Full wheel steering unmanned platform driven by hub motors

The invention provides a full wheel steering unmanned platform driven by hub motors. The full wheel steering unmanned platform comprises a ground remote control station, an image acquisition module, a platform main body controller and tire steering mechanisms. The platform main body controller recei...

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Bibliographische Detailangaben
Hauptverfasser:	ZHAO YUE, ZHAI JIANKUN, WANG XIAO, RAN XIAOYONG, PAN BO, TIAN HANQING, HU JIBIN, NI JUN, TIAN DAIYING, ZHANG NAISI, LU YIBO, JIN QINGYUAN, YU YINGYING
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES AUXILIARY DRIVES FOR VEHICLES INSTRUMENTATION OR DASHBOARDS FOR VEHICLES LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MOTOR VEHICLES PERFORMING OPERATIONS TRAILERS TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	The invention provides a full wheel steering unmanned platform driven by hub motors. The full wheel steering unmanned platform comprises a ground remote control station, an image acquisition module, a platform main body controller and tire steering mechanisms. The platform main body controller receives a motion control command sent by the ground remote control station, and according to the rotation mode and the rotation angle, the target rotation angle value and rotation direction of each tire are calculated and obtained; according to the difference between actual rotation angle values and a target rotation angle value and the rotation directions, a steering angle control signal of each tire is generated and sent to the corresponding tire steering mechanism; the tires are driven to deflect the corresponding rotating angles relative to the platform forward direction till the actual rotation angle values of the tires are equal to the target rotation angle value; the rolling torque and the rolling directions are