Chassis structure and autonomous vehicles

Abstract

This application relates to the field of vehicle technology, providing a chassis structure and an autonomous vehicle. The chassis structure includes: two first wheels, respectively disposed on opposite sides of a support frame; two second wheels, respectively disposed on opposite sides of the support frame, with the second wheels spaced apart from the first wheels; and two monitors, respectively disposed on opposite sides of the support frame. Among the first wheels, second wheels, and monitors located on the same side of the support frame, the monitors are located on the side of the first wheels furthest from the second wheels. When the first and second wheels are aligned, the plane containing the outer surface of the first wheel is defined as a first plane, and the plane containing the outer surface of the second wheel is defined as a second plane. Of the first and second planes located on the same side of the support frame, the first plane is closer to the inner side of the support frame than the second plane. The chassis structure provided by this application can expand the monitoring angle of the monitors without increasing the width of the chassis structure.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a chassis structure and an unmanned vehicle. Background Technology

[0002] Among related technologies, there is a scheme to install monitors on autonomous vehicles to monitor the environment around the autonomous vehicles.

[0003] In the process of creating the technical solution of this application, the inventors discovered that when the monitor is installed on an autonomous vehicle, its monitoring range is limited. Therefore, multiple monitors need to be installed around the autonomous vehicle, resulting in high costs. Summary of the Invention

[0004] The purpose of this application is to provide a chassis structure and an unmanned vehicle to improve the technical problem of limited monitoring range of the monitor on the unmanned vehicle in the related art.

[0005] To achieve the above objectives, a first aspect of this application provides a chassis structure comprising: a support frame; two first wheels, each disposed on opposite sides of the support frame; two second wheels, each disposed on opposite sides of the support frame, with the second wheels spaced apart from the first wheels; and two monitors, each disposed on opposite sides of the support frame; wherein, among the first wheels, second wheels, and monitors located on the same side of the support frame, the monitors are located on the side of the first wheels furthest from the second wheels; wherein, when the first wheels and second wheels are aligned, the plane containing the outer surface of the first wheel is defined as a first plane, and the plane containing the outer surface of the second wheel is defined as a second plane; among the first plane and second plane located on the same side of the support frame, the first plane is closer to the inner side of the support frame than the second plane.

[0006] In one embodiment, the monitor is located on the same side of the support frame and in the second plane, with the monitor located on the side of the second plane closer to the inside of the support frame, or the monitor intersects with the second plane.

[0007] In one embodiment, the monitor is located on the same side of the support frame as the first plane, and the monitor intersects with the first plane.

[0008] In one embodiment, among the first wheel, the second wheel, and the monitor located on the same side of the support frame, the distance between the monitor and the first wheel is less than the distance between the first wheel and the second wheel along the length direction of the support frame.

[0009] In one embodiment, the monitor has a monitoring transmitter; among the monitoring transmitter, the first plane, and the second plane located on the same side of the support frame, the monitoring transmitter is located on the side of the second plane closer to the inner side of the support frame, or the monitoring transmitter intersects with the second plane, or the monitoring transmitter intersects with the first plane, or the monitoring transmitter is located on the side of the first plane closer to the inner side of the support frame.

[0010] In one embodiment, the first wheel is a front wheel, the second wheel is a rear wheel, and the monitor is located at the front end of the support frame.

[0011] In one embodiment, two first wheels are symmetrically arranged about a line of symmetry, and two second wheels are symmetrically arranged about the line of symmetry, wherein the line of symmetry is arranged along the length direction of the support frame.

[0012] In one embodiment, the chassis structure further includes a protective shell disposed at one end of the support frame, and the protective shell is located on the side of the first wheel away from the second wheel; the protective shell has two recesses, which are respectively located on opposite sides of the support frame, and two monitors are respectively disposed in the two recesses; each recess has a first opening and a second opening, located in the recess and the second wheel on the same side of the support frame, the first opening of the recess facing the second wheel, and the second opening of the recess facing outward away from the support frame; the inner bottom wall of the recess has a clearance portion, which is inclined or arc-shaped along the direction from the first opening to the second opening.

[0013] In one embodiment, of the first wheel and the second wheel located on the same side of the support frame, the thickness of the first wheel is less than the thickness of the second wheel, so that the first plane is closer to the inside of the support frame than the second plane.

[0014] In one embodiment, the chassis structure further includes: two suspensions mounted on the support frame; two first wheels respectively mounted on the two suspensions; and an integral rear axle mounted on the support frame; and two second wheels respectively mounted on opposite ends of the integral rear axle.

[0015] In one embodiment, the support frame includes a main frame, a first sinking frame connected to the main frame, and a second sinking frame connected to the main frame and the first sinking frame, wherein the first sinking frame is located between the first wheel and the second wheel, and the second sinking frame is located between the two first wheels.

[0016] In one embodiment, the suspension includes: a first brake, with the first wheel disposed on the first brake; a first shock absorber, one end of which is connected to the first brake and the other end of which is connected to the main frame; and a swing arm, one end of which is hinged to the first brake and the other end of which is hinged to the second undercarriage frame.

[0017] In one embodiment, the integral rear axle includes: a rear axle body, with two second wheels respectively disposed at opposite ends of the rear axle body; a second shock absorber, one end of which is connected to the rear axle body and the other end of which is connected to the main frame; a lateral tie rod, one end of which is connected to the rear axle body and the other end of which is connected to the main frame; and a longitudinal tie rod, one end of which is connected to the rear axle body and the other end of which is connected to the first sinker frame.

[0018] In one embodiment, the chassis structure further includes a steering mechanism connected to the first brakes of the two suspensions respectively.

[0019] In one embodiment, the rear axle body has a second brake, and the second wheel is connected to the second brake; the chassis structure also includes a braking mechanism that controls the first brake and the second brake.

[0020] A second aspect of this application provides an unmanned vehicle, the unmanned vehicle including the chassis structure described in any of the above embodiments.

[0021] The above-described technical solutions in the embodiments of this application have at least the following technical effects or advantages:

[0022] The chassis structure provided in this application embodiment includes a support frame, two first wheels, two second wheels, and two monitors respectively disposed on opposite sides of the support frame. The first and second wheels are spaced apart. Among the first wheels, second wheels, and monitors on the same side of the support frame, the monitors are located on the side of the first wheel furthest from the second wheel. When the first and second wheels are aligned, the plane containing the outer surface of the first wheel is defined as the first plane, and the plane containing the outer surface of the second wheel is defined as the second plane. Among the first and second planes on the same side of the support frame, the first plane is closer to the inner side of the support frame than the second plane. This facilitates the formation of clearance space on the outer side of the first wheel, allowing the first wheel to avoid the monitoring field of the monitor to a certain extent. The design reduces the likelihood of the first wheel obstructing the monitor's line of sight when monitoring the side where the second wheel is located. This allows the monitor to monitor both the side away from the first and second wheels and the side where the second wheel is located, expanding the monitor's field of view and thus improving monitoring reliability. It also reduces the number of monitors needed, lowering costs. Furthermore, since the first plane is closer to the inside of the support frame than the second plane, the monitor does not need to protrude beyond the autonomous vehicle to expand the monitoring field of view, or only needs to protrude a small portion. This allows for expanding the monitor's field of view without increasing the width of the chassis structure, while also reducing the risk of damage caused by the monitor's protrusion and harm to people or objects in the outside world. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the chassis structure provided in an embodiment of this application;

[0025] Figure 2 for Figure 1 One of the top-view structural diagrams of the chassis structure in the diagram;

[0026] Figure 3 for Figure 1 The second schematic diagram of the chassis structure from below;

[0027] Figure 4 A schematic diagram of the structure of the monitor and the protective shell provided in the embodiments of this application;

[0028] Figure 5One of the schematic diagrams of the chassis structure provided in the embodiments of this application after removing the protective shell;

[0029] Figure 6 A second schematic diagram of the chassis structure provided in this application embodiment after removing the protective shell;

[0030] Figure 7 This is an exploded structural diagram of the chassis structure provided in the embodiments of this application after the protective shell has been removed.

[0031] The following are the labeling elements in the figure:

[0032] 100. Chassis structure; 10. Support frame; 101. First side; 20. First wheel; 30. Second wheel; 40. Monitor; 201. First plane; 301. Second plane; 41. Monitoring transmitter; 102. Second side; 80. Protective shell; 81. Recess; 8101. First opening; 8102. Second opening; 811. Clearance part; 50. Suspension; 60. Integral rear axle; 11. Main frame; 12. First sinking frame; 13. Second sinking frame; 51. First brake; 52. First shock absorber; 53. Swing arm; 61. Rear axle main body; 62. Second shock absorber; 63. Tie rod; 64. Longitudinal tie rod; 611. Second brake. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0034] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "assembly," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] Among related technologies, there is a scheme to install monitors on autonomous vehicles to monitor the environment around the autonomous vehicles.

[0038] In the process of creating the technical solution of this application, the inventors discovered that when the monitor is installed on an autonomous vehicle, its monitoring range is limited. For example, when the monitor is installed at the front or rear of the autonomous vehicle, the monitor's line of sight is easily blocked by the structure of the autonomous vehicle itself, resulting in a smaller field of view and blind spots, which poses a safety hazard.

[0039] To solve the above problems, the inventors tried the following solutions:

[0040] (1) Setting up multiple monitors around the driverless vehicle expands the monitoring range by increasing the number of monitors, but this results in higher costs;

[0041] (2) Make the monitor protrude to the outside of the autonomous vehicle to reduce the obstruction of the monitoring line of the autonomous vehicle's own structure. However, this will increase the width of the autonomous vehicle, affecting its passage in narrower situations. Moreover, the protruding monitor is prone to damage and may cause harm to people or objects in the outside world.

[0042] Based on this, in order to improve the technical problem of limited monitoring range of the monitor on the autonomous vehicle in related technologies, the inventors proposed the following solution.

[0043] Please see Figures 1 to 3 This application provides a chassis structure 100 for use in autonomous vehicles; the chassis structure 100 includes a support frame 10, two first wheels 20, two second wheels 30, and two monitors 40, wherein:

[0044] The support frame 10 can be a frame structure of various shapes, which can be used to install the first wheel 20 and the second wheel 30.

[0045] Two first wheels 20 are respectively disposed on opposite sides of the support frame 10. The first wheels 20 can be wheels of various shapes and structures.

[0046] Two second wheels 30 are respectively disposed on opposite sides of the support frame 10, and the second wheels 30 are spaced apart from the first wheel 20. The second wheels 30 can be wheels of various shapes and structures.

[0047] Two monitors 40 are respectively disposed on opposite sides of the support frame 10, located among the first wheel 20, the second wheel 30, and the monitor 40 on the same side of the support frame 10. The monitor 40 is located on the side of the first wheel 20 away from the second wheel 30, that is, the first wheel 20 is located between the second wheel 30 and the monitor 40. It can be understood that the monitor 40 is a device used for monitoring or sensing the external environment, such as a sensor, radar, camera, etc., but not limited to these.

[0048] When the first wheel 20 and the second wheel 30 are aligned, the plane containing the outer side of the first wheel 20 is defined as the first plane 201, and the plane containing the outer side of the second wheel 30 is defined as the second plane 301. Among the first plane 201 and the second plane 301 located on the same side of the support frame 10, the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301, that is, the second plane 301 is closer to the outer side of the support frame 10 than the first plane 201; the first plane 201 and the second plane 301 are not coplanar.

[0049] It can be understood that when the first wheel 20 and the second wheel 30 are aligned, it refers to the state of the first wheel 20 and the second wheel 30 when the chassis structure 100 can move in a straight line (including forward and backward). The chassis structure 100 can be stationary or moving in a straight line. At this time, the first plane 201 and the second plane 301 are approximately parallel. Figures 1 to 3 The image shows the alignment of the first wheel 20 and the second wheel 30. The inner side of the support frame 10 can also be considered as the interior or middle of the support frame 10, which is a concept relative to the outer side or exterior of the support frame 10.

[0050] It should be understood that the outer surface of the first wheel 20 is the side of the first wheel 20 that is away from the support frame 10. When the outer surface of the first wheel 20 is flat, the first plane 201 is coplanar with the outer surface of the first wheel 20. When the outer surface of the first wheel 20 is curved, the first plane 201 is the plane on the outer surface of the first wheel 20 where the annular edge is furthest from the support frame 10. In this case, the first plane 201 can also be regarded as a tangent to the outer surface of the first wheel 20. Similarly, the outer surface of the second wheel 30 is the side of the second wheel 30 that is away from the support frame 10. When the outer surface of the second wheel 30 is flat, the second plane 301 is coplanar with the outer surface of the second wheel 30. When the outer surface of the second wheel 30 is curved, the second plane 301 is the plane on the outer surface of the second wheel 30 where the annular edge is furthest from the support frame 10. In this case, the second plane 301 can also be regarded as a tangent to the outer surface of the second wheel 30.

[0051] As can be seen from the above, the chassis structure 100 provided in this application embodiment includes a support frame 10, and two first wheels 20, two second wheels 30, and two monitors 40 respectively disposed on opposite sides of the support frame 10. The first wheels 20 and second wheels 30 are spaced apart. Among the first wheels 20, second wheels 30, and monitors 40 located on the same side of the support frame 10, the monitors 40 are located on the side of the first wheels 20 away from the second wheels 30. Furthermore, when the first wheels 20 and second wheels 30 are aligned, the plane containing the outer surface of the first wheel 20 is defined as the first plane 201, and the plane containing the outer surface of the second wheel 30 is defined as the first plane 201. The plane is the second plane 301. Between the first plane 201 and the second plane 301 located on the same side of the support frame 10, the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301. This facilitates the formation of a clearance space on the outer side of the first wheel 20, allowing the first wheel 20 to avoid the monitoring line of sight of the monitor 40 to a certain extent. This reduces the possibility that the first wheel 20 will obstruct the monitoring line of sight of the monitor 40 when monitoring the side where the second wheel 30 is located. This allows the monitor 40 to monitor both the side away from the first wheel 20 and the side where the second wheel 30 is located (e.g., ...). Figure 3As shown, the dashed line on the same side of the first wheel 20 and the second wheel 30 indicates the monitoring line of the monitor 40. This can expand the field of view that the monitor 40 can monitor, thereby improving the monitoring reliability and reducing the number of monitors used, thus reducing costs. Moreover, since the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301, the monitor 40 does not need to protrude outside the autonomous vehicle in order to expand the monitoring field of view, or only protrudes a small part. This allows the monitoring field of view of the monitor 40 to be expanded without increasing the width of the chassis structure 100. At the same time, it can reduce the possibility of damage to the monitor 40 caused by the outward protrusion of the monitor 40 and the possibility of causing harm to people or objects in the outside world.

[0052] It is understood that the first plane 201 and the second plane 301 can be roughly parallel. The greater the distance between the first plane 201 and the second plane 301, the less likely the first wheel 20 is to obstruct the view of the monitor 40. The distance between the first plane 201 and the second plane 301 can be adjusted according to parameters such as the distance between the first wheel 20 and the second wheel 30 and the relative positional relationship between the monitor 40 and the first wheel 20. There is no single limitation here.

[0053] For example, the support frame 10 has a first side 101 and a second side 102 opposite to each other; the first side 101 may be one side along the travel direction of the chassis structure 100, and the second side 102 may be the other side along the travel direction of the chassis structure 100; or, the first side 101 may be one side along the length direction of the chassis structure 100, and the second side 102 may be the other side along the length direction of the chassis structure 100. Two first wheels 20 may be respectively disposed on the first side 101 and the second side 102, two second wheels 30 may be respectively disposed on the first side 101 and the second side 102, and two monitors 40 may be respectively disposed on the first side 101 and the second side 102.

[0054] In one embodiment, see Figure 2 The monitor 40 is located on the same side of the support frame 10 and in the second plane 301. The monitor 40 is located on the side of the second plane 301 closer to the inner side of the support frame 10. The monitor 40 is closer to the inner side of the support frame 10 than the second plane 301. The monitor 40 may have a gap with the second plane 301 or be tangent to the second plane 301.

[0055] With this configuration, since the monitor 40 is located on the inner side of the second plane 301 near the support frame 10, the monitor 40 does not protrude from the outer side of the second plane 301. This makes the monitor 40 less susceptible to interference from external objects and less likely to increase the width of the chassis structure 100. This facilitates the passage of unmanned vehicles using the chassis structure 100 in narrow spaces and makes the appearance of the unmanned vehicle more regular and aesthetically pleasing.

[0056] Of course, in some other embodiments, the monitor 40 may intersect with the second plane 301, that is, the second plane 301 passes through the monitor 40, and the monitor 40 is located partly outside the second plane 301 and partly inside the second plane 301.

[0057] It should be noted that in some other embodiments, the monitor 40 located on the same side of the support frame 10 and the second plane 301 may also be located on the outside of the second plane 301.

[0058] In one embodiment, see Figure 2 The monitor 40 and the first plane 201 are located on the same side of the support frame 10. The monitor 40 intersects with the first plane 201, that is, the first plane 201 passes through the monitor 40. The monitor 40 is located partly outside the first plane 201 and partly inside the first plane 201.

[0059] With this configuration, since the monitor 40 intersects with the first plane 201, compared to the monitor 40 being located on the inner side of the first plane 201 closer to the support frame 10, the monitoring line of the monitor 40 is less likely to be blocked by the first wheel 20, and it is more conducive for the monitoring line of the monitor 40 to pass through the outer side of the first wheel 20 and extend to the outer side of the second wheel 30.

[0060] Of course, in some other embodiments, among the monitor 40 and the first plane 201 located on the same side of the support frame 10, the monitor 40 may also be located on the side of the first plane 201 away from the support frame 10. In some other embodiments, among the monitor 40 and the first plane 201 located on the same side of the support frame 10, the monitor 40 may also be located on the side of the first plane 201 closer to the inner side of the support frame 10.

[0061] In one embodiment, see Figure 2 The monitor 40 has a monitoring transmitter 41, which is the transmitter of the monitoring line of sight of the monitor 40, and also the monitoring working end of the monitor 40. The monitoring transmitter 41 is located on the same side of the support frame 10 and in the second plane 301, the monitoring transmitter 41 is located on the side of the second plane 301 closer to the inner side of the support frame 10.

[0062] This configuration not only facilitates the monitoring of one side of the second wheel 30 by the monitoring transmitter 41, but also prevents it from extending beyond the outer side of the second plane 301, making it less susceptible to external influences and less likely to increase the width of the chassis structure 100.

[0063] For example, when the monitor 40 is a lidar, the monitoring transmitter 41 is the laser transmitter of the lidar.

[0064] Alternatively, in one embodiment, please refer to Figure 2 The monitoring transmitter 41 and the first plane 201 are located on the same side of the support frame 10. The monitoring transmitter 41 can be located on the side of the first plane 201 closer to the inner side of the support frame 10.

[0065] This configuration not only does not affect the monitoring transmitter 41's monitoring of one side of the second wheel 30, but also further reduces the possibility of the monitoring transmitter 41 being affected by external objects, and is less likely to affect the width of the chassis structure 100.

[0066] Of course, in another embodiment, the monitoring transmitter 41 located on the same side of the support frame 10 and the first plane 201 can intersect with the first plane 201. This arrangement not only facilitates the monitoring transmitter 41 to monitor one side of the second wheel 30, but also does not extend outside the first plane 201, which can further reduce the possibility of being affected by external objects and further facilitate the chassis structure 100 to pass through narrow places.

[0067] Of course, in some other embodiments, the monitoring transmitter 41 located on the same side of the support frame 10 and the second plane 301 may also intersect with the second plane 301; such a setting also facilitates the monitoring transmitter 41 to monitor one side of the second wheel 30, and does not extend outside the second plane 301, is not easily affected by external objects, and does not easily increase the width of the chassis structure 100.

[0068] In one embodiment, see Figure 3 Among the first wheel 20, the second wheel 30, and the monitor 40 located on the same side of the support frame 10, the distance f between the monitor 40 and the first wheel 20 is smaller than the distance g between the first wheel 20 and the second wheel 30 along the length direction of the support frame 10. The length direction of the support frame 10 can be considered as the length direction of the chassis structure 100.

[0069] It should be specifically noted that the distance *f* between the monitor 40 and the first wheel 20 refers to the length of the gap between the monitor 40 and the first wheel 20, that is, the distance between the endpoint of the monitor 40 closest to the first wheel 20 and the endpoint of the first wheel 20 closest to the monitor 40. Similarly, the distance *g* between the first wheel 20 and the second wheel 30 refers to the length of the gap between the first wheel 20 and the second wheel 30, that is, the distance between the endpoint of the first wheel 20 closest to the second wheel 30 and the endpoint of the second wheel 30 closest to the first wheel 20.

[0070] This configuration allows for a larger gap between the first wheel 20 and the second wheel 30 to support the support frame 10 for stable movement, thus improving the stability of the chassis structure 100. Conversely, a smaller gap between the monitor 40 and the first wheel 20 reduces the protrusion length of the monitor 40, thereby reducing the need for structures supporting or mounting the monitor 40. This simplifies the structural complexity of the chassis structure 100, allowing the monitor 40 to be installed on the original chassis structure of the autonomous vehicle.

[0071] Optionally, please refer to Figure 3 Among the first wheel 20, the second wheel 30, and the monitor 40 located on the same side of the support frame 10, the distance f between the monitor 40 and the first wheel 20 along the length direction of the support frame 10 is much smaller than the distance g between the first wheel 20 and the second wheel 30. For example, the distance g between the first wheel 20 and the second wheel 30 can be 3 to 5 times the distance f between the monitor 40 and the first wheel 20, such as 3 times, 3.5 times, 4 times, 4.5 times, 5 times, etc.

[0072] Alternatively, in one embodiment, please refer to Figure 1 and Figure 2 The first wheel 20 is the front wheel, the second wheel 30 is the rear wheel, and the monitor 40 is located at the front end of the support frame 10.

[0073] With this configuration, the monitor 40 is located at the front end of the support frame 10 and can monitor the front of the chassis structure 100 in the direction of travel and the two sides of the chassis structure 100.

[0074] It should be noted that in some other embodiments, the first wheel 20 can be the rear wheel, the second wheel 30 can be the front wheel, and the monitor 40 can be located at the rear end of the support frame 10.

[0075] Alternatively, in one embodiment, please refer to Figure 3 The two first wheels 20 are symmetrically arranged about the symmetry line a, and the two second wheels 30 are symmetrically arranged about the symmetry line a, where the symmetry line a is arranged along the length of the support frame 10. It should be understood that the symmetry line a is not an actual existing line, but an assumed line for ease of description. The plane containing the symmetry line a is the symmetry plane, and the two first wheels 20 and the two second wheels 30 are respectively symmetrically arranged about the symmetry plane.

[0076] This configuration, with the two first wheels 20 and the two second wheels 30 symmetrically arranged about the same line of symmetry a, helps to improve the stability of the chassis structure 100, thereby improving the driving stability of the unmanned vehicle using the chassis structure 100.

[0077] It should be noted that in some other embodiments, the two second wheels 30 may not be symmetrical about the line of symmetry a.

[0078] Optionally, please refer to Figure 3 The two monitors 40 can be set symmetrically about the line of symmetry a.

[0079] Alternatively, in one embodiment, please refer to Figure 1 and Figure 4 The chassis structure 100 also includes a protective shell 80, which is disposed at one end of the support frame 10 and located on the side of the first wheel 20 away from the second wheel 30. The protective shell 80 has two recesses 81, located on opposite sides of the support frame 10, and two monitors 40 are respectively disposed in the two recesses 81. Each recess 81 has a first opening 8101 and a second opening 8102. The first opening 8101 faces the second wheel 30, and the second opening 8102 faces away from the support frame 10 and outwards. The inner bottom wall of the recess 81 has a clearance portion 811, which is inclined or arc-shaped along the direction from the first opening 8101 to the second opening 8102.

[0080] With this configuration, the recessed portion 81 provides installation space for the monitor 40, which is beneficial for protecting the monitor 40. Furthermore, the first opening 8101 allows the monitoring line of sight of the monitor 40 to pass through and extend to one side of the second wheel 30, and the second opening 8102 allows the monitoring line of sight of the monitor 40 to pass through and extend to the outside of one end of the support frame 10, making it less likely to obstruct the monitoring line of sight of the monitor 40. At the same time, since the avoidance portion 811 is inclined or arc-shaped along the direction from the first opening 8101 to the second opening 8102, it can avoid the line of sight of the monitor 40, which is beneficial for the monitor 40 to monitor the outside of one end of the support frame 10, and can expand the monitoring angle of the monitor 40.

[0081] It is understood that, among the first plane 201 and the second plane 301 located on the same side of the support frame 10, the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301, and this can be achieved in various ways.

[0082] Optionally, in one embodiment, in the first plane 201 and the second plane 301 located on the same side of the support frame 10, the first wheel 20 may be positioned closer to the inside of the support frame 10 than the second wheel 30, so that the first plane 201 is closer to the inside of the support frame 10 than the second plane 301.

[0083] Optionally, in one embodiment, in the first wheel 20 and the second wheel 30 located on the same side of the support frame 10, the thickness of the first wheel 20 is less than the thickness of the second wheel 30, so that the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301. In this case, the first wheel 20 does not need to be positioned closer to the inner side of the support frame 10 than the second wheel.

[0084] It should be noted that the first wheel 20 and the second wheel 30 can be installed on the support frame 10 using existing wheel mounting methods on various chassis or by modifying existing wheel mounting methods.

[0085] In one embodiment, see Figures 5 to 7 The chassis structure 100 also includes a suspension 50 and an integral rear axle 60; there are two suspensions 50, which are mounted on the support frame 10, and two first wheels 20 are mounted on the two suspensions 50 respectively. The integral rear axle 60 is mounted on the support frame 10, and two second wheels 30 are mounted on opposite ends of the integral rear axle 60 respectively.

[0086] With this configuration, since each of the two first wheels 20 is mounted on the support frame 10 via a suspension 50, it is not only easier to control the distance between the two first wheels 20, so that the first plane 201 is closer to the inner side of the support frame 10 than the second plane 301 on the same side of the support frame 10, but also the structure is more flexible. Furthermore, the two second wheels 30 are mounted on the same integral rear axle 60, which is simple in structure and has high structural stability, thus improving the stability and reliability of the chassis structure 100.

[0087] It is understandable that the suspension 50 can adopt various types of suspension 50, and the solid rear axle 60 can adopt various types of solid rear axles.

[0088] Alternatively, in one embodiment, please refer to Figures 5 to 7 The support frame 10 includes a main frame 11, a first sinking frame 12 connected to the main frame 11, and a second sinking frame 13 connected to the main frame 11 and the first sinking frame 12. The first sinking frame 12 is located between the first wheel 20 and the second wheel 30, and the second sinking frame 13 is located between the two first wheels 20.

[0089] With this configuration, the main frame 11 can serve as the supporting structure, while the first sunken frame 12 is located between the first wheel 20 and the second wheel 30, and the second sunken frame 13 is located between the two first wheels 20. The first sunken frame 12 and the second sunken frame 13 not only facilitate the connection of the suspension 50 or the integral rear axle 60 to improve the stability of the connection between the suspension 50 and the integral rear axle 60 and the support frame 10, but the first sunken frame 12 can also be used to house the battery pack, control box, etc., thus achieving a dual function through the same structure, which can improve the functional integration and structural compactness.

[0090] Optionally, please refer to Figures 5 to 7 The suspension 50 includes a first brake 51, a first shock absorber 52, and a swing arm 53; the first wheel 20 is mounted on the first brake 51; one end of the first shock absorber 52 is connected to the first brake 51, and the other end of the first shock absorber 52 is connected to the main frame 11; one end of the swing arm 53 is hinged to the first brake 51, and the other end of the swing arm 53 is hinged to the second lower frame 13.

[0091] With this configuration, the first brake 51 is used to brake the first wheel 20, the first shock absorber 52 provides support and damping, and the swing arm 53 can swing with the up and down movement of the first wheel 20, effectively improving the stability and reliability of the chassis structure 100. Furthermore, the swing arm 53 is hinged to the second lower frame 13, which is located between the two first wheels 20. This not only facilitates shortening the length of the swing arm 53 and the connection between the swing arm 53 and the support frame 10, but also, compared to being connected to the main frame 11, allows for a larger angle between the swing arm 53 and the first wheel 20, facilitating swing and thus improving the stability of the chassis structure 100.

[0092] Optionally, please refer to Figures 5 to 7 The integrated rear axle 60 includes a rear axle body 61, a second shock absorber 62, a transverse tie rod 63, and a longitudinal tie rod 64; two second wheels 30 are respectively disposed at opposite ends of the rear axle body 61; one end of the second shock absorber 62 is connected to the rear axle body 61, and the other end of the second shock absorber 62 is connected to the main frame 11; one end of the transverse tie rod 63 is connected to the rear axle body 61, and the other end of the transverse tie rod 63 is connected to the main frame 11; one end of the longitudinal tie rod 64 is connected to the rear axle body 61, and the other end of the longitudinal tie rod 64 is connected to the first sinking frame 12.

[0093] With this configuration, the rear axle body 61 forms the main body of the overall rear axle 60, facilitating the support of the second wheel 30 or driving its rotation. The second shock absorber 62 provides both support and damping. When the overall rear axle 60 bears load, the lateral tie rod 63 and longitudinal tie rod 64 can respectively withstand lateral and longitudinal forces, improving the stability of the chassis structure 100. Furthermore, the lateral tie rod 63, connected to the main frame 11, has a longer span compared to being connected to the first lower frame 12, making it better suited to withstand lateral forces. The longitudinal tie rod 64, connected to the first lower frame 12, not only facilitates the connection between the rear axle body 61 and the support frame 10 but also allows for a shorter length compared to being connected to the main frame 11, improving structural compactness and reliability, and reducing costs.

[0094] Optionally, the chassis structure 100 also includes a steering mechanism, which is connected to the first brakes 51 of the two suspensions 50 respectively, to facilitate control of the steering of the first wheels 20.

[0095] It is understood that various types of steering mechanisms can be used. Optionally, the steering mechanism can be an EPS system (Electric Power Steering), which may include an EPS assembly and an EPS controller. The EPS assembly is connected to the first brakes 51 of the two suspensions 50 respectively. The EPS assembly can be controlled by the EPS controller so that the EPS assembly controls the two first wheels 20 to steer.

[0096] Optionally, please refer to Figures 5 to 7 The rear axle body 61 has a second brake 611, and the second wheel 30 is connected to the second brake 611. Specifically, each of the opposite ends of the rear axle body 61 has a second brake 611, and the two second wheels 30 are respectively connected to the two second brakes 611. The chassis structure 100 also includes a braking mechanism that controls the first brake 51 and the second brake 611 to facilitate braking of the first brake 51 and the second brake 611, thereby braking the first wheel 20 and the second wheel 30.

[0097] It is understandable that various types of braking mechanisms can be used. Optionally, the braking mechanism can be an EHB braking system (Electric Hydraulic Brake), a brake-by-wire system that uses a hydraulic actuator to perform the braking operation. This overcomes the shortcomings of traditional braking system design and principles, providing maximum freedom in braking control and improving braking efficiency. The EHB braking system may include a brake reservoir and a hydraulic control line connected to the brake reservoir. The hydraulic control line can be connected to the first brake 51 and the second brake 611 to facilitate control of the first brake 51 and the second brake 611 via the hydraulic control line.

[0098] This application also provides an autonomous vehicle, which includes the chassis structure 100 of any of the above embodiments. The autonomous vehicle can be of various types, such as an electric vehicle, a hybrid vehicle, or a gasoline-powered vehicle.

[0099] Since the unmanned vehicle provided in this application adopts the chassis structure 100 described above, it also has the technical effects brought about by the technical solution of the chassis structure 100 of any of the above embodiments, which will not be repeated here.

[0100] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A chassis structure, characterized by, The chassis structure includes: Support frame; Two first wheels are respectively disposed on opposite sides of the support frame; Two second wheels are respectively disposed on opposite sides of the support frame, and the second wheels are spaced apart from the first wheels; and Two monitors are respectively disposed on opposite sides of the support frame; among the first wheel, the second wheel and the monitors located on the same side of the support frame, the monitors are located on the side of the first wheel away from the second wheel; When the first wheel and the second wheel are aligned, the plane containing the outer side of the first wheel is defined as the first plane, and the plane containing the outer side of the second wheel is defined as the second plane. Among the first plane and the second plane located on the same side of the support frame, the first plane is closer to the inner side of the support frame than the second plane, so that the first wheel avoids the detection line of the monitor. The monitor is located on the same side of the support frame and in the second plane, the monitor is located on the side of the second plane closer to the inner side of the support frame, or the monitor intersects with the second plane; and / or The monitor is located on the same side of the support frame and in the first plane, the monitor intersecting the first plane; and / or Among the first wheel, the second wheel, and the monitor located on the same side of the support frame, the distance between the monitor and the first wheel is smaller than the distance between the first wheel and the second wheel along the length direction of the support frame.

2. The chassis structure of claim 1, wherein: The monitor has a monitoring transmitter; the monitoring transmitter, the first plane, and the second plane are located on the same side of the support frame. The monitoring transmitter is located on the side of the second plane closer to the inner side of the support frame; or The monitoring transmitter intersects with the second plane; or The monitoring transmitter intersects with the first plane; or The monitoring transmitter is located on the inner side of the first plane near the support frame.

3. The chassis structure according to claim 1, characterized in that: The first wheel is the front wheel, the second wheel is the rear wheel, and the monitor is located at the front end of the support frame; and / or Two first wheels are symmetrically arranged about a line of symmetry, and two second wheels are symmetrically arranged about the same line of symmetry, wherein the line of symmetry is arranged along the length of the support frame.

4. The chassis structure according to claim 1, characterized in that: The chassis structure also includes a protective shell, which is disposed at one end of the support frame and located on the side of the first wheel away from the second wheel; The protective shell has two recesses, which are located on opposite sides of the support frame, and the two monitors are respectively disposed in the two recesses. The recess has a first opening and a second opening, located on the same side of the support frame in the recess and the second wheel. The first opening of the recess faces the second wheel, and the second opening of the recess faces away from the support frame and outward. The inner bottom wall of the recess has a clearance portion, which is inclined or arc-shaped along the direction from the first opening to the second opening.

5. The chassis structure according to claim 1, characterized in that: Of the first wheel and the second wheel located on the same side of the support frame, the thickness of the first wheel is less than the thickness of the second wheel, so that the first plane is closer to the inside of the support frame than the second plane.

6. The chassis structure according to any one of claims 1 to 5, characterized in that, The chassis structure also includes: Two suspensions are mounted on the support frame; two first wheels are respectively mounted on the two suspensions; and An integral rear axle is mounted on the support frame; two second wheels are respectively mounted on opposite ends of the integral rear axle.

7. The chassis structure according to claim 6, characterized in that: The support frame includes a main frame, a first sinking frame connected to the main frame, and a second sinking frame connected to the main frame and the first sinking frame. The first sinking frame is located between the first wheel and the second wheel, and the second sinking frame is located between the two first wheels. The suspension includes: A first brake, wherein the first wheel is mounted on the first brake; A first shock absorber, one end of which is connected to the first brake, and the other end of which is connected to the main frame; and A swing arm, one end of which is hinged to the first brake, and the other end of which is hinged to the second sinking frame; And / or, the integral rear axle includes: The rear axle body has two second wheels respectively disposed at opposite ends of the rear axle body; The second shock absorber has one end connected to the rear axle body and the other end connected to the main frame; A tie rod, one end of which is connected to the rear axle body, and the other end of which is connected to the main frame; and A longitudinal tie rod, one end of which is connected to the rear axle body, and the other end of which is connected to the first sinking frame.

8. The chassis structure according to claim 7, characterized in that: The chassis structure also includes a steering mechanism, which is respectively connected to the first brakes of the two suspensions; and / or The rear axle body has a second brake, and the second wheel is connected to the second brake; the chassis structure also includes a braking mechanism, which controls the first brake and the second brake.

9. An unmanned vehicle, characterized in that: The unmanned vehicle includes the chassis structure as described in any one of claims 1 to 8.

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