CN212243608U - Stair climbing device and system - Google Patents

Abstract

The utility model provides a climb stair device and system relates to the transport machinery field. The stair climbing device comprises a body, a main control module, a machine vision identification system, a traveling driving mechanism, a carrying mechanism and an energy storage and supply unit, wherein the main control module, the machine vision identification system, the traveling driving mechanism, the carrying mechanism and the energy storage and supply unit are arranged on the body; the stair climbing system comprises a human-computer interface module, a sensor module, a user scheduling terminal, an AGV navigation module, a stair path database module and an iron plate which is fixedly installed on the ground, the floor surface or the wall beside a stair and can be magnetized by a magnet, and a user controls the stair climbing device to automatically go to a departure place and reach a destination through the user scheduling terminal and the human-computer interface module. The utility model discloses aim at solving among the prior art and climb stair device can not automatic traveling, complex operation, the problem that lacks safety measure in the operation.

Description

Stair climbing device and system

Technical Field

The utility model relates to a transport machinery field refers in particular to a device and system that can climb stair.

Background

For a long time, the problem that old people and people with inconvenient actions are difficult to go up and down stairs exists, particularly, a large number of multi-storey residential buildings which are not matched with elevators exist in various cities in China at present, and a considerable number of old people can only stay on high floors; in addition, even if the high-rise residence provided with the vertical elevator encounters power failure and elevator failure, the people living in the high-rise residence are more difficult to go out.

The problem has already attracted extensive attention of society and government, for example, multiple administrative departments propose preferential policies for installing elevator projects in old communities, people in all fields also want methods and schemes, for example, methods of stair modification, stair climbing vehicle design, stair climbing wheelchair design and the like, and various stair climbing devices are designed under the efforts of people.

However, the solutions proposed at present have the problem of difficulty in popularization in implementation. If a plurality of stair climbing cars and stair climbing wheelchairs which are put into use need to be assisted by people beside the stairs, the problems of inconvenient operation caused by narrow stairs, more turning and layer changing exist if a rider operates the stair by himself, and safety accidents are easily caused by the conditions of steep stairs, slipping stairs, mutual influence with pedestrians, insufficient power, misoperation and the like. Therefore, according to the technology adopted by most of the prior stair climbing devices, the mode that the old people manually operate or drive the stair climbing vehicle and the stair climbing wheelchair to go up and down the multilayer stairs is very unsafe without reliable anti-falling safety measures, so that the problem that the old people and the people who are inconvenient to move up and down the stairs are difficult to go up and down the stairs is still not fundamentally changed.

Accordingly, those skilled in the art have endeavored to develop a stair-climbing robot that operates smoothly, safely, reliably, easily, compactly, and at a high speed.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned safety measure that lacks of prior art, climb building complex operation's problem, the utility model provides a safe and reliable, easy and simple to handle, the exquisite just speed guaranteed stair climbing device of bodily form.

In order to achieve the above object, the utility model provides a stair climbing device, including locating host system, the actuating mechanism that advances, machine vision identification system, the energy storage energy supply unit of climbing on the stair device body, host system connects machine vision identification system, the actuating mechanism that advances respectively, and energy storage energy supply unit provides power for host system, machine vision identification system, the actuating mechanism that advances, wherein:

the travelling driving mechanism comprises a ground travelling mechanism and a climbing mechanism, and the ground travelling mechanism and the climbing mechanism are connected to the stair climbing device body;

the climbing mechanism comprises a mechanical arm part and an electric control magnetic suction disc, wherein one end of the mechanical arm part is movably connected to the stair climbing device body, and the other end of the mechanical arm part is connected to the electric control magnetic suction disc;

the ground travelling mechanism drives the stair climbing device body to travel on the ground under the control of the main control module, and the climbing mechanism drives the stair climbing device to realize a stair climbing function under the control of the main control module;

the mechanical arm component drives the electric control magnetic force sucking disc to be adsorbed with the iron plate under the control of the main control module, and the iron plate is fixed on the surface of the stair or the wall surface beside the stair and can be magnetized by a magnet;

the machine vision recognition system is used for collecting image information or light reflection information of objects in the surrounding environment of the stair steps or the traveling route and transmitting the information to the main control module, and the main control module combines internal data to obtain the distance and the orientation parameters between the stair climbing device and the stair steps through an algorithm.

Preferably, the electric control magnetic suction disc is one or two of an electromagnetic suction disc and an electric control permanent magnetic suction disc.

Preferably, the stair climbing device further comprises a sensor module, wherein the sensor module comprises a travel switch and a proximity switch, and the travel switch and the proximity switch are connected with the electric control magnetic suction cup.

Preferably, climb stair device still including locating the stair path database module on the body, stair path database module links to master control module for the appearance data of the stair step in the storage stair device work area, step sequence number, the peripheral fixed sign object's of route of marcing external characteristic information.

Preferably, climb stair device still including set up in climbing the wireless communication module that stair device body links to each other with host system, host system can pass through wireless communication module communicates with the stair device external terminal of climbing with wireless mode, external terminal can pass through wireless communication module with the data that external equipment gathered or through the data that external equipment storage, calculation obtained to the host system.

Preferably, the machine vision recognition system further comprises a carrying mechanism arranged on the stair climbing device body, and the carrying mechanism is used as a facility for carrying people or goods by the stair climbing device.

Preferably, a stair climbing system comprises any one of the above-described stair climbing devices.

Preferably, climb stair system and still include AGV navigation module, AGV navigation module is including locating the navigation data processing unit and the path detection module of climbing stair device body, locating the path sign of each floor, navigation data processing unit, path detection module even in host system.

Preferably, the stair climbing system further comprises a user scheduling terminal, wherein the user scheduling terminal is used for remotely calling the stair climbing device to reach a designated area, and is also used for wirelessly receiving and displaying the position of the stair climbing device in real time.

Preferably, the stair climbing system further comprises a human-computer interface module arranged on the stair climbing device body, and the human-computer interface module is used as a terminal for a user to interact information with the stair climbing system and input a destination.

The utility model has the advantages that:

(1) simple structure, exquisite figure, and is very suitable for the narrow corridor and many turning situations commonly existing in the multi-storey houses in China compared with the prior art.

(2) The climbing device is safe and reliable, and the problem of potential safety hazards in operation of similar products is solved by adopting a method that the electric control magnetic suction cup is connected with the preset iron plate all the time in the climbing process.

(3) The construction is convenient, for example, the method of presetting the iron plates on the vertical surface of the stair does not influence the structure, the function, the facility, the property and the life of other residents of the original building.

(4) The manufacturing cost is low, the main parts are electronic elements, and the cost can be greatly reduced in future mass production; the mode of one car and one person is changed, the sharing of residents on each floor of the same stair channel can be realized, and the resource waste is reduced.

(5) The operation is simple and convenient, the whole process can be automatic, the one-click arrival is realized, and the problem that the like products need frequent operation is solved.

(6) The stair climbing device is fast and stable, and when climbing stairs, a stair path database and visual identification are combined, so that fast and accurate identification ensures high-speed stable operation of the executing mechanism.

Drawings

Fig. 1 is a schematic perspective view of a stair climbing device and a system according to a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of the stair climbing device according to the first embodiment of the present invention.

Fig. 3 is a schematic bottom outline structure perspective view of the stair climbing device according to the first embodiment of the present invention.

Fig. 4 is a functional block diagram of a stair climbing device and system according to a first embodiment of the present invention.

Fig. 5 is a schematic perspective view of the user scheduling terminal of the stair climbing system according to the first embodiment of the present invention.

Fig. 6 is a functional block diagram of a user scheduling terminal of the stair climbing system according to the first embodiment of the present invention.

Fig. 7 is a schematic perspective view of the human-machine interface module of the stair climbing system according to the first embodiment of the present invention.

Fig. 8 is a functional block diagram of the man-machine interface module of the stair climbing system according to the first embodiment of the present invention.

Fig. 9 is a perspective view of the stair climbing device according to the second embodiment of the present invention.

Fig. 10 is a functional block diagram of a stair climbing device according to a second embodiment of the present invention.

It should be noted that the attached drawings are used for illustrating the present invention, and not for limiting the present invention. It is noted that the drawings representing structures may not be drawn to scale. Also, in the drawings, the same or similar elements are denoted by the same or similar reference numerals.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings, which are only used for further describing the present invention in detail, and do not limit the scope of the claims of the present invention.

< first embodiment >

Referring to fig. 1, 2, 3 and 4, the stair climbing device and system according to the first embodiment of the present invention includes: climb stair device body 100, install climb the mechanism 200 of taking advantage of on the stair device body 100, the actuating mechanism 400 that advances, host system 500, machine vision identification system 600, sensor module 700, energy storage energy supply unit 800, fixed mounting is in the iron board 91 on stair surface, fixed mounting is in the iron board 92 of stair flat bed, be connected with machine vision identification system 600 on the host system 500 respectively, sensor module 700, the actuating mechanism 400 that advances, energy storage energy supply unit 800 provides power for whole stair device that climbs.

The travel driving mechanism 400 comprises a ground travel mechanism 45 and a climbing mechanism 41, wherein the climbing mechanism 41 comprises mechanical arm mechanisms 411 and 412 and lifting push rod sets 413 and 414.

The traveling driving mechanism has two working modes: in the first mode, the ground advancing mechanism 45 drives the whole stair climbing device to advance on the ground under the control of the main control module 500; in the second mode, the climbing mechanism 41 drives the stair climbing device to climb the stairs under the control of the main control module 500.

The machine vision recognition system 600 is used for collecting image information of fixed objects around the stairs or the advancing route and transmitting the characteristic data to the main control module 500, the fixed objects comprise iron plates, stair steps and marks arranged on the wall surface, and the machine vision recognition system 600 can be matched with the laser radar to obtain coordinate position parameters of characteristic points relative to the stair climbing device;

referring to fig. 2 and 3, the robot arm mechanism 411 and the robot arm mechanism 412 in the first embodiment include rotating motors 423 and 424, each having an electric push rod 425, and the lifting push rod groups 413 and 414 each having 2 electric push rods 426, and the main control module 500 controls the actions of the robot arm mechanism and the lifting push rod groups by controlling the energy storage and energy supply unit 800 to supply power to the rotating motors 423 and 424 and the electric push rods 425 and 426 and changing the polarity direction of the power supply circuit.

Referring to fig. 2, the climbing mechanism 41 in the first embodiment comprises 2 sets of electrically controlled magnetic suction cups: an electrically controlled magnetic chuck 421 and an electrically controlled magnetic chuck 422. One end of the mechanical arm mechanism 411 and one end of the mechanical arm mechanism 412 are connected to the stair climbing device body, and the other end of the mechanical arm mechanism is respectively connected with the electric control magnetic suction cups 421 and 422 through the rotating motors 423 and 424. The main control module 500 controls the energy storage and supply unit 800 to supply power to the electric control magnetic chuck 421 and the electric control magnetic chuck 422.

Referring to fig. 2, 3 and 4, the ground traveling mechanism 45 in the first embodiment is a traveling trolley, and the ground traveling mechanism 45 is disposed below the stair-climbing device body 100 and consists of a steerable driving wheel 451 and 2 driven wheels 452 for traveling on the ground under the control of the main control module;

referring to fig. 2 and 4, the machine vision recognition system 600 includes an industrial camera 61, a laser radar 62 and a vision data processing module 63, which are installed on the stair climbing device body 100, wherein the industrial camera 61 is connected with the vision data processing module 63, and the vision data processing module 63 and the laser radar 62 are connected with the main control module 500.

In the first embodiment, the electrically controlled magnetic chuck is an electrically controlled permanent magnetic chuck, that is, after the electrically controlled permanent magnetic chuck is powered on, the internal magnetic field is offset, the magnetic field of the adsorption surface is extremely small until the adsorption force can be ignored, and the magnetic field of the adsorption surface immediately returns to the maximum state after the power is off. The single specification of the preferred electrically controlled permanent magnetic chuck in the first embodiment is: the external dimension is 180 x 120 x 70mm (height x width x thickness), the power supply is 24V DC, the maximum suction force is 2160KG, and the electric control permanent magnetic chuck adopting the permanent magnet can be adsorbed on the iron plate for a long time without consuming electric power.

Referring to fig. 2 and 4, the sensor module 700 includes a travel switch 72 and a proximity switch 73, the travel switch 72 and the proximity switch 73 are installed in the installation hole of the electrically controlled magnetic chuck, the direction of the detection end faces the adsorption surface of the electrically controlled magnetic chuck, the proximity switch 73 is used for confirming whether the electrically controlled magnetic chuck is on the iron plate, and the travel switch 72 is used for confirming whether the electrically controlled magnetic chuck is tightly adsorbed to the iron plate.

Referring to fig. 4, the stair climbing device further comprises a stair path database module 1300 arranged on the body, wherein the stair path database module 1300 is connected to the main control module 500 and is used for storing the appearance characteristics of the fixed objects in the working area of the stair climbing device according to the path sequence, and the appearance characteristics comprise the appearance size of each stair step, the step number, the iron plate 91, the iron plate 92, the external characteristics of the marker and the position information.

Referring to fig. 1, 2, 3 and 4, the stair traversing device further comprises an AGV navigation module 1000, the AGV navigation module 1000 comprising: the navigation data processing unit 101 and the magnetic induction sensor 102 which are arranged on the stair climbing device body, and the magnetic nails 103 which are arranged on each floor are connected with the main control module 500 through the navigation data processing unit 101 and the magnetic induction sensor 102.

Referring to fig. 1, 4, 5 and 6, the stair climbing device further includes a user dispatching terminal 1100, the user dispatching terminal includes a box 111 installed on each floor, a button 112 arranged on the surface of the box, a wireless transceiver module 113 fixedly installed in the box, a data processing module 114 and a display module 115, and the user dispatching terminal 1100 is powered by a battery; the stair climbing device body is provided with a wireless communication module 11, data transmission is carried out between the wireless communication module 11 and the wireless transceiver module 113, the display module 115 and the key 112 are connected with the data processing module 114; the button 112 is used for the user to call the stair climbing device to the floor, and the display module 115 is used for displaying the position of the stair climbing device for the operator.

Referring to fig. 1, fig. 2, fig. 4, fig. 7 and fig. 8, the stair climbing device further includes a human-machine interface module 1200 disposed on the stair climbing device body, where the human-machine interface module 1200 includes: the human-computer interface module 1200 is powered by the energy storage and supply unit 800, and the key set 122 and the emergency stop switch 123 are disposed on the surface of the shell, and the data processing module 124 and the display module 125 are fixedly mounted in the shell, and the key set 122, the emergency stop switch 123 and the display module 125 are connected to the data processing module 124. The human-machine interface module 1200 is used for an operator to input a destination code or implement simple operations such as emergency stop, alarm and the like, and for a maintenance and repair person to maintain and set parameters.

A method of operating a stair traversing device and system according to a first embodiment, comprising the steps of:

step one, when the stair climbing device needs to be used for climbing up and down stairs, a user presses a key 112 on a user scheduling terminal 1100 on the floor where the user is located;

step two, the data processing module 114 receives the signal sent by the key 112, performs matching calculation according to the state and position information of each stair climbing device stored in the data processing module, then calls the matched stair climbing device and sends out the floor number code in a wireless mode through the wireless transceiving module 113;

step three, the wireless communication module 11 receives the floor number code and transmits the floor number code to the main control module 500, and if the stair climbing device is in a standby state, the main control module 500 combines the data provided by the AGV navigation module 1000 and the stair path database module 1300 to obtain the course information of the floor indicated by the user;

if the stair climbing device is in a flat ground state, the traveling driving mechanism 400 drives the whole stair climbing device to travel according to the guiding course of the AGV navigation module 1000 on the ground under the control of the main control module 500, and if the ultrasonic ranging sensor 71 senses that an obstacle exists in front, the main control module 500 controls the traveling driving mechanism 400 to stop running;

when the AGV runs to the position in front of the stairs, a magnetic induction sensor 102 in the AGV navigation module 1000 senses the position of an underground embedded magnetic nail 103, and if the position of the magnetic nail is a characteristic point in front of the stairs, the main control module indicates the traveling driving mechanism to enter a mode of going upstairs and downstairs; the navigation data processing unit 101 calculates new course information according to the deviation condition of the magnetic induction sensor 102 and the magnetic nail 103, transmits the course information to the main control module 500, and the main control module 500 controls the ground travelling mechanism 45 to adjust the position according to the course information so as to eliminate the path deviation;

the main control module 500 calls coordinate information corresponding to the position marker in the stair path database module 1300 according to the number of the geomagnetic nail 103 provided by the AGV navigation module 1000, controls the ground travelling mechanism 45 according to the coordinate information to enable a lens of the industrial camera 61 to face the direction of the iron plate 91, the machine vision recognition system 600 is started, the industrial camera 61 obtains image information of the iron plate 91 and surrounding stairs, distance data between the laser radar 62 and a characteristic point is measured, the main control module 500 calculates coordinate data of a target characteristic point relative to the stair climbing device, and the main control module 500 controls the lifting push rod groups 431 and 432 and the ground travelling mechanism 45 to stretch and move according to the coordinate data, so that the electric control magnetic suction cups 421 and 422 are opposite to the iron plate 91 and are kept in a stroke range of the mechanical arm mechanism;

the main control module 500 controls the mechanical arm mechanisms 411 and 412 to drive the electric control magnetic suction cups 421 and 422 to move to and attach to the iron plate 91, the travel switch 72 is pushed to be located under the iron plate 91, the proximity switch 73 senses the existence of the iron plate 91 and then is located, the main control module judges that the suction cups are accurately aligned with and attach to the iron plate 91 after obtaining 2 switch setting signals on each suction cup, and the main control module 500 controls the energy storage and supply unit 800 to cut off the power supply of the electric control magnetic suction cups, so that the electric control magnetic suction cups externally recover to output a strong magnetic field and are adsorbed on the surface of the iron plate 91;

step seven, after the electric control magnetic suction cups 421 and 422 are firmly adsorbed with the iron plate 91, the main control module 500 firstly controls the lifting push rod groups 431 and 432 to contract and move upwards to the upper part of the step, and then controls the mechanical arm mechanisms 411 and 412 to contract, so that the stair climbing device reaches the upper layer of stairs, and the climbing action of the step of one layer is completed;

step eight, according to the method, the stair climbing device continuously climbs the stairs, the main control module 500 wirelessly transmits the number of steps which are climbed and the serial number of the floor where the stair climbing device is located to the user dispatching terminal 1100 for display by the display module 115, in addition, the main control module 500 compares the number of steps which are climbed with the number recorded by the stair path database module 1300, and the main control module 500 judges that the stairs reach the flat floor when the number is equal; before climbing the last step, the main control module 500 controls the rotating motors 423 and 424 to drive the electromagnetic chucks 421 and 422 to rotate for 90 degrees, then the mechanical arm mechanisms 411 and 412 are extended to enable the electric control magnetic chucks to be opposite to and adsorbed by the iron plate 92 horizontally arranged on the flat layer, and then the stair climbing device is driven to reach the flat layer by the actions of contracting the lifting push rod set and the mechanical arm mechanisms;

step nine, the main control module judges according to the course information of the AGV navigation module 1000, if the destination is not reached, the stair climbing device continuously executes the steps four to nine until the floor indicated by the user is reached;

step ten, the user steps on or only places the object to be carried on the carrying mechanism 200, a destination code is input through the key group 122 on the human-computer interface module 1200, the main control module performs path calculation after obtaining the code, and then the execution is started from the step four;

and step eleven, the stair climbing device alternately operates between the flat layer and the stairway until the place indicated by the human-computer interface module 1200 is reached.

By combining the description of the first embodiment, it is known that the stair climbing device and the external facility are sequentially combined, each part is independently arranged and matched with each other, the labor division is clear, and the stair climbing function is realized together, so that a complete stair climbing system is formed.

In the first embodiment, the stair climbing function of the travel driving mechanism 400 is realized by the alternate action of 2 electrically controlled magnetic suction cups and a lifting push rod set driven by 2 mechanical arm mechanisms.

< second embodiment >

Referring to fig. 9 and 10, the second embodiment of the present application includes a travel driving mechanism 300 connected to a main control module 500, the travel driving mechanism 300 includes a rubber crawler 36 disposed below a body of the stair climbing device, a robot mechanism 311 and a robot mechanism 312 connected to the body of the stair climbing device at one end, and climbing arms 37 disposed at both sides of the body of the stair climbing device, wherein: the rubber crawler 36 has the function of walking on the ground and the function of climbing stairs by combining with the climbing arm 37.

Referring to fig. 9, each of the robot arm mechanisms 311 or 312 includes 3 joints 323, and the robot arm mechanisms are configured to perform forward, backward, upward, and downward movements relative to the stair climbing apparatus body through the mutual cooperation of the changes of the rotation angles of the 3 joints, and the power device of the joints is a joint module formed by combining a speed reducer, a motor, and a brake.

Referring to fig. 9 and 10, the electrically controlled magnetic chuck 321 and the electrically controlled magnetic chuck 322 are respectively connected to the mechanical arm mechanism 311 and the mechanical arm mechanism 312, and the main control module 500 controls the energy storage and supply unit 800 to supply power to the electrically controlled magnetic chuck 321 and the electrically controlled magnetic chuck 322;

the electrically controlled magnetic chuck is an electromagnetic chuck in the second embodiment, that is, after the electromagnetic chuck is powered on, the electric field is converted into a strong magnetic field, and after the electromagnetic chuck is powered off, the magnetic field disappears basically. The electromagnetic chuck adopted in the embodiment has the following specifications: external dimensions 120 x 30mm (height x width x thickness), power supply 24V DC, power 18W, maximum suction 220 KG.

The specific travel method of the travel driving mechanism 300 in the second embodiment is as follows: when the vehicle runs on the ground, the main control module 500 controls the rubber tracked vehicle 36 to run; when going upstairs or downstairs, the main control module 500 controls the climbing arm 37 and the rubber tracked vehicle 36 to run simultaneously and cooperate with each other to complete the upstairs or downstairs.

Before every step of the stair climbing device goes up or down, a mechanical arm mechanism drives a sucker to complete the action of adsorbing an iron plate, then after the climbing arm 37 and the rubber crawler 36 are started, the main control module 500 controls 3 brakes of the mechanical arm to enable 3 joints to be in a free follow-up state and move along with the stair climbing device, and the other mechanical arm drives the other sucker to extend to the iron plate of the next step;

referring to fig. 10, the AGV navigation module 1000 further includes a three-axis acceleration sensor 104, the three-axis acceleration sensor 104 is disposed on the stair climbing apparatus body and connected to the main control module 500, and when the main control module 500 calculates, according to a signal obtained from the three-axis acceleration sensor 104, that the inclination angle or the inclination acceleration of the stair climbing apparatus is greater than a preset threshold, the main control module 500 enters a destabilization processing mode;

in the instability processing mode, the main control module 500 controls the brakes of 3 joints of the mechanical arm mechanism connected with the electromagnetic chuck in the adsorption state to lock, namely, the stair climbing device is stably matched in a hard connection mode.

After the main control module 500 determines that the stair climbing device is stable and can continue to advance after being detected by the acceleration sensor 104, the machine vision recognition system 600 and the sensor module 700, the main control module 500 adjusts the posture of the stair climbing device by controlling the positions of the climbing arm 37 and the rubber tracked vehicle 36 and the angles of the joint modules of the mechanical arm mechanism, and after all parameters reach normal, the main control module exits from the instability processing mode and continues to finish the actions of going upstairs or downstairs.

The stair climbing function of the travel driving mechanism 300 in the second embodiment is implemented by the rubber crawler 36 in cooperation with the climbing arm 37, and the mechanical arm mechanism and the electrically controlled magnetic suction cup are used as safety facilities when the stair climbing device operates.

Other parts not described in the second embodiment may refer to other embodiments, and the second embodiment is not described again.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. The utility model provides a stair climbing device, is including climbing stair device body, its characterized in that still including locating host system, the actuating mechanism that advances, machine vision identification system, the energy storage energy supply unit on climbing stair device body, host system connects machine vision identification system, the actuating mechanism that advances respectively, and energy storage energy supply unit provides power for host system, machine vision identification system, the actuating mechanism that advances, wherein:

the travelling driving mechanism comprises a ground travelling mechanism and a climbing mechanism, and the ground travelling mechanism and the climbing mechanism are connected to the stair climbing device body;

the climbing mechanism comprises a mechanical arm mechanism and an electric control magnetic sucker, wherein one end of the mechanical arm mechanism is movably connected to the stair climbing device body, and the other end of the mechanical arm mechanism is connected to the electric control magnetic sucker;

the ground travelling mechanism drives the stair climbing device body to travel on the ground under the control of the main control module, and the climbing mechanism drives the stair climbing device to realize a stair climbing function under the control of the main control module;

the mechanical arm mechanism drives the electric control magnetic force sucking disc to be adsorbed with the iron plate under the control of the main control module, and the iron plate is fixed on the surface of the stair or the wall surface beside the stair and can be magnetized by a magnet;

the machine vision recognition system is used for collecting image information or light reflection information of objects in the surrounding environment of the stair steps or the traveling route and transmitting the information to the main control module, and the main control module combines internal data to obtain the distance and the orientation parameters between the stair climbing device and the stair steps through an algorithm.

2. The stair traversing device according to claim 1, wherein the electrically controlled magnetic chuck is one or both of an electromagnetic chuck and an electrically controlled permanent magnetic chuck.

3. The stair traversing device according to claim 1, further comprising a sensor module comprising a travel switch and a proximity switch, the travel switch and proximity switch bodies being connected to the electrically controlled magnetic suction cup.

4. The stair climbing device according to claim 1, further comprising a stair path database module disposed on the body, the stair path database module being connected to the main control module and storing profile data of stair steps in a working area of the stair climbing device, step numbers, and external characteristic information of fixed marker objects around a traveling route.

5. The stair climbing device according to claim 1, further comprising a wireless communication module disposed on the stair climbing device body and connected to the main control module, wherein the main control module can communicate with an external terminal of the stair climbing device in a wireless manner through the wireless communication module, and the external terminal can transmit data collected by an external device or data stored and calculated by the external device to the main control module through the wireless communication module.

6. The stair traversing device according to claim 1, further comprising a carrying mechanism provided on the stair traversing device body, the carrying mechanism serving as a facility for carrying people or goods on the stair traversing device.

7. A stair traversing system comprising the stair traversing device according to any one of claims 1 to 6.

8. The stair climbing system according to claim 7, further comprising an AGV navigation module, wherein the AGV navigation module comprises a navigation data processing unit and a path detection module arranged on the stair climbing device body, and path identifiers arranged on each floor, and the navigation data processing unit is connected to the main control module.

9. The stair climbing system according to claim 7, further comprising a user scheduling terminal for remotely calling the stair climbing device to reach a designated area and for wirelessly receiving and displaying location information of the stair climbing device.

10. The stair climbing system according to claim 7, further comprising a human-machine interface module disposed on the stair climbing device body, wherein the human-machine interface module is used as a terminal device for a user to interact with the stair climbing system and input a destination.

Images