CN113665705A

CN113665705A - Stair climbing machine and control method thereof

Info

Publication number: CN113665705A
Application number: CN202110853856.3A
Authority: CN
Inventors: 赵勇; 饶辉; 梁国寿; 包士维; 徐明宇; 刘新波; 伍希志
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: CN113665705B; WO2023004910A1

Abstract

The invention discloses a stair climbing machine and a control method thereof, wherein the control method comprises the following steps: acquiring the operation posture of the stair climbing machine in real time; the operation posture of the stair climbing machine is the horizontal inclination angle of the stair climbing machine; and judging the relation between the horizontal inclination angle of the stair climbing machine and the safety angle range, and sending a corresponding prompt according to a judgment result. According to the invention, the relation between the stair climbing machine and the safe angle range is judged according to the operation posture of the stair climbing machine, and then a corresponding prompt is sent, so that an operator is reminded to control the operation posture of the stair climbing machine within the safe angle range, the tipping force of the stair climbing machine is smaller, thus the operator can stably carry out the upstairs climbing or downstairs going operation without spending larger acting force, the jamming problem is avoided, meanwhile, the operator can carry out the operation without bending over for a long time, and the user experience is good.

Description

Stair climbing machine and 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 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. The stair climbing machine generally comprises a machine body, a handle, an operation mechanism and a driving motor, wherein the operation mechanism is driven to advance by the driving motor, so that the stair climbing action is realized. For a stair climbing machine which holds a handle and can ensure that the machine stably climbs a stair only after an operator applies acting force to the handle, when the machine running mechanism applies pressure to the edge of a stair step, the reaction force applied to the running mechanism can cause the stair climbing machine to tilt towards the outer side of the stair. To counteract the tipping force, the operator is required to actively exert force at the handle to stabilize the machine state, so that the machine can carry objects or people smoothly to finish the upstairs and downstairs operation.

However, the magnitude of the force applied by the operator to stabilize the machine state has a direct relationship with the horizontal inclination angle of the machine, which causes the attitude of the stair climbing machine during climbing (i.e. the angle of the stair climbing machine) to be affected when the operator inaccurately grasps the angle of the machine, resulting in unbalanced tipping force, and the machine turns outwards, eventually causing damage to goods and even personnel.

Disclosure of Invention

The invention aims to provide a stair climbing machine and a control method thereof, which are used for judging the relation between the horizontal inclination angle of the stair climbing machine and the safe angle range according to the operation posture of the stair climbing machine and then sending out a corresponding prompt so as to remind an operator to control the operation posture of the stair climbing machine in the safe angle range, so that the tipping force of the stair climbing machine is smaller, and the problems that in the prior art, when the operator does not accurately grasp the angle of the stair climbing machine, the posture of the stair climbing machine in the stair climbing process is influenced, the tipping force cannot be balanced, the stair climbing machine overturns outwards, and finally goods and even personnel are damaged are solved.

In order to achieve the above object, an embodiment of the present invention provides a control method for a stair climbing machine, including:

acquiring the operation posture of the stair climbing machine in real time; the operation posture of the stair climbing machine is the horizontal inclination angle of the stair climbing machine;

and judging the relation between the horizontal inclination angle of the stair climbing machine and the safety angle range, and sending a corresponding prompt according to a judgment result.

An embodiment of the present invention further provides a stair climbing machine, including:

a body;

a prompt module;

the angle identification module is used for acquiring the operation posture of the stair climbing machine in real time; the operation posture of the stair climbing machine is the horizontal inclination angle of the stair climbing machine;

and 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 controlling the prompt module to send out a corresponding prompt according to the judgment result.

To sum up, the stair climbing machine and the control method thereof in the embodiments of the present invention determine the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range according to the operation posture of the stair climbing machine, and then send out a corresponding prompt, so as to remind the operator to control the operation posture of the stair climbing machine within the safe angle range, so that the tipping force of the stair climbing machine is small, and thus the operator can stably perform the upstairs climbing or downstairs climbing operation without spending a large acting force, and avoid the problem of jamming, and meanwhile, the operator can perform the operation without bending over for a long time, and the user experience is good.

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 flow chart of a control method 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 module connection structure 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 support arm; 13. an angle identification module; 14. a control module; 15. a prompt module; 16. an input module; 17. a motor output module; 20. 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, an embodiment of the present invention provides a method for controlling a stair climbing machine 10, including the following steps:

s10, acquiring the running posture of the stair climbing machine 10 in real time; the operation posture of the stair climbing machine 10 is the horizontal inclination angle of the stair climbing machine 10;

and S20, judging the relation between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range, and sending out a corresponding prompt according to the judgment result.

In one embodiment, determining the relationship between the horizontal tilt angle of the stair climbing machine 10 and the safety angle range includes determining whether the horizontal tilt angle of the stair climbing machine 10 falls within the safety angle range.

The control method of 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 12 has larger vibration amplitude when climbing stairs one by one, 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 operator needs to gradually incline the body 11 of the stair climbing machine 10 from the standing state to the operator direction in order for the operator to operate the stair climbing machine 10 to go upstairs and downstairs, and 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 be operated has a certain relationship with the height of the operator, the weight of the goods 20, the gravity center G of the stair climbing machine 10, the height of the steps of the stairs, the gradient of the stairs, and other factors, 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 20 is outside the supporting arm 12 of the stair climbing machine 10, the distance between the gravity center G and the operator is large, and the moment to be manipulated is large, when the supporting arm 12 presses the steps upstairs with one end thereof being 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 operator 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 20 approaches the support arm 12, the distance between the gravity center G and the operator decreases, and the operator only needs to bend slightly, and when the support arm 12 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 decreases, the tipping force F1 of the stair climbing machine 10 decreases, and the pushing force F2 applied to the stair climbing machine 10 by the operator is smaller.

(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 20 is closer to the supporting arm 12, and the moment for the operator 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 operator on stair climbing machine 10 is the smallest. The operator, however, needs to bend down too much to use 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 20 gradually approaches the operator. When the gravity center G is too close to the operator, the operator needs to apply upward pulling force to the stair climbing machine 10 to prevent the stair climbing machine 10 and the goods 20 from sinking to the stairs, so as to ensure 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 operator 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 building 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, an operator is advised to press down or lift up the handrail of the building climbing machine to change the current horizontal inclination angle a of the building climbing machine 10 until the building 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 12 into a hollow on the stair tread, which causes fluctuation of the 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 the 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. Referring to fig. 5, step S20 is to determine the relationship between the horizontal tilt angle of the stair climbing machine 10 and the safety angle range, and issue a corresponding prompt according to the determination result, including the following steps:

s21, judging the horizontal inclination angle of the stair climbing machine 10 and the first threshold value range theta₁And sending out corresponding prompt according to the judgment result.

In one embodiment, step S21 includes:

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 received, sending 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 user is in the middle, a correct prompt is sent.

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 out a prompt to remind the operator to change the horizontal inclination angle a of the current stair climbing machine 10. When the horizontal inclination angle A of the stair climbing machine 10 is smaller than the 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 bowing degree is large, the comfort level is poor, and simultaneously under this angle, the gravity center of the building climbing machine 10 and the goods 20 is too close to the operator, 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 the suggestion, for example, the alarm suggestion and the shutdown suggestion to remind the operator to adjust the operation posture of the building climbing machine 10 to within 1 ~ 2.

Only when the horizontal inclination angle a of the stair climbing machine 10 is within the first threshold range theta₁In, when angle 1 is less than or equal to A and is less than or equal to 2 promptly, 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 operating personnel also need not excessively stood down simultaneously, and the comfort level is high, climbs building this moment machine 10 and sends correct suggestion to remind operating personnel to 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 operator can still adjust the horizontal tilt angle a of the stair climbing machine 10 to the above-mentioned safety angle α.

In summary, by implementing the control method of the present invention, the relationship between the horizontal tilt angle a of the stair climbing machine 10 and the safe angle range is determined according to the operation posture of the stair climbing machine 10, and then a corresponding prompt is sent, so as to remind the operator 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, so that the operator can stably perform the upstairs climbing or downstairs climbing operation without spending a large acting force, thereby avoiding the jamming problem, and meanwhile, the operator can perform the operation without bending over for a long time, and the user experience is good.

Referring to fig. 6 and 7, in one embodiment, the safety angle range further includes a second threshold range θ₂First threshold value range theta₁Is a second threshold value range theta₂A subset of (a). Step S20 is to determine the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range, and send out a corresponding prompt according to the determination result, including the following steps:

s22, judging the horizontal inclination angle of the stair climbing machine 10 and the first threshold value range theta₁And/or a second threshold range theta₂And sending out corresponding prompt according to the judgment result.

In practical use, when preparing to go upstairs, the operator needs to gradually incline the body 11 of the stair climbing machine 10 from the vertical state to the operator direction, and the horizontal inclination angle a of the stair climbing machine 10 is gradually reduced from 90 ° to 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 12 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 thresholdValue 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.

Referring to fig. 8, in one embodiment, step S22 is performed to determine the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ₁And/or a second threshold range theta₂And sending out a corresponding prompt according to the judgment result, comprising the following steps:

s221, selecting a horizontal tilt angle of the stair climbing machine 10 and a first threshold range θ according to a 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 and sending out a corresponding prompt according to the judgment result.

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 internally, the tipping force of the stair climbing machine 10 is relatively small, the operation is safe and reliable, operators do not need to apply large downward pressure, excessive stooping operation is not needed,the 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 of₁Is reduced on the basis of the lower limit value of (a) 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 an operator 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 the stair climbing machine 10 sends a correct prompt to remind an operator of stopping the machine and continue to keep the posture 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 an operator 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 stairs,selecting the horizontal inclination angle of the stair climbing machine 10 to be respectively within a first threshold range theta₁And a second threshold range theta₂If the comparison is performed, step S20 specifically includes the following cases:

(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 the threshold is less than 3, sending out alarm prompt and shutdown prompt;

(2) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be larger than or equal to the second threshold value range theta₂Is less than a first threshold range theta₁When the lower limit value of the threshold is less than 1, sending 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 the angle is less than 2, sending a 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, sending 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 theta₂And when the upper limit value of the threshold is less than 4, giving 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 an operator 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 an operator 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 an operator of stopping the machine and continue to keep the posture 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, and reminds an operator 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, an operator 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 operator needs to firstly loosen the starting switch and then press the starting switch again to enter normal operation again.

So, climb building machine 10 and can be according to its horizontal inclination A and its building position of climbing, send corresponding suggestion to remind operating personnel to climb building machine 10's horizontal inclination A control in suitable safe angle within range, make the power of overturning of building machine 10 less, operating personnel need not to spend great effort just can make building machine 10 stably go upstairs or the operation of downstairs, avoid the card problem of stopping, operating personnel also need not to bow for a long time 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 limited hereinAnd (4) determining.

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 operator, in the case of a relatively gentle slope stair operation, 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 for operating the operator 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 the space for operating the operator to operate is small, and the bending 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 operator adjusts the horizontal inclination angle a of the stair climbing machine 10 to be lower than the second threshold range θ₂When the lower limit value is reached, the stair climbing machine 10 gives an alarm prompt and a shutdown prompt so as to remind an operator to lift the stairThe stair climbing machine 10 is raised until a correct prompt is given. Therefore, the bending degree of the operator is not so large, and the user experience effect is good.

Further, with reference to fig. 2-4, since the operator 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 be slightly tilted forward, the center of gravity of the operator is shifted to the front foot, so as to apply a downward pressure 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 the human body caused by forward inclination of the operator is, and the higher the risk of falling of the human body 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 operator 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 an alarm prompt and a shutdown prompt, so that an operator is reminded to press down the stair climbing machine 10 until a correct prompt is sent. Thus, the operator 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 isIn a first threshold range theta₁On the basis of the determined value, the second threshold value range theta is adjusted according to the stair slope₂。

Referring to fig. 9, in one embodiment, step S21 is performed to determine the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ₁And sending out a corresponding prompt according to the judgment result, further comprising the following steps:

s40, judging that the horizontal inclination angle A 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;

s41, if yes, giving an alarm prompt and a shutdown prompt, and controlling the stair climbing machine 10 to shut down;

and S42, if not, giving an alarm prompt.

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, referring to fig. 10, when the horizontal inclination angle of the stair climbing machine 10 is selected to be respectively within the first threshold range θ₁And a second threshold range theta₂When comparing, step S20 is to determine the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safety angle range, and to issue a corresponding prompt according to the determination result, further comprising the following steps:

s50, 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;

s51, if yes, giving an alarm prompt and a shutdown prompt, and controlling the stair climbing machine to shut down;

and S52, if not, giving an alarm prompt.

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 set in the above embodiment, the first threshold range θ₁In 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 is₁The set time-out threshold is exceeded,it is determined that the stair climbing machine 10 is in a high rollover risk state at this time, and the stair climbing machine 10 issues 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 will be understood that in practiceIn the stair climbing process, the higher the traveling speed of the stair climbing machine 10 is, 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, referring to fig. 11, in one embodiment, in step S40, it is determined that the horizontal tilt angle a of the stair climbing machine 10 is greater than the first threshold range θ₁Whether the time of the upper limit value is longer than the timeout threshold value or not, or whether the horizontal inclination angle a of the stair climbing machine 10 is larger than the first threshold range theta is judged in step S50₁Upper limit value of not more than second threshold value range theta₂Before the time of the upper limit value is greater than the timeout threshold value, the control method further comprises the following steps:

s60, automatically adjusting the timeout threshold value according to the traveling speed of the stair climbing machine 10.

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 12 as a fulcrum when going up or down one step, and rotates by taking the other end of the supporting arm 12 as a fulcrum until reaching the next step, the stair climbing machine 10 goes up or down two steps when the supporting arm 12 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 the support arm 12 is: (V/2) revolutions per minute, and correspondingly, the number of revolutions per minute output by the speed reduction motor of the support arm 12 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 12 is rotated one revolution over a time 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.

Referring to fig. 12, in one embodiment, the step S60 of automatically adjusting the timeout threshold according to the traveling speed of the stair climbing machine 10 includes the following steps:

s61, selecting a timeout threshold corresponding to the speed gear according to the speed gear of the stair climbing machine 10.

In actual operation, to ensure the efficiency of climbing stairs, the operator 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 go beyond the firstA threshold range theta₁Has not reached a time-out threshold and tips over.

Referring to fig. 2 and fig. 13, an embodiment of the present invention further provides a stair climbing machine 10, including: the device comprises a body 11, an angle identification module 13, a control module 14 and a prompt module 15.

The angle recognition module 13 is used for acquiring the operation posture of the stair climbing machine 10 in real time; the operation posture of the stair climbing machine 10 is the horizontal inclination angle of the stair climbing machine 10.

And the control module 14 is used for judging the relationship 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.

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 12 has larger vibration amplitude when climbing stairs one by one, 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.

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. Referring to fig. 5, 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.

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.

Only when the horizontal inclination angle a of the stair climbing machine 10 is within the first threshold range theta₁In the inner part, when the angle is more than or equal to A and less than or equal to 2, the tipping force of the stair climbing machine 10 is smaller (non-minimum), and at the moment, the stair climbing machine is startedThe motor of 10, go upstairs and downstairs operation safety, operating personnel also need not excessively bow simultaneously, and the comfort level is high, climbs building machine 10 this moment and sends correct suggestion to remind operating personnel 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 operator can still adjust the horizontal tilt angle a of the stair climbing machine 10 to the above-mentioned safety angle α.

To sum up, 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 controls the prompt module 15 to issue a corresponding prompt, so as to prompt the operator 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 operator can stably perform the operation of going upstairs or going downstairs without spending a large acting force, thereby avoiding the problem of jamming, and simultaneously the operator can perform the operation without bending waist for a long time, and the user experience is good.

Referring to fig. 6 and 7, in one embodiment, the safety angle range further includes a second threshold range θ₂First threshold value range theta₁Is a second threshold value range theta₂A subset of (a). 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:

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.

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).

Referring to fig. 8, 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 theta₂In the context of (a) or (b),and according to the judged result, the prompt module 15 is controlled to send out corresponding prompts, which include:

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.

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 power of tumbling is less relatively, safe and reliable, and operating personnel also need not to exert great pushing down force, also need not excessively stoop the operation simultaneously, and user experience is good.

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) when the horizontal inclination angle A of the stair climbing machine 10 is judged to be larger than or equal to the second threshold value 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 gives out alarm prompt and stops the machineAnd (6) prompting.

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

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 theta₁Smaller difference of the lower limit value of (3)。

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 operator adjusts the horizontal inclination angle a of the stair climbing machine 10 to be lower than the second threshold range θ₂When the time limit is lower than the preset threshold value, the stair climbing machine 10 sends an alarm prompt and a shutdown prompt, so that an operator is reminded to lift the stair climbing machine 10 until a correct prompt is sent. Therefore, the bending degree of the operator is not so large, and the user experience effect is good.

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 theta₁Is Δ 2 to 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 operator 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 an alarm prompt and a shutdown prompt, so that an operator is reminded to press down the stair climbing machine 10 until a correct prompt is sent. Thus, the operator 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.

Similarly, referring to fig. 10, when the horizontal inclination angle of the stair climbing machine 10 is selected to be respectively within the first threshold range θ₁And 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.

(1) t is more than or equal to 0 and less than or equal to t₀During this time period, as shown by the solid curve in the figure, the angleAlthough the value A fluctuates, the fluctuation ranges are all within the first threshold value range theta₁At 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.

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, referring to fig. 11, in one embodiment, the control module 14 determines that the operation posture of the stair climbing machine 10 is greater 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.

Referring to fig. 12, 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.

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 an embodiment, the stair climbing machine 10 further includes an input module 16 connected to the control module 14, where the input module 16 is configured to receive an input from a user and send the input result to the control module 14.

In this embodiment, the stair climbing machine 10 can implement functions such as starting and stopping, going upstairs and downstairs mode selection, high and low speed adjustment, etc. through the input module 16, and the input type of the input module 16 includes but is not limited to a key input, a touch input, a voice input, etc.

Referring to fig. 13, in one embodiment, the stair climbing machine 10 further includes a motor output module 17 connected to the control module 14, and when the control module 14 outputs a stop command, the motor output module 17 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 17 to stop operating, so as to realize the shutdown output of the stair climbing machine 10.

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 control method of a stair climbing machine is characterized by comprising the following steps:

2. The control method of a stair climbing machine according to claim 1, wherein the safety angle range includes a first threshold range θ₁And the judgment of the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range and the sending of a corresponding prompt according to the judgment result comprise:

judging the horizontal inclination angle of the stair climbing machine and the first threshold value range theta₁And sending out corresponding prompt according to the judgment result.

3. The method as claimed in claim 2, wherein the determining the horizontal inclination angle of the stair climbing machine and the first threshold range θ₁And sending out a corresponding prompt according to the judgment result, wherein the prompt comprises the following steps:

the horizontal inclination angle of the stair climbing machine is judged to deviate from the first threshold value range theta₁When the alarm is received, sending out a corresponding prompt;

judging that the horizontal inclination angle of the stair climbing machine is within the first threshold range theta₁When the user is in the middle, a correct prompt is sent.

4. The method as claimed in claim 2, wherein the determining the horizontal inclination angle of the stair climbing machine and the first threshold range θ₁And sending out a corresponding prompt according to the judgment result, further comprising:

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

if yes, sending an alarm prompt and a shutdown prompt, and controlling the stair climbing machine to shut down;

if not, an alarm prompt is sent out.

5. The method as claimed in claim 4, wherein the determining that the horizontal inclination angle of the stair climbing machine is greater than the first threshold range θ₁Before the time of the upper limit value is greater than the timeout threshold, the control method further includes:

and automatically adjusting the overtime threshold according to the traveling speed of the stair climbing machine.

6. The method for controlling a stair climbing machine according to claim 5, wherein the automatically adjusting the timeout threshold according to the traveling speed of the stair climbing machine comprises:

and selecting a timeout threshold corresponding to the speed gear according to the speed gear of the stair climbing machine.

7. The control method of a stair climbing machine according to claim 2, wherein the safety angle range further includes a second threshold range θ₂The first threshold value range theta₁Is the second threshold range theta₂A subset of (a); the judgment of the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range and the sending of corresponding prompts according to the judgment result comprise:

judging the horizontal inclination angle of the stair climbing machine and the first threshold value range theta₁And/or the second threshold range theta₂And sending out corresponding prompt according to the judgment result.

8. The method as claimed in claim 7, wherein the determining the horizontal inclination angle of the stair climbing machine and the first threshold range θ₁And/or the second threshold range theta₂And sending out a corresponding prompt according to the judgment result, wherein the prompt comprises the following steps:

according to the stair climbing position of the stair climbing machine, selecting the horizontal inclination angle of the stair climbing machine and the first threshold range theta₁Comparing the horizontal inclination angles of the stair climber with the first threshold range theta or selecting the horizontal inclination angles of the stair climber to be respectively compared with the first threshold range theta₁And the second threshold range theta₂And comparing and sending out a corresponding prompt according to the judgment result.

9. The control method of a stair climbing machine according to claim 7, wherein when selecting to make the horizontal inclination angle of the stair climbing machine respectively equal to the first threshold range θ₁And the second threshold range theta₂When comparing, the relation between the horizontal inclination angle of the stair climbing machine and the safety angle range is judged, and corresponding prompt is sent according to the judgment result, and the method comprises the following steps:

judging that the horizontal inclination angle of the stair climbing machine is smaller than the second threshold range theta₂When the threshold value is lower, sending out an alarm prompt and a shutdown prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than or equal to the second threshold range theta₂And is smaller than the first threshold range theta₁When the lower limit value is reached, an alarm prompt is sent out;

judging that the horizontal inclination angle of the stair climbing machine is more than or equal to the first threshold range theta₁And is equal to or less than the first threshold range theta₁When the upper limit value is higher than the preset limit value, sending a correct prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than the first threshold range theta₁And is equal to or less than the second threshold range theta₂When the upper limit value is higher than the preset limit value, sending an alarm prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than the second threshold value range theta₂When the upper limit value is higher than the preset value, an alarm prompt and a shutdown prompt are sent out.

10. The control method of a stair climbing machine according to claim 7, wherein the second threshold range θ₂Can adjust according to the stair slope, the bigger the stair slope is, the second threshold value scope theta₂With the first threshold range theta₁The smaller the difference between the lower limit values of (a), the second threshold range theta₂And the first threshold range theta₁The smaller the difference in the upper limit value of (b).

11. The control method of a stair climbing machine according to any one of claims 8 to 10, wherein when selecting to bring the horizontal tilt angle of the stair climbing machine to the first threshold range θ, respectively₁And the second threshold range theta₂When comparing, the judgement the relation of the horizontal inclination angle of machine of climbing the building and safe angle scope to send corresponding suggestion according to the judged result, still include:

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

if not, an alarm prompt is sent out.

12. The method of claim 11, wherein the determining that the horizontal tilt angle of the stair climbing machine is greater than the first threshold range θ₁Time of upper limit value, and is less than or equal to the second threshold range theta₂Before the time of the upper limit value is greater than the timeout threshold, the control method further includes:

13. The method for controlling a stair climbing machine according to claim 12, wherein the automatically adjusting the timeout threshold according to the traveling speed of the stair climbing machine comprises:

14. A stair climbing machine, comprising:

a body;

a prompt module;

15. The stair traversing machine according to claim 14, wherein the safe angle range comprises a first threshold range Θ₁The control module is configured to:

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

16. The stair traversing machine according to claim 15, wherein the control module is configured to:

the horizontal inclination angle of the stair climbing machine is judged to deviate from the first threshold value range theta₁When the alarm is detected, controlling the prompt module to send out a corresponding prompt;

judging that the horizontal inclination angle of the stair climbing machine is within the first threshold range theta₁And when the alarm is in the normal state, controlling the prompt module to send out a correct prompt.

17. The stair traversing machine according to claim 15, wherein the control module is further configured to:

if yes, controlling the prompt module to send out an alarm prompt and a shutdown prompt, and controlling the stair climbing machine to shut down;

if not, the prompt module is controlled to send out an alarm prompt.

18. The stair climbing machine according to claim 17, wherein the control module determines that the horizontal inclination angle of the stair climbing machine is greater than the first threshold range θ₁Before the time of the upper limit value is greater than the timeout threshold, the control module is further configured to:

19. The stair climbing machine according to claim 18, wherein the control module automatically adjusts the timeout threshold according to a traveling speed of the stair climbing machine, including:

and the control module selects an overtime threshold corresponding to the speed gear according to the speed gear of the stair climbing machine.

20. The stair traversing machine according to claim 15, wherein the safe angle range further comprises a second threshold range θ₂The first threshold value range theta₁Is the second threshold range theta₂A subset of (a); the control module judges the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range, and controls the prompt module to send out corresponding prompts according to the judgment result, and the method comprises the following steps:

the control module judges the horizontal inclination angle of the stair climbing machine and the first threshold range theta₁And/or the second threshold range theta₂And controlling the prompt module to send out a corresponding prompt according to the judgment result.

21. The stair climbing machine according to claim 20, wherein the control module determines a horizontal inclination angle of the stair climbing machine and the first threshold range θ₁And/or the second threshold range theta₂And controlling the prompt module to send out a corresponding prompt according to the judgment result, wherein the prompt comprises the following steps:

the control module selects the horizontal inclination angle of the stair climbing machine and the first threshold range theta according to the stair climbing position of the stair climbing machine₁Make a comparison, or selectSelecting the horizontal inclination angle of the stair climbing machine to be respectively within the first threshold range theta₁And the second threshold range theta₂And comparing, and controlling the prompt module to send out a corresponding prompt according to the judgment result.

22. The stair climbing machine according to claim 20, wherein when selecting to bring the horizontal inclination angle of the stair climbing machine to the first threshold range θ respectively₁And the second threshold range theta₂When comparing, the control module is configured to:

judging that the horizontal inclination angle of the stair climbing machine is smaller than the second threshold range theta₂When the lower limit value is less than the preset threshold value, the prompt module is controlled to send out an alarm prompt and a shutdown prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than or equal to the second threshold range theta₂And is smaller than the first threshold range theta₁When the lower limit value is less than the preset threshold value, the prompt module is controlled to send out an alarm prompt;

judging that the horizontal inclination angle of the stair climbing machine is more than or equal to the first threshold range theta₁And is equal to or less than the first threshold range theta₁When the upper limit value is less than the preset upper limit value, controlling the prompt module to send out a correct prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than the first threshold range theta₁And is equal to or less than the second threshold range theta₂When the upper limit value is less than the preset upper limit value, the prompt module is controlled to send out an alarm prompt;

judging that the horizontal inclination angle of the stair climbing machine is larger than the second threshold value range theta₂When the upper limit value is less than the preset upper limit value, the prompt module is controlled to send out an alarm prompt and a shutdown prompt.

23. The stair traversing machine according to claim 20, wherein the second threshold range θ₂Can adjust according to the stair slope, the bigger the stair slope is, the second threshold value scope theta₂With the first threshold range theta₁The more the difference of the lower limit valueSmall, the second threshold value range theta₂And the first threshold range theta₁The smaller the difference in the upper limit value of (b).

24. The stair climbing machine according to any one of claims 21 to 23, wherein when selecting to bring the horizontal inclination angle of the stair climbing machine to the first threshold range θ respectively₁And the second threshold range theta₂When comparing, the control module is further configured to:

if not, the prompt module is controlled to send out an alarm prompt.

25. The stair climbing machine according to claim 24, wherein the control module determines that the horizontal inclination angle of the stair climbing machine is greater than the first threshold range θ₁Time of upper limit value, and is less than or equal to the second threshold range theta₂Before the time of the upper limit value is greater than the timeout threshold, the control module is further configured to:

26. The stair climbing machine according to claim 25, wherein the control module automatically adjusts the timeout threshold according to a traveling speed of the stair climbing machine, including:

27. The stair climbing machine according to any one of claims 14 to 23, further comprising an input module connected to the control module, the input module configured to receive an input from a user and send the input to the control module.