth installation seat 102b are connected through the first rotating shaft 108, and the second driving motor is installed on the telescopic rod 103 and is located near the first rotating shaft 108.
The telescopic rod 103 is driven by the second driving motor to be contracted and drive the second mounting plate to rotate around the first rotating shaft 108 so as to form a rotatable first joint.
The connecting rod 104 is a telescopic round rod and comprises a plurality of connecting sub-rods which are sequentially sleeved and mounted, and the third driving motor is mounted on the connecting rod 104.
The connecting rod 104 is driven by the third driving motor to extend and contract so as to form a second telescopic joint.
The upper end of the connecting rod 104 is mounted on the second mounting plate 102 through the second rotating shaft 109, and the fourth driving motor is mounted on the connecting rod 104 and located near the second rotating shaft 109.
The connecting rod 104 is driven by the fourth driving motor to rotate around the second rotating shaft 109 to form a rotatable third joint.
The pedals 105 are mounted on the lower end of the connecting rod 104 via a third rotating shaft 110, and a fifth driving motor is mounted on the connecting rod 104 and located near the third rotating shaft 110.
The pedal 105 is rotated about the third rotation shaft 110 by the fifth driving motor to form a fourth rotatable joint.
The gear wheel 106 is mounted on the second mounting plate 102 and the sixth drive motor is mounted on the second mounting plate 102 and located adjacent the gear wheel 106.
The gear wheel 106 is driven by the sixth driving motor to rotate so as to drive the second mounting plate 102 to rotate along the circumferential direction of the movable base, so that the movable base can rotate along the circumferential direction of the movable base.
The handle 107 has a circular ring shape for protecting people and articles, and is mounted on the connecting rod 104 through a fourth rotating shaft 111, and a seventh driving motor is mounted on the handle 107.
The armrest 107 is driven by the seventh driving motor to rotate around the fourth rotation shaft 111 to form a fifth rotatable joint.
The movable seat can be folded and flush with the lower surface of the bridge frame when not in use through the rotation and the extension of the first joint to the fifth joint.
The driving mechanism 20 includes two bridges 201, two linear slide rails 202, two sets of sliders 203 matching with the linear slide rails, a driving screw, and a first driving motor (not shown in the figure).
The crane span structure 201 extends along the length direction of the top surface of the stair and is composed of channel steel, and two ends of the crane span structure 201 are respectively installed on the first door frame type supporting frame and the second door frame type supporting frame.
The linear sliding rails 202 extend along the length direction of the top surface of the staircase, each linear sliding rail 202 is installed on the corresponding bridge frame 201, and the linear sliding rails 202 are sleeved with matched sliding blocks 203.
The movable seat is mounted on the driving mechanism 20 through a slider 203.
The drive screw is mounted on the second mounting plate 102 and is located between the two bridges 201.
The first driving motor is a self-locking motor, and is configured to drive the driving screw to rotate, so as to drive the sliding block 203 to slide back and forth on the linear sliding rail 202, and further drive the moving base to move back and forth on the driving mechanism 20.
The support mechanism 30 includes a first door frame support and a second door frame support.
The first door frame type support frame comprises two vertically arranged first support rods 301 and a first support cross rod 302 extending along the width direction of the top surface of the stair, the two ends of the first support cross rod 302 are respectively installed at the upper ends of the two first support rods 301, and the lower ends of the first support rods 301 are all installed on a bottom platform of the stair.
The second door frame type support frame comprises two second support rods 303 vertically arranged and a second support cross rod 304 extending along the width direction of the top surface of the stair, two ends of the second support cross rod 303 are respectively installed at the upper ends of the two second support rods 304, and the lower ends of the second support rods 303 are both installed on the top platform of the stair.
The first support rod 301 and the second support rod 303 are both telescopic circular rods, and when the support mechanism 30 is installed, an installer can adjust the height of the first support rod 301 and the height of the second support rod 303 in the vertical direction to enable the height of the support mechanism 30 to be matched with the height of the stairs.
The support mechanism 30 may further include two X-shaped support frames (not shown) respectively located at two sides of the stairs, each end of the X-shaped support frame has two fixing heads, and the fixing heads located at the same side are respectively fixed on the corresponding first support rod 301 and the second support rod 303.
The input device 300 is provided on a landing between landings, has a device number corresponding to the landing on which the input device 300 is located, and the input device 300 includes a user information reading portion, a floor input portion, and an input-side communication portion.
The user information reading unit includes a card reader for obtaining user information of a user by reading an identification card, the user holding the identification card corresponding to the user.
The floor input part is provided with an input keyboard for the user to input the destination floor to be reached.
The input-side communication part has an input-side communication module for transmitting the device number, the target floor, and the current user information to the control device 400.
Fig. 6 is a block diagram of a control device according to an embodiment of the present invention.
As shown in fig. 6, the control device 400 includes a starting floor setting unit 401, a route determination unit 402, a movement command forming unit 403, a mobile-side communication unit 404, a user information storage unit 405, a user information search determination unit 406, and a mobile seat control unit 407.
The starting floor setting unit 401 is configured to set a floor where the user inputs the target floor as a starting floor.
The route determination unit 402 is configured to determine a movement route of the user from the starting floor and the target floor.
The movement command forming unit 403 is a movement command for sequentially causing each of the movement mechanisms on the movement path to move in accordance with the movement path, and includes a current setting unit 403a, a current state determination unit 403b, a command generation unit 403c, a load determination unit 403d, and a command control unit 403 e.
The instruction control unit 403e is for controlling the operations of the respective constituent parts of the movement instruction forming section 403 relating to the movement instruction, and includes:
when the current state determination unit 403b determines that the current stair climbing device is in an idle state, the control instruction generation unit 403c generates a first movement instruction for moving the moving mechanism 10 of the current stair climbing device to the current landing where the moving object is located, and the control instruction generation unit 403e sends the first movement instruction to the corresponding stair climbing device;
when the load determination unit 403b determines that the moving mechanism is carrying the object, the control instruction generation unit 403c generates a second movement instruction for moving the moving mechanism 10 of the current stair climbing device from the current landing to the next landing on the moving path, and the control instruction generation unit 403c transmits the second movement instruction to the corresponding stair climbing device.
The moving-side communication unit 404 is configured to transmit a movement command to the corresponding stair climbing device 100 to cause the moving mechanism to move the moving object from the starting floor to the destination floor.
The user information storage unit 405 stores user identification information of a user corresponding to the stair climbing system.
The user information search determination unit 406 is configured to search the user information storage unit 405 based on the received user identification information and determine whether or not a corresponding user exists.
When the determination result shows that the user exists, the route determination unit 402 determines the movement route of the user based on the starting floor and the target floor.
The moving seat control unit 407 is configured to send an unfolding command to the moving seat control unit upon receiving the moving signal and send a folding command to the moving seat control unit upon receiving the arrival signal.
The moving seat control portion 407 may also issue a rotation instruction to the moving seat rotating assembly according to the user position.
When the user completes the movement at the current stair climbing device 100, the moving mechanism 10 of the ready stair climbing device has reached the next landing so that the user continues to move until the target floor is reached.
The following describes a specific workflow of the stair climbing system according to this embodiment with reference to the drawings.
After the stair climbing device 100 and the input device 300 are sequentially installed, the manager stores user information of users in the user information storage unit 405, each user holds an identification card corresponding to the user, and the user inputs a desired destination floor through the input device 300 and moves the identification card to the user information reading unit, sequentially through the moving mechanism 10 of each stair climbing device.
Figure 7 is a flow chart of the operation of the stair climbing system of the present invention,
as shown in fig. 7, the specific steps of the operation of the stair climbing system of this embodiment are as follows:
in step S1, the user information reading section reads the current user information through the identification card and sends the current user information to the user information retrieval judging section 406, and then proceeds to step S2.
In step S2, the user information search determination unit 406 searches the user information storage unit 405 based on the received user identification information, determines whether or not a corresponding user exists, and if it is determined that a corresponding user exists, the process proceeds to step S3.
In step S3, the start floor setting unit 401 sets the floor where the user input the destination floor as the start floor, and then the process proceeds to step S4.
In step S4, the route determination unit 402 determines the route of the user based on the starting floor and the target floor, transmits the route to the current setting means 403a, and then proceeds to step S5.
In step S5, the current setting unit 403a sets each of the stair climbing devices 100 as a current stair climbing device in turn according to the movement path and sets the next stair climbing device of the current stair climbing device on the movement path as a ready stair climbing device, and at the same time, the current state judgment unit 403b judges whether the current stair climbing device is in an idle state according to the current operation state, and when the judgment is yes, the process proceeds to step S6.
In step S6, the instruction generating unit 403c generates a first movement instruction to move the movement mechanism of the current stair-climbing apparatus to the current landing where the moving object is located, and then proceeds to step S7.
In step S7, the dolly control unit 407 transmits a deployment command to the movement mechanism 10 to pivot and expand the dolly to the deployed state, and the process then proceeds to step S8.
In step S8, the carrying determination unit 403d determines whether the moving mechanism carries the moving object according to the current carrying state, and if so, the process proceeds to step S9.
In step S9, the instruction generating unit 403c generates a second movement instruction to move the moving mechanism of the current stair-climbing apparatus from the current landing to the next landing on the movement path, and simultaneously generates a third movement instruction to move the moving mechanism of the ready stair-climbing apparatus to the next landing, and then proceeds to step S10.
In step S10, the bearing determination unit 403d determines whether the moving object leaves the moving mechanism according to the current bearing state, and if so, the moving object is to be moved from the current landing to the next landing, and the moving seat control unit sends a folding command to the moving seat control assembly to rotate and extend the moving seat to the folded state.
The steps S8-S10 are repeated until the mobile object reaches the target floor to thereby complete the movement of the mobile object between the current floor to the target floor.
Effects and effects of the embodiments
According to the stair climbing system of the embodiment, the stair climbing system is used for moving the moving object in the stair composed of the plurality of stair layers, and particularly used for helping the old and the disabled to go upstairs and downstairs and carrying heavy objects by residents. The stair climbing device of the stair climbing system is stable in structure and good in bearing effect, ensures the safety of a user when in use, is simple in structure, convenient to install and long in service life, and is suitable for narrow stairs and complex corridor environments of old-fashioned residential buildings. In addition, the materials that the stair climbing device of this embodiment used are conventional materials, and manufacturing cost is lower, uses widely easily.
Because the instruction generating unit generates a first movement instruction for enabling the moving mechanism to move to the current stair platform and a second movement instruction for enabling the moving mechanism to move from the current stair platform to the next stair platform and simultaneously generates a third movement instruction for enabling the moving mechanism to move to the next stair platform, when the stair climbing system disclosed by the invention is used for moving the moving object, the current moving mechanism can automatically move to the stair platform where the moving object is located, and the next moving mechanism can automatically move to the next stair platform to wait for the moving object to be continuously used until the moving object reaches the target floor, the stair climbing system is more convenient to use and higher in efficiency, and the time for moving the object is saved.
The stair climbing system is provided with the bearing sensing part and the bearing judging unit, the bearing judging unit judges whether the moving mechanism bears the moving object or not according to the sensing result of the bearing sensing part, so that whether the moving object stands on or leaves the moving mechanism or not is judged, and a moving instruction is sent to the moving mechanism after the judgment is finished, so that the safety performance of the stair climbing system is improved.
The obstacle detection part and the emergency stop control part are used for detecting obstacles in all directions on the moving path in the moving process of the moving mechanism, so that the moving mechanism can automatically perform emergency stop when the obstacles on the moving path are detected in the moving process of the moving mechanism, the collision between the moving mechanism and the obstacles is avoided, and the safety performance of the stair climbing device is improved.
Because first door frame support frame and second door frame support frame include telescopic first bracing piece and second bracing piece, first support horizontal pole and second support horizontal pole respectively, consequently can support the weight that the horizontal pole bore actuating mechanism and remove the seat through first support horizontal pole and second, highly making supporting mechanism's height and stair suit through adjusting first bracing piece and second bracing piece for the equipment of climbing the building of this embodiment can adapt to the stair environment of various sizes, and the range of application is wider, and the practicality is higher.
Because remove the seat and be folding structure, at fold condition and crane span structure looks parallel and level, consequently the equipment of climbing the building of this embodiment does not occupy the usage space of stair and corridor when not using almost, and structural design is ingenious, can not cause very big influence to resident's normal daily life.
Because remove the seat still including enabling to remove the seat along circumferential direction's gear carousel, consequently in the use, the user can be according to the demand of oneself to removing the seat and turn to control, and it is more convenient to use.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
For example, the control device in the present embodiment sets each of the stair climbing devices as the current stair climbing device and the preparatory stair climbing device and controls each of the stair climbing devices individually, thereby realizing that after the current moving mechanism finishes moving, the next moving mechanism moves to the next landing of the current stair layer, in practical application, in order to simplify the program and control process, the stair climbing system provided by the invention can also be provided with a command sending part used for sending a moving command in the control device, a command storage part is arranged in each stair climbing device, the instruction storage part is used for sequentially storing the moving instructions sent by the control device so that the moving mechanism of each stair climbing device sequentially executes the moving instructions in a form of a task list, therefore, the process of judging whether the stair climbing device is in an idle state in the embodiment is omitted, and the continuity and the working efficiency of the stair climbing system are improved.
Claims (8)
1. A stair climbing system for moving a moving object in a stair formed by a plurality of stair steps, comprising:
a plurality of stair climbing devices respectively corresponding to the stair floors and mounted on the corresponding stair floors;
the input devices are arranged on the stair platforms between the stair floors and are used for allowing a user to input a target floor according to a use requirement; and
a control device for controlling the operation of the stair climbing device according to the target floor so as to allow the stair climbing device to move the mobile object to the target floor,
wherein, stair climbing device has:
the moving mechanism is used for bearing the moving object;
the driving mechanism is used for driving the moving mechanism to move between the stair floors;
a support mechanism for supporting the moving mechanism and the driving mechanism,
the control device has:
a starting floor setting unit that sets a floor where the user inputs the target floor as a starting floor;
a route determination unit that determines a movement route of the user based on the start floor and the target floor;
a movement instruction forming part for sequentially making each movement mechanism on the movement path perform a movement instruction of corresponding movement according to the movement path;
a moving-side communication unit that transmits the movement command to the corresponding stair climbing device and causes the moving mechanism to move the moving object,
the moving mechanism includes:
a foldable moving seat which is provided with a plurality of rotatable and telescopic joints,
a moving seat control assembly for controlling the rotation and the extension of the joint so as to unfold or fold the moving seat, comprising a second driving motor, a third driving motor, a fourth driving motor and a fifth driving motor,
the movable seat comprises a first mounting plate, a second mounting plate, a telescopic rod, a connecting rod and a pedal,
the first mounting plate is mounted on the second mounting plate through the telescopic rod and the first rotating shaft so as to form a rotatable first joint,
the connecting rod is a telescopic round rod and comprises a plurality of connecting sub-rods which are sequentially sleeved and installed so as to form a telescopic second joint,
the upper end of the connecting rod is arranged on the second mounting plate through a second rotating shaft so as to form a rotatable third joint,
the pedal is mounted at the lower end of the connecting rod through a third rotating shaft so as to form a rotatable fourth joint.
2. The stair climbing system according to claim 1, wherein:
wherein the stair climbing device is provided with a position acquisition part, a bearing induction part, an operation state acquisition part, a stair climbing side communication part and a stair climbing control part,
the position acquisition part is used for acquiring the current position of the moving mechanism;
the bearing induction part is used for inducing the current bearing state of the moving mechanism;
the operation state acquisition part is used for acquiring the current operation state of the moving mechanism;
the upstairs side communication section reports the current position, the current loading state, and the current operating state to the control device,
the movement instruction forming part is provided with a current setting unit, a current state judging unit, an instruction generating unit, a bearing judging unit and an instruction control unit,
the instruction control unit sets each stair climbing device as a current stair climbing device in sequence according to the moving path control, controls the current state judgment unit to judge whether the current stair climbing device is in an idle state or not according to the current running state,
when the current stair climbing device is judged to be in an idle state, the instruction control unit controls the instruction generation unit to generate a first movement instruction for enabling the moving mechanism of the current stair climbing device to move to the current stair platform where the moving object is located, and controls the instruction generation unit to send the first movement instruction to the corresponding stair climbing device;
the stair climbing control part controls the moving mechanism to move from the current position to the current stair platform according to the received first moving instruction, and controls the stair climbing side communication part to report the current bearing state to the control device;
the bearing judging unit judges whether the moving mechanism bears the moving object according to the received current bearing state,
when the moving mechanism is judged to carry the object, the instruction control unit controls the instruction generation unit to generate a second moving instruction for enabling the moving mechanism of the current stair climbing device to move from the current stair platform to a next stair platform on the moving path, and controls the instruction generation unit to send the second moving instruction to the corresponding stair climbing device;
and the stair climbing control part controls the moving mechanism to move from the current stair platform to the next stair platform according to the second moving instruction.
3. The stair climbing system according to claim 2, wherein:
wherein the movement instruction forming portion further has an instruction control unit,
the instruction control unit controls the current setting unit to set the next one of the stair climbing devices on the movement path as a stair climbing preparation device while controlling the current setting unit to set the current stair climbing device,
the instruction control unit controls the instruction generation unit to generate a third movement instruction for moving the moving mechanism of the device ready to climb the building to the next landing while controlling the instruction generation unit to generate the second movement instruction, and controls the instruction generation unit to send the third movement instruction to the corresponding device ready to climb the building, so that when the user finishes moving at the current device ready to climb the building, the moving mechanism of the device ready to climb the building has already reached the next landing, and the user continues to move until the target floor is reached.
4. The stair climbing system according to claim 1, wherein:
wherein the stair climbing device is also provided with an obstacle detection part and an emergency stop control part,
the obstacle detection unit has a plurality of infrared sensors, an obstacle signal generation unit, and an obstacle signal transmission unit,
the infrared sensor is used for detecting obstacles in all directions on the moving path during the moving process of the moving mechanism,
the obstacle signal generating unit generates an obstacle signal when the infrared sensor senses the obstacle,
the obstacle signal transmitting unit is used for transmitting the obstacle signal to the control device,
when the mobile-side communication unit receives the obstacle signal, the emergency stop control unit sends an emergency stop command to the corresponding stair climbing device, thereby stopping the movement of the moving mechanism.
5. The stair climbing system according to claim 1, wherein:
wherein the user holds an identification card corresponding to the user,
the control device comprises a user information storage part and a user information retrieval judging part,
the input device has a device number corresponding to the landing where the input device is located, the input device includes a user information reading portion, a floor input portion, and an input side communication portion,
the user information storage part stores user identification information of the user corresponding to the stair climbing system,
the user information reading section is configured to read the identification card of a current user who is using the stair climbing system to obtain user information of the user as current user information,
the floor input part is used for the user to input the target floor,
the input-side communication section transmits the device number, the target floor, and the current user information to the control device,
the user information searching and judging part searches the user information storage part according to the received user identification information and judges whether the corresponding user exists or not,
when the determination result shows that the user exists, the path determination unit determines the movement path of the user based on the starting floor and the target floor.
6. The stair climbing system according to claim 1, wherein:
wherein the content of the first and second substances,
the control device further has:
and the movable seat control part is used for sending an unfolding instruction to the movable seat control assembly and sending a folding instruction to the movable seat control assembly.
7. The stair climbing system according to claim 6, wherein:
wherein the moving mechanism further comprises:
a user position identification unit for identifying a position where the user is located when using the stair climbing device as a user position,
a moving seat rotating assembly for rotating the moving seat to rotate the moving seat to a direction corresponding to a user,
the movable seat control part can also send a rotation instruction to the movable seat rotating assembly according to the user position.
8. The stair climbing system according to claim 1, wherein:
wherein the driving mechanism comprises at least one group of driving components, a driving lead screw, a first driving motor and a supporting component,
the driving component comprises a bridge, a linear slide rail and a slide block matched with the linear slide rail,
the supporting mechanism comprises a first door frame type supporting frame and a second door frame type supporting frame,
and two ends of the bridge are respectively arranged on the first door frame type support frame and the second door frame type support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910146503.2A CN109720967B (en) | 2019-02-27 | 2019-02-27 | Stair climbing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910146503.2A CN109720967B (en) | 2019-02-27 | 2019-02-27 | Stair climbing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109720967A CN109720967A (en) | 2019-05-07 |
| CN109720967B true CN109720967B (en) | 2020-11-03 |
Family
ID=66301869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910146503.2A Active CN109720967B (en) | 2019-02-27 | 2019-02-27 | Stair climbing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109720967B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478990B (en) * | 2020-10-27 | 2022-06-14 | 盐城市联鑫钢铁有限公司 | Rail top-mounted electric stair climbing machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2431145A (en) * | 2005-10-13 | 2007-04-18 | July Strupinsky | Stair lift |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101327886A (en) * | 2008-06-24 | 2008-12-24 | 张小玲 | Cable car elevator |
| CN201580867U (en) * | 2009-07-02 | 2010-09-15 | 严祥军 | Corridor-type micro escalator |
| CN203064952U (en) * | 2013-02-21 | 2013-07-17 | 吴慧勇 | Foldable transportation device mounted on stair railing |
| CN104724580A (en) * | 2015-03-16 | 2015-06-24 | 陈长柱 | Control system and method for intelligent corridor elevator instead of walk |
| CN204847682U (en) * | 2015-06-29 | 2015-12-09 | 广西科技大学鹿山学院 | Artificial intelligence stair fluctuation freight elevator |
| CN106904512A (en) * | 2017-05-05 | 2017-06-30 | 南京康尼机电股份有限公司 | A kind of intelligent passageway mobile unit and the apparatus and system using the unit |
| CN206783066U (en) * | 2017-05-20 | 2017-12-22 | 李文镇 | A kind of rail mounted device upstairs |
| CN207030685U (en) * | 2017-08-06 | 2018-02-23 | 施和永 | A kind of intelligent machine arm for stair activity of helping others |
-
2019
- 2019-02-27 CN CN201910146503.2A patent/CN109720967B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2431145A (en) * | 2005-10-13 | 2007-04-18 | July Strupinsky | Stair lift |
Non-Patent Citations (1)
| Title |
|---|
| 履带变构式轮履复合爬楼轮椅设计;曹冲振等;《山东科技大学学报（自然科学版）》;20160229;第35卷(第1期);第91-96页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109720967A (en) | 2019-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109422166B (en) | Intelligent multi-well elevator system | |
| CN106150168A (en) | A kind of intelligent space lock system | |
| WO2020000991A1 (en) | Intelligent vehicle with the ability to climb stairs | |
| CN103556856A (en) | Mechanical-type three-dimensional garage entrance-exit room platform | |
| CN107933729A (en) | The method of intelligent mobile robot and its up/down steps and walking slope | |
| CN109720967B (en) | Stair climbing system | |
| CN107814294B (en) | Corridor elevator | |
| CN207466820U (en) | Intelligent mobile robot | |
| CN206927420U (en) | Rail mounted stair electric locomotive system | |
| CN106121320A (en) | A kind of large-scale combined intelligent three-dimensional machinery storehouse | |
| CN105270964A (en) | Double-person escalator in corridor | |
| CN109775523B (en) | Stair climbing and riding instead of walk system | |
| CN108996370B (en) | Corridor elevator capable of being taken by two persons based on double-screw rod nut mechanism | |
| CN110182670B (en) | Bottom-suspended external shaft elevator system | |
| CN207030685U (en) | A kind of intelligent machine arm for stair activity of helping others | |
| CN109516348A (en) | One kind climbing building equipment | |
| JP6389522B2 (en) | Passenger and vehicle elevator systems | |
| CN112537713A (en) | Intelligent movement staircase control system based on stairs | |
| CA2189937A1 (en) | Pretorque to unload elevator car/floor locks before retraction | |
| CN108946391A (en) | Rail mounted stair electric locomotive system | |
| CN113428759B (en) | Intelligent foot protection plate capable of being automatically folded and unfolded for elevator car | |
| JP6784719B2 (en) | Passenger and vehicle elevator system | |
| CN213202018U (en) | Accessible elevator equipment | |
| CN210975530U (en) | Retractable bridge inspection car | |
| CN209872061U (en) | Intelligent walking ladder mobility aid based on Internet of things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200701 Address after: 201411, Shanghai, Fengxian District hung highway 3098 Applicant after: SHANGHAI TECHNICAL INSTITUTE OF ELECTRONICS & INFORMATION Address before: 201411 Fengxian District Shanghai Fengcheng town Hongmiao community Hongfu Road Applicant before: Shanghai Electronic Industry School |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |