CN115151479B

CN115151479B - Vehicle with a vehicle body having a vehicle body support

Info

Publication number: CN115151479B
Application number: CN202180016575.0A
Authority: CN
Inventors: D.牛顿
Original assignee: Dyson Technology Ltd
Current assignee: Dyson Technology Ltd
Priority date: 2020-02-27
Filing date: 2021-02-24
Publication date: 2023-11-28
Anticipated expiration: 2041-02-24
Also published as: WO2021171005A1; CN115151479A; GB202002774D0; GB2592407A; GB2592407B

Abstract

A vehicle is provided. The vehicle includes a body and at least first and second wheels. The first wheel may operate as a guiding wheel relative to the body during a climbing operation and is coupled to the body via a first coupling device that may be actuated to move the first wheel between a first position in which the first wheel is in contact with the surface to support movement of the body over the surface and a raised position in which the first wheel extends over the surface in front of the body. During the climbing operation, the second wheel may operate as a wheel relative to the main body and the first wheel. The second wheel is coupled to the body via a second coupling device that is actuatable to move the second wheel between a first trailing position and a second trailing position, the first trailing position being rearward of the second trailing position relative to the body during a climbing operation, and wherein the first and second trailing positions are rearward of the first wheel. The second coupling means is also actuatable to drive the second wheel downwardly away from the body to raise the body relative to the surface. The vehicle further includes a propulsion system to drive movement of the body across the entire surface and actuate the first and second coupling devices.

Description

Vehicle with a vehicle body having a vehicle body support

Technical Field

The present invention relates to a vehicle and in particular, but not exclusively, to a robotic vehicle capable of climbing an obstacle such as a stairs or the like. The present invention may be applied as an autonomous robot, for example a home autonomous robot.

Background

The human environment presents unique challenges for robotic vehicles. These environments are designed for human navigation; however, humans are extremely complex biological entities that are difficult to robotically replicate. For example, it has long been desirable to provide robotic vehicles that can be maneuvered in an environment such as a home to assist in accomplishing certain tasks. However, some environments have discontinuous surfaces, such as stairs and steps that need to be climbed, which can cause problems for many robotic vehicles during navigation. This is often the case even for single-storey houses, as small horizontal variations between rooms are common.

Stair climbing robotic vehicles are known. For example, TW201132328 describes a complex robotic vehicle having a large number of components to enable the vehicle to perform stair climbing operations. For example, the vehicle described in TW201132328 requires five wheels and two support structures to support and balance the vehicle during a climbing operation. Having a large number of components for climbing stairs may make robotic vehicles more prone to failure, increase weight, and increase cost.

Disclosure of Invention

According to a first aspect of the present invention there is provided a vehicle comprising a body, and at least first and second wheels to support movement of the body across a surface. The first wheel may operate as a guide wheel relative to the body during a climbing operation and is coupled to the body via a first coupling device that may be actuated to move the first wheel between a first position in which the first wheel contacts the surface to support movement of the body across the surface and a raised position in which the wheel extends in front of the body above the surface. The second wheel may operate as a wheel relative to the main body and the first wheel during a climbing operation and be coupled to the main body via a second coupling device. The second coupling means may be actuated to: (i) Moving the second wheel between a first trailing position and a second trailing position, the first trailing position being rearward of the second trailing position relative to the body during the climbing operation, and wherein the first and second trailing positions are rearward of the first wheel, and (ii) driving the second wheel downward away from the body, thereby lifting the body relative to the surface. The vehicle further includes a propulsion system to drive movement of the body across the surface and actuate the first and second coupling devices.

Thus, the vehicle has a main body and a first wheel extending in front of the main body, and a second wheel arranged behind the first wheel. The first wheel is movable between a first position in which the first wheel is in contact with a surface, such as the ground, and a raised or elevated position above the surface as the vehicle moves toward a step or stairs in front of the vehicle. Thus, the first coupling means allow the first wheel to: (i) Moving away from the surface in an upward direction (i.e., "upward"), and (ii) moving toward the surface in a downward direction (i.e., "downward"). In a particular example, the first coupling device moves the first wheel substantially vertically along the first axis.

The second wheel is movable between a first trailing position and a second trailing position. The first trailing position is rearward of the second trailing position, and thus may be farther from the front of the vehicle (and/or the first wheel) in the first trailing position than in the second trailing position. Thus, the second coupling means allows the second wheel: (i) Moving in a forward direction toward the front of the body/vehicle (and/or the first wheel), and (ii) moving in a rearward direction toward the rear of the body/vehicle. The movement may be linear along a second axis perpendicular to the first axis, or may be non-linear, such as along an arc. As will become apparent, movement between the first and second trailing positions allows the second wheel to move onto the step after the body has been lifted onto the step. Furthermore, this allows the overall footprint of the vehicle to be smaller, so it can fit on stairs without the need to reduce the body size to compensate for the area occupied by the first and second wheels.

The second wheel may be moved away from the body to lift the body off the ground. For example, the second coupling means also allows the second wheel to move (i) away from the body in a downward direction and (ii) toward the body in an upward direction. When the second wheel is in contact with the surface and the second coupling means moves the second wheel downwardly away from the body, a downward force is applied to the surface, which causes the vehicle to be pushed away from the surface in an upward direction, thereby lifting the vehicle relative to the surface. This allows, for example, the body to be lifted onto a step.

The propulsion system moves the vehicle relative to the surface and controls at least the first and second coupling devices. The propulsion system may include one or more motors, and/or one or more gears, to enable actuation of the first and second coupling devices.

Thus, the example vehicle has relatively few components compared to existing robotic vehicles, which provides a simple and less complex vehicle.

"guide wheel" may mean that the wheel is disposed at or closer to the front of the body than other wheels. Thus, as the body moves across the surface toward the step or stairs, the idler may first approach the step or stairs.

"from the wheel" may mean that the wheel is farther from the front of the body than the guide wheel. Thus, as the body moves across the surface toward the step or stair, the wheel may be farther from the step or stair than the runner. In some examples, the wheel may be disposed at or towards the rear of the body.

The "front portion of the body" may be the foremost portion of the body when the vehicle approaches a step or stairs.

The "rear portion of the body" may be the back of the body as the vehicle approaches a step or stairs.

"downward" refers to a direction toward a surface, such as the ground, and may be substantially parallel to the direction of gravity acting on the body. Downward may also be referred to as "downward direction".

"upward" refers to a direction away from the surface. Upward may also be referred to as "upward direction".

A "climbing operation" is a process in which a vehicle moves from a lower surface to a higher surface, where the two surfaces are separated in height. This may involve navigating or climbing one or more steps or stairs. In certain examples, the height of the steps or stairs is measured along a first axis and the depth of the steps or stairs is measured along a second axis perpendicular to the first axis. The stairs may extend along a first axis and a second axis. The climbing operation may be a stair climbing operation.

By "movement of the support body across the surface" is meant that the wheel is able to contact the surface to assist the movement of the vehicle along the surface. Not all wheels may contact the surface at the same time.

"extending in the front of the body" may mean that the first wheel extends outwardly away from the body.

The first coupling means couples/connects the first wheel to the main body. Similarly, a second coupling means couples/connects the second wheel to the main body. The coupling may be direct or indirect. As does any of the coupling devices described herein.

In one example, the vehicle is a robotic vehicle. In another example, the vehicle is a stair climbing robot or stair climbing vehicle. The vehicle may be a stair climbing robot for performing one or more tasks. The task may be household, such as cleaning or dust extraction.

The propulsion system may drive at least one wheel such that the vehicle moves across the surface. In some examples, the propulsion system is configured to control at least one of the first wheel and the second wheel to drive movement of the body across the surface. The propulsion system may include one or more motors and/or one or more gears to drive/control the wheels. The propulsion system may include a controller that controls the operation of the vehicle. The controller may include one or more processors, including one or more microprocessors, central processing units, and/or graphics processing units, and a set of memories.

The second coupling device may pivotally couple the second wheel to the body. Thus, as described above, the movement of the second wheel may be nonlinear as it moves between the first and second trailing positions. In this case, the second wheel may move at least partially around the body. Thus, the second wheel may move in the azimuth direction around the body. Such pivoting movement may allow for a more compact vehicle and a lower profile. For example, the second wheel may not need to be arranged below the body, but may be arranged remote from the body. The pivoting motion may allow the second wheel to move towards the front of the body without having to move underneath the body.

In one arrangement, the first and second wheels may be full wheels (holonomic wheels). The complete wheel allows the vehicle to more easily travel across a two-dimensional surface. The second wheel may be particularly useful when the second coupling means pivotably couples the second wheel to the body, as the complete wheel may more easily enable non-linear movement of the second wheel.

In a preferred arrangement, the vehicle may comprise a third wheel which may operate as a second wheel relative to the body and the first wheel during the climbing operation. The third wheel may be coupled to the body via a third coupling device that is actuatable to: (i) Moving the third wheel between a first trailing position and a second trailing position, the first trailing position being rearward of the second trailing position relative to the body during the climbing operation, and wherein the first and second trailing positions are rearward of the first wheel, and (ii) driving the third wheel downward away from the body, thereby lifting the body relative to the surface. Thus, the third wheel and the third coupling device may operate in the same manner as the second wheel and the second coupling device. Thus, there may be two driven/rear wheels. In one example, the first, second and third wheels are arranged in a triangular pattern around the body. By having at least three wheels, the vehicle may be better stabilized.

The propulsion system may also be configured to actuate the third coupling device. The propulsion system may be configured to control at least one of the first wheel, the second wheel, and the third wheel to drive movement of the body across the surface. In one example, a third coupling device pivotably couples the third wheel to the body. The third wheel may be a full wheel.

During a climbing operation, the vehicle may be configured to climb to a second surface above the surface, and the propulsion system is configured to:

actuating the first coupling means to move the first wheel from the first position to a raised position, the raised position being at a height above the second surface;

driving movement of the body across the surface until the first wheel is above the second surface;

actuating the second and third coupling means to drive the second and third wheels downwardly away from the body to raise the body relative to the surface to a height above the second surface;

driving movement of the body across the surface until the body is above the second surface;

actuating the second and third linkages to move the second and third wheels upwardly toward the body; and

the second and third coupling devices are actuated to move the second and third wheels from the first trailing position to the second trailing position such that the second and third wheels are in contact with the second surface.

Thus, the second surface forms part of the first step or staircase. The surface may be a first surface. There may be more steps or stairs and thus more surface above the second surface.

By "above the height of the second surface" is meant that the component (e.g., the first wheel or body) is moved to a height equal to or greater than the height of the second surface. This allows the first wheel or body to be raised/lifted to a height away from the second surface. Thus, the first wheel or body is located above the second surface as the vehicle moves across the surface towards the step. By "above" the second surface is meant that the component (e.g., the first wheel or body) is either above or in contact with the second surface.

Moving the second and third wheels downwardly away from the body causes the second and third wheels to extend away from the body. Similarly, moving the second and third wheels upward toward the body causes the second and third wheels to retract toward the body. Moving the second and third wheels upward toward the body moves the second and third wheels away from the surface and may include moving the second and third wheels to a height above the second surface. The act of moving the second and third wheels upwards may mean that the body is in contact with the second surface, as the second and third wheels are no longer in contact with the surface and no longer supporting the body.

Once retracted toward the body, the second and third wheels may hang over the first step (and not contact either surface). Thus, the second and third coupling devices are actuated to move the second and third wheels from the first trailing position to the second trailing position to bring the second and third wheels over the second surface.

The second wheel and the third wheel remain in contact with the surface (and still in the extended position) when the propulsion system drives movement of the body across the surface to a point where the body is above the second surface.

Thus, the above describes how a vehicle effectively moves from one surface to a raised surface.

In a particular configuration, when the propulsion system actuates the second and third coupling devices to drive the second and third wheels downward away from the body, the propulsion system may be further configured to actuate the first coupling device to maintain the first wheel in contact with the second surface. Thus, the first coupling means is actuated to move the first wheel downwards (relative to the body when the body is lifted upwards) so that the first wheel remains in contact with the second surface when the body is lifted. This provides support for the vehicle and prevents the vehicle from tilting when the main body is lifted. Thus, the body may remain substantially horizontal (parallel to the surface).

In one example, after driving movement of the body across the surface until the body is above the second surface, the propulsion system may be further configured to actuate the first coupling device to move the first wheel to a raised position at a height above a third surface raised above the second surface. This is useful if there is a second step (including a third surface) to ensure that the first wheel does not cause obstruction as the body moves further onto the second surface. By moving the first wheel to this raised position, the body can be fitted over the first step. This is particularly useful if the depth of the first step is not able to accommodate the body and the first wheel when in the first position (i.e. when in the non-raised position).

In certain examples, after actuating the first coupling device to move the first wheel to a height above the third surface, the propulsion system may be further configured to drive movement of the body across the second surface until the first wheel is above the third surface. This allows the body to be moved further onto the second surface. Thus, in this configuration, the vehicle spans three surfaces (the ground, the first step, and the second step). For example, in this configuration, the second and third wheels are in contact with the first surface, the body is in contact with the second surface, and the first wheel is above the third surface. Once in this position, the propulsion mechanism begins to actuate the second and third linkages to move the second and third wheels upwardly toward the body.

In one example, after actuating the second and third coupling devices to move the second and third wheels from the first trailing position to the second trailing position, the propulsion system may be further configured to actuate the second and third coupling devices to move the second and third wheels from the second trailing position to the first trailing position and drive movement of the body across the second surface. These steps may occur in any order, or may occur simultaneously. This means that the first and second wheels can be moved back to their original positions so that the body can be properly positioned on top of the third surface. In a particular example, once the second and third wheels have been moved away from the body (i.e., the body has been lifted above the third surface), the wheels are moved back to the first trailing position. Optionally, the second and third wheels are moved back to the first trailing position as the wheels are moved away from the body. If the stair tread is particularly narrow, the vehicle may first lift the body above the third surface (to ensure clearance), then move across the second surface, and finally move the wheel back to the first trailing position. This particular sequence allows the wheel to be received by the second surface in the first trailing position.

The first coupling means may comprise an actuator, for example a linear actuator. For example, a linear actuator is a simple and efficient mechanism to move the first wheel along the axis. In another example, the first coupling device may include an actuator and an arm, wherein the actuator is configured to cause the arm to pivot, thereby moving the first wheel between the first position and the raised position. In this example, the guide wheel may not move linearly along the axis.

The second coupling means may comprise: a first portion pivotably coupled to the body to move the second wheel at least partially around the body, and a second portion coupled to: (i) A first portion, and (ii) a second wheel, wherein the second portion is retractable/extendable to move the second wheel away from and toward the body. Thus, the mechanism allows the second coupling device to move the wheel in two or more dimensions. Preferably, the third coupling means operates in the same way as the second coupling means. In one example, the first portion may be movable about the body via a rotary actuator and the second portion may be movable relative to the first portion via a linear actuator.

As described above, in one example, the vehicle may include three wheels. For example, a first wheel may operate as a lead wheel and two other wheels operate as a slave wheel. In another example, the vehicle may include more than three wheels. For example, a vehicle may include four wheels; two wheels operate as guide wheels and two wheels operate as wheels. The additional guide wheels may operate in substantially the same manner as the guide wheels described above.

According to a second aspect of the present invention, there is provided a method of controlling a vehicle during a climbing operation in which the vehicle is configured to climb from a first surface to a second surface higher than the first surface. The vehicle includes a body, a first wheel coupled to the body, and a second wheel coupled to the body. The method comprises the following steps:

moving the first wheel from a first position in which the first wheel supports movement of the body across the first surface to a raised position in which the wheel extends above the first surface in front of the body;

moving the body across the first surface until the first wheel is equal to or higher than the second surface;

moving the second wheel away from the body so as to raise the body relative to the first surface to a height equal to or greater than the second surface;

moving the body across the first surface until the body is above the second surface;

moving the second wheel toward the body; and

moving the second wheel from the first trailing position to the second trailing position such that the second wheel is in contact with the second surface, wherein:

during a climbing operation, the first trailing position is rearward of the second trailing position relative to the body; and is also provided with

The first and second trailing positions are rearward of the first wheel.

Moving the second wheel from the first trailing position to the second trailing position may include moving the second wheel at least partially around the body.

In one example, the vehicle may further include a third wheel coupled to the body, and the method further includes:

moving the third wheel away from the body to raise the body to a height above the second surface relative to the first surface;

moving the third wheel toward the body; and

the third wheel is moved from the first trailing position to the second trailing position such that the third wheel is in contact with the second surface.

These actions may occur substantially simultaneously with the actions performed on the second wheel.

Moving the second wheel from the first trailing position to the second trailing position may include pivoting the second wheel at least partially about the body. Similarly, in examples including a third wheel, "moving the third wheel from the first trailing position to the second trailing position" may include pivoting the third wheel at least partially about the body.

In one example method, the method further comprises maintaining the first wheel in contact with the second surface as the second wheel is moved away from the body. Thus, these actions may occur substantially simultaneously so that the vehicle remains balanced while lifted.

In one example, after moving the body across the first surface until the body is above the second surface, the method may further include moving the first wheel to a raised position at a height above a third surface raised above the second surface.

In one example, after moving the second wheel and the third wheel from the first trailing position to the second trailing position, the method may further include moving the second and third wheels from the second trailing position to the first trailing position; and moving the body across the second surface.

In one example, moving the body across the first surface until the body is on or over the second surface may result in the first wheel being positioned equal to or higher than the third surface.

In some examples, the first wheel may be coupled to the body via a first coupling device and the second wheel may be coupled to the body via a second coupling device. In examples including a third wheel, the third wheel may be coupled to the body via a third coupling device. Thus, moving the first, second or third wheel may comprise controlling the first, second or third coupling means, respectively.

Other features and advantages of the invention will become apparent from the following description of preferred embodiments of the invention, given by way of example only, with reference to the accompanying drawings.

Drawings

FIG. 1A is a perspective view of a robotic vehicle having a jockey wheel and two jockey wheels according to an example;

FIG. 1B is a perspective side view of the robotic vehicle of FIG. 1A with two wheels disposed in a first trailing position and a guide wheel disposed in a first position;

FIG. 1C is a perspective side view of the robotic vehicle of FIG. 1B with two wheels disposed in a second trailing position and a guide wheel disposed in a first position;

FIG. 2A is a schematic diagram showing a side view of the vehicle of FIG. 1B prior to climbing one or more stairs;

FIG. 2B is a schematic diagram illustrating a top view of the vehicle of FIG. 2A with two wheels disposed in a first trailing position;

FIG. 3 is a schematic view of the vehicle of FIG. 2B with the guide wheel disposed in a second raised position;

FIG. 4 is a schematic illustration of the vehicle of FIG. 3 after movement toward a first step;

FIG. 5 is a schematic illustration of the vehicle of FIG. 4 after two wheels have been moved away from the body and the vehicle has been lifted;

FIG. 6 is a schematic illustration of the vehicle of FIG. 5 after moving onto a first step;

FIG. 7 is a schematic view of the vehicle of FIG. 6 with the jockey pulley again disposed in a second raised position;

FIG. 8 is a schematic view of the vehicle of FIG. 7 after further movement onto a first step and the jockey wheel onto a second step;

FIG. 9 is a schematic view of the vehicle of FIG. 8 after two wheels have been retracted toward the body;

FIG. 10A is a schematic illustration of the vehicle of FIG. 9 after the wheel has been moved to a second trailing position;

FIG. 10B is a schematic diagram illustrating a top view of the vehicle of FIG. 10A;

FIG. 11 is a schematic view of the vehicle of FIG. 10A after the wheel has been moved away from the body and the vehicle has been moved onto a second step;

FIG. 12 is a schematic illustration of another example vehicle; and

fig. 13 is a flow chart illustrating a method of controlling a vehicle according to an example during a climbing operation.

Detailed Description

Examples of the invention relate to autonomous home robots or robotic vehicles capable of climbing stairs. Such robots may be configured to collect dust from floors and to climb stairs may be moved between floors in a residence to facilitate cleaning different floors separated by stairs. In other examples, the robot may be configured to dust or clean stairs during stair climbing operations. Needless to say, the same configuration of vehicle may find application in many other fields, such as commercial or military robots designed to climb stairs or other obstacles. In fact, the same climbing method may find application in a human-driven vehicle. In any case, a vehicle capable of climbing stairs and the like will now be described by way of example.

Fig. 1A is a perspective view of a vehicle 100. In this example, the vehicle 100 is a robotic stair climbing vehicle. The vehicle 100 has a body 102, a first wheel 104 operating as a guide wheel, a second wheel 106 operating as a first wheel, and a third wheel 108 operating as a second wheel. In this example, the central body 102 is generally cylindrical, but may take any other shape or form. The body 102 may house one or more components, including a propulsion system for driving movement of the body across a surface.

The vehicle 100 also includes a first coupling device 110 that connects the first wheel 104 to the body 102. The propulsion system controls the movement of the first wheel 104 by actuating the first coupling device 110. In this example, the first wheel 104 may be vertically movable along the first axis 112 from a first position shown in fig. 1A to a second or raised position (shown in fig. 3). In the first position, the first wheel 104 is in contact with a surface such as a floor and may operate as a wheel to help support movement of the vehicle 100 across the floor. Thus, by moving the first wheel 104 in the upward direction 114 along the first axis 112, the first coupling device 110 may lift the first wheel 104 off the ground. Similarly, the first coupling device 110 may return the first wheel 104 toward the floor (or another surface) by moving the first wheel 104 in a downward direction 116 along the first axis 112.

The vehicle 100 also includes a second coupling device 118 that connects the second wheel 106 to the body 102. The propulsion system controls the movement of the second wheel 106 by actuating the second coupling device 118. In this example, the second coupling device 118 pivotably couples the second wheel 106 to the body 102. This allows the second wheel 106 to azimuthally move around the body 102 from the first trailing position shown in fig. 1A and 1B to the second trailing position shown in fig. 1C. In this example, the second wheel 106 pivots about a midpoint 120 of the central body, although it is understood that different pivoting or rotation mechanisms may be implemented.

In at least fig. 1A and 1B, the second wheel 106 is in contact with the floor and thus may operate as a wheel to help support movement of the vehicle 100 across the floor.

Fig. 1B shows a side view of vehicle 100 and more clearly shows third wheel 108 and third coupling device 122 connecting third wheel 108 to body 102. As with the second coupling device 118, the propulsion system controls the movement of the third wheel 108 by actuating the third coupling device 122. In this example, a third coupling device 122 pivotably couples third wheel 108 to body 102. This allows third wheel 108 to move azimuthally around body 102 from a first trailing position shown in fig. 1A and 1B to a second trailing position shown in fig. 1C. As with the second wheel 106, the third wheel 108 pivots about a midpoint 120 of the central body.

FIG. 1C depicts the second and third wheels 106, 108 disposed in a second trailing position. The second and third wheels 106, 108 are positioned farther forward (relative to the body 102 and the first wheel 104) in the second trailing position than in the first trailing position. This means that the position of the second and third wheels 106, 108 in the first trailing position is after the second trailing position (relative to the body 102 and the first wheel 104). The movement of the second and third wheels 106, 108 thus moves the wheels closer to the front of the vehicle 100.

Fig. 2A-10B depict a vehicle 100 at various stages of a stair climbing operation. An example embodiment of the vehicle 100 will now be described.

Fig. 2A depicts a stair climbing vehicle 100, such as a floor of a residence, disposed on a first surface 124. Forward of the vehicle 100 is a stair that includes at least a first step. The first step includes a second surface 126 or stair tread 126 that raises a single stair height/distance 130 above the floor 124. As the vehicle 100 approaches the stairs, the first wheel 104 is referred to as a jockey wheel by moving in a forward direction 132 along a second axis 134 (which is perpendicular to the first vertical axis 112) because it reaches the first step before the second wheel 106 and the third wheel 108. It should be noted that in fig. 2A, third wheel 108 is obscured from view by second wheel 106, and that the movement of third wheel 108 reflects the movement of second wheel 106. The second and third wheels 106, 108 are thus wheels of the wheel because they are located behind the first wheel during stair climbing operations. In fig. 2A, the first wheel 104 is in contact with the floor 124 and is disposed in a lowered or first position. Thus, all three wheels 104, 106, 108 are in contact with the floor 124 and support movement of the body 102 across the floor 124.

In fig. 2A, the second and third wheels 106, 108 are disposed in a first trailing position. Fig. 2B depicts a top view of the vehicle. The solid lines show the second and third wheels 106, 108 disposed in the first trailing position. The dashed lines illustrate the positions of the second and third wheels 106, 108 when they have been moved forward to the second trailing position. It can be seen that the first trailing position is rearward of the second trailing position relative to the body 102, and that both the first and second trailing positions are rearward of the first wheel 104. In other words, the second and third wheels 106, 108 in the first trailing position are farther from the stairs, the front of the vehicle, and the first wheel 104 than in the second trailing position. When the vehicle approaches the stairs, the front of the vehicle is the foremost part of the main body.

In this example, one or more of the propulsion system drive wheels 104, 106, 108 move the vehicle in a forward direction 132 toward the stairs. In other examples, one or more other wheels or other drive components may alternatively drive movement of the body across the surface. The propulsion system also controls the first, second and third linkages 110, 118, 122 to move the wheels 104, 106, 108 relative to the body 102, as will now be described.

Fig. 3 depicts stair climbing vehicle 100 after the time in fig. 2A. Here, the first wheel 104 is disposed in a raised position. In this raised position, the first wheel 104 is at or above the height 130 of the first step. In some examples, the propulsion system moves the first wheel 104 to a height based on a height 130 of the step determined by one or more sensors located on the vehicle 100.

As shown in the example of fig. 3, the second and third wheels 106, 108 remain in contact with the floor 124 and remain in the first trailing position.

Fig. 4 depicts stair climbing vehicle 100 after the time in fig. 3. Here, the vehicle 100 has moved across the floor 124 such that the first wheel 104 is now equal to or higher than the stair tread 126. In some examples, the vehicle 100 moves in the forward direction 132 until the body 102 contacts the first step, or until the body 102 is positioned a predetermined distance from the first step. For example, the vehicle 100 may include one or more sensors for determining the position of the vehicle 100 relative to the first step.

Fig. 5 depicts stair climbing vehicle 100 after the time in fig. 4. Here, the body 102 has been lifted to a height 130 equal to or higher than the first step by moving the second and third wheels 106, 108 in a downward direction 116 relative to the body 102. In so doing, the second and third wheels 106, 108 are pushed against the floor 124 and remain in contact with the floor 124 as the body is lifted in the upward direction 114. At the same time, the first wheel 104 is controlled to maintain the first wheel 104 in contact with the stair tread 126. This prevents the vehicle 100 from becoming unbalanced.

As shown, the second coupling device 118 includes two main components: a first portion 118a coupled to the body, and a second portion 118b coupled to the first portion 118a at one end and to the second wheel 106 at the other end. The second portion 118b is telescoping and may extend to move the body 102 away from the second wheel 106. Similarly, the second portion 118b may retract to move the second wheel 106 toward the body 102. In this particular example, the first portion 118a pivotably couples the second wheel 106 to the body 102 to allow the second wheel 106 to move azimuthally about the body. For example, the first portion 118a may be pivotally connected to the midpoint 120 (as shown in fig. 1A) and may slide along a rail around the body 102. Although not shown, the third coupling device 118 may also include a first portion and a second portion and may operate in substantially the same manner.

Fig. 6 depicts stair climbing vehicle 100 after the time in fig. 5. Here, the vehicle 100 has moved to a position where the body 102 is equal to or higher than the stair tread 126. The body 102 may or may not be in contact with the stair tread 126 at this time.

In some cases (particularly in this example, there are more steps and the depth 136 of the current step is shorter than the overall length of the vehicle 100), the first wheel 104 needs to be moved to the raised position to ensure that the vehicle 100 can be accommodated by the steps. Thus, fig. 7 depicts an optional step in which the first wheel 104 is removed before the second wheel 106 and the third wheel 108 are retracted toward the body.

Thus, fig. 7 depicts stair climbing vehicle 100 after the time in fig. 6. Here, the first wheel 104 has been moved to the raised position, while the second wheel 106 and the third wheel 108 remain in contact with the floor 124. In this raised position, the first wheel 104 is at a height equal to or greater than the height 138 of the second step. The second step includes a third surface 128, also referred to as a second stair tread 128.

Fig. 8 depicts stair climbing vehicle 100 after the time in fig. 7. Here, the vehicle 100 has moved to a position where the first wheel 104 is equal to or higher than the second stair tread 128. In this position, the vehicle 100 spans three surfaces 124, 126, 128 and the vehicle 100 is arranged in a particularly stable configuration during its climbing operation.

Fig. 9 depicts stair climbing vehicle 100 after the time in fig. 8. Here, the second and third wheels 106, 108 have moved upward, toward the main body 102 and away from the floor 124, to a height equal to or greater than the height 130 of the first step. To accomplish this, the second portion 118b of the second coupling device 118 is retracted to move the second wheel 106 toward the body 102. Similarly, the second portion of the third coupling device 122 is retracted to move the third wheel 108 toward the body 102. At this point, both the second and third wheels 106, 108 hang over the first step and have not yet been in contact with the stair tread 126. They are still located at the first trailing position. As will be appreciated, the second and third wheels 106, 108 may be moved upward without the vehicle 100 falling rearward as long as the center of gravity of the vehicle 100 is above the stair tread 126.

Fig. 10A depicts stair climbing vehicle 100 after the time in fig. 9. Here, the second and third wheels 106, 108 have been moved from the first trailing position to the second trailing position such that the second and third wheels 106, 108 are in contact with the stair tread 126. To accomplish this, the first portion 118a of the second coupling device 118 is pivoted relative to the body 102 to move the second wheel 106 about the body 102. Similarly, the first portion of the third coupling device 122 pivots relative to the body 102 to move the third wheel 108 about the body 102. In some examples, contacting the wheels 106, 108 with the stair tread 126 further includes moving the second wheel 106 and the third wheel 108 in the downward direction 116 once in the second trailing position. Fig. 10B depicts a top view of the vehicle 100 shown in fig. 10B. The solid lines show the second and third wheels 106, 108 disposed in the second trailing position.

Thus, the vehicle 100 successfully performs the climbing operation of climbing the first step. From here on, the vehicle 100 may continue climbing the second step and further steps in the stairs by substantially repeating the actions previously described. In fig. 10A, in contrast to fig. 4 and 5, when the second and third linkages 118, 122 are again actuated to drive the second and third wheels 106, 108 downwardly to raise the body 102, the second and third wheels 106, 108 may be disposed in the second trailing position due to the limited depth of the first step. Thus, in some examples, after the body 102 has been lifted upward and driven forward to a position partially above the second stair tread 128, the second wheel 106 and the third wheel 108 may be moved at least partially toward the first trailing position while in their extended state to ensure that the body 102 may be positioned sufficiently above the second stair tread 128. For example, fig. 11 depicts that the second and third wheels have moved at least partially toward the first trailing position when extended. Fig. 11 shows the vehicle 100 in motion while moving along the stair tread 126.

As depicted, the vehicle 100 includes second and third linkages that move the second and third wheels about the body of the vehicle. Fig. 12 depicts an alternative vehicle 200 according to another example. The vehicle 200 differs from the example vehicle described in fig. 1A-10B in that the second and third linkages move the second and third wheels linearly relative to the body. The vehicle 200 thus includes a body 202, a first wheel 204 operating as a guide wheel, a second wheel 206 operating as a first wheel, and a third wheel 208 operating as a second wheel. In this example, the central body 202 is generally rectangular, but may take any other shape or form.

The vehicle 200 includes a first coupling device 210 that connects the first wheel 204 to the body 202. The propulsion system controls the movement of the first wheel 204 by actuating the first coupling device 210. The first coupling device 210 may operate in substantially the same manner as the first coupling device 110 described with respect to fig. 1A-10B.

The vehicle 200 also includes a second coupling device 218 that connects the second wheel 206 to the body 202. The propulsion system controls the movement of the second wheel 206 by actuating the second coupling means 218. In this example, the second coupling device 218 couples the second wheel 206 to the body 202 and moves the second wheel 206 linearly relative to the body 202 from a first trailing position (shown in solid lines) to a second trailing position (shown in dashed lines). In this example, the second coupling device 218 moves the second wheel 206 under the body 202 in the forward direction 232. This linear movement also allows the second and third wheels 106, 108 to contact the surface of the steps as the vehicle climbs up stairs.

FIG. 12 is a flow chart illustrating a method of controlling a vehicle according to an example during a climbing operation. The method may be a method for performing a stair climbing operation as described in fig. 1A-10B, and may be performed by the vehicle 100, 200. The method may be implemented by, for example, a propulsion system.

In block 902, the method includes controlling the first coupling device 110, 210 to move the first wheel 104, 204 from a first position, in which the first wheel supports movement of the body 102, 202 across the floor 124, to a raised position, in which the first wheel extends over the floor in front of the body. At block 904, the method includes moving the body across the floor until the first wheel is above the stair tread 126. At block 906, the method includes controlling the second coupling device 118, 218 to drive the second wheel 106, 206 away from the body to raise the body relative to the floor to a height above the stair tread. At block 908, the method includes moving the body across the floor until the body is above the stair tread. At block 910, the method includes controlling a second coupling device to move a second wheel toward the body. At block 912, the method includes controlling the second coupling device to move the second wheel from the first trailing position to the second trailing position such that the second wheel is in contact with the stair tread. Block 906 may also include controlling the third coupling device 122, 222 to drive the third wheel 108, 208 away from the body to raise the body relative to the floor to a height above the stair tread. Block 910 may also include controlling a third coupling device to move a third wheel toward the body. Block 912 may also include controlling a third coupling device to move a third wheel from the first trailing position to the second trailing position such that the third wheel is in contact with the stair tread.

The above examples should be understood as illustrative. Further examples are conceivable. Any feature described in relation to any one example may be used alone or in combination with other features described, and may also be used in combination with one or more features of any other of the examples, or any combination of other examples. Furthermore, equivalents and modifications not described above may also be employed without departing from the scope of the invention, which is defined in the accompanying claims.

Claims

1. A vehicle, comprising:

a body, and a first wheel extending in front of the body and a second wheel disposed behind the first wheel to support movement of the body across a surface, wherein the first wheel and the second wheel are not disposed below the body;

the first wheel operating as a guide wheel relative to the body during a climbing operation and being coupled to the body via a first coupling means actuatable to move the first wheel between a first position in which the first wheel is in contact with the surface to support movement of the body across the surface and a raised position in which the first wheel extends over the surface in front of the body;

The second wheel operates as a wheel during a climbing operation with respect to the main body and the first wheel, the second wheel being coupled to the main body via a second coupling device, the second coupling device being actuatable to:

moving a second wheel between a first trailing position and a second trailing position, the first trailing position being rearward of the second trailing position relative to the body during a climbing operation, and wherein the first trailing position and the second trailing position are rearward of the first wheel; and

driving the second wheel downwardly away from the body, thereby lifting the body relative to a surface; and

a propulsion system driving movement of the body across a surface and actuating the first and second coupling means,

further comprising a third wheel operating as a second wheel with respect to the body and the first wheel during a climbing operation, the third wheel being coupled to the body via a third coupling device, the third coupling device being actuatable to:

moving a third wheel between a first trailing position and a second trailing position, the first trailing position being rearward of the second trailing position relative to the body during a climbing operation, and wherein the first trailing position and the second trailing position are rearward of the first wheel, and

Driving the third wheel downwardly away from the body, thereby lifting the body relative to a surface,

wherein the vehicle is configured to climb to a second surface above the surface, and wherein the propulsion system is configured to:

actuating a first coupling device to move the first wheel from a first position to a raised position, the raised position being at a height above a second surface;

driving movement of the body across a surface until the first wheel is above a second surface;

driving movement of the body across a surface until the body is above a second surface;

actuating the second and third coupling means to move the second and third wheels upwardly toward the body; and

actuating the second and third linkages to move the second and third wheels from the first trailing position to the second trailing position such that the second and third wheels are in contact with the second surface.

2. The vehicle of claim 1, wherein the propulsion system is configured to:

at least one of the first and second wheels is controlled to drive movement of the body across a surface.

3. The vehicle of claim 1, wherein the second coupling device pivotably couples the second wheel to the body.

4. A vehicle according to any one of claims 1 to 3, wherein the first and second wheels are complete wheels.

5. A vehicle according to any one of claims 1 to 3, wherein when the propulsion system actuates the second and third coupling means to drive the second and third wheels downwardly away from the body, the propulsion system is further configured to actuate the first coupling means to maintain the first wheel in contact with a second surface.

6. A vehicle according to any one of claims 1 to 3, wherein, after driving movement of the body across a surface until the body is above a second surface, the propulsion system is further configured to:

the first coupling means is actuated to move the first wheel to a raised position at a height above a third surface higher than the second surface.

7. The vehicle of claim 6, wherein after actuating the first coupling device to move the first wheel to a height above a third surface, the propulsion system is further configured to drive movement of the body across a second surface until the first wheel is above the third surface.

8. A vehicle according to any one of claims 1 to 3, wherein the propulsion system is further configured to:

actuating the second and third linkages to move the second and third wheels from a second trailing position to a first trailing position; and

the movement of the body across the second surface is driven.

9. A vehicle according to any one of claims 1 to 3, wherein the first coupling means comprises an actuator.

10. A vehicle according to any one of claims 1 to 3, wherein the second coupling device comprises:

a first portion pivotally connected to the body to move the second wheel at least partially around the body, and

a second portion coupled to: a first portion, and a second wheel, wherein the second portion is telescoping to move the second wheel away from and toward the body.

11. A method of controlling a vehicle during a climbing operation, wherein the vehicle is configured to climb from a first surface to a second surface higher than the first surface, the vehicle comprising:

a main body;

a first wheel coupled to the body extending in front of the body; and

a second wheel coupled to the body, disposed rearward of the first wheel, wherein the first wheel and the second wheel are not disposed below the body;

wherein the method comprises the following steps:

moving the first wheel from a first position in which the first wheel supports movement of the body across a first surface to a raised position in which the first wheel extends over the first surface in front of the body;

moving the body across the first surface until the first wheel is at or above the second surface;

moving the second wheel away from the body so as to raise the body relative to the first surface to a height equal to or above the second surface;

moving the body across the first surface until the body is equal to or higher than the second surface;

moving the second wheel toward the body; and

The first trailing position and the second trailing position are rearward of the first wheel,

wherein the vehicle further comprises a third wheel coupled to the body, and wherein the method further comprises:

moving the third wheel away from the body so as to raise the body relative to the first surface to a height equal to or above the second surface;

moving the third wheel toward the body; and

12. The method according to claim 11, wherein:

moving the second wheel from a first trailing position to a second trailing position includes pivoting the second wheel at least partially about the body; and is also provided with

Moving the third wheel from the first trailing position to the second trailing position includes pivoting the third wheel at least partially about the body.

13. The method of any of claims 11-12, wherein when moving the second wheel away from the body, the method further comprises maintaining the first wheel in contact with a second surface.

14. The method of claim 13, wherein after moving the body across the first surface until the body is equal to or higher than the second surface, the method further comprises:

the first wheel is moved to a raised position at a height above a third surface that is higher than the second surface.

15. The method of any of claims 11 to 12, further comprising:

moving the second and third wheels from a second trailing position to a first trailing position; and

the body is moved across the second surface.

16. The method of any one of claims 11 to 12, wherein moving the body across the first surface until the body is on or over the second surface causes the first wheel to be positioned equal to or above the third surface.

17. The method of any of claims 11-12, wherein the first wheel is coupled to the body via a first coupling device and the second wheel is coupled to the body via a second coupling device.