An electronic control system for a stair climbing vehicle, such as a wheelchair is disclosed. Front and back sensors are provided for detecting a stairway or slope. The electronic control system determines from the sensor data whether the slope has an acceptable incline for traversing. If it is not acceptable, the vehicle will be prevented from entering onto the stairway or slope. A seat for a user is tilted in accordance with electronic controls to keep the user approximately vertical with respect to gravity as the vehicle traverses the stairs. The allowed operation of the vehicle is controlled via parameters which can be changed by removable memory which configures the vehicle for a particular user or group of users.

Stair-climbing wheel chair

Electronic control system for stair climbing vehicle

A wheelchair is adjustable between a compact configuration, in which the centre of gravity lies in a vertical plane (50), which intersects wheels (16, 116) on a front carrier of the wheelchair and an extended configuration in which the centre of gravity lies in a vertical plane spaced substantially from all wheels of the wheelchair.

Wheelchair and method of operating same.

The present invention provides a sensor for detecting the angle of an incline, such as a staircase, before it is reached by the wheelchair. A control signal is provided to a motor for tilting the seat to cause the seat to be tilted to a predetermined minimum safe angle before the wheelchair reaches the staircase. The minimum safe angle is an angle of tilt at which the wheelchair will not roll over if the tilting mechanism should fail to completely rotate the seat to a horizontal position and as the stairs are descended. The minimum safe angle is determined by the position of the center of gravity of the wheelchair which is affected by the users weight. If the seat does not achieve this minimum tilt, the wheelchair is prevented from going over the stairs.

Wheelchair stair climbing control system

To enable an invalid's wheelchair to negotiate stairways, it has a chassis frame equipped with ordinary motor-driven road wheels for level running and a pair of crawler belts for stair ascent or descent. Either the wheels or the belts may be selected, either to the exclusion of the other, as the mode of travel. A chair or like load carrier is movably mounted on the frame, and linkage is provided so the center of gravity of the load is adjusted to give the required stability for the selected travel mode.

Invalid's wheelchair and like conveyances

The invention is an apparatus or wheelchair of conventional doorway width capable of negotiating stairways, turning about landings as necessary. The chair includes an outer supporting assembly, preferably the normal transport wheels, and an inner supporting assembly or feet. The chair includes mechanisms for elevating the supporting assemblies, in turn, while the other assembly supports the weight of the chair. The elevating mechanism is connected to the chair seat such that, upon elevation of a supporting assembly, the chair elevates also. The elevated assembly is articulated and advanced on horizontal slide bearings into contact with the stairs, with supporting elements resting on both lower and upper stair treads. The chair and occupant are then advanced on horizontal slide bearings over the new supporting assembly. The elevating mechanism then transfers chair weight to the new supporting assembly and elevates the former supporting assembly. The operation is repeated, alternating between the supporting assemblies, until the stairs are climbed.

Stair-climbing wheel chair

Citations

Electronic control system for stair climbing vehicle

Wheelchair and method of operating same.

Wheelchair stair climbing control system

Invalid's wheelchair and like conveyances

Stair-climbing wheelchair

References

Motorized wheel chair steered by driving

Occupant-controlled, self-propelled, obstruction-climbing vehicle

Stair climbing wheelchair

Curb and stair climber device

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