A reversible in-wheel motor-driven unmanned lunar rover and its control method

An in-wheel motor, unmanned technology, applied in the field of unmanned exploration lunar rover systems, can solve the problems of complexity, unsatisfactory obstacle crossing performance, low redundancy, etc., to simplify the chassis structure, improve steering flexibility, and improve economy. sexual effect

Inactive Publication Date: 2015-09-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

At present, vehicles at home and abroad generally use the output torque of the engine to output through the transmission device and the differential mechanism. However, the transmission and differential mechanism are required to make the mechanical structure of the vehicle extremely complicated, the redundancy is low, and the obstacle-crossing performance is not ideal.

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  • A reversible in-wheel motor-driven unmanned lunar rover and its control method
  • A reversible in-wheel motor-driven unmanned lunar rover and its control method
  • A reversible in-wheel motor-driven unmanned lunar rover and its control method

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Embodiment Construction

[0026] The accompanying drawings disclose, without limitation, the structural schematic diagrams of the preferred embodiments involved in the present invention; the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0027] Such as Figures 1 to 9 As shown, the reversible hub motor of the present invention drives an unmanned lunar rover, including a lunar rover body, which includes an electronic control unit ECU, a chassis and a detection-sampling device installed on the chassis, the chassis The rear end of the chassis is equipped with driven rear wheels through the rear axle, and the front end of the chassis is respectively equipped with a driving front wheel through the left and right sides of the front axle. The driving front wheel includes a triangular track wheel, and the triangular track wheel includes a tripod and Tracks, the center of the tripod is installed on the front end of the chassis throu...

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Abstract

The invention provides a turnable unmanned moon vehicle driven by hub motors which comprises a moon vehicle body, wherein the moon vehicle body comprises an ECU (electronic control unit), a chassis and detecting-sampling equipment mounted on the chassis; a driven rear wheel is mounted at the back end of the chassis through a rear axle; a driving front wheel is mounted at each of the left side and the right side of the front end of the chassis through a front axle. Meanwhile, the invention provides a control method of the turnable unmanned moon vehicle driven by the hub motors. An ECU can control the operation of a turnable motor and various hub motors automatically to realize the smooth driving and detecting under complex pavement conditions according to the feedback information of a laser sensor, an angle sensor, rotating speed sensors and torque sensors.

Description

technical field [0001] The invention relates to an unmanned exploration lunar rover system, in particular to an unmanned exploration lunar rover system driven by a hub motor and capable of differential steering and obstacle overturning. Background technique [0002] For the lunar surface environment, the unmanned lunar rover needs to adapt to various landforms, dusty, near-vacuum and other complex and harsh conditions, which have high requirements for the light weight, high redundancy and obstacle-crossing performance of the rover. At present, vehicles at home and abroad generally use the output torque of the engine to achieve output through the transmission device and the differential mechanism. However, the transmission and differential mechanism are required to make the mechanical structure of the vehicle extremely complex, the redundancy is low, and the obstacle-crossing performance is not ideal. Contents of the invention [0003] Purpose of the present invention: In o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/16B60W40/06B60W40/10B60W40/12
Inventor 赵万忠席佳胜胡明煜陈俊飞邱浩崔滔文陈星宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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