The invention provides an omni-directional mobile chassis system which comprises an energy system, a driving system, a braking system, a suspension system, a steering system, a control system and a machine body system, and the driving system, the braking system, the suspension system and the steering system are contained in driving trundles respectively. The machine body system is responsible for installing driving trundles, the energy system and the control system and bearing the load of the whole machine, the control system is responsible for coordinating and controlling the posture, braking and power of the whole machine, the control system comprises a whole machine controller and an unmanned controller, the steering system comprises four steering controllers and four driving controllers, the braking system comprises a brake, the whole machine controller receives a motion instruction of the unmanned controller and sends accurate steering angles and speeds as well as driving torques and speeds to the four steering controllers and the four driving controllers respectively. Front wheel steering, rear wheel steering, simultaneous steering of front and rear wheels, in-situ steering, translational motion and the like in a narrow area are realized.

    本发明提供一种全向移动底盘系统,包括能源系统、驱动系统、制动系统、悬挂系统、转向系统、控制系统和机身系统组成,驱动系统、制动系统、悬挂系统、转向系统包含在每个驱动脚轮内,机身系统负责安装驱动脚轮、能源系统、控制系统及承受整机的负载,控制系统负责协调控制整机的姿态、制动以及动力,控制系统包括整车控制器和无人驾驶控制器,转向系统包括四个转向控制器以及四个驱动控制器,制动系统包括制动器,由整机控制器接收无人驾驶控制器的运动指令,分别向四个转向控制器以及四个驱动控制器发送准确转向角度、速度以及驱动力矩、速度。实现狭小区域内的前轮转向、后轮转向、前后轮同时转向、原地转向以及平移运动等特点。


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    Title :

    Omni-directional mobile chassis system


    Additional title:

    一种全向移动底盘系统


    Contributors:
    LIAO WENLONG (author) / HE TAO (author) / ZHAO LEI (author)

    Publication date :

    2022-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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