A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a commo
A vehicle having a multiple of level compensation systems is disclosed. The vehicle comprising a chassis having a left frame, a right frame and a base plate, a first level compensation system comprising a pivot joint for pivotably connecting the left and right frames to the base plate around a common rotational axis. A first axial distance from a left rotation axis of a left wheel pair to the rotational axis is different from at least one second axial distance from a right rotation axis of a right wheel pair to the rotational axis, such that the left and right wheel pair have at least one off-set to each other. Moreover a method for traversing stairs with such vehicle is disclosed.
대표청구항▼
1. A vehicle having a multiple of level compensation systems, said vehicle comprising: a chassis having a left frame, a right frame and a base plate,a first level compensation system comprising a pivot joint for pivotably connecting said left and right frames to said base plate, whereby said left an
1. A vehicle having a multiple of level compensation systems, said vehicle comprising: a chassis having a left frame, a right frame and a base plate,a first level compensation system comprising a pivot joint for pivotably connecting said left and right frames to said base plate, whereby said left and right frames are rotatable with respect to each other around a common rotational axis, wherein said left and right frame extends in a direction perpendicular to said rotational axis,a left wheel pair comprising a left front wheel and a left rear wheel, the left front wheel and left rear wheels having left rotation axes and being mounted in opposite ends of said left frame,a right wheel pair comprising a right front wheel and a right rear wheel, the right front wheel and right rear wheels having right rotation axes and being mounted in opposite ends of said right frame,wherein at least one first axial distance from a left rotation axis of said left wheel pair to said rotational axis is different from at least one second axial distance from a right rotation axis of said right wheel pair to said rotational axis, such that said left and right wheel pair have at least one off-set to each other, comprising at least one wheel displacement unit arranged to displace at least one of said left front wheel and left rear wheel in relation to at least one of said right front wheel and right rear wheel to provide said off-seta frame control unit adapted to provide off-set values, wherein said at least one wheel displacement unit comprises left frame actuators and right frame actuators, wherein the left and right frame actuators are connected to said frame control unit, wherein said left frame actuators are arranged to adjust one of said first axial distances by displacement of said wheels of said left wheel pair relative to each other, and wherein said right frame actuators are arranged to adjust one of said second axial distances by displacement of said wheels of said right wheel pair relative to each other, and wherein said displacements are based on said off-set values to provide said off-set. 2. The vehicle according to claim 1, wherein the distance between left rotational axes is same as the distance between right rotation axes. 3. The vehicle according to claim 1, wherein at least one of said left and right frames comprises at least one locking unit, and at least one slidable member arranged to provide sliding movement between at least one of said left and right frames and said base plate for displacement of at least one of said left front wheel and left rear wheel in relation to at least one of said right front wheel and right rear wheel, wherein said at least one locking unit is arranged to fix the position of at least one of said left and right frames in relation to said base plate. 4. The vehicle according to claim 1, wherein said off-set values are set according to a plurality of pre-defined values defined by a vehicle user. 5. The vehicle according to claim 1, wherein said vehicle comprises a transport surface detection unit connected to said frame control unit, and a data memory connected to said frame control unit, wherein said transport surface detection unit is adapted to provide topographical information of the vehicle transport surface, wherein said off-set values are based on said topographical information, and wherein said topographical information comprises dimensional data elements of said transportation surface being stored on said data memory. 6. The vehicle according to claim 5, wherein said surface detection unit comprises a receiver adapted to receive said dimensional data elements over a communication link. 7. The vehicle according to claim 5, wherein said transport surface detection unit comprises a surface sensor and wherein the surface sensor is one or more sensors selected from the group consisting of a photographic sensor, an electromagnetic sensor, an rfid sensor, an acoustic sensor, a distance measurement sensor, and a laser distance measurement sensor. 8. The vehicle according to claim 1, wherein said base plate levelling unit comprises a base linkage pivotably connected to said base plate at a center distance between said left and right frames, whereby said base linkage is rotatable with respect to said base plate around a pivot axis perpendicular to said rotational axis, wherein ends of said base linkage are pivotably connected to said left frame and pivotably connected to said right frame, whereby upon a rotation of said left and right frames around said rotational axis said left frame has a first angular displacement in relation to said right frame and said base plate has a second angular displacement in relation to one of said left and right frames, and wherein said second angular displacement is less than said first angular displacement. 9. The vehicle according to claim 1, further comprising a seat foundation and a second level compensation system arranged for orientation of said seat foundation in space to maintain a level plane of said seat foundation in use of said vehicle. 10. The vehicle according to claim 9, wherein said second level compensation system comprises a pivotable support connecting said seat foundation with said base plate. 11. The vehicle according to claim 10, wherein said second level compensation system comprises a support control unit connected to a level detection unit being adapted to provide levelling information to said support control unit, wherein said second level compensation system further comprises at least one support actuator connected to said support control unit and arranged to displace said pivotable support according to said levelling information. 12. The vehicle according to claim 11, comprising a first and second support actuator pivotably mounted to said base plate at displaced first and second joints and pivotably mounted to said pivotable support at a common third joint. 13. The vehicle according to claim 10, wherein said second level compensation system comprises side struts pivotably connected to said seat foundation and said base plate at either side of said pivotable support, wherein said side struts are connected to said seat foundation by upper strut pivot joints and connected to said base plate by lower strut pivot joints, wherein said pivotable support being connected to said base plate at a lower support pivot joint and to said seat foundation at an upper support pivot joint, and wherein said upper strut pivot joints and said upper support pivot joint are arranged in a displaced configuration at said seat foundation, whereby said side struts are arranged to maintain a plane of said seat foundation upon a displacement of said pivotable support. 14. The vehicle according to claim 9, wherein said seat foundation is connected to a seat actuator, said seat actuator is connected to said level detection unit and arranged to displace the seat foundation in accordance with said levelling information to maintain a level plane of said seat foundation. 15. A method for traversing a stair case comprising: providing the vehicle according to claim 1, said stair case having a plurality of steps for traversing in a first direction at a stair angle, said stair case having an axis of inclination parallel to said first direction and perpendicular to step edges, said vehicle having an apex point adjacent to a seat foundation, adjusting a wheel off-set of at least one wheel of said vehicle based on step dimensions,maintaining said apex point along said axis of inclination during said traversing by applying a first level compensation of a first level compensation system comprising alternating rotational movement of said left and right frames. 16. The method according to claim 15, wherein maintaining said apex point along said axis of inclination during said traversing further comprises the step of applying a second level compensation of a second level compensation system comprising displacing a pivotable support joining said left and right frames with said seat foundation. 17. The method according to claim 15, comprising adjusting said wheel off-set continuously as said stair case is traversed. 18. The method according to claim 15, wherein the step of adjusting said wheel off-set further comprises the step of: adjusting the distance between wheels of said left wheel pair, and/or adjusting the distance between wheels of said right wheel pair. 19. The method according to claim 15, further comprising the step of braking of at least one of said wheels simultaneous as at least one of the remainder of said wheels traverse said stair case. 20. The method according to claim 19, wherein three wheels are braked simultaneous as at least one the remainder of said wheels traverse said stair case. 21. The method according to claim 19, wherein two wheels are braked simultaneous as at least one the remainder of said wheels traverse said stair case. 22. The method according to claim 19, wherein the distance between said at least one braked wheel and said at least one wheel traversing the stair case is adjusted, whereby simultaneous braking and traversing is achieved by respective wheels. 23. The method according to claim 19, further comprising the steps of: performing alternating action of said wheels between braking; andtraversing in said stair case until the wheels have traversed a desired distance in said stair case. 24. The method according to claim 23, wherein performing said step of alternating action comprises the steps of: braking of at least one of said wheels at a first position until at least one of the remainder of said wheels has traversed a first distance in said stair case; andbraking the at least one wheel having traversed said first distance at a second position until the at least one wheel at said first position has traversed a second distance in said stair case from said first position. 25. The method according to claim 23, wherein during said alternating action the distance between said at least one braked wheel and said at least one wheel traversing the stair case is adjusted, whereby simultaneous braking and traversing is achieved by respective wheels. 26. The method according to claim 19, wherein said vehicle has a payload at a payload centre of said vehicle, said method comprising shifting the position of said payload centre in relation to said at least one braked wheel. 27. The method according to claims 26, further comprising the step of adjusting the distance between said wheels by wheel actuators and wherein said payload centre is shifted by said wheel actuators. 28. The method according to claim 26, wherein said payload centre is shifted as a function of a change in distance between said at least one braked wheel and said at least one wheel traversing said stair case. 29. The method according to claim 26, comprising traversing a first distance in the staircase with at least one wheel in a first traversing movement, and shifting said payload centre by a fraction of said first distance in a first payload centre movement. 30. The method according to claim 29, wherein said first traversing movement and said first payload centre movement are performed simultaneously, and/or wherein said first traversing movement and said first payload centre movement are substantially in the same direction. 31. The method according to claim 29, comprising adjusting the distance between said wheels by wheel actuators; wherein adjusting the distance between said wheels comprises positioning each wheel at an individual position by an associated actuator of the wheel actuators for each of said wheels; and wherein said first traversing movement is performed by expanding or contracting at least one of said left and right frames, and wherein the distance between said payload centre and each wheel is adjusted by said associated wheel actuator for providing said first payload centre movement. 32. The method according to claim 29, further comprising the steps of: traversing a second distance in the staircase in a second traversing movement with at least one wheel being braked during said first traversing movement,shifting said payload centre by a fraction of said second distance in a second payload centre movement, andrepeating said first and second traversing movement until the wheels have traversed a desired distance in said stair case. 33. The method according to claim 29, wherein said fraction is a third of said first distance, or said fraction is a fourth of said first distance. 34. The method according to claim 26, comprising shifting the position of said payload centre with an offset value for adjusting the centre weight point of said vehicle. 35. The method according to claim 15, further comprising the step of adjusting the distance between said wheels by wheel actuators. 36. The method according to claim 35, wherein adjusting the distance between said wheels comprises positioning each wheel at an individual position by an associated actuator of the wheel actuators for each of said wheels. 37. The method according to claim 35, wherein at least one of said left and right frames are expanded or contracted by said wheel actuators, thereby adjusting the distance between wheels of said left wheel pair, and/or adjusting the distance between wheels of said right wheel pair. 38. The method according to claim 15, comprising driving said wheels at different speeds thereby adjusting the distance between wheels of said left wheel pair by allowing expansion or contraction of said left frame, and/or adjusting the distance between wheels of said right wheel pair allowing expansion or contraction of said right frame. 39. A vehicle having a multiple of level compensation systems, said vehicle comprising: a chassis having a left frame, a right frame and a base plate,a first level compensation system comprising a pivot joint for pivotably connecting said left and right frames to said base plate, whereby said left and right frames are rotatable with respect to each other around a common rotational axis, wherein said left and right frame extends in a direction perpendicular to said rotational axis,a left wheel pair comprising a left front wheel and a left rear wheel, the left front wheel and left rear wheels having left rotation axes and being mounted in opposite ends of said left frame, anda right wheel pair comprising a right front wheel and a right rear wheel, the right front wheel and right rear wheels having right rotation axes and being mounted in opposite ends of said right frame,wherein at least one first axial distance from a left rotation axis of said left wheel pair to said rotational axis is different from at least one second axial distance from a right rotation axis of said right wheel pair to said rotational axis, such that said left and right wheel pair have at least one off-set to each other, comprising at least one wheel displacement unit arranged to displace at least one of said left front wheel and left rear wheel in relation to at least one of said right front wheel and right rear wheel to provide said off-set,wherein said first level compensation system comprises a base plate leveling unit arranged to reduce a rotational movement of said base plate relative said left and right frames upon a rotation of said left and right frames around said rotational axis. 40. The vehicle according to claim 39, wherein said base plate leveling unit comprises a base linkage pivotably connected to said base plate at a center distance between said left and right frames, whereby said base linkage is rotatable with respect to said base plate around a pivot axis perpendicular to said rotational axis, wherein ends of said base linkage are pivotably connected to said left frame and pivotably connected to said right frame, whereby upon a rotation of said left and right frames around said rotational axis said left frame has a first angular displacement in relation to said right frame and said base plate has a second angular displacement in relation to one of said left and right frames, and wherein said second angular displacement is less than said first angular displacement.
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이 특허에 인용된 특허 (5)
Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Heinzmann Richard K. ; Key Brian R. ; Dastous Susan D., Control loop for transportation vehicles.
Mick Jeffrey (9304 Hess Rd. Edwardsville IL 62025), Wheeled vehicle arrangement for distributing agricultural materials in fields having undulations such as soft walled lev.
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