MOBILITY VEHICLE

Abstract

A mobility vehicle (1) comprises a body part (100), a motion part (200), and at least one variable frame (300). The motion part (200) has a wheel (210) configured to move the body part (100) and a steering section (220) configured to rotate the wheel (210) about a steering axis (Xs) relative to the body part (100) and to steer the wheel (210). The at least one variable frame (300) is configured to connect the body part (100) and the motion part (200), to move relative to the body part (100) in a guide direction that intersects the steering axis (Xs), and to change the distance between a section of the body part (100) and the motion part (200).

Description

TECHNICAL AREA BACKGROUND TECHNOLOGY

[0001] Recently, modular plug-and-drive (PnD) mobility vehicles have been actively developed. The mobility vehicle is equipped with a body panel capable of carrying an object, multiple wheels designed to propel the body panel, and a steering system designed to steer the multiple wheels.

[0002] In the related technique, the mobility vehicle was manufactured with wheel positions fixed relative to the body panel. If the wheel positions are fixed relative to the body panel, the problem arises that the distances between the wheels and the body panel cannot be adjusted.

[0003] If, for example, the mobility vehicle is manufactured with a relatively large gap between the wheels and the body panel, it may have difficulty navigating confined spaces such as elevators or hallways. Conversely, if the mobility vehicle is manufactured with a relatively small gap between the wheels and the body panel, the risk of the vehicle rolling over at high speed increases.

[0004] The statements in this section merely provide background information relating to the present disclosure and may not represent prior art. BRIEF EXPLANATION

[0005] The present disclosure provides a mobility vehicle capable of adjusting the distance between a wheel and a body part.

[0006] To achieve the aforementioned objective, one aspect of the present disclosure provides for a mobility vehicle comprising: a body part and a motion part (e.g., chassis or drive unit) which has a wheel configured to move the body part. The motion part further comprises a steering section configured to rotate the wheel about a steering axis relative to the body part and to steer the wheel. The mobility vehicle further comprises: at least one variable frame or a variable support structure (e.g., cantilever; hereinafter referred to as: frame) configured to connect the body part and the motion part, to move relative to the body part in a guide direction that intersects the steering axis, and to change a distance between a region of the body part and the motion part.

[0007] For example, in one embodiment the moving part can be attached to the at least one variable frame, and the at least one variable frame can be connected to the body part and configured to be movable relative to the body part.

[0008] For example, in one embodiment the mobility vehicle may further comprise: a guide which is attached to the body part, extends in the guiding direction, is designed to guide in the guiding direction, and is configured to guide a movement of the at least one variable frame in the guiding direction.

[0009] For example, in one embodiment, the at least one variable frame can be provided as a plurality of variable frames. Each of the plurality of variable frames is configured to be placed in a first state in which each variable frame is maximally moved in a first guidance direction relative to the body part, the first guidance direction being a direction in which the wheel moves in the guidance direction toward the body. Two variable frames among the plurality of variable frames, oriented in directions that intersect each other and arranged in the first state, can be arranged to overlap each other when one side of the mobility vehicle is viewed based on a direction of the steering axis parallel to the steering axis.

[0010] For example, in one embodiment the plurality of variable frames may have a first variable frame and a second variable frame aligned in the intersecting directions, and the first variable frame and the second variable frame may be arranged to be spaced apart from each other in the direction of the steering axis.

[0011] For example, in one embodiment, the first variable frame can be provided as a plurality of first variable frames. The plurality of first variable frames can include a first-first variable frame and a first-second variable frame, which is aligned parallel to the first-first variable frame. At least a portion of the first-first variable frame and at least a portion of the first-second variable frame can be arranged to face each other in a direction perpendicular to the direction of the steering axis.

[0012] For example, in one embodiment, the mobility vehicle may further comprise a drive unit configured to move the at least one variable frame, and the drive unit may have a rotary section configured to engage with the at least one variable frame and to rotate about a drive rotation axis. The at least one variable frame is configured to be moved linearly in the guide direction by a rotation of the rotary section.

[0013] For example, in one embodiment the at least one variable frame can be provided in the form of a rack extending in the guide direction, and the rotation range can be provided in the form of a pinion engaging with the at least one variable frame.

[0014] For example, in one embodiment the steering axis can extend in an up-down direction and a lower end of the body part can be arranged above an upper end of the wheel.

[0015] For example, in one embodiment, the mobility vehicle may further comprise: a control device configured to control the moving part. When a setting signal is input, indicating that a size of the mobility vehicle is to be adjusted, the control device is configured to control the steering range in order to steer the wheel parallel to the guide direction.

[0016] For example, in one embodiment, when a contraction signal is input, indicating that a size of the mobility vehicle should be reduced, the control device can steer the wheel so that it moves close to an area of ​​the body panel. When an expansion signal is input, indicating that a size of the mobility vehicle should be increased, the control device can steer the wheel so that it moves away from an area of ​​the body panel.

[0017] For example, in one embodiment, the wheel and the at least one variable frame can each be provided as a plurality of wheels and a plurality of variable frames, and, when the contraction signal or the extension signal is input, the control device can control the plurality of wheels so that all of the plurality of variable frames are moved at the same speed.

[0018] For example, in one embodiment, the mobility vehicle may further comprise a drive unit configured to move at least one variable frame. When a contraction signal is input, indicating that a size of the mobility vehicle should be reduced, the control device is configured to control the drive unit so that the wheel moves close to a region of the body part, and when an expansion signal, indicating that a size of the mobility vehicle should be increased, is input, the control device is configured to control the drive unit so that the wheel moves away from a region of the body part.

[0019] For example, in one embodiment, the at least one variable frame can be provided as a plurality of variable frames, and, when the contraction signal or the extension signal is received, the control device can control the drive part so that all of the plurality of variable frames are moved at the same speed.

[0020] For example, in one embodiment the mobility vehicle may further comprise: a detection element which is configured to detect a movement of an object in a peripheral area (e.g., surroundings) of the mobility vehicle, and the wheel and the at least one variable frame are each provided as a plurality of wheels and a plurality of variable frames.When the sensing element detects movement of the object in the boundary area, the control device receives an avoidance signal from the sensing element, which is a signal indicating that the mobility vehicle should avoid the object, and, if a wheel positioned closest to the object among the majority of wheels is a short-distance wheel, and a wheel furthest from the short-distance wheel is a long-distance wheel, the control device receiving the avoidance signal controls the moving elements so that the speed of the short-distance wheel is higher than the speed of the long-distance wheel.

[0021] For example, in one embodiment, the control device that receives the swerve signal can control the moving part in such a way that the long-distance wheel is braked.

[0022] For example, in one embodiment, the control device that receives the swerve signal can control the steering ranges so that the long-distance wheel is aligned in a direction that intersects the short-distance wheel.

[0023] For example, in one embodiment, the plurality of wheels can comprise a first wheel, a second wheel, and a third wheel arranged sequentially to be spaced apart from one another in the circumferential direction of the body panel. If the short-distance wheel and the long-distance wheel are, respectively, the first wheel and the third wheel, the control device can control the plurality of wheels such that the speed of the first wheel is higher than the speed of the second wheel.

[0024] The mobility vehicle according to the present disclosure can be configured to adjust the distance between the wheel and the body part, thereby enabling it to flexibly cope with different situations by adjusting the distance between the wheel and the body part. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a first perspective view of a mobility vehicle according to a first embodiment of the present disclosure. Fig. Figure 2 is a second perspective view of the mobility vehicle according to the first embodiment of the present disclosure. Fig. Figure 3 is a top view of the mobility vehicle according to the first embodiment of the present disclosure. Fig. Figure 4 is a view showing a state in which a variable frame of the mobility vehicle is in Fig. 3 is moved. Fig. Figure 5 is a side view of the mobility vehicle according to the first embodiment of the present disclosure. Fig. Figure 6 is a side view of a mobility vehicle according to a modified example of the first embodiment of the present disclosure. Fig. Figure 7 is a top view of a mobility vehicle according to a second embodiment of the present disclosure. Fig. Figure 8 is a top view of a mobility vehicle according to a third embodiment of the present disclosure. Fig. Figure 9 is a top view of a mobility vehicle according to a fourth embodiment of the present disclosure.

[0025] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0026] Some embodiments of the present disclosure are described in detail below with reference to the explanatory drawings. When specifying reference numerals for the components of the respective drawings, it should be noted that, where possible, the same components should be designated with the same reference numerals, even if the components are shown in different drawings. Furthermore, in the following description of the embodiments of the present disclosure, a detailed description of associated publicly known configurations or functions has been omitted where it was found that such a detailed description would hinder the understanding of the embodiments of the present disclosure.

[0027] A mobility vehicle 1 according to the present disclosure is described below with reference to the drawings.

[0028] Fig. Figure 1 is a first perspective view of a mobility vehicle according to a first embodiment of the present disclosure, Fig. Figure 2 is a second perspective view of the mobility vehicle according to the first embodiment of the present disclosure, Fig. Figure 3 is a top view of the mobility vehicle according to the first embodiment of the present disclosure and Fig. Figure 4 is a view showing a state in which a variable frame of the mobility vehicle is in Fig. 3 is moved.

[0029] With reference to the Fig. The mobility vehicle 1 can travel on a ground surface, as described in sections 1 to 4. The mobility vehicle 1 can move an object that is to be moved between locations to a target position. The mobility vehicle 1 can be described as a movable body or movable device 1. The mobility vehicle 1 can have a body part 100, moving parts 200, variable frames 300, guides 400, a drive part 500, a sensing part 600, and a control device 700.

[0030] The body part 100 can provide a space for receiving an object to be moved. The body part 100 can be moved by the movement part 200. The body part 100 can have a plurality of plates. The plurality of plates can be arranged to be spaced apart from each other in a top-bottom direction "H". For example, the variable frame 300 can be arranged between two plates that are adjacent to each other beneath the plurality of plates.

[0031] The moving part 200 can move the body part 100 relative to the ground surface. The moving part 200 can be attached to the variable frame 300. Additionally, the moving part 200 can be controlled by the control device 700. The moving part 200 can have a wheel 210 and a steering section 220.

[0032] The wheel 210 can be positioned below the steering area 220. An upper end of the wheel 210 can be positioned below a lower end of the body part 100. As described above, the body part 100 can be positioned above the wheel 210, thereby avoiding or preventing the wheel 210 and the body part 100 from interfering with each other while the wheel 210 moves relative to the body part 100.

[0033] The steering unit 220 can steer the wheel 210. The steering unit 220 can rotate the wheel 210 about a steering axis Xs relative to the body part 100. For example, the steering axis Xs can be parallel to the up-down direction H. The steering unit 220 and the wheel 210 can be connected and configured to rotate relative to each other. Furthermore, the steering unit 220 can be attached to one end of the variable frame 300.

[0034] In one embodiment, the moving parts 200 can be provided as a plurality of moving parts 200. The plurality of moving parts 200 can comprise a first moving part 201, a second moving part 202, a third moving part 203, and a fourth moving part 204. The first moving part 201, the second moving part 202, the third moving part 203, and the fourth moving part 204 can be arranged sequentially in or along a circumferential direction of the body part 100. Additionally, the wheels provided on the first moving part 201, the second moving part 202, the third moving part 203, and the fourth moving part 204, respectively, can be designated as a first wheel 211, a second wheel 212, a third wheel 213, and a fourth wheel 214.Additionally, the steering areas 220, which are provided at the first movement part 201, the second movement part 202, the third movement part 203 and the fourth movement part 204 respectively, can be referred to as a first steering area, a second steering area, a third steering area and a fourth steering area.

[0035] The variable frame 300 can change the distance between a section of the body part 100 and the movement part 200. The variable frame 300 can move in a guide direction relative to the body part 100. The variable frame 300 can connect the body part 100 and the movement part 200.

[0036] For example, the moving part 200 can be attached to the variable frame 300, and the variable frame 300 can be movably connected to the body part 100. As a more detailed example, the variable frame 300 can be movably connected to the guide 400, which is attached to the body part 100.

[0037] The variable frames 300 can be provided as a plurality of variable frames 300. The plurality of variable frames 300 can be arranged to be spaced apart from one another. The plurality of variable frames 300 can each be brought into a first state in which the variable frame 300 is moved maximally in a first guide direction relative to the body part 100. The first guide direction can be defined as the direction in which the wheel 210 moves towards the body part 100.

[0038] With reference to Fig. 4. When an upper section of the mobility vehicle 1 is viewed parallel to the top-bottom direction H, two variable frames arranged in intersecting directions can be arranged below the plurality of variable frames 300 that are arranged in the first state, overlapping each other. The plurality of variable frames 300 can comprise first variable frames 310 and second variable frames 320.

[0039] The first variable frame 310 and the second variable frame 320 can be spaced apart from each other in the top-bottom direction H. For example, the first variable frame 310 can be positioned above the second variable frame 320. Furthermore, the direction in which the first variable frame 310 extends and the direction in which the second variable frame 320 extends can intersect. In other words, the first variable frame 310 and the second variable frame 320 can be oriented in directions that intersect or overlap each other.

[0040] Furthermore, when the upper section of the mobility vehicle 1 is viewed parallel to the top-bottom direction H, the first variable frame 310 and the second variable frame 320, which are in the first state, can be arranged to overlap each other. In other words, since the first variable frame 310 and the second variable frame 320 can be spaced apart from each other in the top-bottom direction H, the first variable frame 310 and the second variable frame 320 can move relative to the body part 100 without interfering with each other. The first variable frames 310 can be provided as a plurality of first variable frames 310. The plurality of first variable frames 310 can include a first-first variable frame 311 and a first-second variable frame 312.

[0041] At least a portion of the first-first variable frame 311 and at least a portion of the first-second variable frame 312 can be arranged to face each other in a first horizontal direction that intersects the steering axis Xs. For example, the first horizontal direction can be perpendicular to the steering axis Xs and the direction in which the first variable frame 310 extends. For example, the first-first variable frame 311 and the first-second variable frame 312 can be aligned parallel to each other. The first-first variable frame 311 and the first-second variable frame 312 can have the same shape.

[0042] The first movement part 201 can be attached to the first-first variable frame 311. For example, the first movement part 201 can be configured to move together with the first-first variable frame 311. Additionally, the third movement part 203 can be attached to the first-second variable frame 312. For example, the third movement part 203 can be configured to move together with the first-second variable frame 312.

[0043] The first-first variable frame 311 and the first-second variable frame 312 can be configured to move at the same speed relative to the body part 100. For example, the speed of the first moving part 201 relative to the body part 100 can be equal to the speed of the third moving part 203 relative to the body part 100.

[0044] Additionally, the second variable frames 320 can be provided as a plurality of second variable frames 320. The plurality of second variable frames 320 can include a second-first variable frame 321 and a second-second variable frame 322. At least a portion of the second-first variable frame 321 and at least a portion of the second-second variable frame 322 can be arranged to face each other in a second horizontal direction that intersects the steering axis Xs. For example, the second horizontal direction can be perpendicular to the first horizontal direction and to the steering axis Xs. For example, the second-first variable frame 321 and the second-second variable frame 322 can be aligned parallel to each other. The second-first variable frame 321 and the second-second variable frame 322 can have the same shape.

[0045] The second movement part 202 can be attached to the second-first variable frame 321. For example, the second movement part 202 can be configured to move together with the second-first variable frame 321. Additionally, the fourth movement part 204 can be attached to the second-second variable frame 322. For example, the fourth movement part 204 can be configured to move together with the second-second variable frame 322.

[0046] The second-first variable frame 321 and the second-second variable frame 322 can be configured to move at the same speed relative to the body part 100. For example, the speed of the second moving part 202 relative to the body part 100 can be equal to the speed of the fourth moving part 204 relative to the body part 100.

[0047] The guide 400 can guide the movement of the variable frame 300 in the guide direction. For example, the variable frame 300 can be slidably engaged with the guide 400. The guide 400 can be attached to the body part 100. The guides 400 can be provided as a plurality of guides 400. The plurality of guides 400 can comprise first guides 410 and second guides 420.

[0048] The first guide 410 can guide the movement of the first variable frame 310. The first guides 410 can be provided as a plurality of first guides 410. The plurality of first guides 410 can include a first-first guide 411 and a first-second guide 412.

[0049] The first-first guide 411 can guide the movement of the first-first variable frame 311. For example, the first-first variable frame 311 can be slidably engaged with the first-first guide 411. The first-second guide 412 can guide the movement of the first-second variable frame 312. For example, the first-second variable frame 312 can be slidably engaged with the first-second guide 412.

[0050] The second guide 420 can guide the movement of the second variable frame 320. The second guides 420 can be provided as a plurality of second guides 420. The plurality of second guides 420 can include a second-first guide 421 and a second-second guide 422.

[0051] The second-first guide 421 can guide the movement of the second-first variable frame 321. For example, the second-first variable frame 321 can be slidably engaged with the second-first guide 421. The second-second guide 422 can guide the movement of the second-second variable frame 322. For example, the second-second variable frame 322 can be slidably engaged with the second-second guide 422.

[0052] With further reference to Fig. 5. The drive unit 500 can provide the variable frame 300 with power / force to move the variable frame 300.

[0053] Fig. Figure 5 is a side view of the mobility vehicle according to the first embodiment of the present disclosure.

[0054] The drive unit 500 can be arranged on a central section of the body part 100. The drive unit 500 can have a rotary area 510. The rotary area 510 can rotate about a first axis of rotation. The first axis of rotation can be defined as an imaginary straight line passing through the center of the rotary area 510 and extending in the top-bottom direction H. The rotary area 510 can have a column shape extending in the top-bottom direction H.

[0055] With reference to the Fig. 3 and Fig. 4. The rotary area 510 can be configured to engage with the plurality of variable frames 300. For example, the plurality of variable frames 300 can engage with an outer circumferential surface of the rotary area 510. As a more detailed example, the variable frame 300 can be provided in the form of a rack and pinion extending in the guide direction, and the rotary area 510 can be provided in the form of a pinion engaging with the variable frame 300. In other words, the variable frame 300 can be moved linearly by a rotary movement of the rotary area 510, or the rotary area 510 can be rotated by a linear movement of the variable frame 300.

[0056] The sensing unit 600 can detect changes in the width of a space at the periphery (e.g., in the vicinity) of the mobility vehicle 1. For example, the sensing unit 600 can detect a difference between the width of a space in which the mobility vehicle 1 is currently positioned and the width of a space positioned along a planned route. Additionally, the sensing unit 600 can detect the movement of an object at the periphery of the mobility vehicle 1. For example, the sensing unit 600 can include at least one infrared sensor, one ultrasonic sensor, and one lidar sensor capable of detecting objects.In the present disclosure, each of the expressions such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, “at least one of A, B or C” and “at least one of A, B or C or a combination thereof” may include one or all possible combinations of the elements listed together in the corresponding expression.

[0057] The control device 700 can control the wheel 210. When a setting signal is input indicating that a size of the mobility vehicle 1 is to be set, the control device 700 can control the steering range 220 to steer the wheel 210 parallel to the guide direction. For example, when the setting signal is received, the control device 700 can control the steering ranges 220 so that the first wheel 211 and the third wheel 213 are aligned parallel to the second horizontal direction, and that the second wheel 212 and the fourth wheel 214 are aligned parallel to the first horizontal direction.

[0058] When a contraction signal is input into the control device 700, the control device 700 can control the wheel 210 so that it moves close to a section of the body part 100. The contraction signal can indicate that the size of the mobility vehicle 1 should be reduced. For example, the contraction signal can be generated by the sensing unit 600 based on a detection result from the sensing unit 600. For instance, if the sensing unit 600 detects that the width of the space in the planned travel path will be smaller than the width of the space in which the mobility vehicle 1 is currently positioned, based on the state in which the mobility vehicle 1 is moving, the sensing unit 600 can generate the contraction signal, and the generated contraction signal can be input into the control device 700.

[0059] Additionally, if an extension signal is input into the control device 700, it can control the wheel 210 so that the wheel 210 moves away from a certain area of ​​the body part 100. The extension signal can be a signal indicating that the size of the mobility vehicle 1 is to be increased. For example, the extension signal can be generated by the sensing unit 600 based on a detection result of the sensing unit 600. For example, if the sensing unit 600 detects that the width of the space in the planned travel path will be greater than the width of the space in which the mobility vehicle 1 is currently located, based on the state in which the mobility vehicle 1 is moving, the sensing unit 600 can generate the extension signal, and the generated extension signal can be input into the control device 700.

[0060] When the contraction signal or the extension signal is input into the control device 700, the control device 700 can control the plurality of wheels 211, 212, 213 and 214 so that all of the plurality of variable frames are moved at the same speed.

[0061] Furthermore, if the sensing unit 600 detects movement of an object within its boundary area, the control device 700 can receive an avoidance signal from the sensing unit. This avoidance signal can indicate that the mobility vehicle must steer clear of an object. For example, the avoidance signal can be generated by the sensing unit 600 based on a detection result from the sensing unit 600.

[0062] The control device 700, which receives the avoidance signal, can control the moving parts 200 such that the speed of a short-distance wheel is higher than the speed of a long-distance wheel. The short-distance wheel can be the wheel that, among the majority of wheels 211, 212, 213, and 214, is positioned closest to the object. The long-distance wheel can be the wheel that, among the majority of wheels 211, 212, 213, and 214, is positioned furthest from the object.

[0063] When the swerve signal is input into the control device 700, the control device 700 can control the moving part to brake the long-distance wheel. For example, when the swerve signal is input into the control device 700, the control device 700 can control the majority of wheels so that, in a state where the long-distance wheel is stopped in place, the short-distance wheel moves towards the long-distance wheel in the guiding direction. For example, when the swerve signal is input into the control device 700, the long-distance wheel can act as an anchor, supporting or holding the mobility vehicle 1 on the ground surface.

[0064] When the swerve signal is input into the control device 700, the control device 700 can control the steering ranges 220 so that the long-distance wheel is oriented in a direction that intersects the short-distance wheel (e.g., in a direction perpendicular to it). As described above, when the swerve signal is input into the control device 700, the long-distance wheel can safely stabilize the mobility vehicle 1 on the ground surface while the short-distance wheel is moving.

[0065] Furthermore, if the short-distance wheel and the long-distance wheel are the first wheel 211 and the third wheel 213 respectively, the control device 700 can control the plurality of wheels 211, 212, 213, and 214 such that the speed of the first wheel 211 is higher than the speed of the second wheel 212 and the speed of the fourth wheel 214. For example, if the swerve signal is input into the control device 700, the control device 700 can control the plurality of wheels such that the first wheel 211 moves at a first speed in the first horizontal direction, the second wheel 212 and the fourth wheel 214 each move at a second speed (a speed lower than the first speed) in the second horizontal direction, and the third wheel 213 is stopped. The first speed can also be, for example, twice as high as the second speed.

[0066] The control device 700 can be electrically connected to the motion parts 200, the drive part 500 and the sensing part 600 and implement as a process that serves to decode and execute instructions based on input information.

[0067] With reference to Fig. 6. According to a modified example of the first embodiment of the present disclosure, the drive part 500 may further comprise a motor 520.

[0068] Fig. Figure 6 is a side view of the mobility vehicle according to the modified example of the first embodiment of the present disclosure.

[0069] With reference to Fig. 6. The motor 520 can provide rotational power or force to the rotary unit 510 for rotating the rotary unit 510. The motor 520 can be controlled by the control device 700.

[0070] The control device 700 can control the motor 520 based on a detection result from the detection part 600. For example, when the contraction signal is input into the control device 700, the control device 700 can control the drive part 500 (e.g., the motor 520) so that the wheel 210 approaches an area of ​​the body part 100.

[0071] Additionally, when the extension signal is entered into the control device 700, the drive part 500 (e.g. the motor 520) can control the wheel 210 so that it moves away from an area of ​​the body part 100.

[0072] Additionally, when the contraction signal or the extension signal is input into the control device 700, the drive unit 500 (e.g. the motor 520) can control all of the multiple variable frames 300 to move at the same speed.

[0073] A mobility vehicle 1 according to a second embodiment of the present disclosure is described below with reference to Fig. 7 described. The description of the mobility vehicle 1 according to the second embodiment focuses on a difference between the first and the second embodiment.

[0074] Fig. Figure 7 is a top view of the mobility vehicle according to the second embodiment of the present disclosure.

[0075] With reference to Fig. 7. According to the second embodiment of the present disclosure, the mobility vehicle may comprise a body part 100, movement parts 201a, 202a and 203a, variable frames 310a, 320a and 330a, guide parts 410a, 420a and 430a, a drive part, a detection part and a control device.

[0076] The description of the body part 100, the drive part, the sensing part and the control device according to the second embodiment of the present disclosure can be replaced by the description of the body part 100, the drive part 500, the sensing part 600 and the control device 700 according to the first embodiment of the present disclosure.

[0077] The motion components 201a, 202a, and 203a can be provided as a plurality of motion components 201a, 202a, and 203a. The plurality of motion components 201a, 202a, and 203a can comprise a first motion component 201a, a second motion component 202a, and a third motion component 203a. For example, the plurality of motion components 201a, 202a, and 203a can be provided as three motion components 201a, 202a, and 203a.

[0078] The variable frames 310a, 320a, and 330a can be provided as a plurality of variable frames 310a, 320a, and 330a. The plurality of variable frames 310a, 320a, and 330a can include a first variable frame 310a, a second variable frame 320a, and a third variable frame 330a. For example, the plurality of variable frames 310a, 320a, and 330a can be provided as three variable frames 310a, 320a, and 330a.

[0079] The first variable frame 310a, the second variable frame 320a and the third variable frame 330a can have a rotationally symmetric shape with respect to the rotation range 510 when the upper section of the mobility vehicle 1 is viewed parallel to the top-bottom direction H.

[0080] An imaginary straight line extending in the same direction as the first variable frame 310a can be called a first straight line, an imaginary straight line extending in the same direction as the second variable frame 320a can be called a second straight line, and an imaginary straight line extending in the same direction as the third variable frame 330a can be called a third straight line. For example, an acute angle among angles defined between any two different straight (imaginary) lines can be 60 degrees between the first straight line, the second straight line, and the third straight line.

[0081] The first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be configured to move at the same speed. For example, the first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can each be configured to move in a straight line at the same speed when the rotary range 510 rotates.

[0082] The first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be arranged to be spaced apart from each other in the top-bottom direction H. In other words, the first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be arranged such that each variable frame can move without obstructing any other variable frame.

[0083] The guide elements 410a, 420a, and 430a can be provided as a plurality of guide elements 410a, 420a, and 430a. The plurality of guide elements 410a, 420a, and 430a can have a first guide 410a, a second guide 420a, and a third guide 430a. The first guide 410a can guide the movement of the first variable frame 310a in the direction in which the first straight line extends. The second guide 420a can guide the movement of the second variable frame 320a in the direction in which the second straight line extends. The third guide 430a can guide the movement of the third variable frame 330a in the direction in which the third straight line extends.

[0084] A mobility vehicle according to a third embodiment of the present disclosure is described below with reference to Fig. 8 described. The description of the mobility vehicle according to the third embodiment focuses on a difference between the third embodiment and the first and second embodiments.

[0085] Fig. Figure 8 is a top view of the mobility vehicle according to the third embodiment of the present disclosure.

[0086] With reference to Fig. 8 The mobility vehicle according to the third embodiment of the present disclosure can have a body part 100, movement parts 201b, 202b, 203b and 204b, variable frames 310b and 320b, guide parts 410b and 420b, a drive part, a detection part and a control device.

[0087] The description of the body part 100, the drive part, the sensing part and the control device according to the third embodiment of the present disclosure can be replaced by the description of the body part 100, the drive part 500, the sensing part 600 and the control device 700 according to the first embodiment of the present disclosure.

[0088] The motion parts 201b, 202b, 203b, and 204b can be provided as a plurality of motion parts 201b, 202b, 203b, and 204b. The plurality of motion parts 201b, 202b, 203b, and 204b can comprise a first motion part 201b, a second motion part 202b, a third motion part 203b, and a fourth motion part 204b. For example, the plurality of motion parts 201b, 202b, 203b, and 204b can be provided as four motion parts 201b, 202b, 203b, and 204b.

[0089] The variable frames 310b and 320b can each have a first section and a second section. The first section can extend in the guide direction. The first sections can be slidably connected to the guide parts 410b and 420b. The first section can be configured to engage with the rotary section 510.

[0090] The second area can extend from one end of the first area in a direction that intersects the guiding direction. For example, the first area can have a shape that projects from a central section of the second area in the guiding direction.

[0091] Variable frames 310b and 320b can be provided as a plurality of variable frames 310b and 320b. The plurality of variable frames 310b and 320b can include a first variable frame 310b and a second variable frame 320b.

[0092] The first region of the first variable frame 310b and the first region of the second variable frame 320b can be arranged to be spaced apart from each other in the direction intersecting the guide direction, with the rotation region 510 positioned between them. For example, the first region of the first variable frame 310b and the first region of the second variable frame 320b can be arranged to face each other in the direction intersecting the guide direction. Additionally, for example, the first region of the first variable frame 310b and the first region of the second variable frame 320b can be aligned parallel to each other.

[0093] The first movement element 201b and the second movement element 202b can each be attached to two opposite ends of the second section of the first variable frame 310b. In other words, in the case of the mobility vehicle according to the third embodiment, two movement elements can be attached to one variable frame. Additionally, the third movement element 203b and the fourth movement element 204b can each be attached to two opposite ends of the second section of the second variable frame 320b. Furthermore, the first variable frame 310b and the second variable frame 320b can define a width of the mobility vehicle 1 in the direction of travel by rotating the pivot point 510.

[0094] The guide elements 410b and 420b can be provided as a plurality of guide elements 410b and 420b. The plurality of guide elements 410b and 420b can have a first guide 410b and a second guide 420b. The first guide 410b can guide the movement of the first variable frame 310b in the guide direction. The second guide 420b can guide the movement of the second variable frame 320b in the guide direction. The first guide 410b and the second guide 420b can be arranged to be spaced apart from each other in the guide direction and in the direction intersecting the guide direction, with the rotation area 510 positioned between them.

[0095] A mobility vehicle according to a fourth embodiment of the present disclosure is described below with reference to Fig. 9 described. The description of the mobility vehicle according to the fourth embodiment focuses on a difference between the fourth embodiment and the first, second and third embodiments.

[0096] Fig. Figure 9 is a top view of the mobility vehicle according to the fourth embodiment of the present disclosure.

[0097] With reference to Fig. 9 The mobility vehicle according to the fourth embodiment of the present disclosure can comprise a body part 100, movement parts 201c, 202c, 203c and 204c, variable frames 310c and 320c, guide parts 410c and 420c, a drive part, a sensing part and a control device.

[0098] The description of the body part 100, the drive part, the sensing part and the control device according to the fourth embodiment of the present disclosure can be replaced by the description of the body part 100, the drive part 500, the sensing part 600 and the control device 700 according to the first embodiment of the present disclosure.

[0099] The motion parts 201c, 202c, 203c, and 204c can be provided as a plurality of motion parts 201c, 202c, 203c, and 204c. The plurality of motion parts 201c, 202c, 203c, and 204c can comprise a first motion part 201c, a second motion part 202c, a third motion part 203c, and a fourth motion part 204c. For example, the plurality of motion parts 201c, 202c, 203c, and 204c can be provided as four motion parts 201c, 202c, 203c, and 204c.

[0100] The variable frames 310c and 320c can each have a first section, a second section, and a third section. The first section can extend in the direction of travel. The first sections can be slidably connected to the guide elements 410c and 420c. The first sections can be provided as a plurality of first sections spaced apart from each other in the direction intersecting the direction of travel.

[0101] The second region can extend from one end of the first region in a direction that intersects the guiding direction. For example, each of the plurality of first regions can have a shape that projects from an edge segment of the second region in the guiding direction.

[0102] The third area can have a shape that projects from a central section of the second area in the guide direction. The third area can be configured to engage with the rotary area 510. The third area can be positioned between the majority of first areas based on the direction that intersects the guide direction. Furthermore, the length of the third area extending in the guide direction can be longer than the length of the first area extending in the guide direction.

[0103] Variable frames 310c and 320c can be provided as a plurality of variable frames 310c and 320c. The plurality of variable frames 310c and 320c can include a first variable frame 310c and a second variable frame 320c.

[0104] The third region of the first variable frame 310c and the third region of the second variable frame 320c can be arranged to be spaced apart from each other in the direction intersecting the guide direction, with the rotation region 510 positioned between them. For example, the third region of the first variable frame 310c and the third region of the second variable frame 320c can be arranged to face each other in the direction intersecting the guide direction. Additionally, for example, the third region of the first variable frame 310c and the third region of the second variable frame 320c can be aligned parallel to each other.

[0105] The first movement element 201c and the second movement element 202c can each be attached to two opposite ends of the second section of the first variable frame 310c. In other words, in the case of the mobility vehicle according to the fourth embodiment, two movement elements can be attached to one variable frame. Additionally, the third movement element 203c and the fourth movement element 204c can each be attached to two opposite ends of the second section of the second variable frame 320c. Furthermore, the first variable frame 310c and the second variable frame 320c can define a width of the mobility vehicle 1 in the direction of travel by rotating the pivot point 510.

[0106] The guide elements 410c and 420c can be provided as a plurality of guide elements 410c and 420c. The plurality of guide elements 410c and 420c can include first guides 410c and second guides 420c. The first guides 410c can be provided as a plurality of first guides 410c. The plurality of first guides 410c can be arranged to be spaced apart from each other in the direction intersecting the guide direction. Additionally, the plurality of first guides 410c can be arranged to be unspaced from each other in the guide direction. In other words, the plurality of first guides 410c can overlap when viewed from the lateral side of the mobility vehicle in the direction perpendicular to the guide direction and the top-bottom direction H.

[0107] The majority of first guides 410c can guide the movements of the majority of first areas provided in the first variable frame 310c. In other words, the majority of first areas provided in the first variable frame 310c can each be slidably connected to the majority of first guides 410c.

[0108] The second guides 420c can be provided as a plurality of second guides 420c. The plurality of second guides 420c can be arranged to be spaced apart from each other in the direction intersecting the guide direction. Additionally, the plurality of second guides 420c can be arranged to be unspaced from each other in the guide direction. In other words, the plurality of second guides 420c can overlap when viewed from the lateral side of the mobility vehicle in the direction perpendicular to the guide direction and the top-bottom direction H.

[0109] The majority of the second guides 420c can guide the movements of the majority of the second areas provided in the second variable frame 320c. In other words, the majority of the second areas provided in the second variable frame 320c can each be slidably connected to the majority of the second guides 420c.

[0110] Additionally, each of the plurality of first guides 410c and each of the plurality of second guides 420c can be arranged to face each other in the guidance direction. For example, each of the plurality of first guides 410c and each of the plurality of second guides 420c can be arranged to overlap each other when the transverse side of the mobility vehicle is viewed parallel to the guidance direction.

[0111] All components constituting the embodiments of this disclosure may be integrally coupled or function by assembly, but this disclosure is not necessarily limited to any one embodiment. In other words, one or more of the constituent elements may be selectively combined and operated within the subject matter of this disclosure. Unless expressly stated otherwise, the terms "comprising," "containing," or "having," and variations such as "includes," "displaying," "containing," "including," "has," or "hubs," should be understood as implying the inclusion of the elements mentioned, but not the exclusion of other elements. Unless otherwise defined, all terms, including technical or scientific terms, may have the same meaning as generally understood by a person skilled in the art in the field to which this disclosure relates.Terms as defined in a commonly used dictionary may be interpreted as having meanings consistent with those in the context of related technologies and should not be interpreted as ideal or overly formal meanings unless expressly defined in the present disclosure.

[0112] The above description serves only to illustrate the technical spirit of the present disclosure, and it is clear to those skilled in the art that various changes and modifications are possible without departing from the essential features of the present disclosure. Therefore, the embodiments disclosed in the present disclosure serve only for illustrative purposes and are not intended to limit the technical spirit of the present disclosure. The scope of the technical spirit of the present disclosure is not thereby limited. The scope of protection of the present disclosure should be interpreted on the basis of the following claims, and the entire technical spirit, to the equivalent extent, should be interpreted as falling within the scope of the present disclosure. REFERENCE MARK LIST 1 mobility vehicle 100 body parts 200 movement part 201, 201a, 201b, 201c First movement part 202, 202a, 202b, 202c Second part of movement 203, 202a, 202b, 202c Third part of movement 204, 202b, 202c Fourth movement part 210 wheel 211 First Wheel 212 Second wheel 213 Third wheel 214 Fourth Wheel 220 steering range 300 Variable Frame 310, 310a, 310b, 310c First variable frame 311 First-first variable frame 312 First-second variable frame 320, 320a, 320b, 320c Second variable frame 321 Second-first variable frame 322 Second-second variable frame 330a Third variable frame 400 Guided Tour 410, 410a, 410b, 410c First Guided Tour 411 First-first leadership 412 First-second lead 420, 420a, 420b, 420c Second Lead 421 Second-first lead 422 Second-second lead 430a Third Leadership 500 drive unit 510 rotation range 520 engine 600 recording section 700 Control device H Up-Down Direction XS steering pivot

Claims

[1] A mobility vehicle (1) comprising: a body part (100), a movement part (200) which has: a wheel (210) which is set up to move the body part (100), and a steering range (220) which is configured to rotate the wheel (210) about a steering axis (Xs) relative to the body part (100) and to steer the wheel (210), and at least one variable frame (300) that is set up to to connect the body part (100) and the movement part (200), to move relative to the body part (100) in a guiding direction that intersects the steering axis (Xs), and to change the distance between an area of ​​the body part (100) and the moving part (200). [2] Mobility vehicle (1) according to claim 1, wherein the moving part (200) is attached to the at least one variable frame (300) and the at least one variable frame (300) is connected to the body part (100) and is arranged to be movable relative to the body part (100). [3] Mobility vehicle (1) according to claim 1 or 2, further comprising: a guide (400) which is attached to the body part (100), extends in the guiding direction and is designed to guide a movement of the at least one variable frame (300) in the guiding direction. [4] Mobility vehicle (1) according to any of the preceding claims, where at least one variable frame (300) has a plurality of variable frames, wherein each of the plurality of variable frames is set up to be brought into a first state in which each variable frame is moved maximally in a first guiding direction relative to the body part (100), wherein the first guiding direction is a direction in which the wheel (210) moves towards the body part (100) in the guiding direction, and wherein two variable frames intersect under the plurality of variable frames arranged in the first state and oriented in directions that are arranged to overlap each other when one side of the mobility vehicle (1) is considered based on a direction of the steering axis (Xs) parallel to the steering axis (Xs). [5] Mobility vehicle (1) according to claim 4, wherein the plurality of variable frames (300) comprises a first variable frame (310; 310a, 310b, 310c) and a second variable frame (320; 320a, 320b, 320c) which are aligned in the intersecting directions, and the first variable frame (310; 310a, 310b, 310c) and the second variable frame (320; 320a, 320b, 320c) are arranged to be spaced apart from each other in the direction of the steering axis (Xs). [6] Mobility vehicle (1) according to claim 5, wherein the first variable frame (310) is provided as a plurality of first variable frames, where the majority of first variable frames (310) exhibit: a first-first variable frame (311) and a first-second variable frame (312) aligned parallel to the first-first variable frame (311), and wherein at least part of the first-first variable frame (311) and at least part of the first-second variable frame (312) are arranged to face each other in a direction perpendicular to the direction of the steering axis of rotation (Xs). [7] Mobility vehicle (1) according to any one of the preceding claims, further comprising: a drive unit (500) which is set up to move at least one variable frame (300), wherein the drive part (500) has a rotation range (510) which is configured to engage with the at least one variable frame (300) and to rotate about a drive axis of rotation, and wherein at least one variable frame (300) is set up to be moved in a straight line by a rotation of the rotation area in the guide direction. [8] Mobility vehicle (1) according to claim 7, wherein the at least one variable frame (300) is provided in the form of a rack extending in the guide direction, and the rotation range is provided in the form of a pinion engaging with the at least one variable frame. [9] Mobility vehicle (1) according to any of the preceding claims, wherein the steering axis (Xs) extends in an up-down direction (H) and a lower end of the body part (100) is arranged above an upper end of the wheel (210). [10] Mobility vehicle (1) according to any one of the preceding claims, further comprising: a control device (700) which is set up to control the moving part (200), wherein the control device (700) is configured to control the steering range (220) to steer the wheel (210) parallel to the direction of guidance when a setting signal is input, which is a signal indicating that a size of the mobility vehicle (1) is to be set. [11] Mobility vehicle (1) according to claim 10, wherein the control device (700) is configured to control the wheel (210) so that the wheel (210) moves close to an area of ​​the body part (100) when a contraction signal is input which is a signal indicating that a size of the mobility vehicle (1) is to be reduced, and wherein, when an expansion signal is input which is a signal indicating that a size of the mobility vehicle (1) is to be increased, the control device (700) is configured to control the wheel (210) so that the wheel (210) moves away from an area of ​​the body part (100). [12] Mobility vehicle (1) according to claim 11, wherein the wheel (210) and the at least one variable frame (300) are each provided as a plurality of wheels (211, 212, 213, 214) and a plurality of variable frames (310, 310a, 310b, 310c, 320, 320a, 320b, 320c), and wherein, when the contraction signal or the extension signal is input, the control device (700) is configured to control the plurality of wheels (211, 212, 213, 214) such that all of the plurality of variable frames (310, 310a, 310b, 310c, 320, 320a, 320b, 320c) are moved at the same speed. [13] Mobility vehicle (1) according to any one of claims 10 to 12, further comprising: a drive unit (500) which is set up to move at least one variable frame (300), wherein, when a contraction signal is input, which is a signal indicating that a size of the mobility vehicle (1) is to be reduced, the control device (700) is configured to control the drive part (400) so that the wheel (210) comes close to an area of ​​the body part (100), and wherein, when an extension signal is input which is a signal indicating that a size of the mobility vehicle (1) is to be stiffened, the control device (700) is configured to control the drive part (500) so that the wheel (210) moves away from an area of ​​the body part (100). [14] Mobility vehicle (1) according to claim 13, wherein the at least one variable frame (300) is provided as a plurality of variable frames (310, 310a, 310b, 310c, 320, 320a, 320b, 320c), and wherein, when the contraction signal or the extension signal is input, the control device (700) is configured to control the drive part (500) such that all of the plurality of variable frames (310, 310a, 310b, 310c, 320, 320a, 320b, 320c) are moved at the same speed. [15] Mobility vehicle (1) according to any one of claims 10 to 14, further comprising: a detection element (600) which is set up to detect a movement of an object in a peripheral area of ​​the mobility vehicle (1), wherein the wheel (210) and the at least one variable frame (300) are each provided as a plurality of wheels (211, 212, 213, 214) and a plurality of variable frames (310, 310a, 310b, 310c, 320, 320a, 320b, 320c), wherein, when the detection part (600) detects a movement of the object in the boundary area, the control device (700) is configured to receive an avoidance signal, which is a signal indicating that the mobility vehicle (1) should avoid the object, from the detection part (600), and wherein, among the majority of wheels (211, 212, 213, 214), a wheel positioned closest to the object is a short-distance wheel, and a wheel positioned furthest from the short-distance wheel is a long-distance wheel, the control device (700) receiving the avoidance signal is configured to control the moving parts (200) such that the speed of the short-distance wheel is higher than the speed of the long-distance wheel. [16] Mobility vehicle (1) according to claim 15, wherein the control device (700) which receives the avoidance signal is configured to control the moving part (200) in such a way that the long-distance wheel is braked. [17] Mobility vehicle (1) according to claim 15 or 16, wherein the control device (700) receiving the swerve signal is configured to control the steering range (220) such that the long-distance wheel is aligned in a direction that intersects the short-distance wheel. [18] Mobility vehicle (1) according to any one of claims 15 to 17, wherein the plurality (211, 212, 213, 214) of wheels comprises a first wheel (211), a second wheel (212) and a third wheel (213) arranged successively such that they are spaced apart from each other in the circumferential direction of the body part (100), and wherein, where the short-distance wheel and the long-distance wheel are respectively the first wheel (211) and the third wheel (213), the control device (700) is configured to control the plurality of wheels (211, 212, 213, 214) such that a speed of the first wheel (211) is higher than a speed of the second wheel (212).

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