WO2019048445A1 - Véhicule destiné à circuler sur un escalier ou une rampe - Google Patents

Véhicule destiné à circuler sur un escalier ou une rampe Download PDF

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Publication number
WO2019048445A1
WO2019048445A1 PCT/EP2018/073800 EP2018073800W WO2019048445A1 WO 2019048445 A1 WO2019048445 A1 WO 2019048445A1 EP 2018073800 W EP2018073800 W EP 2018073800W WO 2019048445 A1 WO2019048445 A1 WO 2019048445A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
sensor
staircase
driving
slide rail
Prior art date
Application number
PCT/EP2018/073800
Other languages
German (de)
English (en)
Inventor
Bernhard WINTER
Original Assignee
Scewo Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scewo Ag filed Critical Scewo Ag
Priority to DE112018003489.5T priority Critical patent/DE112018003489A5/de
Publication of WO2019048445A1 publication Critical patent/WO2019048445A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/32—General characteristics of devices characterised by sensor means for force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices

Definitions

  • the invention relates to a vehicle for driving on a flight of stairs or a ramp which, in a first operating mode intended for a substantially level ground, is provided by one or more wheels and in a second operating mode intended for driving on a staircase or a ramp by means of a can be driven by means of caterpillar track or tracked running gear.
  • a vehicle can, for. B. be designed as a stair-climbing wheelchair.
  • a stair climbing vehicle which has both conventional wheels and a crawler track. To drive on a staircase, the conventional wheels are moved to an elevated position.
  • a stair-climbing vehicle in the form of a wheelchair which runs on a substantially flat ground in a first mode by means of conventional wheels and in a second mode can drive a staircase. Switching between the two modes is done manually by the user. However, it would be desirable to automate this operator input previously entered by the user.
  • the invention is therefore based on the object to provide a vehicle for driving on a staircase or a ramp, wherein the switching operation between the first mode in which it is driven by one or more wheels is, and the second mode in which it is driven by a crawler or Kettenfahrtechnik, done automatically.
  • a vehicle of the type mentioned at the outset that it has a staircase edge or ramp edge sensor detecting step edges.
  • the invention is based on the finding that an automatic switching between the two operating modes is possible if it is possible to reliably detect the beginning or the end of a staircase, in particular a step edge.
  • the change between the first operating mode, which is intended for a substantially flat ground, and the second, intended for driving on a staircase operating mode automatically run. Both driving on a staircase and leaving the stairs can be automatically controlled by the stair climbing vehicle.
  • the vehicle according to the invention can also be used for driving on ramps.
  • a ramp i. H. the lower or upper end of a ramp can be detected. After detecting the ramp edge can be switched to the respective other mode.
  • the staircase sensor is capable of detecting a contact between a component of the vehicle and a stairway edge. During the touch, a force is exerted on the staircase sensor that can be detected and evaluated.
  • a force sensor In contrast to other types of staircase sensors, such as optical sensors, infrared sensors, ultrasonic sensors and radar or lidar sensors, a force sensor allows a particularly reliable and interference-free detection of a stair-step edge.
  • a force Sensor even with differently procured surfaces such as a fabric covering having a surface, a reflective surface, a glass surface or covered with snow or ice surface. Even if a staircase in the outdoor area z. B. is covered by snow or leaves, the stairs can be detected edges by means of the inventively provided force sensor reliable. Accordingly, a staircase sensor designed as a force sensor is preferred in the vehicle according to the invention.
  • the staircase sensor is strip-shaped or planar or of a matrix-like design, or it comprises a plurality of individual sensors.
  • the staircase sensor can also be designed as a single sensor. The staircase sensor thus enables at least approximately a localization of a contact point between a stair-step edge and a component of the stair-climbing vehicle.
  • the stairstep sensor is arranged in the caterpillar or track undercarriage between a vehicle-fixed surface and a slide rail, wherein the wrapping means is guided on the outside of the slide rail.
  • the structure according to the invention has the advantage that it can be detected by an evaluation of the signal of the stairstep sensor, at which point of the slide the contact contact with the stairstep edge occurs.
  • the staircase sensor may be integrated in the left or right part of the crawler or track chassis. It is also possible that both sides are provided with the staircase sensor.
  • the distance between the belting means and the slide rail and / or the tension and / or the elasticity of the belt and / or the slide rail is preferably selected such that the belt is pressed against the slide rail when driving on a step edge. In this way, a contact force between a step edge and the slide rail is transmitted to the vehicle-fixed surface and can be detected by means of the staircase sensor.
  • the staircase sensor is arranged substantially parallel to a run of the belt. It is the part of the belt that touches the ground or the steps of the stairs.
  • a particularly preferred variant of the vehicle provides that it has a control device connected to the staircase sensor, which is designed to switch between the first and the second operating mode based on the data detected by the staircase sensor. In particular, the switching can take place automatically.
  • the vehicle is according to this embodiment, able to automatically switch on reaching a staircase or a ramp in the second mode without the user has to intervene.
  • the stair-climbing vehicle is able to switch automatically during or after the departure of a busy staircase or ramp in the first mode in which it is driven by means of one or more wheels.
  • a further improved functionality results in the vehicle according to the invention when the control device is designed to track the position of the vehicle relative to at least one stair-step edge when driving on a staircase.
  • the control device is designed to detect the beginning and / or the end of a staircase or a ramp. If a start or an end of a staircase or a ramp has been detected, the control device switches over between the first operating mode, in which a level ground is traveled by means of at least one wheel, and the second operating mode, in which a staircase or a ramp is driven by means of the crawler or track undercarriage.
  • the vehicle according to the invention is preferably designed as an electrically driven stair-climbing wheelchair. It has a pair of wheels, of which at least one is electrically driven.
  • the vehicle designed as a stair-climbing wheelchair has a crawler undercarriage or a chain drive, which is likewise electrically drivable.
  • the wheels and the crawler or track chassis can be driven by the same electric drive.
  • two separate drives can be provided which are selectively switched on alternatively.
  • a manual drive is possible. During the transition between the two operating modes, a brake can be switched on.
  • the vehicle according to the invention may also be designed as an autonomous, remotely controllable vehicle.
  • the vehicle can z. B. be designed as remotely controllable robot.
  • the vehicle according to the invention can alternatively also be used for transporting loads.
  • the staircase sensor is able to detect ramp edges, so that transitions, ie upper and lower ends of a ramp, ie Ramp edges, can be driven automatically.
  • the vehicle according to the invention can be designed for transporting loads and has at least one support surface for an object to be transported.
  • the vehicle is suitable for. B. for the transport of furniture, a refrigerator, a piano, a safe, a wheelchair and the like.
  • FIG. 1 is a perspective view of a vehicle according to the invention, which is designed as a stair-climbing wheelchair,
  • FIG. 3 is a side view of the essential components of the crawler chassis
  • FIG. 4 is a section along the line IV-IV of FIG. 3, FIG.
  • FIG. 7 shows an exemplary embodiment of a crawler chassis for a vehicle according to the invention
  • FIG. 8 shows a further exemplary embodiment of a crawler chassis
  • FIG. 9-12 further embodiments of crawler tracks
  • 13 shows an exemplary embodiment of a staircase sensor in a side view.
  • FIG. 14 shows a top view of the staircase sensor from FIG. 9
  • Fig. 15 shows another embodiment of a staircase sensor
  • Fig. 16 shows another embodiment of a staircase sensor.
  • Fig. 1 is a perspective view showing a trained as a stair-climbing wheelchair vehicle 1 with two side-mounted wheels 2, between which a seat 3 is formed for a person.
  • One of the two wheels 2 is drivable by means of an electric motor (not shown).
  • the vehicle 1 further comprises a backrest 4 and a control element 5, on which the user can input operating commands.
  • the vehicle 1 can be driven by a crawler track 6.
  • a part of the vehicle 1 can be swung together with the wheels 2, so that the vehicle 1 only touches the ground with the crawler track 6. In this configuration, the vehicle 1 can drive on a staircase or a ramp.
  • Fig. 2 shows the vehicle 1 when driving on a staircase during four different times.
  • the first illustration from the left shows the vehicle 1 when it rests on the wheels 2 in the first operating mode.
  • the crawler undercarriage 6 is lifted from the ground.
  • the vehicle 1 approaches the staircase 7 backwards.
  • the vehicle 1 comprises a staircase sensor for detecting a step step edge.
  • the second representation from the left in FIG. 2 shows the vehicle 1 when driving on the stairs 7.
  • a first stairway edge 8 has been detected by means of the staircase sensor.
  • a controller switches after detection the stairs edge 8 from the first mode to the second mode in which the vehicle 1 can ride the stairs 7.
  • Driving on the stairs 7 takes place by means of the crawler track 6.
  • the crawler track 6 comprises a looping means 9, which is designed as a belt. On the left and the right side, in each case such, provided with a staircase sensor belt is present.
  • Fig. 2 shows the third view from the left of the vehicle 1 when driving on the stairs 7. It can be seen there that the wheels 2 have been moved to an elevated position, so that they do not touch the stairs edges 8.
  • the upper part of the wheelchair-shaped vehicle 1 including the seat 3 has been pivoted to an elevated position so that the user sits approximately horizontally.
  • the vehicle 1 is shown upon reaching the upper end of the staircase 7. It can be seen there that extend at the bottom of the wheelchair support wheels 10, which facilitate the transition from the second mode to the first mode.
  • the support wheels 10 are retracted and the wheels 2 are pivoted back into the starting position shown on the left in FIG.
  • FIG. 4 is a sectional view taken along the line IV-IV of FIG. 3.
  • the crawler undercarriage 6 comprises a driving wheel 11 and a driven wheel 12, which are connected to one another by the belt-shaped belting means 9.
  • the belt 9 is arranged in a groove 13 of a slide rail 14.
  • a staircase sensor 17 is arranged between the slide rail 14 and a vehicle-fixed surface 15 of the body 16 of the stair-climbing vehicle 1.
  • the staircase sensor 17 is formed as a strip-shaped force sensor.
  • the staircase sensor 17 extends over the entire length of the slide rail 14 and thus between the two wheels 1 1, 12.
  • Fig. 5 shows schematically the crawler undercarriage 6 when driving on a staircase 7.
  • the crawler undercarriage 6 contacts successively edges 18, 19 of the staircase 7 with the wrapping means 9 embodied as a belt.
  • the wrapping means 9 experience reaction forces at the edges 18, 19 when driving on F1 or F2.
  • These punctiform forces F1, F2 are transmitted from the belting means 9 via the slide rail 14 to the strip-shaped staircase sensor 17 designed as a force sensor.
  • FIG. 7 shows an embodiment of a crawler track for a stair-climbing vehicle.
  • the crawler undercarriage shown in FIG. 7 includes the driving wheel 11, the driven wheel 12, and another non-driven wheel 21. Between the slide rail 14 and the body 16 of the staircase sensor 17 is arranged. The wheels 1 1, 12, 21 are coupled together via the belting means 9.
  • Fig. 8 shows an embodiment of a crawler track for a stair climbing vehicle, which is similar to the crawler chassis shown in Fig. 7 constructed. In addition, adjacent to the driving wheel 1 1 another driven wheel 22 is present.
  • Fig. 9 shows an embodiment of a crawler track, which is constructed similar to the crawler track shown in Fig. 7.
  • the crawler track comprises three wheels 1 1, 12, 21, which are coupled together by the belting means 9.
  • the staircase sensor 17 is located in an oblique section of the track.
  • the staircase sensor 17 is disposed between a surface of the body 16 and the slide rail 14.
  • FIG. 1 1 shows schematically a crawler undercarriage in a side view.
  • the crawler undercarriage comprises a driven wheel 12, a wrapping means 9, a staircase sensor 17, which is arranged between the body 16 and the slide rail 14.
  • the wrapping means 9 is deflected by a semicircular slide rail 34.
  • Fig. 12 shows a crawler undercarriage in a side view, which is constructed similar to the crawler chassis shown in Fig. 7. Accordingly, it includes the driving wheel 1 1, the driven wheel 12, another non-driven wheel 21 and the staircase sensor 17, which is arranged between the slide rail 14 and the Krosserie 16.
  • the crawler undercarriage shown in FIG. 12 has a deflection roller 35.
  • the wrapping means 9 connects the wheels 1 1, 12, 21 and the guide roller 35.
  • Figs. 13 and 14 show an embodiment of a staircase sensor 23, wherein Fig. 13 is a schematic side view and Fig. 14 is a plan view.
  • the staircase sensor 23 has a layer structure comprising a damping layer 24, to which a layer-like sensor arrangement 25 adjoins.
  • the sensor arrangement 25 consists of several individual force sensors. The force sensors have the property that their resistance changes under the action of a force. The sensor signal generated in this way is a measure of the force acting on the sensor arrangement 25 force.
  • the layer-like sensor arrangement 25 is adjoined by an elastic connecting element, which in this exemplary embodiment is designed as a double-sided adhesive tape 26.
  • the adhesive tape 26 serves to attach the staircase sensor 23 to the vehicle-fixed surface of the stair-climbing vehicle.
  • the staircase sensor 23 comprises a series of circular individual force sensors distributed in a regular arrangement. Each individual sensor has lines 27, which together form a line bundle 28 and a control device (controller) are supplied. By evaluating the resistance values provided by the individual sensors, force peaks can be determined, as a result of which stepping edges are detected with high accuracy.
  • Fig. 15 is another embodiment of a staircase sensor 29.
  • the staircase sensor 29 includes a plurality of strip-shaped potentiometers 30, which in Longitudinal are arranged in several rows.
  • the potentiometers 30 deliver different resistance values as a function of the force application point with an acting force.
  • By evaluating the resistance values provided by the individual potentiometers 30, the position and magnitude of the acting force can be determined. Thus, driving on a step edge can be detected.
  • FIG. 16 shows another embodiment of a staircase sensor 31.
  • the staircase sensor 31 includes a plurality of force sensors 32, which are circular and arranged in the longitudinal direction of the stairstep sensor 31.
  • the staircase sensor 31 may be disposed between the slide rail and the vehicle-fixed surface of the body of the vehicle without requiring a cushioning layer or double-sided adhesive tape. By means of the stair-step sensor 31, the force acting on a stair-step edge can be precisely determined.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un véhicule (1) destiné à circuler sur un escalier (7) ou une rampe qui peut être entraîné par une ou plusieurs roues (2) dans un premier mode de fonctionnement destiné à un support sensiblement plat, et par un train à chenilles (6) présentant un moyen d'enroulement dans un deuxième mode de fonctionnement destiné à un escalier (7) ou une rampe, le véhicule présentant un capteur de marches d'escalier (17, 23, 29, 31, 33) détectant les arêtes des marches d'escalier (8) ou les arêtes de rampe.
PCT/EP2018/073800 2017-09-11 2018-09-05 Véhicule destiné à circuler sur un escalier ou une rampe WO2019048445A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112018003489.5T DE112018003489A5 (de) 2017-09-11 2018-09-05 Fahrzeug zum Befahren einer Treppe oder einer Rampe

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17190432.9A EP3453370A1 (fr) 2017-09-11 2017-09-11 Véhicule permettant le franchissement d'un escalier ou d'une rampe
EP17190432.9 2017-09-11

Publications (1)

Publication Number Publication Date
WO2019048445A1 true WO2019048445A1 (fr) 2019-03-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/073800 WO2019048445A1 (fr) 2017-09-11 2018-09-05 Véhicule destiné à circuler sur un escalier ou une rampe

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EP (1) EP3453370A1 (fr)
DE (1) DE112018003489A5 (fr)
WO (1) WO2019048445A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110478148A (zh) * 2019-08-08 2019-11-22 武汉科技大学 一种轮履复合式轮椅
CN112744281A (zh) * 2019-10-31 2021-05-04 张效琪 一种弹性主轮带履带式前导轮与后辅助轮能上公交车的电动婴儿车、童车

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113443030B (zh) * 2021-06-30 2022-04-01 中山小神童创新科技有限公司 一种楼梯攀爬装置及其控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3316014A1 (de) 1983-05-03 1984-11-08 HIRO LIFT Hillenkötter & Ronsieck GmbH, 4800 Bielefeld Treppenfahrzeug
EP0217010A2 (fr) * 1985-10-01 1987-04-08 NATCO Medical Corporation Fauteuil roulant pouvant monter les escaliers avec des moyens pour détecter les marches de l'escalier
EP0515199A1 (fr) * 1991-05-22 1992-11-25 Israel Aircraft Industries, Ltd. Fauteuil roulant avec déplacement assisté sur surface non-praticable au déplacement sur roues
DE19531051A1 (de) * 1994-08-24 1996-02-29 Sunwa Sharyo Mfg Co Treppengängiges Raupentransportfahrzeug
DE29909795U1 (de) 1999-04-07 1999-09-23 Gobbers Walter Treppensteigvorrichtung, beispielsweise für Rollstühle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3316014A1 (de) 1983-05-03 1984-11-08 HIRO LIFT Hillenkötter & Ronsieck GmbH, 4800 Bielefeld Treppenfahrzeug
EP0217010A2 (fr) * 1985-10-01 1987-04-08 NATCO Medical Corporation Fauteuil roulant pouvant monter les escaliers avec des moyens pour détecter les marches de l'escalier
EP0515199A1 (fr) * 1991-05-22 1992-11-25 Israel Aircraft Industries, Ltd. Fauteuil roulant avec déplacement assisté sur surface non-praticable au déplacement sur roues
DE19531051A1 (de) * 1994-08-24 1996-02-29 Sunwa Sharyo Mfg Co Treppengängiges Raupentransportfahrzeug
DE29909795U1 (de) 1999-04-07 1999-09-23 Gobbers Walter Treppensteigvorrichtung, beispielsweise für Rollstühle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110478148A (zh) * 2019-08-08 2019-11-22 武汉科技大学 一种轮履复合式轮椅
CN112744281A (zh) * 2019-10-31 2021-05-04 张效琪 一种弹性主轮带履带式前导轮与后辅助轮能上公交车的电动婴儿车、童车

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Publication number Publication date
DE112018003489A5 (de) 2020-04-09
EP3453370A1 (fr) 2019-03-13

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