JPH09309471A - Stairway ascending and descending vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an vehicle to ascend and descend safely a stairway which has its treads uneven in width like as a spiral stairway. SOLUTION: This stairway ascending and descending vehicle furnishes a front wheel front sensor 22 to detect whether the front wheel reaches the end edge in the advancing direction of a tread or not; a front wheel rear sensor 23 to detect whether the front wheel is positioned on the next tread or not; a rear wheel front sensor 24 to detect whether the rear wheel reaches the end edge in the advancing direction of the dread or not; and a rear wheel rear sensor 25 to detect whether the rear wheel reaches the next step surface or not; and ascending and descending mechanisms 27, 28, 31 and 32 to move the wheels up and down, driving mechanisms 29 and 30 to drive the front wheels and the rear wheels; and an axle rotating mechanism 33; are controlled by a controller 21 depending on the detecting results of the sensors.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stair climbing car, and more particularly to a stair climbing car capable of climbing a spiral staircase while keeping the vehicle body horizontal.

[0002]

2. Description of the Related Art As a conventional stair climbing vehicle, a so-called crawler type vehicle is generally used. A crawler type stair climbing vehicle has a plurality of wheels in the lower part of the vehicle body, and an endless track is arranged around these wheels. A hook or the like is provided on the outer surface of the endless track, and the stairs are moved up and down by circulating the hook.

In such a conventional stair climbing vehicle, the vehicle body inclines in accordance with the inclination of the stairs, and therefore there is a danger in going up and down the stairs with a seat provided on the vehicle body and a driver. Therefore, when the body leans, the front end or the rear end of the seat is lifted to form an angle between the body and the seat, and the stairs are always lifted while keeping the seat in a horizontal posture. Is also proposed.

In a stair climbing vehicle that tilts the vehicle body and the seat to maintain the seat in a horizontal posture as described above, it is necessary to control the space between the vehicle body and the seat according to the inclination of the stairs, and the control is complicated. Becomes Therefore, it becomes difficult to maintain the horizontal posture of the seat with high accuracy. Further, in a conventional stair climbing vehicle, the claws provided on the surface of the crawler are hooked at the corners of each step of the stairs to travel, so that the corners of the steps of the stairs may be damaged.

In order to solve such a problem, an assist for supporting the vehicle body when the front wheel, the rear wheel and the front wheel, and the rear wheel, which can move up and down two steps of the stairs with respect to the vehicle body, separate from the step surface. A stair lift with wheels has been proposed.

[0006]

The stair climbing vehicle as described above is supposed to run on a normal staircase, and does not consider the case of climbing a staircase where the width of the step surface is not uniform. For example, when ascending or descending a staircase such as a spiral staircase in which the width of the step surface is not uniform, it is necessary to raise or lower the step surface while turning the vehicle body along the staircase shape. Although this type of stair climbing vehicle has a normal steering mechanism, it is difficult for the normal steering mechanism to turn the vehicle body along the spiral stairs. For example, in the above-mentioned crawler type stair climbing vehicle, it is necessary to climb the stairs while controlling both drive wheels so that the tips of the left and right endless tracks are located at the edge of the step surface. In this case, the vehicle body may be tilted not only in the front-back direction but also in multiple directions including the left-right direction, which is extremely dangerous. In addition, even in the case where auxiliary wheels are provided and the front and rear wheels are configured to be able to move up and down with respect to the vehicle body, there is a risk that each wheel will not land on the next step surface at the same time when moving up and down the spiral stairs. The current situation is that I cannot say that.

An object of the present invention is to provide a stair climbing vehicle capable of safely climbing stairs such as a spiral staircase having uneven step surfaces.

[0008]

A stair climbing vehicle according to the present invention comprises a vehicle body, a rear wheel, a front wheel, a rear auxiliary wheel, a front auxiliary wheel, a driving means, an axle rotating means, and a step. An edge detection unit, a posture control unit, a lifting unit, and a lifting control unit are provided. The rear wheel is mounted on the rear part of the vehicle body while being supported by the rear axle, and can be moved up and down by at least two step heights of the stairs with respect to the vehicle body. The front wheels are supported on the front axle and are mounted on the front of the vehicle body, and at least 2 of the stairs with respect to the vehicle body.
It is possible to move up and down by the step height. The rear auxiliary wheel can move up and down with respect to the vehicle body, and supports the vehicle body when the rear wheel separates from the step surface of the stairs. The front auxiliary wheels can move up and down with respect to the vehicle body, and support the vehicle body when the front wheels are separated from the step surface of the stairs. The driving means is
At least two kinds of wheels are driven among front wheels, rear wheels, and front and rear auxiliary wheels. The axle rotating means relatively rotates the rear axle and the front axle in the horizontal direction. The step edge detecting means detects an edge in the traveling direction of the step surface on which the front wheels and the rear wheels are located. The attitude control means controls the drive means and the axle rotation means based on the detection result of the step edge detection means. The elevating means elevates and lowers each wheel. The elevation control means controls the drive means and the elevation means based on the detection result of the step edge detection means.

In the stair climbing vehicle of the present invention thus configured,
The step edge detecting means detects the edge in the traveling direction of the step surface on which the front wheels and the rear wheels are located. On the basis of this detection result, the attitude control means controls the drive means and the axle rotation means to make the direction of the step edge parallel to the direction of the axle of each wheel. Further, the lifting control means controls the drive means and the lifting means based on the detection result of the step edge detection means, whereby each wheel can be moved to the next step surface. By repeating this,
It is possible to move up and down stairs, such as spiral stairs, where the width of the step surface is not uniform, without the wheels dismounting from the step surface while the vehicle body remains horizontal.

Here, a vehicle body is provided with a front chassis and a rear chassis connected to each other so as to be rotatable relative to each other in the horizontal direction. Front wheels and front auxiliary wheels are mounted on the front chassis and rear chassis is mounted on the rear chassis. The configuration can be such that wheels and rear auxiliary wheels are mounted. Further, it is possible to configure a vehicle body including a vehicle body main body on which the rear wheels and the auxiliary rear wheels are mounted, and a front wheel support body on which the front wheels and the front auxiliary wheels are mounted and which is rotatable in the horizontal direction with respect to the vehicle body main body. .

The front wheel can be composed of two wheels supported by the front axle, or can be composed of one wheel.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION First Embodiment FIG. 1 shows a stair climbing vehicle according to a first embodiment of the present invention. FIG. 2 is a schematic bottom view thereof. The vehicle body 1 includes a front chassis 3 and a rear chassis 4 that are connected to each other so as to be relatively rotatable about a support shaft 2 located in the center. Left and right front wheels 5 are mounted on the lower surface of the front chassis 3. The two front wheels 5, 5 are attached to a front axle 6 supported on the lower end of the front wheel leg member 7. Front auxiliary wheels 8 and 8 are mounted on the lower surface of the front chassis 3 in front of the front wheels 5 and 5. The front auxiliary wheels 8 and 8 are attached to the front auxiliary wheel axle 9 supported on the lower end of the front auxiliary wheel leg member 10. The front wheel leg member 7 can be expanded and contracted in the vertical direction by an actuator such as a hydraulic cylinder device, and in this embodiment, it can be moved up and down by the height of three steps of stairs. Further, the front auxiliary wheel leg member 10 is also extendable and contractible in the vertical direction by the hydraulic cylinder device, and the front auxiliary wheel 8 is moved forward from the initial position in which the front auxiliary wheel 8 is located above the ground contact surface of the front wheel 5 by one step height of the stairs. Wheel 5
It is configured to be able to move up and down to a lower position which is located one step height below the ground contact surface. An actuator such as a hydraulic cylinder that moves the front wheel leg member 7 and the front auxiliary wheel leg member 10 up and down can be moved up and down every step of the stairs. Further, the front wheels 5 can be independently rotated forward and backward by a drive motor, and can be steered for direction control by a steering mechanism.

On the lower surface of the rear chassis 4, left and right rear wheels 1
1 is attached. The two rear wheels 11, 11 are attached to a rear axle 12 supported at the lower end of a rear wheel leg member 13. The rear chassis 4 also includes rear wheels 1
Rear auxiliary wheels 15 and 15 are mounted behind the wheels 1 and 11. The rear auxiliary wheels 15 and 15 are attached to the rear auxiliary wheel axle 15 supported by the lower ends of the rear auxiliary wheel leg members 16. The rear wheel leg member 13 is vertically expandable and contractible by an actuator such as a hydraulic cylinder device,
In this embodiment, similarly to the front wheel leg member 7, it is configured to be able to move up and down by the height of three steps of stairs. The rear auxiliary wheel leg member 16 is also vertically expandable and contractible by an actuator such as a hydraulic cylinder device, and the rear auxiliary wheel 15 is connected to the rear wheel 1.
It is configured to be able to move up and down from an initial position which is almost the same position as the ground contact surface of No. 1 to an upper position and a lower position which are located one step height above and below the ground contact surface of the rear wheel 11.

An actuator such as a hydraulic cylinder for moving the rear wheel leg member 13 and the rear auxiliary wheel leg member 16 up and down can be moved up and down every step of the stairs. The rear wheels 11 and 11 can be independently rotated by a drive motor. A seat 17 and an operation panel 18 are provided on the upper surface of the vehicle body 1. On the operation panel 18, a main switch, a traveling mode selection button for switching the traveling mode between a normal traveling mode (a mode for traveling on a flat road), a stair up mode and a stair down mode, and a traveling speed are controlled. Lever and front wheel 5
A lever for changing the steering angle of the vehicle, a brake switch, other keys and buttons, and a display device are provided.

The stair climbing vehicle is provided with a control unit 21 as shown in FIG. The control unit 21 uses the CP
A microcomputer including a U, a ROM, a RAM and the like is provided. The control panel 21 includes an operation panel 1
8, front wheel front sensor 22, front wheel rear sensor 23, rear wheel front sensor 24, rear wheel rear sensor 25, and other input / output unit 26 are connected.

The front wheel front sensor 22 detects the edge of the step surface on which the front wheels 5, 5 are located on the traveling direction side, and is located in the middle of the traveling direction between the front wheel 5 and the front auxiliary wheel 8. , A front wheel front left sensor 22L and a front wheel front right sensor 22R are provided on the left and right respectively. The front wheel front sensor 22 independently detects whether or not the front wheel 5 has reached the edge of the step surface on which the front wheel 5 is currently located in the traveling direction, while the front auxiliary wheel 8 determines that the front auxiliary wheel 8 is the front wheel 5. At the same time, it is detected whether or not the step surface next to the step surface located at is reached.

The front wheel rear sensor 23 is located at the rear of the front wheels 5 and 5 in the traveling direction, and the front wheel rear left sensor 2 is located on the left and right respectively.
3L and a front wheel rear right sensor 23R are provided to detect whether or not the front wheels 5 and 5 are located on the next step surface. The rear wheel front sensor 24 detects an edge of the step surface on which the rear wheel 11 is located on the traveling direction side, is located at the front end of the rear wheel 11 in the traveling direction, and is located on the left and right rear wheel front left sensors 24L. And a rear wheel front right sensor 24R. The rear wheel front sensor 24 independently detects whether or not the rear wheel 11 has reached the edge of the step surface on which the rear wheel 11 is currently located on the advancing direction side of the left and right rear wheels 11.

The rear wheel rear sensor 25 is provided in the middle of the traveling direction of the rear wheel 11 and the rear auxiliary wheel 14 and includes a rear rear wheel left sensor 25L and a rear rear wheel right sensor 25R, respectively. The rear wheel rear sensor 25 detects whether or not the rear wheels 11, 11 have completely reached the next step surface, and
At the same time, it is detected that the rear auxiliary wheels 14, 14 remain on the front step surface.

The control unit 21 also includes a front wheel elevating mechanism 27 for elevating the front wheels 5, a rear wheel elevating mechanism 28 for elevating the rear wheels 11, and a front wheel drive for driving the front wheels 5. Mechanism 29, rear wheel drive mechanism 30 for driving the rear wheels 11, front auxiliary wheel elevating mechanism 31 for elevating the front auxiliary wheels 8, rear auxiliary wheel elevating mechanism 32 for elevating the rear auxiliary wheels 14, front An axle rotation mechanism 33 for relatively rotating the partial chassis 3 and the rear chassis 4 about the support shaft 2 and a brake unit 34 for braking are connected.

Next, the operation of the first embodiment will be described. When the main switch on the operation panel 18 is turned on, initialization is performed in step S1 of FIG. In this initial setting, the traveling mode is set to the normal traveling mode, the front wheel leg member 7 and the rear wheel leg member 13 are controlled to the most retracted state, and the front auxiliary wheel leg member 10 and the rear auxiliary wheel leg member 16 are set. Each is controlled to the initial position. Next, in step S2, it is determined whether the control mode is the normal traveling mode. Here, the button for designating the normal traveling mode is operated, or step S
After the initial setting of 1, if the button for designating another mode is not operated, it is determined to be the normal traveling mode, and the process proceeds to step S10.

In step S10, the front wheel drive mechanism 29
Then, the normal traveling process for driving the front wheels 5 and the rear wheels 11 by the rear wheel drive mechanism 30 is executed. In step S3, it is determined whether or not the brake switch on the operation panel 18 has been operated. When the brake switch is operated, the process proceeds to step S11 to activate the brake unit 34 to perform braking.

In step S4, it is determined whether or not the stairs up mode is set. Here, when the button for instructing the stairs up mode of the operation panel 18 is operated or when the front wheel front sensor 22 detects the step edge of the ascending stairs, it is determined to be the stairs up mode and the process proceeds to step S12. Transition. In step S12, based on the detection results of the front wheel front sensor 22, the front wheel rear sensor 23, the rear wheel front sensor 24, and the rear wheel rear sensor 25, the front wheel lifting mechanism 27,
Rear wheel lift mechanism 28, front wheel drive mechanism 29, rear wheel drive mechanism 30, front auxiliary wheel lift mechanism 31, rear auxiliary wheel lift mechanism 3
2 and the axle rotation mechanism 33 are controlled to execute the stairs up process.

In step S5, it is determined whether or not the stairs down mode is set. Here, when the button for instructing the stairs down mode of the operation panel 18 is operated or when the front wheel front sensor 22 detects the step edge of the descending stairs, it is determined to be the stairs down mode and the process proceeds to step S13. Transition. In step S13, based on the detection results of the front wheel front sensor 22, the front wheel rear sensor 23, the rear wheel front sensor 24, and the rear wheel rear sensor 25, the front wheel lifting mechanism 27,
Rear wheel lift mechanism 28, front wheel drive mechanism 29, rear wheel drive mechanism 30, front auxiliary wheel lift mechanism 31, rear auxiliary wheel lift mechanism 3
2 and the axle rotation mechanism 33 are controlled to execute stairs down processing. In step S6, it is determined whether another key has been operated. If another key is operated, step S
The process proceeds to step 14 and the process is executed according to the operated key.

The step-up process in step S12 of FIG. 4 will be described in detail. When shifting to the stairs up mode, in step S21 shown in FIG.
The step detection time t set in the internal register is reset, and counting up of the step detection time t until each sensor detects the next step is started. In step S22, at least one of the front wheels 5 and the rear wheels 11 is driven to move the vehicle body 1 forward.

In step S23, it is determined whether or not one of the left and right front wheel front sensors 22 is turned on. When one of the front wheel front sensors 22 is turned on, it is determined that one of the front wheels 5, 5 has reached the edge of the step surface on the traveling direction side, and the process proceeds to step S24. In step S24, the front wheels 5 are driven, and the front chassis 3 and the rear chassis 4 are relatively rotated by the axle rotation mechanism 33. In step S25, it is determined whether the two front wheel front sensors 22 are both turned on. When only one of the front wheel front sensors 22 is turned on, the process returns to step S24, and when both front wheel front sensors 22 are turned on, the two front wheels 5 and 5 both advance on the step surface. It is determined that the edge on the direction side has been reached, and step S2
Go to 6. In step S26, the brake unit 34 temporarily stops the vehicle. In step S27, the front auxiliary wheel leg member 10 and the rear wheel leg member 13 are extended by one step height of the stairs. As a result, the upper portion of the vehicle body 1 and the front wheels 5 are raised by one step height of the stairs while maintaining the horizontal state. Thereafter, the process proceeds to step S22.

In step S23, the front wheel front sensor 2
If it is determined that 2 is not turned on, the process proceeds to step S28. In step S28, it is determined whether or not the front wheel rear sensor 23 is turned on. When the left and right front wheel rear sensors 23 are turned on, it is determined that both of the two front wheels 5, 5 are located on the next step surface, and the process proceeds to step S29. In step S29, the brake unit 34 temporarily stops the vehicle. In step S30, the front auxiliary wheels 8 are lifted to the initial position by the front auxiliary wheel lifting mechanism 31, and the front wheels 5 and 5 are grounded on the step surface. Then, the process proceeds to step S22.

In step S28, the front wheel rear sensor 2
If it is determined that 3 is not turned on, the process proceeds to step S31. In step S31, the left and right rear wheel front sensors 24
It is determined whether or not one of them is turned on. When one of the rear wheel front sensors 24 is turned on, the rear wheel 1
It is determined that either one of 1 and 11 has reached the edge of the step surface on the traveling direction side, and the process proceeds to step S32.

In step S32, the rear wheel 11 is driven, and the front chassis 3 and the rear chassis 4 are relatively rotated by the axle rotating mechanism 33. In step S33, it is determined whether or not the two rear wheel front sensors 24 are both turned on. When only one of the rear wheel front sensors 24 is turned on, the process returns to step S32, and when both of the rear wheel front sensors 24 are turned on, the two rear wheels 11 are both in the traveling direction of the step surface. It is determined that the edge has been reached, the process proceeds to step S34. In step S34, the brake unit 34 temporarily stops the vehicle. Step S35
Then, the rear wheel lifting mechanism 28 raises the rear wheels 11, 11 by one step height of the stairs, and the rear auxiliary wheel lifting mechanism 3
2 rear auxiliary wheels 14 and 14 from rear wheels 11 and 11 to 1
Position it down by the step height. Thereafter, the process proceeds to step S22.

In step S31, the rear wheel front sensor 2
If it is determined that No. 4 is not turned on, the process proceeds to step S36. In step S36, it is determined whether the rear wheel rear sensor 25 is turned on. When the left and right rear wheel rear sensors 25 are turned on, it is determined that both of the two rear wheels 11, 11 are located on the next step surface, and the process proceeds to step S37. In step S37, the brake unit 34 temporarily stops the vehicle. In step S38, the rear auxiliary wheel elevating mechanism 33 raises the rear auxiliary wheels 14 and 14 to an initial position located slightly above the rear wheels 11 and 11, and the rear wheel 1
1, 11 are grounded on the step surface. Step S39
Then, the step detection time t is reset. Thereafter, the process proceeds to step S22.

In step S36, the rear wheel rear sensor 2
If it is determined that 5 is not turned on, the process proceeds to step S40. In step S40, it is determined whether or not the step detection time t exceeds a preset time T. If the step detection time t is less than or equal to the time T, step S2
Return to 2. In step S40, the step detection time t
If it is determined that the time exceeds the time T, step S41
Move to In step S41, the traveling mode is changed to the normal traveling mode and the process returns to the main routine.

As shown in FIG. 6 (A), when moving from right to left on a flat road, the front wheels 5 and the rear wheels 11 are in the initial degenerated state, and the front auxiliary wheels 8 are in the front. This is the initial position which is located above the wheel 5 by about one step height of the stairs. Further, the rear auxiliary wheel 14 is in an initial position slightly above the ground contact surface of the rear wheel 11. The front axle 6 supporting the front wheels 5, 5 and the first step surface ST
Assuming that the edge E1 of No. 1 is parallel, when moving forward in the left direction in FIG. 6, both front wheels 5 and 5 move to the first step surface ST.
Two front wheel front sensors 22 when the edge E1 of 1 is reached
Turn on at the same time. At this time, FIG. 6 (B) and FIG.
As shown in (A), the front auxiliary wheels 8 and 8 are located on the first step surface ST1. Here, FIG. 6 (C)
By extending the front auxiliary wheels 8 and the rear wheels 11 as shown in FIG. 5, the front wheels 5 are lifted by one step height while keeping the vehicle body 1 horizontal (FIG. 5, step S27).

In this state, when the rear wheels 11 are driven and moved forward until the two front wheel rear sensors 23 are turned on,
As shown in (D), the front wheels 5 are located on the step surface ST1. Now, stop the vehicle and
As shown in (E), the front auxiliary wheel 8 is raised to the initial position, and the front wheel 5 is grounded on the step surface ST1 (step S30 in FIG. 5).

Further, when the front wheels 5, 5 or the rear wheels 11 are driven and moved forward, as shown in FIG. 10 (B), one of the front wheels 5 has an edge E2 in the traveling direction of the step surface ST1. To reach. Next, the front wheels 5 are driven and the front chassis 3 and the rear chassis 4 are relatively rotated by the axle rotating mechanism 33 until the front axle 6 becomes parallel to the edge E2 (step S24 in FIG. 5). As shown in FIG. 10 (C), when the two front wheel front sensors 22 are turned on and the front axle 6 becomes parallel to the edge E2, the front wheel 5 moves to the edge E2 as shown in FIG. 7 (A). As it arrives, the front auxiliary wheels 8 are positioned on the next step surface ST2. In this state, as shown in FIG. 7B, the front auxiliary wheel 8 and the rear wheel 11 are extended and moved forward, and the above operation is repeated until the rear wheel front sensor 24 detects the edge E1.

As shown in FIG. 7C, when one of the rear wheels 11 reaches the edge E1, the rear axle 12 moves to the edge E.
The rear wheel 11 and the axle rotation mechanism are driven until they are parallel to 1. When the two rear wheel front sensors 24 are turned on, the rear axle 12
The vehicle is temporarily stopped on the assumption that the vehicle has become parallel to the edge E1 (step S33 in FIG. 5), and the rear wheel 11 is raised by one step height of the stairs as shown in FIG. 14 is extended from the rear wheel 11 by one step height (step S35).

Further, in this state, when the front wheels 5 are driven and moved forward, the front wheels 5 reach the next edge E4 as shown in FIG. 7 (E), and steps S24 to S27 in FIG.
After going through (FIG. 8 (A)), the state shown in FIG. 8 (B) is obtained. FIG.
In (B), the rear wheel rear sensor 25 detects the edge E1 and
It is detected that the rear wheel 11 is located on the step surface ST1.

Here, as shown in FIG. 8C, the rear auxiliary wheel 14 is raised to an initial position slightly above the rear wheel 11 to ground the rear wheel 11 on the step surface ST1 (step S1). S38). By repeating the above processing, it is possible to climb a spiral staircase in which the width of the step surface is not uniform. When the step detection time t, which is the time during which each sensor does not continuously detect the edge of the step surface after climbing the stairs, exceeds the preset time T, the mode automatically shifts to the normal traveling mode.

Next, the stairs down process in step S13 of FIG. 4 will be described. When shifting to the stairs down mode, in step S51 shown in FIG.
The step detection time t set in the internal register is reset, and counting up of the step detection time t until each sensor detects the next step is started. In step S52, at least one of the front wheels 5 and the rear wheels 11 is driven to move the vehicle body 1 forward. In step S53, it is determined whether or not one of the left and right front wheel front sensors 22 is turned on. When either one of the front wheel front sensor 22 is turned on,
It is determined that one of the front wheels 5 and 5 has reached the edge of the step surface on the traveling direction side, and the process proceeds to step S54. In step S54, the front wheels 5 are driven, and the front chassis 3 and the rear chassis 4 are relatively rotated by the axle rotating mechanism 33. In step S55, it is determined whether or not the two front wheel front sensors 22 are both turned on. If only one of the front wheel front sensors 22 is turned on, the process returns to step S54, and both front wheel front sensors 2
When 2 is on, it is determined that both of the two front wheels 5 and 5 have reached the edge of the step surface on the traveling direction side, and the process proceeds to step S56. In step S56, the brake unit 34 temporarily stops the vehicle. Step S57
Then, the front auxiliary wheel leg member 10 is extended to lower the ground contact surface of the front auxiliary wheel 8 to a position lower than the ground contact surface of the front wheel 5 by one step height of the stairs. After this, the process proceeds to step S52.

In step S53, the front wheel front sensor 2
If it is determined that 2 is not turned on, the process proceeds to step S58. In step S58, it is determined whether or not the front wheel rear sensor 23 is turned on. When the left and right front wheel rear sensors 23 are turned on, it is determined that the two front wheels 5, 5 are located on which step surface, and the process proceeds to step S59. In step S59, the brake unit 34 temporarily stops the vehicle. In step S60, the front wheel elevating mechanism 27 lowers the front wheels 5 and 5 to ground them on the step surface.
Then, the process proceeds to step S52.

In step S58, the front wheel rear sensor 2
If it is determined that 3 is not turned on, the process proceeds to step S61. In step S61, it is determined whether or not one of the left and right rear wheel front sensors 24 is turned on. When one of the rear wheel front sensors 24 is turned on, the rear wheel 1
It is determined that either one of 1 and 11 has reached the edge of the step surface on the traveling direction side, and the process proceeds to step S62. In step S62, the rear wheel 11 is driven, and the front chassis 3 and the rear chassis 4 are relatively rotated by the axle rotation mechanism 33. In step S63, it is determined whether or not the two rear wheel front sensors 24 are both turned on. If only one of the rear wheel front sensors 24 is on, the process returns to step S62, and both rear wheel front sensors 2
4 is on, it is determined that both of the two rear wheels 11 have reached the edge of the step surface on the traveling direction side,
Control goes to step S64. In step S64, the vehicle is once stopped by the brake unit 34. Step S6
5, the rear auxiliary wheels 14, 1 are moved by the rear auxiliary wheel lifting mechanism 32.
4 is lowered and grounded on the step surface. After this, the process proceeds to step S52.

In step S61, the rear wheel front sensor 2
If it is determined that No. 4 is not turned on, the process proceeds to step S66. In step S66, it is determined whether the rear wheel rear sensor 25 is turned on. When the left and right rear wheel rear sensors 25 are turned on, it is determined that both of the two rear wheels 11, 11 are located on the next step surface, and the process proceeds to step S67. In step S67, the vehicle is once stopped by the brake unit 34. In step S68, the front wheels 5, 5 and the rear auxiliary wheels 14, 14 are retracted, and the rear wheels 11, 11 are grounded on the step surface. In step S69, the step detection time t is reset. After this, the process proceeds to step S52.

In step S66, the rear wheel rear sensor 2
If it is determined that 5 is not turned on, the process proceeds to step S70. In step S70, it is determined whether the step detection time t has exceeded a preset time T. If the step detection time t is less than or equal to the time T, step S52
Move to When it is determined in step S70 that the step detection time t exceeds the time T, step S7
Move to 1. In step S71, the traveling mode is changed to the normal traveling mode and the process returns to the main routine.

In the stairs down mode, the front wheel 5, the rear wheel 11, the front auxiliary wheel 8 and the rear auxiliary wheel 14 are initially set when moving from the left to the right on the flat road as shown in FIG. 11 (A). It is in the position. When the vehicle moves forward to the right from the state of FIG. 11 (A) and one of the front wheel front sensors 22 is turned on, the front axle 6 becomes parallel to the edge E11 of the step surface, and thus the front wheel 5 and the axle rotation. The moving mechanism 33 is driven (step S54 in FIG. 10). When the two front wheel front sensors 22 are turned on, it is considered that the two front wheels 5, 5 have reached the edge E11 of the step surface, and the front auxiliary wheels 8, 8 are moved forward as shown in FIG. 11 (D). It is lowered from the wheels 5, 5 by a height of about one step and is grounded on the first step surface ST11. In this state, the rear wheels 11 are driven to move forward. When the front wheel rear sensor 23 is turned on, as shown in FIG.
Since the front wheels 5, 5 are located on the step surface ST11, the front wheels 5, 5 are lowered and the front auxiliary wheels 8, 8 are raised to move the front wheels 5, 5 as shown in FIG. 11 (D). The step surface ST11 is grounded.

When the forward movement is repeated by repeating this operation and one of the rear wheel front sensors 24 detects the edge E11, the rear wheel drive mechanism 30 is arranged so that the rear axle 12 is parallel to the edge E11. And the axle rotation mechanism 33 (see FIG. 1).
0 step S62). When both of the two rear wheel front sensors 24 are turned on, the rear auxiliary wheel elevating mechanism 32 is driven to lower the rear auxiliary wheel 14 to ground as shown in FIG. 12 (A). If the rear wheel rear sensor 25 detects the edge E11 in this state, the rear wheels 11, 11 are positioned on the step surface ST11 as shown in FIG. 12B. In this state, as shown in FIG. 12 (C), the front wheels 5 and the rear auxiliary wheels 14 are retracted so that the rear wheels 11,
11 is grounded on the step surface ST11.

By repeating the above processing,
You can descend the spiral staircase. If the step detection time t, which is the time during which each sensor does not continuously detect the edge of the step surface, is lowered to the bottom of the stairs, the normal traveling mode is automatically entered when the step detection time t exceeds a preset time T. Second Embodiment FIGS. 13 and 14 show a stair climbing vehicle according to a second embodiment of the present invention.

This stair climbing vehicle has a seat 17 and an operation panel 18 on the upper portion of the vehicle body 1 as in the first embodiment. The vehicle body 1 includes rear wheels 11 and 11 and rear auxiliary wheels 14 and 1.
The vehicle body main body 41 to which 4 is mounted, and the front wheel support body 42 to which the front wheels 5 and 5 and the front auxiliary wheels 8 and 8 are mounted are provided. The front wheel support member 42 includes a front wheel leg member 7 for supporting the front axle 6 to which the front wheels 5, 5 are attached, front auxiliary wheels 8,
A front auxiliary wheel leg member 10 that supports a front auxiliary wheel axle 9 to which 8 is attached is attached. This front wheel support 4
Reference numeral 2 is attached to the body 41 so as to be horizontally rotatable, and is configured to rotate the front axle 6 and the front auxiliary wheel axle 9 horizontally by rotating the body 41. Has been done. Further, one front wheel front sensor (not shown) is attached to the left and right of the front wheel support 42 at an intermediate position in the traveling direction between the front wheel 5 and the front auxiliary wheel 8. Further, on the lower surface of the front wheel support body 42, one front wheel rear sensor (not shown) is attached to the left and right behind the front wheel 5 in the traveling direction.

The rear wheels 11, 1 are provided on the lower surface of the vehicle body 41.
Rear wheel leg member 1 supporting a rear axle 12 to which 1 is attached
A rear auxiliary wheel leg member 16 that supports a rear auxiliary wheel axle 15 to which the rear auxiliary wheel 3 and the rear auxiliary wheels 14 and 14 are attached is attached. On the lower surface of the vehicle body 41, rear wheel front sensors (not shown) for detecting the edge of the step surface at the front ends of the rear wheels 11, 11 in the traveling direction are arranged one on each side. In addition, a rear wheel rear sensor (not shown) for detecting the edge of the step surface at the intermediate position in the traveling direction between the rear wheel 11 and the rear auxiliary wheel 14 on the lower surface of the vehicle body 41 is moved to the left and right.
Are arranged one by one.

The front wheel leg member 7, the front auxiliary wheel leg member 10, the rear wheel leg member 13, and the rear auxiliary wheel leg member 16 can be vertically expanded and contracted by an actuator such as a hydraulic cylinder device as in the first embodiment. It is configured. The other configurations and operations are the same as those in the first embodiment, and the description thereof is omitted here.

Third Embodiment FIGS. 15 and 16 show a stair climbing vehicle according to a third embodiment of the present invention. A seat 17 and an operation panel 18 are provided above the vehicle body 1 as in the first embodiment. The vehicle body 1 is provided with a vehicle body 43, and is located at the front portion of the lower surface of the vehicle body 43 and is rotatable in the horizontal direction.
It has. A front wheel leg member 7 that supports one front wheel 5 and a front auxiliary wheel leg member 10 that supports one front auxiliary wheel 8 are attached to the vehicle body 44. Further, front wheel front sensors (not shown) are attached to the left and right of the front wheel support 44 at an intermediate position in the traveling direction between the front wheels 5 and the front auxiliary wheels 8 on the lower surface. Further, one front wheel rear sensor (not shown) is provided on the left and right behind the front wheel support 44 in the traveling direction of the front wheel 5. The front wheel support 44 is configured such that the front wheel 5, front auxiliary wheel 8, front wheel front sensor, and front wheel rear sensor are integrally rotatable in the horizontal direction.

Further, on the rear portion of the lower surface of the vehicle body 43, a second
Rear wheels 11 and 11 and rear auxiliary wheels 1 similar to the embodiment of
4, 14 are attached. In the third embodiment, similarly to the first and second embodiments, the front wheels 5,
While driving the rear wheels 11, 11, the front wheel support 44 is rotated so that each axle is parallel to the edge of the step surface, and the front wheel leg member 7, the front auxiliary wheel leg member 10, the rear wheel leg member. It is possible to move up and down the spiral staircase while expanding and contracting 13 and the rear auxiliary wheel leg member 16.

[0050]

In the stair climbing vehicle according to the present invention, the step edge detecting means detects the edge of the step surface in which the front wheel and the rear wheel are located in the traveling direction, and each axle is detected based on the detection result. The attitude control means matches the edge of the step surface, and the elevating and lowering control means elevates and lowers each wheel to move up and down the step surface of the stairs, so that the width of the step surface is uniform while keeping the vehicle body horizontal. It is possible to go up and down stairs like the spiral staircase.

[Brief description of drawings]

FIG. 1 is a side view of a stair climbing vehicle according to a first embodiment of the present invention.

FIG. 2 is a bottom view showing the schematic configuration thereof.

FIG. 3 is a control block diagram thereof.

FIG. 4 is a control flowchart thereof.

FIG. 5 is a control flowchart thereof.

FIG. 6 is a schematic diagram showing an operation in stairs up mode.

FIG. 7 is a schematic diagram showing an operation in stairs up mode.

FIG. 8 is a schematic diagram showing an operation in stairs up mode.

FIG. 9 is a schematic plan view showing the operation in the stairs up mode.

FIG. 10 is a control flowchart of stairs down mode.

FIG. 11 is a schematic diagram showing an operation in stair down mode.

FIG. 12 is a schematic diagram showing an operation in stair down mode.

FIG. 13 is a side view of a stair lift according to a second embodiment of the present invention.

FIG. 14 is a bottom view showing the schematic configuration thereof.

FIG. 15 is a side view of a stair lift according to a third embodiment of the present invention.

FIG. 16 is a bottom view showing the schematic configuration thereof.

[Explanation of symbols]

 1 Car Body 2 Support Shaft 3 Front Chassis 4 Rear Chassis 5 Front Wheel 6 Front Axle 7 Front Wheel Leg Member 8 Front Auxiliary Wheel 9 Front Auxiliary Wheel Axle 10 Front Auxiliary Wheel Leg Member 11 Rear Wheel 12 Rear Axle 13 Rear Wheel Leg Member 14 Rear Auxiliary wheel 15 Rear auxiliary wheel axle 16 Rear auxiliary wheel leg member 17 Seat 18 Operation panel 21 Control unit 22 Front wheel front sensor 23 Front wheel rear sensor 24 Rear wheel front sensor 25 Rear wheel rear sensor 27 Front wheel lifting mechanism 28 Rear wheel lifting mechanism 29 Front wheel drive mechanism 30 Rear wheel drive mechanism 31 Front auxiliary wheel lifting mechanism 32 Rear auxiliary wheel lifting mechanism 33 Axle rotation mechanism 34 Brake unit

Claims (5)

[Claims] 1. A stair climbing vehicle for climbing up and down a step surface of a stair, which is supported by a vehicle body and a rear axle and is mounted on a rear portion of the vehicle body, and ascends and descends by at least two step heights of the stairway with respect to the vehicle body. A possible rear wheel, a front wheel supported by a front axle and mounted on the front portion of the vehicle body, and capable of moving up and down by at least two step heights of the stairs with respect to the vehicle body; Along with the rear auxiliary wheel for supporting the vehicle body when the rear wheel is separated from the step surface of the stairs, the front wheel is movable up and down with respect to the vehicle body, and the front wheel is separated from the step surface of the staircase. A front auxiliary wheel for supporting the vehicle body at the time of driving, a drive means for driving at least two kinds of wheels among the front wheel, the rear wheel, and the front and rear auxiliary wheels, and the rear axle and the front axle. Horizontally An axle rotating means that relatively rotates, a step edge detecting means that detects an edge in a traveling direction of a step surface on which the front wheels and the rear wheels are located, and based on a detection result of the step edge detecting means Attitude control means for controlling the drive means and the axle rotation means, an elevating means for elevating and lowering each wheel, and controlling the drive means and elevating means based on the detection result of the step edge detection means. A stair climbing vehicle including a climbing control means. 2. The vehicle body includes a front chassis and a rear chassis connected to each other so as to be relatively rotatable in a horizontal direction, the front wheels and front auxiliary wheels are mounted on the front chassis, and the rear wheels and the rear wheels are mounted. The stair lift according to claim 1, wherein auxiliary wheels are mounted on the rear chassis. 3. The vehicle body, to which the rear wheels and the auxiliary rear wheels are mounted, and the front wheel and the front auxiliary wheels which are mounted on the vehicle body and which are rotatable in the horizontal direction with respect to the vehicle body. The stair lift according to claim 1, comprising a wheel support. 4. The front wheel is supported by the front axle.
The stair lift according to any one of claims 1 to 3, which is one wheel. 5. The front wheel is supported by the front axle.
The stair lift according to any one of claims 1 to 3, which is one wheel.