KR101457257B1 - Transportation system to move stairs - Google Patents

Abstract

There are various methods of traveling robots for passing obstacles. However, the apparatus of the present invention is capable of miniaturization, and is capable of rapidly maintaining parallelism by running along with the running wheels and the base upper plate when performing the unicycle or raising and lowering the stairs. Therefore, even when an external force is applied to the transportation apparatus of the present invention apparatus during dangerous stair-climbing operation, it is possible to maintain rapid parallelism as described above, thereby ensuring safe running.

Description

Transport system capable of moving stairs. {Transportation system to move stairs}

Transportation system to climb stairs, wheelchair to climb stairs, transportation system to cross over obstacles, unmanned transportation system.

About thirty years ago, on Korean television broadcasts, I introduced a cart that can move stairs by attaching three wheels on one side of one of the contents of the invention program on both sides in a triangular shape. The present invention is also an invention of a transportation system characterized in that the flatbed and the stairs can be safely moved by utilizing the idea and equipped with a power unit.

International Patent Application No. PCT / US2001 / 042657 (10-0911065) Relevant invention of the invention such as a wheelchair climbing stairs, related to PCT / US1995 / 01522 (10-0346992) There are some problems in practical use.

In the case of PCT / US1995 / 01522, the center of gravity is held by using joints to hold the center of gravity of a person. It is a good idea, but if you are a worker in the field, you will understand that the following explanation is difficult to realize realistically.

Joints 945 and 946 are used in the drawing to center the weights when climbing the stairs. 942 The force of the motor for driving the joint 945 along the length of the joint requires a considerable amount of force as it is proportional to the weight of the person and the length of the joint. Therefore, the power consumption of the driving motor must be increased. In some cases, when the reduction gear ratio is increased, the driving power is reduced but it is required to move fast to balance, but the moving speed is slow and it is difficult to maintain the center. However, the apparatus of the present invention is characterized in that the center of gravity is formed in a slide shape, and the center of gravity can be quickly moved even with a small force.

The invention of PCT / US2001 / 042657 is an invention that can not be advanced in parallel or in the presence of obstacles or in the presence of obstacles. In the present invention, equilibrium maintenance is indicated by a similar method. In addition, 10-2005-0013087 suggests a means to climb a staircase, but the height of a staircase is 180mm and the length is 260mm. Therefore, if the wheelchair is in an upright position, raise the rear wheel 180 * 3, or 540mm, to keep it level. It is very impractical to climb stairs with such a complicated structure.

The present invention is capable of maintaining a stable parallel operation in a staircase, reducing the number of driving motors, maintaining parallelism even with a small driving torque, and thus reducing battery consumption and manufacturing cost. In addition, Speed center of gravity movement and balance can be maintained.

The device of the present invention is equipped with a sensor module for discriminating whether the sensor is a step or a flat surface, and a sensor module for detecting whether there is an obstacle similar to a stone on the floor. This sensor module has the function to perform the function of ascending or descending the stairs, or to decide whether to avoid obstacles or not. When the vehicle is running, one or two of the wheels contact the ground, and the vehicle receives power from the motor and travels. If one of the left and right wheels is in contact with the ground, it is necessary to maintain parallelism.

In addition, it features features such as image recognition technology necessary for unmanned transportation, and easy change of usage for enjoying wheelchair or leisure for the disabled.

A variety of techniques are required as described above, and these techniques are described in detail in the detailed description of the means for solving the problems and the invention.

There are various sensors for determining whether the sensor is a staircase, a flat ground, or an obstacle. Among them, the most easily applicable ones are a technology for calculating a distance to an obstacle by using an ultrasonic sensor module, Equilibrium maintenance control technology is required to acquire information about the X, Y, and Z axes so that this device does not lose its center when traveling alone. In addition, there is a need for a technique for acquiring image signals by a camera for unmanned operation, performing unmanned operation with a pre-reserved destination, or transmitting a video signal by radio and transferring it to a destination by remote operation.

Particularly, the control technology is required when raising or lowering the stairs, and the control technique for performing the unicycle operation is also very difficult. Such techniques will be described in detail by sector in a specific embodiment of the invention.

Generally, motorized transport devices are mostly around 300mm in diameter. Therefore, it is not easy to pass obstacles even if they are low in height. In particular, you can not imagine going up or down the stairs. The present invention is expected to be very useful as a disabled person using a wheelchair can move freely around a stairway and a jaw.

BRIEF DESCRIPTION OF THE DRAWINGS Fig.

The present invention is characterized in that it has been invented so as to ascend or descend an obstacle and a stairway.

Fig. 1 is a left-right symmetrical type as a driving unit of the present invention. A driving motor and a gear box 104 for forward and backward movement, a driving motor and a gear box 105 for rotating the wheel frame, The rack gear 109 is attached to the base upper plate 110 by means of the drive motor and the gear box 107 and means for moving the center of gravity and the upper plate 110 is easily moved back and forth through the guide 108, The upper plate 110 is moved forward and backward so that a person or a chair is moved on the upper plate to change the center of gravity position.

Other clutches, mechanical brakes and the like can be attached as needed, and individual clutches can be attached to the wheels to perform independent driving, but such matters may be omitted from the description because they may obscure the gist of the present invention.

First, the wheel structure has the same structure as that of FIG. 6 and is symmetrical with respect to one side only. The wheels 301, 302, and 303 are attached to the wheel frame 304, and each wheel is coupled with the drive motor and gear box 305 and the wheel frame center shaft 307, . Further, in order to enable the wheel frame 304 to rotate, the wheel frame can be rotated by engaging the driving motor and the gear box 306 with gears connected to the wheel frame.

Since the drive motor uses a BLDC motor to fine-tune the RPM and the Hall sensor that can detect the phase when the motor rotates inside the BLDC motor, it is easy to adjust the angle of the wheel frame by detecting the sensor output and calculating the gear ratio. Do. If there is no such function, it will be inconvenient to attach a separate encoder, especially with brush motor.

One of the features of the present invention is that the two wheels (233, 234) on one axis contact four wheels at the same time on both axes at the same time, so that stable running is possible. You can save. If one wheel (234-1) per axle is driven with two wheels on both axles, the friction caused by the wheels will be reduced and the battery consumption will be reduced, but balance must be maintained. The means of balancing will be explained separately from the back.

By utilizing the advantage of adjusting the angle of each wheel frame, it is possible to reduce the phenomenon of being pushed out by the centrifugal force by adjusting the tilt in the left and right at high speed.

Example 1)

In the present invention, an infrared sensor module, an ultrasonic transmission / reception sensor module, or the like is used to determine a staircase or an obstacle, but an ultrasonic sensor module is applied to the present invention. The ultrasonic transmission / reception sensor module can calculate the distance from the obstacle by applying the fact that the speed of the sound wave moves about 340M per second. FIG. 2 is a view for explaining a method of detecting a step, wherein the ultrasonic transmission / reception sensors 201, 202 and 203 are vertically attached at regular intervals, and each ultrasonic transmission / reception sensor module sequentially emits ultrasonic waves, And calculate the delay time of the received sound wave to convert the distance 204 of each step. If the stair is clear, the distances calculated at 203, 202 and 201, respectively, will be detected differently. 203 This distance is the shortest and 201 is the longest distance. It is very easy to judge that this is the stairway 205 from the microcomputer and to ascend the stairway. Note that the ultrasonic sensor is used, and the directivity can be set appropriately for the purpose, and the interference reflected wave can be solved in a circuit or a software algorithm.

3, the ultrasonic transmission / reception sensors 211, 212, 213 for horizontally recognizing the stairs and lowering the stairs are horizontally installed at regular intervals, and as shown in FIG. 2, the distance from the respective ultrasonic sensors to the floor 214 And the microcomputer judges that the calculated distances are 211, 212, and 213 in the order of the distance, so that 215 can recognize that the stairs are the stairs.

FIG. 2 and FIG. 3 illustrate a case in which an obstacle is detected by attempting real-time detection during traveling, so that when a person enters the stair-entry mode without moving the key switch, And the microcomputer processes it.

FIG. 4 is a view similar to FIG. 1 for detecting obstacles 225 such as pebbles or other wood chips during traveling. However, the ultrasonic transmit / receive sensors 221, 222, and 223 may be installed vertically at predetermined intervals to estimate the distance and height of obstacles. The height of the obstacle will be approximately the distance of the obstacle, and if the obstacle is detected at 223, 222, the approximate height will be expected. If the height of the obstacle is too high, it should not enter, and if the height of the obstacle is high enough, the micom will go through the obstacle passing stage.

The sensors shown in Figs. 2 and 3 are installed on the left, right, and front and rear, respectively, so that detection is facilitated even when forward and backward.

Wheel frame rotation Example 2)

The wheel frame must rotate when raising or lowering the stairs described above in Embodiment 1 or crossing an obstacle. Fig. 5 is a view for explaining the rotation of the wheel frame 235. Fig. 5 (A) shows a state in which two wheels 233 and 234 are in contact with the ground, Fig. 5 (B) One is in contact with only 234-1.

In order to rotate the wheel frame as shown in FIGS. 5A to 5C, the center of gravity of the wheel 234 must be centered on the center axis. In order to do so, the weight centering slide 231 is used to move the ones 230 that generate load to the body of the present invention such as a person, a chair, a battery, etc. to the wheel 234 and change the center of gravity, Do not tilt. When the wheel frame rotates, the position of the center of gravity of 230 should be changed in real time according to the rotation angle of the wheel frame.

The wheel frame is rotated to rotate the wheel frame 120 degrees in FIG. 5A. When the wheel 234-1 comes into contact with the ground as shown in (B) and the wheel frame becomes the inverted triangle 235-1, And 230-1 comes to a central position. More precise control may be more effective if the gyroscope or tilt sensor controls the operation of the microcomputer.

Example 3 for raising and lowering stairs or crossing an obstacle)

As described in the embodiment 1), the ultrasonic transmission / reception sensor module processes the ultrasonic reflection distances detected by the respective sensors on the microcomputer board and determines whether the reflected ultrasonic waves are a step or an obstacle, And enters the corresponding operation mode.

We will only explain how to climb up and down the stairs as they are similar. If the obstacle is judged to be a stair on the microcom board, proceed to step up the stairs. If a person manually determines that the stairs are up and the stairs can be climbed with the KEY control switch, the method of climbing is the same. FIG. 7 is a process for climbing a staircase, and FIG. 7 is a process for climbing a staircase as shown in (A) to (B). Repeat this process and you will climb all the stairs. 2, if the distance 203 is subtracted from the distance 202 detected by the sensor, the distance of the staircase can be known. Therefore, the ultrasonic transmission / reception sensor 203 moves until the appropriate distance from the first step is reached. As described above with reference to FIG. 3, if the distance measured by the ultrasonic transmission / reception sensor is subtracted, the height of one column of the stairs can be known. Accordingly, the position of the wheel 401-1 contacting the first floor of the step and the angle of the wheel frame can be determined according to the diameter of the wheel and the rotation angle of the wheel frame. 7 (A) and 7 (B), it is necessary to overcome the technical difficulty of moving the base frame while rotating the wheel frame to keep the center of gravity well. As a method to easily solve the technical difficulties, a gyroscope sensor or a tilt sensor is applied to the microcomputer, and the control of the base upper plate driving motor module is easily solved.

Balance maintenance by gyroscope or tilt sensor Example 4)

In order to maintain parallelism, a means is required to perform tilt correction by calculating in a microcomputer processing device using a gyroscope sensor or tilt sensor.

As shown in FIG. 5B, it is very important to keep the wheels horizontal when the two wheels are in contact with the ground and travel (unilaterally travel). Of course, it is also very important to adjust the base top plate to center the weight when the wheel frame is rotating as it goes up and down stairs or across obstacles.

In order to maintain parallelism, the gyroscope or tilt sensor detects the signal and controls the movement of the center of gravity with the base plate. In addition, parallel maintenance can be performed while repeating the forward and backward movement by the traveling wheels, and parallel maintenance can be achieved more effectively by using the base upper plate and the traveling wheels in parallel.

5)

The shape of the wheel is rotated by rotating the wheel frame as shown in the method for raising and lowering the stairs in such a manner that only one wheel touches the ground surface in the same manner as in FIG. 5 (B) 5 (B). In order to travel unilaterally, the wheel frame is initially rotated to rotate the wheel frame in the form of Figures 5 (A) to 5 (B). At this time, as the center of gravity changes from the center axis of the wheel frame, the center of gravity must be changed in real time. In order to change the center of gravity, it is necessary to rotate the wheel frame by moving the center of gravity of the base upper plate. The microcomputer control unit receives the data on the acceleration and tilt inputted from the gyroscope or the tilt sensor module, calculates and processes the tilt of the vehicle, The wheels will continue to drive. The movement of the center of gravity may present two methods in the present invention. You can move the base top plate or rotate the wheel frame to maintain the proper angle. The direction change or rotation can easily change the direction by adjusting the number of revolutions of the driving motor of the driving wheels on the left and right sides of the traveling wheels.

If the center of gravity is lost suddenly by pushing the device or the passenger from the outside when the vehicle is in a running or stopped state, the microcomputer control unit rotates the traveling motor in the normal or reverse direction in accordance with the direction of the center of gravity Or by moving the base plate to balance it, or in case of an imminent situation, both of the two functions can be utilized. In addition, in the worst case, the wheel frame is changed to the twin-wheel drive mode to provide a function that can secure the occupant safety.

Example 6 for twin-

Running in twin-drive mode provides a very stable ride. When the apparatus of the present invention stops running, the running mode of the traveling motor or the center-of-gravity driving motor of the base upper plate is constantly rotated or reversed to maintain parallelism in the unfiltered running mode at all times. It is possible to make a stable stop naturally without having to maintain parallel. However, it is possible to make steady running, but if the direction change (steering) is adjusted only by the RPM of the traveling motor, it is impossible to avoid friction as much as the angle necessary for turning the traveling wheel. Therefore, in order to solve such a problem, it is necessary to operate the left and right wheel frame drive motors to make a slight angle, and to make the wheels run in contact with the ground surface one by one on each of the left and right sides. The rest of the wheels should be slightly shifted away from the ground. The mode may be set to a complete unicycle running mode as shown in Fig. 5 (B), but it is not necessary to do so. If two wheels are in contact with the ground, there are 4 types (left forward - right rear, left rear - right forward, left rearward - right backward, left forward - right forward) You can change the direction.

Wheelchair or leisure operation Example 7)

The apparatus of the present invention is characterized in that it can be used as a wheelchair for a disabled person, and can be used for various purposes such as leisure, leisure, and unmanned transportation.

A chair and a foot plate for a disabled person and a joystick for a driving operation can be attached to the upper plate of the base, and a wheelchair can be used as a wheelchair. In case of leisure, a pedestal and a handle 601, It can also be used as an unmanned transportation device capable of wireless operation by attaching a movie camera on a base top plate. As described above, the apparatus of the present invention is characterized by providing a versatile transport apparatus.

Wireless adjustment and unattended transfer Example 8)

The apparatus of the present invention needs to be unmanned when it is necessary to transport only the inventive apparatus to a specific position when a person is aboard and it is difficult to search in a special place. Therefore, a transceiver capable of performing radio control is attached to the apparatus, and the radio transceiver can transmit the command while exchanging commands with the microcomputer control unit. The command transmission is carried out in the wireless remote controller, and if necessary, the video camera is attached to the base upper plate to transmit the real time image data through the wireless transceiver, and the image data is received on the wireless remote controller and displayed on the display, There is a feature that can be adjusted unattended while viewing video data.

In addition, the microcomputer control unit makes the image data acquired from the image camera be recognized by a color line recognition algorithm or a binarized image processing It is possible to acquire the traveling route through the unmanned transportation.

FIG. 8 and FIG. 9 are block diagrams applied in the present invention to further explain the system operation described above.

First, the driving operation key and display module 500 are configured to set an input function for setting a speed limit, a function for manually or automatically operating a step or an obstacle, a joystick for driving speed adjustment, a driving method setting, a load input on the base upper plate, And a display unit for displaying the data, image data, speed, load, notification function and the like required for input and operation. The microcomputer operation and control device module 501 collects various kinds of sensor information, performs arithmetic processing necessary for running and parallel maintenance, and controls each drive motor module. 5 (A) to 5 (B), when the wheel frame is rotated in the microcomputer operation and control device module, the motor for driving the wheel frame varies in power depending on the weight of the person or object on the base upper plate. Therefore, the current sensor module is attached to the motor for driving the wheel frame, and the approximate load is calculated or the power according to each load is stored in the database so that the approximate load applied to the base upper plate in the microcomputer control unit can be known. A finer control can be made by using the load. For example, it is possible to perform more precise control such as a calculation of driving torque for maintaining parallelism, and a process for stopping while driving.

The ultrasonic transmission / reception sensor module 502 can detect the obstacle, measure the distance to the obstacle, read the staircase in the case of the staircase, and measure the length and height of the staircase, respectively. Such an operation can be achieved by attaching an ultrasonic transmission / reception sensor to the ultrasonic transmission / reception sensor in the same manner as in FIGS. 2 and 3, and calculating the time of reflection of the ultrasonic waves by a microcomputer. The ultrasonic transmission / reception sensor has one pair of vertical downward direction and horizontal direction, respectively, so that it is possible to obtain easy information when forward or backward. In addition, when installed independently in the unmanned operation, it is easy to find the middle position from the left and right of the staircase in the case of the staircase, so that it can be moved up and down in the middle of the staircase.

The gyroscope or tilt sensor module 503 senses the equilibrium holding, acceleration, and direction, and provides information necessary for microcomputer operation.

The operation mode detection sensor module 504 is provided for facilitating the reading of various transportation means for a wheelchair or leisure from the microcomputer control unit 501. An identification sensor is attached to the base upper plate at a position where the wheelchair, So that the microcomputer control unit can recognize the traveling method automatically.

  The motor drive 505 is a module for controlling the base upper plate drive motor module 506, the wheel frame drive motor module 507, and the drive wheel drive motor module 508, as means for controlling the rotational speed of each drive motor or adjusting the angle of the wheel frame And provides a means for detecting a current of the drive motor to warn against overload or to indirectly calculate the load described above.

The wireless control transceiver module 510 provides for remote control of the functions referred to in the present invention such as traveling, stopping, direction and so on, while communicating with the remote transceiver of FIG.

The image sensor module 511 transmits image data acquired from the image sensor wirelessly when the image data acquired from the permanent sensor necessary for the automatic running is automatically run by performing image calculation as shown in the embodiment, And a function for allowing the operator to easily perform the remote control by displaying the video data on the remote control device.

The driving operation key and display unit 522 of the wireless remote control device of FIG. 9 are similar to the above-described 500, and a function of displaying data received from the image sensor is added. The microcomputer control device 521 reads the information received from the wireless adjusting transmitting / receiving device 520 and displays information necessary for the operation or provides a means for sending an instruction of the operation key to the wireless adjusting transmitting / receiving device.

Although not shown in the drawings, the height of the stairs when the stairs are climbed may cause the stairs to be struck by the human footsteps. This can be done by adjusting the height of the footrest.

In the present invention, three wheels are attached to a wheel frame, and a gear and a wheel are connected to each other so that the wheels can be rotated. As shown in FIG. 5, .
Driving wheels: means that three wheels are arranged as shown in FIG. 5 attached to a wheel frame, and the wheels can be rotated through a driving motor and a speed reducer.
Base upper plate: A guide 108 is installed to attach the base upper plate 110 and the rack keyer 107 of Fig. 1 and to move the rack gear 108 by the drive motor 107 as means for changing the position of the center of gravity by moving the base upper plate back and forth. Means for moving the center of gravity of the occupant, the chair, the battery, and various devices on the base upper plate so that the base upper plate can move back and forth in accordance with the forward or reverse rotation of the motor 107.
Unicycle running: As shown in Fig. 5 (B), two wheels are moved in contact with the ground by one wheel on the ground.
Two-wheel drive: As shown in Fig. 5 (A), four wheels are moved in contact with the ground by two wheels on the ground.

Claims (4)

A sensor module for identifying obstacles or stairs,
The sensor module has means for measuring the height or length of the step,
A wheel frame, a base upper plate, and a traveling wheel as means for raising and lowering an obstacle or a stairway,
Wherein the wheel frame has three driving wheels attached to the wheel frame in a triangular arrangement with respect to the wheel frame center axis,
And a drive motor capable of transmitting power to the wheel frame and the traveling wheels,
And a means for receiving signals from the gyroscope or the tilt sensor module by means of a center of gravity or a means for maintaining parallelism, and performing a micom computation process to move and maintain the base upper plate in parallel.
A sensor module for identifying obstacles or stairs,
The sensor module has means for measuring the height or length of a stepped cell,
A wheel frame and a traveling wheel as means for raising and lowering an obstacle or a stairway,
Wherein the wheel frame has three driving wheels attached to the wheel frame in a triangular arrangement with respect to the wheel frame center axis,
And a drive motor capable of transmitting power to the wheel frame and the traveling wheels,
And a means for receiving a signal from the gyroscope or tilt sensor module by means of a center of gravity or a means for maintaining parallelism, and controlling the angle of the wheel frame by parallel processing.
The method according to claim 1 or 2,

In the parallel holding means,
Further comprising means for maintaining the traveling wheels parallel or anti-clockwise.
The method according to claim 1 or 2,

Further comprising a wireless transceiver and a video camera for enabling wireless coordination in said transportation system.

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