System and method for stair climbing in a cluster-wheel vehicle

Details System and method for stair climbing in a cluster-wheel vehicle System and method for stair climbing in a cluster-wheel vehicle

A - Human Necessities

61

G

A61G 5/06 (2006.01) G05D 1/08 (2006.01) B62B 5/02 (2006.01) B62D 55/075 (2006.01)

Patent

CA 2367146

A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels ro-tatable about axes that are fixed with re-spect to a cluster arm, where the clus-ter arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled ac-cording to separate control laws by a con-troller. Whether the device ascends or de-scends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the de-vice.

L'invention concerne un système et un procédé permettant à un dispositif de monter ou de descendre des escaliers. Ce dispositif possède plusieurs roues tournant autour d'axes qui sont fixés par rapport à un bras support. Le bras support, à son tour, tourne autour d'un axe de telle façon que les roues reposent sur des marches successives. Les roues et les bras supports sont commandés par un contrôleur selon des règles de commande distinctes. Que le dispositif monte ou descende les escaliers, il est déterminé par le tangage du dispositif par rapport à des angles avant et arrière spécifiés. Le déplacement du centre de gravité du dispositif avec la charge détermine la direction de déplacement du dispositif.

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