CN113665652A

CN113665652A - Stair climbing machine and voice interaction control method thereof

Info

Publication number: CN113665652A
Application number: CN202110854220.0A
Authority: CN
Inventors: 赵勇; 冯东松; 梁国寿; 卢桂温
Original assignee: Zhongshan Prodigy Innovation Technology Corp ltd
Current assignee: Zhongshan Prodigy Innovation Technology Corp ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-11-19
Anticipated expiration: 2041-07-27
Also published as: CN113665652B

Abstract

The invention discloses a stair climbing machine and a voice interaction control method thereof. Stair climbing machine includes: the intelligent robot comprises a machine body, and a walking module, a control module, a prompting module and a voice recognition module which are respectively arranged on the machine body, wherein the control module is respectively connected with the walking module, the voice recognition module and the prompting module; the voice recognition module is used for recognizing a voice command and sending the voice command to the control module, the control module is used for acquiring the working state of the stair climbing machine or controlling the walking module to execute corresponding actions according to the voice command, and then the control prompt module is used for sending corresponding prompts. The stair climbing machine can be operated according to the voice instruction of the user, the interaction mode is flexible, the user who is not familiar with the stair climbing machine can quickly know and master the operation of the stair climbing machine, the stair climbing machine can be controlled in a voice mode, the states of going upstairs and downstairs, the traveling speed and the like of the stair climbing machine can be switched without contacting with the keys of the stair climbing machine, the control mode is more flexible, and the voice emergency brake is also realized.

Description

Stair climbing machine and voice interaction control method thereof

Technical Field

The invention relates to the technical field of auxiliary carrying equipment, in particular to a stair climbing machine and a voice interaction control method thereof.

Background

The stair climbing machine is a common device for assisting in carrying and moving, and can be divided into a crawler-type stair climbing machine and a stepping stair climbing machine according to the working principle, wherein the crawler-type stair climbing machine generally comprises a base frame, two tracks and a driving motor, and the tracks are driven to rotate by the driving motor so as to realize the action of climbing stairs. The step-by-step stair climbing machine drives the supporting arm to rotate by the motor, so that the supporting arm can go up and down stairs one by one, and stair climbing operation is realized.

However, a user who has not touched the stair climbing machine is unfamiliar with various functions of the stair climbing machine such as going upstairs and downstairs when using the stair climbing machine for the first time, which causes a certain degree of safety hazard when the actual stair climbing machine loads goods to go upstairs and downstairs. In addition, the existing climbing machine rollover processing generally adds a band-type brake or an emergency stop button on a motor of the climbing machine, so that the motor of the climbing machine can stop running emergently when the climbing machine is tipped, however, for the climbing machine with the emergency stop button, when the climbing machine is in an emergency, a user must press the emergency stop button to brake, if the user does not press the emergency stop button in time, the climbing machine can not brake emergently, so that the climbing machine is tipped, and the safety is low.

Disclosure of Invention

The invention aims to provide a stair climbing machine and a voice interaction control method thereof, and aims to solve the problems that the existing stair climbing machine is limited in interaction mode and has certain potential safety hazard for stair climbing operation.

In order to achieve the above object, an embodiment of the present invention provides a stair climbing machine, including: the intelligent robot comprises a machine body, and a walking module, a control module, a prompting module and a voice recognition module which are respectively arranged on the machine body, wherein the control module is respectively connected with the walking module, the voice recognition module and the prompting module;

the control module is used for acquiring the working state of the stair climbing machine or controlling the walking module to execute corresponding actions according to the voice command, and then controlling the prompt module to send out corresponding prompts.

The embodiment of the invention also provides a voice interaction control method of the stair climbing machine, which is applied to the stair climbing machine in the embodiment, and the control method comprises the following steps:

acquiring a voice instruction;

and according to the voice instruction, acquiring the working state of the stair climbing machine or controlling the walking module to execute corresponding actions, and then sending out corresponding prompts.

According to the stair climbing machine and the voice interaction control method thereof, the stair climbing machine can be operated according to the voice command of the user by arranging the voice recognition module and the prompt module, the interaction mode is flexible, the user who is not familiar with the stair climbing machine can quickly know and master the operation of the stair climbing machine, the stair climbing machine can be subjected to voice control, the states of going upstairs and downstairs, the traveling speed and the like of the stair climbing machine can be switched without contacting with the keys of the stair climbing machine, the control mode is more flexible, the voice emergency braking is also realized, and the emergency braking is safer compared with the key emergency braking.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a stair climbing machine according to an embodiment of the present invention;

fig. 2 is a schematic view of a scenario when a horizontal tilt angle a of a stair climbing machine provided in an embodiment of the present invention is large;

fig. 3 is a schematic view of a scenario when a horizontal tilt angle a of the stair climbing machine provided by an embodiment of the present invention is equal to a safety angle α;

fig. 4 is a schematic view of a scenario in which a horizontal tilt angle a of the stair climbing machine according to an embodiment of the present invention is small;

fig. 5 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 6 is a schematic flow chart illustrating a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 7 is a schematic diagram illustrating a relationship between a horizontal inclination angle a and time t of a stair climbing machine according to an embodiment of the present invention;

fig. 8 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 9 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 10 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 11 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

fig. 12 is a schematic flow chart of a control method of a stair climbing machine according to another embodiment of the present invention;

FIG. 13 is a schematic diagram of a voltage detection circuit according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of detecting a motor drive output provided by one embodiment of the present invention;

fig. 15 is a schematic circuit diagram illustrating an operation of acquiring the number of steps climbed by the stair climbing machine when the step counting module is a hall detector according to an embodiment of the present invention;

fig. 16 is a flowchart illustrating a method for controlling voice interaction of a stair climbing machine according to an embodiment of the present invention.

Description of the main elements and symbols:

10. a stair climbing machine; 11. a body; 12. a walking module; 121. a support arm; 122. a motor output module; 13. an angle identification module; 14. a control module; 15. a prompt module; 151. a light prompting unit; 152. a voice output unit; 16. a voice recognition module; 17. a switch or key module; 18. a diagnostic module; 181. a voltage detection circuit; 19. a step counting module; 20. a lighting module; 21. a photosensitive detection module; 200. and (7) cargo.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be understood that the step numbers used herein are for convenience of description only and are not used as limitations on the order in which the steps are performed.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a stair climbing machine 10, including: the mobile phone comprises a body 11, and a walking module 12, a control module 14, a prompting module 15 and a voice recognition module 16 which are respectively arranged on the body 11, wherein the control module 14 is respectively connected with the walking module 12, the voice recognition module 16 and the prompting module 15.

The voice recognition module 16 is configured to recognize a voice instruction and send the voice instruction to the control module 14, and the control module 14 is configured to obtain a working state of the stair climbing machine 10 according to the voice instruction, and control the prompt module 15 to send a corresponding prompt and/or control the walking module 12 to perform a corresponding action according to the working state of the stair climbing machine 10.

Because the existing stair climbing machine has no voice interaction function, a user needs to look up a use specification of the stair climbing machine and operate the stair climbing machine to be familiar with all functions of the stair climbing machine. Because the familiarity process is slow, the user is inconvenient to operate the stair climbing machine by hands in time.

In order to solve the above problem, the stair climbing machine 10 according to the embodiment of the present invention is provided with a voice recognition module 16 and a prompt module 15, so as to implement voice interaction control of the stair climbing machine 10 by a user, and prompt a corresponding control operation, so that the user can know the working state of the stair climbing machine 10.

Specifically, when the user needs to operate the stair climbing machine 10, the voice recognition module 16 obtains a voice instruction of the user to the stair climbing machine 10 and preprocesses the voice instruction. Wherein, the voice command includes a command for knowing the working state of the stair climbing machine 10 and a command for controlling the stair climbing machine 10 to execute corresponding actions. The working state of the stair climbing machine 10 includes, but is not limited to, the stair climbing mode, the walking speed, the running posture, the running position, the remaining power, the fault condition, the climbing number of steps, etc. of the stair climbing machine 10. The stair climber 10 may perform corresponding actions including, but not limited to, going upstairs and downstairs, increasing travel speed, decreasing travel speed, turning, emergency braking, etc.

In one embodiment, the control module 14 is specifically configured to:

acquiring the working state of the stair climbing machine 10 according to the content of the voice instruction, and then controlling the prompt module 15 to send out a corresponding prompt according to the working state of the stair climbing machine 10;

or, according to the content of the voice instruction, the walking module 12 is controlled to execute the corresponding action, and then the prompting module 15 is controlled to send out the corresponding prompt.

The control module 14 obtains the current working state of the stair climbing machine 10 according to the processed voice command. After the working state of the current stair climbing machine 10 is obtained, the control module 14 controls the prompt module 15 to send out a corresponding prompt according to the working state of the current stair climbing machine 10. In addition, the control module 14 may also control the walking module 12 to perform a corresponding action according to the content of the voice instruction, and then control the prompting module 15 to issue a corresponding prompt to prompt the user that the stair climbing machine 10 has performed the corresponding action. Wherein the walking module 12 comprises a crawler-type walking module or a step-by-step walking module, as shown in fig. 2, the step-by-step walking module comprises a support arm 121.

Illustratively, the user can learn and master the functions of the stair climbing machine 10 by means of voice interaction.

For example, the user may obtain the operating condition data of the walking module 12 through the voice recognition module 16, such as sending a voice command of "current traveling speed" to the voice recognition module 16, the control module 14 obtains the traveling speed of the walking module 12, and then controls the prompt module 15 to send a speed-related prompt, such as "the traveling speed of the current stair climbing machine 10 is 25 steps/minute, and belongs to a low gear".

For another example, the user can also obtain the working condition data of other components of the stair climbing machine 10 through the voice recognition module 16, for example, send a voice instruction of "remaining power of the stair climbing machine 10" to the voice recognition module 16, the control module 14 obtains the current power of the power module of the stair climbing machine 10, further calculates the remaining power of the power module, and then controls the prompt module 15 to send out a relevant prompt of the remaining power, for example, "the remaining power of the current stair climbing machine 10 is 80%", "the remaining power of the current stair climbing machine 10 is too low, and please charge in time".

For another example, the user can also obtain the fault condition of the stair climbing machine 10 through the voice recognition module 16, for example, send a voice instruction of "obtaining the fault condition of the stair climbing machine 10" to the voice recognition module 16, the control module 14 obtains the fault condition of the stair climbing machine 10, and then the control prompting module 15 sends related prompts including the fault condition, for example, "the current stair climbing machine 10 is normal", "the current stair climbing machine 10 is faulty", and please further check the stair climbing machine 10 ".

In addition, the user can also directly control the stair climbing machine 10 to execute corresponding actions through voice instructions.

For example, a voice command of "execute the upstairs mode" may be spoken to the voice recognition module 16 of the stair climbing machine 10, and the control module 14 controls the prompt module 15 to issue a prompt of "ready to upstairs mode please push the stair climbing machine 10 to the edge of the stairs for upstairs operation" according to the content of the voice command, so that the user can perform the upstairs operation according to the prompt. When the user pushes the stair climbing machine 10 to the edge of the stairs, the control module 14 controls the walking module 12 to start going upstairs.

For another example, in the process of climbing a building, the user sends a voice command of "speed up" or "shift to high-speed gear" to the voice recognition module 16, the control module 14 first obtains the current walking speed of the building climbing machine 10, then improves the current walking speed by combining the content of the voice command, controls the walking module 12 to go upstairs and downstairs at the updated walking speed, and controls the prompt module 15 to send a prompt of "shift to high-speed gear" so that the user knows the updated working state of the building climbing machine 10. Similarly, the stair climbing machine 10 can also control the walking module 12 to go upstairs and downstairs at a lower walking speed according to the voice command of "reduce speed" or "change to low-speed gear", and at the same time, the control prompt module 15 sends a prompt of "switch to low-speed gear", so that the user can know the updated working state of the stair climbing machine 10.

For another example, when the user finds that the stair climbing machine 10 is about to be unbalanced and to tip over, a voice command of "scram" or "stop" is issued to the voice recognition module 16, and the control module 14 immediately controls the stair climbing walking module 12 to stop running according to the command. Therefore, compared with the existing mode of emergency braking through keys, the voice emergency braking control mode is more flexible.

Of course, in other embodiments, referring to fig. 1, the stair climbing machine 10 further includes a switch or key module 17.

The switches or keys of the stair climbing machine 10 are usually externally provided on the body 11 of the stair climbing machine 10. When the stair climbing machine 10 operates, the user mainly operates the switch or key module 17, and the control module 14 generates a corresponding control command by judging a change of the switch or key, and controls the relevant operating state of the stair climbing machine 10 according to the control command.

In summary, the building climbing machine 10 in this embodiment is provided with the voice recognition module 16 and the prompt module 15, the building climbing machine 10 can operate the building climbing machine 10 according to the voice command of the user, the interaction manner is flexible, not only can the user who is not familiar with the building climbing machine 10 quickly know and master the operation of the building climbing machine 10, but also can perform voice control on the building climbing machine 10, the states of going upstairs and downstairs, the traveling speed and the like of the building climbing machine 10 can be switched without touching the keys of the building climbing machine 10, the control manner is more flexible, the voice emergency braking is also realized, and the emergency braking is safer compared with the key emergency braking.

Referring to fig. 1, in one embodiment, the prompt module 15 includes a light prompt unit 151 and/or a voice output unit 152.

In this embodiment, the suggestion that suggestion module 15 sent can be for light suggestion or voice broadcast suggestion, can also the common suggestion of light and pronunciation.

The light prompting unit 151 includes light components emitting different colors, for example, a red LED lamp and a green LED lamp respectively represent different working states of the stair climbing machine 10: when the speed is indicated, the red LED lamp indicates that the stair climbing machine 10 is in a high-speed gear, and the green LED lamp indicates that the stair climbing machine 10 is in a low-speed gear; when the upstairs and downstairs mode is indicated, the red LED indicates that the stair climbing machine 10 is in the upstairs mode, and the green LED lamp indicates that the stair climbing machine 10 is in the downstairs mode.

The voice output unit 152 includes a microphone, and the microphone can output a voice broadcast prompt corresponding to the operating state of the stair climbing machine 10. Wherein, the volume of voice broadcast suggestion can be adjusted according to user's demand.

In one embodiment, the light prompting unit 151 and/or the voice output unit 152 are disposed at the armrest of the stair climbing machine 10 so that the user can quickly notice the prompt from the light prompting unit 151 and/or the voice output unit 152.

In addition, referring to fig. 2-4, for the stair climbing machine 10 that has a handrail and needs to be stabilized by a user after applying a force to the handrail, when the walking module 14 applies a pressure to the step edge of the stairs, the reaction force applied to the walking module 14 will tend to tilt the stair climbing machine 10 to the outside of the stairs. To counteract the tipping force, the user is required to actively exert force on the handrail to stabilize the machine state, so that the stair climbing machine 10 can smoothly carry objects or people for going upstairs and downstairs.

However, the magnitude of the force applied by the user to stabilize the machine state is directly related to the horizontal tilt angle of the machine, which makes it more likely that when the user is unskilled in operating various functions of the stair climbing machine 10, the angle of the machine is not accurately grasped and the posture of the stair climbing machine 10 during climbing (i.e., the angle of the stair climbing machine 10) is affected, so that the tipping force cannot be balanced, the machine is turned outwards, and finally the goods 200 and even personnel are damaged.

Referring to fig. 1, in one embodiment, the working state of the stair climbing machine 10 includes an operation posture of the stair climbing machine 10, and the operation posture of the stair climbing machine 10 is a horizontal inclination angle of the stair climbing machine 10;

the stair climbing machine 10 further comprises an angle recognition module 13 connected with the control module 14, the angle recognition module 13 is used for acquiring the operation posture of the stair climbing machine 10 in real time, and the control module 14 is used for judging the relation between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range and controlling the prompt module 15 to send out a corresponding prompt according to the judgment result.

In one embodiment, the control module 14 determines the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range, and controls the prompt module 15 to issue a corresponding prompt according to the determination result, including:

when the control module 14 judges that the horizontal inclination angle of the stair climbing machine 10 deviates from the safe angle range, the control prompt module 15 sends out a corresponding prompt; and when the horizontal inclination angle of the stair climbing machine 10 is judged to be within the safe angle range, the control prompt module 15 gives a correct prompt.

The stair climbing machine 10 of the present invention is applied to a stair climbing machine requiring manual holding operation, such as a stepping stair climbing machine. When the stepping stair climbing machine climbs stairs, the supporting arm 121 of the stepping stair climbing machine has larger vibration amplitude when climbing stairs in a first-level and first-level ground, and needs manual holding operation. Therefore, the present invention takes a step-type stair climbing machine as an example, and the method for controlling the stair climbing machine 10 of the present invention will be described in detail.

In this embodiment, the operation posture of the stair climbing machine 10 can be obtained in real time, so as to determine the current tipping force that may be generated by the stair climbing machine 10. As shown in fig. 2, in one embodiment, the operation posture of the stair climbing machine 10 is characterized by a horizontal inclination angle a of the stair climbing machine 10, and more specifically, an angle between the body 11 of the stair climbing machine 10 and a horizontal plane. When the stair climbing machine 10 is located on a flat ground, the body 11 of the stair climbing machine 10 is generally perpendicular to the ground, and the horizontal inclination angle a of the stair climbing machine 10 is 90 °. When preparing to go upstairs, the user needs to gradually incline the body 11 of the stair climbing machine 10 from the standing state to the user direction, so that the user operates the stair climbing machine 10 to go upstairs and downstairs, in the process, the horizontal inclination angle a of the stair climbing machine 10 is gradually reduced from 90 ° until the horizontal inclination angle a is reduced to the safety angle α. In one embodiment, the horizontal tilt angle a of the stair climbing machine 10 is obtained by an angle recognition module 13, and the angle recognition module 13 may be disposed on the machine body 11. The angle recognition module 13 includes, but is not limited to, a gyroscope, an acceleration sensor, or other motion processing sensor.

It should be noted that the safety angle α at which the stair climbing machine 10 can operate has a certain relationship with the height of the user, the weight of the goods 200 and the center of gravity G of the stair climbing machine 10, the height of the steps of the stairs, the gradient of the stairs, etc., and a general safety angle α, such as 40 °, 45 °, 50 °, 55 ° or 60 °, is usually set according to the population with medium height, the common stairs and steps. The safety angle alpha can be specifically tailored if this is the case.

With respect to the general safety angle α, the relationship between the horizontal tilt angle a and the tipping force F1 of the stair climbing machine 10 will be described with reference to fig. 2 to 4:

(1) as shown in fig. 2, when the horizontal inclination angle a of the stair climbing machine 10 is large, the gravity center G of the stair climbing machine 10 and the goods 200 is outside the supporting arm 121 of the stair climbing machine 10, the distance between the gravity center G and the user is large, and the moment to be manipulated is large, when the supporting arm 121 presses the step upstairs with one end thereof as the fulcrum O, the moment arm L of the gravity center G and the fulcrum O is large, the tipping force F1 of the stair climbing machine 10 is large, and the pushing force F2 applied by the user to the stair climbing machine 10 is large.

(2) As shown in fig. 3, when the horizontal inclination angle a of the stair climbing machine 10 is closer to the safety angle α, the gravity center G of the stair climbing machine 10 and the goods 200 approaches the support arm 121, the distance between the gravity center G and the user is decreased, and the user only needs to bend slightly, when the support arm 121 presses the step upstairs with one end thereof as the fulcrum O, the moment arm L of the gravity center G and the fulcrum O is decreased, the tipping force F1 of the stair climbing machine 10 is decreased, and the pushing force F2 applied by the user to the stair climbing machine 10 is decreased.

(3) As shown in fig. 4, when the horizontal tilt angle a of the stair climbing machine 10 is small (deviated from the safety angle α), the gravity center G of the stair climbing machine 10 and the cargo 200 is closer to the support arm 121, and the moment for the user to operate is smaller. When the arm L of gravity G and fulcrum O is the smallest, the tipping force F1 of stair climbing machine 10 is the smallest, and the pushing force F2 exerted by the user on stair climbing machine 10 is the smallest. But the user needs to bend down very low, which is not conducive to the use of the stair climbing machine 10.

(4) As the horizontal tilt angle a of the stair climbing machine 10 continues to decrease, the center of gravity G of the stair climbing machine 10 and the goods 200 gradually approaches the user. When the gravity center G is too close to the user, the user needs to apply an upward pulling force to the stair climbing machine 10, so as to prevent the stair climbing machine 10 and the goods 200 from sinking to the stairs, thereby ensuring that the stair climbing machine 10 can normally go upstairs and downstairs.

As can be seen from the above, when the horizontal inclination angle a of the stair climbing machine 10 is too large, the tipping force F1 generated by the stair climbing machine 10 is large, and the risk of tipping is high, in the case where the step height and the stair gradient of the stair are constant. When the horizontal inclination angle a of the stair climbing machine 10 is too small, the handrail of the stair climbing machine 10 is too low, the user bends down greatly, the experience is poor, and even the normal upstairs and downstairs operation of the stair climbing machine 10 cannot be realized. Only when the horizontal inclination angle a of the stair climbing machine 10 is equal to the safety angle α, the tipping force F1 of the stair climbing machine 10 is small (non-minimum), the user is safe to operate, and the user is low in stooping degree and high in user comfort.

Therefore, in the actual use process, the stair climbing machine 10 actively acquires the current horizontal inclination angle a thereof and judges whether the current horizontal inclination angle a deviates from the safety angle α, and then sends out a corresponding prompt according to the judgment result, so that the user can perform corresponding processing.

Specifically, if the horizontal inclination angle a of the current stair climbing machine 10 does not deviate from the safety angle α, a correct prompt is sent to remind the user that the stair climbing machine 10 can be normally operated to go upstairs and downstairs according to the current horizontal inclination angle a. If the horizontal inclination angle a of the current stair climbing machine 10 deviates from the safety angle α, an alarm prompt and a shutdown prompt are sent to remind a user that the current horizontal inclination angle a is an unsafe angle, if the current horizontal inclination angle a is continuously operated, the rollover risk is high or the comfort level of the user is poor, the user is advised to press down or lift up the handrail of the stair climbing machine to change the current horizontal inclination angle a of the stair climbing machine 10 until the stair climbing machine 10 sends a correct prompt.

However, the stair climbing machine 10 is easily subjected to external vibration during the stair climbing process, for example, vibration caused by unstable holding of the user or vibration caused by falling of the supporting point O of the supporting arm 121 into a hollow on the stair tread, which causes fluctuation of angle data collected by the angle identification module 13, so that the horizontal inclination angle a of the stair climbing machine 10 deviates from the safety angle α to cause frequent start and stop of the stair climbing machine 10, which causes a jamming problem and seriously affects user experience.

Therefore, in order to solve the possible jamming problem, the invention sets an angle allowable deviation range, namely a first threshold value range theta on the basis of the safety angle alpha₁(∠1≤θ₁Less than or equal to 2) to form a safety angle range. After acquiring the operating posture of the stair climbing machine 10, the control module 14 is configured to:

judging the horizontal inclination angle of the stair climbing machine 10 and the first threshold value range theta₁And controlling the prompt module 15 to send out a corresponding prompt according to the judgment result.

Correspondingly, please refer to fig. 5, the stair climbing machine 10 can perform the process from step S10 to step S21.

In one embodiment, the control module 14 is configured to:

when the horizontal inclination angle of the stair climbing machine 10 is judged to deviate from the first threshold value range theta₁When the alarm is triggered, the control prompt module 15 sends out a corresponding prompt;

when judging that the horizontal inclination angle of the stair climbing machine 10 is in the first threshold value range theta₁When the time is within the preset time, the control prompt module 15 sends out a correct prompt.

Specifically, when the horizontal inclination angle a of the stair climbing machine 10 is greater than the first threshold range θ₁For example, the horizontal inclination angle a of the stair climbing machine 10 is 90 °, the tipping force of the stair climbing machine 10 is large, at this time, if the motor is started, the stair climbing machine 10 is caused to be difficult to recover the balance and tip, and at this time, the stair climbing machine 10 sends a prompt to remind the user to change the horizontal inclination angle a of the current stair climbing machine 10. When in useThe horizontal inclination angle A of the stair climbing machine 10 is less than a first threshold range theta₁When lower limit value angle 1, for example, the horizontal inclination angle a of the building climbing machine 10 is 20 °, the handrail of the building climbing machine 10 is lower, the user is bent down to a large extent, the comfort level is poor, and simultaneously under this angle, the gravity center of the building climbing machine 10 and the goods 200 is too close to the user, even the building climbing machine 10 sinks to the stairs and cannot go upstairs and downstairs, and at this moment, the building climbing machine 10 sends out a prompt, for example, a warning prompt and a stop prompt, so as to remind the user to adjust the operation posture of the building climbing machine 10 to be within angle 1 to angle 2.

Only when the horizontal inclination angle a of the stair climbing machine 10 is within the first threshold range theta₁In, when being less than or equal to A and less than or equal to 2 for angle 1, the power of tumbling of machine 10 of climbing the building just is less (non-minimum), starts the motor of machine 10 of climbing the building this moment, goes upstairs and downstairs operation safety, and the user also need not excessively stood over simultaneously, and the comfort level is high, climbs building this moment machine 10 and sends correct suggestion to remind the user and need not to shut down, continue to keep this gesture upstairs and downstairs can. Further, in order to better balance the tipping force and the user comfort, the user can still adjust the horizontal tilt angle a of the stair climbing machine 10 to the above-mentioned safety angle α.

As can be seen from the above, the stair climbing machine 10 according to the embodiment of the present invention determines the relationship between the horizontal inclination angle a of the stair climbing machine 10 and the safe angle range according to the operation posture of the stair climbing machine 10, and then the control prompt module 15 issues a corresponding prompt, so as to prompt the user to control the operation posture of the stair climbing machine 10 within the safe angle range, so that the tipping force of the stair climbing machine 10 is small, and thus the user can stably perform the upstairs climbing or downstairs climbing operation without spending a large force, thereby avoiding the jamming problem, and at the same time, the user can perform the operation without bending down for a long time, and the user experience is good.

In one embodiment, the safety angle range further includes a second threshold range θ₂First threshold value range theta₁Is a second threshold value range theta₂The control module 14 determines the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range, and controls the prompt module 15 to send out a corresponding prompt according to the determination result, which specifically includes:

the control module 14 determines the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ₁And &Or a second threshold range theta₂And controlling the prompt module 15 to send out a corresponding prompt according to the judgment result.

Correspondingly, referring to fig. 6 and 7, the stair climbing machine 10 can execute the flow from step S10 to step S22.

In actual use, when preparing to go upstairs, a user needs to gradually incline the body 11 of the stair climbing machine 10 from the standing state to the user direction, and the horizontal inclination angle a of the stair climbing machine 10 is gradually reduced from 90 ° to be within the safe angle range. When the stair climbing machine 10 sequentially climbs the multi-level middle stairs and the last-level stairs, the support arm 121 of the stair climbing machine 10 has a certain jitter when going up and down the stairs one by one, so the angle data acquired by the angle identification module 13 has a jitter value, and the jitter belongs to the normal jitter of the stepping stair climbing machine going up and down the stairs. At this time, if the safe angle range of the stair climbing machine 10 going upstairs and downstairs is continuously maintained in a certain range, the horizontal inclination angle a of the stair climbing machine 10 is more likely to deviate from the range under the influence of shaking, which causes frequent shutdown of the stair climbing machine 10, resulting in a stuttering of the stair climbing operation process and seriously affecting the operation experience of the user.

In order to solve the problem that the above frequent shutdown occurs when climbing stairs, the embodiment provides the following technical solution:

in view of safety of the design of the stair climbing machine 10, the first threshold value range theta₁(∠1≤θ₁Less than or equal to 2), designing a second threshold value range theta₂(∠3≤θ₂Less than or equal to 4) to allow the stair climbing machine 10 to keep working normally in a larger angle interval. Wherein the first threshold range theta₁Is a second threshold value range theta₂A subset of (a).

In the present embodiment, the horizontal inclination angle a of the stair climbing machine 10 and the first threshold range θ are determined₁And/or a second threshold range theta₂The relationship of (1) includes: judging the horizontal inclination angle A of the stair climbing machine 10 and the first threshold value range theta₁Determining the horizontal inclination angle A of the stair climbing machine 10 and the second threshold range theta₂Or determining the horizontal inclination angle A of the stair climbing machine 10 and the first threshold range theta₁And a second threshold range theta₂The relationship (2) of (c).

In the actual operation process, the horizontal inclination angle a and the first threshold range theta of the stair climbing machine 10 can be judged in the whole process₁Or the horizontal inclination angle A and the second threshold range theta are judged in the whole course₂Or the whole course judgment of the horizontal inclination angle A and the first threshold range theta₁And a second threshold range theta₂The relationship (2) of (c). Of course, in other embodiments, the horizontal inclination angle a of the stair climbing machine 10 and the first threshold range θ may be selectively determined according to the requirement (e.g., in stages)₁And/or a second threshold range theta₂The relationship (c) is not particularly limited.

In one embodiment, the control module 14 determines the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ₁And/or a second threshold range theta₂And controlling the prompt module 15 to send out a corresponding prompt according to the judgment result, specifically including:

the control module 14 selects the horizontal inclination angle of the stair climbing machine 10 and the first threshold range theta according to the stair climbing position of the stair climbing machine 10₁Comparing or selecting the horizontal inclination angle of the stair climbing machine 10 with a first threshold range theta₁And a second threshold range theta₂And comparing the data and controlling the prompt module 15 to send out corresponding prompts according to the judgment result.

Correspondingly, referring to fig. 8, the stair climbing machine 10 can execute the process from step S10 to step S221.

In the initial starting stage of the stair climbing machine 10, the safety angle range is selected as a first threshold range theta₁The stair climbing machine 10 is in a first threshold range theta₁The operation is carried out in, and not only stair climbing machine 10 tilting force is less relatively, safe and reliable, and the user also need not to exert great pushing down force, also need not excessively stoop the operation simultaneously, and user experience is good.

However, after the stair climbing machine 10 goes up and down 1 step, the stair climbing machine 10 may shake up and down the steps normally because the stair climbing machine 10 has already entered the normal operation state of going up and down the stairs, and therefore the first threshold range θ needs to be increased₁To eliminate the effect of jitter. Through calculation analysis, in a first threshold value range theta₁Increases the jitter value in a first threshold range theta on the basis of the upper limit value of₁Lower limit of (2)The jitter value is reduced on the basis of the value to form a second threshold range theta₂Second threshold value range theta₂Still within a safe operating window.

Therefore, the first threshold range θ₁Limited to use when the stair climbing machine 10 is moving on a first step. Second threshold value range theta₂The stair climbing machine 10 is used after 1 step is normally operated, for example, when the stair climbing machine 10 travels to the second step and the next step, the safe angle range is larger, but the safe operation angle range is also within the safe operation angle range.

Specifically, referring to fig. 7, in the actual use process, when the stair climbing machine 10 ascends or descends the first-level stairs from the flat ground, the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ are selected₁A comparison is made.

In the process, if the horizontal inclination angle a of the stair climbing machine 10 is smaller than the angle 1, it indicates that the user is large in stooping degree and poor in experience effect, and at the moment, the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt to remind the user to adjust the horizontal inclination angle a of the stair climbing machine 10 to be within the angle 1 to the angle 2. If the horizontal inclination angle A of the stair climbing machine 10 is located within the range of 1 to 2, the stair climbing machine 10 is indicated to work within the safety angle range, and at the moment, the stair climbing machine 10 sends a correct prompt to remind a user that the machine does not need to be stopped, and the gesture is continuously kept for going upstairs and downstairs. If the horizontal inclination angle a of the building climbing machine 10 is greater than 2, it indicates that the building climbing machine 10 is in a high tipping risk state, and operation should not be continued, and at this time, the building climbing machine 10 sends an alarm prompt and a shutdown prompt to remind a user to change the current horizontal inclination angle a of the building climbing machine 10 until the building climbing machine 10 sends a correct prompt.

Referring to fig. 7, when the stair climbing machine 10 sequentially ascends the multi-level middle stairs and the last-level stairs, the horizontal inclination angle of the stair climbing machine 10 is selected to be within the first threshold range θ₁And a second threshold range theta₂For comparison, the control module 14 is specifically configured to:

(1) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be smaller than the second threshold value range theta₂When the lower limit value of (3) is less than the threshold value, the control prompt module 15 sends out alarm prompt and shutdown prompt;

(2) judging that the horizontal inclination angle A of the stair climbing machine 10 is more than or equal to the secondThreshold range theta₂Is less than a first threshold range theta₁When the lower limit value of is less than 1, the control prompt module 15 sends out an alarm prompt;

(3) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be larger than or equal to the first threshold value range theta₁Is less than or equal to a first threshold range theta₁When the upper limit value of is less than 2, the prompt module 15 is controlled to send out correct prompt;

(4) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be larger than a first threshold value range theta₁And is less than or equal to a second threshold range theta₂When the upper limit value of the threshold is less than 4, the control prompt module 15 sends out an alarm prompt;

(5) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be larger than the second threshold value range theta₂When the upper limit value is less than 4, the control prompt module 15 sends out alarm prompt and shutdown prompt.

In the actual use process, if the horizontal inclination angle a of the building climbing machine 10 is less than < 3, it indicates that the user is large in stooping degree and poor in experience effect, and at the moment, the building climbing machine 10 sends out alarm prompt and shutdown prompt to remind the user to adjust the horizontal inclination angle a of the building climbing machine 10 to be within the range of < 1 > to < 2 >.

If the horizontal inclination angle A of the building climbing machine 10 is larger than or equal to the angle 3 and smaller than the angle 1, the building climbing machine 10 is indicated to work within a safety angle range, but the user bending degree is still large, the building climbing machine 10 sends out an alarm prompt instead of directly stopping the machine, and the user is reminded to adjust the horizontal inclination angle A of the building climbing machine 10 to the angle 1-2, so that the comfort of the user is improved.

If the horizontal inclination angle A of the stair climbing machine 10 is located within the range of 1 to 2, the stair climbing machine 10 still works within the safety angle range, and at the moment, the stair climbing machine 10 sends a correct prompt to remind a user that the machine does not need to be stopped, and the gesture is continuously kept for going upstairs and downstairs.

If the horizontal inclination angle A of the building climbing machine 10 is greater than the angle 2 and less than or equal to the angle 4, it indicates that the building climbing machine 10 still works within the safety angle range, but the tipping risk is higher, so the building climbing machine 10 sends out an alarm prompt instead of directly stopping the machine at the moment, and reminds a user to adjust the horizontal inclination angle A of the building climbing machine 10 to the angle 1 to the angle 2 so as to reduce the tipping force of the building climbing machine 10.

If the horizontal inclination angle A of the stair climbing machine 10 is larger than the angle 4, the stair climbing machine 10 directly sends out an alarm prompt and a shutdown prompt to perform shutdown protection, and meanwhile, a user is reminded that the current tipping risk is high, and the operation is not suitable to continue. When the building climbing machine 10 is restored to be within the range of 1 to 2 again, the user needs to firstly loosen the starting switch and then presses the starting switch again to enter normal operation again.

So, climb building machine 10 and can send corresponding suggestion according to its horizontal inclination A and its building position of climbing to remind the user to climb building machine 10's horizontal inclination A control in suitable safe angle within range, make the power of overturning of climbing building machine 10 less, the user need not to spend great effort just can make building machine 10 stably go upstairs or the operation of downstairs, avoids the card problem of pausing, the user also need not to bow for a long time and just can carry out the operation simultaneously, user experience is good.

According to the existing stair building standards, the suitable gradient of the stair is usually 20-45 degrees, wherein about 30 degrees is commonly used, the gradient range of 45-60 degrees can be used for special stair with small pedestrian flow and is not commonly used, and the gradient range of more than 60 degrees is commonly used for ladder stands for fire prevention or maintenance.

Therefore, in consideration of the work safety and the work comfort of the user, the first threshold range θ is set for the suitable stairway of 20 ° to 45 ° and the special stairway of 45 ° to 60 ° in the present embodiment₁And a second threshold range theta₂E.g. a first threshold range theta₁Is 40 degrees to 60 degrees, and a second threshold value range theta₂Is 35-65 degrees.

Of course, the first threshold range θ₁And a second threshold range theta₂Other ranges are also possible and are not limiting herein.

In one embodiment, the second threshold range θ₂Can adjust according to the stair slope, the bigger the stair slope is, the second threshold value scope theta₂Is lower limit value and the first threshold range theta₁The smaller the difference between the lower limit values of (a) and (b), the second threshold range theta₂Upper limit value and first threshold range theta₁The smaller the difference in the upper limit value of (b).

Considering the height of the user, in the case of a stair operation with a relatively gentle slope, if the horizontal inclination angle a of the stair climbing machine 10 is within the first threshold range θ₁Or a second threshold range theta₂And the space which can be operated by the user is larger, and the bending degree is not so large. While in the operation of stairs with relatively steep gradient, if the horizontal inclination angle A of the stair climbing machine 10 is within the first threshold range theta₁Or a second threshold range theta₂And if the user can operate the chair, the space which can be operated by the user is small, and the stooping degree is large.

Therefore, the second threshold range θ of the present embodiment is considered from the viewpoint of comfort and normal operation of the machine₂Can adjust according to the stair slope, the bigger the stair slope is, the second threshold value scope theta₂Is lower limit value and the first threshold range theta₁The smaller the difference in the lower limit value of (a).

Illustratively, for stairs of 20 ° -45 °, the first threshold range θ₁Is 40 degrees to 60 degrees, and a second threshold value range theta₂Is 35 to 65 degrees, the second threshold value range theta₂Is lower limit value and the first threshold range theta₁Is a difference of Δ₁5 deg. is equal to. For stairs of 45-60 degrees, the first threshold value range theta₁Is 40 degrees to 60 degrees, and a second threshold value range theta₂Is 38 degrees to 65 degrees, the second threshold value range theta₂Is lower limit value and the first threshold range theta₁Is a difference of Δ ₁2 deg.. Thus, during operation on stairs with large gradient, Delta₁The smaller, the second threshold range theta₂When the user adjusts the horizontal inclination angle a of the stair climbing machine 10 to be lower than the second threshold range θ, the lower limit value of₂When the time is less than the threshold value, the stair climbing machine 10 sends an alarm prompt and a shutdown prompt, so as to remind the user to lift the stair climbing machine 10 until a correct prompt is sent. Therefore, the user does not bend down so much, and the user experience effect is good.

Further, with reference to fig. 2-4, since the user usually steps on the first stair with one foot (hereinafter referred to as the front foot) and the higher stair with the other foot (hereinafter referred to as the rear foot) when operating the stair climbing machine 10, and the upper body needs to lean forward slightly, the center of gravity of the user is shifted to the front foot, so as to apply a downward force F2 to the stair climbing machine 10 while maintaining personal safety. Therefore, the larger the gradient of the stair is, the larger the degree of the gravity center offset of a person caused by forward inclination of the user is, and the higher the risk of falling of the person is.

Therefore, the second threshold range θ of the present embodiment is considered from the safety point of view₂Can adjust according to the stair slope, the bigger the stair slope is, the second threshold value scope theta₂Upper limit value and first threshold range theta₁The smaller the difference in the upper limit value of (b).

Illustratively, for stairs of 20 ° -45 °, the first threshold range θ₁Is 40 degrees to 60 degrees, and a second threshold value range theta₂Is 35 to 65 degrees, the second threshold value range theta₂Upper limit value and first threshold range theta₁The difference of the upper limit value of (2) is 5 °. For stairs of 45-60 degrees, the first threshold value range theta₁Is 40 degrees to 60 degrees, and a second threshold value range theta₂Is 38 degrees to 62 degrees, the second threshold value range theta₂Upper limit value and first threshold range theta₁Has a difference of Δ ₂2 deg.. Thus, during operation on stairs with large gradient, Delta₂The smaller, the second threshold range theta₂When the user adjusts the horizontal inclination angle a of the stair climbing machine 10 to be higher than the second threshold range θ, the lower the upper limit value of (b) is₂When the upper limit value is reached, the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt, so as to remind a user to press down the stair climbing machine 10 until a correct prompt is sent out. In this way, the user can be guided to properly lower the center of gravity (bow) to ensure the safety of the user and the safety of the machine.

Note that, the first threshold range θ₁The specific range of (a) can be determined according to actual requirements, and the embodiment is within the first threshold range theta₁On the basis of the determined value, the second threshold value range theta is adjusted according to the stair slope₂。

In one embodiment, the control module 14 is further configured to:

judging that the horizontal inclination angle of the stair climbing machine 10 is larger than a first threshold value range theta₁Whether the time of the upper limit value is greater than a timeout threshold value;

if yes, the control prompt module 15 sends out an alarm prompt and a shutdown prompt, and controls the stair climbing machine 10 to shut down;

if not, the control prompt module 15 sends out an alarm prompt.

Correspondingly, referring to fig. 9, the stair climbing machine 10 can perform the process of step S10-step S41 or step S10-step S42.

In this embodiment, if the stair climbing machine 10 exceeds the first threshold range θ₁If the time of the upper limit value is greater than the overtime threshold value, the stair climbing machine 10 is considered to be in a high rollover risk state at the moment, the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt, and the stair climbing machine 10 is controlled to be shut down. When the horizontal inclination angle A of the stair climbing machine 10 exceeds a first threshold value range theta₁When the time of the upper limit value is less than or equal to the overtime threshold value, only an alarm prompt is sent out.

Similarly, when the horizontal inclination angle of the stair climbing machine 10 is selected to be respectively equal to the first threshold range theta₁And a second threshold range theta₂In making the comparison, the control module 14 is further configured to:

judging that the horizontal inclination angle A of the stair climbing machine 10 is larger than a first threshold value range theta₁Upper limit value of not more than second threshold value range theta₂Whether the time of the upper limit value is greater than a timeout threshold value;

if yes, the control prompt module 15 sends out an alarm prompt and a shutdown prompt, and controls the stair climbing machine to shut down;

if not, the control prompt module 15 sends out an alarm prompt.

Correspondingly, referring to fig. 10, the stair climbing machine 10 can perform the process of step S10-step S51 or step S10-step S52.

In this embodiment, if the stair climbing machine 10 is larger than the first threshold range θ₁Upper limit value of not more than second threshold value range theta₂If the time of the upper limit value is greater than the overtime threshold value, the stair climbing machine 10 is considered to be in a high rollover risk state at the moment, the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt, and the stair climbing machine 10 is controlled to be shut down. When the horizontal inclination angle A of the stair climbing machine 10 exceeds a first threshold value range theta₁When the time of the upper limit value is less than or equal to the overtime threshold value, only an alarm prompt is sent out.

Please refer to fig. 7 and the two safety angle ranges and the first threshold range set in the above embodimentsTheta around₁In the middle, the angle 1 is less than or equal to theta₁Less than or equal to 2 and a second threshold range theta₂In the middle, the angle is less than or equal to 3 and is less than or equal to theta₂Less than or equal to 4. Assuming that the horizontal inclination angle value of the stair climbing machine 10 acquired by the angle identification module 13 is A, t is greater than or equal to 0 and less than or equal to t in the stroke time period₆In the method, a first travel time period { t |0 ≦ t is selected₀}, second trip period { t |, t₁≤t≤t₂}, third stroke period { t |, t₃≤t≤t₄And a fourth trip period t₅≤t≤t₆Analyzing, wherein the rest travel time periods are time periods when the stair climbing machine 10 is vibrated or the stair climbing machine 10 adjusts the horizontal inclination angle A, and the horizontal inclination angle A is within a first threshold range theta in the time periods₁In this case, no specific analysis is made.

The angle data changes of the four travel time periods of the stair climbing machine 10 are analyzed:

(1) t is more than or equal to 0 and less than or equal to t₀In this time period, as shown by the solid curve in the figure, although there is fluctuation in the angle value a, the fluctuation ranges are all within the first threshold range θ₁At this time, the stair climbing machine 10 is judged to work in a normal posture and a correct prompt is sent;

(2) the second stroke is in the time period t₁≤t≤t₂During this time period, as shown by the solid curve in the figure, the climbing machine 10 is subjected to vibration, so that the horizontal inclination angle a of the climbing machine 10 fluctuates, and the fluctuation range exceeds the first threshold range θ₁And exceeds a first threshold range theta₁The duration of the upper limit value of is delta t₁＝t₂-t₁Where Δ t is₁If the time-out threshold value is exceeded, the stair climbing machine 10 is determined to be in a high rollover risk state at the moment, and the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt.

(3) The third stroke is in the time period t₃≤t≤t₄During this time period, as shown by the solid curve in the figure, the stair climbing machine 10 is subjected to vibration, resulting in fluctuation of the horizontal inclination angle a of the stair climbing machine 10, which is out of the second threshold range θ₂And exceeds a second threshold range theta₂Internal duration of Δ t₂＝t₄-t₃Albeit at₂Less than a time-out threshold, but once A fluctuates and the fluctuation range exceeds a second threshold range theta₂All think that the stair climbing machine 10 is in the high risk state of overturning, be unfavorable for continuing the operation, the stair climbing machine 10 sends warning suggestion and stop prompt.

Through the control logics of the second stroke and the third stroke, the stair climbing machine 10 in a high rollover risk state can be well subjected to risk control, and safety accidents are avoided.

(4) At the time t of the fourth stroke₅≤t≤t₆During this time period, as shown by the solid curve in the figure, the stair climbing machine 10 is subjected to vibration, which causes the horizontal inclination angle a of the stair climbing machine 10 to fluctuate and the fluctuation range exceeds the first threshold range θ₁Is less than the upper limit value of 2 but does not exceed the second threshold range theta₂And exceeds a first threshold range theta₁Internal duration of Δ t₃＝t₆-t₅Where Δ t is₃Less than the set timeout threshold. As can be seen from the reason of the fluctuation of the angle data (vibration due to unstable holding by the user, normal shaking of the stair climbing machine 10 during climbing stairs, etc.), although the fluctuation range in the fourth stroke exceeds the first threshold range θ₁However, because the duration is short, the stair climbing machine 10 can quickly return to a safe driving posture, and the risk of rollover is low, so that the stair climbing machine 10 sends an alarm prompt instead of directly stopping. Therefore, for a climbing scene, frequent starting and stopping caused by vibration or shaking can be avoided, and the fluency of user operation is improved.

It can be understood that, in the actual stair climbing process, the higher the traveling speed of the stair climbing machine 10, the higher the probability that the stair climbing machine 10 tips over. Therefore, if the timeout threshold is kept constant, the stair climbing machine 10 may be subjected to external vibration and exceed the first threshold range θ₁(whether or not the second threshold range theta is exceeded₂) Thereafter, the first threshold range θ is exceeded in the process of returning from the vibration state to the safe driving posture₁Has not reached a time-out threshold and tips over.

To solve the above problem, in one embodiment, the control module 14 determines that the operation posture of the stair climbing machine 10 is larger than the first threshold range θ₁Before the time of the upper limit value is greater than the timeout threshold value, or before the control module 14 judges that the horizontal inclination angle A of the stair climbing machine 10 is greater than the first threshold value range theta₁Upper limit value of not more than second threshold value range theta₂Before the time of the upper limit value is greater than the timeout threshold, the control module 14 is further configured to:

the timeout threshold is automatically adjusted according to the traveling speed of the stair climbing machine 10.

Correspondingly, referring to fig. 11, the stair climbing machine 10 can perform the process of step S10-step S41 or step S10-step S42.

In this embodiment, the timeout threshold can be automatically adjusted according to the traveling speed of the stair climbing machine 10 going upstairs and downstairs, and the adjustment principle is as follows:

because the step-by-step stair climbing machine only rotates by taking one end of the supporting arm 121 as a fulcrum when going up or down one step, and rotates by taking the other end of the supporting arm 121 as the fulcrum until reaching the next step, the stair climbing machine 10 goes up or down two steps when the supporting arm 121 rotates one circle.

In conjunction with the above principle, assume that the traveling speed of the stair climbing machine 10 is: v steps per minute, then the number of revolutions per minute of support arm 121 is: (V/2) revolutions per minute, and correspondingly, the number of revolutions per minute output by the speed reduction motor of the support arm 121 is (V/2) revolutions per minute, which corresponds to (60 × 2/V) seconds per revolution. Assume a second threshold range θ₂And a first threshold range theta₁Does not exceed delta theta, and to ensure that the actual jitter value does not exceed delta theta, the support arm 121 rotates one revolution for a timeout threshold

As can be seen, when Δ θ is kept constant, the timeout threshold Δ T is smaller as the traveling speed V of the stair climbing machine 10 is larger. Therefore, different timeout thresholds Δ T may be set according to different traveling speeds V of the stair climbing machine 10.

In one embodiment, the control module 14 automatically adjusts the timeout threshold according to the traveling speed of the stair climbing machine 10, including:

the control module 14 selects a timeout threshold corresponding to the speed gear according to the speed gear of the stair climbing machine 10.

Correspondingly, referring to fig. 12, the stair climbing machine 10 can perform the process of step S10-step S41 or step S10-step S42.

In actual operation, to ensure the efficiency of climbing stairs, the user may select different speed gears to adjust the traveling speed of the stair climbing machine 10. For example, when a low-speed gear is selected, the travel speed of the stair climbing machine 10 is limited to 0-25 steps per minute; when a high gear is selected, the travel speed of the stair traversing machine 10 is limited to 25-35 steps per minute.

In a specific embodiment, the maximum speed value of the current speed gear of the stair climbing machine 10 and the second threshold range θ are used₂And a first threshold range theta₁The jitter value of (2) is calculated as a timeout threshold corresponding to the speed step.

Specifically, as is apparent from the above description, when Δ θ is kept constant, the time-out threshold Δ T is decreased as the traveling speed V of the stair climbing machine 10 is increased. Therefore, by substituting the maximum speed value of each speed gear into the timeout threshold calculation formula, the minimum timeout threshold value in the speed gear can be obtained, and the minimum timeout threshold value can be uniformly adopted for other traveling speeds in the speed gear.

It should be noted that, in practical applications, the speed gear of the stair climbing machine 10 may be adjusted according to practical situations, and is not limited in particular.

Therefore, in the present embodiment, an appropriate timeout threshold is selected according to the traveling speed gear of the stair climbing machine 10 going upstairs and downstairs, so that the stair climbing machine 10 in the high-speed gear can make a determination faster, and the stair climbing machine 10 is prevented from being vibrated outside and exceeding the first threshold range θ₁Then, the first threshold range theta is exceeded₁Has not reached a time-out threshold and tips over.

Referring to fig. 13, in one embodiment, the stair climbing machine 10 further includes a motor output module 122 connected to the control module 14, and when the control module 14 outputs a stop command, the motor output module 122 stops operating.

In the present embodiment, when the control module 14 determines that the stair climbing machine 10 is in the high rollover risk state, the control module 14 controls the motor output module 122 to stop operating, so as to realize the shutdown output of the stair climbing machine 10.

Referring to fig. 1, in one embodiment, the working status of the stair climbing machine 10 includes a failure condition of the stair climbing machine 10. The stair climbing machine 10 further comprises a diagnosis module 18 connected with the control module 14, and the control module 14 is configured to control the diagnosis module 18 to perform troubleshooting on the stair climbing machine 10 according to the voice instruction, so as to obtain a fault condition of the stair climbing machine 10, and then control the prompt module 15 to send a corresponding prompt according to a troubleshooting result.

In this embodiment, if the user needs to acquire the failure condition of the stair climbing machine 10, for example, a voice command "acquire the failure condition of the stair climbing machine 10" may be issued to the voice recognition module 16, and the control module 14 may control the diagnosis module 18 to troubleshoot the stair climbing machine 10 according to the voice command. The checking result of the diagnosis module 18 is sent to the control module 14, and then the control module 14 controls the display module to send out corresponding prompts, such as "the current stair climbing machine 10 is normal", "the current stair climbing machine 10 is in failure, and further check the stair climbing machine 10". In this way, through voice interactive query, the user can conveniently know whether the stair climbing machine 10 is in failure, and further obtain the reason of the failure.

In one embodiment, the control module 14 is further configured to directly control the stair climbing machine 10 to issue a corresponding alarm prompt or stop the stair climbing machine 10 when the working state of the stair climbing machine 10 is determined to be abnormal.

In one embodiment, the diagnosis can be performed after the shutdown, so that the diagnosis result is more accurate.

In one particular embodiment, diagnostic module 18 may include one or more hardware detection circuits.

In one embodiment, the diagnosis module 18 includes a voltage detection circuit 181, and the voltage detection circuit 181 is configured to collect a voltage signal of the detected component of the stair climbing machine 10 to determine whether the detected component is faulty.

Referring to fig. 13, fig. 13 is a schematic circuit diagram of the voltage detection circuit 181 in the present embodiment. The circuit principle of the circuit is as follows: the detected voltage signal is divided by a resistor to obtain a signal meeting the interface input voltage standard of the control module 14, the signal is input into an internal ADC (analog-to-digital converter) of the control module 14, and the control module 14 can judge whether the corresponding detected component works normally or not by calculating the detected voltage value.

Generally, the voltage detection circuit 181 is mainly used for detecting the voltage of a battery, detecting the voltage of a motor drive output terminal, and the like, and determining whether the operation is normal or not by the voltage. When detecting the battery voltage, if the voltage is too low, the battery needs to be charged in time. The principle of detecting the motor drive output is shown in fig. 14. In fig. 14, the voltages of the output terminals a and B are detected, and it is determined whether the voltages are correct. If the voltage is incorrect, the motor driver is in failure; if the voltage is correct, the motor does not run, which indicates that the motor is damaged or the connecting line of the motor is disconnected.

In other embodiments, the diagnosis module 18 may further include other detection circuits, such as a switch or key detection circuit, a brushless motor detection circuit, a communication detection circuit, etc., and a user may diagnose the condition of each component of the stair climbing machine 10 through the diagnosis module 18 by inputting a voice instruction for detecting a fault condition of the stair climbing machine 10, so that the prompt module 15 outputs a corresponding diagnosis result, which is more intelligent.

Referring to fig. 1, in one embodiment, the working status of the stair climbing machine 10 includes the number of steps that the stair climbing machine 10 climbs. The stair climbing machine 10 further comprises a step counting module 19 connected with the control module 14, the step counting module 19 is arranged on the machine body 11 and used for acquiring the number of steps climbed by the stair climbing machine 10, and the control module 14 is used for controlling the prompt module 15 to give out a prompt corresponding to the number of steps climbed by the stair climbing machine 10.

For the operators in the logistics industry, the load capacity, the climbing speed and the endurance (the number of steps of climbing the building at full capacity) are the most critical core data of the stair climbing machine 10.

In this embodiment, the user may obtain, through the speech recognition module 16, the number of steps that the stair climbing machine 10 climbs, for example, send a speech instruction of "how many steps the stair climbing machine 10 climbs" to the speech recognition module 16, the control module 14 obtains the number of steps that the stair climbing machine 10 climbs, and then controls the prompt module 15 to send a relevant prompt of the number of steps that climbs, for example, "in this trip, the stair climbing machine 10 has climbed 825 steps".

In addition, when the user obtains the number of steps climbed by the stair climbing machine 10, the control module 14 may further associate the power module of the stair climbing machine 10 to obtain the remaining power of the power module, and further send a relevant prompt, for example, "in this trip, the stair climbing machine 10 has climbed 825 steps, the remaining power is 40%, and 480 steps can also be climbed". In this way, the user can know how long the stair climbing machine 10 can be used currently, and thus can determine the work situation.

In a specific embodiment, the step counting module 19 may include various devices capable of detecting the number of turns of the stair climbing motor, such as a hall detector, a grating detector, and the like, and may further include devices capable of detecting whether the stair climbing machine 10 has a stair or not in the forward direction and counting the number of the stairs during the upstairs and downstairs process, such as an infrared distance measuring sensor, an ultrasonic distance measuring sensor, and the like.

Referring to fig. 15, fig. 15 is a schematic circuit diagram illustrating the step counting module 19 is a hall detector for obtaining the number of steps climbed by the stair climbing machine 10.

Specifically, the step number can be detected by the hall signal in the present embodiment. The principle of the brushless motor detection circuit is as follows: the output signal of the Hall detector is a high-low level signal. When a high level is output, the triode Q11 is not conducted, the optocoupler U19 is not conducted, and the signal acquired by the control module 14 is a high level signal; when a low level is output, the triode Q11 is turned on, the optocoupler U19 is also turned on, and the signal acquired by the control module 14 is a low level signal. When the level signal has a certain number of times of conversion, it can be judged as one-step number conversion. The number of steps may be "ten thousand times" and the prompt module 15 issues a corresponding prompt.

Referring to fig. 1, in one embodiment, the stair climbing machine 10 further includes an illumination module 20, and the illumination module 20 is disposed on the machine body 11 and is configured to perform supplementary illumination when ambient illuminance is lower than a preset illuminance value.

It can be understood that when the ambient illumination of stairs or other outdoor operation environments is low, the user is inconvenient to climb the stairs.

In order to solve the above problem, in the present embodiment, the standard value of the illuminance of the stairwell for public and industrial buildings is 50 to 100lx according to the specification of "design standard for architectural lighting" GB 50034-2013, so the preset illuminance value of the present embodiment may be set to 50 lx. In the process of climbing the building, if the ambient illumination is lower than 50lx, the lighting module 20 performs light supplement lighting; if the ambient illumination is greater than or equal to 50lx, light supplement illumination is not needed. In this way, the user can be assured of operating the stair climbing machine 10 to perform normal stair climbing operations.

It is understood that the preset illumination value may be set to other values according to actual situations, and is not particularly limited herein.

In one particular embodiment, the lighting module 20 includes an illumination lamp, such as an LED lamp, a fluorescent lamp, or an energy saving lamp.

Referring to fig. 1, in one embodiment, the stair climbing machine 10 further includes a photosensitive detection module 21 connected to the control module 14, where the photosensitive detection module 21 is configured to detect ambient illuminance and send the ambient illuminance to the control module 14, and the control module 14 is configured to control the illumination module 20 to perform light supplement illumination when it is determined that the ambient illuminance is lower than a preset illuminance value.

In this embodiment, the photosensitive detection module 21 actively detects the ambient illumination, and sends the detection result to the control module 14, and then the control module 14 determines whether the ambient illumination is lower than a preset illumination value, if so, the lighting module 20 is controlled to perform light supplement lighting, and if not, the lighting module 20 is not started. So, through climbing building machine 10 automatic detection ambient light, can satisfy the light filling demand in the low scene of ambient light, climb building machine 10 is more intelligent.

In other embodiments, it may also be determined manually whether the current ambient illumination meets the operation requirement, and if not, the illumination module 20 may be started manually to perform supplementary illumination.

Referring to fig. 16, an embodiment of the present invention further provides a voice interaction control method for a stair climbing machine 10, which is applied to the stair climbing machine 10 in any of the above embodiments, and the control method includes the following steps:

s110, acquiring a voice instruction;

and S120, acquiring the working state of the stair climbing machine 10 or controlling the walking module 12 to execute corresponding actions according to the voice command, and then sending a corresponding prompt.

Because the existing stair climbing machine has no voice interaction function, a user needs to look up a use specification of the stair climbing machine and operate the stair climbing machine to be familiar with all functions of the stair climbing machine. Because the familiarity process is slow, the user is inconvenient to operate the stair climbing machine by hands in time. In addition, the existing climbing machine rollover processing generally adds a band-type brake or an emergency stop button on a motor of the climbing machine, so that the motor of the climbing machine can stop running emergently when the climbing machine is tipped, however, for the climbing machine with the emergency stop button, when the climbing machine is in an emergency, a user must press the emergency stop button to brake, if the user does not press the emergency stop button in time, the climbing machine can not brake emergently, so that the climbing machine is tipped, and the safety is low.

In order to solve the above problem, the stair climbing machine 10 according to the embodiment of the present invention can implement the voice interaction control of the stair climbing machine 10 by the user by executing the voice interaction control method, and prompt the user about the corresponding control operation, so that the user can know the working state of the stair climbing machine 10.

In one embodiment, step S120 obtains the working state of the stair climbing machine 10 or controls the walking module 12 to perform a corresponding action according to the voice instruction, and then sends a corresponding prompt, specifically including:

Specifically, the control module 14 obtains the current working state of the stair climbing machine 10 according to the processed voice instruction. After the working state of the current building climbing machine 10 is obtained, the control module 14 controls the prompt module 15 to send out a corresponding prompt according to the working state of the current building climbing machine 10, in addition, the control module 14 may also control the walking module 12 to execute a corresponding action according to the content of the voice instruction, and then controls the prompt module 15 to send out a corresponding prompt to prompt the user that the building climbing machine 10 has executed a corresponding action. Wherein the walking module 12 comprises a crawler-type walking module or a step-by-step walking module, as shown in fig. 2, the step-by-step walking module comprises a support arm 121.

In summary, the voice interaction control method of the stair climbing machine 10 in the embodiment can operate the stair climbing machine 10 according to the voice command of the user, the interaction mode is flexible, the user who is not familiar with the stair climbing machine 10 can quickly know and master the operation of the stair climbing machine 10, and the stair climbing machine 10 can be controlled by voice, so that the states of going upstairs and downstairs, the traveling speed and the like of the stair climbing machine 10 can be switched without contacting with the keys of the stair climbing machine 10, the control mode is more flexible, the voice emergency braking is also realized, and the method is safer compared with the key emergency braking.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. A stair climbing machine, comprising: the intelligent robot comprises a machine body, and a walking module, a control module, a prompting module and a voice recognition module which are respectively arranged on the machine body, wherein the control module is respectively connected with the walking module, the voice recognition module and the prompting module;

2. The stair climbing machine according to claim 1, wherein the control module is specifically configured to:

acquiring the working state of the stair climbing machine according to the content of the voice instruction, and then controlling the prompt module to send out a corresponding prompt according to the working state of the stair climbing machine;

or controlling the walking module to execute corresponding actions according to the content of the voice instruction, and then controlling the prompting module to send out corresponding prompts.

3. The stair climbing machine according to claim 1, wherein the prompting module comprises a light prompting unit and/or a voice output unit.

4. The stair climbing machine according to claim 1, wherein the working state of the stair climbing machine comprises an operating posture of the stair climbing machine, and the operating posture of the stair climbing machine is a horizontal inclination angle of the stair climbing machine;

the stair climbing machine further comprises an angle recognition module connected with the control module, the angle recognition module is used for acquiring the operation posture of the stair climbing machine in real time, the control module is used for judging the relation between the horizontal inclination angle of the stair climbing machine and the safety angle range, and the prompt module is controlled to send out corresponding prompts according to the judgment result.

5. The stair climbing machine according to claim 4, wherein the control module is specifically configured to:

when the horizontal inclination angle of the stair climbing machine deviates from the safe angle range, controlling the prompt module to send out a corresponding prompt; and controlling the prompt module to send out a correct prompt when the horizontal inclination angle of the stair climbing machine is judged to be within the safe angle range.

6. The stair climbing machine according to any one of claims 1 to 5, wherein the operating state of the stair climbing machine comprises a fault condition of the stair climbing machine;

the stair climbing machine further comprises a diagnosis module connected with the control module, the control module is used for controlling the diagnosis module to carry out troubleshooting on the stair climbing machine according to a voice instruction so as to obtain the fault condition of the stair climbing machine, and then the prompt module is controlled to send out a corresponding prompt according to the fault condition of the stair climbing machine.

7. The stair climbing machine according to any one of claims 1 to 5, wherein the working state of the stair climbing machine comprises the number of steps the stair climbing machine climbs;

the stair climbing machine further comprises a step counting module connected with the control module, the step counting module is arranged on the machine body and used for acquiring the number of steps climbed by the stair climbing machine, and the control module is used for controlling the prompt module to send a prompt corresponding to the number of steps climbed by the stair climbing machine.

8. The stair climbing machine according to any one of claims 1 to 5, further comprising an illumination module disposed on the machine body and configured to perform supplementary illumination when ambient illumination is lower than a preset illumination value.

9. The stair climbing machine according to claim 8, further comprising a photosensitive detection module connected to the control module, wherein the photosensitive detection module is configured to detect an ambient illuminance and send the ambient illuminance to the control module, and the control module is configured to control the illumination module to perform light supplement illumination when it is determined that the ambient illuminance is lower than the preset illuminance value.

10. A voice interaction control method of a stair climbing machine, which is applied to the stair climbing machine according to any one of claims 1 to 9, the control method comprising:

acquiring a voice instruction;