GB2565234A

GB2565234A - Vehicle

Info

Publication number: GB2565234A
Application number: GB1812627.6A
Authority: GB
Inventors: Handley Matthew
Original assignee: Pearson Engineering Ltd
Current assignee: Pearson Engineering Ltd
Priority date: 2017-08-02
Filing date: 2018-08-02
Publication date: 2019-02-06
Also published as: GB201812627D0; GB201712404D0

Abstract

A vehicle 110 has one or more track modules 120, 125, each being rotatable about a pivot point near an end; an inclined lead-in of linear track that can engage with inclined surfaces; propulsion modules 120, 125 that can be independently aligned with an upcoming inclined/raised surface or stairs; and/or where the length of the base provided by the modules along the direction of travel can be varied in use. Tracks 135, 140 may be laterally separated, triangular and co-rotatable. The modules may also have a driven pulley 136 at the opposite end of track 135 to the pivot axis, and idle pulleys 137, 138. The vehicle can have a self-levelling load carrying platform, ballistic shielding, and be less than 750mm wide.

Description

VEHICLE

The present invention relates generally to a vehicle and particularly to a vehicle with improved stability during changes in gradient and/or whilst traversing obstacles.

Crossing obstacles requires a vehicle to cope with acute and obtuse changes in gradient (Figure I).

Both wheeled and tracked vehicles adequately control the vehicle motion as they travel across an acute gradient. However, when a tracked vehicle (or multi-wheeled vehicle with minimal suspension) crosses a sharp obtuse gradient transition then the vehicle reaches a rocking point as the centre of gravity passes across the change in gradient (Figure 2). This results in an uncontrolled motion until the vehicle makes full contact at the opposite side of the gradient change, which is exaggerated as the payload is increased, particularly when the vehicle is sufficiently compact to manoeuvre within public or commercial buildings.

There are numerous vehicles available on the market that are:

• Either restricted in load carrying capacity (such as SCAM Bot robot) • Or require operator intervention when transiting from across a sharp obtuse gradient change (such as Zonzini stair climber), for example transiting from an inclined staircase onto a horizontal platform, or off a horizontal platform onto a descending ramp or stairs.

The present invention seeks to address some of the limitations of known vehicles.

An aspect of the present invention provides a vehicle having a motive mechanism comprising one or more track modules, each module comprising one or more tracks, the or each track being longitudinally rotatable about a pivot point at or towards one longitudinal end of the track.

The vehicle may comprise a fore and aft longitudinally arranged track module. In a bi-directional system the fore and aft designation is, of course, reversible.

Each module may comprise a pair of laterally spaced tracks.

Tracks in a pair may be co-rotatable e.g. by the same amount.

The or each track may be generally triangular.

In one embodiment the or each track comprise one driven pulley and two idle pulleys. The driven pulley may be at the opposite end of the track to the pivot axis.

The vehicle may include first and second longitudinally spaced propulsion modules, and the length of the base provided by the modules can be varied in use. Variation of base may be provided by relative longitudinal separation and approach of the modules.

A further aspect provides a ground vehicle having a motive mechanism comprising one or more track modules, each module comprising one or more tracks, in which the or each track includes a lead-in including a linear length of track which is inclined whereby in use to permit engagement with inclined surfaces without requiring orientation.

The or each track may be longitudinally rotatable about a pivot point at or towards one longitudinal end of the track whereby to allow breach of obtuse angles whist maintaining stability in use.

The present invention also provides a vehicle having a motive mechanism including first and second propulsion modules, the modules can independently be generally aligned with the inclination and/or change in height of an instant or upcoming surface.

In some embodiments either or both of the modules can be moved to vary the propulsion base by relative separation and approach thereof

According to a further aspect of the present invention there is provided a vehicle having a motive mechanism including first and second propulsion modules, the modules can independently be generally aligned with the inclination and/or change in height of an instant or upcoming surface.

The propulsion base of the vehicle may be variable. This can be used to allow the vehicle to adapt to upcoming/instant/actual surfaces. In some embodiments either or both of the modules can be moved/repositioned to vary the propulsion base. For example either or both of the modules can move to cause relative separation or approach so as to change the overall “wheelbase”.

The first and second propulsion modules may comprise wheels, tracks or other support means.

The vehicle may provide a load carrying capacity. For this purpose the vehicle may comprise a load carrying platform. The platform may be self-levelling.

In some embodiments the propulsion modules are autonomously orientable.

The overall width of the vehicle may be less than 750mm.

The first and/or second propulsion module may comprise pairs of motive members, such as tracks. In some embodiments the propulsion speed of each of the members in a pair can be controlled independently.

In some embodiments the vehicle is provided with ballistic shielding.

According to a further aspect the present invention provides a vehicle having a motive mechanism including first and second propulsion modules, the length of the base provided by the modules can be varied in use.

In some embodiments either or both of the modules can be moved between an extended and retracted position.

The present invention also provides a stair climbing device comprising a vehicle as claimed in any preceding claim.

In some aspects and embodiments the present invention provides a vehicle capable of carrying a significant payload in a confined location (e.g.: within a building) with the capability to autonomously climb over an obstacle, or ascend / descend a steep incline (such as a ramp or stairs) in a stable and controlled manner.

In some embodiments objectives are as follows;

• Ability to carry a significant payload (> 250kg) at a climb rate of > 0.5m/s • Ability to manoeuvre up to and within buildings whilst carrying payload (eg: stairwells and landings) • Ability to climb over obstacles such as train tracks or similar • Ability mount / dismount and ascend / descend stairs, or inclined gradients without external support or other intervention • Ability to prevent uncontrolled motion autonomously whilst transiting on / off the top of stairs or inclined ramp

Features of aspects and embodiments of the present invention may include:

• Ability to autonomously align propulsion modules (tracks) with a sharp changing gradient of inclined surface / stairs to ensure a smooth transition across a gradient change • Ability to autonomously orientate the propulsion modules to allow the vehicle to climb obstacles with a vertical edge that is significantly taller than the propulsion module.

• Ability to change the overall length of the propulsion module to maximise stability whilst climbing stairs and maintain a compact footprint to facilitate turning within confined spaces.

Features of aspects and embodiments of the present invention may additionally or alternatively include:

• A vehicle with an overall width < 750mm to allow passage through domestic door opening • A core chassis with adequate load carrying capability and mounting locations for the load platform, the track propulsion modules, and drive motors.

• Multiple drive motors providing motive power to the propulsion modules permitting the propulsion speed on each side of the vehicle to be controlled independently e.g. left- and right-hand side tracks or four fully independent motors.

• Multiple drive motors providing motive power to the propulsion modules permitting the propulsion speed of each module to be controlled independently.

• Multiple propulsion modules capable of generating sufficient tractive force to manoeuvre the vehicle on inclined as well as horizontal surfaces at a speed > 1.0 m/s.

• An articulation mechanism for each propulsion module to allow the track module to be aligned with the inclination of the surface which it is approaching or departing from • A translation mechanism to allow the overall length of the vehicle to be adjusted (turn within a circle <l.0m diameter) • A power source to provide the required energy for the main motors.

• A suite of sensors and control system to recognise obstacles and configure the vehicle when approaching an obstacle, incline, or stairs (For example: laser, optical, and inclination sensors).

• A load platform capable of carrying a payload in excess of 250kg

• A self-levelling platform can be fitted to the chassis to automatically level the load platform continuously as the Stair Climbing Vehicle mounts and dismounts stairs.

• The power source can be rechargeable, and is capable of being recharged from an AC or DC supply.

• The power source can be removed and replaced as required.

• An electronic vision system to provide operator feedback.

• A control and instrumentation system to automatically configure the track propulsion, articulation mechanism, translation mechanism, and steer the vehicle whilst ascending or descending stairs.

The vehicle can, for example be used to carry numerous payloads up / down stairs or over obstacles for example:

Armoured Shield with / without operator

Manipulator arm

Door opening tools

Operational support hardware (e.g.: breathing apparatus re-supply)

Medical evacuation

Remote operated flying device (tethered, un-tethered)

Office equipment

Different aspects and embodiments of the invention may be used separately or together.

Further particular and preferred aspects of the present invention are set out in the accompanying independent and dependent claims. Features of the dependent claims may be combined with the features of the independent claims as appropriate, and in combinations other than those explicitly set out in the claims.

The present invention is more particularly shown and described, by way of example, in the accompanying drawings.

The example embodiments are described in sufficient detail to enable those of ordinary skill in the art to embody and implement the systems and processes herein described. It is important to understand that embodiments can be provided in many alternative forms and should not be construed as limited to the examples set forth herein.

Accordingly, while embodiments can be modified in various ways and take on various alternative forms, specific embodiments thereof are shown in the drawings and described in detail below as examples. There is no intent to limit to the particular forms disclosed. On the contrary, all modifications, equivalents, and alternatives falling within the scope of the appended claims should be included. Elements of the example embodiments are consistently denoted by the same reference numerals throughout the drawings and detailed description where appropriate.

Unless otherwise defined, all terms (including technical and scientific terms) used herein are to be interpreted as is customary in the art. It will be further understood that terms in common usage should also be interpreted as is customary in the relevant art and not in an idealised or overly formal sense unless expressly so defined herein.

In the description, all orientational terms, such as upper, lower, radially and axially, are used in relation to the drawings and should not be interpreted as limiting on the invention.

Device Operation

The vehicle works by adjusting the leading track to the global inclination of the obstacle to climbed up or down to ensure full contact with the ground / surface at all times (see Figures 3.1 and 3.2).

The front and rear tracks can extend / retract from the vehicle to maximise the vehicle length whilst climbing, and minimise the length when manoeuvring in tight spaces (see Figures 3.3 and 3.4).

The vehicle is fitted with an array of sensors to allow it to make decisions about its surroundings and steer, or configure the tracks as necessary.

The device provides a smooth controlled motion whilst traveling up and transitioning on and off stairs. It also solves the problem of the uncontrolled motion that can occur whilst cresting onto or descending from the top landing of a staircase (or sharp obtuse change in gradient) without the need of external support.

Vehicle Propulsion Modes of Operation

Ascending Inclined Gradient (Figure 4).

Descending inclined gradient is a reversal of the above sequence.

Climbing an obstacle can be considered to be a single step and the vehicle will cross them in a similar method to that shown above.

Figures 5A and 5B show a vehicle generally of the type described above and having the following featu re s/ben efits:

Uni-directional stair climbing/descent

Front track can only be raised (rotation from one end), rear can only be lowered (rotation from one end) “Flat” track modules

Uni-directional load levelling

Two motors - independent LH and RH drives

Figure 5A shows the vehicle in an extended position and Figure 5B shows the vehicle in a retracted position. It will be noted that the “front” track width is narrower than the “rear” track width, which allows nesting of the front tracks partly inside the rear tracks.

Figures 6A and 6B show a vehicle formed according to an alternative embodiment and having the following features/benefits:

Bi-directional stair climbing/descent

Front and rear tracks can only be lowered

Lead-in track geometry to climb obstacles

Bi-directional load levelling (and load elevation)

Four motors - fully independent track drives

Figure 6A shows the vehicle in an extended position and Figure 6B shows the vehicle in a retracted position. It will be noted that the “front” track width is wider than the “rear” track width, which allows nesting of the front tracks partly inside the rear tracks.

The vehicle I 10 comprises a chassis I 15, a first propulsion module 120 and a second propulsion module 125. The modules 120, 125 are connected to the chassis I 15 by pairs of spaced arms 130.

Each module includes a pair of spaced tracks. For example the module 120 has laterally spaced tracks 135, 140. Each track 135, 140 is generally triangular. Only the track I 35 is further described, the track 140 being generally the same (and also the same as the tracks on the other module).

The track I 35 has a single driven toothed pulley 136 and two idle toothed pulleys I 37, I 38.

The driven pulley I 36 is at one end of the track, the idle pulley I 37 is at or towards the middle of the track and the idle pulley I 38 is at the other end of the track. The pulley I 38 is rotatably attached to its arm I 30.

The geometry of the tracks, and in particular, the inclined lead-in length of track 145 formed between the pulley I 36 and the pulley I 37, means that it is not necessary to raise the “front” track before it can begin to negotiate a step i.e. the tracks have a lead-in edge. In this embodiment, for example, each the tracks of the module have a generally triangular (isosceles) configuration. Each of the four tracks can be rotated about a point at or towards one end thereof to “raise” or “lower” the module in use.

Similarly the vehicle 10 has front and rear track modules 20, 25 each having a pair of spaced tracks, for example track 35. In this embodiment each track is generally oblong oval with a toothed pulley 31, 32 at either end. The tracks are connected to the rest of the vehicle by pivotable connections to arms. The pivot points run through the pulleys 32 (the “lagging” pulley) at one end of the tracks. The tracks are rotatable about the pivot point. This enables them to maintain stability of the vehicle particularly as the vehicle comes on or off a steep angle (such as when the vehicle goes on or off a top step). In addition, in this embodiment the rotation allows the tracks to be oriented relative to an inclined surface/obstacle.

Figure 7 illustrates one process by which a vehicle of the type shown in Figures 6A/6B could negotiate a staircase, including rotation of the tracks (see between steps 4 and 5 for the leading track module and between steps 6 and 7 for the lagging track module). It will be noted that due to the geometry of the tracks there is no requirement for orientation as the vehicle manoeuvres onto the staircase (steps I to 3) or during movement up the staircase (step 4) until the top is reached. It will be noted that rotation of the tracks does not alter the height of the vehicle.

Figures 8 and 9 demonstrate the load levelling capability of each machine. Unidirectional load levelling for the first embodiment, bidirectional for the second embodiment, including the ability to elevate a payload.

Embodiment I includes a flat base and a platform that can be pivoted at one end thereof to provide a level platform on an incline.

Embodiment 2 displays a clam-shell like load platform, with first and second members that are pivotable with respect to each other.

Although illustrative embodiments of the invention have been disclosed in detail herein, with reference to the accompanying drawings, it is understood that the invention is not limited to the precise embodiments shown and that various changes and modifications can be effected therein by one skilled in the art without departing from the scope of the invention as defined by the appended claims and their equivalents.

Claims

1. A vehicle having a motive mechanism comprising one or more track modules, each module comprising one or more tracks, the or each track being longitudinally rotatable about a pivot point at or towards one longitudinal end of the track.

2. A vehicle as claimed in claim I, comprising a fore and aft longitudinally arranged track module.

3. A vehicle as claimed in claim I or claim 2, in which each module comprises a pair of laterally spaced tracks.

4. A vehicle as claimed in claim 3, in which tracks in a pair are co-rotatable.

5. A vehicle as claimed in any preceding claim, in which the or each track is generally triangular.

6. A vehicle as claimed in claim 5, in which the or each track comprises one driven pulley and two idle pulleys.

7. A vehicle as claimed in claim 6, in which the driven pulley is at the opposite end of the track to the pivot axis.

8. A vehicle as claimed in any preceding claim and including first and second longitudinally spaced propulsion modules, the length of the base provided by the modules can be varied in use.

9. A vehicle as claimed in claim 8, in which the variation of base is provided by relative longitudinal separation and approach of the modules.

10. A ground vehicle having a motive mechanism comprising one or more track modules, each module comprising one or more tracks, in which the or each track includes a lead-in including a linear length of track which is inclined whereby in use to permit engagement with inclined surfaces without requiring orientation.

11. A vehicle as claimed in claim 10, in which the or each track is longitudinally rotatable about a pivot point at or towards one longitudinal end of the track whereby to allow breach of obtuse angles whist maintaining stability in use.

12. A vehicle having a motive mechanism including first and second propulsion modules, the modules can independently be generally aligned with the inclination and/or change in height of an instant or upcoming surface.

13. A vehicle as claimed in any of claims 10 to 12, in which either or both of the modules can be moved to vary the propulsion base by relative separation and approach thereof.

14. A vehicle as claimed in any of claims 10 to I 3, in which the first and second propulsion modules comprise wheels tracks or other support means.

15. A vehicle as claimed in any preceding claim, comprising a load carrying capacity.

16. A vehicle as claimed in claim 15, in which the vehicle comprises a load carrying platform.

17. A vehicle as claimed in claim 16, in which the platform is self-levelling.

18. A vehicle as claimed in any preceding claim, in which the modules are autonomously orientable.

19. A vehicle as claimed in any preceding claim, in which the overall width of the vehicle is less than

750mm.

20. A vehicle as claimed in any preceding claim, in which the modules comprise pairs of motive members.

21. A vehicle as claimed in claim 20, in which the propulsion speed of each of the members in a pair can be controlled independently.

22. A vehicle as claimed in any preceding claim, in which the vehicle is provided with ballistic shielding.

23. A vehicle having a motive mechanism including first and second propulsion modules, the length of the base provided by the modules can be varied in use.

24. A vehicle as claimed in claim 23, in which either or both of the modules can be moved between an extended and retracted longitudinal position.

25. A stair climbing device comprising a vehicle as claimed in any preceding claim.