WO2020000991A1 - Véhicule intelligent capable de monter des escaliers - Google Patents

Véhicule intelligent capable de monter des escaliers Download PDF

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Publication number
WO2020000991A1
WO2020000991A1 PCT/CN2019/000029 CN2019000029W WO2020000991A1 WO 2020000991 A1 WO2020000991 A1 WO 2020000991A1 CN 2019000029 W CN2019000029 W CN 2019000029W WO 2020000991 A1 WO2020000991 A1 WO 2020000991A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheels
vehicle
dynamical
stairs
extension legs
Prior art date
Application number
PCT/CN2019/000029
Other languages
English (en)
Inventor
Gaorong SHI
Original Assignee
Shi Gaorong
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 Shi Gaorong filed Critical Shi Gaorong
Publication of WO2020000991A1 publication Critical patent/WO2020000991A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • the intelligent vehicle consists of measurement sensors, computer control system, electric wheels, dynamical extension leg, and algorithm.
  • As an integrated system it refers to facility and control method, particularly including mechanics, electronics, electric engineering, photo electricity, computer, auto control, and algorithms. It is in the domain of robot, intelligent command, and autopilot.
  • Stairs is said to be one of the greatest inventions of civilization. Taking it, human has been able to liberate their hands while climbing mountains or walking upwards, as freely as they walk on ground level. It plays an important role in human development and is the inevitable outcome of human progress. However, it is still an insurmountable problem to elders, disabled people with poor legs and feet, or anyone carrying a heavy load stepping up, especially in buildings without elevators or in public spaces without barrier-free access. Although countries are vigorously promoting barrier-free access for disabled people, there still are many occasions with steps instead of elevators. In order to assist people walking in such situation, vehicles have to be developed further to benefit people. The development of the society demands to create intelligent vehicles that better assist human climbing the stairs.
  • the intelligent vehicle consists of the car body, detecting and control system hardware, dynamical elevating system , electric mobile system, and computer software, as five components in total. (Please see attached Illustration 1)
  • the car body consists of the chassis, the main body, the handle bar, and the operation system.
  • Detecting and control hardware consists of sensors used to detect distance, accelerated speed, pose, and pressure, facilities used to navigate, communicate, and collect data, and an embedded computer
  • Dynamical elevating system consists of 4 or 8 dynamical extension legs, drivers and brake locks
  • Electric mobile system consists of 8 electric wheels, drivers and brake locks
  • Computer software consists of algorithms for analysis, comparison, decision-making, and calculation.
  • the car body assembles the main body, the chassis, sub-system and vibration absorber.
  • the chassis supports the main body.
  • the main body is installed with operational mechanism.
  • the handle bar helps users with stability and direction. Operational mechanism controls speed and direction while moving horizontally, which means going forward or backward.
  • Detecting and control hardware are used to measure the distance, the position, the speed and the pressure and then transmit the information to computer through data collection system and communication system.
  • the computer processes and stores all data, and calculates with its software in order to direct the body's movement.
  • the distance sensor is installed near to electric wheels, in order to measure the distance between the wheel and the stairs.
  • Pressure sensor is installed between the body and dynamical extension legs, in order to measure the pressure on the legs while these handle the body.
  • Dynamical extension legs in four or eight, as dynamical elevating system are attached to chassis individually with equal distance. These legs extend or retract individually according to orders from computer, in order to elevate the vehicle or the wheels.
  • the eight electric wheels as dynamical driving system are installed to the bottom of the dynamical extension legs. These are able to roll forward or backward with specific speed, or brake according to orders from computer.
  • Computer software analyze, compare, calculate, and distinguish the information that the sensors provide on distance and situation, in order to determine the performance of elevating system and the driving system.
  • the vehicle drives along with the wheels. And the vehicle elevates along with extension legs. Therefore, the vehicle is not only able to move horizontally but also move vertically.
  • the principle of intelligent vehicle is sensor measurement of distance, position and situation, and the collaboration between dynamical extension legs and electric wheels for driving and elevating under the control of computer.
  • Figure 1 illustrates the composition of the vehicle.
  • 1 is electric wheel
  • 2 dynamical extension leg
  • 3 is range sensor and pressure sensor
  • 4 is chassis
  • 5 loads
  • 6 joystick
  • 7 control computer
  • 8 range sensor
  • Figure 2 illustrates how intelligent vehicle adopts 4 dynamical extension legs with 8 electric wheels package (each push-pull leg with 2 wheels);
  • Figure 3 illustrates how intelligent vehicle adopts 8 dynamical extension legs with 8 electric wheels (each dynamic push-pull legs with 1 wheel);
  • Figure 4 is the abstract illustration of intelligent vehicle climbing up the stairs
  • Figure 5 is the illustration of intelligent vehicle stepping down the stairs
  • Figure 6 illustrates that intelligent vehicle detects the step in advance. As a result, intelligent vehicle slows down to brake;
  • Figure 7 illustrates that the front wheels and the body rise up (except for the first group of wheels, other wheels are pushed out and the body rise up);
  • Figure 8 shows the vehicle advance
  • Figure 9 shows the second group of wheels is lifted
  • Figure 10 shows vehicle drives forward.
  • Stepping up and stepping down are listed out separately below:
  • the sensor transmits the data to the computer, once it detects a step.
  • the computer analyzes, calculates and judges the data of the distance and the height of the step. Based upon the result, the computer determines the speed of the vehicle. The vehicle slows down while approaching the step, until it's fully stopped from the stairs with enough distance from collision. (Illustration 6)
  • Control system continues to conduct wheels going forward, while detecting how far the next group of wheels is away from the step.
  • each group of wheels repeats above procedure, in order to accomplish climbing up. (See Illustration 6 ⁇ 10).
  • the distance between the wheels and the step, as well as the degree of the legs extension are constantly detected by the range sensor and transmitted back to the computer, which conducts the motion of the wheels.
  • the primary sensor used in stepping up stairs is range sensor, while the primary sensor used in stepping down stairs is pressure sensor.
  • stepping down is the reversal motion of stepping up. Start to read from illustration 10 to illustration 6, as it shows the procedure of stepping down.
  • the sensor transmits the data to the control computer, once it detects the step.
  • the computer analyzes calculates and judges the data of the distance and height of the step.
  • the pressure detected reads zero.
  • the information is transmitted to the computer for it to conduct the leg extending, until the wheels reach to the lower step.
  • the last group lands along with the vehicle body.
  • each group of wheels repeats above process, in order to accomplish climbing down stairs.
  • the timing and the degree of leg extension are constantly detected by the pressure sensor and transmitted back to the computer, which conducts the motion of the wheels.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un véhicule intelligent capable de monter des escaliers comprenant un capteur de portée et un capteur de pression, un système d'exploitation d'ordinateur, des pieds d'extension dynamique et des roues électriques. L'invention adapte une structure multi-roues, conjointement avec un complexe de commande collaboratif permettant de niveler automatiquement le véhicule afin de monter et descendre facilement des escaliers. L'ensemble du capteur de portée et du capteur de pression est utilisé pour détecter la situation, y-compris la position précise de la carrosserie du véhicule, la distance entre le véhicule et les escaliers et l'état du véhicule. Les pieds d'extension dynamique sont utilisés pour élever la carrosserie de véhicule. Les roues électriques sont utilisées pour entraîner la carrosserie de véhicule vers l'avant de sorte que des utilisateurs peuvent être montés et descendus sans à-coups. Les capteurs et le système de commande d'ordinateur sont utilisés pour commander les pieds d'extension dynamique et les roues électriques afin de démarrer/d'arrêter la carrosserie de véhicule et de maintenir la marche du système de commande de montée d'escalier en boucle fermée. En tant que noyau du complexe de commande, l'algorithme est utilisé pour coordonner le mouvement des pieds d'extension dynamique et des roues électriques. Avec 8 roues et 8 pieds d'extension dynamique, le centre de gravité de tout objet chargé sera à l'intérieur de la figure géométrique composée des roues porteuses, et non à l'extérieur de celle-ci.
PCT/CN2019/000029 2018-06-26 2019-02-20 Véhicule intelligent capable de monter des escaliers WO2020000991A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810667291.8 2018-06-26
CN201810667291.8A CN108706060A (zh) 2018-06-26 2018-06-26 智能爬楼车

Publications (1)

Publication Number Publication Date
WO2020000991A1 true WO2020000991A1 (fr) 2020-01-02

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/000029 WO2020000991A1 (fr) 2018-06-26 2019-02-20 Véhicule intelligent capable de monter des escaliers

Country Status (2)

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CN (1) CN108706060A (fr)
WO (1) WO2020000991A1 (fr)

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CN112572641A (zh) * 2020-12-30 2021-03-30 华南理工大学 一种可上下台阶的底盘及使用方法
JP2021172249A (ja) * 2020-04-27 2021-11-01 Ｊｆｅエンジニアリング株式会社 搬送装置
CN115151479A (zh) * 2020-02-27 2022-10-04 戴森技术有限公司 车辆
CN115817672A (zh) * 2023-02-16 2023-03-21 浙江丞士机器人有限公司 一种爬楼机器人控制系统
FR3127461A1 (fr) * 2021-09-25 2023-03-31 Mathieu BAILLY Dispositif monte-escalier indépendant d’un rail
TWI818414B (zh) * 2022-01-18 2023-10-11 黃啟光 爬梯載具系統及其載具模組
CN118182662A (zh) * 2024-05-16 2024-06-14 太原师范学院 一种履带式山体台阶辅助通过装置

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CN108706060A (zh) * 2018-06-26 2018-10-26 石高荣 智能爬楼车
CN109677507B (zh) * 2019-01-04 2020-05-19 南开大学 一种翻滚轮式机器人底盘
CN109646202B (zh) * 2019-01-21 2021-02-02 吉林大学 一种智能化多轮驱动辅助装置
WO2020182129A1 (fr) * 2019-03-10 2020-09-17 冯春魁 Dispositif mobile, machine, procédé de commande, support de stockage et dispositif de commande
CN110525538B (zh) * 2019-08-16 2021-02-02 武汉理工大学 一种爬楼装置
CN111267793B (zh) * 2020-02-11 2021-07-16 北京眸视科技有限公司 可跨障机器人及可跨障机器人的跨障方法
CN111232081B (zh) * 2020-03-13 2024-02-27 西安文理学院 一种全方位水平姿态爬楼机器人机械系统及方法
CN111449577B (zh) * 2020-04-29 2021-05-11 重庆理工大学 一种可爬楼梯的扫地机器人及其工作方法
CN111572670A (zh) * 2020-05-18 2020-08-25 国网天津市电力公司 一种应用于agv小车的跨越障碍装置
CN111543904B (zh) * 2020-05-25 2021-11-05 胡佳威 一种可清洁台阶侧壁并攀爬台阶的洗地机
WO2022020974A1 (fr) * 2020-07-31 2022-02-03 Shi Gao Rong Robot intelligent à plate-forme de mouvement
WO2022029971A1 (fr) * 2020-08-06 2022-02-10 三菱電機ビルテクノサービス株式会社 Dispositif de commande pour corps mobile autonome et corps mobile autonome
CN111924020B (zh) * 2020-08-11 2022-07-12 腾讯科技（深圳）有限公司 用于机器人的腿部组件及设备
CN112224300B (zh) * 2020-12-15 2021-03-30 之江实验室 一种用于双足机器人下台阶的稳定行走方法
CN112572624A (zh) * 2020-12-22 2021-03-30 武汉尹珞蝌蚪教育科技有限公司 一种可远程操控的可攀高机器人
CN112660271A (zh) * 2020-12-31 2021-04-16 三一汽车制造有限公司 一种厂内外转运车
CN112829844A (zh) * 2021-01-05 2021-05-25 中国长江电力股份有限公司 智能爬楼运载机器人及方法
CN112693556B (zh) * 2021-01-19 2022-03-11 北京三快在线科技有限公司 电动车辆及其运动控制装置、控制方法
CN113370228A (zh) * 2021-06-06 2021-09-10 湖南环境生物职业技术学院 一种智能宣传语音机器人结构
CN113719123A (zh) * 2021-09-18 2021-11-30 中印恒盛(北京)贸易有限公司 一种适用于模块化建筑的智能工程机器人
CN115320684B (zh) * 2022-09-20 2024-03-12 燕山大学 一种可自主上下楼的物资运输车

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115151479A (zh) * 2020-02-27 2022-10-04 戴森技术有限公司 车辆
CN115151479B (zh) * 2020-02-27 2023-11-28 戴森技术有限公司 车辆
JP2021172249A (ja) * 2020-04-27 2021-11-01 Ｊｆｅエンジニアリング株式会社 搬送装置
JP7024816B2 (ja) 2020-04-27 2022-02-24 Ｊｆｅエンジニアリング株式会社 搬送装置
CN112572641A (zh) * 2020-12-30 2021-03-30 华南理工大学 一种可上下台阶的底盘及使用方法
FR3127461A1 (fr) * 2021-09-25 2023-03-31 Mathieu BAILLY Dispositif monte-escalier indépendant d’un rail
TWI818414B (zh) * 2022-01-18 2023-10-11 黃啟光 爬梯載具系統及其載具模組
CN115817672A (zh) * 2023-02-16 2023-03-21 浙江丞士机器人有限公司 一种爬楼机器人控制系统
CN118182662A (zh) * 2024-05-16 2024-06-14 太原师范学院 一种履带式山体台阶辅助通过装置

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