Technology Domain

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.

Technology History

Stairs is said to be one of the greatest inventions of mankind. 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.

In order to solve the problem of climbing stairs, many engineers and inventors have designed and developed a variety of vehicles till today. There are mainly three types in terms of manners including leg type, crawler type and wheel type. But none of these have been widely accepted in daily life. The primary issues include large scale, over complex structure, poor applicability, limited load capacity, and poor stability or safety. Therefore, the popularity is limited.

According to the latest development, advanced technology including sensor technology, mechatronics, photoelectric integration, and intelligent control have made it possible to design a practical intelligent climbing equipment assisting people go up and down stairs.

Invention

As we know, machine has already been used to assist man in need climbing stairs. However, the existing climbing vehicles are far from useful with all kinds of problems in terms of safety, stability, accessibility and flexibility. How much weight such vehicle can carry is also an issue. This invention is a better solution for people in need, since it has solved problems mentioned above. The unique feature of the invention is making great use of sensors, computer control system, dynamical extension legs (for vertical elevating) and electric wheels technology (for horizontal mobile). Therefore, the vehicle is not only capable of moving vertically, but also capable of moving horizontally.

Component

1. 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)

1) The car body consists of the chassis, the main body, the handle bar, and the operation system.

2) 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

3) Dynamical elevating system consists of 4 or 8 dynamical extension legs, drivers and brake locks

4) Electric mobile system consists of 8 electric wheels, drivers and brake locks

5) Computer software consists of algorithms for analysis, comparison, decision-making, and calculation.

2. Functions and Construction

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. There are two options to arrange dynamical extension legs with these eight wheels. One is each extension leg with 2 electric wheels as 8 wheels and 4 dynamical extension legs in total (8-4 package). The other one is each extension leg with 1 electric wheel as 8 wheels and 8 dynamical extension legs (8-8 package) in total. (See attached illustration 2 and 3)

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.

3. Principles

As the function indicates above, 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.

Illustration Breakdown

Figure 1 illustrates the composition of the vehicle. 1 is electric wheel, 2 is dynamical extension leg, 3 is range sensor and pressure sensor, 4 is chassis, 5 is loads, 6 is joystick, 7 is control computer, 8 is 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.

Specific mode of implememtation

Stepping up and stepping down are listed out separately below:

A. Stepping up stairs:

1 The vehicle marches forward, as the range-sensor detects whether there is step in front of the vehicle

2 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)

3 While the vehicle slows down , the computer commands extendable legs, other than the one nearest to the step, to extend in order to lift up both the body and the wheels nearest to the step. The body keeps horizontally. (Illustration 7)

4 In the cast that the lifted wheels can surpass the height of the step, the computer commands the legs to stop but the vehicle drives forward.

5 Once above the step, the lifted wheels start landing on the step. Through this, lifted wheels finish climbing. (Illustration 8)

6 Control system continues to conduct wheels going forward, while detecting how far the next group of wheels is away from the step.

7 The vehicle slows down as the followfnf^roup of wheels approaching the step. This group of wheels rises with the legs retracted. 8 Just as the first group of wheels to start, once this group of wheels has surpassed the height of the step, the computer command legs to stop but the vehicle moves forward. When the vehicle moving forward the wheels lands on the step. The performance keeps going until the last group of wheels finished climbing.

For staircase with a series of steps, each group of wheels repeats above procedure, in order to accomplish climbing up. (See Illustration 6 ~ 10). In the process, 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.

B. Stepping down stairs:

Please note that the primary sensor used in stepping up stairs is range sensor, while the primary sensor used in stepping down stairs is pressure sensor. Other than the difference on sensors, 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.

1) The vehicle marches forward, as the range-sensor detects whether there are steps in front of the vehicle.

2) 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.

3) Approaching the edge of upper step, the vehicle slows down to stop once the first group of wheels fully off contact, yet other groups are still on steps.

4) As the first group is not in contact with upper 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.

5) In the case that the wheels reach to the lower step, the pressure detected is not zero any more. The data is transmitted to the computer for the leg to stop and start wheels going forward. When the vehicle marching forward the sensors keep detecting the next group of wheels.

6) As it has indicted above, once there is a group of wheels off contact, the leg of it extant long enough for it to reach the step, followed by the vehicle goes forward.

7) All legs retract back simultaneously once the last group of wheels off contact.

The last group lands along with the vehicle body.

For staircase with a series of steps, each group of wheels repeats above process, in order to accomplish climbing down stairs. In the process, 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.