Patent ID: 9149399
Filing Date: 2015-10-06
Classification: A61G,B62B,B62D

Abstract:
1. A stair climbing vehicle, comprising: a main body portion; a supporting portion that is disposed at a lower portion of the main body portion and that supports the main body portion, the supporting portion being relatively turnable around a support shaft with respect to the main body portion; a supporting portion turning angle detection sensor that detects a relative turning angle of the supporting portion with respect to the main body portion; a first wheel and a second wheel that are supported at the supporting portion so as to be rotatable about respective axles parallel to the support shaft, the first wheel and the second wheel being disposed such that the first wheel and the second wheel are allowed to revolve, at different positions, with respect to the support shaft by turning the supporting portion with respect to the main body portion; a wheel turning angle sensor that detects a relative turning angle of each of the first wheel and the second wheel with respect to the supporting portion; a first turning actuator that relatively turns the first wheel and the second wheel, with respect to the supporting portion, around the axle of the first wheel and the axle of the second wheel; a second turning actuator that turns the main body portion around the support shaft with respect to the supporting portion; a load-carrying portion that is disposed on an upper portion of the main body portion, and on which a load is placed; a changing actuator that relatively changes a position of the load-carrying portion with respect to the main body portion; a controller that drives the changing actuator to change the position of the load-carrying portion with respect to the main body portion and that drives the first and second turning actuators to turn the supporting portion with respect to the main body portion, thereby alternately landing the first wheel and the second wheel on steps of stairs to cause the stair climbing vehicle to climb the stairs; and a sensor that detects a gradient of the main body portion or the load-carrying portion, the controller including wherein the controller drives the first turning actuator based on the ratio between the control gains.