Autonomous driving stair-climbing motor vehicle with special-shaped crawler wheels

Abstract

A large number of existing multi-storey residential buildings without elevators in China bring great inconvenience to residents to go upstairs and downstairs. In addition, some step pavements or mountain roads exist in some tourist attractions, and great difficulty is caused to pedestrians or goods transportation. Therefore, it is very necessary to manufacture a stair-climbing motor vehicle capable of carrying people or goods. The invention provides an autonomous driving stair climbing motor vehicle with special-shaped crawler wheels. The stair climbing function can be achieved through the special wheels. When the stair-climbing motor vehicle adopts an electric power system, the stair-climbing motor vehicle becomes a stair-climbing electric vehicle (figure 8), an operation mode like an electric vehicle is realized, and the stair-climbing motor vehicle can carry people or cargoes in a stair passage. The stair-climbing electric vehicle can be called as a home traveling vehicle, namely a vehicle capable of being driven into a house, and great convenience is brought to residents in a multi-floor building without elevators. The stair-climbing motor vehicle can also be manufactured into an outdoor sports vehicle and is suitable for carrying people or cargoes on outdoor flat ground or roads with steps or abrupt slopes. And the vehicle can also be manufactured into a special vehicle to complete specific tasks, such as stair climbing for express delivery.

Description

Technical Field

[0001] The present invention provides an autonomous "stair-climbing vehicle" with special-shaped track wheels, belonging to the field of vehicle manufacturing. This stair-climbing vehicle can utilize a variety of power systems, including fuel systems, hybrid systems, or new energy systems, specifically relating to the fields of automobile and electric vehicle manufacturing. It can also be equipped with automatic control or artificial intelligence (AI) systems, and also relates to the field of high-end manufacturing. Background Art

[0002] Many multi-story residential buildings in my country lack elevators, causing significant inconvenience for residents. Furthermore, mountain roads near some tourist attractions often have numerous steps, creating significant challenges for pedestrians and cargo transport. Therefore, the development of a passenger-carrying, autonomous stair-climbing vehicle is crucial.

[0003] The present invention aims to provide a self-driving stair-climbing vehicle with special-shaped track wheels, which can realize the activities of carrying people up and down the stairways of residential houses; in addition, the stair-climbing vehicle can also be manufactured into a special outdoor sports vehicle, which is suitable for carrying people or cargo on flat outdoor ground, stepped roads or steep slopes; it can also be manufactured into other special vehicles to complete specific tasks.

[0004] In people's common sense, almost all vehicles have round wheels, such as common cars and electric vehicles. Such round wheels are not suitable for driving in residential stairways or mountain roads with steps.

[0005] To achieve the goal of mechanical stair climbing, some cargo-carrying "stair climbers" have adopted long tracks or other types of rollers. However, these stair climbers cannot autonomously maneuver through stairways like electric vehicles. They require manual assistance for smooth landing and steering at turns, making them far from the desired autonomous stair-climbing vehicle. In fact, practical stair-climbing vehicles carrying either people or cargo have remained unavailable for years.

[0006] The special-shaped track wheel autonomous driving stair climbing vehicle proposed by the present invention adopts neither a round wheel nor a strip track wheel. At present, there is no public information on this special-shaped track wheel autonomous driving stair climbing vehicle. Summary of the Invention

[0007] The present invention provides an autonomous stair-climbing vehicle with special-shaped track wheels. The special-shaped track wheel is a "non-circular V-shaped track wheel". It is installed on a main body frame (referred to as the frame) and then equipped with a power system, a control system, a braking system, a shock absorption system, etc. to form a stair-climbing vehicle.

[0008] Stair climbing vehicles can adopt a variety of power systems, including fuel systems, hybrid systems, or electric systems.

[0009] Stair climbing vehicles can be manufactured into special outdoor sports vehicles, such as "hill climbing vehicles", which are suitable for outdoor flat ground or stepped or steep sloped roads to carry people or goods. The shape, size and power configuration of the hill climbing vehicle can be flexibly designed according to actual needs.

[0010] When powered by an electric system, a stair-climbing vehicle can be made into a "stair-climbing electric vehicle," operating like an electric vehicle and capable of autonomously driving and carrying people up and down stairs. This type of stair-climbing electric vehicle can be called a "home vehicle," meaning a vehicle that can be driven around the home or into the home.

[0011] A home vehicle can be made into a "delivery vehicle" with a cargo box truck attached to the back. After arriving at the destination, the home vehicle and the cargo box truck can be temporarily separated, and the courier can drive the home vehicle to climb stairs to complete the delivery business, thus saving a lot of physical energy.

[0012] In order to implement the technical solution of the present invention, the special technologies adopted are as follows:

[0013] 1. A special-shaped crawler wheel autonomous driving stair climbing vehicle, which consists of non-circular V-shaped crawler wheels ( Figure 2 )、Main frame( Figure 5 ), power system, control system, brake system, shock absorption system, etc. Its characteristics are: the non-circular V-shaped track wheel consists of a wheel plate (wheel frame) ( Figure 1 ), driving wheel, passive wheel, crawler track; the driving wheel and passive wheel are installed in the middle of the wheel plate (wheel frame); the crawler track is sleeved on the driving wheel and passive wheel; when the non-circular V-shaped crawler wheel goes up and down the stairs (steps), the cross-section line of the contact surface between the crawler track and the stairs is V-shaped ( Figure 3 ).

[0014] 2. A non-circular V-shaped track wheel as described in 1 above, characterized in that: the V-shaped line ( Figure 3 ) The angle formed by the horizontal line of the ground satisfies A+B+C=180 degrees, and A is greater than 0 and less than 90 degrees, B is greater than 0 and less than 180 degrees, and C is greater than 0 and less than 90 degrees.

[0015] Strictly speaking, the V-shaped line refers to the shape formed by the tangent line segment of the driving wheel and the driven wheel of the non-circular V-shaped track wheel. The shape of the upper side of the V-shaped line is not restricted ( Figure 3 ).

[0016] 3. A non-circular V-shaped crawler wheel as described in 1 above, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a driven wheel, and a crawler track, is characterized in that a large-diameter circular wheel that can be raised and lowered can be additionally installed on the wheel plate (wheel frame).

[0017] The so-called liftable large-diameter circular wheel refers to a wheel with a diameter larger than the other driving and driven wheels. The specific value can be determined according to actual needs. When driving on flat roads, the large-diameter circular wheel can be lowered to the ground to increase driving speed.

[0018] 4. A non-circular V-shaped crawler wheel as described in 1 above, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a driven wheel, and a crawler track, is characterized in that multiple auxiliary wheels can be installed on the wheel plate (wheel frame).

[0019] The auxiliary wheels include encryption auxiliary wheels and transmission auxiliary wheels. The encryption auxiliary wheels can be used to strengthen the contact strength between the crawler and the stair surface; the transmission auxiliary wheels can be used to transmit power to the lifting wheels. The number of auxiliary wheels is set according to actual needs.

[0020] 5. A non-circular V-shaped crawler wheel as described in 1 above, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a driven wheel, and a crawler track, is characterized in that a brake pump device can be installed on the wheel plate (wheel frame), and a disc brake disc can be installed on the central axis of the driving wheel or the central axis of the driven wheel.

[0021] 6. A non-circular V-shaped crawler wheel as described in 1 above, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a passive wheel, and a crawler track, is characterized in that a support frame can be installed on the wheel plate (wheel frame), and the support frame has a safety protection function.

[0022] 7. A non-circular V-shaped track wheel as described in 1 above can be driven by a fuel engine, a hybrid system, or an electric system. When driven by an electric system, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a driven wheel, and a track, its characteristic is that: the motor can be fixed on the left or right side outside the wheel plate (wheel frame) of the non-circular V-shaped track wheel, the motor is coaxial with the driving wheel and provides power to the driving wheel, forming a non-circular V-shaped track wheel with a motor.

[0023] 8. The main frame as described in 1 above is characterized in that different numbers of non-circular V-shaped track wheels can be installed on the main frame, and the number of installations can be two, three or four.

[0024] Different vehicle models or types can be manufactured by installing different numbers of non-circular V-shaped track wheels on the main vehicle frame.

[0025] 9. The main frame as described in 1 above is characterized in that a tail frame can be installed on the main frame instead of the track wheel support frame, and the tail frame has a safety protection function.

[0026] 10. The control system described in 1 above basically includes a manual control system, which is characterized in that an automatic control system or an artificial intelligence (AI) system can be added to improve safety or complete certain specific tasks.

[0027] Automatic control systems primarily enhance safety. For example, they automatically brake if the wheels spin when not in reverse, automatically extend the rear rack when the front wheels are under less load, adjust or limit steering if the vehicle rolls significantly, and maintain a constant speed when ascending or descending stairs, among other functions. Artificial intelligence (AI) systems enable intelligent functions.

[0028] In this specification, the above-mentioned “non-circular V-shaped track wheel” is referred to as “track wheel” or “V-shaped wheel” for short.

[0029] To implement the technical solution of the present invention, the following general technologies can be used:

[0030] 11. The power system configuration for stair-climbing vehicles can be fuel-powered, hybrid, or electric for outdoor activities, such as mountain climbers. The design dimensions can be appropriately increased. For residential stair climbing, electric systems can be used, such as home trolleys. The power system primarily includes the motor, battery, cables, and interfaces, with the battery providing the power.

[0031] 12. The manual control system mainly includes: throttle handle (pedal), which realizes the acceleration or deceleration control of the vehicle climbing stairs; gear handle or switch, which realizes the speed division, forward or reverse control, etc.; handlebars or steering wheel are used for direction control.

[0032] 13. The brake system adopts disc brake method, which mainly includes: brake handle (pedal), brake switch, disc brake disc, upper oil pump, lower oil pump, oil pipe, etc. Other braking methods can also be used to achieve deceleration or braking functions.

[0033] 14. The shock absorption system includes front wheel shock absorbers and rear wheel shock absorbers. The shock absorbers can be spring shock absorbers or hydraulic shock absorbers. The front and rear track wheels are connected to the frame through the shock absorbers.

[0034] 15. As needed, stair-climbing motor vehicles can also be installed with other additional facilities or devices, including seats, footboards (support plates under the feet), carports, shells, lighting, horns, rearview mirrors, safety signs, etc., which are also necessary equipment. Beneficial technical effects

[0035] Climbing stairs is a challenge for creating practical transportation. People are accustomed to vehicles with round wheels, but these become an obstacle when encountering stairs. Later, stair climbers were created using long tracks or other types of rollers. However, these machines required manual support and were suitable for transporting goods. The essential difference between a cargo stair climber and a stair-climbing vehicle is that a cargo stair climber requires a human to support it as it ascends, while a stair-climbing vehicle is driven by a person or loaded with goods. To have a vehicle that can be driven directly from the bottom floor to the top floor requires specialized design. Stair-climbing vehicles, thanks to their non-circular V-shaped tracks, have proven to effectively solve the problem of mechanical stair climbing. These stair-climbing vehicles can be manufactured as mountain climbers, home transport vehicles, delivery vehicles, and other forms. If they are widely adopted, they are expected to achieve positive social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of the wheel plate (wheel frame) shape design; Figure 2 Schematic diagram of the basic structure design of the track wheel; Figure 3 Schematic diagram of the V-shaped line characteristics of the track wheel; Figure 4 Schematic diagram of the design of lifting wheels and auxiliary wheels; Figure 5 A side elevation view of the frame and shock absorption system structure; Figure 6 Side view schematic diagram of the vehicle structure; Figure 7 Schematic diagram of the vehicle structure from a top view; Figure 8 A schematic diagram of the vehicle structure from a side view. Code description in the attached figure

[0037] 1- Main frame (including 1, 2, 3, 4, 5, 6); 2- Handlebars, brake pump, throttle handle (blue); 3- Main frame (blue); 4- Seat (blue); 5- Frame vertical frame (black); 6- Footrest, footrest (black); 7- Front wheel plate (red); 8- Rear wheel plate (red); 9- Motor bearing (black); 10- Driving wheel (black); 11- Passive wheel (black); 12- Track (blue); 13- Support frame (green); 14- Shock absorber front fork (pink); 15- Shock absorber rear fork (pink); 16- Shock absorber spring (pink); 17- Battery, motor controller (green); 18- V-shaped line (yellow); 19- Encryption wheel (blue); 20- Drive wheel (red); 21- Lifting wheel lowered state (red); 22- Lifting wheel raised state (cyan); 23- Lifting wheel axle slot (red); 24- Support frame raised state (cyan); 25- Front track wheel (red); 26- Rear track wheel (red); 27- Motor (green); 28- Disc brake disc and brake pump (blue). DETAILED DESCRIPTION

[0038] The specific implementation method of the autonomous stair-climbing motor vehicle with special-shaped track wheels can be implemented using a stair-climbing electric vehicle, i.e., a home vehicle, as an example. The feasibility of the stair-climbing motor vehicle mainly depends on the practicality of the non-circular V-shaped track wheels. If it is verified in practice that a home vehicle can be driven in the stairwell of a residence, then it is also feasible for the stair-climbing motor vehicle to be driven outdoors on roads with steps, including mountain roads. When used outdoors, the main difference between a stair-climbing vehicle and a home vehicle is the difference in external dimensions. The size of the vehicle specifically designed for outdoor use is less restricted, the relative size can be increased, and the power configuration is stronger, thereby improving the load capacity and stability of the stair-climbing vehicle. Although a home vehicle can also be used outdoors, its size is smaller, and its power and load capacity are also smaller, so it is mainly suitable for climbing stairs in residential buildings.

[0039] The home crane is made of non-circular V-shaped track wheels ( Figure 2 )、Main frame( Figure 5 ), power system, control system, braking system, shock absorption system, etc. Non-circular V-shaped track wheels are installed on the frame, and the number can be two, three or four. As one of the specific implementation methods, a three-wheeled home vehicle is first designed and manufactured.

[0040] 1. Track wheel design and manufacturing

[0041] The non-circular V-shaped track wheel, also known as the crawler wheel, is a key component in implementing this invention. Its basic structure consists of a wheel plate (wheel frame), a drive wheel, a driven wheel, and a crawler track. For home vehicles, an electric system can be used, with the motor mounted on the wheel plate (wheel frame). The wheel plate (wheel frame) can be made of plastic sheet, and for increased strength, angle aluminum can be used as a frame to secure it to the wheel plate (wheel frame). The wheel plate (wheel frame) can also be made of steel or aluminum sheet, and can be formed by cold rolling or casting.

[0042] In order to install the motor, drive wheel, driven wheel, etc. on the wheel plate (wheel frame), the wheel plate (wheel frame) shape and drilling position must be designed first, and then the holes must be processed. Each track wheel requires two wheel plates (wheel frames), which are symmetrical to each other and are spaced apart by a round tube in the middle. The shape and size of the wheel plates (wheel frames) of the front track wheels can be slightly different from those of the rear track wheels. Figure 1 , the numbers next to the holes represent the positions.

[0043] Subsequently, the bearings and motors are fixed to the wheel plate (wheel frame) by drilling holes; the driving wheel and the driven wheel are then placed in the middle of the wheel plate (wheel frame), and the center shaft is passed through the bearing and the center hole of the driving wheel or the driven wheel or the motor. The center shaft is a steel shaft; the motor is fixed to the left or right side outside the wheel plate (wheel frame) as needed. The motor is coaxial with the driving wheel and provides power to the driving wheel; the track is then put on the driving wheel and the driven wheel. The driving wheel and the driven wheel can be gears or flat wheels. In principle, they can drive the track to run, but in general, gears are more effective. At this point, the basic structure of the track wheel is completed. Figure 2, the track wheel already has the ability to climb stairs.

[0044] The crawler wheels made in this way can jump onto the stairs and continue to go up under the power of the front tilt angle of the crawler wheels. When going downstairs, the rear tilt angle of the crawler wheels will contact the stairs. When driving up and down stairs (steps) at home, the cross-section line of the contact surface between the crawler and the stairs is V-shaped, as shown in the figure. Figure 3 Intuitively, V-shaped wheels have a forward angle (A) and a rearward angle (C). The forward angle contacts the stairs when ascending, and the rear angle contacts the stairs when descending. This design allows a family vehicle to climb stairs and descend smoothly. The forward angle (A) and rearward angle (C) should be within a reasonable range.

[0045] On the basis of the basic structure of the track wheel, the following devices can be added to improve practicality:

[0046] (1) In order to maintain the appropriate tightness of the track, a track tightening device can be added to the wheel plate (wheel frame).

[0047] (2) In order to increase the support strength of the track in contact with the stairs, an encryption wheel can be installed along the V-shaped line between the driving wheel and the passive wheel. The encryption wheel has a smaller diameter and is installed in the same way as the passive wheel.

[0048] (3) Track wheels can also be equipped with large-diameter liftable circular wheels and transmission wheels. The so-called liftable large-diameter circular wheel means that the diameter of the wheel is larger than that of other driving wheels and driven wheels. For home vehicles, the diameter is generally within 35 cm. When running on flat roads, the large-diameter circular wheel can be lowered to the ground to increase the driving speed; when climbing stairs, the large-diameter circular wheel can be raised to allow the track to touch the ground. The center axis of the liftable circular wheel is installed in the lifting wheel axle groove of the wheel plate (wheel frame) and is fixed to the wheel plate (wheel frame) using a hydraulic telescopic rod.

[0049] The encryption wheel and transmission wheel are called auxiliary wheels. The installation position of large diameter lifting circular wheel and auxiliary wheel is shown in Figure 4 Generally, the lifting circular wheel is a rubber wheel, and the auxiliary wheel can be a gear or a flat wheel, which can be selected according to needs.

[0050] (4) Track wheels can also be equipped with a support frame on the wheel plate (wheel frame), which has a safety protection function. The support frame is made of aluminum alloy or steel, and a roller is installed at the lower end. It can be raised or lowered. When going upstairs, lowering the support frame can prevent the vehicle body from tilting back or sliding down without affecting the upward movement. When not in use, it can be raised. Figure 6 The support frame only needs to be installed on the rear track wheel and is not normally needed. It can be used to increase safety protection when the climbing slope is large or the load is heavy.

[0051] 2. Design and manufacturing of main frame and shock absorber

[0052] The main structure of a bicycle is the frame, which can be made of aluminum alloy, steel, plastic and other materials. In this example, the frame is mainly made of aluminum alloy and is divided into several parts: vertical frame, flat frame, beam, handlebar, seat, etc. The overall structure of the frame is shown in Figure 5 The overall structure and shape of the frame can take many forms.

[0053] The shock absorber can adopt the front fork and rear fork with shock absorption of ordinary mountain bike or electric vehicle, and can also adopt suspension spring shock absorber. Track wheel is installed on the frame through shock absorber.

[0054] 3. Tail rack design and manufacturing

[0055] A tail rack can be installed on the main frame in place of the track wheel support frame. This is an important safety feature. Made of aluminum alloy or steel, it features a roller at its lower end. It can be raised or lowered. Lowering the tail rack when climbing stairs prevents the vehicle from tilting backward or sliding without affecting the ascent. It can be raised when not in use. It is suspended from the rear end of the main frame by springs.

[0056] 4. Power system design and manufacturing

[0057] The power system mainly includes: motors, batteries, cables and interfaces. The motor is fixed to the track wheel; the battery is installed on the frame; the motor and battery are connected through cables and interfaces. The motor power and battery capacity need to be calculated and designed according to the total weight and load of the home transport vehicle. In this embodiment, each motor has a power of 600W and an operating voltage of DC 24V, with a total of three motors; the battery capacity is 24V60Ah and is installed on the frame using a battery rack (basket). According to different models of home transport vehicles and actual conditions, the motor power and battery capacity can be adjusted to meet actual needs. The design of cables and interfaces is based on safety and practicality. They are selected according to the actual current size, and standard industrial products can be used.

[0058] 5. Control system design and manufacturing

[0059] Control systems include manual control systems, automatic control systems, and artificial intelligence (AI) systems. Manual control systems primarily include: the throttle, gear lever (switch), circuit breaker, brake lever, motor controller, and handlebars. The throttle controls the vehicle's acceleration and deceleration; the gear lever (switch) provides forward and reverse signals, and adds speed ranges such as fast, medium, and slow when necessary; the circuit breaker opens and closes the vehicle's battery circuit; the brake lever applies braking and provides a brake signal; the motor controller receives signals from the aforementioned levers and switches to control motor operation; and the handlebars control the vehicle's direction.

[0060] The motor controller connects between the motor and the battery and functions similarly to a standard electric vehicle controller, including interfaces for the throttle handle, gear lever (switch), circuit breaker, brake signal, motor, and battery. The motor controller can be a standard electric vehicle accessory, or it can be custom-made to enhance or improve functionality. The motor controller is typically assembled with the battery, but can also be installed separately. In this embodiment, the motor controller is assembled with the battery and mounted on the vehicle frame using a battery rack (basket).

[0061] The motor controller's motor and battery interfaces are connected to the motor and battery, respectively, via cables. For safety reasons, the cable conductor area should be sufficiently large, and the motor and battery interface models should meet the required specifications. In this embodiment, the cable conductor area is 2.5 square millimeters, the battery interface is a 50A Anderson interface, and the motor interface is a 30A Anderson interface.

[0062] The throttle handle, gear lever (switch), and circuit breaker are typically integrated into a single unit, with universal accessories, and mounted on the handlebars. Signals from the throttle handle and circuit breaker are fed into the motor controller, allowing the scooter to be turned on and off, accelerated, decelerated, moved forward, and reversed, all through simple and convenient operation.

[0063] The brake signal interface of the motor controller receives the signal from the brake switch to cut off the power of the motor when braking.

[0064] The motor controller can be equipped with other interfaces as needed, such as electronic locks.

[0065] The automatic control system will increase driving safety. For example, it will automatically brake if the wheels spin when not in reverse; it will automatically extend the tail rack when the weight on the front wheels is reduced; it will adjust or limit steering when the body rolls severely; it will maintain a constant speed when going up and down stairs, especially when going downstairs, and it will automatically brake if speeding; and so on.

[0066] Artificial intelligence (AI) systems can perform some of the more complex tasks.

[0067] 6. Braking system design and manufacturing

[0068] The brake system can use disc brakes or other methods. Disc brakes offer better performance, so this embodiment uses a disc brake system. The system primarily comprises a disc brake disc, a lower brake oil pump, an upper brake oil pump, and oil pipes. The disc brake disc is mounted on the central axis of the drive wheel; the lower brake oil pump is mounted on the wheel plate (wheel frame); the upper brake oil pump is mounted on the vehicle frame (handlebars). The upper oil pump is equipped with a brake handle and a brake switch. When the vehicle brakes, the brake switch provides a brake signal to the motor controller, de-energizing the motor. The oil pipes connect the lower and upper oil pumps.

[0069] 7. Other system design and manufacturing

[0070] In addition to the above systems, other additional facilities or devices can be installed as needed, including seats, footboards (foot support plates), carports, shells, lighting, speakers, rearview mirrors, safety signs, etc. At this point, a complete car is manufactured. Figure 6 、 Figure 7 .

[0071] The above solution can be implemented through various embodiments.

[0072] 8. Main issues and measures

[0073] The conception and design of a stair-climbing vehicle is a challenging topic, with some aspects exceeding common sense. The adoption of a home-climbing vehicle implementation scheme has largely resolved these issues. The following issues, but not limited to, need to be addressed during the design and manufacturing process of the home-climbing vehicle or in future improvements:

[0074] (1) Appearance design

[0075] Home trolleys are mainly used in residential corridors. Due to the space limitations of the corridors, the dimensions of home trolleys cannot be too large or too small. If they are too large, they cannot be driven in the corridors. If they are too small, the stability of the home trolley will be reduced and there may even be safety issues. In addition, their adaptability to the height and slope of the stairs will be reduced.

[0076] Generally, the width of the corridor should not exceed 1.20 meters, and the platform size at the turning of the stairs should not exceed 1.30*2.50 meters; when driving up and down the stairs, it is best to allow others to pass by; in addition, cars generally need to drive into the door, and the standard width of the door is generally 80 cm.

[0077] After understanding these data, the reasonable dimensions of a family car are: 50-70 cm wide and 100-130 cm long.

[0078] The actual dimensions of the vehicle are as follows: width 65 cm, length 125 cm, and height 92.5 cm.

[0079] The length of the car can be appropriately larger than the width of the platform at the corner of the stairs, because the rear wheels can appropriately exceed the platform, but the platform width cannot be less than 1 meter. In the embodiment, the actual size of the car can be suitable for driving in a general corridor.

[0080] (2) Driving conditions

[0081] Stair slope and step height are key operating conditions for a portable vehicle. Increasing the stair slope creates two issues: first, safety concerns, increasing the likelihood of the portable vehicle sliding, tipping over, or falling backward; second, it increases the power requirements of the portable vehicle. Therefore, portable vehicles have specific requirements for stair slope: a minimum of 35 degrees.

[0082] The staircase should also be kept low, even if the slope is not too steep. Excessively high steps require larger track wheels, which can easily cause the home transporter to exceed the stairway's dimensions. Therefore, home transporters have specific step height requirements: less than 20 cm.

[0083] (3) Key components and core technologies

[0084] The shape and size of the V-shaped wheels are key design considerations and core technologies for a mobility scooter. These features not only determine whether a mobility scooter can climb stairs but also whether it can descend them smoothly. Therefore, the V-shaped wheels are a key component in this invention. The V-shaped wheels' shape, size, and other technical specifications are designed with practicality and safety in mind. The design of these V-shaped wheels' technical specifications is a fundamental invention, building upon this foundation upon which various specialized vehicles can be manufactured.

[0085] In the embodiment, the forward and backward tilt angles of the V-shaped wheels are designed according to the specifications of general stairs and can be adjusted for special stair parameters. This specification provides the design range of the V-shaped wheel tilt angles, and the specific optimal parameters need to be determined according to actual conditions.

[0086] (4) Product improvement issues

[0087] Homemobiles are suitable for outdoor use on flat, sloping, and stepped roads, including mountain roads with steps and steep slopes of less than 30-35 degrees. These sections are generally inaccessible to electric vehicles. However, because homemobiles use crawler wheels and are independently driven by a motor, they have strong climbing capabilities and can be used to transport people and goods on special roads. Furthermore, the round wheels can be lowered on flat roads to increase speed. Based on this foundation, homemobiles can be further improved in many aspects, such as:

[0088] A. By adjusting the V-shaped wheel structure or size, or adjusting the overall shape and size of a home bike, a home bike can be transformed into a mountain climbing bike. For outdoor use, a mountain climbing bike can be larger and have a more powerful powertrain. An engine or hybrid system can be used, providing greater driving force, improving stability and carrying capacity for one or more people.

[0089] B. Another example is the tail rack on the main frame, which can also utilize a dual hydraulic spring telescopic support rod with rollers mounted at the lower end. This allows the rack to retract freely along the stairs and provide a certain level of support when going up or down stairs. This also prevents the vehicle from slipping or falling when descending stairs (it provides an additional support point). The tail rack can also utilize a hydraulic telescopic mechanism combined with an automatic control system to achieve automatic extension and retraction for safe driving. The tail rack is a critical device, and there are multiple implementation options available; choose the best one.

[0090] C. Rujia Car can also add an artificial intelligence (AI) system, and even turn it into a stair-climbing robot, realizing autonomous driving and completing some designated tasks, such as climbing stairs to deliver packages instead of couriers.

[0091] D. On this basis, some other improvements can also be envisioned, including increasing uses, improving functions; adding, removing or replacing accessories, such as adding lighting, changing the style of the seat; and so on.

[0092] These and other improvements are all within the scope of the family car's implementation. With the implementation of these improvements, the family car will be more comfortable and safer when going up and down stairs. The goal of the family car's improvements is to make it easier to navigate corridors than on flat ground and to navigate mountain roads without hindrance.

[0093] (5) Security issues

[0094] Safety issues primarily include battery safety and general safety issues. Battery safety issues primarily involve safety accidents such as fire and explosion; general safety issues primarily involve personal injury and property loss due to product damage. Appropriate measures can be taken to prevent these issues.

[0095] Battery safety is one of the main issues to consider when designing a family car. Unqualified batteries or improper use can lead to fires, explosions, and other safety incidents. To ensure safety, the following measures are taken during the design and manufacturing process:

[0096] A. Lithium iron phosphate batteries are used as standard accessories. Publicly available data indicates that lithium iron phosphate batteries are a safer type of battery and are unlikely to explode. If an accident occurs, it is generally caused by the spillage of high-temperature fluids, which could cause burns or fire, but the damage is minimal.

[0097] B. Manufacture or select lithium iron phosphate battery pack products produced by qualified manufacturers.

[0098] C. Manufacture or select lithium iron phosphate battery chargers produced by qualified manufacturers.

[0099] D. Manufacture or select qualified motor controllers.

[0100] E. Select safe DC voltage to avoid electric shock.

[0101] F. Use non-flammable and non-explosive materials to manufacture home vehicle accessories and facilities.

[0102] G. Keep your car parked or stored away from flammable materials. Flammable and explosive materials are essential for fire or explosion accidents. As long as you keep your car away from flammable materials, it will not cause serious safety problems.

[0103] H. Vehicle storage areas are equipped with fire prevention and fire extinguishing equipment.

[0104] I. Add other safety measures at any time.

[0105] General safety issues are mainly mechanical damage or personal injury. Some improper operating behaviors may cause accidents such as vehicle rollover, sliding, falling, and backward tilt. In particular, once the sliding problem occurs, it may cause serious consequences because the vehicle body is heavy and the sliding process is easy to cause personal injury. In fact, safety issues were taken into consideration when the home crane was designed. It is relatively safe because the track wheels are non-inertia wheels and can stop on the stairs without driving force. In addition, the performance of the brake system is listed as an important issue in the design. In order to ensure safety, some technical measures must also be taken. The main measures include:

[0106] A. Strengthen user training, improve safety awareness, master operating skills, and check the brake system immediately.

[0107] B. Adopt inherently safe design solutions to improve safety. For example, an important function of V-shaped wheels is to prevent the family bike from free-falling and enable a smooth descent. Adding counterweight to the front wheels can prevent the family bike from tilting backward. Installing the battery downward can lower the center of gravity of the vehicle body and prevent it from rolling over. Installing a tail rack on the main frame can prevent the vehicle body from sliding and tilting backward. Lowering the seat installation height and moving it forward can ensure the stability of the vehicle body. Adding a carport can protect people from being injured. Adding safety signs can allow people to avoid the vehicle in advance when driving outdoors. To improve safety, an automatic control system can be used to control the stability and operation of the vehicle body, etc.

[0108] C. Purchase safety insurance for the product.

[0109] D. Add other safety measures at any time.

[0110] (6) Product quality issues

[0111] The main measures taken to address product quality issues include:

[0112] A. Strictly inspect before leaving the factory to ensure that unqualified accessories are not used and unqualified products are not shipped out of the factory.

[0113] B. Have product quality certification conducted by an authoritative organization, and obtain legal documents such as business licenses, production and sales licenses in accordance with the procedures prescribed by the quality supervision department.

[0114] C. Clearly set the shelf life and assume the return and warranty obligations.

[0115] D. Purchase quality insurance for the product.

[0116] E. Add other quality assurance measures at any time.

[0117] 9. Main technical indicators

[0118] For the purposes of this embodiment (adjustments may be made for different vehicle models), the main technical specifications of the above-mentioned family vehicle are as follows: Body length: 1250mm; Body width: 650mm; Body height: 925mm; Total vehicle weight: 71.5kg; Note: Front wheel 16.5 kg, rear wheel 13.9 kg *2, frame 17.3 kg, battery 9.9 kg; Motor power / voltage: 600W / 24V; Number of motors: 3; Battery type / voltage / capacity: lithium iron phosphate / 24V / 60Ah; Front track wheel size: length 560mm*height 350mm; Rear track wheel size: length 570mm*height 350mm; Maximum climbing slope: 35 degrees; Maximum step height: 20 cm; Load capacity: 200 kg; Number of passengers: 1; Maximum speed (slope): 3 km / h; Maximum turning angle: 45 degrees; Number of stairs climbed on one charge: more than 500; Charger model: 29.2V10A; Standard charging time: 6 hours.

Claims

1. A self-driving stair-climbing vehicle with special-shaped track wheels, comprising non-circular V-shaped track wheels (Figure 2), a main frame (Figure 5), a power system, a control system, a braking system, a shock absorption system, etc., and is characterized by: The non-circular V-shaped track wheel consists of a wheel plate (wheel frame) (Figure 1), a driving wheel, a passive wheel, and a track; the driving wheel and the passive wheel are installed in the middle of the wheel plate (wheel frame); the track is sleeved on the driving wheel and the passive wheel; when the non-circular V-shaped track wheel is used for climbing up and down stairs (steps), the cross-sectional line of the contact surface between the track and the stairs is V-shaped (Figure 3).

2. A non-circular V-shaped track wheel according to claim 1, characterized in that: V The angle formed by the shape line (Figure 3) and the horizontal line of the ground satisfies A+B+C=180 degrees, and A is greater than 0 and less than 90 degrees, B is greater than 0 and less than 180 degrees, and C is greater than 0 and less than 90 degrees.

3. The non-circular V-shaped crawler wheel according to claim 1, based on the basic structure of wheel plate (wheel frame), driving wheel, driven wheel and crawler track, is characterized by: A large-diameter round wheel that can be raised and lowered can be additionally installed on the wheel plate (wheel frame).

4. The non-circular V-shaped crawler wheel according to claim 1, based on the basic structure of the wheel plate (wheel frame), driving wheel, driven wheel and crawler track, is characterized by: Several training wheels can be mounted on the wheel plate (wheel carrier).

5. The non-circular V-shaped crawler wheel according to claim 1, based on the basic structure of wheel plate (wheel frame), driving wheel, driven wheel and crawler track, is characterized by: A brake pump device can be installed on the wheel plate (wheel frame), and a disc brake disc can be installed on the central axis of the driving wheel or the central axis of the driven wheel.

6. The non-circular V-shaped crawler wheel according to claim 1, based on the basic structure of wheel plate (wheel frame), driving wheel, driven wheel and crawler track, is characterized by: A support frame can be installed on the wheel plate (wheel frame), which has a safety protection function.

7. The non-circular V-shaped crawler wheel according to claim 1 can be driven by a fuel engine, a hybrid system, or an electric system. When driven by an electric system, based on the basic structure of a wheel plate (wheel frame), a driving wheel, a driven wheel, and a crawler track, it is characterized by: The motor can be fixed on the left or right side outside the wheel plate (wheel frame) of the non-circular V-shaped track wheel. The motor is coaxial with the driving wheel and provides power to the driving wheel, forming a non-circular V-shaped track wheel with a motor.

8. The main frame according to claim 1, characterized in that: Different numbers of non-circular V-shaped track wheels can be installed on the main frame, and the installed number can be two, three or four.

9. The main frame according to claim 1, characterized in that: A tail frame can be installed on the main frame to replace the track wheel support frame, and the tail frame has a safety protection function.

10. The control system according to claim 1, which basically comprises a manual control system, characterized in that: Automatic control systems or artificial intelligence (AI) systems can be added to improve safety or complete certain specific tasks.

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