WO2023272913A1 - 一种楼梯攀爬装置及其控制方法 - Google Patents

一种楼梯攀爬装置及其控制方法 Download PDF

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Publication number
WO2023272913A1
WO2023272913A1 PCT/CN2021/114667 CN2021114667W WO2023272913A1 WO 2023272913 A1 WO2023272913 A1 WO 2023272913A1 CN 2021114667 W CN2021114667 W CN 2021114667W WO 2023272913 A1 WO2023272913 A1 WO 2023272913A1
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WIPO (PCT)
Prior art keywords
chassis
angle
crawler belt
push rod
stair
Prior art date
Application number
PCT/CN2021/114667
Other languages
English (en)
French (fr)
Inventor
赵勇
胡兆祥
饶辉
梁国寿
徐明宇
包士维
刘新波
伍希志
Original Assignee
中山小神童创新科技有限公司
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Application filed by 中山小神童创新科技有限公司 filed Critical 中山小神童创新科技有限公司
Publication of WO2023272913A1 publication Critical patent/WO2023272913A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Definitions

  • the invention relates to the technical field of auxiliary transport equipment, in particular to a stair climbing device and a control method thereof.
  • the crawler stair climbing machine needs the operator to actively apply external force to change the angle of the fuselage when going upstairs to the last step and the first step when going downstairs (collectively referred to as the last step), such as pressing down on the stair climbing machine. Handrail, so that the stair climber enters the next working state.
  • the state transition process depends on the experience of the operator. If the operator has inaccurate grasp of the center of gravity of the fuselage due to lack of experience or negligence, it is very easy to cause a tipping accident and cause harm to the operator and nearby personnel.
  • the object of the present invention is to provide a stair climbing device and its control method.
  • the coordinated control adjustment mechanism drives the rotation of the loading plate and the extension of the support member. It not only adjusts the balance of the load board to prevent the cargo or wheelchair from tipping over, but also adjusts the balance of the body so that the whole stair climbing device is always in a balanced state during operation, preventing the body from tipping over, thereby avoiding tipping accidents.
  • the occurrence of this problem solves the problem that artificially changing the angle of the fuselage depends on experience and judgment during the process of going up and down the stairs, and there is a high risk of tipping over.
  • a stair climbing device provided by an embodiment of the present invention includes:
  • a track assembly comprising a track and a chassis on which the track is mounted;
  • the loading plate is rotatably connected with the chassis
  • a support assembly including a support, the support is movably arranged on the chassis;
  • An angle detection component is used to detect the angle of the object loading plate
  • a step identification component for identifying the position of the track
  • the adjustment mechanism is used to cooperatively drive the rotation of the loading plate and drive the The support member extends or retracts from the chassis, so that the stair climbing device is in a balanced state during operation.
  • the recognition result of the step recognition component and the running state of the track cooperatively control the adjustment mechanism to drive the load plate to rotate, drive the support member to extend or retract, So that the stair climbing device is in a balanced state during the operation of the crawler belt.
  • the coordination control mechanism drives the load plate to rotate and the support member extends or Retracting not only adjusts the balance of the loading board to prevent the cargo or wheelchair from tipping over, but also adjusts the balance of the body so that the stair climbing device as a whole is always in a balanced state during operation, preventing the body from tipping over, thereby avoiding the occurrence of tipping accidents .
  • the stair climbing device of the present invention can automatically adjust the balance of the loading plate and the balance of the body without depending on whether the operator has an accurate grasp of the center of gravity of the body, which has a high degree of automation and higher safety.
  • Fig. 1 is a schematic structural view of a stair climbing device provided by a certain embodiment of the present invention
  • Fig. 2 is a schematic diagram of a scene where a stair climbing device according to an embodiment of the present invention reaches the first stair;
  • Fig. 3 is a schematic diagram of a scene where the stair climbing device provided by a certain embodiment of the present invention is located in the middle of the stair;
  • Fig. 4 is a schematic diagram of a scene where the first switch is pressed when the stair climbing device according to an embodiment of the present invention reaches the final stair;
  • Fig. 5 is a schematic diagram of a scene where the second switch is pressed when the stair climbing device reaches the final stair according to an embodiment of the present invention
  • Fig. 6 is a schematic diagram of the scene when the stair climbing device provided by a certain embodiment of the present invention has just climbed the final stair;
  • Fig. 7 is a schematic diagram of the scene where the support member is retracted into the chassis after the stair climbing device provided by a certain embodiment of the present invention climbs the last staircase;
  • Fig. 8 is a schematic diagram of the scene where the stair climbing device provided by a certain embodiment of the present invention completes the final stair, and the supporting member is fully inserted into the chassis;
  • Fig. 9 is a schematic structural view of a stair climbing device provided by another embodiment of the present invention.
  • Fig. 10 is a schematic flowchart of a control method of a stair climbing device provided by an embodiment of the present invention.
  • Fig. 11 is a schematic flowchart of a control method for a stair climbing device provided by another embodiment of the present invention.
  • Fig. 12 is a schematic flow chart of sub-steps of an embodiment of step S12 in Fig. 11;
  • FIG. 13 is a schematic flow chart of another embodiment of step S12 in FIG. 11;
  • FIG. 14 is a schematic flowchart of sub-steps of another embodiment of step S12 in FIG. 11 .
  • Stair climbing device 10. Track assembly; 11. Track; 12. Chassis; 20. Loading plate; 30. Support component; 31. Support piece; 32. Connecting arm; 1st angle detection part; 42. Second angle detection part; 50. Step recognition component; 51. Pressure sensor; 52. Buffer part; 53. First switch; 54. Second switch; Three switches; 60, adjustment mechanism; 61, first push rod; 62, second push rod; 70, control unit; 80, telescopic mechanism; 81, rolling shaft; 82, track; Handrail; 110, auxiliary wheel.
  • an embodiment of the present invention provides a stair climbing device 100, including: a track assembly 10, a loading plate 20, a support assembly 30, an angle detection assembly 40, a step recognition assembly 50, an adjustment mechanism 60 and a control unit 70 .
  • the track assembly 10 includes a track 11 and a chassis 12 , and the track 11 is arranged on the chassis 12 .
  • the loading plate 20 is rotatably connected with the chassis 12 .
  • the supporting assembly 30 includes a supporting member 31 movably disposed on the chassis 12 .
  • the angle detection component 40 is used for detecting the angle of the object carrier 20 .
  • the step identification assembly 50 is used to identify the position of the track 11 .
  • the adjustment mechanism 60 is used to drive the carrier plate 20 to rotate and drive the support member 31 from the chassis when receiving the driving signal generated according to the detection result of the angle detection assembly 40, the recognition result of the step recognition assembly 50 and the running state of the crawler belt 11. Stretch out or retract in 12.
  • the operation of the crawler belt 11 includes multiple stages, and the stages of going upstairs are shown in Figures 2 to 8 respectively: preparation for going upstairs on flat ground, going upstairs, transitioning to the final stair, reaching high level ground, going down
  • the stages of the building are shown in Fig. 8 to Fig. 2 respectively: the preparation for going downstairs on the high level, the transition of the final stairs, and reaching the low level.
  • the running state of the crawler belt 11 includes the up and down stairs mode and the running speed of the crawler belt 11 .
  • this embodiment provides a stair climbing device 100 .
  • the crawler belt assembly 10 includes a chassis 12, crawler belts 11 arranged symmetrically on both sides of the chassis 12, a driving motor driving the crawler belts 11 forward, driving wheels and transmission wheels.
  • the driving motor When the driving motor is working, it drives the driving wheel and the driven wheel to rotate, and then drives the crawler belt 11 to rotate around the chassis 12 .
  • the crawler belt 11 includes a crawler belt 111 wound around the chassis 12 and a guide crawler belt 112 mounted on the front side of the crawler belt 111 , and the guide crawler belt 112 is inclined when the crawler belt 111 is horizontally arranged.
  • the load plate 20 can be used to carry cargo or a wheelchair.
  • the angle of the loading board 20 is the angle between the loading board 20 and the horizontal plane, and the adjustment mechanism 60 can drive the loading board 20 to rotate, so that the angle of the loading board 20 is within the range of the balance angle, preventing the goods on the loading board 20 from Or the wheelchair tipped over.
  • the supporting member 31 is movably arranged in the chassis 12 for supporting the chassis 12 and preventing the chassis 12 from tipping over at the last step of the stairs.
  • the step identification component 50 is used to identify the position of the crawler belt 11 , so as to trigger the extension or retraction of the support member 31 when the crawler belt 11 is located at the position of the final staircase, so as to maintain the balance of the stair climbing device 100 .
  • the driving signal received by the adjustment mechanism 40 is generated by artificial triggering.
  • the stair climbing device 100 After the step recognition component 50 recognizes the final stair, the stair climbing device 100 generates a staircase transition reminder to remind the user to press a preset switch, and when the preset switch is pressed, the stair climbing device 100 generates a drive signal, so that the adjustment mechanism 40 drives the support member 31 to extend or retract.
  • the way of prompting the staircase transition includes but not limited to light prompting and voice prompting.
  • the drive signal received by the adjustment mechanism 40 is generated by the control unit 70 .
  • control unit 70 is used to generate a driving signal according to the detection result of the angle detection component 40, the recognition result of the step recognition component 50, and the running state of the crawler belt 11, and coordinately controls the adjustment mechanism 60 to drive the rotation of the loading plate 20 and drive the support member 31 is stretched out or retracted, so that the stair climbing device 100 is in a balanced state during operation.
  • control unit 70 is specifically used for:
  • the control unit 70 controls the adjustment mechanism 60 to adjust the angle of the loading board 20 to the balance angle range, so that the loading board 20 is in a balanced state. And, when the crawler belt 11 reaches the final stair, the control unit 70 controls the crawler belt 11 to run, and at the same time controls the adjustment mechanism 60 to drive the support member 31 to extend from the chassis 12 to contact the final stair surface, so that the stair climbing device 100 is in balance state.
  • the balanced state of the loading board 20 means that the angle of the loading board 20 falls within the balance angle range, and at this time, the goods or wheelchairs arranged on the loading board 20 will not tip over.
  • the balance angle range can be set when the stair climbing device 100 leaves the factory, or can be set according to user needs and actual handling scenarios, so as to prevent cargo from tipping over in various scenarios.
  • the adjustment mechanism 60 does not move, and the angle of the object loading plate 20 remains unchanged; when the angle detection assembly 40 detects When the angle of the object loading plate 20 is not within the balance angle range, the control unit 70 outputs a control signal to the adjustment mechanism 60 according to the difference between the two, so that the adjustment mechanism 60 drives the object loading plate 20 to rotate, thereby adjusting the angle of the object loading plate 20 Adjust to the balance angle range.
  • the balance angle range of the loading board 20 is ⁇ 1 ⁇ 2. If the angle of the loading board 20 is less than ⁇ 1 and deviates from the balance angle range, the control unit 70 controls the adjustment mechanism 60 to drive the loading board 20 to rotate upwards according to the difference between the two until the angle of the loading board 20 is adjusted to ⁇ 1 ⁇ 2. If the angle of the object loading plate 20 falls within ⁇ 1 ⁇ 2, the adjustment mechanism 60 does not move, and the object loading plate 20 also remains motionless. If the angle of the loading plate 20 is greater than ⁇ 2 and also deviates from the balance angle range, the control unit 70 controls the adjustment mechanism 60 to drive the loading plate 20 to rotate downward according to the difference between the two until the angle of the loading plate 20 is adjusted to ⁇ 1 ⁇ 2.
  • control unit 70 can not only automatically adjust the balance of the loading board 20, but also adjust the balance of the fuselage.
  • the control unit 70 controls the supporting member 31 protrudes from the chassis 12, and the supporting member 31 contacts the last stair surface, so that the center of gravity of the stair climbing device 100 falls on the flat side of the stairs, preventing the center of gravity of the stair climbing device 100 from falling on the suspended stairs and causing an imbalance. turn.
  • the support member 31 can be controlled to retract into the chassis 12, thereby switching the stair climbing device 100 to Flat ground mode that can be pushed arbitrarily.
  • the control unit 70 controls the support member 31 to protrude from the chassis 12, and the support member 31 contacts the final stair surface, thereby climbing the stairs
  • the center of gravity of the device 100 falls on the flat side of the stairs, so as to prevent the center of gravity of the stair climbing device 100 from falling on the suspended stairs and tip over due to imbalance.
  • the support member 31 can be controlled to retract into the chassis 12, so that the stair climbing device 100 continues to descend.
  • the turning speed of the loading plate 20 and the extending or retracting speed of the supporting member 31 are synchronized with the moving speed of the crawler belt 11 .
  • the traveling speed of the crawler belt 11 is coordinated and controlled.
  • the speed of the crawler belt 11 is coordinated and controlled.
  • the adjustment mechanism 60 drives the loading plate 20 to rotate, or drives the support member 31 to extend or retract, the traveling speed of the crawler belt 11 is reduced until the adjustment is completed, and the original traveling speed of the crawler belt 11 is restored.
  • the support 31 comprises support wheels (as shown in FIG. 1 ) or other equivalent parts.
  • the control unit 70 coordinates and controls the adjustment mechanism 60 to drive the load plate 20 to rotate according to the detection result of the angle detection component 40, the recognition result of the step recognition component 50 and the running state of the crawler belt 11
  • the support member 31 stretches out or retracts, not only adjusts the balance of the load board 20, prevents the goods or the wheelchair from tipping over, but also adjusts the balance of the fuselage, so that the stair climbing device 100 as a whole is always in a balanced state during operation, preventing the fuselage from tilting. turn over, so as to avoid the occurrence of tipping accidents.
  • the stair climbing device 100 of the present invention can automatically adjust the balance of the loading plate 20 and the balance of the body without depending on whether the operator has an accurate grasp of the center of gravity of the body, which has a high degree of automation and higher safety.
  • the support assembly 30 further includes a connecting arm 32 , one end of the connecting arm 32 is hinged to the chassis 12 , and the other end of the connecting arm 32 is connected to the supporting member 31 .
  • the adjustment mechanism 60 includes a first push rod 61 and a second push rod 62 .
  • One end of the first push rod 61 is hinged to the chassis 12 , and the other end of the first push rod 61 is hinged to the loading board 20 .
  • One end of the second push rod 62 is hinged to the chassis 12 , and the other end of the second push rod 62 is hinged to the connecting arm 32 .
  • the control unit 70 is used to generate driving signals for controlling the first push rod 61 and the second push rod 62 according to the detection result of the angle detection component 40 , the recognition result of the step recognition component 50 and the running state of the crawler belt 11 .
  • the first push rod 61 drives the carrier plate 20 to rotate relative to the chassis 12 through the telescopic length
  • the second push rod 62 drives the connecting arm 32 to rotate relative to the chassis 12 through the telescopic length, so that the support member 31 is lifted from the chassis. Stretch out in 12 or retract in the chassis 12. Therefore, by separately controlling the expansion and contraction of the first push rod 61 and the second push rod 62 , the included angle of the loading plate 20 and the position of the support member 31 can be adjusted respectively.
  • the first push rod 61 includes an electric push rod, a hydraulic push rod, a pneumatic push rod or other linear power elements.
  • the second push rod 62 includes an electric push rod, a hydraulic push rod, a pneumatic push rod or other linear power elements.
  • the driving signals for controlling the first push rod 61 and the second push rod 62 may also be generated by artificial triggering.
  • the angle detection assembly 40 includes a first angle detection member 41 for detecting the angle of the object carrier plate 20 .
  • the control unit 70 is configured to control the expansion and contraction of the first push rod 61 so that the loading board 20 is in a balanced state when judging that the angle of the loading board 20 is not within the range of the balance angle according to the angle signal output by the first angle detection member 41 .
  • the first angle detection member 41 is used to detect the angle of the object loading board 20, and then outputs an angle signal containing the angle information of the object loading board 20 to the control unit 70, and the control unit 70 judges the angle of the object loading board 20 according to the angle signal. Whether the angle falls within the balance angle range.
  • the control unit 70 does not output a control signal to the first push rod 61 , and the angle of the loading board 20 remains unchanged.
  • the control unit 70 When it is judged that the angle of the loading board 20 is not within the balance angle range, the control unit 70 outputs a control signal to the first push rod 61 according to the difference between the two, so that the first push rod 61 expands and contracts to drive the loading board 20 to rotate, Thus, the angle of the object loading board 20 is adjusted to be within the balance angle range.
  • the first angle detection member 41 is arranged on the object loading plate 20 , or on a component rigidly connected with the object loading plate 20 .
  • the first angle detecting element 41 includes but is not limited to a gyroscope, an acceleration sensor or other motion processing sensors.
  • control unit 70 is used for:
  • the crawler belt 11 When the crawler belt 11 reaches the final stair, the crawler belt 11 is controlled to run, and the second push rod 62 is controlled to protrude from the chassis 12, so that the support member 31 contacts the final stair surface and the stair climbing device 100 is in a balanced state.
  • the second push rod 62 is controlled to protrude from the chassis 12, and the support member 31 contacts the final staircase surface, so that the stair climbing device
  • the center of gravity of the stair climbing device 100 falls on the flat side of the stairs, preventing the center of gravity of the stair climbing device 100 from falling on the suspended stairs and tipping over due to imbalance.
  • the step identification assembly 50 includes a final step identification part, which is used to identify whether the crawler belt 11 has reached the last step of the stairs, and the final step identification part includes a bottom step identification part arranged on the chassis 12
  • the working length of the pressure sensor 51 is greater than or equal to the distance between the edges of the two steps and less than the distance between the edges of the three steps.
  • the control unit 70 is used to determine that the crawler belt 11 has reached the last staircase when the crawler belt 11 is in the mode of going up stairs and receives a detection signal that the output of the pressure sensor 51 changes from being under pressure to not being under pressure at all.
  • the stress on the pressure sensor 51 reflects the pressure distribution of the crawler belt 11 during operation, so that the position of the crawler belt 11 can be judged.
  • the working length of the pressure sensor 51 is greater than or equal to the distance between the edges of the two steps, as the crawler belt 11 advances, when the crawler belt 11 climbs the first step of the stairs and the multi-level middle stairs from the flat ground, , during the final stair, the states detected by the pressure sensor 51 are successively: the front end and the rear end are not under pressure at all--the front end is under pressure, the rear end is not under pressure--the front end and the rear end are all under pressure (or the front end, the rear end Alternately pressurized) - front end unpressurized, rear end pressurized - front end and rear end unpressurized at all. It can be seen that, as shown in FIG.
  • the control unit 70 controls the second push rod 62 to protrude from the chassis 12 according to the detection signal output by the pressure sensor 51, and the support member 31 contacts the final stair. Stair surface, so that the center of gravity of the stair climbing device 100 falls on the flat side of the stairs, preventing the center of gravity of the stair climbing device 100 from falling on the suspended stairs and tipping over due to imbalance.
  • the second push rod 62 can be controlled to shrink so that the support member 31 is retracted into the chassis 12, thereby switching the stair climbing device 100 to a flat ground mode that can be pushed arbitrarily.
  • the pressure sensor 51 includes bar-shaped pressure sensors, and the bar-shaped pressure sensors are distributed along the traveling direction of the crawler belt 11 .
  • the bar-shaped pressure sensor is distributed along the advancing direction of the crawler belt 11, and its front end is close to the front end of the crawler belt 11 (the crawler belt 11 is divided into a front end and a rear end according to the advancing direction of the crawler belt 11), and its rear end is close to the front end of the crawler belt 11. end.
  • the part of the bar-shaped pressure sensor that is in contact with the edge of the stairs is under pressure, and the part that is not in contact with the edge of the stairs is not pressed, so when the bar-shaped pressure sensor is changed from partly pressed to completely unpressurized, then Indicates that the crawler 11 has reached the final staircase.
  • the pressure sensor 51 includes a plurality of single-point pressure sensors, and the plurality of single-point pressure sensors are densely distributed in strips along the traveling direction of the crawler belt 11 .
  • multiple single-point pressure sensors are densely distributed along the traveling direction of the crawler belt 11 in strips, multiple single-point pressure sensors can detect the pressure distribution of a part of the crawler belt 11 distance, and then determine where the crawler belt 11 is located. Location.
  • the single-point pressure sensor at the front end is first in contact with the edge of the stairs to be pressed, and the single-point pressure sensor at the rear end is not yet in contact with the edge of the stairs to be pressed, and then the single-point pressure sensor at the front end is pressed against the edge of the stairs.
  • the single-point pressure sensor and the single-point pressure sensor of the rear end part are in contact with the edge of the stairs in turn to be pressed.
  • the step identification assembly 50 further includes a buffer 52 disposed between the chassis 12 and the crawler 11 , and the pressure sensor 51 is disposed on the buffer 52 and close to the crawler 11 .
  • the crawler belt 11 will rub against the welded bracket of the chassis 12 , which affects the speed of the crawler belt 11 .
  • a buffer member 52 is provided between the chassis 12 and the crawler belt 11 to reduce the friction between the crawler belt 11 and the welding bracket when going upstairs.
  • the pressure sensor 51 is installed on the buffer member 52 near the crawler belt 11 to collect the force distribution of the crawler belt 11 .
  • the buffer member 52 extends from the front end of the chassis 12 to the end of the chassis 12 , which can reduce the friction between the entire track 11 and the chassis 12 .
  • the bumper 52 includes a nylon spacer.
  • the service life of the welded brackets of the crawler belt 11 and the chassis 12 can be increased, and at the same time, because of its light weight and convenient installation, the weight of the stair climbing device 100 will not be greatly increased.
  • the buffer member 52 may also have other structures, which are not specifically limited here.
  • the stair climbing device 100 further includes a flexible part, and the flexible part is filled between the buffer part 52 and the pressure sensor 51 .
  • the flexible member is a flexible material.
  • a certain amount of flexible material is inserted between the buffer member 52 (one side of the sensor mounting surface) and the welding bracket of the chassis 12 to ensure that each pressure sensor 51 can be fully pressurized when the signal is input, and the pressure sensor 51 will not be damaged at the same time.
  • the pressure sensors 51 are symmetrically distributed on the crawler belts 11 on both sides.
  • the pressure sensors 51 can be symmetrically distributed on the crawler belts 11 on both sides, and the independent signal input of the pressure sensors 51 on each side can ensure that the stair climbing machine is When deviation occurs on the stairs (the pressure sensor 51 on one side triggers, the pressure sensor 51 on the other side has not triggered yet), adjust so that the pressure sensors 51 on both sides trigger simultaneously and then proceed to the next step.
  • the crawler belt 11 has reached the final stair by the force of the pressure sensor 51 , and then directly trigger the stair climbing device 100 to start the final stair treatment scheme.
  • the final step identification part further includes a distance measuring sensor 55 , and the distance measuring sensor 55 is used to detect whether there is an obstacle in the traveling direction of the track 11 .
  • the control unit 70 is used for judging that the crawler belt 11 has reached the final stair when the ranging sensor 55 detects that there is no obstacle in the traveling direction of the crawler belt 11 .
  • the ranging sensor 55 is used to detect whether there is an obstacle in the specific direction of this point, to determine whether there are stairs in the direction of travel of the crawler belt 11, and if there is, it is judged that the crawler belt 11 has not yet reached the final staircase; , it is judged that the crawler belt 11 has reached the final stair, thereby triggering the stair climbing device 100 to start the final stair treatment plan.
  • the ranging sensor 55 in this embodiment includes but is not limited to a horizontal infrared ranging sensor or an ultrasonic ranging sensor.
  • the final step identification member further includes a first switch 53 , and the first switch 53 is disposed on the chassis 12 and close to the track 11 , and close to the end of the pressure sensor 51 .
  • the control unit 70 is used for:
  • the first switch 53 is used to trigger the stair climbing device 100 to start the final stair treatment scheme.
  • the first switch 53 is arranged close to the pressure sensor 51.
  • the pressure sensor 51 changes from being pressurized to being completely unpressurized, it does not directly trigger and start the final stair treatment scheme at this time, but when the first switch 53 also outputs a switch
  • the signal is activated, the final staircase processing scheme is triggered, and the switch trigger is faster and more accurate.
  • each position of the pressure sensor 51 will contact the final staircase in turn, and the first switch 53 will also contact the final staircase, and output a switch signal that the pressure state changes, such as From no pressure to pressure or from pressure to no pressure.
  • the control unit 70 receives the detection signal that the pressure sensor 51 outputs a change from pressure to no pressure and the first switch 53 outputs a switch signal that the pressure state changes, it controls the support 31 to extend, so that the support 31 supports the stair climbing device 100, and now the crawler belt 11 continues to go up.
  • the control unit 70 controls the second push rod 62 to shrink, so that the support member 31 is retracted into the chassis 12 .
  • the first switch 53 includes but is not limited to a single point pressure sensor or a mechanical contact switch.
  • the angle detection assembly 40 further includes a second angle detection member 42 for detecting the angle of the chassis 12 .
  • the step identification assembly 50 also includes a second switch 54 , which is arranged on the chassis 12 and close to the crawler belt 11 , and is spaced from the first switch 53 for detecting the pressure of the crawler belt 11 .
  • the angle of the chassis 12 is the angle between the chassis 12 and the horizontal plane.
  • the angle of the chassis 12 is 0° when it is on a flat ground, but it can also be other angles such as tens of degrees.
  • the second angle detection member 42 is used to detect the angle of the chassis 12 when going up and down stairs.
  • the second angle detecting member 42 is arranged on the chassis 12 , or on a component rigidly connected with the chassis 12 .
  • the second switch 54 is arranged on the chassis 12. When the crawler belt 11 travels to this position, the second switch 54 outputs a switch signal, such as a switch signal from unpressurized to pressurized or from pressurized to unpressurized. signal, the switch signal is used to further trigger the control unit 70 to control the expansion and contraction of the second push rod 62 .
  • a switch signal such as a switch signal from unpressurized to pressurized or from pressurized to unpressurized. signal
  • the switch signal is used to further trigger the control unit 70 to control the expansion and contraction of the second push rod 62 .
  • control unit 70 is also used for:
  • the second push rod 62 is controlled to extend from the chassis 12, so that the support member 31 is stretched out to contact the final stair surface and the stair climbing device 100 is in balance. state;
  • the critical angle of 12 is used as the first preset angle, and the first preset angle is equal to the inclination angle of the stairs;
  • the inclination angle of the stairs is ⁇ 3.
  • the angles of the chassis 12 are: 0°, increasing from 0° to ⁇ 3, Keep ⁇ 3, decrease from ⁇ 3 to 0°, keep at 0°.
  • the second push rod 62 in conjunction with the running state of the crawler belt 11 and the angle of the chassis 12, before the crawler belt 11 goes up the final stairs, the second push rod 62 is controlled in advance to stretch out, and the support member 31 is pre-grounded, so that the angle of the chassis 12 remains the same as that of the chassis 12.
  • the first preset angle equal to the stair inclination angle ⁇ 3, and then cooperate with the walking speed of the crawler belt 11 to control the second push rod 62 to continue to extend or shrink, thereby completing the operation of going upstairs at the last stage.
  • control unit 70 is also used for:
  • the second push rod 62 is controlled to extend from the chassis 12, so that the support member 31 is stretched out to contact the final stair surface and the stair climbing device 100 is in balance. state;
  • the first switch 53 When receiving the switch signal that the first switch 53 outputs from being pressed to not being pressed, or when the second angle detecting member 42 detects that the angle of the chassis 12 starts to change, the first switch 53 is changed from being pressed to not being pressed.
  • the critical angle of the chassis 12 is taken as the first preset angle, and at the same time, the crawler belt 11 is controlled to continue to run, and the second push rod 62 is controlled to continue to extend, so that the angle of the chassis 12 remains at the first preset angle.
  • the switch signal output by the second switch 54, the crawler belt The operating state of 11 and the detection result of the second angle detection member 42 comprehensively control the expansion and contraction of the support member 31 when going up and down the stairs, so that the stair climbing device 100 is in a balanced state as a whole when going up and down the stairs.
  • the inclination angle of the stairs is ⁇ 3.
  • the angles of the chassis 12 detected by the second angle detection part 42 are: 0° , increase from 0° to ⁇ 3, keep ⁇ 3, decrease from ⁇ 3 to 0°, keep at 0°.
  • the angles of the chassis 12 detected by the second angle detection member 42 are as follows: 0°, increase from 0° to ⁇ 3, keep ⁇ 3, decrease from ⁇ 3 to 0°, keep at 0°.
  • the extension of the second push rod 62 is controlled in advance, and the support member 31 Land in advance, so that the angle of the chassis 12 transitions to the first preset angle equal to the inclination angle of the stairs, and then cooperate with the walking speed of the crawler belt 11 to control the second push rod 62 to continue to extend or shrink, thereby completing the final staircase. operate.
  • the stair climbing device 100 is close to the edge of the first step, ready to go upstairs.
  • the criterion for judging that the support member 31 stretches out to contact the final stair surface is:
  • the second angle detecting member 42 detects that the angle of the chassis 12 starts to change, it memorizes the critical angle a, and at this time a is equal to the inclination angle ⁇ 3 of the stairs.
  • control unit 70 controls the second push rod 62 to gradually shrink, so that the support member 31 is retracted into the chassis 12, and the angle detected by the second angle detection member 42 to the chassis 12 gradually Decrease to 0° until the angle of chassis 12 remains at 0°, thus completing the final stair treatment.
  • control unit 70 is also used for:
  • the second push rod 62 is controlled to protrude from the chassis 12, so that the support member 31 is stretched out to contact the final stair surface and the stair climbing device is in the Balanced state;
  • the critical angle of the chassis 12 when the contact position is changed from being pressed to being unpressurized is used as the second preset angle, and the second preset angle is the same as The inclination angles of the stairs are equal, and the crawler belt 11 is controlled to continue descending and the support member 31 is retracted, while maintaining the angle of the chassis 12 at the second preset angle until the support member 31 is completely retracted into the chassis 12 .
  • the chassis 12 when the stair climbing device 100 moves to the edge of the final stair, the chassis 12 is supported by extending the support member 31, and as the second push rod 62 continues to stretch out, the crawler belt 11 and the final stair
  • the contact position of is gradually changed from pressurized to unpressurized, and the current critical angle of the chassis 12 is taken as the second preset angle c, because the second preset angle c is equal to the inclination angle of the stairs ⁇ 3, the angle of the chassis 12 can be maintained It is equal to the inclination angle ⁇ 3 of the stairs.
  • the angle of the chassis 12 is transitioned to the second preset angle c in advance (at this time, the chassis 12 and the stairs Parallel), to realize the balanced transition of the crawler 11 end stairs.
  • control unit 70 is also used for:
  • the second push rod 62 is controlled to extend from the chassis 12 until the support member 31 contacts the final stair surface, and the second angle detection member 42 detects the angle of the chassis 12. The angle reaches the third preset angle;
  • the critical angle of the chassis 12 currently detected by the second angle detector 42 is used as the second preset angle, and the second preset angle is the same as the second preset angle.
  • the inclination angles of the stairs are equal, while the crawler belt 11 is controlled to continue to run, and the second push rod 62 is controlled to shrink, so that the angle of the chassis 12 remains at the second preset angle;
  • the crawler belt 11 When receiving the switch signal output by the first switch 53 that the pressure state changes, the crawler belt 11 is controlled to continue running, and the second push rod 62 is controlled to continue shrinking, so that the support member 31 is retracted into the chassis 12 .
  • the extension of the second push rod 62 is controlled in advance, and the support member 31 touches the ground in advance. so that the angle of the chassis 12 first transitions to the third preset angle equal to the inclination angle of the stairs, and then cooperates with the walking speed of the crawler belt 11 to control the second push rod 62 to continue to extend or shrink, thereby completing the operation of going downstairs at the last stage .
  • the crawler belt 11 is controlled to go down the final stairs, and the support member 31 assists in moving on the flat ground until the control unit 70 receives the switch signal that the second switch 54 outputs a pressure state change, before the crawler belt 11 is controlled to stop. line, and control the second push rod 62 to continue to stretch out, during which the angle of the chassis 12 gradually increases from the angle b;
  • the second switch 54 When the angle of the chassis 12 increases to the point where the contact position between the caterpillar belt 11 and the edge of the last step is changed from being pressed to not being pressed, the second switch 54 outputs a switch signal that is changed from being pressed to not being pressed.
  • the second angle detecting member 42 records the critical angle of the chassis 12 as the second preset angle c, wherein the critical angle is equal to the inclination angle ⁇ 3 of the stairs.
  • the control unit 70 controls the crawler belt 11 to continue running, and at the same time controls the second push rod 62 to start shrinking, so that the angle of the chassis 12 remains at the second preset angle c.
  • the angle of the chassis 12 is first transitioned to the third preset angle b, and then during the downward movement of the crawler belt 11, Support member 31 continues to stretch out and jack-up chassis 12, when the angle of chassis 12 begins to change, control the stretching amount of support member 31, make the angle of chassis 12 maintain on the second preset angle c (this moment chassis 12 and stair Parallel), to realize the balanced transition of the crawler 11 end stairs.
  • the angle of the chassis 12 is increased from 0 to b, and then from b to c, and the chassis 12 turns smoothly, which is beneficial to realize the stair climbing device 100 overall balance.
  • different stair angles ⁇ 3 correspond to different angles at which the angle of the chassis 12 starts to change
  • the second angle detection member 42 can detect the critical angle of the chassis 12 when the second switch 54 changes from being pressed to not being pressed, so for different
  • the inclination angle ⁇ 3 of the stairs can be detected by the second angle detection member 42 and fed back to the second preset angle c, so that the chassis 12 keeps going down at the second preset angle c, so that the stair climbing device 100 reaches a balanced state.
  • the second angle detecting element 42 includes but is not limited to a gyroscope, an acceleration sensor or other motion processing sensors.
  • the step identification assembly also includes a third switch 56 for collecting the end force of the crawler belt 11.
  • the third switch 56 is arranged at the end position of the chassis 12 close to the ground to identify the crawler belt. 11 Whether to reach the final staircase.
  • the third switch 56 includes but not limited to a single-point pressure sensor or a mechanical contact switch.
  • the crawler belt 11 When the crawler belt 11 is in the process of going upstairs, if it is judged that the front end of the crawler belt 11 has reached the final staircase, it is further judged whether the third switch 56 is pressed to determine whether the end of the crawler belt 11 is pressed, and if so, it is judged that the crawler belt 11 has been pressed. Finish the final stair, if not, then judge that the crawler belt 11 has not finished the final stair.
  • the control unit 70 controls the second push rod 62 to stretch out from the chassis 12 until The support member 31 contacts the final stair surface, and then a specific treatment plan for the final stair descending is performed.
  • the operator In the downstairs operation in other embodiments, it is also possible for the operator to judge whether the edge of the final staircase has been reached, and if so, send an instruction to the control unit 70 so that the control unit 70 controls the second push rod 62 to protrude from the chassis 12, Until the support member 31 touches the final stair surface, then execute the specific treatment plan for going downstairs to the final stair.
  • the contact surface of the chassis 12 and the track 11 has a center line of a long side, and the second switch 54 is located between the first switch 53 and the center line of the long side.
  • the crawler belts 11 are respectively located on the left and right sides of the chassis 12, there are two contact surfaces between the chassis 12 and the crawler belts 11, and each contact surface has a long-side centerline, and the second switch 54 is located between the first switch 53 and any Between the centerlines of the long sides, no matter going upstairs, the trigger control unit 70 controls the crawler belt 11 to continue to run, while controlling the extension of the second push rod 62 to remain unchanged, or when going downstairs, the trigger control unit 70 controls the crawler belt 11 to continue to run, and at the same time Controlling the contraction of the second push rod 62 to keep the angle of the chassis 12 at the second preset angle can make the transition of the stair climbing device 100 smooth.
  • the second switch 54 includes, but is not limited to, a single point pressure sensor or a mechanical contact switch.
  • the distance between the edges of the two steps is different, and the distance between the edges of the two steps of some stairs is relatively large, while the distance between the edges of the two steps of some stairs is small. Therefore, If the working length of the pressure sensor 51 is fixed, it may not cover the edges of the two steps.
  • the stair climbing device 100 also includes a telescopic mechanism 80, the telescopic mechanism 80 is arranged on the chassis 12, the pressure sensor 51 is arranged on the telescopic mechanism 80, and the telescopic mechanism 80 The working length of the pressure sensor 51 can be adjusted.
  • the actual total length of the pressure sensor 51 is greater than or equal to the working length of the pressure sensor 51 .
  • the working length of the pressure sensor 51 refers to the length that the pressure sensor 51 can actually contact the track 11, so as to collect the pressure distribution between the track 11 and the edge of the stairs.
  • the operator can adjust the working length of the pressure sensor 51 through the telescopic mechanism 80, so that the actual working length of the pressure sensor 51 is greater than or equal to the distance between the edges of the two steps and less than the distance between the edges of the three steps, so that at least Covers the edge of two steps.
  • a buffer member 52 is filled between the chassis 12 and the track 11 , and the buffer member 52 is provided with a groove, and the telescoping mechanism 80 is accommodated in the groove.
  • the step identification assembly 50 further includes a first switch 53 and a second switch 54, the first switch 53 is arranged on the retractable mechanism 80 and is close to the end of the pressure sensor 51, the second switch 54 is arranged on the chassis 12 and Spaced from the first switch 53 .
  • the telescoping mechanism 80 includes a rolling shaft 81 , a track 82 and a gear adjusting member 83 .
  • the rolling shaft 81 is provided inside the chassis 12 .
  • the rails 82 are arranged on both sides of the rolling shaft 81 , a part of the rails 82 is exposed outside the chassis 12 and close to the track 11 , and the other part is hidden inside the chassis 12 , and the pressure sensor 51 is arranged on the rails 82 .
  • the gear adjustment member 83 is connected with the track 82 and is used for adjusting the relative position of the track 82 and the track 11 to change the length of the pressure sensor 51 contacting the track 11 .
  • the rolling shaft 81 is used to change the extending direction of the track 82 , so that a part of the track 82 is exposed outside the chassis 12 and close to the track 11 , and a part is hidden inside the chassis 12 .
  • the gear adjustment member 83 is used to apply a pulling force to the track 82 to change the position of the track 82 relative to the chassis 12.
  • the length of the pressure sensor 51 arranged on the track 82 contacting the track 11 will also change. Change.
  • the gear adjustment member 83 may be an automatic gear adjustment structure, such as a motor.
  • the motor is arranged inside the chassis 12 , and the output shaft of the motor is in transmission connection with the rolling shaft 81 , and the track 82 is in transmission connection with the rolling shaft 81 .
  • the motor rotates forward or reverse to drive the rolling shaft 81 to rotate, and the rolling shaft 81 drives the track 82 to retract or extend a certain distance relative to the crawler belt 11, changing the position of the pressure sensor. 51 contacts the length of crawler belt 11, so that the working length of pressure sensor 51 after changing can adapt to stair pitch.
  • the gear adjustment member 83 can also be a mechanical gear adjustment structure, such as a pin and a gear through hole.
  • the pin is connected to the track 82 , and when the pin is inserted into the gears at different positions to buckle, the length of the track 82 exposed to the outside of the chassis 12 and close to the track 11 is different.
  • the pin is inserted into the appropriate gear through hole, and the track 82 is retracted or extended for a certain distance relative to the crawler belt 11, so that the changed working length of the pressure sensor 51 can be adjusted.
  • the stair pitch is a mechanical gear adjustment structure, such as a pin and a gear through hole.
  • the working length of the pressure sensor 51 when the operator needs to adjust the working length of the pressure sensor 51 , the working length of the pressure sensor 51 can also be manually adjusted directly, and the adjusted working length of the pressure sensor 51 can be fixed.
  • the stair climbing device 100 further includes a handrail 90 , the handrail 90 is hinged to the chassis 12 and fixed to the loading board 20 .
  • a start button is installed on the armrest 90 , and the start button is electrically connected with the control unit 70 .
  • the handrail 90 is convenient for the operator to operate. During actual use, the operator activates the stair climbing device 100 through the start button, so as to perform up-and-down operations.
  • stair climbing device 100 also comprises auxiliary wheel 110, and auxiliary wheel 110 is arranged on the end of loading plate 20, and when auxiliary wheel 110 and support member 31 all touch the ground, crawler belt 11 is Lift off the ground.
  • the auxiliary wheels 110 are used to assist the support member 31 to realize the portable movement of the stair climbing device 100 .
  • the auxiliary wheels 110 are arranged at the end of the loading plate 20. During the running of the crawler belt 11 up and down the stairs, the auxiliary wheels 110 are lifted because the loading plate 20 is kept within the balance angle range. . As shown in FIG. 2 or FIG. 8 , when the crawler belt 11 reaches flat ground, the auxiliary wheel 110 touches the ground, and the crawler belt 11 is lifted away from the ground to advance in the form of the auxiliary wheel 110 and the supporting member 31 .
  • the embodiment of the present invention also provides a control method of a stair climbing device, which is applied to the stair climbing device 100 in any one of the above embodiments.
  • the control method includes the following steps:
  • the control method of the stair climbing device in this embodiment can not only automatically adjust the balance of the loading board 20, but also can adjust the balance of the body.
  • step S10 specifically includes the following steps:
  • the control adjustment mechanism 60 adjusts the angle of the loading plate 20 to the balance angle range, so that the loading plate 20 is in a balanced state;
  • step identification component 50 When the step identification component 50 recognizes that the crawler belt 11 has reached the final staircase, control the crawler belt 11 to continue to run, and at the same time control the adjustment mechanism 60 to drive the support 31 to extend from the chassis 12 to contact the final staircase surface, so that the stairs can be climbed
  • the device 100 is in equilibrium.
  • the balanced state of the loading board 20 means that the angle of the loading board 20 falls within the balance angle range, and at this time, the goods or wheelchairs arranged on the loading board 20 will not tip over.
  • the balance angle range can be set when the stair climbing device 100 leaves the factory, or can be set according to user needs and actual handling scenarios, so as to prevent cargo from tipping over in various scenarios.
  • the adjustment mechanism 60 does not move, and the angle of the object loading plate 20 remains unchanged; when the angle detection assembly 40 detects When the angle of the object loading plate 20 is not within the balance angle range, the control unit 70 outputs a control signal to the adjustment mechanism 60 according to the difference between the two, so that the adjustment mechanism 60 drives the object loading plate 20 to rotate, thereby adjusting the angle of the object loading plate 20 Adjust to the balance angle range.
  • the control unit 70 controls the adjustment mechanism 60 to drive the loading board 20 to rotate upwards according to the difference between the two until the angle of the loading board 20 is adjusted to ⁇ 1 ⁇ 2. If the angle of the object loading plate 20 falls within ⁇ 1 ⁇ 2, the adjustment mechanism 60 does not move, and the object loading plate 20 also remains motionless.
  • control unit 70 controls the adjusting mechanism 60 to drive the loading plate 20 to rotate downward according to the difference between the two until the angle of the loading plate 20 is adjusted to ⁇ 1 ⁇ 2.
  • control unit 70 can not only automatically adjust the balance of the loading board 20, but also adjust the balance of the fuselage.
  • the control unit 70 controls the supporting member 31 protrudes from the chassis 12, and the supporting member 31 contacts the last stair surface, so that the center of gravity of the stair climbing device 100 falls on the flat side of the stairs, preventing the center of gravity of the stair climbing device 100 from falling on the suspended stairs and causing an imbalance. turn.
  • the support member 31 can be controlled to be retracted into the chassis 12, thereby switching the stair climbing device 100 to be arbitrarily The flat ground model implemented.
  • the control unit 70 controls the support member 31 to protrude from the chassis 12, and the support member 31 contacts the final stair surface, thereby climbing the stairs
  • the center of gravity of the device 100 falls on the flat side of the stairs, so as to prevent the center of gravity of the stair climbing device 100 from falling on the suspended stairs and tip over due to imbalance.
  • the support member 31 can be controlled to retract into the chassis 12, so that the stair climbing device 100 continues to descend.
  • the turning speed of the loading plate 20 and the extending or retracting speed of the supporting member 31 are synchronized with the moving speed of the crawler belt 11 .
  • the traveling speed of the crawler belt 11 is coordinated and controlled.
  • the speed of the crawler belt 11 is coordinated and controlled.
  • the adjustment mechanism 60 drives the loading plate 20 to rotate, or drives the support member 31 to extend or retract, the traveling speed of the crawler belt 11 is reduced until the adjustment is completed, and the original traveling speed of the crawler belt 11 is restored.
  • the coordinated control adjustment mechanism 60 drives the load plate 20 to rotate and
  • the support member 31 is stretched out or retracted to not only adjust the balance of the load board 20 to prevent the cargo or the wheelchair from tipping over, but also to adjust the balance of the body so that the stair climbing device 100 is always in a balanced state during operation to prevent the body from tipping over , so as to avoid the occurrence of overturning accidents.
  • control method of the stair climbing device 100 of the present invention can automatically adjust the balance of the loading plate 20 and the balance of the fuselage without depending on whether the operator grasps the center of gravity of the fuselage accurately, with a high degree of automation and higher safety. .
  • the control adjustment mechanism 60 adjusts the angle of the object loading plate 20 to be within the balance angle range, so that Making the loading plate 20 in balance specifically includes the following steps:
  • the first push rod 61 of the control adjustment mechanism 60 is stretched, so that the object loading plate 20 Adjust the angle to the balance angle range.
  • the first angle detecting member 41 is arranged on the loading board 20 , one end of the first push rod 61 is hinged to the chassis 12 , and the other end of the first pushing rod 61 is connected to the loading board 20 .
  • the first angle detector 41 detects the angle of the object loading plate 20, and then outputs an angle signal comprising the angle information of the object loading plate 20 to the control unit 70, and the control unit 70 judges the angle of the object loading plate 20 according to the angle signal Whether it falls within the balance angle range.
  • the control unit 70 When it is judged that the angle of the loading board 20 falls within the balance angle range, the control unit 70 does not output a control signal to the first push rod 61, and the angle of the loading board 20 remains unchanged; when it is judged that the angle of the loading board 20 is not in balance When within the angular range, the control unit 70 outputs a control signal to the first push rod 61 according to the difference between the two, so that the first push rod 61 expands and contracts to drive the loading plate 20 to rotate, thereby adjusting the angle of the loading plate 20 to within the balance angle.
  • step recognition component 50 in step S12 recognizes that the crawler belt 11 has reached the final staircase
  • the crawler belt 11 is controlled to run, and the adjustment mechanism 60 is controlled to drive the support member 31 to extend from the chassis 12 at the same time. Going out to contact the final stair surface, so that the stair climbing device 100 is in a balanced state, specifically includes the following steps:
  • one end of the second push rod 62 is hinged to the chassis 12 , and the other end of the second push rod 62 is connected to the connecting arm 32 .
  • the control unit 70 controls the second push rod 62 to protrude from the chassis 12 according to the detection signal output by the pressure sensor 51, and the support member 31 contacts the final stair. Stair surface, so that the center of gravity of the stair climbing device 100 falls on the flat side of the stairs, preventing the center of gravity of the stair climbing device 100 from falling on the suspended stairs and tipping over due to imbalance.
  • the second push rod 62 can be controlled to shrink, so that The support member 31 is retracted into the chassis 12, thereby switching the stair climbing device 100 to a flat ground mode that can be pushed arbitrarily.
  • the crawler belt 11 in step S12 is in the mode of going upstairs, and the final step identification part of the step recognition component 50 identifies that the crawler belt 11 reaches the final staircase, specifically including the following methods:
  • the pressure sensor 51 of the final step identification part When it is detected that the pressure sensor 51 of the final step identification part is changed from being pressurized to being completely unpressurized, it is judged that the crawler belt 11 has reached the final staircase; wherein the pressure sensor 51 is arranged on the chassis 12 and is close to the crawler belt 11, and the pressure sensor 51 The working length is greater than or equal to the distance between the edges of two steps and less than the distance between the edges of three steps;
  • the first switch 53 is set to On the chassis 12 and close to the track 11, and close to the end of the pressure sensor 51;
  • the distance measuring sensor 55 of the step identification component 50 detects that there is no obstacle in the traveling direction of the crawler belt 11, it is determined that the crawler belt 11 has reached the final stair.
  • One of the triggering methods is the direct triggering of the pressure sensor 51.
  • the pressure sensor 51 changes from being under pressure to being completely unpressurized, it is judged that the crawler belt 11 has reached the last stair, and then triggers the final stair treatment plan.
  • Another triggering method is the double-conditional triggering of the pressure sensor 51 and the first switch 53.
  • Another triggering method is triggered by the ranging sensor 55.
  • the ranging sensor 55 detects that there is no obstacle in the traveling direction of the crawler belt 11, it is judged that the crawler belt 11 has reached the final staircase, and then triggers the final staircase processing plan.
  • step S12 specifically includes the following steps:
  • the critical angle of the chassis 12 is used as the first preset angle when the first switch 53 is changed from being pressed to not being pressed or when the angle of the chassis 12 starts to change, and the first preset angle is equal to the inclination angle of the stairs, Simultaneously, the crawler belt 11 is controlled to continue running, and the second push rod 62 is controlled to continue to stretch out, so that the angle of the chassis 12 remains at the first preset angle;
  • the angle of the chassis 12 is the angle between the chassis 12 and the horizontal plane.
  • the angle of the chassis 12 is 0° when the chassis 12 is on a flat ground, but it can also be other angles such as tens of degrees.
  • the second angle detection member 42 is used to detect the angle of the chassis 12 when going up and down stairs.
  • the second switch 54 is disposed on the chassis 12 , and when the crawler belt 11 travels to this position, the second switch 54 outputs a switch signal, which is used to further trigger the control unit 70 to control the expansion and contraction of the second push rod 62 .
  • the switch signal output by the second switch 54, the running state of the crawler belt 11 The detection result of the second angle detection part 42 comprehensively controls the expansion and contraction of the support part 31 when going up and down stairs, so that the stair climbing device 100 is in a balanced state as a whole when going up and down stairs.
  • the inclination angle of the stairs is ⁇ 3.
  • the angles of the chassis 12 detected by the second angle detection part 42 are: 0° , increase from 0° to ⁇ 3, keep ⁇ 3, decrease from ⁇ 3 to 0°, keep at 0°.
  • the angles of the chassis 12 detected by the second angle detection member 42 are as follows: 0°, increase from 0° to ⁇ 3, keep ⁇ 3, decrease from ⁇ 3 to 0°, keep at 0°.
  • the extension of the second push rod 62 is controlled in advance, and the support member 31 Landing in advance, so that the angle of the chassis 12 maintains the first preset angle equal to the inclination angle of the stairs, and then cooperates with the walking speed of the crawler belt 11 to control the second push rod 62 to continue to extend or shrink, thereby completing the operation of going upstairs at the last stage .
  • the stair climbing device 100 is close to the edge of the first step, ready to go upstairs.
  • the second angle detecting member 42 detects that the angle of the chassis 12 starts to change, it memorizes the critical angle a, and at this time a is equal to the inclination angle ⁇ 3 of the stairs.
  • control unit 70 controls the second push rod 62 to gradually shrink, so that the support member 31 is retracted into the chassis 12, and the angle detected by the second angle detection member 42 to the chassis 12 gradually Decrease to 0° until the angle of chassis 12 remains at 0°, thus completing the final stair treatment.
  • step S12 specifically includes the following steps:
  • the extension of the second push rod 62 is controlled in advance, and the support member 31 touches the ground in advance. so that the angle of the chassis 12 first transitions to the third preset angle equal to the inclination angle of the stairs, and then cooperates with the walking speed of the crawler belt 11 to control the second push rod 62 to continue to extend or shrink, thereby completing the operation of going downstairs at the last stage .
  • the crawler belt 11 is controlled to go down the final stairs, and the support member 31 assists in moving on the flat ground until the control unit 70 receives the switch signal that the second switch 54 outputs a pressure state change, before the crawler belt 11 is controlled to stop. line, and control the second push rod 62 to continue to stretch out, during which the angle of the chassis 12 gradually increases from the angle b;
  • the second switch 54 When the angle of the chassis 12 increases to the point where the contact position between the caterpillar belt 11 and the edge of the last step is changed from being pressed to not being pressed, the second switch 54 outputs a switch signal that is changed from being pressed to not being pressed.
  • the second angle detecting member 42 records the critical angle of the chassis 12 as the second preset angle c, wherein the critical angle is equal to the inclination angle ⁇ 3 of the stairs.
  • the control unit 70 controls the crawler belt 11 to continue running, and at the same time controls the second push rod 62 to start shrinking, so that the angle of the chassis 12 remains at the second preset angle c.
  • the angle of the chassis 12 is first transitioned to the third preset angle b, and then during the downward movement of the crawler belt 11, Support member 31 continues to stretch out and jack-up chassis 12, when the angle of chassis 12 begins to change, control the stretching amount of support member 31, make the angle of chassis 12 maintain on the second preset angle c (this moment chassis 12 and stair Parallel), to realize the balanced transition of the crawler 11 end stairs.
  • the angle of the chassis 12 is increased from 0 to b, and then from b to c, and the chassis 12 turns smoothly, which is beneficial to realize the stair climbing device 100 overall balance.
  • different stair angles ⁇ 3 correspond to different angles at which the angle of the chassis 12 starts to change
  • the second angle detection member 42 can detect the critical angle of the chassis 12 when the second switch 54 changes from being pressed to not being pressed, so for different
  • the inclination angle ⁇ 3 of the stairs can be detected by the second angle detection member 42 and fed back to the second preset angle c, so that the chassis 12 keeps going down at the second preset angle c, so that the stair climbing device 100 reaches a balanced state.
  • control method of the stair climbing device of the present invention further includes the following steps:
  • the step of adjusting the object carrier plate 20 takes precedence over the step of adjusting the support member 31 . It can be understood that when the first push rod 61 is running, the loading board 20 is still rotating, and the stair climbing device 100 is in an unstable state as a whole. If the support member 31 continues to be extended or withdrawn at this time, the stair climbing will be further aggravated. The shaking of the climbing device 100 is very likely to cause a tipping accident and cause harm to the operator and nearby personnel. Therefore, in this embodiment, after the adjustment of the first push rod 61 is completed, further extending or retracting the second push rod 62 will not aggravate the shaking of the stair climbing device 100 .
  • the adjustment operation of the first push rod 61 and the adjustment operation of the second push rod 62 can also be performed simultaneously.

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Abstract

一种楼梯攀爬装置及其控制方法，该装置（100）包括履带组件（10）、载物板（20）、支撑组件（30）、角度检测组件（40）、台阶识别组件（50）和调节机构（60）。履带组件（10）包括底盘（12）和设置在底盘（12）上的履带（11），载物板（20）与底盘（12）转动连接。支撑组件（30）包括活动设置于底盘（12）上的支撑件（31）。角度检测组件（40）用于检测载物板（20）的角度。台阶识别组件（50）用于识别履带（11）的位置。调节机构（60）用于在接收到根据角度检测组件（40）的检测结果、台阶识别组件（50）的识别结果以及履带（11）的运行状态生成的驱动信号时，协同驱动载物板（20）转动以及驱动支撑件（31）从底盘（12）内伸出或者收回。该楼梯攀爬装置（100）在运行过程中始终处于平衡状态，解决了在上下楼过程中，人为改变机身角度依赖于经验判断，极易存在倾翻风险的问题。

Description

一种楼梯攀爬装置及其控制方法 技术领域
本发明涉及辅助搬运设备技术领域，尤其涉及一种楼梯攀爬装置及其控制方法。
背景技术
履带式爬楼机在上楼至最后一级台阶及下楼开始时的第一级台阶(统称为末级楼梯)，需要操作者主动施加外力去改变机身角度，例如下压爬楼机的扶手，以使爬楼机进入下一种工作状态。而状态转换过程依赖于操作者的经验，如果操作者因经验不足或者由于疏忽而对机身重心把握不准确，极容易导致倾翻事故的发生，对操作者及附近人员造成危害。
发明内容
本发明目的在于，提供一种楼梯攀爬装置及其控制方法，根据角度检测组件的检测结果、台阶识别组件的识别结果以及履带的运行状态，协调控制调节机构驱动载物板转动以及支撑件伸出或者收回，不仅调节载物板平衡，防止货物或者轮椅倾翻，还调节机身平衡，使得楼梯攀爬装置整体在运行过程中始终处于平衡状态，防止机身倾翻，从而避免倾翻事故的发生，解决了在上下楼过程中，人为改变机身角度依赖于经验判断，极易存在倾翻风险的问题。
为实现上述目的，本发明实施例提供的一种楼梯攀爬装置，包括：
履带组件，包括履带和底盘，所述履带设置在所述底盘上；
载物板，与所述底盘转动连接；
支撑组件，包括支撑件，所述支撑件活动设置于所述底盘上；
角度检测组件，用于检测所述载物板的角度；
台阶识别组件，用于识别所述履带的位置；
调节机构，用于在接收到根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态生成的驱动信号时，协同驱动所述载物板转动以及驱动所述支撑件从所述底盘内伸出或者收回，以使所述楼梯攀爬装置在运行过程中处于平衡状态。
本发明实施例提供的一种楼梯攀爬装置的控制方法，包括：
根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态，协同控制所述调节机构驱动所述载物板转动、驱动所述支撑件伸出或者收回，以使所述履带在运行过程中所述楼梯攀爬装置处于平衡状态。
本发明实施例的楼梯攀爬装置及其控制方法中，根据角度检测组件的检测结果、台阶识别组件的识别结果以及履带的运行状态，协调控制调节机构驱动载物板转动以及支撑件伸出或者收回，不仅调节载物板平衡，防止货物或者轮椅倾翻，还调节机身平衡，使得楼梯攀爬装置整体在运行过程中始终处于平衡状态，防止机身倾翻，从而避免倾翻事故的发生。同时，本发明的楼梯攀爬装置也无需依赖于操作者对机身重心把握是否准确，即可自动调节载物板平衡和机身平衡，自动化程度高，安全性也更高。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施方式中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明某一实施例提供的楼梯攀爬装置的结构示意图；
图2是本发明某一实施例提供的楼梯攀爬装置到达首级楼梯的场景示意图；
图3是本发明某一实施例提供的楼梯攀爬装置位于中部楼梯的场景示意图；
图4是本发明某一实施例提供的楼梯攀爬装置到达末级楼梯时第一开关受压的场景示意图；
图5是本发明某一实施例提供的楼梯攀爬装置到达末级楼梯时第二开关受压的场景示意图；
图6是本发明某一实施例提供的楼梯攀爬装置刚上完末级楼梯时的场景示意图；
图7是本发明某一实施例提供的楼梯攀爬装置上完末级楼梯，支撑件收回至底盘内的场景示意图；
图8是本发明某一实施例提供的楼梯攀爬装置上完末级楼梯，支撑件完全至底盘内的场景示意图；
图9是本发明另一实施例提供的楼梯攀爬装置的结构示意图；
图10是本发明某一实施例提供的楼梯攀爬装置的控制方法的流程示意图；
图11是本发明另一实施例提供的楼梯攀爬装置的控制方法的流程示意图；
图12是图11中步骤S12的某一个实施例的子步骤流程示意图；
图13是图11中步骤S12的另一个实施例的子步骤流程示意图；
图14是图11中步骤S12的又一个实施例的子步骤流程示意图。
主要元件及符号说明：
100、楼梯攀爬装置；10、履带组件；11、履带；12、底盘；20、载物板；30、支撑组件；31、支撑件；32、连接臂；40、角度检测组件；41、第一角度检测件；42、第二角度检测件；50、台阶识别组件；51、压力传感器；52、缓冲件；53、第一开关；54、第二开关；55、测距传感器；56、第三开关；60、调节机构；61、第一推杆；62、第二推杆；70、控制单元；80、伸缩机构；81、滚动轴；82、轨道；83、档位调节件；90、扶手；110、辅助轮。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
应当理解，文中所使用的步骤编号仅是为了方便描述，不作为对步骤执行先后顺序的限定。
应当理解，在本发明说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本发明。如在本发明说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
请参阅图1，本发明实施例提供一种楼梯攀爬装置100，包括：履带组件10、载物板20、支撑组件30、角度检测组件40、台阶识别组件50、调节机构60和控制单元70。
履带组件10包括履带11和底盘12，履带11设置在底盘12上。载物板20与底盘12转动连接。支撑组件30包括支撑件31，支撑件31活动设置于底盘12上。角度检测组件40用于检测载物板20的角度。台阶识别组件50用于识别履带11的位置。调节机构60用于在接收到根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行状态生成的驱动信号时，以驱动载物板20转动以及驱动支撑件31从底盘12内伸出或者收回。
在楼梯攀爬装置100的运行过程中，履带11运行包括多个阶段，上楼阶段分别如图2至图8所示：平地上楼准备、上楼、末级楼梯过渡、到达高平地，下楼阶段分别如图8至图2所示：高平地下楼准备、末级楼梯过渡、到达低平地。履带11的运行状态包括上下楼模式和履带11的运行速度。
可以理解，当履带11从末级楼梯上行到高平地或者从高平地下行到末级楼梯时，由于底盘12转动的角度较大，如果转换过程速度变化较快，则楼梯攀爬装置100的重心极易偏移平衡位置点而失衡，从而导致倾翻事故的发生。
为解决上述问题，本实施例提供一种楼梯攀爬装置100。
具体地，履带组件10包括底盘12、对称设置在底盘12两侧的履带11、驱动履带11前进的驱动电机、主动轮和传动轮。驱动电机在工作时，带动主动轮和从动轮转动，进而带动履带11绕着底盘12转动。在一个实施例中，履带11包括绕设在底盘12上的爬行履带111和安装在爬行履带111前侧方的导向履带112，且导向履带112在爬行履带111水平设置时呈倾斜状。
载物板20可以用于承载货物或轮椅。载物板20的角度为载物板20与水平面的夹角，调节机构60可以带动载物板20转动，以使载物板20的角度位于平衡角范围内，防止载物板20上的货物或者轮椅倾翻。
支撑件31活动设置在底盘12内，用于支起底盘12，避免底盘12在末级楼梯倾翻。
台阶识别组件50用于识别履带11的位置，从而触发支撑件31在履带11位于末级楼梯的位置时伸出或收回，从而保持楼梯攀爬装置100的平衡。
在一个例子中，调节机构40接收到的驱动信号由人为触发生成。
具体地，在台阶识别组件50识别到末级楼梯后，楼梯攀爬装置100生成楼梯过渡提示，提醒用户按下预设开关，当该预设开关被按下时，楼梯攀爬装置100生成驱动信号，从而使调节机构40驱动支撑件31伸出或收回。其中，该楼梯过渡提示的方式包括但不限于灯光提示、语音提示。
在另一个例子中，调节机构40接收到的驱动信号由控制单元70生成。
具体地，控制单元70用于根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行 状态，生成驱动信号，协同控制调节机构60驱动载物板20转动和驱动支撑件31伸出或者收回，以使楼梯攀爬装置100在运行过程中处于平衡状态。
进一步地，控制单元70具体用于：
在角度检测组件40检测到载物板20的角度不在平衡角范围内时，控制单元70控制调节机构60将载物板20的角度调节至平衡角范围，以使载物板20处于平衡状态。以及，在履带11到达末级楼梯时，控制单元70控制履带11运行，同时控制调节机构60驱动支撑件31从底盘12内伸出至接触末级楼梯面，以使楼梯攀爬装置100处于平衡状态。
可以理解的是，载物板20处于平衡状态是指载物板20的角度落在平衡角范围内，此时设置在载物板20上的货物或者轮椅不会倾翻。该平衡角范围可以为楼梯攀爬装置100出厂时设定，也可以根据用户需求、实际搬运场景设定，以防止在各种场景中货物发生倾翻。
在实际使用过程中，当角度检测组件40检测到载物板20的角度落在平衡角范围内时，调节机构60不动，载物板20的角度保持不变；当角度检测组件40检测到载物板20的角度不在平衡角范围内时，控制单元70根据二者的差值输出控制信号至调节机构60，以使调节机构60带动载物板20旋转，从而将载物板20的角度调节至平衡角范围内。
示例性地，假设载物板20的平衡角范围为∠1～∠2。若载物板20的角度小于∠1，偏离平衡角范围，则控制单元70根据二者的差值控制调节机构60驱动载物板20向上转动，直至满足载物板20的角度调节至∠1～∠2内。若载物板20的角度落在∠1～∠2内，则调节机构60不动，载物板20也保持不动。若载物板20的角度大于∠2，也偏离平衡角范围，则控制单元70根据二者的差值控制调节机构60驱动载物板20向下转动，直至满足载物板20的角度调节至∠1～∠2内。
进一步地，控制单元70不仅能够自动调节载物板20平衡，还能够调节机身平衡。
在履带11处于上楼模式时，若履带11的前端已经到达末级楼梯，为防止底盘12因处于末级楼梯导致楼梯攀爬装置100的重心偏移平衡位置，此时控制单元70控制支撑件31从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100得重心落在悬空的楼梯上而失衡倾翻。当履带11已经上完末级楼梯时，此时楼梯攀爬装置100的重心已经完全落在楼梯的平地侧，则可以控制支撑件31收回至底盘12内，从而将楼梯攀爬装置100切换为可任意推行的平地模式。
在履带11处于下楼模式时，若履带11的末端已经到达末级楼梯，此时控制单元70控制支撑件31从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100得重心落在悬空的楼梯上而失衡倾翻。在履带11下行两级楼梯后，此时楼梯攀爬装置100的重心已经完全落在楼梯侧，则可以控制支撑件31收回至底盘12内，从而使楼梯攀爬装置100继续下行。
需要说明的是，在调节过程中，载物板20翻转的速度、支撑件31伸出或者收回的速度均与履带11行进的速度同步协调。
具体地，在调节载物板20的角度过程中，协调控制履带11行进的速度。并且在调节机构60调节支撑件31的过程中，协调控制履带11行进的速度。
在一个实施例中，在调节机构60驱动载物板20转动、或者驱动支撑件31伸出或收回时，减小履带11的行进速度，直至调节完毕，恢复履带11原行进速度。
可以理解，在调节载物板20或支撑件31时，相应减少履带11的行进速度，能够减少楼梯攀爬装置100的晃动。在调节完毕后，恢复履带11原行进速度，又能使履带11保持较高的上下楼效率。
在一个实施例中，支撑件31包括支撑轮(如图1所示)或其他等效零件。
综上，本发明的楼梯攀爬装置100中，控制单元70根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行状态，协调控制调节机构60驱动载物板20转动以及支撑件31伸出或者收回，不仅调节载物板20平衡，防止货物或者轮椅倾翻，还调节机身平衡，使得楼梯攀爬装置100整体在运行过程中始终处于平衡状态，防止机身倾翻，从而避免倾翻事故的发生。同时，本发明的楼梯攀爬装置100也无需依赖于操作者对机身重心把握是否准确，即可自动调节载物板20平衡和机身平衡，自动化程度高，安全性也更高。
请参阅图1，在某一个实施例中，支撑组件30还包括连接臂32，连接臂32的一端与底盘12铰接，连接臂32的另一端与支撑件31连接。调节机构60包括第一推杆61和第二推杆62。第一推杆61的一端与底盘12铰接，第一推杆61的另一端与载物板20铰接。第二推杆62的一端与底盘12铰接，第二推杆62的另一端与连接臂32铰接。控制单元70用于根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行状态，生成控制第一推杆61和第二推杆62的驱动信号。
在本实施例中，第一推杆61通过伸缩长度以带动载物板20相对底盘12转动，第二推杆62通过伸缩长度以带 动连接臂32相对底盘12转动，以使支撑件31从底盘12内伸出或者收回至底盘12内。因此，通过分别控制第一推杆61和第二推杆62的伸缩量，可以分别调节载物板20的夹角和支撑件31的位置。
在某一个实施例中，第一推杆61包括电动推杆、液压推杆、气动推杆或及其他直线动力元件。第二推杆62包括电动推杆、液压推杆、气动推杆或及其他直线动力元件。
在其他实施例中，也可以由人为触发生成控制第一推杆61和第二推杆62的驱动信号。
请继续参阅图1，在某一个实施例中，角度检测组件40包括第一角度检测件41，第一角度检测件41用于检测载物板20的角度。控制单元70用于根据第一角度检测件41输出的角度信号，判断载物板20的角度不在平衡角范围内时，控制第一推杆61伸缩，以使载物板20处于平衡状态。
在本实施例中，第一角度检测件41用于检测载物板20的角度，然后向控制单元70输出包含载物板20角度信息的角度信号，控制单元70根据角度信号判断载物板20的角度是否落在平衡角范围内。当判断载物板20的角度落在平衡角范围内时，控制单元70不输出控制信号至第一推杆61，载物板20的角度保持不变。当判断载物板20的角度不在平衡角范围内时，控制单元70根据二者的差值输出控制信号至第一推杆61，以使第一推杆61伸缩而带动载物板20旋转，从而将载物板20的角度调节至平衡角范围内。
在一个具体实施例中，第一角度检测件41设置在载物板20上，或者与载物板20刚性连接的部件上。
在一个具体实施例中，第一角度检测件41包括但不限于陀螺仪、加速度传感器或其他运动处理传感器。
在某一个实施例中，控制单元70用于：
在履带11到达末级楼梯时，控制履带11运行，同时控制第二推杆62从底盘12内伸出，以使支撑件31接触末级楼梯面而使楼梯攀爬装置100处于平衡状态。
本实施例中，当末级台阶识别件识别到履带11已经到达末级楼梯时，控制第二推杆62从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100的重心落在悬空的楼梯上而失衡倾翻。
请继续参阅图1，在某一个实施例中，台阶识别组件50包括末级台阶识别件，末级台阶识别件用于识别履带11是否到达末级楼梯，末级台阶识别件包括设置在底盘12上并贴近履带11的压力传感器51，压力传感器51的工作长度大于等于两级台阶边缘的间距并且小于三级台阶边缘的间距。
控制单元70用于在履带11处于上楼模式，并且接收到压力传感器51输出由受压改变为完全不受压的检测信号时，判断履带11到达末级楼梯。
在本实施例中，压力传感器51的受力情况反映履带11在运行过程中的压力分布情况，进而可以判断履带11所处的位置。
具体地，请结合图2至图8，由于压力传感器51的工作长度大于等于两级台阶边缘的间距，随着履带11的前进，当履带11从平地依次登上首级楼梯、多级中部楼梯、末级楼梯时，压力传感器51检测到的状态依次为：前端和后端完全不受压--前端受压，后端不受压--前端、后端均受压(或前端、后端轮流受压)--前端不受压，后端受压--前端和后端完全不受压。可见，如图3和图4所示，当压力传感器51由受压改变为完全不受压时，表明履带11已经到达末级楼梯。因此，通过压力传感器51检测到的受力情况可以识别履带11是否到达末级楼梯。
如图4和图5所示，当识别履带11到达末级楼梯后，控制单元70根据压力传感器51输出的检测信号，控制第二推杆62从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100的重心落在悬空的楼梯上而失衡倾翻。
如图6至图8所示，当履带11已经上完末级楼梯时，楼梯攀爬装置100的重心已经完全落在楼梯的平地侧，则可以控制第二推杆62收缩，以使支撑件31收回至底盘12内，从而将楼梯攀爬装置100切换为可任意推行的平地模式。
在某一个实施例中，压力传感器51包括条形压力传感器，条形压力传感器沿履带11的行进方向分布。
在本实施例中，条形压力传感器沿履带11的行进方向分布，其前端靠近履带11的前端(按照履带11的前进方向将履带11划分成前端和后端)，其后端靠近履带11的末端。
在实际操作过程中，条形压力传感器与楼梯边缘接触的部分受压，与楼梯边缘不接触的部分则不受压，因此当条形压力传感器从部分受压改变为完全不受压时，则表明履带11已经到达末级楼梯。
在另外一个实施例中，压力传感器51包括多个单点压力传感器，多个单点压力传感器沿履带11的行进方向呈条状密集分布。
在本实施例中，由于多个单点压力传感器沿履带11的行进方向并且呈条状密集分布，因此多个单点压力传感器能够检测履带11部分距离的压力分布，进而判断履带11所处的位置。
具体地，在楼梯攀爬装置100上楼过程中，前端部分的单点压力传感器先与楼梯边缘接触受压，后端部分的单 点压力传感器还未与楼梯边缘接触受压，然后前端部分的单点压力传感器和后端部分的单点压力传感器轮流与楼梯边缘接触受压。当履带11到达末级楼梯时，前端部分的单点压力传感器和后端部分的单点压力传感器均不受压。因此，当接收到所有单点压力传感器均不受压的检测信号时，可以判断履带11已经到达末级楼梯。
请参阅图1，在某一个实施例中，台阶识别组件50还包括缓冲件52，缓冲件52设置在底盘12与履带11之间，压力传感器51设置在缓冲件52上并贴近履带11。
在履带11运行过程中，履带11会与底盘12的焊接支架摩擦，影响履带11的行进速度。
为解决以上问题，本实施例通过在底盘12与履带11之间设置缓冲件52，可以降低上楼时履带11与焊接支架的摩擦。而压力传感器51安装在缓冲件52上靠近履带11的位置，可采集履带11的受力分布情况。
进一步地，缓冲件52一直从底盘12的前端延伸至底盘12的末端，能够减小整条履带11与底盘12的摩擦。
在某一个具体实施例中，缓冲件52包括尼龙垫块。
由于尼龙垫块耐磨性能优越，能增加履带11和底盘12的焊接支架的使用寿命，同时由于其重量轻、方便安装，因此不会大幅增加楼梯攀爬装置100的重量。
在其他实施例中，缓冲件52还可以为其他结构，在此不做具体限定。
在某一个实施例中，楼梯攀爬装置100还包括柔性件，柔性件填充在缓冲件52与压力传感器51之间。
在本实施例中，柔性件为柔性材料。当把压力传感器51安装在尼龙垫块对应的位置上时，在缓冲件52(传感器安装面的一侧)与底盘12的焊接支架之间垫入一定量的柔性材料，来保证每个压力传感器51在信号输入时均能充分受压，同时不至于损坏压力传感器51。
在某一个实施例中，压力传感器51对称分布在两侧的履带11上。
在本实施例中，由于履带11分别位于底盘12的左右两侧，压力传感器51可以对称分布在两侧的履带11上，每一侧压力传感器51独立的信号输入，这样可以保证爬楼机在楼梯上发生偏移时(一侧压力传感器51触发，另一侧压力传感器51还没触发)进行调整，使两侧压力传感器51同时触发再进行下一步动作。
在上述实施例中，通过压力传感器51的受力情况可以识别履带11到达末级楼梯，进而直接触发楼梯攀爬装置100启动末级楼梯处理方案。
在其他实施例中，也可以通过其他方式辅助触发楼梯攀爬装置100启动末级楼梯处理方案。
请参阅图1，在某一个实施例中，末级台阶识别件还包括测距传感器55，测距传感器55用于检测履带11的行进方向上是否有障碍物。控制单元70用于在测距传感器55检测到履带11的行进方向上无障碍物时，判断履带11到达末级楼梯。
在本实施例中，测距传感器55用于检测该点特定方向是否有障碍物，以判断履带11的行进方向上是否有楼梯，若有，则判断履带11还未到达末级楼梯；若无，则判断履带11已经到达末级楼梯，从而触发楼梯攀爬装置100启动末级楼梯处理方案。
需要说明的是，本实施例中的测距传感器55包括但不限于水平的红外测距传感器或超声测距传感器。
请参阅图1，在某一个实施例中，末级台阶识别件还包括第一开关53，第一开关53设置在底盘12上并贴近履带11，同时靠近压力传感器51的末端。控制单元70用于：
在履带11处于上楼模式，并且依次接收到压力传感器51输出由受压改变为完全不受压的检测信号和第一开关53输出受压状态发生改变的开关信号时，判断履带11到达末级楼梯。
在本实施例中，第一开关53用于触发楼梯攀爬装置100启动末级楼梯处理方案。
具体地，第一开关53靠近压力传感器51设置，当压力传感器51由受压变成完全不受压时，此时不直接触发启动末级楼梯处理方案，而是当第一开关53也输出开关信号时，才触发启动末级楼梯处理方案，开关触发更加快速精准。
在履带11上行末级楼梯的过程中，压力传感器51的每个位置会依次接触末级楼梯，而第一开关53也会与末级楼梯接触，并输出受压状态发生改变的开关信号，例如由不受压变成受压或者由受压变成不受压。控制单元70在接收到的压力传感器51输出由受压改变为完全不受压的检测信号和第一开关53输出受压状态发生改变的开关信号后，控制支撑件31伸出，以使支撑件31支撑楼梯攀爬装置100，此时履带11继续上行。当履带11上完末级楼梯后，控制单元70控制第二推杆62收缩，以使支撑件31收回至底盘12内。
在一个具体实施例中，第一开关53包括但不限于单点压力传感器或机械触点开关。
请参阅图1，在某一个实施例中，角度检测组件40还包括第二角度检测件42，第二角度检测件42用于检测底盘12的角度。台阶识别组件50还包括第二开关54，第二开关54设置在底盘12上并贴近履带11，同时与第一开关53间隔，用于检测履带11的受压情况。
在本实施例中，底盘12的角度为底盘12与水平面的夹角，通常情况下底盘12位于平地时的角度为0°，但也 可以是十几度等其它的角度。
第二角度检测件42用于检测上下楼时底盘12的角度。在一个实施例中，第二角度检测件42设置在底盘12上，或者设置在与底盘12刚性连接的部件上。
第二开关54设置在底盘12上，当履带11行进至该位置时，第二开关54输出开关信号，例如由不受压变成受压的开关信号或者由受压变成不受压的开关信号，该开关信号用于进一步触发控制单元70控制第二推杆62的伸缩量。
在某一个实施例中，控制单元70还用于：
在履带11处于上楼模式，并到达末级楼梯时，控制第二推杆62从底盘12内伸出，以使支撑件31伸出至接触末级楼梯面而使楼梯攀爬装置100处于平衡状态；
控制履带11上行，并控制第二推杆62继续伸出；
在履带11与末级楼梯的接触位置由受压变为不受压，或者底盘12的角度开始发生变化时，将接触位置由受压变为不受压时或者底盘12的角度开始变化时底盘12的临界角度作为第一预设角，第一预设角与楼梯倾角相等；
控制履带11继续行进，同时控制第二推杆62继续伸出，以使底盘12的角度保持为第一预设角；
控制履带11继续行进，直至履带11已经上完末级楼梯时，控制第二推杆62收缩，以使支撑件31收回至底盘12内。
具体地，假设楼梯倾角为∠3。在上楼过程中，当履带11从低平地依次登上首级楼梯、多级中部楼梯、末级楼梯、高平地时，底盘12的角度依次为：0°、由0°增加至∠3、保持∠3、由∠3减小至0°、保持为0°。
本实施例中结合履带11的运行状态和底盘12的角度，在履带11上完末级楼梯前，提前控制第二推杆62伸出，支撑件31预先着地，以使底盘12的角度保持与楼梯倾角∠3相等的第一预设角，然后再配合履带11的行走速度，控制第二推杆62继续伸出或者收缩，从而完成末级楼梯上楼操作。
在某一个实施例中，控制单元70还用于：
在履带11处于上楼模式，并到达末级楼梯时，控制第二推杆62从底盘12内伸出，以使支撑件31伸出至接触末级楼梯面而使楼梯攀爬装置100处于平衡状态；
控制履带11上行，并控制第二推杆62继续伸出；
在接收到第一开关53输出由受压变为不受压的开关信号，或者第二角度检测件42检测到底盘12的角度开始发生变化时，将第一开关53由受压变为不受压时或者底盘12的角度开始变化时底盘12的临界角度作为第一预设角，同时控制履带11继续运行，并控制第二推杆62继续伸出，以使底盘12的角度保持为第一预设角；在接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62的伸出量不变，以使楼梯攀爬装置100整体处于平衡状态；
控制履带11继续行进，直至履带11已经上完末级楼梯时，控制第二推杆62收缩，以使支撑件31收回至底盘12内。
本实施例中，考虑到上下楼时，履带11的不同位置与末级楼梯边缘接触时，楼梯攀爬装置100的重心偏移情况不同，因此，可以结合第二开关54输出的开关信号、履带11的运行状态、第二角度检测件42的检测结果综合控制上下楼时支撑件31的伸缩量，以使楼梯攀爬装置100在上下楼时整体均处于平衡状态。
具体地，假设楼梯倾角为∠3。在上楼过程中，当履带11从低平地依次登上首级楼梯、多级中部楼梯、末级楼梯、高平地时，第二角度检测件42检测到的底盘12的角度依次为：0°、由0°增加至∠3、保持∠3、由∠3减小至0°、保持为0°。对应地，在下楼过程中，当履带11从高平地依次下行至末级楼梯、多级中部楼梯、首级楼梯、低平地时，第二角度检测件42检测到的底盘12的角度依次为：0°、由0°增加至∠3、保持∠3、由∠3减小至0°、保持为0°。
可以理解，在实际运行过程中，当履带11到达末级楼梯时，无论是上楼操作中底盘12的角度由∠3减小至0°，还是下楼操作中底盘12的角度由0°增加至∠3，若减小速度或者增加速度过快，都极易导致楼梯攀爬装置100处于失衡。
因此，本实施例中结合履带11的运行状态和第二角度检测件42检测到的底盘12的角度，在履带11上完末级楼梯前，提前控制第二推杆62伸出，支撑件31预先着地，以使底盘12的角度过渡至与楼梯倾角相等的第一预设角，然后再配合履带11的行走速度，控制第二推杆62继续伸出或者收缩，从而完成末级楼梯上楼操作。
为更好地理解本发明的楼梯攀爬装置100结构及其控制逻辑，如图1至图8所示，结合压力传感器51、第一开关53、第二开关54、第一角度检测件41、第二角度检测件42的检测结果，楼梯攀爬装置100上楼的工作流程如下：
(1)楼梯攀爬装置100靠近首级台阶边缘，准备上楼。
(2)控制履带11上行至中部楼梯，此时底盘12与楼梯平行。
(3)当检测到压力传感器51由受压改变为完全不受压，并且第一开关53受压时，判断履带11已经到达末级楼梯，从而触发上楼末级楼梯处理方案，控制单元70控制履带11继续上行，同时控制第二推杆62从底盘12内伸出，支撑件31伸出并接触到末级楼梯面而使楼梯攀爬装置100处于平衡状态。同时第一角度检测件41监测载物板20的角度以使其始终保持在平衡角范围内。
其中，支撑件31伸出至接触末级楼梯面判断标准为：
①当支撑件31支撑起底盘12，直至履带11脱离与末级楼梯边缘的接触时，压力传感器51的末端或者第一开关53会由受压变为不受压，此时底盘12的角度也会由原先与楼梯倾角∠3平行的角度，开始逐渐增大；
②第二角度检测件42检测到底盘12的角度开始发生变化时，对该临界角度a进行记忆，此时a与楼梯倾角∠3相等。
(4)控制履带11继续进行上行，控制单元70控制第二推杆62不断伸出，以保证第二角度检测件42检测到底盘12的角度a(即上述的第一预设角)保持不变。
(5)当控制单元70接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62的伸出量不变，此时底盘12开始相对末级楼梯翻转，第二角度检测件42检测到底盘12的角度从a开始减小。
(6)当履带11上完末级楼梯后，控制单元70控制第二推杆62逐渐收缩，以使支撑件31收回至底盘12内，而第二角度检测件42检测到底盘12的角度逐渐减小至0°，直至底盘12的角度保持为0°，从而完成末级楼梯处理。
在某一个实施例中，控制单元70还用于：
在履带11处于下楼模式，并到达末级楼梯时，控制第二推杆62从底盘12内伸出，以使支撑件31伸出至接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态；
控制履带11下行，并控制第二推杆62继续伸出；
在履带11与末级楼梯的接触位置由受压变为不受压时，将接触位置由受压变为不受压时底盘12的临界角度作为第二预设角，第二预设角与楼梯倾角相等，控制履带11继续下行和支撑件31收回，同时保持底盘12的角度为第二预设角，直至支撑件31完全收回至底盘12内。
在本实施例中，当楼梯攀爬装置100移动至末级楼梯边缘时，通过伸出支撑件31，支撑起底盘12，随着第二推杆62的不断伸出，履带11与末级楼梯的接触位置逐渐由受压变为不受压，将当前底盘12的临界角度作为第二预设角c，因为第二预设角c与楼梯倾角∠3相等，则能够使底盘12的角度保持与楼梯倾角∠3相等。
因此，本实施例中结合履带11的压力分布情况和底盘12的角度，在履带11下完末级楼梯前，提前将底盘12的角度过渡至第二预设角c(此时底盘12与楼梯平行)，实现履带11末级楼梯平衡过渡。
在某一个实施例中，控制单元70还用于：
在履带11处于下楼模式，并到达末级楼梯时，控制第二推杆62从底盘12内伸出，直至支撑件31接触末级楼梯面，并且第二角度检测件42检测到底盘12的角度到达第三预设角；
控制履带11下行，直至在接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11停止运行，同时控制第二推杆62继续伸出；
在接收到第二开关54输出由受压变为不受压的开关信号时，将第二角度检测件42当前检测到的底盘12的临界角度作为第二预设角，第二预设角与楼梯倾角相等，同时控制履带11继续运行，同时控制第二推杆62收缩，以使底盘12的角度保持为第二预设角；
在接收到第一开关53输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62继续收缩，以使支撑件31收回至底盘12内。
本实施例中结合履带11的运行状态和第二角度检测件42检测到的底盘12的角度，在履带11下完末级楼梯前，提前控制第二推杆62伸出，支撑件31预先着地，以使底盘12的角度先过渡至与楼梯倾角相等的第三预设角，然后再配合履带11的行走速度，控制第二推杆62继续伸出或者收缩，从而完成末级楼梯下楼操作。
为更好地理解本发明的楼梯攀爬装置100结构及其控制逻辑，如图1至图8所示，结合压力传感器51、第一开关53、第二开关54、第一角度检测件41、第二角度检测件42的检测结果，楼梯攀爬装置100下楼的工作流程如下：
(1)第一推杆61和第二推杆62均收缩到底盘12的最里面，楼梯攀爬装置100移动至末级楼梯，准备下楼。
(2)先控制第二推杆62提前伸出，使支撑件31伸出并接触到末级楼梯面，直至第二角度检测件42识别到底盘12的角度为第三预设角b，其中第三预设角b小于等于楼梯倾角∠3。此时，第一推杆61也同步伸出，同步协调保证载物板20的平衡。
(3)控制履带11开始沿着末级楼梯下行，支撑件31辅助在平地移动，直至在控制单元70控制接收到第二开 关54输出受压状态发生改变的开关信号时，控制履带11停止前行，并控制第二推杆62继续伸出，在此过程中底盘12的角度由角b逐渐增大；
(4)当底盘12的角度增大到使履带11与末级楼梯边缘的接触位置由受压变为不受压时，第二开关54输出由受压变为不受压的开关信号，此时第二角度检测件42记录此时底盘12的临界角度，并作为第二预设角c，其中该临界角度与楼梯倾角∠3相等。同时，控制单元70控制履带11继续运行，同时控制第二推杆62开始收缩，以使底盘12的角度保持为第二预设角c。
(5)控制履带11继续沿着末级楼梯下行，在第一开关53输出受压状态发生改变的开关信号时，控制履带11继续运行，协同控制第二推杆62继续收缩，直至支撑件31完全收回至底盘12内，完成末级楼梯下楼处理。
在本实施例中，当楼梯攀爬装置100移动至末级楼梯边缘时，通过伸出支撑件31，将底盘12的角度先过渡至第三预设角b，然后在履带11下行过程中，支撑件31继续伸出而顶起底盘12，直至底盘12的角度开始变化时，控制支撑件31的伸出量，使底盘12的角度维持在第二预设角c(此时底盘12与楼梯平行)，实现履带11末级楼梯平衡过渡。
相较于将底盘12的角度从0增加至c，本实施例将底盘12的角度从0增加至b，然后再从b增加至c，底盘12翻转平缓，有利于实现楼梯攀爬装置100的整体平衡。
此外，不同的楼梯倾角∠3对应的底盘12的角度开始变化的角度不同，第二角度检测件42能够检测第二开关54由受压变为不受压时底盘12的临界角度，因此对于不同的楼梯倾角∠3，第二角度检测件42均能够检测出来并反馈第二预设角c，以使底盘12保持以第二预设角c下行，从而使楼梯攀爬装置100到达平衡状态。
在一个具体实施例中，第二角度检测件42包括但不限于陀螺仪、加速度传感器或其他运动处理传感器。
请参阅图6，在一个具体实施例中，台阶识别组件还包括用于采集履带11的末端受力情况的第三开关56，第三开关56设置在底盘12靠近地面的末端位置，以识别履带11是否到达末级楼梯。其中，第三开关56包括但不限于单点压力传感器或机械触点开关。
在履带11处于上楼模式过程中，若判断履带11的前端已经到达末级楼梯，则进一步判断第三开关56是否受压，以判断履带11的末端是否受压，若是，则判断履带11已经上完末级楼梯，若否，则判断履带11还未上完末级楼梯。
在履带11处于下楼模式过程中，若第三开关56受压，则表明履带11的末端已经到达末级楼梯边缘，此时控制单元70控制第二推杆62从底盘12内伸出，直至支撑件31接触末级楼梯面，然后执行具体的下楼末级楼梯处理方案。
在其他实施例的下楼操作中，也可由操作人员判断是否到达末级楼梯边缘，若是，则向控制单元70发出指令，以使控制单元70控制第二推杆62从底盘12内伸出，直至支撑件31接触末级楼梯面，然后执行具体的下楼末级楼梯处理方案。
在某一个实施例中，底盘12与履带11的接触面存在长边中心线，第二开关54位于第一开关53与该长边中心线之间。
可以理解，由于履带11分别位于底盘12的左右两侧，因此底盘12与履带11存在2个接触面，每个接触面均存在长边中心线，第二开关54位于第一开关53与任一长边中心线之间，无论是上楼触发控制单元70控制履带11继续运行，同时控制第二推杆62的伸出量不变，还是下楼时触发控制单元70控制履带11继续运行，同时控制第二推杆62收缩以使底盘12的角度保持为第二预设角，均能使楼梯攀爬装置100过渡平稳。
在一个具体实施例中，第二开关54包括但不限于单点压力传感器或机械触点开关。
由于楼梯制式的差异或者建造差异，不同楼梯之间仍存在差别，例如两级台阶边缘间距不同，有些楼梯的两级台阶边缘间距较大，而有些楼梯的两级台阶边缘间距较小，因此，若压力传感器51的工作长度固定不变，则有可能出现覆盖不了两级台阶边缘的情况。
为解决上述问题，请参阅图9，在某一个实施例中，楼梯攀爬装置100还包括伸缩机构80，伸缩机构80设置在底盘12上，压力传感器51设置在伸缩机构80上，伸缩机构80能够调节压力传感器51的工作长度。
在本实施例中，压力传感器51实际的总长度大于等于压力传感器51的工作长度。其中，压力传感器51的工作长度是指压力传感器51实际能够接触履带11的长度，以采集履带11与楼梯边缘的压力分布情况。
因此，针对不同间距的楼梯，操作者可以通过伸缩机构80调节压力传感器51的工作长度，使得压力传感器51实际的工作长度大于等于两级台阶边缘的间距并且小于三级台阶边缘的间距，从而至少覆盖两级台阶边缘。
在一个实施例中，底盘12与履带11之间填充有缓冲件52，缓冲件52开设有凹槽，伸缩机构80容纳于凹槽内。
在一个实施例中，台阶识别组件50还包括第一开关53和第二开关54，第一开关53设置在伸缩机构80上并靠近压力传感器51的末端，第二开关54设置在底盘12上并且与第一开关53间隔。
请继续参阅图9，在某一个实施例中，伸缩机构80包括滚动轴81、轨道82和档位调节件83。滚动轴81设置在底盘12的内侧。轨道82绕设在滚动轴81的两侧，轨道82的其中一部分暴露于底盘12的外侧并贴近履带11，另外一部分内藏于底盘12的内侧，压力传感器51设置在轨道82上。档位调节件83与轨道82连接，并且用于调节轨道82与履带11的相对位置，以改变压力传感器51接触履带11的长度。
在本实施例中，滚动轴81用于改变轨道82的延伸方向，使轨道82的一部分暴露于底盘12的外侧并贴近履带11，一部分内藏于底盘12内侧。档位调节件83用于对轨道82施加拉力，以改变轨道82相对底盘12的位置，当轨道82相对底盘12的位置改变时，设置在轨道82上的压力传感器51接触履带11的长度也会改变。
在一个具体实施例中，档位调节件83可以为自动调节档位结构，例如电机。示例性地，电机设置在底盘12的内侧，并且电机的输出轴与滚动轴81传动连接，轨道82与滚动轴81传动连接。当操作者需要调节压力传感器51的工作长度时，启动电机，电机正向或者逆向转动而带动滚动轴81转动，滚动轴81带动轨道82相对履带11内缩或外伸一段距离，改变了压力传感器51接触履带11的长度，以使压力传感器51改变后的工作长度能够与楼梯间距相适应。
在另一个具体实施例中，档位调节件83还可以为机械调节档位结构，例如销钉与档位通孔。示例性地，销钉与轨道82连接，当销钉插设在不同位置的档位卡扣时，轨道82暴露于底盘12的外侧并贴近履带11的长度不同。当操作者需要调节压力传感器51的工作长度时，将销钉插设在合适的档位通孔上，轨道82相对履带11内缩或外伸一段距离，以使压力传感器51改变后的工作长度能够与楼梯间距相适应。
在其他实施例中，当操作者需要调节压力传感器51的工作长度时，也可以直接人为调节压力传感器51的工作长度，并固定调节后压力传感器51的工作长度。
请参阅图1，在某一个实施例中，楼梯攀爬装置100还包括扶手90，扶手90与底盘12铰接，并且与载物板20固接。扶手90上安装有启动按钮，启动按钮与控制单元70电性连接。
在本实施例中，扶手90便于操作者操作。在实际使用过程中，操作者通过启动按钮启动楼梯攀爬装置100，从而进行上下楼操作。
请参阅图1，在某一个实施例中，楼梯攀爬装置100还包括辅助轮110，辅助轮110设置在载物板20的末端，在辅助轮110和支撑件31均着地时，履带11被抬升远离地面。
在本实施例中，辅助轮110用于辅助支撑件31实现楼梯攀爬装置100便携移动。
具体地，如图3至图7所示，辅助轮110设置在载物板20的末端，在履带11上下楼运行过程中，辅助轮110因载物板20保持在平衡角范围内而被抬升。如图2或者图8所示，当履带11到达平地时，辅助轮110着地，履带11被抬升远离地面，以辅助轮110和支撑件31的形式前进。
请参阅图10，本发明实施例还提供一种楼梯攀爬装置的控制方法，应用于如上述任意一个实施例中的楼梯攀爬装置100，控制方法包括以下步骤：
S10、根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行状态，协同控制调节机构60驱动载物板20转动、驱动支撑件31伸出或者收回，以使履带11在运行过程中楼梯攀爬装置100处于平衡状态。
本实施例中的楼梯攀爬装置的控制方法不仅能够自动调节载物板20平衡，还能够调节机身平衡。
请参阅图11，在某一个实施例中，步骤S10具体包括以下步骤：
S11、在角度检测组件40检测到载物板20的角度不在平衡角范围内时，控制调节机构60将载物板20的角度调节至平衡角范围，以使载物板20处于平衡状态；
S12、在台阶识别组件50识别到履带11到达末级楼梯时，控制履带11继续运行，同时控制调节机构60驱动支撑件31从底盘12内伸出至接触末级楼梯面，以使楼梯攀爬装置100处于平衡状态。
可以理解的是，载物板20处于平衡状态是指载物板20的角度落在平衡角范围内，此时设置在载物板20上的货物或者轮椅不会倾翻。该平衡角范围可以为楼梯攀爬装置100出厂时设定，也可以根据用户需求、实际搬运场景设定，以防止在各种场景中货物发生倾翻。
在实际使用过程中，当角度检测组件40检测到载物板20的角度落在平衡角范围内时，调节机构60不动，载物板20的角度保持不变；当角度检测组件40检测到载物板20的角度不在平衡角范围内时，控制单元70根据二者的差值输出控制信号至调节机构60，以使调节机构60带动载物板20旋转，从而将载物板20的角度调节至平衡角范围内。
示例性地，假设载物板20的平衡角范围为∠1～∠2。若载物板20的角度小于∠1，偏离平衡角范围，则控制单元70根据二者的差值控制调节机构60驱动载物板20向上转动，直至满足载物板20的角度调节至∠1～∠2内。若载物板20的角度落在∠1～∠2内，则调节机构60不动，载物板20也保持不动。若载物板20的角度大于∠2， 也偏离平衡角范围，则控制单元70根据二者的差值控制调节机构60驱动载物板20向下转动，直至满足载物板20的角度调节至∠1～∠2内。
进一步地，控制单元70不仅能够自动调节载物板20平衡，还能够调节机身平衡。
在履带11处于上楼模式时，若履带11的前端已经到达末级楼梯，为防止底盘12因处于末级楼梯导致楼梯攀爬装置100的重心偏移平衡位置，此时控制单元70控制支撑件31从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100得重心落在悬空的楼梯上而失衡倾翻。
当履带11已经上完末级楼梯时，楼梯攀爬装置100的重心已经完全落在楼梯的平地侧，则可以控制支撑件31收回至底盘12内，从而将楼梯攀爬装置100切换为可任意推行的平地模式。
在履带11处于下楼模式时，若履带11的末端已经到达末级楼梯，此时控制单元70控制支撑件31从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100得重心落在悬空的楼梯上而失衡倾翻。在履带11下行两级楼梯后，此时楼梯攀爬装置100的重心已经完全落在楼梯侧，则可以控制支撑件31收回至底盘12内，从而使楼梯攀爬装置100继续下行。
需要说明的是，在调节过程中，载物板20翻转的速度、支撑件31伸出或者收回的速度均与履带11行进的速度同步协调。
具体地，在调节载物板20的角度过程中，协调控制履带11行进的速度。并且在调节机构60调节支撑件31的过程中，协调控制履带11行进的速度。
在一个实施例中，在调节机构60驱动载物板20转动、或者驱动支撑件31伸出或收回时，减小履带11的行进速度，直至调节完毕，恢复履带11原行进速度。
可以理解，在调节载物板20或支撑件31时，相应减少履带11的行进速度，能够减少楼梯攀爬装置100的晃动。在调节完毕后，恢复履带11原行进速度，又能使履带11保持较高的上下楼效率。
综上，本发明的楼梯攀爬装置的控制方法中，根据角度检测组件40的检测结果、台阶识别组件50的识别结果以及履带11的运行状态，协调控制调节机构60驱动载物板20转动以及支撑件31伸出或者收回，不仅调节载物板20平衡，防止货物或者轮椅倾翻，还调节机身平衡，使得楼梯攀爬装置100整体在运行过程中始终处于平衡状态，防止机身倾翻，从而避免倾翻事故的发生。同时，本发明的楼梯攀爬装置100的控制方法也无需依赖于操作者对机身重心把握是否准确，即可自动调节载物板20平衡和机身平衡，自动化程度高，安全性也更高。
在某一个实施例中，步骤S11中的在角度检测组件40检测到载物板20的角度不在平衡角范围内时，控制调节机构60将载物板20的角度调节至平衡角范围内，以使载物板20处于平衡，具体包括以下步骤：
在根据角度检测组件40的第一角度检测件41输出的角度信号，判断载物板20的角度不在平衡角范围内时，控制调节机构60的第一推杆61伸缩，以使载物板20的角度调节至平衡角范围内。
其中，第一角度检测件41设置在载物板20上，第一推杆61的一端与底盘12铰接，第一推杆61的另一端与载物板20连接。
在本实施例中，第一角度检测件41检测载物板20的角度，然后向控制单元70输出包含载物板20角度信息的角度信号，控制单元70根据角度信号判断载物板20的角度是否落在平衡角范围内。当判断载物板20的角度落在平衡角范围内时，控制单元70不输出控制信号至第一推杆61，载物板20的角度保持不变；当判断载物板20的角度不在平衡角范围内时，控制单元70根据二者的差值输出控制信号至第一推杆61，以使第一推杆61伸缩而带动载物板20旋转，从而将载物板20的角度调节至平衡角范围内。
请参阅图12，在某一个实施例中，步骤S12中的在台阶识别组件50识别到履带11到达末级楼梯时，控制履带11运行，同时控制调节机构60驱动支撑件31从底盘12内伸出至接触末级楼梯面，以使楼梯攀爬装置100处于平衡状态，具体包括以下步骤：
S121、在履带11处于上楼模式，并且台阶识别组件50的末级台阶识别件识别到履带11到达末级楼梯时，控制调节机构60的第二推杆62从底盘12内伸出，以使支撑件31接触末级楼梯面而使楼梯攀爬装置100处于平衡状态；
S122、控制履带11继续行进，直至履带11已经上完末级楼梯时，控制第二推杆62收缩，以使支撑件31收回至底盘12内。
其中，第二推杆62的一端与底盘12铰接，第二推杆62的另一端与连接臂32连接。
如图4和图5所示，当识别履带11到达末级楼梯后，控制单元70根据压力传感器51输出的检测信号，控制第二推杆62从底盘12内伸出，支撑件31接触末级楼梯面，从而将楼梯攀爬装置100的重心落在楼梯的平地侧，防止楼梯攀爬装置100的重心落在悬空的楼梯上而失衡倾翻。
如图6至图8所示，当履带11已经上完末级楼梯时，此时楼梯攀爬装置100的重心已经完全落在楼梯的平地 侧，则可以控制第二推杆62收缩，以使支撑件31收回至底盘12内，从而将楼梯攀爬装置100切换为可任意推行的平地模式。
在某一个实施例中，步骤S12中的履带11处于上楼模式，并且台阶识别组件50的末级台阶识别件识别履带11到达末级楼梯，具体包括以下方式：
当检测到末级台阶识别件的压力传感器51由受压改变为完全不受压时，判断履带11到达末级楼梯；其中，压力传感器51设置在底盘12上并贴近履带11，并且压力传感器51的工作长度大于等于两级台阶边缘的间距并且小于三级台阶边缘的间距；
或者，当依次检测到压力传感器51由受压改变为完全不受压以及台阶识别组件50的第一开关53受压状态发生改变时，判断履带11到达末级楼梯；其中，第一开关53设置在底盘12上并贴近履带11，同时靠近压力传感器51的末端；
或者，当台阶识别组件50的测距传感器55检测到履带11的行进方向上无障碍物时，判断履带11到达末级楼梯。
在本实施例中，触发控制单元70执行末级楼梯处理方案有多种方式。
其中一种触发方式为压力传感器51直接触发，当压力传感器51由受压改变为完全不受压时，判断履带11到达末级楼梯，进而触发末级楼梯处理方案。
另外一种触发方式为压力传感器51和第一开关53双条件触发，当依次识别到压力传感器51由受压改变为完全不受压，并且第一开关53受压状态发生改变时，判断履带11到达末级楼梯，进而触发末级楼梯处理方案。
还有一种触发方式为测距传感器55触发，当测距传感器55检测到履带11的行进方向上无障碍物时，判断履带11到达末级楼梯，进而触发末级楼梯处理方案。
请参阅图13，在某一个实施例中，在步骤S121之后，在步骤S122之前，步骤S12具体还包括以下步骤：
S123、在接收到台阶识别组件50的第一开关53输出由受压变为不受压的开关信号，或者接收到角度检测组件40的第二角度检测件42检测到底盘12的角度开始变化的角度信号时，将第一开关53由受压变为不受压时或者底盘12的角度开始变化时底盘12的临界角度作为第一预设角，所述第一预设角与楼梯倾角相等，同时控制履带11继续运行，并控制第二推杆62继续伸出，以使底盘12的角度保持为第一预设角；
S124、在接收到台阶识别组件50的第二开关54输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62的伸出量不变，以使楼梯攀爬装置100整体处于平衡状态。
在本实施例中，底盘12的角度为底盘12与水平面的夹角，通常情况下底盘12位于平地时的角度为0°，但也可以是十几度等其它的角度。第二角度检测件42用于检测上下楼时底盘12的角度。
第二开关54设置在底盘12上，当履带11行进至该位置时，第二开关54输出开关信号，该开关信号用于进一步触发控制单元70控制第二推杆62的伸缩量。
考虑到上下楼时，履带11的不同位置与末级楼梯边缘接触时，楼梯攀爬装置100的重心偏移情况不同，因此，可以结合第二开关54输出的开关信号、履带11的运行状态、第二角度检测件42的检测结果综合控制上下楼时支撑件31的伸缩量，以使楼梯攀爬装置100在上下楼时整体均处于平衡状态。
具体地，假设楼梯倾角为∠3。在上楼过程中，当履带11从低平地依次登上首级楼梯、多级中部楼梯、末级楼梯、高平地时，第二角度检测件42检测到的底盘12的角度依次为：0°、由0°增加至∠3、保持∠3、由∠3减小至0°、保持为0°。对应地，在下楼过程中，当履带11从高平地依次下行至末级楼梯、多级中部楼梯、首级楼梯、低平地时，第二角度检测件42检测到的底盘12的角度依次为：0°、由0°增加至∠3、保持∠3、由∠3减小至0°、保持为0°。
可以理解，在实际运行过程中，当履带11到达末级楼梯时，无论是上楼操作中底盘12的角度由∠3减小至0°，还是下楼操作中底盘12的角度由0°增加至∠3，若减小速度或者增加速度过快，都极易导致楼梯攀爬装置100处于失衡。
因此，本实施例中结合履带11的运行状态和第二角度检测件42检测到的底盘12的角度，在履带11上完末级楼梯前，提前控制第二推杆62伸出，支撑件31预先着地，以使底盘12的角度保持与楼梯倾角相等的第一预设角，然后再配合履带11的行走速度，控制第二推杆62继续伸出或者收缩，从而完成末级楼梯上楼操作。
为更好地理解本发明的楼梯攀爬装置100结构及其控制逻辑，如图1至图8所示，结合压力传感器51、第一开关53、第二开关54、第一角度检测件41、第二角度检测件42的检测结果，楼梯攀爬装置100上楼的工作流程如下：
(1)楼梯攀爬装置100靠近首级台阶边缘，准备上楼。
(2)控制履带11上行至中部楼梯，此时底盘12与楼梯平行。
(3)当检测到压力传感器51由受压改变为完全不受压，并且第一开关53受压时，判断履带11已经到达末级 楼梯，从而触发上楼末级楼梯处理方案，控制单元70控制履带11继续上行，同时控制第二推杆62从底盘12内伸出，支撑件31伸出并接触到末级楼梯面而使楼梯攀爬装置100处于平衡状态。同时第一角度检测件41监测载物板20的角度以使其始终保持在平衡角范围内。其中，支撑件31伸出至接触末级楼梯面判断标准为：
①当支撑件31支撑起底盘12，直至履带11脱离与末级楼梯边缘的接触时，压力传感器51的末端或者第一开关53会由受压变为不受压，此时底盘12的角度也会由原先与楼梯倾角∠3平行的角度，开始逐渐增大；
②第二角度检测件42检测到底盘12的角度开始发生变化时，对该临界角度a进行记忆，此时a与楼梯倾角∠3相等。
(4)控制履带11继续进行上行，控制单元70控制第二推杆62不断伸出，以保证第二角度检测件42检测到底盘12的角度a(即上述的第一预设角)保持不变。
(5)当控制单元70接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62的伸出量不变，此时底盘12开始相对末级楼梯翻转，第二角度检测件42检测到底盘12的角度从a开始减小。
(6)当履带11上完末级楼梯后，控制单元70控制第二推杆62逐渐收缩，以使支撑件31收回至底盘12内，而第二角度检测件42检测到底盘12的角度逐渐减小至0°，直至底盘12的角度保持为0°，从而完成末级楼梯处理。
请参阅图14，在某一个实施例中，步骤S12具体还包括以下步骤：
S125、在履带11处于下楼模式，并且台阶识别组件50的末级台阶识别件识别到履带11到达末级楼梯时，控制第二推杆62从底盘12内伸出，直至支撑件31接触末级楼梯面，并且第二角度检测件42检测到底盘12的角度到达第三预设角；
S126、控制履带11下行，直至在接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11停止运行，同时控制第二推杆62继续伸出；
S127、在接收到第二开关54输出由受压变为不受压的开关信号时，将第二角度检测件42当前检测到的底盘12的临界角度作为第二预设角，第二预设角与楼梯倾角相等，同时控制履带11继续运行，并控制第二推杆62收缩，以使底盘12的角度保持为第二预设角；
S128、在接收到第一开关53输出受压状态发生改变的开关信号时，控制履带11继续运行，同时控制第二推杆62继续收缩，以使支撑件31收回至底盘12内。
本实施例中结合履带11的运行状态和第二角度检测件42检测到的底盘12的角度，在履带11下完末级楼梯前，提前控制第二推杆62伸出，支撑件31预先着地，以使底盘12的角度先过渡至与楼梯倾角相等的第三预设角，然后再配合履带11的行走速度，控制第二推杆62继续伸出或者收缩，从而完成末级楼梯下楼操作。
为更好地理解本发明的楼梯攀爬装置100结构及其控制逻辑，如图1至图8所示，结合压力传感器51、第一开关53、第二开关54、第一角度检测件41、第二角度检测件42的检测结果，楼梯攀爬装置100下楼的工作流程如下：
(1)第一推杆61和第二推杆62均收缩到底盘12的最里面，楼梯攀爬装置100移动至末级楼梯，准备下楼。
(2)先控制第二推杆62提前伸出，使支撑件31伸出并接触到末级楼梯面，直至第二角度检测件42识别到底盘12的角度为第三预设角b，其中第三预设角b小于等于楼梯倾角∠3。此时，第一推杆61也同步伸出，同步协调保证载物板20的平衡。
(3)控制履带11开始沿着末级楼梯下行，支撑件31辅助在平地移动，直至在控制单元70控制接收到第二开关54输出受压状态发生改变的开关信号时，控制履带11停止前行，并控制第二推杆62继续伸出，在此过程中底盘12的角度由角b逐渐增大；
(4)当底盘12的角度增大到使履带11与末级楼梯边缘的接触位置由受压变为不受压时，第二开关54输出由受压变为不受压的开关信号，此时第二角度检测件42记录此时底盘12的临界角度，并作为第二预设角c，其中该临界角度与楼梯倾角∠3相等。同时，控制单元70控制履带11继续运行，同时控制第二推杆62开始收缩，以使底盘12的角度保持为第二预设角c。
(5)控制履带11继续沿着末级楼梯下行，在第一开关53输出受压状态发生改变的开关信号时，控制履带11继续运行，协同控制第二推杆62继续收缩，直至支撑件31完全收回至底盘12内，完成末级楼梯下楼处理。
在本实施例中，当楼梯攀爬装置100移动至末级楼梯边缘时，通过伸出支撑件31，将底盘12的角度先过渡至第三预设角b，然后在履带11下行过程中，支撑件31继续伸出而顶起底盘12，直至底盘12的角度开始变化时，控制支撑件31的伸出量，使底盘12的角度维持在第二预设角c(此时底盘12与楼梯平行)，实现履带11末级楼梯平衡过渡。
相较于将底盘12的角度从0增加至c，本实施例将底盘12的角度从0增加至b，然后再从b增加至c，底盘 12翻转平缓，有利于实现楼梯攀爬装置100的整体平衡。
此外，不同的楼梯倾角∠3对应的底盘12的角度开始变化的角度不同，第二角度检测件42能够检测第二开关54由受压变为不受压时底盘12的临界角度，因此对于不同的楼梯倾角∠3，第二角度检测件42均能够检测出来并反馈第二预设角c，以使底盘12保持以第二预设角c下行，从而使楼梯攀爬装置100到达平衡状态。
在某一个实施例中，本发明的楼梯攀爬装置的控制方法还包括以下步骤：
在控制调节机构60驱动支撑件31从底盘12内伸出或者收回至底盘12内之前，均先判断调节机构60的第一推杆61是否运行；
若否，则直接控制调节机构60的第二推杆62驱动支撑件31从底盘12内伸出或者收回至底盘12内；
若是，则先等第一推杆61调节完毕，然后再控制第二推杆62驱动支撑件31从底盘12内伸出或者收回至底盘12内。
在本实施例中，载物板20的调节步骤优先于支撑件31的调节步骤。可以理解，当第一推杆61在运行时，载物板20仍在转动，楼梯攀爬装置100整体处于不平稳状态，如果此时继续伸出或者收回支撑件31，则会进一步加剧楼梯攀爬装置100的晃动，极容易导致倾翻事故的发生，对操作者及附近人员造成危害。因此，本实施例在第一推杆61调节完毕后，再进一步伸出或者收回第二推杆62，不会加剧楼梯攀爬装置100的晃动。
在其他实施例中，第一推杆61调节操作和第二推杆62调节操作也可同时进行。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (25)

  1. 一种楼梯攀爬装置，其特征在于，包括：
    履带组件，包括履带和底盘，所述履带设置在所述底盘上；
    载物板，与所述底盘转动连接；
    支撑组件，包括支撑件，所述支撑件活动设置于所述底盘上；
    角度检测组件，用于检测所述载物板的角度；
    台阶识别组件，用于识别所述履带的位置；
    调节机构，用于在接收到根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态生成的驱动信号时，协同驱动所述载物板转动以及驱动所述支撑件从所述底盘内伸出或者收回，以使所述楼梯攀爬装置在运行过程中处于平衡状态。
  2. 根据权利要求1所述的楼梯攀爬装置，其特征在于，所述支撑组件还包括连接臂，所述连接臂的一端与所述底盘铰接，所述连接臂的另一端与所述支撑件连接；
    所述调节机构包括第一推杆和第二推杆；所述第一推杆的一端与所述底盘铰接，所述第一推杆的另一端与所述载物板铰接；所述第二推杆的一端与所述底盘铰接，所述第二推杆的另一端与所述连接臂铰接；
    所述楼梯攀爬装置还包括控制单元，所述控制单元用于根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态，生成控制所述第一推杆和所述第二推杆的驱动信号。
  3. 根据权利要求2所述的楼梯攀爬装置，其特征在于，所述角度检测组件包括第一角度检测件，所述第一角度检测件用于检测所述载物板的角度，所述控制单元用于根据所述第一角度检测件输出的角度信号，判断所述载物板的角度不在平衡角范围内时，控制所述第一推杆伸缩，以使所述载物板处于平衡状态。
  4. 根据权利要求2所述的楼梯攀爬装置，其特征在于，所述控制单元用于：
    在所述履带到达末级楼梯时，控制所述履带运行，同时控制所述第二推杆从所述底盘内伸出，以使所述支撑件接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态。
  5. 根据权利要求4所述的楼梯攀爬装置，其特征在于，所述控制单元还用于：
    在所述履带处于上楼模式，并到达末级楼梯时，控制所述第二推杆从所述底盘内伸出，以使所述支撑件伸出至接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态；
    控制所述履带上行，并控制所述第二推杆继续伸出；
    在所述履带与末级楼梯的接触位置由受压变为不受压，或者所述底盘的角度开始发生变化时，将所述接触位置由受压变为不受压时或者所述底盘的角度开始变化时所述底盘的临界角度作为第一预设角，所述第一预设角与楼梯倾角相等；
    控制所述履带继续行进，同时控制所述第二推杆继续伸出，以使所述底盘的角度保持为所述第一预设角；
    控制所述履带继续行进，直至所述履带已经上完末级楼梯时，控制所述第二推杆收缩，以使所述支撑件收回至所述底盘内。
  6. 根据权利要求5所述的楼梯攀爬装置，其特征在于，所述控制单元还用于：
    在所述履带处于下楼模式，并到达末级楼梯时，控制所述第二推杆从所述底盘内伸出，以使所述支撑件伸出至接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态；
    控制所述履带下行，并控制所述第二推杆继续伸出；
    在所述履带与末级楼梯的接触位置由受压变为不受压时，将所述接触位置由受压变为不受压时所述底盘的临界角度作为第二预设角，所述第二预设角与楼梯倾角相等，控制所述履带继续下行和所述支撑件收回，同时保持所述底盘的角度为所述第二预设角，直至所述支撑件完全收回至所述底盘内。
  7. 根据权利要求6所述的楼梯攀爬装置，其特征在于，所述台阶识别组件包括末级台阶识别件，所述末级台阶识别件用于识别所述履带是否到达末级楼梯，所述末级台阶识别件包括设置在所述底盘上并贴近所述履带的压力传感器，所述压力传感器的工作长度大于等于两级台阶边缘的间距并且小于三级台阶边缘的间距；
    所述控制单元用于：
    在所述履带处于上楼模式，并且接收到所述压力传感器输出由受压改变为完全不受压的检测信号时，判断所述履带到达末级楼梯。
  8. 根据权利要求7所述的楼梯攀爬装置，其特征在于，所述压力传感器包括条形压力传感器，所述条形压力传感器沿所述履带的行进方向分布；或
    所述压力传感器包括多个单点传感器，多个所述单点传感器沿所述履带的行进方向呈条状密集分布。
  9. 根据权利要求8所述的楼梯攀爬装置，其特征在于，所述台阶识别组件还包括缓冲件，所述缓冲件设置在所述底盘与所述履带之间，所述压力传感器设置在所述缓冲件上并贴近所述履带。
  10. 根据权利要求8所述的楼梯攀爬装置，其特征在于，所述末级台阶识别件还包括第一开关，所述第一开关设置在所述底盘上并贴近所述履带，同时靠近所述压力传感器的末端；
    所述控制单元用于：
    在所述履带处于上楼模式，并且依次接收到所述压力传感器输出由受压改变为完全不受压的检测信号和所述第一开关输出受压状态发生改变的开关信号时，判断所述履带到达末级楼梯。
  11. 根据权利要求10所述的楼梯攀爬装置，其特征在于，所述角度检测组件还包括第二角度检测件，所述第二角度检测件用于检测所述底盘的角度；
    所述台阶识别组件还包括第二开关，所述第二开关设置在所述底盘上并贴近所述履带，同时与所述第一开关间隔，用于检测所述履带的受压情况。
  12. 根据权利要求11所述的楼梯攀爬装置，其特征在于，所述控制单元还用于：
    在所述履带处于上楼模式，并到达末级楼梯时，控制所述第二推杆从所述底盘内伸出，以使所述支撑件伸出至接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态；
    控制所述履带上行，并控制所述第二推杆继续伸出；
    在接收到所述第一开关输出由受压变为不受压的开关信号，或者所述第二角度检测件检测到所述底盘的角度开始发生变化时，将所述第一开关由受压变为不受压时或者所述底盘的角度开始变化时所述底盘的临界角度作为所述第一预设角，同时控制所述履带继续运行，并控制所述第二推杆继续伸出，以使所述底盘的角度保持为所述第一预设角；
    在接收到所述第二开关输出受压状态发生改变的开关信号时，控制所述履带继续运行，同时控制所述第二推杆的伸出量不变，以使所述楼梯攀爬装置整体处于平衡状态；
    控制所述履带继续行进，直至所述履带已经上完末级楼梯时，控制所述第二推杆收缩，以使所述支撑件收回至所述底盘内。
  13. 根据权利要求11所述的楼梯攀爬装置，其特征在于，所述控制单元还用于：
    在所述履带处于下楼模式，并到达末级楼梯时，控制所述第二推杆从所述底盘内伸出，直至所述支撑件接触末级楼梯面，并且所述第二角度检测件检测到所述底盘的角度到达第三预设角；
    控制所述履带下行，直至在接收到所述第二开关输出受压状态发生改变的开关信号时，控制所述履带停止运行，同时控制所述第二推杆继续伸出；
    在接收到所述第二开关输出由受压变为不受压的开关信号时，将所述第二角度检测件当前检测到的所述底盘的临界角度作为所述第二预设角，同时控制所述履带继续运行，并控制所述第二推杆收缩，以使所述底盘的角度保持为所述第二预设角；
    在接收到所述第一开关输出受压状态发生改变的开关信号时，控制所述履带继续运行，同时控制所述第二推杆继续收缩，以使所述支撑件收回至所述底盘内。
  14. 根据权利要求7-13中任一项所述的楼梯攀爬装置，其特征在于，所述楼梯攀爬装置还包括伸缩机构，所述伸缩机构设置在所述底盘上，所述压力传感器设置在所述伸缩机构上，所述伸缩机构能够调节所述压力传感器的工作长度。
  15. 根据权利要求14所述的楼梯攀爬装置，其特征在于，所述伸缩机构包括滚动轴、轨道和档位调节件；
    所述滚动轴设置在所述底盘的内侧；所述轨道绕设在所述滚动轴的两侧，所述轨道的其中一部分暴露于所述底盘的外侧并贴近所述履带，另外一部分内藏于所述底盘的内侧，所述压力传感器设置在所述轨道上；所述档位调节件与所述轨道连接，并且用于调节所述轨道与所述履带的相对位置，以改变所述压力传感器接触所述履带的长度。
  16. 根据权利要求4-6中任一项所述的楼梯攀爬装置，其特征在于，所述台阶识别组件还包括测距传感器，所述测距传感器用于检测所述履带的行进方向上是否有障碍物；所述控制单元用于：
    在所述测距传感器检测到所述履带的行进方向上无障碍物时，判断所述履带到达末级楼梯。
  17. 根据权利要求1-13中任一项所述的楼梯攀爬装置，其特征在于，所述楼梯攀爬装置还包括扶手，所述扶手与所述底盘铰接，并且与所述载物板固接；所述扶手上安装有启动按钮，所述启动按钮与所述控制单元电性连接。
  18. 一种楼梯攀爬装置的控制方法，其特征在于，应用于如权利要求1-17中任一项所述的楼梯攀爬装置，所述控制方法包括：
    根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态，协同控制所述调节机构驱动所述载物板转动、驱动所述支撑件伸出或者收回，以使所述履带在运行过程中所述楼梯攀爬装置处于平衡状态。
  19. 根据权利要求18所述的楼梯攀爬装置的控制方法，其特征在于，所述的根据所述角度检测组件的检测结果、所述台阶识别组件的识别结果以及所述履带的运行状态，协同控制所述调节机构驱动所述载物板转动、驱动所述支撑件伸出或者收回，以使所述履带在运行过程中所述楼梯攀爬装置处于平衡状态，具体包括：
    在所述角度检测组件检测到所述载物板的角度不在平衡角范围内时，控制所述调节机构将所述载物板的角度调节至所述平衡角范围，以使所述载物板处于平衡状态；
    在所述台阶识别组件识别到所述履带到达末级楼梯时，控制所述履带运行，同时控制所述调节机构驱动所述支撑件从所述底盘内伸出至接触末级楼梯面，以使所述楼梯攀爬装置处于平衡状态。
  20. 根据权利要求19所述的楼梯攀爬装置的控制方法，其特征在于，所述的在所述角度检测组件检测到所述载物板的角度不在平衡角范围内时，控制所述调节机构将所述载物板的角度调节至所述平衡角范围内，以使所述载物板处于平衡，具体包括：
    在根据所述角度检测组件的第一角度检测件输出的角度信号，判断所述载物板的角度不在平衡角范围内时，控制所述调节机构的第一推杆伸缩，以使所述载物板的角度调节至所述平衡角范围内；
    其中，所述第一角度检测件设置在所述载物板上，所述第一推杆的一端与所述底盘铰接，所述第一推杆的另一端与所述载物板连接。
  21. 根据权利要求19所述的楼梯攀爬装置的控制方法，其特征在于，所述的在所述台阶识别组件识别到所述履带到达末级楼梯时，控制所述履带运行，同时控制所述调节机构驱动所述支撑件从所述底盘内伸出至接触末级楼梯面，以使所述楼梯攀爬装置处于平衡状态，具体包括：
    在所述履带处于上楼模式，并且所述台阶识别组件的末级台阶识别件识别到所述履带到达末级楼梯时，控制所述调节机构的第二推杆从所述底盘内伸出，以使所述支撑件接触末级楼梯面而使所述楼梯攀爬装置处于平衡状态；
    控制所述履带继续行进，直至所述履带已经上完末级楼梯时，控制所述第二推杆收缩，以使所述支撑件收回至所述底盘内；
    其中，所述第二推杆的一端与所述底盘铰接，所述第二推杆的另一端与所述支撑组件的连接臂连接。
  22. 根据权利要求21所述的楼梯攀爬装置的控制方法，其特征在于，所述的所述履带处于上楼模式，并且所述台阶识别组件的末级台阶识别件识别到所述履带到达末级楼梯，具体包括：
    当检测到所述末级台阶识别件的压力传感器由受压改变为完全不受压时，判断所述履带到达末级楼梯；其中，所述压力传感器设置在所述底盘上并贴近所述履带，并且所述压力传感器的工作长度大于等于两级台阶边缘的间距并且小于三级台阶边缘的间距；
    或者，当依次检测到所述压力传感器由受压改变为完全不受压以及所述末级台阶识别件的第一开关受压状态发生改变时，判断所述履带到达末级楼梯；其中，所述第一开关设置在所述底盘上并贴近所述履带，同时靠近所述压力传感器的末端；
    或者，当所述末级台阶识别件的测距传感器检测到所述履带的行进方向上无障碍物时，判断所述履带到达末级楼梯。
  23. 根据权利要求21所述的楼梯攀爬装置的控制方法，其特征在于，在所述的在所述履带处于上楼模式，并且所述台阶识别组件识别到所述履带到达末级楼梯时，控制所述调节机构的第二推杆从所述底盘内伸出之后，在所述的控制所述履带继续行进，直至所述履带已经上完末级楼梯时，控制所述第二推杆收缩之前，具体还包括：
    在接收到所述台阶识别组件的第一开关输出由受压变为不受压的开关信号，或者接收到所述角度检测组件的第二角度检测件检测到所述底盘的角度开始变化的角度信号时，将所述第一开关由受压变为不受压时或者所述底盘的角度开始变化时所述底盘的临界角度作为第一预设角，所述第一预设角与楼梯倾角相等，同时控制所述履带继续运行，并控制所述第二推杆继续伸出，以使所述底盘的角度保持为所述第一预设角；
    在接收到所述台阶识别组件的第二开关输出受压状态发生改变的开关信号时，控制所述履带继续运行，同时控制所述第二推杆的伸出量不变，以使所述楼梯攀爬装置整体处于平衡状态；
    其中，所述第一开关设置在所述底盘上并贴近所述履带，同时靠近所述压力传感器的末端，所述第二开关设置在所述底盘上并贴近所述履带，同时与所述第一开关间隔，所述第二角度检测件设置在所述底盘上，并用于检测所述底盘的角度。
  24. 根据权利要求23所述的楼梯攀爬装置的控制方法，其特征在于，所述的在所述台阶识别组件识别到所述履带到达末级楼梯时，控制所述履带运行，同时控制所述调节机构驱动所述支撑件从所述底盘内伸出至接触末级楼梯面，以使所述楼梯攀爬装置处于平衡状态，具体还包括：
    在所述履带处于下楼模式，并且所述台阶识别组件的末级台阶识别件识别到所述履带到达末级楼梯时，控制所述第二推杆从所述底盘内伸出，直至所述支撑件接触末级楼梯面，并且所述第二角度检测件检测到所述底盘的角度到达第三预设角；
    控制所述履带下行，直至在接收到所述第二开关输出受压状态发生改变的开关信号时，控制所述履带停止运行，同时控制所述第二推杆继续伸出；
    在接收到所述第二开关输出由受压变为不受压的开关信号时，将所述第二角度检测件当前检测到的所述底盘的临界角度作为第二预设角，所述第二预设角与楼梯倾角相等，同时控制所述履带继续运行，并控制所述第二推杆收缩，以使所述底盘的角度保持为所述第二预设角；
    在接收到所述第一开关输出受压状态发生改变的开关信号时，控制所述履带继续运行，同时控制所述第二推杆继续收缩，以使所述支撑件收回至所述底盘内。
  25. 根据权利要求19-24中任一项所述的楼梯攀爬装置的控制方法，其特征在于，所述控制方法还包括：
    在控制所述调节机构驱动所述支撑件从所述底盘内伸出或者收回至所述底盘内之前，均先判断所述调节机构的第一推杆是否运行；
    若否，则直接控制所述调节机构的第二推杆驱动所述支撑件从所述底盘内伸出或者收回至所述底盘内；
    若是，则先等所述第一推杆调节完毕，然后再控制所述第二推杆驱动所述支撑件从所述底盘内伸出或者收回至所述底盘内；
    其中，所述第一推杆的一端与所述底盘铰接，所述第一推杆的另一端与所述载物板连接，所述第二推杆的一端与所述底盘铰接，所述第二推杆的另一端与所述支撑组件的连接臂连接。
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