Active steering roll device and unmanned tricycle

Abstract

The invention discloses an active steering roll device and an unmanned three-wheeled vehicle, wherein the active steering roll device comprises a frame connecting rod, an active steering mechanism and an active roll mechanism; two groups of active steering mechanisms are provided, and the two groups of active steering mechanisms are respectively connected to wheels; the active roll mechanism is provided on the frame connecting rod, the active roll mechanism is connected to the active steering mechanism, and the active roll mechanism is used to drive the two groups of active steering mechanisms to roll; by providing the active steering mechanism to drive the wheels to rotate, the vehicle can actively control the steering of the wheels, and by providing the active roll mechanism to drive the active steering mechanism to perform a roll operation, the wheels can be controlled to roll without affecting the steering of the wheels, and when the vehicle turns, the vehicle can be actively rolled to avoid overturning due to excessive vehicle speed or excessive vehicle tonnage, the safety performance is higher, the vehicle roll angle and the rotation angle can be actively adjusted, and the vehicle has higher maneuverability and flexibility.

Description

Technical Field

[0001] The invention relates to the field of unmanned driving technology, and in particular to an active steering and roll device and an unmanned driving tricycle. Background Art

[0002] When a vehicle turns or passes an inclined road, it needs to tilt the vehicle body at a certain angle to resist centrifugal force, keep the vehicle body stable, and prevent the vehicle from running out of the curve. Currently, passive roll and rotation mechanisms are commonly used, and the roll angle and rotation angle of the vehicle can only be passively adjusted, resulting in low mobility and flexibility of the vehicle. Summary of the invention

[0003] The purpose of the present invention is to provide an active steering roll device and an unmanned tricycle, aiming to solve the problem in the prior art that the roll angle and rotation angle of the vehicle can only be passively adjusted and the maneuverability and flexibility of the vehicle are low.

[0004] In a first aspect, an embodiment of the present invention provides an active steering roll device, which is applied to an unmanned tricycle, wherein the unmanned tricycle comprises: a vehicle body frame and two wheels, and the active steering roll device comprises:

[0005] The frame connecting rod is connected to the body frame;

[0006] Active steering mechanisms, two groups are provided, the two groups of active steering mechanisms are connected to wheels respectively, and the active steering mechanisms are used to drive the wheels to steer;

[0007] An active roll mechanism is arranged on the frame connecting rod, the active roll mechanism is connected to the active steering mechanism, and the active roll mechanism is used to drive the two groups of active steering mechanisms to roll, so as to achieve the purpose of rolling the wheels.

[0008] In a second aspect, an embodiment of the present invention provides an unmanned tricycle, including an active steering and rolling device, and further comprising:

[0009] A laser radar installed on the vehicle body frame to sense information about obstacles ahead;

[0010] A plurality of binocular cameras are provided and installed around the vehicle body frame, and the binocular cameras are used to detect image information around the vehicle body;

[0011] A roll steering motor controller is arranged in the vehicle body frame, and the roll steering motor controller is used to control the active steering and / or roll maneuvering of the active steering roll device;

[0012] A wheel hub motor is arranged in the vehicle body frame, and the wheel hub motor is used to provide power for the tricycle;

[0013] A wheel hub motor controller is arranged in the vehicle body frame, and the wheel hub motor controller is used to control the wheel hub motor;

[0014] A gyroscope is arranged in the vehicle body frame, and is used to detect the roll angle of the vehicle body;

[0015] A navigation system is arranged in the vehicle body frame, and the navigation system is used to realize autonomous navigation;

[0016] A DBS hydraulic brake is arranged in the vehicle body frame, and the DBS hydraulic brake is used to provide brake pressure and brake-by-wire control;

[0017] A DBS controller, disposed in the vehicle body frame, the DBS controller being used to control the DBS hydraulic brake;

[0018] A power module, installed in the middle of the bottom of the vehicle body frame, for providing electrical energy;

[0019] The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path;

[0020] The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active steering roll device, the wheel hub motor and the DBS hydraulic brake to work.

[0021] The present invention drives the wheels to rotate by arranging an active steering mechanism, so that the vehicle can actively control the steering of the wheels, and drives the active steering mechanism to perform a roll operation by arranging an active roll mechanism, so that the roll of the wheels can be controlled without affecting the steering of the wheels. When the vehicle turns, the vehicle can be actively rolled to avoid overturning due to excessive vehicle speed or excessive vehicle tonnage. The safety performance is higher, the roll angle and rotation angle of the vehicle can be actively adjusted, and the maneuverability and flexibility of the vehicle are higher.

[0022] Moreover, the active steering mechanisms are arranged into two groups, and the two groups of active steering mechanisms respectively control the steering of the corresponding two wheels, so that the control is more flexible and free, and can ensure the coordination accuracy of the two wheels when turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the structure of an active steering and roll device provided in an embodiment of the present invention;

[0025] Figure 2 Another schematic diagram of the structure of the active steering roll device provided by an embodiment of the present invention;

[0026] Figure 3 A schematic block diagram of the connection relationship of the unmanned tricycle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0029] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0030] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] See also Figure 1-2 An active steering roll device is applied to an unmanned tricycle, the unmanned tricycle comprises: a body frame and two wheels 400, the active steering roll device comprises:

[0032] The vehicle frame connecting rod 100 is connected to the vehicle body frame;

[0033] Active steering mechanisms, two groups are provided, the two groups of active steering mechanisms are respectively connected to the wheels 400, and the active steering mechanisms are used to drive the wheels 400 to turn;

[0034] An active roll mechanism is disposed on the frame connecting rod 100 . The active roll mechanism is connected to the active steering mechanism. The active roll mechanism is used to drive the two groups of active steering mechanisms to roll, so as to achieve the purpose of rolling the wheel 400 .

[0035] In this embodiment, an active steering mechanism is provided to drive the wheel 400 to rotate, so that the vehicle can actively control the steering of the wheel 400, and an active roll mechanism is provided to drive the active steering mechanism to perform roll operation. The wheel 400 can be controlled to roll without affecting the steering of the wheel 400. When the vehicle turns, the vehicle can be actively rolled to avoid rollover due to excessive vehicle speed or excessive vehicle tonnage. The safety performance is higher, the vehicle roll angle and rotation angle can be actively adjusted, and the vehicle has higher maneuverability and flexibility.

[0036] Moreover, the active steering mechanism is arranged into two groups, and the two groups of active steering mechanisms respectively control the steering of the corresponding two wheels 400, so that the control is more flexible and free, and the coordination accuracy of the two wheels 400 when turning can be ensured.

[0037] In one embodiment, each of the active steering mechanisms includes an active steering actuator 210, a steering shaft 220 and a steering arm 230. The output shaft of the active steering actuator 210 is rotatably connected to the steering arm 230 via the steering shaft 220. The steering arm 230 is disposed on one side of the wheel 400, and the steering arm 230 is rotatably connected to the wheel 400. The active steering actuator 210 drives the steering arm 230 to rotate by rotating the output shaft, thereby driving the wheel 400 to steer.

[0038] In this embodiment, the wheel 400 is connected via the steering arm 230 , and the active steering actuator 210 drives the steering arm 230 to drive the wheel 400 to rotate, thereby achieving steering of the wheel 400 .

[0039] In one embodiment, the active roll mechanism includes an active roll actuator 310, an active rocker arm 320, two groups of roll bars 340 and two groups of front rocker arms 350. The active roll actuator 310 is fixed on the frame connecting rod 100, and the middle part of the active rocker arm 320 is fixed on the output shaft of the active roll actuator 310. A rotating shaft mounting part is respectively arranged on both sides of the middle part of the active rocker arm 320. The two groups of rotating shaft mounting parts are symmetrical with the middle part of the active rocker arm 320 as the axis. Each of the rotating shaft mounting parts can be rotatably connected to each corresponding roll bar 340 through a first rotating shaft 330. One end of each front rocker arm 350 is connected to each corresponding roll bar 340, and the other end of each front rocker arm 350 is connected to each corresponding active steering mechanism.

[0040] In this embodiment, the active roll actuator 310 only needs to control the rotation of the active rocker arm 320, thereby driving the roll bar 340 to swing up and down, and then controlling the active steering mechanism connected to the front rocker arm 350 to swing up and down to achieve the roll operation.

[0041] Specifically, an example is given below:

[0042] When turning right, the right wheel 400 needs to be higher than the left wheel 400, that is, the right wheel 400 needs to be lifted and the left wheel 400 needs to be pressed down; the specific operation is that the active roll actuator 310 rotates counterclockwise, and the active rocker arm 320 swings counterclockwise at this time, and pulls the right roll bar 340 upward, and pushes the left roll bar 340 downward at the same time, so that the left and right roll bars 340 form a low and high misalignment on the vertical plane. At this time, the roll bar 340 will drive the two front rocker arms 350 to also form a low and high position relationship, and drive the left and right active steering mechanisms to move downward and upward respectively, thereby achieving the purpose of moving the right wheel 400 upward relative to the left wheel 400, realizing the roll operation of the wheel 400, and the overall center of gravity of the vehicle body is to the right.

[0043] Similarly, when turning left, it is necessary to make the left wheel 400 higher than the right wheel 400, that is, it is necessary to lift the left wheel 400 and press down the right wheel 400; the specific operation is that the active roll actuator 310 rotates clockwise, and the active rocker arm 320 swings clockwise at this time, and pulls the left roll bar 340 upward, and pushes the right roll bar 340 downward at the same time, so that the right and left roll bars 340 form a low and high misalignment on the vertical plane. At this time, the roll bar 340 will drive the two front rocker arms 350 to also form a low and high position relationship, and drive the right and left active steering mechanisms to move downward and upward respectively, thereby achieving the purpose of moving the left wheel 400 upward relative to the right wheel 400, realizing the roll operation of the wheel 400, and the overall center of gravity of the vehicle body is to the left.

[0044] In this embodiment, the two groups of roll bars 340 and the two groups of front rocker arms 350 can be understood as two roll bars 340 and two front rocker arms 350 .

[0045] Specifically, the connection point between the active roll mechanism and the active steering mechanism is at the front end of the front rocker arm 350 .

[0046] In this embodiment, the rear end of the front rocker arm 350 is connected to the roll bar 340, and the front end of the front rocker arm 350 is connected to a fixing plate for fixing the active steering actuator 210. The active steering actuator 210 is arranged on a vertical side of the front rocker arm 350. The front rocker arm 350 is provided with a through hole corresponding to the active steering actuator 210, and a steering shaft 220 is installed in the through hole through a bearing. One end of the steering shaft 220 is connected to the output shaft of the active steering actuator 210, and the other end of the steering shaft 220 is connected to the steering arm 230. The active steering actuator 210 can transmit power to the steering arm 230 through the steering shaft 220 and drive the steering arm 230 to rotate horizontally.

[0047] In one embodiment, the active steering actuator 210 is disposed above the front rocker arm 350 , one end of the steering arm 230 is disposed below the front rocker arm 350 , and the steering shaft 220 connects the output shaft of the active steering actuator 210 and one end of the steering arm 230 .

[0048] In one embodiment, a roll rocker arm is disposed between the two groups of roll bars 340 , and the roll rocker arm is used to maintain the balance and stability of the two groups of roll bars 340 .

[0049] In this embodiment, by providing a roll rocker arm, it is prevented that the active rocker arm 320 is damaged due to excessive force when driving the roll bar 340, and the roll bar 340 is prevented from tilting, which causes the wheel 400 to tilt and affects the driving safety of the vehicle.

[0050] In one embodiment, the roll rocker arm includes a first rocker arm 361, a second rocker arm 362 and a third rocker arm 363, wherein the first rocker arm 361 is arranged in parallel with the active rocker arm 320, the first rocker arm 361 and the active rocker arm 320 are arranged on both sides of the frame connecting rod 100, respectively, the middle part of the first rocker arm 361 is connected to the middle part of the active rocker arm 320 through a second rotating shaft 364, the second rotating shaft 364 can be rotatably connected to the frame connecting rod 100, and the active rocker arm 320 drives the second rotating shaft 364 connected to the frame connecting rod 100 by rotating. The first rocker arm 361 rotates synchronously, the second rocker arm 362 and the third rocker arm 363 are correspondingly arranged in parallel on both sides of the frame connecting rod 100, the middle parts of the second rocker arm 362 and the third rocker arm 363 are connected by a third rotating shaft 365, and the third rotating shaft 365 is rotatably connected to the frame connecting rod 100, and both ends of the first rocker arm 361, the second rocker arm 362 and the third rocker arm 363 are respectively rotatably connected to the two groups of roll bars 340, and the second rocker arm 362 and the third rocker arm 363 rotate synchronously when the active rocker arm 320 rotates.

[0051] In this embodiment, by arranging the first rocker arm 361 on the opposite side of the active rocker arm 320 where the frame connecting rod 100 is located, the movement of the first rocker arm 361 is synchronized with the active rocker arm 320, which is equivalent to thickening the active rocker arm 320, so that when the active rocker arm 320 makes the same movement, the force of the active rocker arm 320 on the roll bar 340 becomes smaller, thereby avoiding the damage of the active rocker arm 320; moreover, the second rocker arm 362 and the third rocker arm 363 are between the two roll bars 340, and the second rocker arm 362 and the third rocker arm 363 are synchronized with the active rocker arm 320 and the second rocker arm 362 and the third rocker arm 363 are parallel to the active rocker arm 320, and a stable quadrilateral structure is formed between the second rocker arm 362 (the third rocker arm 363), the roll bar 340 and the active rocker arm 320, which has a stabilizing effect on the active roll mechanism as a whole.

[0052] In one embodiment, the middle of the front rocker arm 350 is configured to be arc-shaped and is disposed on one side of the top of the wheel 400 along the outer contour of the wheel 400 .

[0053] In this embodiment, the front rocker arm 350 is configured to be in an arc shape corresponding to the outer contour of the wheel 400, thereby occupying less space.

[0054] In one embodiment, one end of each of the front rocker arms 350 can be rotatably connected to the corresponding roll bar 340, and a shock absorber 372 is arranged between each of the roll bar 340 and the corresponding front rocker arm 350, and the two ends of the shock absorber 372 can be rotatably connected to the roll bar 340 and the front rocker arm 350 through a fourth rotating shaft 373.

[0055] In this embodiment, the connection between the front rocker arm 350 and the roll bar 340 is set to be rotatable, and the relative position between the front rocker arm 350 and the roll bar 340 is maintained by the shock absorber 372, while the discomfort felt by the occupants of the vehicle due to the vibration of the vehicle during movement is reduced.

[0056] In one embodiment, an opening is provided at one end of the front rocker arm 350 connected to the roll bar 340 , the size and shape of the opening correspond to the roll bar 340 , a fifth rotating shaft 371 is provided between the two sides of the opening, and the fifth rotating shaft 371 passes through and is rotatably connected to the roll bar 340 .

[0057] In this embodiment, the contact area of ​​the connection between the front rocker arm 350 and the roll bar 340 is increased to increase the stability between the front rocker arm 350 and the roll bar 340. In addition, the front rocker arm 350 serves as a connecting piece for the active steering mechanism, thereby preventing the contact point between the front rocker arm 350 and the roll bar 340 from being damaged due to excessive force.

[0058] In one embodiment, the top of the steering arm 230 is connected to the steering shaft 220 , the bottom of the steering arm 230 extends downward in a stepped manner, and the bottom of the steering arm 230 is rotatably connected to the wheel 400 near the side of the wheel 400 .

[0059] In this embodiment, by setting the lower half of the steering arm 230 to be stepped, a brake pad can be set between the lower half of the steering arm 230 and the wheel 400. The height of the brake pad corresponds to the height of the step. The steering arm 230 is set to fit the brake pad and the wheel 400, occupying less space.

[0060] See also Figure 3 , an unmanned three-wheeled vehicle, comprising the above-mentioned active steering roll device, and also comprising a body frame, a laser radar, a binocular camera, a roll steering motor controller, a hub motor, a hub motor controller, a gyroscope, a navigation system, a DBS hydraulic brake, a DBS controller and a power module.

[0061] The laser radar is installed on the body frame to sense the obstacle information ahead; a plurality of binocular cameras are arranged and installed around the body frame, and the binocular cameras are used to detect the image information around the body; the roll steering motor controller is arranged in the body frame, and the roll steering motor controller is used to control the active steering and / or roll maneuvering of the active steering roll device; the hub motor is arranged in the body frame, and the hub motor is used to provide power for the tricycle; the hub motor controller is arranged in the body frame, and the hub motor controller is used to control the hub motor; the gyroscope is arranged in the body frame, and the gyroscope is used to detect the roll angle of the body; the navigation system is arranged in the body frame, and the navigation system is used to realize autonomous navigation; the DBS hydraulic brake is arranged in the body frame, and the DBS hydraulic brake is used to provide brake pressure and wire control braking; the DBS controller is arranged in the body frame, and the DBS controller is used to control the DBS hydraulic brake; the power module is installed in the middle of the bottom of the body frame to provide electrical energy;

[0062] The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path;

[0063] The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active steering roll device, the wheel hub motor and the DBS hydraulic brake to work.

[0064] In this embodiment, this article does not specifically limit the positional relationship between the vehicle body frame, laser radar, binocular camera, roll steering motor controller, hub motor, hub motor controller, gyroscope, navigation system, DBS hydraulic brake, DBS controller and power module, and can be set according to actual conditions in specific production and life.

[0065] The industrial computer monitors external data information through the navigation system, lidar, binocular camera, and gyroscope, issues corresponding instructions based on information changes and preset processing strategies, and converts the instructions into corresponding specific instructions through the VCU and sends them to the corresponding roll steering motor controller, hub motor controller, and DBS controller connection. The active steering roll device, hub motor, and DBS hydraulic brake are driven respectively through the roll steering motor controller, hub motor controller, and DBS controller connection to achieve the purpose of unmanned driving.

[0066] Specifically, when the active steering roll device is controlled, the rotation coordination between the active roll actuator 310 and the active steering actuator 210 is mainly controlled. The specific principle can be referred to above.

[0067] Specifically, the VCU (Vehicle control unit) vehicle controller, as the central control unit of new energy vehicles, is the core of the entire control system.

[0068] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An active steering roll device, applied to an unmanned tricycle, the unmanned tricycle comprising: A vehicle body frame and two wheels (400), characterized in that the active steering and roll device comprises: A vehicle frame connecting rod (100) connected to the vehicle body frame; Active steering mechanisms, two groups of which are provided, the two groups of active steering mechanisms being respectively connected to the wheels (400), the active steering mechanisms being used to drive the wheels (400) to steer; An active roll mechanism, arranged on the vehicle frame connecting rod (100), the active roll mechanism being connected to the active steering mechanism, the active roll mechanism being used to drive the two groups of active steering mechanisms to roll, so as to achieve the purpose of rolling the wheel (400); Each of the active steering mechanisms comprises an active steering actuator (210), a steering shaft (220) and a steering arm (230); the output shaft of the active steering actuator (210) is rotatably connected to the steering arm (230) via the steering shaft (220); the steering arm (230) is arranged on one side of the wheel (400) and is rotatably connected to the wheel (400); the active steering actuator (210) drives the steering arm (230) to rotate through the rotation of the output shaft, thereby driving the wheel (400) to steer; The active roll mechanism comprises an active roll actuator (310), an active rocker arm (320), two groups of roll bars (340) and two groups of front rocker arms (350); the active roll actuator (310) is fixed to the frame connecting rod (100); the middle part of the active rocker arm (320) is fixed to the output shaft of the active roll actuator (310); a rotating shaft mounting portion is respectively provided on both sides of the middle part of the active rocker arm (320); the two groups of rotating shaft mounting portions are symmetrical with the middle part of the active rocker arm (320); each rotating shaft mounting portion is rotatably connected to a corresponding roll bar (340) via a first rotating shaft (330); one end of each front rocker arm (350) is connected to a corresponding roll bar (340); and the other end of each front rocker arm (350) is connected to a corresponding active steering mechanism; The rear end of the front rocker arm (350) is connected to the roll bar (340), and the front end of the front rocker arm (350) is connected to a fixing plate for fixing the active steering actuator (210). The active steering actuator (210) is arranged on one vertical side of the front rocker arm (350). The front rocker arm (350) is provided with a through hole corresponding to the active steering actuator (210), and the steering shaft (220) is installed in the through hole via a bearing. One end of the steering shaft (220) is connected to the output shaft of the active steering actuator (210), and the other end of the steering shaft (220) is connected to the steering arm (230). The active steering actuator (210) can transmit power to the steering arm (230) through the steering shaft (220) and drive the steering arm (230) to rotate horizontally. The active steering actuator (210) is arranged above the front rocker arm (350), one end of the steering arm (230) is arranged below the front rocker arm (350), and the steering shaft (220) connects the output shaft of the active steering actuator (210) and one end of the steering arm (230).

2. The active steering roll device according to claim 1, characterized in that: A roll rocker arm is arranged between the two groups of roll bars (340), and the roll rocker arm is used to maintain the balance and stability of the two groups of roll bars (340).

3. The active steering roll device according to claim 2, characterized in that: The roll rocker arm comprises a first rocker arm (361), a second rocker arm (362) and a third rocker arm (363); the first rocker arm (361) and the active rocker arm (320) are arranged in parallel with each other; the first rocker arm (361) and the active rocker arm (320) are arranged on both sides of the frame connecting rod (100) respectively; the middle part of the first rocker arm (361) is connected to the middle part of the active rocker arm (320) via a second rotating shaft (364); the second rotating shaft (364) is rotatably connected to the frame connecting rod (100); the active rocker arm (320) drives the first rocker arm (361) connected to the second rotating shaft (364) to rotate. The rocker arm (361) rotates synchronously, the second rocker arm (362) and the third rocker arm (363) are arranged in parallel on both sides of the frame connecting rod (100), the middle parts of the second rocker arm (362) and the third rocker arm (363) are connected by a third rotating shaft (365), and the third rotating shaft (365) is rotatably connected to the frame connecting rod (100), and both ends of the first rocker arm (361), the second rocker arm (362) and the third rocker arm (363) are rotatably connected to the two groups of roll bars (340), and the second rocker arm (362) and the third rocker arm (363) rotate synchronously when the active rocker arm (320) rotates.

4. The active steering roll device according to claim 1, characterized in that: The middle of the front rocker arm (350) is arranged in an arc shape, and is arranged on one side of the top of the wheel (400) along the outer contour of the wheel (400).

5. The active steering roll device according to claim 1, characterized in that: One end of each of the front rocker arms (350) is rotatably connected to a corresponding roll bar (340); a shock absorber (372) is provided between each of the roll bars (340) and the corresponding front rocker arm (350); and two ends of the shock absorber (372) are rotatably connected to the roll bar (340) and the front rocker arm (350) via a fourth rotating shaft (373).

6. The active steering roll device according to claim 5, characterized in that: An opening is provided at one end of the front rocker arm (350) connected to the roll bar (340), the size and shape of the opening corresponding to the roll bar (340), a fifth rotating shaft (371) is provided between two sides of the opening, and the fifth rotating shaft (371) passes through and is rotatably connected to the roll bar (340).

7. The active steering roll device according to claim 1, characterized in that: The top of the steering arm (230) is connected to the steering shaft (220), the bottom of the steering arm (230) extends downward in a stepped manner, and the bottom of the steering arm (230) is rotatably connected to the wheel (400) at a side close to the wheel (400).

8. An unmanned tricycle, characterized in that: The active steering roll device according to any one of claims 1 to 7 further comprises: A laser radar installed on the vehicle body frame to sense information about obstacles ahead; A plurality of binocular cameras are provided and installed around the vehicle body frame, and the binocular cameras are used to detect image information around the vehicle body; A roll steering motor controller is arranged in the vehicle body frame, and the roll steering motor controller is used to control the active steering and / or roll maneuvering of the active steering roll device; A wheel hub motor is arranged in the vehicle body frame, and the wheel hub motor is used to provide power for the tricycle; A wheel hub motor controller is arranged in the vehicle body frame, and the wheel hub motor controller is used to control the wheel hub motor; A gyroscope is arranged in the vehicle body frame, and the gyroscope is used to detect the roll angle of the vehicle body; A navigation system, arranged in the vehicle body frame, the navigation system being used to realize autonomous navigation; A DBS hydraulic brake, disposed in the vehicle body frame, the DBS hydraulic brake is used to provide brake pressure and brake-by-wire control; A DBS controller, disposed in the vehicle body frame, the DBS controller being used to control the DBS hydraulic brake; A power module, installed in the middle of the bottom of the vehicle body frame, for providing electrical energy; The navigation system, the laser radar, the binocular camera, and the gyroscope are respectively connected to an industrial computer arranged in the vehicle body frame, the navigation system sends a position signal to the industrial computer through a first signal path, the laser radar sends a distance signal between the vehicle body and the road obstacle to the industrial computer through a second signal path, the binocular camera sends a vehicle body side image signal to the industrial computer through a third signal path, and the gyroscope sends a vehicle body roll angle signal to the industrial computer through a fourth signal path; The industrial computer is connected to the VCU arranged in the vehicle body frame, and the VCU is connected to the roll steering motor controller, the wheel hub motor controller and the DBS controller. The industrial computer controls the roll steering motor controller, the wheel hub motor controller and the DBS controller through the VCU to respectively drive the active steering roll device, the wheel hub motor and the DBS hydraulic actuator to work.

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