WO2004039612A2

WO2004039612A2 - Intelligent terrain-traversing vehicle

Info

Publication number: WO2004039612A2
Application number: PCT/IL2003/000883
Authority: WO
Inventors: Benjamin Sharon
Original assignee: Benjamin Sharon
Priority date: 2002-10-29
Filing date: 2003-10-27
Publication date: 2004-05-13
Also published as: AU2003274668A1; AU2003274668A8; WO2004039612A3

Abstract

An Intelligent Terrain-Traversing Vehicle with a platform (100) capable of securely holding a chair (C,300) mounted there above; attached to the platform (100), a pair of parallel platform tracks (112) respectively tracked on platform internal multi-wheel bearing assemblies (113); a front track (122) respectively tracked on second internal multi-wheel bearing assemblies (123); a rear track (132) respectively tracked on rear internal multi-wheel bearing assemblies (133); at least one tracks motor (140) interconnected via a controllable transmission (TT) to at least one wheel in each of the first assemblies; a controller (150) capable of independent coordination of rotary force from the at least one tracks motor (140) respectively to the at least one wheel in each of the platform assemblies; and means (142F, 142R) for bringing the forward/rearward tracks into contact with a terrain substantially contiguously under the pair of tracks.

Description

INTELLIGENT TERRAIN-TRAVERSING VEHICLE

The present application is related to Provisional Application Serial No. 60/421,854 filed on October 29, 2002, the priority date of which is claimed herein, and the entire disclosure of which is hereby incorporated by reference.

A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all ^' copyright rights whatsoever.

TECHNICAL FIELD

The present invention generally relates to autonomous mechanical transportation vehicles. More specifically, the present invention relates to an intelligent terrain-traversing vehicle, thus a mobile vehicle that is preferably capable of ergonomically interfacing with a chair to form a wheelchair variant apparatus.

BACKGROUND ART

Providing accessibility for motion-impaired persons is a goal that has motivated countless inventors. The development of the wheelchair, from bicycle-based technology, brought the first real progress. Thereafter, improvements have been sought in the ergonomics of the wheelchair vertical accessibility, and in extending its horizontal terrain adaptability.

Modern autonomous powered wheelchairs typically solve the vertical accessibility issue by embowering the basic chair on one or more hydraulic lifts, generally of telescoping tubular construction. While providing extended vertical access, these solutions create a problematic instability, by progressively raising the center of gravity over a non-adaptive base. Presumably, this could be solved using stabilization feet extending from the base, a scalable version of similar solutions found in mobile construction lifting equipment. However, for the wheelchair bound person this solution is often impractical in the space-confined domestic setting where it is most needed. While this solution might work well in the open setting of an apple orchard where the object is to pick an apple, the wheelchair bound person generally wants to get access to an upper kitchen cabinet and the kitchen often has restricted floor space.

Turning to the concern for providing improved horizontal mobility, numerous complicated solutions have been developed including assorted multi-wheel vehicles, vehicles incorporating "spider wheels", vehicles incorporating continuous treaded belts, and combinations of the aforesaid. Primarily, it has been the object for improved horizontal mobility vehicles to overcome simple obstacles such as urban roadside curbs, and to climb stairs. Designs that are more adventurous attempt to overcome all terrains - including beaches, bogs, and the likes. While some models have been successfully developed which overcome design criteria obstacles, the costs for these terrain concurring vehicles has restricted their use to only the most economically privileged of the motion-impaired population.

Among the numerous horizontal mobility vehicle variations, it is worthwhile to note a few examples in the subcategory using endless tracks/belts, like those employed on a bulldozer or a military tank. Briefly discussed below are the US patents: "Invalid's Wheelchair And Like Conveyances" US 4,687,068; "Robotic Platform" US 6,263,989; "Robotic Platform" US 6,431,296; and "Wheel And Track Driving Equipment" US 6,619,414. Using these examples, it is appreciated that the endless track belts are conceptually capable of improving the horizontal mobility, albeit there remains a longstanding need in the art for a system that is simultaneously more stable and a less expensive apparatus that is intended to enable a wheelchair to negotiate stairways.

"Invalid's Wheelchair And Like Conveyances" US 4,687,068 relates to an apparatus that is intended to enable a wheelchair to negotiate stairways. It has a chassis frame equipped with ordinary motor-driven road wheels for level running and a pair of crawler belts for stair ascent or descent. Either the wheels or the belts may be selected, either to the exclusion of the other, as the mode of travel. A chair or like load carrier is movably mounted on the frame, and linkage is provided so the center of gravity of the load is adjusted to give the required stability for the selected travel mode. This apparatus is a hybrid comprised of a standard wheelchair and a central rear mounted crawler belt assist. Unfortunately, this apparatus does not seem to achieve its intended engineering goals within an economically acceptable limit.

"Robotic Platform" US 6,263,989 relates to another apparatus that is likewise intended to enable a wheelchair to negotiate stairways. This apparatus is an articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot. This apparatus is a hybrid comprised of a standard bulldozer type crawler belts each having a further articulated independent crawler belt assist. Unfortunately, this apparatus does not seem to achieve its intended engineering goals within an economically acceptable limit in the normal terrestrial setting where wheelchairs are most often desiring to traverse.

"Robotic Platform" US 6,431,296 (by the same inventor as US 6,263,989) substantially takes two of the US 6,263,989 crawler belt assemblies and aligns them sequentially. While this arrangement may in fact succeed for the normal terrestrial settings of wheelchairs - the economics of this apparatus is essentially twice as problematic as that of US 6,263,989.

"Wheel And Track Driving Equipment" US 6,619,414 relates to a further apparatus that is likewise intended to enable a wheelchair to negotiate stairways and complex terrain. Specifically, this apparatus relates to a personal mobility vehicle includes a frame with a pair of parallel tracks for moving the vehicle, the track having a lower surface forming a drive plane for the tracks. A seat is operably mounted on the frame, and has a support for moving the seat about a generally horizontal axis normal to a longitudinal axis of the tracks, to maintain the seat in a generally upright position as the vehicle moves up or down a slope. The seat is also operably mounted for rotational movement on a vertical axis, to permit the seat to swivel. A lifter arm is operably mounted on the frame, with a forward end pivotally connected to the frame at a location spaced above the drive plane, and a rearward end pivotal between a lowered position spaced below the drive plane and a storage position spaced above the drive plane. A cylinder selectively raises and lowers the lifter arm to assist the vehicle in traversing the upper end of a flight of stairs, in either the ascending or descending directions. Simply stated, this is a chair mounted on a personal size bulldozer crawler belt assembly. Its probably advantageous for a motion-disabled person working on a construction site, but not so when it comes to ordinary users navigating indoor and outdoor urban landscapes.

Nevertheless, each of these cited art references includes aspects that contribute to an appreciation of the horizontal mobility problems in urban landscapes, as typified by the example of stairways. Specifically, each respectively contributes at least one functional element that is needed to facilitate a crawler belt apparatus solution to urban landscape mobility for single wheelchair type vehicles. As mentioned above, there remains a need in the art for a simultaneously stable and affordable system, enabling a wheelchair-like vehicle to negotiate stairways and ordinary features of the urban landscape. Furthermore, it is preferable if this vehicle provides improved vertical access capabilities too.

Simply stated, there is a longstanding problem of providing extended accessibility to wheelchairs, especially in locations requiring climbing. In the most critical aspect, the problem is to provide cost effective independent autonomous access for the wheelchair, without imposing on the services of others.

DISCLOSURE OF THE INVENTION

The problem encountered by a vehicle for handicapped people is the lack of mobility and stability over a wide range of adverse terrain conditions, also permitting a certain degree of vertical mobility. The solution is provided by a platform supporting a wheelchair, and mounted on a central pair, or platform pair, of caterpillar tracks, platform tracks for short, to which are added in parallel, to the front and to the rear, a further pair of independent and controllable orientation caterpillar tracks, or front tracks and rear tracks. On flat ground, the pairs of front and of rear tracks are raised upwards away from the horizontal, while the platform is supported by the platform tracks. To engage an incline, surmount obstacles, or climb a flight of stairs, the front and the rear tracks are lowered to follow, respectively, the terrain incline, the slope of the obstacle, or the rise of the stairs, while the platform is kept stable and level.

The aforesaid longstanding needs of handicapped people are significantly addressed by embodiments of the present invention, which specifically relates an Intelligent Terrain-Traversing Vehicle, or ITTV, being according to the preferred embodiment a "climbing wheelchair". This instant apparatus vehicle is especially useful for ergonomic navigations, both indoor and outdoor, wherein there exists a need for a simultaneously stable and affordable vehicular system, specifically enabling a wheelchair-like vehicle to negotiate stairways and ordinary features of the urban landscape.

Simply stated, the basic embodiment of the instant invention is an urban terrain "wheelchair" having, instead of classic wheelchair four wheel architecture, a left and a right terrain contact enabling group each respectively having central caterpillar tracks, an angle adjustable forward caterpillar tracks arm and an angle adjustable rearward caterpillar tracks arm; and these tracks are motor powered/controlled. The basic embodiment is capable of remote control, thereby allowing its use as a robotic vehicle by a driver carried on the vehicle or by an external agent. For example, remote control allows an attendant to drive the vehicle in the event that a passenger thereon is mentally or physically incapable of directing the navigation. In brief, the instant invention is a module of two parallel foldable caterpillar tracks, each having three substantially sequential sections, and the module is motor powered and intelligently controlled/controllable with the entire module capable of secure attachment to a classical wheelchair or capable of structural integration with a chair.

Alternatively stated, a basic instant invention embodiment configuration has a platform with a couple of main caterpillars, a couple of front caterpillars, and a couple of rear caterpillars. Both front and rear caterpillars maintain the platform orientation horizontal, when climbing and when raised. The platform is configured to support loads such as a wheelchair, or equipment for various purposes. Control means are onboard or off-board. Alternatively articulated, the preferred instant embodiment relates to an integrated unit having two parallel tract sets, wherein each set has a forward segment of caterpillar track, a central segment of caterpillar track and a rearward segment of caterpillar track, and the forward and rearward segments are retractable/deployable. The forward and rearward segments fold preferably to upright orientation, or unfold to substantial terrain contour traction contact position, and the entire embodiment is capable of motor power and control, while simultaneously being capable of retrofit to a classical wheelchair. Since most embodiments the instant invention are substantially symmetric from the platform centric, or central, crawlers tracks with respect to the forward and rearward crawler tracks portions, for arbitrary convenience, substantially forward and rearward directions are respectively defined as traversal of the platform in the direction of the tracks of the same name.

More particularly, the instant vehicle is capable of adapting to planar, concave, convex, and even surface feature transition terrains. Accordingly, traversing a roadside curb or even a series of stairs is made practical thereby. Because many urban landscapes include stairwells with interspersed landings, specific embodiments of the instant vehicle prefer for the forward and rearward caterpillars to be of substantially the same length as the central caterpillars, thereby facilitating smaller turning radius when the central caterpillars are used independently on the level landings. Nevertheless, there remain specific robotic embodiments wherein elongated forward and rearward caterpillars tracks are preferred - since exclusive use of these will elevate the central caterpillars tracks, and thus the platform there above, to a maximum height above the terrain. This height is preferably at least 60 cm for wheelchair capable embodiments to give nominal access to elevated domestic storage spaces, e.g. book shelves, cabinets, and the like. However, simpler embodiments have the reverse proportions, in that the forward and rearward caterpillars tracks are kept to minimum necessary length, leaving the logic of the controller to veto ascent or descent on hazardous terrain gradients. According to variant embodiments, more caterpillar tracks may be added. The motors, preferably electric, either are coupled to the platform itself, or reside in a member attached thereto. Power is supplied via a cable or by an on-board battery.

Motors may be interfaced to caterpillars using transmissions such as gears, driving chains, driving rods, or directly.

Additionally, since caterpillar tracks circumscribe multi-wheel bearing assemblies of small radius, in comparison to the radius of the classic wheelchair's larger hand driven wheels, the center of gravity of the vehicle is kept low - thereby improving overall stability. Furthermore, since the forward and rearward caterpillar tracks are generally enabled in parallel lines wider than the parallel lines of the central caterpillar tracks, the vehicle using all caterpillars has a wider lateral base, which further increases overall stability.

Substantially as described and illustrated in the earlier disclosure materials, when the vehicle's occupant encounters an obstacle, like a sidewalk or one or more steps, he will approach that obstacle and stop. He will then lower the platform to minimum height-above-terrain, e.g. 18 cm, and manipulate the front and rear tracks, respectively to include sufficient traction on the obstacle forwards and maximum traction stability rearwards. In a manual mode, the user may now overcome the obstacle, ascending or descending the curb or steps. In automatic mode the system's controller will allow sensors to stop the ITTV when an obstacle is contacted, manipulate the angle of front and rear tracks, and surmount the obstacle. In addition, the platform has the ability to increase the effective height of an occupant by deflecting the front and the rear tracks downward and elevating the platform in level attitude above the terrain.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be carried out in practice, it will now be described, by way of non-limiting example only, with reference to the accompanying drawings. Furthermore, a more complete understanding may be acquired by referring to the accompanying drawings, in which like reference numbers indicate like features and wherein:

Figure 1 is a block diagram of the elements of a basic instant embodiment, Figure 2 provides an isometric view of the embodiment shown in Fig. 1, Figure 3 presents a schematic side view of the embodiment of Fig. 1, when on a steep gradient terrain;

Figure 4 depicts a schematic side view of wheelchair supported by the embodiment of Fig. 1, Figure 5 illustrates another schematic side view of the embodiment of Fig. 1, when in elevated load lifting position, and

Figure 6 shows a schematic diagram of a command unit of the embodiment of Fig. 1.

MODES FORCARRYINGOUTTHEINVENTION

The invention is first described with reference to Figs. 1 and 2, schematically illustrating, respectively, a block-diagram and a basic embodiment 1000 of the Intelligent Terrain-Traversing Vehicle, or ITTV. The ITTV is a caterpillar belt track- mounted vehicle, taking advantage of track locomotion technology, which is known to the art, and therefore, the presentation and the illustration of every detail is not necessary.

The ITTV has a platform 100 capable of securely holding a chair C, not shown, mounted there above, where the chair C may be a classic wheelchair, or an ordinary chair, or an orthopedic structure. Alternatively, the platform 100 is configured as a universal load-supporting structure for a general-purpose load, such as a payload of equipment, or a materials holding vessel, such as a box. The platform 100 defines a front, a rear, two longitudinal lateral sides, a length, and a width. Front and rear, or forward and rearward, are interchangeable according to the direction of motion of the platform 100, as propelled by anyone of the pairs of tracks.

Coupled to the platform 100, which is configured for supporting a load, and configured for securely but releasably retaining a chair C, is a pair of spaced apart parallel crawler track treads 110 and 111, i.e. a first platform track 110 parallel to a second platform track 111, or for short, a pair of platform pair tracks 112, respectively tracked on platform internal multi-wheel bearing assemblies 113. The propelling platform tracks 112 are coupled to the sides of, or below the platform 100, accommodating a clearance between the ground, or terrain T, and the lower portion 100L of the platform, as seen in Figs. 3 and 4.

In substantially coaxial alignment, meaning either sharing a common functional axle for one respective wheel or simply having sufficient alignment between two axles of each respective assembly, to allow coordinated propulsion and mutually relative rotational motion, to a forward wheel 113F of each first assembly 113, a first forward crawler belt tread 120 parallel to a second forward crawler belt tread 121, or for short, a first front track 120, a second front track 121, or pair of front tracks 122, e.g. "caterpillar belts", are respectively tracked on front internal multi- wheel bearing assemblies 123. As better seen in Fig. 2, the front axle 124 is common to the platform internal multi- wheel bearing assemblies 113 and to the front internal multi-wheel bearing assemblies 123. Likewise, in substantially coaxial alignment, meaning either sharing a common functional axle for one respective wheel or simply having sufficient alignment between two axles of each respective assembly to allow coordinated propulsion and mutually relative rotational motion, to a rearward wheel 113R of each platform assembly 113, a first rearward crawler belt tread 130 parallel to a second rearward crawler belt tread 131 , or a first rear track 130 and a second rear track 131 , or a pair of rear tracks 132, e.g. "caterpillars belts", are respectively tracked on rear internal multi- wheel bearing assemblies 133.

For propulsion purposes, at least one rotary tracks motor 140 is interconnected via a controllable tracks transmission TT, to at least one wheel in each one of the platform assemblies 113. In a single propulsion motor configuration, an electric motor provides bi-directional rotation, and is therefore suitable for imparting forward or rearward motion to the platform 100. As known to the art, the controllable tracks transmission TT will have to provide specific means, such as brakes and/or differential(s) and clutch means to allow taking turns.

In a two-motors track propulsion configuration, one separate motor is coupled to each one of both platform tracks 112, in a conventional configuration, well suited for taking turns. Thus, two separate track motors independently operate each one out of the two platform multi- wheel bearing assembly 113. If desired, more than one bi-directional propelling motor is used, for example, one separate motor is provided and coupled to, for operation of, each one pair of platform tracks 112, front tracks 122, and rear tracks 132, or even one separate motor for each single track out of the three pairs of tracks. Evidently, one may install one separate motor for independently operating each single one out of the platform, front, and rear multi- wheel bearing assemblies, respectively, 113, 123, and 133, hence six motors in total. Other combinations are also possible.

As shown in Fig. 2, a front actuator 14 IF supports the pair of parallel front tracks 122 in parallel to the platform tracks 112, and extends in alignment and away from the platform 100. The platform 100 supports the front axle 124 at the front of the platform, onto which the front actuator 14 IF is pivotally retained at a front actuator attached end 142F. Furthermore, the front actuator 14 IF has a front actuator free end 143F, opposite to the front actuator attached end 143F, which is pivotally directable. A free front axle 144F is retained to the front actuator free end 143F and coupled to support the front internal multi- wheel bearing assembly 123. A front motor 145F, rotary, bi-directional, and coupled to the platform 100, is interfaced via a controllable front transmission FT to the front actuator 14 IF. Operation of the front motor 145F, via the front transmission FT, pivots the front tracks 122 through an arc spanning at least 180°, but less than 360°, relative to the platform tracks 112. Thereby, the front tracks 122 are able to conform to the configuration of the terrain T, to surmount obstacles, and slopes, such as stairs and hills, either uphill or downhill.

A rear actuator 141R is identical to the front actuator 141F in structure and function, in mirroring symmetry to the platform 100, and has a rear actuator attached end 142R, a rear actuator 143R, a free rear axle 144R, with a rear motor 145R, and a rear transmission RT. The rear actuator attached end 142R pivots on the rear axle 146.

Interfaced to the at least one rotary tracks motor 140, is a controller 150 capable of independent, digital, analog, or mechanical coordination, manual and/or automatic, of rotary moment, speed, and direction, from the at least one tracks motor 140, via the controllable tracks transmission TT, respectively to the at least one wheel in each one of the platform assemblies 113. In other configurations, when there are more motors than just the at least one tracks motor 140, the controller 150 is configured to manage each one out of the various motors independently. The controller 150 is either on- board the platform 100, or if desired, off-board.

The controller 150 is also in charge of manual and/or automatic control of the tracks transmission TT, of the front transmission FT and of the rear transmission RT, which transmissions are all fitted with standard transmission elements, such as clutches, locks and brakes, if necessary or so desired. A command unit 160, shown in Fig. 2, interfaces between the controller 150 and a user, providing ease of maneuvering and of commanding operation of the ITTV, and also, provides feedback to the user. The command unit 160 commands the operation of the ITTV in any one of the operation modes selected from the group consisting of manual operation mode, semi-automatic operation mode, and automatic operation mode. Moreover, the command unit 160 is located either on-board or off-board of the ITTV.

A terrain sensing means 170, manual and/or semi-automatic, and /or automatic, incorporated, such as a micro-switch, coupled to the controller 150, is provided for controlling contact with the terrain T under the relevant pair of tracks. The front sensing means 170F and the rear sensing means 170R independently determine contact of, respectively, the front tracks 122 and the rear tracks 132 with a terrain T substantially contiguously thereunder. It is noted that leveling means, coupled at least to the platform 100 and to the controller 150, independently direct the orientation of the front actuator 14 IF and of the rear actuator 141R, to maintain the platform substantially level. Thus, both at standstill and in motion, the controller 150 of the ITTV, monitors terrain contour under the front tracks 122 and under the rear tracks 133, but keeps the platform 100 level by default. Likewise, pivotal control means 180, manual and or semi-automatic, and /or automatic, coupled to the controller 150, is provided for controlling the pivotal orientation of the actuators. Hence, a front pivotal control means 180F, and a rear pivotal control means 180R may control the orientation of, respectively, the pair of front tracks 122 and the pair of rear tracks 132, separately and independently. Thereby, the rear tracks 130 and 131 are oriented away from the terrain T, or brought into contact therewith substantially contiguously under the pair of rear tracks 132. Such pivotal control means 180 may be coupled to a sensor as simple as a rotational potentiometer. Turning to Fig. 3, the platform 100 is shown schematically, with the front tracks

122, the platform tracks 112, and the rear tracks 132, while climbing a series of stairs 200. The stairs 200 are an example only, which could have been chosen as a hill, or an obstacle to surmount. It is noted that the pairs of front tracks 122 and of rear tracks 132 may be directed independently to feature a mutually different angle of orientation, relative to the horizon, or to the platform 100. Furthermore, the platform 100 is kept level if desired, or otherwise, oriented in a selected direction.

Each one of the pairs of front tracks 122 and rear tracks 132 are separately and independently operable to ascertain the stability of the ITTV, in addition to keeping the platform 100 level. The controller 150 is thus in charge of the control and of the monitoring of the stability of the ITTV, of the platform orientation and of the level position. In other words, the ITTV has leveling means, coupled at least to the platform 100 and to the controller 150, for independently controlling the direction of the front actuator 141F and of the rear actuator 141R, to maintain the orientation of the platform substantially level. Turning to Fig. 4, a classic wheelchair 300 is securely affixed to the platform

100 having front tracks 122, and central tracks 112, and rearward tracks 132, respectively portrayed in transition between upright orientation and terrain T traction contact configuration. When supported by the platform tracks 112, or caterpillars 112, for travel on substantially flat terrain T, the front tracks 122 and the rear tracks 132 are normally oriented skyward, in a rest position, in a general configuration resembling the letter "U", as indicated by dashed lines designated, respectively, 122UP and 132UP. Evidently, any other practical orientation is possibly selected independently for each one of the pairs of front and rear tracks, respectively 122 and 132. The ITTV thus has a stowage position wherein the front tracks 122 and the rear tracks 132 point vertically upward relative to the platform 100, in a space saving attitude, and a platform mounting/dismounting position, wherein at least one of both the front actuator 14 IF and the rear actuator 141R are configured to serve as a ramp providing access from the terrain T to the platform and vice- versa, when pivoted to a terrain contacting attitude.

If desired, the wheelchair 300 is positioned on a swivel table 310 permitting the user riding the platform 100 to face any direction. Furthermore, but not shown in Fig. 4, the swivel table 310 may be lifted above and vertically up relative to the upper portion 100U of the platform 100, say by a motor-driven screw, or piston 320. This feature is achieved by help of an appliance motor 330, coupled to the platform 100, and under control of the controller 150, which may lift the wheelchair 300, or operate any other appliance 340, shown in Fig. 1, or other payload or piece of equipment. Moreover, instead of a rotary appliance motor 330, other motors may be used. In the same manner, any other known lifting mechanism is practical.

Turning to Fig. 5, the platform 100 is illustrated with the front tracks 122, the central tracks 112, and the rear tracks 132 forming an in inverted "U" configuration, in a load lifting mode, above terrain T. To this end, the ITTV is first stopped, and the front actuator 14 IF and the rear actuator 141R are then pivoted downward, each in opposite direction by, respectively, the front actuator 14 IF and the rear actuator 141R, not shown in Fig. 5, whereby the platform 100 is lifted upwards. Thus, the controller 150 orientates the front actuator 14 IF and the rear actuator 141R to make the forward and the rearward tracks, respectively 122 and 132, to function as exclusive terrain contact members such that the pair of platform tracks 112 are raised above the terrain T.

The controller 150 appropriately operates any of the tracks transmission TT, the front transmission FT, and the rear transmission RT, as needed to accomplish the load-lifting maneuver. In addition, the controller 150 takes care of handling the necessary transmissions if needed. The front tracks 122 and the rear tracks 132 swivel each one as a rigid pair of tracks, to lift the platform 100, which is kept level, or in a desired orientation. The pivoting arc span covered by each one of the front tracks 122 and the rear tracks 132 reaches at least 180°, but less than 360°. This maneuver allows a user seated on a wheelchair C to reach, for example, a book on a shelf located high above the ground. Once elevated, the platform 100 may be operated to move from one shelf to another by activation of the at least one tracks motor 140, while still in load lifting mode.

While being lifted above the terrain T, the platform 100 is mobile, resting solely on the mutually independent front tracks 112 and the rear tracks 132, the angular orientation of which is controlled independently to maintain the stability of the ITTV and the desired orientation of the platform 100. This angular orientation is adaptive to the configuration of the terrain T, either flat or uneven. The ITTV is thus configured to rove a terrain T while resting on the platform tracks 112, on the front and rear tracks, respectively, 122 and 132, or on the platform tracks 112 with either one of both the front track 122 and the rear tracks 132.

To support the ITTV, all three pairs of tracks, or only two pairs out of the three pairs of tracks 112, 122 and 132 are possibly in contact with the terrain T, or only the platform pair of caterpillars 112 contact the terrain, in motion or at standstill.

According to one variation embodiment of the ITTV, the structure of the platform 100 is of skeletal construction, not shown in the Figs., thereby facilitating secure acceptance of a classic wheelchair, of an ordinary chair, of an orthopedic supportive structure, or of a payload. It is understood that a structure of skeletal construction relates to a structural frame capable of accepting attachments to dedicated loads, or configured for the coupling thereto of dedicated loads of various kinds, for the accommodation of the platform 100 as a load carrying structure or as a work platform

According to another variation embodiment of the ITTV, the platform 100 includes protective surfaces, not shown in the Figs., which prevent unintentional contact between the clothing or limbs of a person located in a chair on the platform and at least one motion enabled element selected from a track, a wheel bearing assembly, a motor, and a transmission. For safety reasons, it is preferable to couple the platform tracks 112 closer to the platform 100, while the pivoting front tracks 122 and rear tracks 132 are kept laterally farther away from a user riding the platform.

According to still another variation embodiment of the ITTV, the motion of any moveable element of the ITTV may be locked for safety reasons. This includes the rotary motion of the at least one tracks motor 140, and/or the rotary motion of the front transmission FT and/or of the rear transmission RT, or the pivotal motion of the front actuator 14 IF and/or of the pivotal motion of the rear actuator 14 IR. Such locks include brakes, one-directional mechanisms, worm gears, all intended for protecting against loss of stability in the event of a failure.

Furthermore, according to yet other different embodiment of the ITTV, the controller 150 is configured with a programmable processor, with computer program reading means and with a memory for storing data, not shown in the Figs., all interfacing with auxiliaries 190, shown in Fig. 1, which represent numerous sensors and input devices. The controller 150 therefore interfaces with at least one stability sensor pertaining to the auxiliaries 190, to maintain the stability of the ITTV, such as for example, a mercury switch, a gyroscope, and computer program(s). The ITTV is thus prevented from inadvertent fall over.

Moreover, the controller 150 interfaces with at least one attitude sensor, also pertaining to the auxiliaries 190, to monitor the attitude of the platform, with the substantially level attitude being the default option . Finally, according to still a further embodiment of the ITTV, the controller 150 is interfaced to terrain sensors, also pertaining to the auxiliaries 190, as means for monitoring platform respective forward and rearward terrain contours. Thus, both at standstill and in motion, the controller 150 of the ITTV, monitors terrain contour under the front tracks 122 and under the rear tracks 133.

Regarding quasi-robotic and other "smart" variations of embodiments of the ITTV, the motion of the vehicle and the stabilization of the platform 100 are preferably electro-mechanically controlled exclusively. The control means which keep the platform stabilized includes programmable computer hardware and programs for enabling same, sensors, communication means, control loops and necessary interconnections there-between. Furthermore, of particular importance for many of the instant embodiments is the elimination of forward and backwards fall of the vehicle. Keeping the platform, and with it an attached or integral wheelchair, level is primarily to give the handicapped user a secure feeling and, secondarily, to minimize the resultant force in the forward and backward directions while climbing stairs. Simply stated, to keep the platform stabilized, the primary concern is dealing with longitudinal and lateral stabilization. In addition, keeping the platform 100 level may also be accomplished using a computerized control means, which react to input from level-sensing sensors such as a gyroscope, or mercury switches. As noted above, the platform is multipurpose, capable of accepting integral or detachable members for carrying a person in a chair or a wheelchair or alternate conveyance and/or for carrying inert loads, e.g. as a robotic platform.

Furthermore, instant embodiments may be enabled with remote or onboard vehicle control. Power for the various power consuming and power operated elements, devices and components, is derived either from an on-board power source, e.g. a battery or a small combustion engine powered generator, or from an off-board source, such as via an electric cable.

Turning now to Fig. 6, not withstanding the aforesaid, the instant invention equivalently relates to a method 500 for controlling an ITTV, wherein the ITTV includes a platform 100 capable of securely but releasably holding a chair C, 300, mounted there above, a pair of parallel platform tracks 112 respectively coupled to the platform and tracked on platform internal multi- wheel bearing assemblies 113, substantially coaxial to a forward wheel 113F of each first assembly 113, a pair of front tracks 122 respectively tracked on front internal multi- wheel bearing assemblies 123, substantially coaxial to a rearward wheel 113F of each platform assembly 113R, a pair of rear tracks 132 respectively tracked on third internal multi- wheel bearing assemblies 133, attached to the platform 100, at least one rotary tracks motor 140 interconnected via a controllable tracks transmission TT to at least one wheel in each of the platform assemblies 113, interfaced to the at least one rotary tracks motor 140, a controller 150 capable of independent coordination of rotational moment, speed and direction from the at least one rotary tracks motor 140 respectively to the at least one wheel in each of the platform assemblies 113, front sensing means 170F for bringing the front tracks 122 into contact with a terrain substantially contiguously under the pair of front tracks 122, and rear sensing means 170 R for bringing the rear tracks 132 into contact with a terrain substantially contiguously under the pair of rear tracks 132, and the method includes the steps of: from a user command interface 160, or command unit 160, First Accepting 510 a user command selected from the list of platform motion states: stop, forward motion, rearward motion, turn left, turn right, upward motion, downward motion, front tracks to terrain surface engage, front tracks to terrain surface retract, rear tracks to terrain surface engage, rear tracks to terrain surface retract, increase motion speed, decrease motion speed, orient platform, and level platform; from at least one sensor, second accepting 520 data and the data includes at least one parameter of the platform's spatial orientation with respect to at least one parameter of the proximate terrain's spatial orientation; with respect to a model for preserving platform safety, stability and integrity, Forming 530 at least one motor/transmission instruction by logically resolving the accepted user command with the data; and

First Conveying 540 the at least one motor/transmission instruction to the at least one motor/transmission and/or Second Conveying 550 at least one notification to the user.

In the context of the instant method, which is preferably intended to operate in the context of the variations of leveling, stabilization, and/or locomotion of the instant vehicle, numerous pre-programmed software command sequences are anticipated which instantly accomplish the necessary operations of forward motion, reverse motion, ascent, decent, elevation, turning, etc.

While the invention has been described with respect to specific examples including presently preferred modes of carrying out the invention, those skilled in the art will appreciate that there are numerous variations and permutations of the ITTV described systems and techniques that fall within the spirit and scope of the invention as set forth in the appended claims. By non-limiting example, there are mentioned autonomous micro- vehicles, vehicles useful for bomb disposal, or for bomb delivery, or as robotic platforms in biohazard or radiation zones, or as macro- vehicles for construction, materials handling, transportation of goods or persons, as public transport, and the likes. Simply stated, the wheelchair scale version is preferable, but larger and smaller versions are likewise useful; while alternative tasks to providing a wheelchair "climbing" capability are also anticipated. Hence, the step of forming in the preferred embodiment relates to access or assembly of predetermined sequences and corresponding calculations, e.g. from sensors, user commands, data simulation manifolds, or the likes. In describing the present invention, explanations are presented in light of currently accepted Mechanical and Ergonomic theories and models. Such theories and models are subject to changes, both adiabatic and radical. Often these changes occur because representations for fundamental component elements are innovated, because new transformations between these elements are conceived, or because new interpretations arise for these elements or for their transformations. Therefore, it is important to note that the present invention relates to specific technological actualization in embodiments. Accordingly, theory or model dependent explanations herein, related to these embodiments, are presented for the purpose of teaching, the current man of the art how these embodiments may be substantially realized in practice. Alternative or equivalent explanations for these embodiments may neither deny nor alter their realization.

Furthermore, numbers, alphabetic characters, and roman symbols are designated herein are for convenience of explanations only, and should by no means be regarded as imposing particular order on any method steps.

INDUSTRIAL APPLICABILITY

A wheelchair-supporting ITTV is an industrial product, manufactured to specifications in an industrial facility. It is recognized that for a wheelchair 300, the product moves at relatively low speed, e.g. from 15 to 20 m/sec, with low accelerations, on inclines not steeper than 30°. These limitations are artificially imposed as constraints only when the ITTV performs as a wheelchair-supporting platform, primarily for the sake of the safety of the wheelchair rider, and also with respect to the wheelchair. With the aforementioned limitations, the product easily tolerates low-cost components, off-the-shelve elements, and standard available sub- assemblies, such as continuous belted track treads, actuators, motors, transmissions, and controls, all of which are known in the art and readily available.

For other uses than transport of handicapped people, the speed limits and incline engagement capability constraints were removed. Increased speed was evidently achieved, while climbing inclines was limited only by the stability criteria of the ITTV, thus geometric dimension configuration and center of gravity location.

For the implementation, advantage was taken of the flexibility inherent with processor and computer program driven control and command systems. Prototypes of the product were fitted with unsophisticated sensors, such as micro-switches on resilient mounts for indicating obstacles, rotary potentiometers for measuring angles, and mercury switches for measuring attitude, i.e. inclination and level position, as well as acceleration thresholds. Location of control, command unit, and user, were tested on-board and off-board. Test models, limited to the above-mentioned speed and incline, exploited computer programs to ensure stability of the ITTV on unfriendly and uneven terrain. Micro-switches indicated obstacles for automatic pivoting of the related front actuator 141For rear actuator 141R, from rest position, respectively, 122UP or 132UP to terrain contact indicated by pivoting torque. Mercury switches sensed inclination and orientation of the platform 100, with level platform as the default selection.

The ITTV prototypes provide improved access for handicapped people, low profile for stable platform ascent and descend at standstill, and safe travel over curbs, stairs, and inclines. Costs of implementation of the ITTV prototypes reached but a third of the cheapest existing products, which exhibited only limited capabilities. It will be appreciated by persons skilled in the art, that the present invention is not limited to what has been particularly shown and described hereinabove. For example, it is possible to implement a platform with a plurality of wheels and with a pair of independent and controllable front and rear caterpillar tracks. Furthermore, each one of the sets of caterpillar tracks may be replaced by a multiplicity of wheels. Rather, the scope of the present invention is defined by the appended claims and includes both combinations and subcombinations of the various features described hereinabove as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description.

Claims

1. An Intelligent Terrain-Traversing Vehicle, or ITTV, comprising: a platform (100) defining a front, a rear, a length and a width, and configured for supporting a load, and configured for securely releasably retaining a chair (C, 300), a pair of parallel platform caterpillar tracks (112), or platform tracks (112), coupled to the platform in spaced apart symmetrical longitudinal alignment, each track (110, 111) being respectively tracked on platform internal multi-wheel bearing assemblies (113), o a pair of front caterpillar tracks (120, 121), or front tracks (122), substantially coaxial to a forward wheel (113F) of each platform internal multi- wheel bearing assemblies (113), and respectively tracked on front internal multi- wheel bearing assemblies (123), a pair of rear caterpillar tracks (130, 131), or rear tracks (132), substantially 5 coaxial to a rearward wheel (113R) of each platform internal multi- wheel bearing assemblies (113), and respectively tracked on rear internal multi- wheel bearing assemblies (133), at least one tracks motor (140) coupled to the platform and interfaced via a controllable tracks transmission (TT) to at least one wheel in each one of the platform o internal multi- wheel bearing assemblies (113), a front actuator (14 IF), supporting the pair of parallel front tracks in parallel to the platform tracks, extending in alignment and away from the platform, supporting a front axle 124 at the front of the platform, to which the front actuator is pivotally retained at a front actuator attached end (142F), while a front actuator free end (143F) 5 is pivotally directable, a front motor (145F) coupled to the platform and interfaced via a controllable front transmission (FT) to the front actuator, a rear actuator (141R), supporting the pair of parallel rear tracks in parallel to the platform tracks, extending in alignment and away from the platform, supports a 0 rear axle (146) at the rear of the platform, to which the rear actuator is pivotally retained at a rear actuator attached end (142R), while a rear actuator free end (143R) is pivotally directable, a rear motor (145R) coupled to the platform and interfaced via a controllable rear transmission (RT) to the rear actuator, 5 a controller (150) comprising coupling to the at least one tracks motor and to each one of both the front motor and the rear motor, for independent coordination of moment, speed, and direction of rotation, wherein respectively: the at least one tracks motor is controlled relatively to the rotation of the at least one wheel in each one of the platform internal multi-wheel bearing assemblies, and each one of both the front motor and the rear motor is controlled for pivotal orientation of, respectively, the front actuator and the rear actuator.

2. The controller according to Claim 1, further comprising: manual and/or automatic control of the tracks transmission (TT), of the front transmission (FT) and of the rear transmission (RT), and sensing means (170), manual or automatic, with independently, a front sensing means (170F) and a rear sensing means (170R), for determining contact, respectively, of the front tracks (122) and of the rear tracks (132) with a terrain substantially contiguously thereunder.

3. The controller according to Claim 1, further comprising: control and monitoring of ITTV stability, of platform orientation and of level position of the platform.

4. The ITTV according to Claim 1, further comprising: a command unit (160) interfacing between the controller and a user for commanding operation of the ITTV and for providing feedback to the user.

5. The ITTV according to Claim 1, wherein: the at least one tracks motor comprises two separate track motors independently operating each platform multi-wheel bearing assembly.

6. The ITTV according to Claim 1, wherein: the at least one tracks motor comprises one separate motor coupled to, for operation of, each one pair of front tracks, platform tracks and rear tracks.

7. The ITTV according to Claim 1, wherein: the at least one tracks motor comprises one separate motor for independently operating each one out of the platform, front, and rear multi-wheel bearing assemblies.

8. The ITTV according to Claim 1, further comprising: leveling means, coupled at least to the platform and to the controller, for independently directing the orientation of the front actuator and of the rear actuator, to maintain the platform substantially level.

9. The ITTV according to Claim 1, further comprising: platform orientation means coupled at least to the platform and to the controller, for independently directing the direction of the front actuator and of the rear actuator, to maintain the platform in a selected orientation.

10. The ITTV according to Claim 1, further comprising: stabilization means coupled at least to the platform and to the controller, for independently directing the orientation of the front actuator and of the rear actuator, to maintain the ITTV stable.

11. The ITTV according to Claim 1, further comprising: a command unit interfacing between the controller and a user for commanding operation of the ITTV in any one of the operation modes selected from the group consisting of: manual operation mode, semi- automatic operation mode, and automatic operation mode.

12. The ITTV according to Claim 1 wherein: the controller orientates the front actuator and the rear actuator to make the forward and the reward tracks function as exclusive terrain contact members such that the pair of platform tracks is raised above the terrain.

13. The ITTV according to Claim 1, wherein the platform further comprises a structure of skeletal construction.

14. The ITTV according to Claim 1, wherein the platform comprises: protective surfaces, which prevent unintentional contact between the clothing or limbs of a user supported by the platform and at least one motion-enabled element selected from the list consisting of: a platform track, a front track, a rear track, a wheel bearing assembly, a motor, a transmission, and an actuator.

15. The ITTV according to Claim 1 wherein: each one out of the controllable tracks transmission, the front controllable transmission, and the rear controllable transmission comprises at least one locking-mechanism for protecting against loss of stability of the ITTV in the event of respective motor failure, and the locking-mechanism is selected from the list of locks consisting of: mechanical locks and one-way locks, electric locks, pneumatic locks, and hydraulic locks .

16. The ITTV according to Claim 1 further comprising: sensors means for monitoring terrain contour under the front tracks and under the rear tracks of the ITTV, while at stand-still and in motion.

17. The ITTV according to Claim 1 , wherein the platform is specifically configured for both easy secure attachment thereto and easy detachment therefrom of a standard wheelchair.

18. The ITTV according to Claim 1, further comprising: a stowage position wherein the front tracks and the rear tracks point vertically upward relative to the platform in a space saving attitude, and a mounting/dismounting position wherein at least one of both the front actuator and the rear actuator are configured to serve as a ramp, providing access from the terrain to the platform and vice-versa, when pivoted to a terrain contacting attitude. 5

19. A method for controlling an Intelligent Terrain-Traversing Vehicle, or ITTV, comprising: a platform (100) defining a front, a rear, a length and a width, and configured for supporting a load, and also configured for securely o releasably retaining a chair (C, 300), a pair of parallel platform tracks (112) coupled to the platform and respectively tracked on platform internal multi-wheel bearing assemblies

(113), a front track (120, 121) substantially coaxial to a front wheel 5 (113F) of each platform assembly, respectively tracked on front internal multi-wheel bearing assemblies (113), a rear track (130, 131) substantially coaxial to a rear wheel (113R) of each first assembly, respectively tracked on rear internal multi-wheel bearing assemblies (113), 0 at least one rotary tracks motor (140) coupled to the platform and interconnected via a controllable tracks transmission (TT) to at least one wheel in the platform assemblies, a front actuator (141F) supporting the pair of parallel front tracks in alignment and away from the platform, supporting a front axle (124), to which the front actuator is pivotally retained at a front actuator attached end (142F), while a front actuator free end (143F) is pivotally directable, a front motor (145) coupled to the platform and interfaced via a controllable front transmission (FT) to the front actuator, a rear actuator (14 IR), supporting the pair of parallel rear tracks in parallel to the platform tracks, extending in alignment and away from the platform, supports a rear axle (146) at the rear of the platform, to which the rear actuator is pivotally retained at a rear actuator attached end (142R), while a rear actuator free end (143R) is pivotally directable, a rear motor (145R) coupled to the platform and interfaced via a controllable rear transmission (RT) to the rear actuator, a controller (150) comprising coupling to the at least one tracks motor and to each one of both the front motor and the rear motor, for independent coordination of moment, speed, and direction of rotation, wherein respectively: the at least one tracks motor is controlled relatively to the rotation of the at least one wheel in each one of the platform internal multi- wheel bearing assemblies, and each one of both the front motor and the rear motor is controlled for pivotal orientation of, respectively, the front actuator and the rear actuator, the controller further comprising: first means, manual or automatic, for determining contact of the front tracks with a terrain substantially contiguously thereunder, and second means, manual or automatic, for determining contact of the front tracks with a terrain substantially contiguously thereunder, the method comprising the steps of: from a user command interface unit (160), First Accepting a user command selected from the list of platform motion states: stop, forward motion, rearward motion, upward motion, downward motion, front track to terrain surface engage, front track to terrain surface retract, rear track to terrain surface engage, rear track to terrain surface retract, increase motion speed, decrease motion speed, turn left, turn right, and level platform, from at least one sensor, Second Accepting data and the data includes at least one parameter of the platforms spatial orientation with respect to at least one parameter of the proximate terrain's spatial orientation, with respect to a model for preserving platform safety, stability and integrity, Forming at least one motor/transmission instruction by logically resolving the accepted user command with the data; and

First Conveying the at least one motor/transmission instruction to the at least one motor/transmission and/or Second Conveying at least one notification to the user.

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510 520

530

540 550

FIG.6