GB2424398A

GB2424398A - Dynamically configured vehicle

Info

Publication number: GB2424398A
Application number: GB0612778A
Authority: GB
Inventors: Paul Anderson; Tom Kenny; Vassilis Charissis
Original assignee: Glasgow School of Art
Current assignee: Glasgow School of Art
Priority date: 2003-06-14
Filing date: 2004-06-11
Publication date: 2006-09-27
Anticipated expiration: 2024-06-11
Also published as: GB0612778D0; GB2424398B; GB0413016D0; GB0313819D0; GB2402658A; GB2402658B

Abstract

An off-road vehicle able to negotiate a variable terrain comprising a cabin section 2 which is set on the hub body, in addition to a plurality of arms 4, with ground engaging mobility means, such as wheels 5, able to move independently of each other to give the vehicle different footprints and to provide five degrees of freedom of movement of the wheels in relation to the hub body.

Description

1 Dynamically Configured Vehicle 3 The present invention relates to a

multi-purpose vehicle 4 able to travel over variable terrain. In particular, it relates to a multi-purpose vehicle which allows freedom 6 of movement over different terrain, and the ability to 7 change the overall footprint or height of the vehicle, 8 depending on requirements.

In the present Application reference to a "vehicle 11 footprint" is intended to refer to the surface space 12 occupied by the vehicle.

14 There are a large nuirther of vehicles available which are able to cope with a wide range of terrain requirements.

16 However, in very few cases is there a single vehicle 17 which is able to deal with multi-terrain types.

18 Typically, if a vehicle is suitable for one type of 19 terrain, it is not as useful when faced with a different type of terrain. .It is also the case that generally 21 vehicles are of a set height and have a set footprint 22 which has been decided on when considering the use for 23. the vehicle in question. This inflexibility can lead to

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1 problems if the same vehicle is required to carry out a 2 number of different jobs. For example, on building sites 3 and within factories, it is difficult to find a single 4 vehicle which is able to deal with the variety of obstacles that are present, as well as being able to 6 access the small gaps and reach the of ten elevated 7 positions that are required to perform a complete job.

9 The role of of f road vehicles is to achieve freedom of movement and stability in rough terrains. However, to 11 date, all autornative companies which produce this type of 12 vehicle have used traditional suspension systems and 13 largely fixed vehicle configurations.

It can be seen that it would be beneficial to provide a 16 vehicle that is able to traverse rugged terrains easily, 17 especially for groups such as rescue teams, remote 18 research units, etc. It would also be beneficial to provide a vehicle that is 21 able to change its height to allow it to deal with a 22 variety of obstacles and access limitations.

24 It is a first object of the present invention to provide a vehicle that is suitable for use in variable terrain.

27 According to a first aspect of the present invention, 28 there is provided a vehicle comprising a hub section, and *29 two or more arms extending from the hub section, wherein each arm is associated with a ground engaging mobility 31 means, and wherein the arms provide means for positioning 32 the ground engaging mobility means relative to the hub * 33 section. *

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2 Preferably each arm is able to move independently from 3 each of the other arms.

Preferably the ground engaging transport means is a 6 wheel.

8 In a preferred embodiment the vehicle has four arms.

Preferably each of the arms allows for rotation of the 11 ground engaging transport means through 3600.

13 Preferably each arm is hydraulically operated. Each arm 14 may comprise one or more pivots or joints which allow movement.

17 Preferably the relative position of the ground engaging.

18 mobility means in relation to the hub can be changed in 19 a].]. three axis. This is achieved by the arms which provide means for moving the ground engaging mobility 21 means in front to back, left to right and up and down 22 directions and through vertical and horizontal planes.

24 The vehicle typically has a cabin associated with the hub section. The cabin is typically located on the hub 26 section and is suitable for receiving person or persons.

28 The vehicle footprint can be altered by the movement of 29 the arms relative to each other and to the hub. 30:

31 In order to further define the present invention, 32 embodiments will be described by way of example only, 33 with reference to the following drawings, in which:

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2 Figure 1 shows a top view of a vehicle according to the 3 present invention, where the arms are configured to 4 provide a minimal footprint; 6 Figure 2 shows a vehicle according to the present 7 invention, where the arms are being configured to 8 maximise the vehicle's footprint; Figure 3 shows a vehicle according to the present 11 invention, where the arms have been configured in a 12 manner that allows the vehicle to be kept narrow, but 13 with an expanded footprint; Figure 4 shows a computer generated diagram of the 16 vehicle according to the present invention, indicating 17 how it is able to cope with uneven terrain by 18 independently moving the arms; Figure 5 shows an arm section according to the present 21 invention, showing how the arm is able to move about a 22 pivot point in a region which attaches to the hub; 24 Figure 6 shows an arm according to the present invention, wherein the arm is moving about a pivot point at a region 26 between the wheel and the hub; 28 Figure 7 shows an arm according to the present invention, 29 wherein the wheel is able to rotate 360 degrees about the end of the arm to which it is attached; 32 Figure 8A shows a diagram of a vehicle according to the 33 present invention, wherein the vehicle has a narrow

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1 footprint, reducing the angle at which the vehicle can 2 safely be used, whereas Figure 8B shows the vehicle with 3 an expanded footprint, which increases the angle at which 4 the vehicle can safely be used; 6 Figure 9A, B & C show diagrams of a vehicle according to 7 the present invention, which indicate how the arms can 8 move independently to account for differences in terrain, 9 by altering both height and distance from each others and 11 Figure 10 also shows a diagram of a vehicle indicating 12 how the arms are able to move independently of each other 13 to account for differences in terrain.

According to a preferred embodiment of the present 16 invention, there is provided a vehicle 1 that is able to 17 negotiate a variable terrain. The vehicle 1 comprises a 18 cabin section 2 which is set on the hub body 3. In the 19 preferred embodiment, the vehicle 1 has four arms 4, each of which is attached to the hub body 3. Each of the arms 21 4 is associated with a wheel 5, which makes contact with 22 the ground.

24 Each arm 4 consists of four main parts that are able to move independently using combined hydraulic systems 6.

26 Figures 5, 6 and 7 show how the arms 4 are preferably 27 configured to allow movement about certain pivot points 7 28 using the hydraulic system 6.

The arms 4 of the vehicle 1 are able to move 31 independently of each other to give the vehicle 1 32 different "footprints". Figures 1, 2 and 3 show how the 33 arms 4 can be configured to provide either a very small

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1 footprint, as in Figure 1, which would allow the vehicle 2 to negotiate its way through small openings; a very wide 3 footprint, as shown in Figure 2, which would allow the 4 vehicle to obtain maximum stability, or an intermediate footprint, as in Figure 3, where the vehicle should be 6 able to traverse uneven terrain, i.e., through a narrow 7 gorge.

9 Figure 4 shows how the vehicle 1 is able to move each arm 4 independently to make its way over extremely variable 11 terrain. It can be seen that the position of the wheels 12 relative to the hub can be changed via the action of the 13 arms. The relative position of the wheels can be changed 14 in all three axis (dimensions) .. Ii other words the arms can be operated to move the wheels in a front to back, 16 left to right or up and down direction and freely through 17 vertical and horizontal planes. It is also possible to 18 rotate the wheels 5 fully through 360 degrees, as can 19 further be seen in Figure 7. Each wheel may be independently controlled. Through appropriate control 21 strategies, different characteristics for the orientation 22 of the vehicle 1 and cabin 2 can be achieved.

24 Furthermore, this provides the potential to respond to advancing terrain in an adaptive manner to achieve ride 26 characteristics depending on the requirements of the 27 user. This allows the vehicle 1 to have multi-purpose 28 uses, and give increased safety in difficult terrains.

In the preferred embodiment, each of the arms 4 is 31 identical and combined together on to the hub body 3 to 32 give maximum adaptability to the user. It is important 33 to note that the cabin 2 can also move in up to 6

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1 independent degrees of freedom, although this can be 2 reduced to suit particular applications or objectives.

3 It is therefore possible to use appropriate control 4 strategies to give different characteristics. Again, this gives the potential to respond immediately to 6 advancing terrain in an adaptive manner. It is also 7 important to note that the control of the cabin 2 can be 8 independent from the control of the arms 4.

Figures 8, 9 and 10 all show how the footprint of the 1]. vehicle 3. or the height of the cabin 2 can be altered to 12 allow for different terrain characteristics. In 13 particular, Figure 8 shows how the vehicle 1 can be 14 changed to cope with a much greater angle (typically up to 70 degrees), by simply increasing the footprint by 16 extending the arms 4 outwards and lowering the vehicle's 17 1 centre of gravity. Figures 9 and 10 show how the 18 combination of. movements of the arms 4 and cabin 2 result 19 in the vehicle being able to adapt to cope with different terrain issues, as and when they arise.

22 The vehicle 1 is capable of overcoming obstacles that a 23 typical vehicle cannot. The approach or departure angle 24 for the vehicle 1 can be up to and in excess of 90 degrees i.e. the vehicle is capable of approaching a 26 barrier and, subject to traction, is capable of climbing 27 the obstacle without the main body touching the obstacle.

28 More traditional vehicles are only able to have an 29 approach or departure angle of 30-45 degrees.

31 Another important aspect of the vehicle 3. is that it is 32 able to rotate about its own axis, either by all of the.

1 wheels 5 rotating in the same direction or by 2 differential spin.

4 It can be seen that the vehicle has a number of benefits over the prior art. In particular, the invention is 6 novel in that the control of each of the arms 4 and of 7 the height of the cabin 2 can each be independently 8 controlled. Another benefit is that if each of the arms 9 4 are identical, this means that the individual components are effectively purchased at increased volume 11 allowing for economies to be made due to scale.

13 In plan view, the overall vehicle 1 footprint is not 14 constrained to be a fixed rectangle, and can be dynamically changed to provide almost an infinite number 16 of configurations (this is shown particularly well in 17 Figure 4). This means that the effective profile or 18 signature of the vehicle 1 can be changed, making it less 19 or more prominent, easier or harder to identify, resulting in it being useful in a range of tracking 21 surveillance and rescue situations. The function of the 22 vehicle hub 3 consisting of the arms 4 can be split from 23 the cabin 2, allowing multi-function vehicles to be 24 configured from the same hub 3. For example, fire, ambulance, scientific laboratory and rescue vehicles can 26 all be based on the same hub body 3, but with differing 27 cabin 2 characteristics. The vehicle can be configured 28 for use with different modular cabins. The vehicle cabin 29 can.be controlled to maintain either a specific orientation in respect of the horizon or to maintain 31 movement within allowable limits. In addition the 32 function of the vehicle hub and cabin body are 33 independent and can be split. it is also useful that

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1 because the vehicle 1 footprint can be changed, the 2 packaging of the vehicle 1 and shipping or freight 3 situation or simply in storage situations can be 4 optimised, depending on the available space. Thus many more vehicles can be carried in a given space than for 6 traditional fixed configuration systems. This has 7 advantages in disaster planning, distribution of aid and 8 general transportation as the maximum number of vehicles 9 which could be deployed is increased.

11 The vehicle can be dynamically re-configured in real time 12 to have infinitely variable wheel base, track and ground 13 clearance in response to operational arid environmental 14 requirements. The vehicle provides the capability of Continuously variable adjustment of height, length and 16 width. By adjusting all three dimensions the vehicle can 17 trail the idiomorphic features of a rough terrain and 18 achieve better stability. As the wheelbase or footprint 19 can be increased or decreased to cope with changes in terrain these can be traversed with "bottoming out" or 21 beaching of the vehicle. The vehicle also allows 22 extremem side slopes to be traversed with increased 23 stability and safety.

There are number of uses for this type of vehicle 1, in 26 particular the ability to store a large number of 27 vehicles 1 due to the configurability options, means that 28 they would be ideal for disaster planning, distribution 29 of aid, etc., as well as general transportation as the maximum number of vehicle could be deployed to any given 31 situation. It is possible that the vehicle 1 itself or, 32 in a minimum, the hub 3 and cabins 2 could be stacked one 33 above the other, furt1er increasing packing efficiency.

2 In conclusion, the invention enables the vehicle to 3 function over variable terrains, and is therefore ideal 4 for rescue teams, remote research units, fire vehicles, as well as civilian heavy duty trucks. Being able to 6 change the vehicle configuration, also opens applications 7 within factories and building sites for options, such as 8 reconfigurable fork lift trucks and other similar vehicle 9 types which are able to deal with a variety of obstacles and access gaps, and be able to move between different 11 height levels, if required.

13 It can be seen that the abovementioned embodiments should 14 not be considered as limiting, but merely as a way of teaching one skilled in the art as to possible uses for 16 the invention.

18 It can be seen that the invention itself could be 19 utilised for many other uses, and could be used in any suitable manner or configurations. For example, although 2]. the preferred embodiment uses four arms, the vehicle is 22 not limited to only having this number and each arm is 23 not necessarily associated with only one wheel.

Claims

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I. A vehicle comprising a hub section and a plurality of arms extending from the hub section, each arm having a ground engaging mobility means at a distal end thereof, each ann comprising means for positioning the ground engaging mobility means relative to the hub section; wherein each arm provides five degrees of freedom of movement of the ground engaging mobility means in relation to the hub.

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2. The vehicle of claim 1 wherein each arm is able to move independently from each of the other arms.
3. The vehicle of claim 1 wherein the ground engaging transport means is a wheel.
4. The vehicle of any preceding claim having four arms.
5. The vehicle of any preceding claim wherein each of the arms allows for rotation of the ground engaging transport means through 3600.
6. The vehicle of any preceding claim wherein each arm is hydraulically operated.
7. The vehicle of any preceding claim wherein each arm comprises one or more pivots or joints which allow movement of said arm.
8. The vehicle of any preceding claim wherein the relative position of the wheels in relation to the hub can be changed in three axes.
9. The vehicle of any preceding claim having a cabin associated with the hub section.

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10. The vehicle of claim I wherein the arms are configurable to maximise or minimise a footprint of the vehicle.
11. The vehicle of claim 1 wherein the arms are independently operable to S move the ground engaging mobility means up and down.
12. The vehicle of claim 1 wherein the arms are configurable to alter the height of a cabin located on the hub.
13. The vehicle of claim I wherein a cabin located on the hub is operable to move in up to six independent degrees of freedom. * S. * . S *. * S *SSS S. * S * S..

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13. The vehicle of claim 1 wherein a cabin located on the hub is operable to move in up to six independent degrees of freedom.

14. A vehicle substantially as herein before described with reference to, and/or as illustrated in, any one or more of the accompanying drawings. S t3

Amendments to the claims have been filed as follows

I. A vehicle comprising a hub section and a plurality of arms extending from the hub section, each arm having a ground engaging mobility means at a distal end thereof, each ann comprising means for positioning the ground engaging mobility means relative to the hub section; wherein each arm provides five degrees of freedom of movement of the ground engaging mobility means in relation to the hub.

2. The vehicle of claim 1 wherein each arm is able to move independently from each of the other arms.

3. The vehicle of claim 1 wherein the ground engaging transport means is a wheel.

4. The vehicle of any preceding claim having four arms.

5. The vehicle of any preceding claim wherein each of the arms allows for rotation of the ground engaging transport means through 3600.

6. The vehicle of any preceding claim wherein each arm is hydraulically operated.

7. The vehicle of any preceding claim wherein each arm comprises one or more pivots or joints which allow movement of said arm.

8. The vehicle of any preceding claim wherein the relative position of the wheels in relation to the hub can be changed in three axes.

9. The vehicle of any preceding claim having a cabin associated with the hub section.

10. The vehicle of claim I wherein the arms are configurable to maximise or minimise a footprint of the vehicle.

11. The vehicle of claim I wberein the arms are independently opera:ble to move the ground engaging mobility means up and down.

12. The vehicle of claim 1 wherein the arms are configurable to alter the height of a cabin located on the hub.