Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device

Abstract

The invention discloses a carrying device which is applicable to complicated road surfaces and can have random turning radiuses and a method for controlling the carrying device. The carrying device comprises a carrying platform. A row of front wheels is mounted at the front end of the bottom of the carrying platform, at least one row of rear wheels is mounted at the rear end of the bottom of the carrying platform, the row of front wheels comprises at least two front wheels, the front wheels are coaxially arranged and are directional wheels which cannot rotate in the horizontal directions and only can advance and retreat, each front wheel which is controlled by the aid of speed and torque hybrid control algorithms is provided with a driving device, and all the driving devices are connected with a master controller; each row of rear wheels comprises at least one rear wheel, and the rear wheels are universal wheels which can rotate in the horizontal directions and can advance and retreat. The carrying device and the method have the advantages that the carrying device can advance and retreat, can run under the conditions of the random turning radiuses, can flexibly advance, is applicable to different narrow regions and the like and can run on the complicated, uneven and steep road surfaces.

Description

technical field [0001] The invention relates to a carrying device which is suitable for complex road surfaces and can realize any turning radius and a control method thereof, and belongs to the technical field of carrying control. Background technique [0002] With the improvement of the level of science and technology, universal wheels are more and more applied to many articles, such as chairs, suitcases and so on. After the universal wheels are added to these supplies, their movements become more flexible, which is convenient for people to use. For example, a chair can turn freely after adding universal wheels, and after adding universal wheels to a suitcase, its steering is more flexible and the user saves more effort. For another example, after some carts for transporting items are added with universal wheels, the carts can be turned flexibly in a small space, thereby reducing the use restrictions. In general, the more wheels, the greater the load-bearing capacity and ...

AI Technical Summary

Problems solved by technology

From the point of view of actual use, the existing carts equipped with universal wheels have the following disadvantages: first, many carts can only move in a single direction, or the steering is not flexible, so they cannot be used in narrow areas

Second, the driving is limited by the road conditions, and cannot run on complex and steep roads

Third, most trolleys do not have a control system designed and are only operated by humans, with a low degree of automation

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