Semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case and control method thereof
阅读说明:本技术 半隐藏履带式可调速自动爬楼梯行李箱及其控制方法 (Semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case and control method thereof ) 是由 陈永当 宋辛辛 闫轩 戴雨志 于 2019-09-30 设计创作,主要内容包括:本发明公开了一种半隐藏履带式可调速自动爬楼梯行李箱及其控制方法,包括箱体与箱体连接的拉杆,所述的箱体包括主体和上盖两部分。箱体的下表面内置有可伸缩的半隐藏式履带,所述主体和履带之间通过内置在主体下表面的伸缩杆连接,所述主体底面安装有控制器、电机和电源,通过电机的正反转控制行李箱上下楼梯,调整行李箱上下楼梯的速度,本发明还公开了其控制方法,真正实现了行李箱省时省力高效上下楼梯。相对于市面常见的行李箱,不需要因为台阶的跨度不同而影响行李箱上下楼梯的效率,实现了自动控制,适用性广。(The invention discloses a semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case and a control method thereof. The telescopic semi-hidden type crawler belt is arranged in the lower surface of the trunk body, the main body and the crawler belt are connected through a telescopic rod arranged in the lower surface of the main body, the controller, the motor and the power supply are arranged on the bottom surface of the main body, the trunk is controlled to go up and down stairs through the forward and reverse rotation of the motor, and the speed of the trunk going up and down stairs is adjusted. Compared with common luggage cases in the market, the efficiency of going upstairs and downstairs of the luggage case is not influenced due to different spans of the steps, automatic control is achieved, and the applicability is wide.)
1. The semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case is characterized by comprising a pull rod (1), wherein one end of the pull rod (1) is provided with a handle, the handle part is provided with a pressure sensor (2), the other end of the pull rod (1) is connected with a luggage case body (3), the back surface of the luggage case body (3) is provided with a foldable semi-hidden crawler, the foldable semi-hidden crawler is connected with the free end of a motor through a V belt, the fixed end of the motor is installed on the luggage case body (3), the bottom of the luggage case body (3) is provided with a lithium battery (8), the lithium battery (8) is connected with a driving unit (7) and a controller (5), the controller (5) is connected with the pressure sensor (2), and the driving unit (7) is connected with the;
the foldable semi-hidden crawler comprises a crawler assembly (11) and a folding device (12);
the crawler assembly (11) comprises a crawler support (1101), an annular closed crawler (1102) is arranged outside the crawler support (1101), and a connecting piece (1103) is arranged at one end, close to the bottom, of the crawler support (1101) and used for being connected with the trunk body.
2. Semi-concealed track type adjustable speed self stair-climbing luggage case according to claim 1, wherein the track frame (1101) and the track (1102) are symmetrically disposed in two.
3. Semi-hidden crawler-type adjustable-speed stair-climbing luggage case according to claim 2, wherein the folding device (12) comprises a left support plate (1202) and a right support plate (1203) respectively arranged on two crawler supports (1101), a cross bar (1201) is fixedly connected between the left support plate (1202) and the right support plate (1203), the cross bar (1201) is arranged perpendicular to the two crawler supports (1101), one end of a telescopic rod (1204) is fixedly connected to the cross bar (1201), and the other end of the telescopic rod (1204) is connected to the luggage case (3).
4. The semi-hidden crawler-type speed-adjustable automatic stair climbing luggage case as claimed in claim 3, wherein sliding blocks (1207) are fixed to the outer sides of the left supporting plate (1202) and the right supporting plate (1203), a sliding groove (1205) matched with the sliding blocks (1207) is formed in the crawler fixing frame (1101), and a clamping groove (1206) is formed in the sliding groove (1205).
5. Semi-hidden crawler-type adjustable-speed automatic stair-climbing luggage case according to claim 1, wherein a display screen (4) is arranged on the luggage case body (3), and the display screen (4) is connected with a controller (5) and a lithium battery (8).
6. Semi-concealed tracked, adjustable-speed, self-climbing stair luggage as claimed in claim 1, wherein four universal wheels are mounted on the bottom of the luggage body (3).
7. Semi-hidden tracked adjustable-speed automatic stair-climbing luggage case according to claim 1, wherein the driving unit (7) adopts a two-phase stepping motor driver, the lithium battery (8) adopts a 60V lithium battery, and the controller (5) adopts an STM32F042F4P6 embedded controller.
8. Semi-concealed tracked adjustable-speed self-climbing stair luggage according to claim 1, wherein the pressure sensor (2) comprises a pressure sensor a (201) and a pressure sensor b (202), and the pressure sensor a (201) and the pressure sensor b (202) are respectively arranged at two ends of the handle.
9. The control method of the semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case is characterized in that the semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case is implemented based on the semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case, and the control method comprises the following specific steps:
step 1: the pressure sensor a (201) and the pressure sensor b (202) transmit the pressure generated in the first use to the controller (5);
step 2: the controller (5) calculates an initial pressure difference deltaF between the two sensors1And recording;
and step 3: real-time pressure difference delta F of the pressure sensor a (201) and the pressure sensor b (202)2Difference Δ F from the initial pressure1Comparing;
and 4, step 4: if the difference between the two is epsilon1When the number of the electric motors is between 5 and 20N, the trunk keeps running at a constant speed, namely the output of the electric motors is unchanged;
and 5: if epsilon1A pressure value F received by the sensor a (201) is not between 5 and 20N1And system constant value ε2Making a comparison, then using F2-ΔF1And ε2Are compared, ∈2The value is 8N-10N, if the value of the trunk and the value of the trunk are both 8N-10N, the trunk keeps running at a constant speed, namely the output of the motor is unchanged;
step 6: if the comparison result is that the value exceeds the set range epsilon2Increasing the output power of the motor to accelerate the luggage case;
and 7: if the comparison result is that the numerical value is less than the set range epsilon2The output power of the motor is reduced to decelerate the luggage case.
And 8: the controller (5) sends the instruction to the driving unit, and the driving unit (7) controls the motor, so that the real-time control of the travelling speed of the luggage case is completed.
Technical Field
The invention belongs to the technical field of articles for daily use, relates to a luggage case, and particularly relates to a semi-hidden crawler-type automatic stair-climbing speed-adjustable luggage case and a control method thereof.
Background
The luggage case as a necessary luggage case for going out is usually composed of three parts, namely a pull rod, a case body and a roller. In the traveling process, the user can inevitably encounter road sections such as steps, stairs and the like which are inconvenient for the trunk to walk, and generally people lift the trunk to cross the road sections by the strength of the human body, so that the problems of falling due to unstable gravity center caused by insufficient strength, easy fatigue of people, damage to the trunk and the like exist. At present, a common luggage case capable of climbing stairs in the market is provided with a luggage case with three annularly arranged rotating wheels forming rollers, a crawler-type luggage case with an adjustable pull rod angle, an intelligent electric luggage case and the like. Although the suitcase is convenient to climb the stairs to a certain extent, the following problems exist: 1. the three ring-shaped rollers have poor linkage, and the rapid walking on the stairs is difficult to realize. 2. Crawler-type suitcase is because track and suitcase are parallel scrapes the flower to the suitcase lower surface easily at the stair in-process to the shock attenuation effect is not good. 3. Can not realize climbing stairs automatically in the using process, and has the problems of high cost and the like.
Disclosure of Invention
The invention aims to provide a semi-hidden crawler-type adjustable-speed automatic stair-climbing luggage case, which solves the problem that the surface of the luggage case is easy to scrape in a stair climbing device of the luggage case in the prior art.
The invention also aims to provide a control method of the semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case.
In order to achieve the purpose, the invention adopts the following technical scheme:
semi-hidden crawler-type adjustable-speed automatic stair-climbing luggage case comprises a pull rod, wherein one end of the pull rod is provided with a handle, a pressure sensor is arranged at the position of the handle, the other end of the pull rod is connected with a luggage case body, the back of the luggage case body is provided with a foldable semi-hidden crawler, the foldable semi-hidden crawler passes through a V belt to be connected with the free end of a motor, the fixed end of the motor is installed at the bottom of the luggage case body, a lithium battery is installed at the bottom of the luggage case body and is connected with a driving unit and a controller, and the controller is connected with the pressure sensor which.
The foldable semi-hidden crawler comprises a crawler assembly and a folding device.
The crawler assembly comprises a crawler support, an annular closed crawler is arranged outside the crawler support, and a connecting piece is arranged at one end, close to the bottom, of the crawler support and used for being connected with the trunk body.
The track support and the track are symmetrically provided with two.
The folding device comprises a left support plate and a right support plate which are respectively arranged on the two crawler supports, a cross rod is fixedly connected between the left support plate and the right support plate, the cross rod is perpendicular to the two crawler supports, one end of a telescopic rod is fixedly connected to the cross rod, and the other end of the telescopic rod is connected to the trunk body.
The outer sides of the left supporting plate and the right supporting plate are both fixed with sliding blocks, sliding grooves matched with the sliding blocks are formed in the track fixing frame, and clamping grooves are formed in the sliding grooves.
Be provided with the display screen on the suitcase box, the display screen is connected with controller and lithium cell.
Four universal wheels are arranged at the bottom of the trunk body,
the driving unit adopts a two-phase stepping motor driver, the lithium battery adopts a 60V lithium battery, and the controller adopts an STM32F042F4P6 embedded controller.
The pressure sensors comprise a pressure sensor a and a pressure sensor b, and the pressure sensors a and the pressure sensors b are respectively arranged at two ends of the handle.
The invention also provides a control method of the semi-hidden crawler-type speed-adjustable automatic stair climbing luggage case, which is implemented based on the semi-hidden crawler-type speed-adjustable automatic stair climbing luggage case and comprises the following specific steps:
step 1: the pressure sensor a (201) and the pressure sensor b (202) transmit the pressure generated in the first use to the controller (5);
step 2: the controller (5) calculates an initial pressure difference deltaF between the two sensors1And recording;
and step 3: real-time pressure difference delta F of the pressure sensor a (201) and the pressure sensor b (202)2Difference Δ F from the initial pressure1Comparing;
and 4, step 4: if the difference between the two is epsilon1When the number of the electric motors is between 5 and 20N, the trunk keeps running at a constant speed, namely the output of the electric motors is unchanged;
and 5: if epsilon1A pressure value F received by the sensor a (201) is not between 5 and 20N1And system constant value ε2Making a comparison, then using F2-ΔF1And ε2Are compared, ∈2The value is 8N-10N, if the value of the trunk and the value of the trunk are both 8N-10N, the trunk keeps running at a constant speed, namely the output of the motor is unchanged;
step 6: if the comparison result is that the value exceeds the set range epsilon2Increasing the output power of the motor to accelerate the luggage case;
and 7: if the comparison result is that the numerical value is less than the set range epsilon2The output power of the motor is reduced to decelerate the luggage case.
And 8: the controller sends the instruction to the driving unit, and the driving unit controls the motor, thereby completing the real-time control of the travelling speed of the luggage case.
The invention provides a semi-hidden crawler-type adjustable-speed luggage case capable of climbing stairs automatically, which has the following beneficial effects:
1. the two symmetrical crawler belts of the luggage case are fixed at the bottom of the luggage case through connecting rods, and the crawler belts form a four-bar mechanism through folding rods, supporting frames and the case body. When the folding device needs to be folded, the connecting rod is pushed by hand, the folding rod slides forwards under the action of the sliding block, and the folding connecting rod, the supporting rod, the folding rod and the crawler belt are folded and combined relative to the box body, so that the space is greatly saved, the difficulty in folding the crawler belt is reduced, and the folding device is convenient to carry and transport;
2. when the foldable crawler is used, the connecting rod is pulled, the foldable rod is locked in the specific clamping groove of the crawler according to different heights of people and angles of stairs, and then the crawler is unfolded for use. The crawler belt and the box body form a certain angle in the using process, so that the lower surface of the luggage case is prevented from being scratched in the upstairs going process; the electronic display screen can display the battery power and the luggage case speed in real time, and people can adjust the speed of going upstairs and downstairs in real time conveniently. Time and labor are saved, the use is convenient, and the space is saved.
Drawings
FIG. 1 is a schematic perspective view of a semi-hidden crawler-type speed-adjustable luggage case for automatically climbing stairs according to the present invention;
FIG. 2 is a schematic view of the semi-hidden track type adjustable speed automatic stair-climbing suitcase track connection of the present invention;
FIG. 3 is a schematic diagram of the installation of a semi-hidden crawler-type speed-adjustable automatic stair-climbing suitcase bottom controller, a motor and a power supply of the luggage case of the invention;
FIG. 4 is an enlarged detail view of the semi-hidden tracked adjustable speed self-climbing stair case pressure sensor of the present invention;
FIG. 5 is a schematic view of a semi-hidden structure of the semi-hidden crawler-type adjustable speed automatic stair-climbing luggage case of the present invention;
fig. 6 is a flow chart of the control method of the semi-hidden crawler-type speed-adjustable automatic stair-climbing luggage case of the invention.
In the figure: 1. the folding device comprises a pull rod, 2 pressure sensors, 3 a luggage box body, 4 a display screen, 5 a controller, 6 a V belt, 7 a driving unit, 8 a lithium battery, 9 universal wheels, 10 a connecting shaft, 11 a crawler assembly and 12 a folding device;
1101. the device comprises a crawler support, 1102 crawler belts, 1103 connecting pieces, 1104 telescopic rods, 1201 cross rods, 1202 left supporting plates, 1203 right supporting plates, 1204 telescopic rods, 1205 sliding grooves, 1206 clamping grooves, 1207 fixed sliding blocks, 201 pressure sensors and a pressure sensor; 202. and a pressure sensor b.
Detailed Description
The semi-hidden crawler-type adjustable-speed automatic stair-climbing luggage case of the invention will be described in detail with reference to the accompanying drawings and embodiments.
Semi-hidden crawler-type adjustable-speed automatic stair-climbing luggage case, as shown in fig. 1, including pull rod 1, the one end of pull rod 1 is provided with the handle, and the handle position is provided with
The foldable semi-hidden track comprises a
The
The
The
The outer sides of the left supporting
Be provided with display screen 4 on the
Four universal wheels are arranged at the bottom of the
the driving
The
The control method of the semi-hidden crawler-type speed-adjustable automatic stair climbing suitcase is implemented based on the semi-hidden crawler-type speed-adjustable automatic stair climbing suitcase, and comprises the following specific steps:
step 1: the pressure sensor a201 and the pressure sensor b202 transmit the pressure generated at the time of initial use to the
step 2: the
and step 3: the real-time pressure difference deltaF of the pressure sensor a201 and the pressure sensor b2022Difference Δ F from the initial pressure1Comparing;
and 4, step 4: if the difference between the two is epsilon1When the number of the electric motors is between 5 and 20N, the trunk keeps running at a constant speed, namely the output of the electric motors is unchanged;
and 5: if epsilon1The pressure value F received by the sensor a201 is not between 5 and 20N1And system constant value ε2Making a comparison, then using F2-ΔF1And ε2Are compared, ∈2The value is 8N-10N, if the value of the trunk and the value of the trunk are both 8N-10N, the trunk keeps running at a constant speed, namely the output of the motor is unchanged;
step 6: if the comparison result is that the value exceeds the set range epsilon2Increasing the output power of the motor to accelerate the luggage case;
and 7: if the comparison result is that the numerical value is less than the set range epsilon2The output power of the motor is reduced to decelerate the luggage case.
And 8: the
Referring to fig. 1, the semi-hidden crawler type speed-adjustable stair-climbing luggage case provided by the embodiment of the invention comprises a pull rod 1, a
Referring to fig. 2, the semi-hidden crawler type stair-climbing luggage case of the embodiment of the invention comprises a
Referring to fig. 2, the
Referring to fig. 4, the
Referring to fig. 1, a display screen is mounted on the upper surface of the box, and a forward rotation button, a reverse rotation button, a speed regulation button and a mode switching button can be clicked on the display screen. The forward rotation button is used for controlling the motor to rotate forward to enable the semi-hidden crawler type speed-adjustable automatic stair climbing suitcase to climb on the stairs, the reverse rotation button is used for controlling the motor to rotate reversely to enable the semi-hidden crawler type speed-adjustable automatic stair climbing suitcase to descend on the stairs, the stop button is used for controlling the rotation of the stair climbing
Referring to fig. 4, a CPU installed on a pressure sensor driving circuit in the telescopic rod 1 calculates the pressure in real time, and two sensors, namely a
Said force F1The force F is the force received by the
Referring to fig. 1 and 5, the semi-hidden crawler-type adjustable speed automatic stair-climbing luggage case of the embodiment of the invention has two expansion and contraction states, when climbing stairs, the luggage case can be expanded into the state of fig. 1, the difficulty of climbing stairs of the luggage case is greatly reduced, when not in use, the luggage case is contracted into the state of fig. 5, and the size of occupied space for folding the crawler is reduced, so that the luggage case is convenient to carry and transport. The whole process of going upstairs and downstairs of suitcase adopts automatically controlled mode, and pressure sensor is through the size of response hand power suitcase power, and adjustment motor pivoted size and direction have really realized that the suitcase climbs stair labour saving and time saving is high-efficient.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, substitutions, improvements, etc. can be made without departing from the spirit of the invention.
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