WO2023004910A1

WO2023004910A1 - Stair climbing machine and control method therefor

Info

Publication number: WO2023004910A1
Application number: PCT/CN2021/114655
Authority: WO
Inventors: 赵勇; 饶辉; 梁国寿; 包士维; 徐明宇; 刘新波; 伍希志
Original assignee: 中山小神童创新科技有限公司
Priority date: 2021-07-27
Filing date: 2021-08-26
Publication date: 2023-02-02
Also published as: CN113665705B; CN113665705A

Abstract

Disclosed in the present invention are a stair climbing machine and a control method therefor. The control method comprises: acquiring the running attitude of a stair climbing machine in real time, the running attitude of the stair climbing machine being a horizontal inclination angle of the stair climbing machine; and determining the relationship between the horizontal inclination angle of the stair climbing machine and a safety angle range, and according to the determination result, issuing a corresponding prompt. According to the present invention, the relationship between the stair climbing machine and the safety angle range is determined according to the running attitude of the stair climbing machine, and then the corresponding prompt is issued, so as to prompt an operator to control the running attitude of the stair climbing machine within the safety angle range, so that the tipping force of the stair climbing machine is relatively small, such that an operator enables the stair climbing machine to stably go upstairs or downstairs without using a large acting force, thereby avoiding the problem of jamming, and the operator can work without bending down for a long time, thereby providing good user experience.

Description

Stair climbing machine and control method thereof

technical field

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

Background technique

The stair climbing machine is a commonly used equipment for auxiliary handling activities. According to the working principle, the stair climbing machine can be divided into a crawler type stair climbing machine and a stepping type stair climbing machine. A stair climbing machine generally includes a body, a handle, a running mechanism and a driving motor, and the driving motor drives the running mechanism forward to realize the action of climbing stairs. For a stair climbing machine that has a grip and requires the operator to exert force on the handle to make the machine go upstairs stably, when the machine's operating mechanism exerts pressure on the edge of the stair step, the reaction force received by the operating mechanism will make the machine go upstairs. The stair climber has a tendency to tip over to the outside of the stairs. In order to counteract the overturning force, the operator needs to actively exert force on the handle to stabilize the state of the machine, so that the machine can carry objects or people smoothly to complete the operation up and down the stairs.

However, the force applied by the operator to the stable machine state has a direct relationship with the horizontal inclination of the machine, which makes when the operator does not grasp the angle of the machine accurately, it will affect the attitude of the stair climbing machine in the process of climbing stairs (that is, the posture of the stair climbing machine) Angle), resulting in the inability to balance the tilting force, the machine turns outwards, and eventually causes damage to goods and even personnel.

Contents of the invention

The object of the present invention is to provide a stair climbing machine and its control method, judge the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range according to the running posture of the stair climbing machine, and then issue corresponding prompts, thereby reminding the operator to climb the stairs The operating attitude of the stair climbing machine is controlled within the safe angle range, so that the tilting force of the stair climbing machine is small, so as to solve the problem in the prior art when the operator does not grasp the angle of the stair climbing machine accurately, which affects the climbing process of the stair climbing machine As a result, the tilting force cannot be balanced, and the stair climbing machine turns outwards, which eventually causes damage to goods and even personnel.

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

Obtaining the running posture of the stair climbing machine in real time; the running posture of the stair climbing machine is the horizontal inclination of the stair climbing machine;

Judging the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range, and issuing corresponding prompts according to the judging result.

The embodiment of the present invention also provides a stair climbing machine, comprising:

body;

Prompt module;

Angle identification module, used to obtain the running posture of the stair climbing machine in real time; the running posture of the stair climbing machine is the horizontal inclination angle of the stair climbing machine;

The control module is used to judge the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range, and control the prompt module to issue corresponding prompts according to the judgment result.

To sum up, the stair climbing machine and its control method according to the embodiment of the present invention judge the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range according to the running posture of the stair climbing machine, and then issue corresponding prompts, thereby reminding the operator to climb the stairs. The operating attitude of the stair climbing machine is controlled within the safe angle range, so that the tilting force of the stair climbing machine is small, so that the operator can make the stair climbing machine go up or down stairs stably without spending a lot of force, avoiding jamming At the same time, the operator does not need to bend over for a long time to carry out the operation, and the user experience is good.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings used in the implementation will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

Fig. 1 is a schematic flow chart of a control method for a stair climbing machine provided by a certain embodiment of the present invention;

Fig. 2 is a schematic diagram of the scene when the horizontal inclination angle A of the stair climbing machine provided by a certain embodiment of the present invention is relatively large;

Fig. 3 is a schematic diagram of the scene when the horizontal inclination angle A of the stair climbing machine provided by an embodiment of the present invention is equal to the safety angle α;

Fig. 4 is a schematic diagram of the scene when the horizontal inclination A of the stair climbing machine provided by a certain embodiment of the present invention is small;

Fig. 5 is a schematic flow chart of a control method for a stair climbing machine provided by another embodiment of the present invention;

Fig. 6 is a schematic flowchart of a control method for a stair climbing machine provided in another embodiment of the present invention;

Fig. 7 is a schematic diagram of the relationship between the horizontal inclination A and the time t during the climbing process of the stair climbing machine provided by a certain embodiment of the present invention;

Fig. 8 is a schematic flowchart of a control method for a stair climbing machine provided by other embodiments of the present invention;

Fig. 9 is a schematic flowchart of a control method for a stair climbing machine provided by other embodiments of the present invention;

Fig. 10 is a schematic flowchart of a control method for a stair climbing machine provided by other embodiments of the present invention;

Fig. 11 is a schematic flowchart of a control method for a stair climbing machine provided by other embodiments of the present invention;

Fig. 12 is a schematic flowchart of a control method for a stair climbing machine provided by other embodiments of the present invention;

Fig. 13 is a schematic diagram of the module connection structure of the stair climbing machine provided by a certain embodiment of the present invention.

Description of main components and symbols:

10. Stair climbing machine; 11. Body; 12. Support arm; 13. Angle recognition module; 14. Control module; 15. Prompt module; 16. Input module; 17. Motor output module; 20. Goods.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be understood that the step numbers used herein are only for convenience of description, and are not intended to limit the order in which the steps are performed.

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

The terms "comprising" and "comprising" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude the presence of one or more other features, integers, steps, operations, elements, components and/or The presence or addition of its collection.

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

Please refer to Fig. 1, the embodiment of the present invention provides a kind of control method of stair climbing machine 10, comprises the following steps:

S10, acquiring the running posture of the stair climbing machine 10 in real time; the running posture of the stair climbing machine 10 is the horizontal inclination angle of the stair climbing machine 10;

S20. Judging the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safe angle range, and sending a corresponding prompt according to the judging result.

In a certain embodiment, judging the relationship between the horizontal inclination of the stair climbing machine 10 and the safe angle range includes judging whether the horizontal inclination of the stair climbing machine 10 falls within the range of the safe angle range.

The control method of the stair climbing machine 10 of the present invention is applied to a stair climbing machine that requires manual manipulation, such as a stepping stair climbing machine. When the stepping type stair climbing machine climbs the stairs, its support arm 12 has a larger vibration amplitude when going up and down the steps step by step, and more needs to be manually controlled and operated. Therefore, the present invention takes the stepping stair climbing machine as an example to describe the control method of the stair climbing machine 10 of the present invention in detail.

In this embodiment, the running posture of the stair climbing machine 10 can be obtained in real time, so as to judge the magnitude of the overturning force that may be generated by the stair climbing machine 10 at present. As shown in Figure 2, in one embodiment, the running posture of the stair climbing machine 10 is characterized by the horizontal inclination A of the stair climbing machine 10, more specifically, the angle between the fuselage 11 of the stair climbing machine 10 and the horizontal plane . When the stair climbing machine 10 is located on flat ground, the fuselage 11 of the stair climbing machine 10 is usually perpendicular to the ground, and the horizontal inclination A of the stair climbing machine 10 is 90° at this moment. When preparing to go upstairs, the operator needs to gradually tilt the fuselage 11 of the stair climbing machine 10 from the erect state to the operator's direction, so that the operator can operate the stair climbing machine 10 to go up and down the stairs. A gradually decreases from 90° until it reaches the safe angle α. In one embodiment, the horizontal inclination A of the stair climbing machine 10 is obtained by the angle recognition module 13 , and the angle recognition module 13 can be set on the fuselage 11 . Wherein, the angle recognition module 13 includes but is not limited to a gyroscope, an acceleration sensor or other motion processing sensors.

It should be noted that the operable safety angle α of the stair climbing machine 10 has a certain relationship with factors such as the height of the operator, the center of gravity G of the cargo 20 and the stair climbing machine 10, the step height of the stairs, and the gradient of the stairs. For tall people, common stairs and steps, set a general safety angle α, such as 40°, 45°, 50°, 55° or 60°. If it is a special case, the safety angle α can be specially customized.

For the general safety angle α, the relationship between the horizontal inclination angle A of the stair climbing machine 10 and the overturning force F1 is described in conjunction with Fig. 2 to Fig. 4:

(1) As shown in Figure 2, when the horizontal inclination angle A of the stair climbing machine 10 is relatively large, the center of gravity G of the stair climbing machine 10 and the goods 20 will be outside the support arm 12 of the stair climbing machine 10, and the center of gravity G and the operator The distance between the center of gravity G and the fulcrum O is relatively large, and the moment that needs to be manipulated is relatively large. When the support arm 12 uses one end as the fulcrum O to press the steps to go upstairs, the moment arm L between the center of gravity G and the fulcrum O is relatively large, and the overturning force F1 of the stair climbing machine 10 If it is larger, the downward force F2 exerted by the operator on the stair climbing machine 10 is larger.

(2) As shown in Figure 3, when the horizontal inclination angle A of the stair climbing machine 10 is closer to the safety angle α, the center of gravity G of the stair climbing machine 10 and the goods 20 will approach the support arm 12, and the distance between the center of gravity G and the operator will become smaller , the operator only needs to bend over a little. When the support arm 12 uses one end as the fulcrum O to press the steps to go upstairs, the moment arm L between the center of gravity G and the fulcrum O becomes smaller, and the overturning force F1 of the stair climber 10 becomes smaller, the downward force F2 exerted by the operator on the stair climbing machine 10 is smaller.

(3) As shown in Figure 4, when the horizontal inclination angle A of the stair climbing machine 10 is small (has deviated from the safety angle α), the center of gravity G of the stair climbing machine 10 and the goods 20 will be closer to the support arm 12, which is used by the operator to operate The torque is even smaller. When the moment arm L between the center of gravity G and the fulcrum O is the smallest, the overturning force F1 of the stair climbing machine 10 is the smallest, and the downward force F2 exerted by the operator on the stair climbing machine 10 is the smallest. But the operator needs to bend down very low, which is unfavorable for the use of the stair climbing machine 10.

(4) When the horizontal inclination A of the stair climbing machine 10 continues to decrease, the center of gravity G of the stair climbing machine 10 and the cargo 20 gradually approaches the operator. When the center of gravity G is too close to the operator, the operator needs to apply an 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, thereby ensuring that the stair climbing machine 10 can operate up and down stairs normally.

It can be seen from the above that when the step height and slope of the stairs are constant, when the horizontal inclination A of the stair climbing machine 10 is too large, the overturning force F1 generated by the stair climbing machine 10 is relatively large, and the risk of overturning is high. When the horizontal inclination A of the stair climbing machine 10 is too small, the handrail of the stair climbing machine 10 is low, and the user bends too much, resulting in a poor experience, and it is even impossible to realize the normal operation of the stair climbing machine 10 going up and down stairs. Only when the horizontal inclination A of the stair climbing machine 10 is equal to the safety angle α, the overturning force F1 of the stair climbing machine 10 is small (not the minimum), the user's operation is safe, and the degree of bending of the user is also small, and the user's comfort level is improved. high.

Therefore, during actual use, the stair climbing machine 10 actively obtains its current horizontal inclination A and judges whether it deviates from the safe angle α, and then sends out corresponding prompts according to the judgment result, so that the operator can perform corresponding processing.

Specifically, if the current horizontal inclination A of the stair climbing machine 10 does not deviate from the safe angle α, a correct prompt is issued to remind the user that the stair climbing machine 10 can be normally operated up and down stairs according to the current horizontal inclination A. If the current horizontal inclination A of the stair climbing machine 10 deviates from the safe angle α, an alarm prompt and a shutdown prompt will be issued to remind the user that the current horizontal inclination A is an unsafe angle. If the current horizontal inclination A continues to operate, it will easily lead to a high risk of tipping Or the user's comfort level is poor, it is recommended that the operator press down or lift the handrail of the stair climbing machine to change the current horizontal inclination A of the stair climbing machine 10 until the stair climbing machine 10 issues a correct prompt.

However, the stair climbing machine 10 is susceptible to external vibrations during the process of climbing stairs, such as the vibration caused by the user's unstable grip or the vibration caused by the fulcrum O of the support arm 12 falling into the potholes on the stair surface, which causes the angle recognition module 13 to collect The angle data of the stair climber 10 fluctuates, so that the horizontal inclination A of the stair climber 10 deviates from the safe angle α, which causes the stair climber 10 to start and stop frequently, and there is a jam problem, which seriously affects the user experience.

Therefore, in view of the above-mentioned possible stuck problem, the present invention sets an angle allowable deviation range on the basis of the safety angle α, that is, the first threshold range θ ₁ (∠1≤θ ₁ ≤∠2) to form a safety angle scope. Please combine with Fig. 5, then step S20 judges the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safe angle range, and sends a corresponding prompt according to the judgment result, including the following steps:

S21. Judging the relationship between the horizontal inclination angle of the stair climbing machine 10 and the first threshold range _θ1 , and sending a corresponding prompt according to the judging result.

In a certain embodiment, step S21 includes:

When judging that the horizontal inclination of the stair climbing machine 10 deviates from the first threshold range θ ₁ , a corresponding prompt is sent;

When it is judged that the horizontal inclination of the stair climbing machine 10 is within the first threshold range _θ1 , a correct prompt is issued.

Specifically, when the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit ∠2 of the first threshold range _θ1 , for example, the horizontal inclination A of the stair climbing machine 10 is 90°, and the overturning force of the stair climbing machine 10 is relatively large. At this time, if the motor is started, it will be difficult to restore the balance of the stairs and tip over. At this time, the stair climber 10 sends a prompt to remind the operator to change the current horizontal inclination A of the stair climber 10 . When the horizontal inclination A of the stair climbing machine 10 is less than the lower limit ∠1 of the first threshold range _θ1 , for example, the horizontal inclination A of the stair climbing machine 10 is 20°, the handrail of the stair climbing machine 10 is low, and the user's bending degree At the same time, at this angle, the center of gravity of the stair climbing machine 10 and the cargo 20 is too close to the operator, and even causes the stair climbing machine 10 to sink to the stairs and cannot go up and down the stairs. At this time, the stair climbing machine 10 sends out a prompt , such as an alarm prompt and a shutdown prompt, to remind the operator to adjust the running posture of the stair climbing machine 10 to within ∠1～∠2.

Only when the horizontal inclination A of the stair climber 10 is within the first threshold range _θ1 , that is, when ∠1≤A≤∠2, the tipping force of the stair climber 10 is small (non-minimum), and the stairs are started at this time The motor of the stair climbing machine 10 is safe to operate up and down stairs, and the operator does not need to bend over excessively, and the comfort is high. At this time, the stair climbing machine 10 sends a correct prompt to remind the operator that he does not need to stop the machine, and can continue to maintain this posture to go up and down the stairs. Furthermore, in order to better balance the overturning force and user comfort, the operator can still adjust the horizontal inclination A of the stair climbing machine 10 to the above-mentioned safe angle α.

To sum up, by implementing the control method of the present invention, the relationship between the horizontal inclination A of the stair climbing machine 10 and the safe angle range is judged according to the running posture of the stair climbing machine 10, and then a corresponding prompt is issued, thereby reminding the operator to move the stair climbing machine 10 The operating attitude of the stair climber 10 is controlled within the safe angle range, so that the tilting force of the stair climber 10 is small, so that the operator can make the stair climber 10 go up and down stairs stably without spending a lot of force, and avoid jamming. There is no problem of stuttering, and at the same time, the operator can carry out the operation without bending over for a long time, and the user experience is good.

Referring to FIG. 6 and FIG. 7 , in an embodiment, the safe angle range further includes a second threshold range θ ₂ , and the first threshold range θ ₁ is a subset of the second threshold range θ ₂ . Then step S20 judges the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safe angle range, and sends a corresponding prompt according to the judgment result, including the following steps:

S22. Judging the relationship between the horizontal inclination angle of the stair climbing machine 10 and the first threshold range _θ1 and/or the _second threshold range θ2, and issuing a corresponding prompt according to the judgment result.

In actual use, when preparing to go upstairs, the operator needs to gradually tilt the fuselage 11 of the stair climbing machine 10 from the upright state to the direction of the operator. At this time, the horizontal inclination A of the stair climbing machine 10 gradually decreases from 90° to a safe angle. When the stair climbing machine 10 boards the multi-level middle stairs and the last stairs in turn, there is a certain vibration when the support arm 12 of the stair climbing machine 10 goes up and down the steps step by step, so the angle recognition module 13 collects There is a jitter value in the angle data, and this jitter belongs to the normal jitter of the stepping stair climbing machine going up and down stairs. At this time, if the safe angle range of the stair climber 10 going up and down the stairs continues to be within a certain range, then under the influence of jitter, the horizontal inclination A of the stair climber 10 is more likely to deviate from this range, causing the stair climber 10 to stop frequently, resulting in stair climbing. The operation process freezes, seriously affecting the user experience.

In order to solve the above-mentioned frequent shutdown problem when climbing stairs, this embodiment provides the following technical solutions:

From the safety point of view of the design of the stair climbing machine 10, on the basis of the first threshold range θ ₁ (∠1≤θ ₁ ≤∠2), the second threshold range θ ₂ (∠3≤θ ₂ ≤∠4) is designed, To allow the stair climber 10 to keep working normally in a larger angle range. Wherein, the first threshold range θ ₁ is a subset of the second threshold range θ ₂ .

In this embodiment, judging the relationship between the horizontal inclination A of the stair climbing machine 10 and the first threshold range θ ₁ and/or the second threshold range θ ₂ includes: judging the horizontal inclination A of the stair climbing machine 10 and the first threshold range θ ₁ , judge the relationship between the horizontal inclination A of the stair climbing machine 10 and the _second threshold range θ2, or judge the relationship between the horizontal inclination A of the stair climbing machine 10 and the first threshold range _θ1 and the _second threshold range θ2.

In the actual operation process, you can choose to judge the relationship between the horizontal inclination A of the stair climbing machine 10 and the first threshold range _θ1 , or judge the relationship between the horizontal inclination A and the _second threshold range θ2 in the whole process, or judge the horizontal inclination A in the whole process. Relationship to the first threshold range θ ₁ and the second threshold range θ ₂ . Of course, in other embodiments, it is also possible to select and judge the relationship between the horizontal inclination angle A of the stair climbing machine 10 and the first threshold range θ ₁ and/or the second threshold range θ ₂ according to requirements (for example, in stages), which will not be done here. Specific limits.

Referring to Fig. 8, in a certain embodiment, step S22 judges the relationship between the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ ₁ and/or the second threshold range θ ₂ , and sends corresponding prompts according to the judgment result, Include the following steps:

S221. According to the climbing position of the stair climber 10, choose to compare the horizontal inclination of the stair climber 10 with the first threshold range _θ1 , or choose to compare the horizontal inclination of the stair climber 10 with the first threshold range _θ1 and The _second threshold range θ2 is compared, and a corresponding prompt is issued according to the judgment result.

In the initial start-up stage of the stair climbing machine 10, the safety angle range is selected as the first threshold range θ ₁ , and the stair climbing machine 10 operates within the first threshold value range θ ₁ , not only the tilting force of the stair climbing machine 10 is relatively small, but also safe and reliable , the operator does not need to exert a large downward force, and at the same time does not need to bend over excessively to operate, and the user experience is good.

However, after the stair climbing machine 10 goes up and down one step, because the stair climbing machine 10 has entered the normal operation state of going up and down stairs, the stair climbing machine 10 will have the normal vibration of going up and down the steps, so it is necessary to increase the first threshold range θ ₁ to eliminate the effects of jitter. Through calculation and analysis, the jitter value is increased on the basis of the upper limit value of the first threshold range θ ₁ , and the jitter value is reduced on the basis of the lower limit value of the first threshold value range θ ₁ to form the second threshold value range θ ₂ , the second threshold value The range θ ₂ is still within the safe operating range.

Therefore, the first threshold range _θ1 is limited to use when the stair climbing machine 10 moves on the first step. The second threshold value range θ ₂ is used after the stair climber 10 runs normally for one step, for example, when the stair climber 10 advances to the second level and the next step, the safe angle range is larger, but it is also in safe operation within the angle range.

Specifically, please refer to FIG. 7 , in actual use, when the stair climber 10 ascends or descends the first step of stairs from flat ground, choose to compare the horizontal inclination of the stair climber 10 with the first threshold range _θ1 .

During this process, if the horizontal inclination A of the stair climbing machine 10 is less than ∠1, it indicates that the user bends too much and the experience effect is poor. At this time, the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt to remind the operator to climb the stairs The horizontal inclination angle A of the machine 10 is adjusted to be within ∠1～∠2. If the horizontal inclination A of the stair climbing machine 10 is within ∠1～∠2, it means that the stair climbing machine 10 is working within the safe angle range. At this time, the stair climbing machine 10 will send out a correct prompt to remind the operator to continue to maintain this angle without stopping the machine. You can go up and down the stairs. If the horizontal inclination A of the stair climbing machine 10 is greater than ∠2, it indicates that the stair climbing machine 10 is in a state of high tipping risk and it is not suitable to continue working. The horizontal inclination A of the stair climbing machine 10 until the stair climbing machine 10 sends out a correct prompt.

Please in conjunction with Fig. 7, when the stair climber 10 boards the multi-stage middle stairs and the final stairs successively, choose to compare the horizontal inclination angle of the stair climber 10 with the first threshold range θ ₁ and the second threshold range θ ₂ respectively, Then step S20 specifically includes the following situations:

(1) When judging that the horizontal inclination A of the stair climbing machine 10 is less than the lower limit ∠3 of the second threshold range θ ₂ , an alarm prompt and a shutdown prompt are sent;

(2) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than or equal to the lower limit ∠3 of the second threshold range θ ₂ , and less than the lower limit ∠1 of the first threshold range θ ₁ , an alarm prompt is sent;

(3) When judging that the horizontal inclination angle A of the stair climbing machine 10 is greater than or equal to the lower limit ∠1 of the first threshold range θ ₁ , and less than or equal to the upper limit ∠2 of the first threshold range θ ₁ , a correct prompt is sent;

(4) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit ∠2 of the first threshold range θ ₁ , and less than or equal to the upper limit ∠4 of the second threshold range θ ₂ , an alarm prompt is sent;

(5) When it is judged that the horizontal inclination angle A of the stair climbing machine 10 is greater than the upper limit ∠4 of the _second threshold range θ2, an alarm prompt and a shutdown prompt are issued.

In actual use, if the horizontal inclination A of the stair climbing machine 10 is less than ∠3, it indicates that the user bends too much and the experience effect is poor. The horizontal inclination angle A of the building machine 10 is adjusted to be within ∠1˜∠2.

If the horizontal inclination A of the stair climber 10 is greater than or equal to ∠3 and less than ∠1, it indicates that the stair climber 10 has been working within the safe angle range, but the user is still bending over a large degree, and at this time the stair climber 10 sends out an alarm Prompt, instead of stopping directly, and remind the operator to adjust the horizontal inclination A of the stair climbing machine 10 to within ∠1～∠2, so as to improve user comfort.

If the horizontal inclination A of the stair climbing machine 10 is within ∠1～∠2, it indicates that the stair climbing machine 10 is still working within the safe angle range. At this time, the stair climbing machine 10 sends out a correct prompt to remind the operator that there is no need to stop the machine and continue to maintain This posture can go up and down the stairs.

If the horizontal inclination A of the stair climbing machine 10 is greater than ∠2 and less than or equal to ∠4, it indicates that the stair climbing machine 10 is still working within the safe angle range, but the risk of tipping is high, so the stair climbing machine 10 sends out an alarm at this time , instead of stopping directly, and reminding the operator to adjust the horizontal inclination angle A of the stair climbing machine 10 to within ∠1～∠2, so as to reduce the overturning force of the stair climbing machine 10.

If the horizontal inclination A of the stair climbing machine 10 is greater than ∠4, the stair climbing machine 10 will directly send out an alarm prompt and a shutdown prompt for shutdown protection, and at the same time remind the operator that the current tipping risk is high and it is not suitable to continue working. When the stair climbing machine 10 returns to ∠1～∠2 again, the operator needs to release the start switch first, and then press the start switch again to enter the normal operation again.

In this way, the stair climbing machine 10 can send corresponding prompts according to its horizontal inclination A and its climbing position, thereby reminding the operator to control the horizontal inclination A of the stair climbing machine 10 within a suitable safe angle range, so that the stair climbing machine 10 The overturning force is small, and the operator can make the stair climbing machine 10 go up and down stairs stably without spending a lot of force, avoiding the problem of stuck, and the operator can perform the operation without bending over for a long time. The user experience is good.

According to the existing building standards for stairs, the suitable slope of the stairs is usually 20°-45°, among which 30° is more commonly used, and the slope range of 45°-60° can be used for special stairs with small flow of people and not commonly used, and the slope above 60° Slope ranges are often used for ladders used for fire protection or maintenance.

Therefore, considering the safety of work and the user's work comfort, this embodiment sets the first threshold range θ ₁ and the second threshold range θ ₂ for suitable stairs of 20° to 45° and special stairs of 45° to 60° For example, the first threshold range θ ₁ is 40°-60°, and the second threshold range θ ₂ is 35°-65°.

Certainly, the first threshold range θ ₁ and the second threshold range θ ₂ may also be other ranges, which are not limited here.

In a certain embodiment, the _second threshold range θ2 can be adjusted according to the gradient of the stairs, the larger the gradient of the stairs, the greater the difference between the lower limit of the _second threshold range θ2 and the lower limit of the first threshold range _θ1 Smaller, the smaller the difference between the upper limit of the _second threshold range θ2 and the upper limit of the first threshold range _θ1 .

Considering the height of the operator, if the stair climbing machine 10 has a horizontal inclination angle A within the first threshold range θ ₁ or the second threshold range θ ₂ when working on stairs with a relatively gentle slope, the operator has a larger space for operation. The degree of bending does not have to be that great. While working on stairs with a relatively steep slope, if the horizontal inclination A of the stair climbing machine 10 is within the first threshold range _θ1 or the _second threshold range θ2, the operator has less room for operation and a greater degree of bending.

Therefore, considering the comfort and the normal operation of the machine, the _second threshold range _θ2 _of the present embodiment can be adjusted according to the gradient of the stairs. The lower the difference of the lower limit value of .

Exemplarily, for the stairs of 20°～45°, the first threshold range _θ1 is 40°～60°, the _second threshold range θ2 is 35°～65°, then the lower limit value of the _second threshold range θ2 The difference from the lower limit of the first threshold range θ ₁ is Δ ₁ =5°. For the stairs of 45°～60°, the first threshold range _θ1 is 40°～60°, the _second threshold range θ2 is 38°～65°, then the lower limit of the _second threshold range θ2 is the same as the first threshold The difference in the lower limit value of the range θ ₁ is Δ ₁ =2°. In this way, when working on stairs with _a large slope, the smaller Δ1 is, the larger the lower limit of the _second threshold range _θ2 will be. When the lower limit value is reached, the stair climbing machine 10 will send out an alarm prompt and a shutdown prompt, thereby reminding the operator to lift the stair climbing machine 10 until a correct prompt is issued. In this way, the degree of bending of the operator is not so great, and the user experience effect is good.

Further, with reference to Fig. 2-Fig. 4, when the operator is operating the stair climbing machine 10, usually one foot (hereinafter referred to as the front foot) steps on the first level of stairs, and the other foot (hereinafter referred to as the rear foot) steps on the upper level. On the stairs, the upper body needs to lean forward slightly, so the center of gravity of the operator is shifted to the front foot, so as to apply downward force F2 to the stair climber 10 while maintaining personal safety. Therefore, the greater the slope of the stairs, the greater the degree of shift of the operator's center of gravity due to forward leaning, and the higher the risk of personal fall.

Therefore, from a safety point of view, the _second threshold range _θ2 _of the present embodiment can be adjusted according to the gradient of the stairs. The smaller the difference.

Exemplarily, for the stairs of 20°～45°, the first threshold range _θ1 is 40°～60°, the _second threshold range θ2 is 35°～65°, then the upper limit of the _second threshold range θ2 The difference from the upper limit of the first threshold range θ ₁ is Δ ₂ =5°. For the stairs of 45°～60°, the first threshold range _θ1 is 40°～60°, the _second threshold range θ2 is 38°～62°, then the upper limit of the _second threshold range θ2 is the same as the first threshold The difference between the upper limit values of the range θ ₁ is Δ ₂ =2°. In this way, when working on stairs with a large gradient, the smaller _Δ2 is, the smaller the upper limit of the _second threshold range _θ2 is. When the upper limit is reached, the stair climbing machine 10 will send out an alarm prompt and a shutdown prompt, thereby reminding the operator to press down on the stair climbing machine 10 until a correct prompt is issued. In this way, the operator can be guided to lower the center of gravity (bend down) appropriately to ensure the safety of the user himself and the machine.

It should be noted that since the specific range of the first threshold range _θ1 can be determined according to actual needs, this embodiment adjusts the second threshold range θ according to the gradient of the stairs on the basis that the first threshold range _θ1 has been determined. ₂ .

Referring to Fig. 9, in a certain embodiment, step S21 judges the relationship between the horizontal inclination angle of the stair climbing machine 10 and the first threshold range θ ₁ , and sends corresponding prompts according to the judgment result, and also includes the following steps:

S40, judging whether the time when the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit of the first threshold range _θ1 is greater than the timeout threshold;

S41, if so, send an alarm prompt and a shutdown prompt, and control the stair climbing machine 10 to shut down;

S42. If not, send out an alarm prompt.

In this embodiment, if the time when the stair climber 10 exceeds the upper limit of the first threshold range _θ1 is greater than the overtime threshold, it is considered that the stair climber 10 is in a high tipping risk state at this time, and the stair climber 10 sends an alarm prompt and shuts down Prompt, and control stair climbing machine 10 shutdowns. When the time when the horizontal inclination A of the stair climbing machine 10 exceeds the upper limit of the first threshold range _θ1 is less than or equal to the timeout threshold, only an alarm prompt is issued.

Similarly, please refer to Fig. 10, when choosing to compare the horizontal inclination angle of the stair climbing machine 10 with the first threshold range θ ₁ and the second threshold value range θ ₂ respectively, step S20 judges the horizontal inclination angle and the safety angle of the stair climbing machine 10 The relationship between ranges, and send corresponding prompts according to the judgment results, which also includes the following steps:

S50, judging whether the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit of the first threshold range _θ1 and less than or equal to the upper limit of the _second threshold range θ2 is greater than the timeout threshold;

S51, if so, send an alarm prompt and a shutdown prompt, and control the stair climbing machine to shut down;

S52. If not, send out an alarm prompt.

In this embodiment, if the stair climbing machine 10 is greater than the upper limit of the first threshold range _θ1 , and the time that is less than or equal to the upper limit of the _second threshold range θ2 is greater than the overtime threshold, then it is considered that the stair climbing machine 10 is at a high slope at this time. Turn over the risk state, the stair climbing machine 10 sends an alarm prompt and a shutdown prompt, and controls the stair climbing machine 10 to shut down. When the time when the horizontal inclination A of the stair climbing machine 10 exceeds the upper limit of the first threshold range _θ1 is less than or equal to the timeout threshold, only an alarm prompt is issued.

Please combine the two safe angle ranges set in Figure 7 and the above embodiment, in the first threshold range θ ₁ , ∠1≤θ ₁ ≤∠2, in the _{second threshold range θ2, ∠3≤θ 2} _≤∠4 . Assuming that the horizontal inclination value of the stair climbing machine 10 obtained by the angle identification module 13 is A, in the travel time period _0≤t≤t6 , select the first travel time period {t|0≤t≤t ₀ }, the second travel time period respectively time period {t|t ₁ ≤t≤t ₂ }, the third travel time period {t|t ₃ ≤t≤t ₄ } and the fourth travel time period {t|t ₅ ≤t≤t ₆ } for analysis, The rest of the travel time period is the time period when the stair climbing machine 10 is subjected to vibration or the stair climbing machine 10 adjusts the horizontal inclination angle A. Since the horizontal inclination angle A is within the first threshold range _θ1 in these time periods, no specific analysis is made here.

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

(1) The time period of the first trip is 0≤t≤t ₀ . In this time period, as shown by the solid curve in the figure, although the angle value A fluctuates, the fluctuation range is within the first threshold range θ ₁ At this time, it is determined that the stair climbing machine 10 is working under the normal posture, and a correct prompt is issued;

(2) The time period of the second stroke is t ₁ ≤ t ≤ t ₂ . During this time period, as shown by the solid curve in the figure, the horizontal inclination A of the stair climbing machine 10 is caused by the vibration of the stair climbing machine 10. Generate fluctuations, the fluctuation range of which exceeds the upper limit ∠2 of the first threshold range θ ₁ , and the duration of exceeding the upper limit ∠2 of the first threshold range θ ₁ is Δt ₁ =t ₂ −t ₁ , where Δt ₁ exceeds the set timeout threshold, it is determined that the stair climbing machine 10 is in a state of high tipping risk at this time, and the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt.

(3) The time period of the third trip is t ₃ ≤ t ≤ t ₄ . During this time period, as shown by the solid curve in the figure, the stair climbing machine 10 is vibrated, resulting in the horizontal inclination A of the stair climbing machine 10 Fluctuation, its fluctuation range exceeds the upper limit value ∠4 of the second threshold range θ ₂ , and the duration beyond the second threshold range θ ₂ is Δt ₂ =t ₄ -t ₃ , although Δt ₂ is less than the timeout threshold, once If A fluctuates and the fluctuation range exceeds the second threshold range θ ₂ , it is considered that the stair climbing machine 10 is in a state of high tipping risk, and it is not suitable to continue working, and the stair climbing machine 10 sends out an alarm prompt and a shutdown prompt.

Through the control logic of the second stroke and the third stroke, the risk control of the stair climbing machine 10 in a state of high risk of overturning can be carried out well to avoid safety accidents.

(4) In the time period t ₅ ≤ t ≤ t ₆ of the fourth stroke, in this time period, as shown by the solid curve in the figure, the stair climbing machine 10 is vibrated, resulting in the horizontal inclination of the stair climbing machine 10 A fluctuates and the fluctuation range exceeds the upper limit value ∠2 of the first threshold range θ ₁ , but does not exceed the upper limit value ∠4 of the second threshold range θ ₂ , and exceeds the first threshold range θ ₁ for a duration of Δt ₃ =t ₆ -t ₅ , where Δt ₃ is smaller than the set timeout threshold. According to the reasons for the fluctuation of the angle data (vibration caused by the unstable grip of the user, the normal shaking of the stair climbing machine 10 during the climbing process, etc.), it can be known that although the fluctuation range in the fourth stroke exceeds the first threshold range θ ₁ , the Due to its short duration, the stair climbing machine 10 can quickly return to a safe driving posture, and the risk of overturning is low, so at this time, the stair climbing machine 10 sends an alarm prompt instead of directly shutting down. Therefore, for the climbing scene, frequent start and stop due to vibration or shaking can be avoided, and the smoothness of user operation can be improved.

It can be understood that, in the actual process of climbing stairs, when the traveling speed of the stair climbing machine 10 is faster, the probability of the stair climbing machine 10 tipping is greater. Therefore, if the overtime threshold remains unchanged, it may cause the stair climbing machine 10 to return to safe driving after being subjected to external vibrations and exceeding the first threshold range θ ₁ (no matter whether it exceeds the second threshold range θ ₂ ). In the process of posture, when the time beyond the first threshold range θ ₁ has not yet reached the timeout threshold, it will overturn.

In order to solve the above-mentioned problem, please refer to Fig. 11, in a certain embodiment, judge in step S40 whether the horizontal inclination angle A of stair climbing machine 10 is greater than the time of the first threshold range θ ₁ upper limit value before greater than the overtime threshold, or in step S40 S50 judges whether the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit of the first threshold range _θ1 , and is less than or equal to the time before the upper limit of the _second threshold range θ2 is greater than the overtime threshold, the control method also includes the following steps:

S60. Automatically adjust the timeout threshold according to the traveling speed of the stair climbing machine 10 .

In this embodiment, the overtime threshold can be automatically adjusted according to the speed of the stair climbing machine 10 going up and down the stairs, and its adjustment principle is as follows:

Since the stepping stair climbing machine only rotates by one end of the support arm 12 as a fulcrum every time it goes up or down a step, until it reaches the next step, it is rotated by the other end of the support arm 12 as a fulcrum, so the support Every time the arm 12 rotates one turn, the stair climber 10 goes up or down two steps.

In combination with the above principles, assuming that the travel speed of the stair climbing machine 10 is: V steps/per minute, the number of revolutions per minute of the support arm 12 is: (V/2) revolutions/per minute, correspondingly, the deceleration of the support arm 12 The number of revolutions output by the motor per minute is (V/2) revolutions per minute, which is equivalent to (60*2/V) seconds per revolution. Assuming that the jitter values of the second threshold range θ ₂ and the first threshold range θ ₁ do not exceed Δθ, in order to ensure that the actual jitter value does not exceed Δθ, the timeout threshold for one rotation of the support arm 12

It can be seen that, under the condition that Δθ remains constant, the greater the traveling speed V of the stair climbing machine 10 is, the smaller the timeout threshold ΔT is. Therefore, different timeout thresholds ΔT can be set according to different travel speeds V of the stair climbing machine 10 .

Please refer to FIG. 12. In a certain embodiment, step S60 automatically adjusts the timeout threshold according to the traveling speed of the stair climbing machine 10, which specifically includes the following steps:

S61. According to the speed gear of the stair climbing machine 10, select a timeout threshold corresponding to the speed gear.

In the actual operation process, in order to ensure the efficiency of stair climbing, the operator can select different speed gears to adjust the traveling speed of the stair climbing machine 10 . For example, when the low gear is selected, the travel speed of the stair climber 10 is limited to 0-25 steps/per minute; when the high speed gear is selected, the travel speed of the stair climber 10 is limited to 25-35 steps/per minute.

In a specific embodiment, according to the maximum speed value of the current speed gear of the stair climbing machine 10, the jitter value of the second threshold range θ ₂ and the first threshold range θ ₁ , the timeout threshold corresponding to the speed gear is calculated .

Specifically, it can be seen from the above that when Δθ remains constant, the greater the travel speed V of the stair climbing machine 10 is, the smaller the timeout threshold ΔT is. Therefore, by bringing the maximum speed value of each speed gear into the above calculation formula of the timeout threshold, the minimum timeout threshold under this speed gear can be obtained, and for other travel speeds in this speed gear, all are uniform Just use the smallest timeout threshold.

It should be noted that, in actual application, the speed gear of the stair climbing machine 10 can be adjusted according to the actual situation, which is not specifically limited here.

Therefore, this embodiment selects an appropriate overtime threshold according to the speed gears of the stair climbing machine 10 going up and down stairs, so that the stair climbing machine 10 in the high-speed gear can make a judgment faster, and prevent the stair climbing machine 10 from being subjected to external vibrations and exceeding the first threshold. After a threshold range θ ₁ , when the time exceeding the first threshold range θ ₁ has not reached the timeout threshold, it will overturn.

Referring to FIG. 2 and FIG. 13 , the embodiment of the present invention also provides a stair climbing machine 10 , including: a body 11 , an angle recognition module 13 , a control module 14 and a prompt module 15 .

The angle identification module 13 is used to acquire the running posture of the stair climbing machine 10 in real time; the running posture of the stair climbing machine 10 is the horizontal inclination angle of the stair climbing machine 10 .

The control module 14 is used to judge the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safe angle range, and control the prompt module 15 to issue corresponding prompts according to the judgment result.

The stair climbing machine 10 of the present invention is applied to a stair climbing machine that requires manual manipulation, such as a stepping stair climbing machine. When the stepping type stair climbing machine climbs the stairs, its support arm 12 has a larger vibration amplitude when going up and down the steps step by step, and more needs to be manually controlled and operated. Therefore, the present invention takes the stepping stair climbing machine as an example to describe the control method of the stair climbing machine 10 of the present invention in detail.

(4) When the horizontal inclination A of the stair climbing machine 10 continues to decrease, the center of gravity G of the stair climbing machine 10 and the cargo 20 gradually approaches the operator. When the center of gravity G is too close to the operator, the operator needs to apply an 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, thereby ensuring that the stair climbing machine 10 can normally operate up and down stairs.

Therefore, in view of the above-mentioned possible stuck problem, the present invention sets an angle allowable deviation range on the basis of the safety angle α, that is, the first threshold range θ ₁ (∠1≤θ ₁ ≤∠2) to form a safety angle scope. Please combine with Fig. 5, the control module 14 is used for:

Judging the relationship between the horizontal inclination angle of the stair climbing machine 10 and the first threshold range _θ1 , and controlling the prompting module 15 to issue corresponding prompts according to the judgment result.

In a certain embodiment, the control module 14 is used for:

When judging that the horizontal inclination of the stair climbing machine 10 deviates from the first threshold range θ ₁ , the control prompt module 15 sends a corresponding prompt;

When judging that the horizontal inclination of the stair climbing machine 10 is within the first threshold range _θ1 , the control prompt module 15 issues a correct prompt.

Specifically, when the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit ∠2 of the first threshold range _θ1 , for example, the horizontal inclination A of the stair climbing machine 10 is 90°, and the overturning force of the stair climbing machine 10 is relatively large. At this time, if the motor is started, it will be difficult to restore the balance of the stairs and tip over. At this time, the stair climber 10 sends a prompt to remind the operator to change the current horizontal inclination A of the stair climber 10 . When the horizontal inclination A of the stair climbing machine 10 is less than the lower limit ∠1 of the first threshold range _θ1 , for example, the horizontal inclination A of the stair climbing machine 10 is 20°, the handrail of the stair climbing machine 10 is low, and the user's bending degree At the same time, at this angle, the center of gravity of the stair climbing machine 10 and the cargo 20 is too close to the operator, and even causes the stair climbing machine 10 to sink to the stairs and cannot go up and down the stairs. At this time, the stair climbing machine 10 sends out a prompt , such as alarm prompts and shutdown prompts, to remind operators to adjust the running posture of the stair climbing machine 10 to within ∠1～∠2.

In summary, the stair climbing machine 10 according to the embodiment of the present invention judges the relationship between the horizontal inclination A of the stair climbing machine 10 and the safe angle range according to the running posture of the stair climbing machine 10, and then controls the prompt module 15 to issue a corresponding prompt, thereby reminding the operator Control the running posture of the stair climbing machine 10 within the safe angle range, so that the overturning force of the stair climbing machine 10 is small, so that the operator can make the stair climbing machine 10 go up and down stairs stably without spending a lot of force. The operation on the building avoids the stuck problem, and at the same time, the operator does not need to bend over for a long time to carry out the operation, and the user experience is good.

Referring to FIG. 6 and FIG. 7 , in an embodiment, the safe angle range further includes a second threshold range θ ₂ , and the first threshold range θ ₁ is a subset of the second threshold range θ ₂ . The control module 14 judges the relationship between the horizontal inclination angle of the stair climbing machine 10 and the safe angle range, and controls the prompt module 15 to issue corresponding prompts according to the judgment result, including:

The control module 14 judges the relationship between the horizontal inclination of the stair climbing machine 10 and the first threshold range _θ1 and/or the _second threshold range θ2, and controls the prompt module 15 to issue corresponding prompts according to the judgment result.

Referring to Fig. 8, in a certain embodiment, control module 14 judges the relationship between the horizontal inclination angle of stair climbing machine 10 and the first threshold range θ ₁ and/or the second threshold range θ ₂ , and controls the prompting module 15 according to the judgment result Issue appropriate prompts, including:

The control module 14 selects to compare the horizontal inclination of the stair climbing machine 10 with the first threshold range θ ₁ according to the climbing position of the stair climbing machine 10, or selects to compare the horizontal inclination of the stair climbing machine 10 with the first threshold range θ ₁ respectively. Compare with the _second threshold range θ2, and control the prompting module 15 to issue corresponding prompts according to the judgment result.

Please in conjunction with Fig. 7, when the stair climber 10 boards the multi-stage middle stairs and the final stairs successively, choose to compare the horizontal inclination angle of the stair climber 10 with the first threshold range θ ₁ and the second threshold range θ ₂ respectively, Then the control module 14 is specifically used for:

(1) When judging that the horizontal inclination A of the stair climbing machine 10 is less than the lower limit ∠3 of the second threshold range θ ₂ , the control prompt module 15 sends an alarm prompt and a shutdown prompt;

(2) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than or equal to the lower limit ∠3 of the second threshold range θ ₂ , and less than the lower limit ∠1 of the first threshold range θ ₁ , the control prompt module 15 sends an alarm hint;

(3) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than or equal to the lower limit ∠1 of the first threshold range θ ₁ , and less than or equal to the upper limit ∠2 of the first threshold range θ ₁ , the control prompt module 15 Issue the correct prompt;

(4) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit ∠2 of the first threshold range _θ1 , and less than or equal to the upper limit ∠4 of the _second threshold range θ2, the control prompt module 15 sends an alarm hint;

(5) When judging that the horizontal inclination A of the stair climbing machine 10 is greater than the upper limit ∠4 of the _second threshold range θ2, the control prompt module 15 sends an alarm prompt and a shutdown prompt.

In a certain embodiment, the control module 14 is also used for:

Whether the time of judging the horizontal inclination of stair climbing machine 10 greater than the first threshold range θ ₁ upper limit is greater than the overtime threshold;

If so, the control prompt module 15 sends 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, please refer to Fig. 10, when choosing to compare the horizontal inclination angle of the stair climbing machine 10 with the first threshold range θ ₁ and the second threshold range θ ₂ respectively, the control module 14 is also used for:

Judging whether the horizontal inclination A of the stair climbing machine 10 is greater than the first threshold range θ ₁ upper limit, and whether the time less than or equal to the second threshold range θ ₂ upper limit is greater than the overtime threshold;

If so, the control prompt module 15 sends 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.

Through the control logic of the second stroke and the third stroke, the risk control of the stair climbing machine 10 in a state of high risk of overturning can be well performed to avoid safety accidents.

In order to solve the above-mentioned problem, please refer to Fig. 11, in a certain embodiment, before the control module 14 judges whether the running posture of the stair climbing machine 10 is greater than the time of the first threshold range θ ₁ upper limit value is greater than the overtime threshold, or before the control Module 14 judges whether the horizontal inclination A of the stair climbing machine 10 is greater than the first threshold range θ ₁ upper limit, and whether the time less than or equal to the second threshold range θ ₂ upper limit is greater than the overtime threshold, the control module 14 is also used for:

According to the traveling speed of the stair climbing machine 10, the overtime threshold is automatically adjusted.

Referring to Fig. 12, in a certain embodiment, the control module 14 automatically adjusts the overtime threshold according to the travel 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 .

Please refer to FIG. 13 , in a certain embodiment, the stair climbing machine 10 further includes an input module 16 connected to the control module 14 , and the input module 16 is used to receive user's input and send the input result to the control module 14 .

In this embodiment, the stair climbing machine 10 can realize functions such as starting and stopping, mode selection for going up and down stairs, and high and low speed adjustment through the input module 16. The input types of the input module 16 include but are not limited to key input, touch input, voice input, etc. .

Please refer to FIG. 13 , in a certain 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 shutdown command, the motor output module 17 stops running.

In this embodiment, when the control module 14 determines that the stair climbing machine 10 is in a state of high tipping risk, the control module 14 controls the motor output module 17 to stop running, so as to realize the shutdown output to the stair climbing machine 10 .

The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.

Claims

A control method for a stair climbing machine, comprising:

Obtaining the running posture of the stair climbing machine in real time; the running posture of the stair climbing machine is the horizontal inclination of the stair climbing machine;

Judging the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range, and issuing corresponding prompts according to the judging result.
The control method of the stair climbing machine according to claim 1, wherein the safety angle range includes a first threshold range θ 1 , and the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range is judged, And issue corresponding prompts according to the judgment results, including:

Judging the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 , and issuing corresponding prompts according to the judging result.
The control method of the stair climbing machine according to claim 2, wherein the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 is judged, and corresponding prompts are issued according to the judgment result ,include:

When judging that the horizontal inclination of the stair climber deviates from the first threshold range θ 1 , a corresponding prompt is issued;

When it is judged that the horizontal inclination of the stair climbing machine is within the first threshold range θ1 , a correct prompt is issued.
The control method of the stair climbing machine according to claim 2, wherein the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 is judged, and corresponding prompts are issued according to the judgment result ,Also includes:

Judging whether the time when the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ1 is greater than the timeout threshold;

If so, then send an alarm prompt and a shutdown prompt, and control the shutdown of the stair climbing machine;

If not, an alarm prompt is issued.
The control method of the stair climbing machine according to claim 4, characterized in that, before the time when the horizontal inclination of the stair climbing machine is judged greater than the upper limit of the first threshold range θ1 is greater than the overtime threshold , the control method also includes:

The timeout threshold is automatically adjusted according to the traveling speed of the stair climbing machine.
The control method of the stair climbing machine according to claim 5, wherein the automatic adjustment of the timeout threshold according to the traveling speed of the stair climbing machine includes:

According to the speed gear of the stair climbing machine, a timeout threshold corresponding to the speed gear is selected.
The control method of the stair climbing machine according to claim 2, wherein the safety angle range further includes a second threshold range θ 2 , and the first threshold range θ 1 is the value of the second threshold range θ 2 A subset; the judgment of the relationship between the horizontal inclination angle of the stair climbing machine and the range of safety angles, and sending corresponding prompts according to the judgment results, including:

Judging the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 and/or the second threshold range θ2, and issuing corresponding prompts according to the judgment result.
The control method of the stair climbing machine according to claim 7, wherein said judging the horizontal inclination angle of the stair climbing machine and the first threshold range θ 1 and/or the second threshold range θ 2 relationship, and issue corresponding prompts based on the judgment results, including:

According to the climbing position of the stair climbing machine, choose to compare the horizontal inclination angle of the stair climbing machine with the first threshold range θ1 , or choose to compare the horizontal inclination angle of the stair climbing machine with the first The threshold range θ 1 is compared with the second threshold range θ 2 , and a corresponding prompt is issued according to the judgment result.
The control method of the stair climbing machine according to claim 7, wherein when the horizontal inclination of the stair climbing machine is selected to be compared with the first threshold range θ 1 and the second threshold range θ 2 respectively At the time, the relationship between the horizontal inclination angle of the stair climbing machine and the safety angle range is judged, and corresponding prompts are issued according to the judgment result, including:

When judging that the horizontal inclination of the stair climbing machine is less than the lower limit of the second threshold range θ2, an alarm prompt and a shutdown prompt are issued;

When judging that the horizontal inclination angle of the stair climbing machine is greater than or equal to the lower limit of the second threshold range θ 2 and less than the lower limit of the first threshold range θ 1 , an alarm prompt is issued;

When judging that the horizontal inclination of the stair climbing machine is greater than or equal to the lower limit of the first threshold range θ 1 , and less than or equal to the upper limit of the first threshold range θ 1 , a correct prompt is issued;

When judging that the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ 1 and less than or equal to the upper limit of the second threshold range θ 2 , an alarm prompt is issued;

When it is judged that the horizontal inclination of the stair climbing machine is greater than the upper limit of the second threshold range θ2, an alarm prompt and a shutdown prompt are issued.
The control method of the stair climbing machine according to claim 7, wherein the second threshold range θ 2 can be adjusted according to the gradient of the stairs, the greater the gradient of the stairs, the lower the second threshold range θ 2 The smaller the difference between the limit and the lower limit of the first threshold range θ 1 , the smaller the difference between the upper limit of the second threshold range θ 2 and the upper limit of the first threshold range θ 1 Small.
According to the control method of the stair climbing machine described in any one of claims 8-10, it is characterized in that, when selecting the horizontal inclination angle of the stair climbing machine to be respectively related to the first threshold value range θ 1 and the second threshold value When the scope θ2 is compared, the relationship between the horizontal inclination angle of the described stair climbing machine and the range of safety angles is judged, and corresponding prompts are sent according to the judgment result, which also includes:

Judging whether the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ 1 and less than or equal to the upper limit of the second threshold range θ 2 is greater than the timeout threshold;

If so, then send an alarm prompt and a shutdown prompt, and control the shutdown of the stair climbing machine;

If not, an alarm prompt is issued.
The control method of the stair climbing machine according to claim 11, characterized in that, at the time when it is judged that the horizontal inclination angle of the stair climbing machine is greater than the upper limit of the first threshold range θ1 , and is less than or equal to the specified Whether the time of the upper limit of the second threshold range θ2 is greater than the overtime threshold, the control method also includes:

The timeout threshold is automatically adjusted according to the traveling speed of the stair climbing machine.
The control method of the stair climbing machine according to claim 12, wherein the automatic adjustment of the timeout threshold according to the traveling speed of the stair climbing machine includes:

According to the speed gear of the stair climbing machine, a timeout threshold corresponding to the speed gear is selected.
A stair climbing machine, characterized in that it comprises:

body;

Prompt module;

Angle identification module, used to obtain the running posture of the stair climbing machine in real time; the running posture of the stair climbing machine is the horizontal inclination angle of the stair climbing machine;

The control module is used to judge the relationship between the horizontal inclination angle of the stair climbing machine and the safe angle range, and control the prompt module to issue corresponding prompts according to the judgment result.
The stair climbing machine according to claim 14, wherein the safe angle range includes a first threshold range θ 1 , and the control module is used for:

Judging the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 , and controlling the prompt module to issue corresponding prompts according to the judgment result.
The stair climbing machine according to claim 15, wherein the control module is used for:

When judging that the horizontal inclination of the stair climbing machine deviates from the first threshold range θ 1 , the prompt module is controlled to send a corresponding prompt;

When it is judged that the horizontal inclination of the stair climbing machine is within the first threshold range θ1 , the prompt module is controlled to issue a correct prompt.
The stair climbing machine according to claim 15, wherein the control module is also used for:

Judging whether the time when the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ1 is greater than the timeout threshold;

If so, then control the prompting module to send an alarm prompt and a shutdown prompt, and control the shutdown of the stair climbing machine;

If not, then control the prompt module to issue an alarm prompt.
The stair climbing machine according to claim 17, wherein, before the control module judges whether the horizontal inclination of the stair climbing machine is greater than the time when the upper limit of the first threshold range θ1 is greater than the overtime threshold, the The control module described above is also used to:

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

The control module selects a timeout threshold corresponding to the speed gear according to the speed gear of the stair climbing machine.
The stair climbing machine according to claim 15, wherein the safe angle range further includes a second threshold range θ 2 , and the first threshold range θ 1 is a subset of the second threshold range θ 2 ; 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 issue corresponding prompts according to the judgment result, including:

The control module judges the relationship between the horizontal inclination angle of the stair climbing machine and the first threshold range θ1 and/or the second threshold range θ2, and controls the prompt module to issue corresponding prompts according to the judgment result.
The stair climbing machine according to claim 20, wherein the control module judges the relationship between the horizontal inclination of the stair climbing machine and the first threshold range θ 1 and/or the second threshold range θ 2 , and control the prompt module to issue corresponding prompts according to the judgment result, including:

According to the climbing position of the stair climbing machine, the control module selects to compare the horizontal inclination of the stair climbing machine with the first threshold range θ1 , or selects to compare the horizontal inclination of the stair climbing machine with The first threshold range θ1 is compared with the second threshold range θ2, and the prompting module is controlled to issue corresponding prompts according to the judgment result.
The stair climbing machine according to claim 20, wherein when the horizontal inclination of the stair climbing machine is selected to be compared with the first threshold range θ 1 and the second threshold range θ 2 respectively, the The above control modules are used for:

When judging that the horizontal inclination angle of the stair climbing machine is less than the lower limit of the second threshold range θ2, the prompt module is controlled to send an alarm prompt and a shutdown prompt;

When judging that the horizontal inclination of the stair climbing machine is greater than or equal to the lower limit of the second threshold range θ 2 and less than the lower limit of the first threshold range θ 1 , the prompt module is controlled to issue an alarm prompt;

When judging that the horizontal inclination of the stair climber is greater than or equal to the lower limit of the first threshold range θ 1 , and less than or equal to the upper limit of the first threshold range θ 1 , the prompt module is controlled to issue a correct hint;

When judging that the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ 1 and less than or equal to the upper limit of the second threshold range θ 2 , the prompt module is controlled to issue an alarm prompt;

When it is judged that the horizontal inclination of the stair climbing machine is greater than the upper limit of the second threshold range θ2, the prompt module is controlled to issue an alarm prompt and a shutdown prompt.
Stair climbing machine according to claim 20, characterized in that, the second threshold range θ 2 can be adjusted according to the gradient of the stairs, the larger the gradient of the stairs, the lower limit of the second threshold range θ 2 and The smaller the difference between the lower limit of the first threshold range θ1 , the smaller the difference between the upper limit of the second threshold range θ2 and the upper limit of the first threshold range θ1 .
According to the stair climbing machine according to any one of claims 21-23, it is characterized in that, when the horizontal inclination angle of the stair climbing machine is selected to be respectively related to the first threshold range θ 1 and the second threshold range θ 2 For comparison, the control module is also used to:

Judging whether the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ 1 and less than or equal to the upper limit of the second threshold range θ 2 is greater than the timeout threshold;

If so, then control the prompting module to send an alarm prompt and a shutdown prompt, and control the shutdown of the stair climbing machine;

If not, then control the prompt module to issue an alarm prompt.
The stair climbing machine according to claim 24, characterized in that, when the control module judges that the horizontal inclination of the stair climbing machine is greater than the upper limit of the first threshold range θ1 , and is less than or equal to the first threshold Whether the time of the upper limit of the second threshold range θ2 is greater than the overtime threshold, the control module is also used for:

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

The control module selects a timeout threshold corresponding to the speed gear according to the speed gear of the stair climbing machine.
The stair climbing machine according to any one of claims 14-23, characterized in that, the stair climbing machine further comprises an input module connected to the control module, and the input module is used to receive user input and input Results are sent to the control module.