초록 ▼

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 pivotally 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 pivotally 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 frames extend in a direction perpendicular to said common rotational axis,a left wheel pair comprising a left front wheel and a left rear wheel, the left front wheel and left rear wheel 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 wheel having right rotation axes and being mounted in opposite ends of said right frame,wherein said first level compensation system comprises a base plate levelling unit arranged to reduce a rotational movement of said base plate around said common rotational axis upon a rotation of said left and right frames around said common rotational axis;wherein said base plate levelling unit comprises a base linkage pivotally 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 common rotational axis, wherein ends of said base linkage are pivotally connected to said left frame and pivotally connected to said right frame, whereby upon a rotation of said left and right frames around said common 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. 2. The vehicle according to claim 1, wherein the distance between said left rotation axes is same as the distance between said 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, having at least one first axial distance from a left rotation axis of said left wheel pair to said common rotational axis, and at least one second axial distance from a right rotation axis of said right wheel pair to said common rotational axis, said vehicle comprising a 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 at least one first axial distance by displacement of said wheels of said left wheel pair relative to each other, and wherein said right frame actuators are arranged adjust said second at least one axial second distance 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. 5. The vehicle according to claim 4, wherein said off-set values are set according to a plurality of pre-defined values defined by a vehicle user. 6. The vehicle according to claim 4, 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 transport surface being stored on said data memory. 7. The vehicle according to claim 6, wherein said surface detection unit comprises a receiver adapted to receive said dimensional data elements over a communication link. 8. The vehicle according to claim 6, 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. 9. The vehicle according to claim 1, wherein at least one first axial distance from a left rotation axis of said left wheel pair to said common rotational axis is different from at least one second axial distance from a right rotation axis of said right wheel pair to said common rotational axis, such that said left and right wheel pairs 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. 10. 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 pivotally 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 frames extend in a direction perpendicular to said common rotational axis,a left wheel pair comprising a left front wheel and a left rear wheel, the left front wheel and left rear wheel 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 wheel having right rotation axes and being mounted in opposite ends of said right frame, anda 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;wherein said second level compensation system comprises a pivotal support connecting said seat foundation with said base plate,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 pivotal support according to said levelling information, andcomprising a first and second support actuator pivotally mounted to said base plate at displaced first and second joints and pivotally mounted to said pivotal support at a common third joint. 11. The vehicle according to claim 10, 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. 12. The vehicle according to claim 10, wherein said second level compensation system comprises side struts pivotally connected to said seat foundation and said base plate at either side of said pivotally 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 pivotally 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 pivotal support.