Vehicle and control method and control system thereof, vehicle controller, and storage medium

Abstract

The present invention discloses a vehicle and a control method and control system thereof, a vehicle controller, and a storage medium. The vehicle includes a frame, a drive axle assembly, a steering axle, and a hydraulic system. The drive axle assembly is arranged on the frame and includes a first rotating member and a second rotating member, the first rotating member is connected to the left front wheel, the second rotating member is connected to the right front wheel, and the drive axle assembly is used to drive the left front wheel and the right front wheel to rotate. The steering axle is arranged on the frame and is connected to both the left rear wheel and the right rear wheel, and the steering axle is used to drive the left rear wheel and the right rear wheel to turn relative to the frame. The hydraulic system is connected to the drive axle assembly and includes a steering execution unit, and the steering execution unit is used to provide power to the drive axle assembly to drive the left front wheel and the right front wheel to turn relative to the frame. The vehicle can achieve omnidirectional movement, thereby reducing the turning radius of the vehicle, so that the vehicle can still maintain normal operation in a smaller space, thereby improving the working efficiency of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and more specifically, to a vehicle and a control method and control system thereof, a vehicle controller, and a storage medium. Background Art

[0002] In the related art, a forklift is a vehicle that can load, unload, stack and transport goods. Existing forklifts are limited by their own conditions and have a large turning radius. When the forklift loads, unloads, stacks and transports goods in a small space, the forklift cannot achieve flexible steering, which affects the normal operation of the forklift and is not conducive to improving the working efficiency of the forklift. Summary of the invention

[0003] Embodiments of the present application provide a vehicle and a control method and control system thereof, a vehicle controller, and a storage medium.

[0004] The vehicle of the embodiment of the present application includes a frame, a drive axle assembly, a steering axle and a hydraulic system. The drive axle assembly is arranged on the frame, and the drive axle assembly includes a first rotating member and a second rotating member, the first rotating member is connected to the left front wheel, the second rotating member is connected to the right front wheel, and the drive axle assembly is used to drive the left front wheel and the right front wheel to rotate. The steering axle is arranged on the frame and is connected to both the left rear wheel and the right rear wheel, and the steering axle is used to drive the left rear wheel and the right rear wheel to turn relative to the frame. The hydraulic system is connected to the drive axle and includes a steering execution unit, and the steering execution unit is used to provide power to the drive axle to drive the left front wheel and the right front wheel to turn relative to the frame.

[0005] In some embodiments, the drive axle includes a bogie and a power member. The bogie is rotatably connected to the frame. The power member is disposed on the bogie and is used to drive the front wheels to rotate, and the power member is coaxially disposed with the front wheels.

[0006] In certain embodiments, the drive axle further includes a reduction gearbox, which is disposed on a side of the bogie opposite to the power member, and the power member is used to transmit the driving force of the power member to the wheels.

[0007] In some embodiments, the reduction box includes a mounting seat, a housing, a planetary reduction structure and a connecting shaft. The housing is disposed on the mounting seat and connected to the driving wheel. The planetary reduction structure includes a first planetary reduction mechanism. The connecting shaft is rotatably disposed on the mounting seat, and the first planetary reduction mechanism is in driving cooperation with the housing and the connecting shaft.

[0008] In certain embodiments, the planetary reduction structure further includes a second planetary reduction mechanism, the mounting seat is configured as a planet carrier of the second planetary reduction mechanism, and the second planetary reduction mechanism is in driving cooperation with the housing and the connecting shaft.

[0009] In some embodiments, in the axial direction of the connecting shaft, the housing includes a first sub-shell and a second sub-shell; the first planetary reduction mechanism includes a first ring gear, the first ring gear is connected to the inner wall of the first sub-shell, and the second planetary reduction mechanism includes a second ring gear, the second ring gear is connected between the first sub-shell and the second sub-shell, and the first sub-shell and the second sub-shell can rotate synchronously relative to the mounting seat.

[0010] In some embodiments, the first planetary reduction mechanism further includes a first rotating member, a first planetary gear and a first planet carrier, the first rotating member is connected to the connecting shaft and can rotate synchronously with the connecting shaft, the first planetary gear is rotatably arranged on the first planet carrier, and meshes with both the first ring gear and the first rotating member, and the first ring gear is the output end of the first planetary reduction mechanism. The second planetary reduction mechanism includes a second rotating member and a second planetary gear, the second rotating member is connected to the first planet carrier and can rotate synchronously with the first planet carrier, the second planetary gear is rotatably arranged on the mounting seat, and meshes with both the second ring gear and the second rotating member, and the second ring gear is the output end of the second planetary reduction mechanism.

[0011] In some embodiments, the first rotating member is a sun gear shaft, the second rotating member is a sun gear, and the first rotating member is sleeved on the sun gear and connected to the first planet carrier.

[0012] In some embodiments, the second sub-housing is connected to the driving wheel.

[0013] In some embodiments, a mounting cavity is provided on the mounting seat. The reduction gearbox further includes a brake, and the brake includes a friction plate assembly and a moving assembly. The friction plate assembly is disposed in the mounting cavity, and the friction plate assembly cooperates with the connecting shaft. The moving assembly is movably disposed in the mounting cavity, and can be switched between a first state and a second state. When the moving assembly is in the first state, the moving assembly presses the friction plate assembly, and the friction plate assembly restricts the rotation of the connecting shaft; when the moving assembly is in the second state, the moving assembly releases the friction plate assembly, and the friction plate assembly does not restrict the rotation of the connecting shaft.

[0014] In some embodiments, the moving component includes a moving part and an elastic part, one end of the elastic part is connected to the moving part, and the other end is connected to the mounting seat, and when the moving component is in the second state, the elastic part has an elastic force, and the elastic force is used to switch the moving component from the second state to the first state.

[0015] In some embodiments, the mounting seat is provided with a flow channel. The inner wall of the mounting cavity is provided with a fixing member, the fixing member is located between the moving member and the friction plate assembly, and together with the moving member forms a receiving space, the receiving space is communicated with the flow channel, and the flow channel is used for allowing the medium to flow out of or into the receiving space, so that the moving assembly can switch between the first state and the second state.

[0016] In some embodiments, the peripheral side wall of the movable member abuts against the inner wall of the installation cavity, and the peripheral side wall of the movable member is provided with a step surface, and the step surface and the fixed member together form the accommodating space.

[0017] The drive axle of the vehicle according to the embodiment of the present application includes the reduction gearbox described in any one of the above embodiments.

[0018] In some embodiments, the drive axle includes a bogie, the bogie is rotatably connected to a frame of the vehicle, and the mounting seat is disposed on the bogie.

[0019] In some embodiments, the drive axle also includes a power component, and the power component and the reduction gearbox are respectively arranged on opposite sides of the bogie, the output shaft of the power component passes through the bogie and is connected to the connecting shaft, and the power component, the reduction gearbox and the driving wheel are coaxially arranged.

[0020] In certain embodiments, the drive axle further includes a line assembly and a protective cover, wherein the line assembly is connected to the power component and / or the reduction gearbox, and the protective cover is disposed on the bogie and covers at least a portion of the line assembly.

[0021] In some embodiments, the power member includes one.

[0022] In some embodiments, the power members include at least two, and the at least two power members are coaxially arranged in series.

[0023] In certain embodiments, the drive axle further comprises a slewing bearing, the slewing bearing comprising a first sub-section and a second sub-section rotatably connected to each other, one of the first sub-section and the second sub-section being connected to the bogie, and the other being connected to the vehicle frame.

[0024] In some embodiments, the steering axle also includes a second slewing bearing, the second slewing bearing includes a first sub-section and a second sub-section that are rotatably connected, the first sub-section is connected to the bridge body, and the second sub-section is connected to the wheel frame; the drive axle also includes a steering detection structure, and the steering detection structure is used to detect the rotation angle of the bogie.

[0025] In some embodiments, the steering detection structure includes a first detection member and a second detection member, one of the first detection member and the second detection member is arranged in the first sub-section, and the other is arranged in the second sub-section, and the first detection member and the second detection member cooperate to detect the rotation angle of the bogie.

[0026] In some embodiments, the steering axle includes a bridge body connected to a frame of the vehicle, the bridge body includes a connecting member and bearing members respectively disposed at opposite ends of the connecting member, and the structural strength of the connecting member is greater than the structural strength of the bearing member.

[0027] In some embodiments, a cross-section of the connecting member cut by a first plane is larger than a cross-section of the supporting member cut by a second plane, wherein the first plane and the second plane are parallel, and both the first plane and the second plane are perpendicular to a direction from the supporting member to the connecting member.

[0028] In certain embodiments, a cross-section of the connecting member cut by a plane perpendicular to the forward direction of the vehicle is trapezoidal.

[0029] In some embodiments, the connecting member and the supporting member are an integral structure.

[0030] In some embodiments, the steering bridge further comprises a wheel frame and a driving assembly. The wheel frame is rotatably arranged on the bearing member. The driving assembly is arranged on the bridge body, and the driving assembly is used to drive the wheel frame to rotate relative to the bridge body.

[0031] In some embodiments, the wheel frame includes a first sub-component and a second sub-component connected to each other, the first sub-component is rotatably connected to the bridge body, and the second sub-component is provided with a wheel hub assembly. The wheel hub assembly includes a wheel axle and a connecting member, and the wheel axle is provided on the second sub-component. The connecting member is rotatably connected to the wheel axle.

[0032] In some embodiments, the angle between the first sub-element and the second sub-element is a right angle.

[0033] In certain embodiments, the steering axle further comprises a slewing bearing, wherein the slewing bearing comprises a first sub-portion and a second sub-portion rotatably connected to each other, wherein the first sub-portion is connected to the axle body, and the second sub-portion is connected to the wheel frame.

[0034] In certain embodiments, the steering axle further includes a detection component, and the detection component is used to detect the rotation of the wheel carrier relative to the bridge body.

[0035] In some embodiments, the detection assembly includes a first detection member and a second detection member, the first detection member is disposed on the first sub-part or the bridge body, and the second detection member is disposed on the second sub-part or the wheel frame, and the first detection member and the second detection member cooperate to detect the rotation of the wheel frame relative to the bridge body.

[0036] In some embodiments, the first detection member is an encoder, the second detection member is an encoder gear, the encoder is disposed on the bridge body, and the encoder gear is connected to the encoder and cooperates with the second sub-part in transmission.

[0037] In some embodiments, the driving assembly includes a driving component and a transmission component, wherein the driving component is disposed on the bridge body, the transmission component is connected to the output end of the driving component and is in transmission cooperation with the second sub-unit, and the transmission component is used to transmit the driving force of the driving component to the second sub-unit.

[0038] In certain embodiments, the steering axle further includes a protective member, which is disposed on the axle body or the wheel frame and covers at least a portion of the slewing bearing.

[0039] In certain embodiments, the steering axle further comprises a limit assembly, wherein the limit assembly is disposed on the bridge body and / or the wheel frame, and the limit assembly is used to limit the rotation angle or amplitude of the wheel frame relative to the bridge body.

[0040] In some embodiments, the limit assembly includes a first limit member and a second limit member, the first limit member is arranged at the first sub-portion of the slewing bearing of the bridge body or the steering bridge, and the second limit member is arranged at the wheel frame or the second sub-portion of the slewing bearing, and the first limit member and the second limit member cooperate to limit the rotation angle or amplitude of the wheel frame relative to the bridge body.

[0041] In some embodiments, the second limiting member has a limiting space, and when the wheel frame rotates within a preset range relative to the bridge body, the first limiting member moves in the limiting space; when the wheel frame rotates outside the preset range relative to the bridge body, the first limiting member interferes with the side wall of the limiting space in the rotation direction of the wheel frame.

[0042] In some embodiments, the second limiting member is provided with a groove, and the groove serves as the limiting space.

[0043] In some embodiments, the second limiting member includes two limiting protrusions, the two limiting protrusions are arranged at intervals along the rotation direction of the wheel frame, and the gap between the two limiting protrusions is the limiting space.

[0044] In some embodiments, a rotation range of the first limiting member in the limiting space is greater than the preset range.

[0045] In some embodiments, in the forward direction of the vehicle, the bridge body includes a first side and a second side opposite to each other; the steering bridge also includes a supporting shaft and a shock absorber, the supporting shaft is connected to the first side of the bridge body and / or the second side of the bridge body, the shock absorber is arranged on the supporting shaft and can be connected to the frame.

[0046] In certain embodiments, the cross-section of the support shaft is elliptical.

[0047] In certain embodiments, the hydraulic system includes an oil tank, an oil pumping mechanism, a multi-way valve and an actuator, the oil pumping mechanism is connected to the oil tank, the multi-way valve is arranged between the oil pumping mechanism and the actuator, the actuator includes a steering actuator unit, the steering actuator unit is used to provide power for wheel steering, and the multi-way valve is used to selectively open or close the oil circuit between the oil pumping mechanism and the steering actuator unit.

[0048] In certain embodiments, the hydraulic system further includes a locking member, wherein the locking member is disposed between the multi-way valve and the steering actuator unit, and the locking member is used to limit the movement of the steering actuator unit.

[0049] In some embodiments, the steering execution unit includes a first steering cylinder and a second steering cylinder, and the first steering cylinder and the second steering cylinder are arranged in parallel.

[0050] In certain embodiments, the first steering cylinder includes a first rodless chamber oil port and a first rod chamber oil port, the second steering cylinder includes a second rodless chamber oil port and a second rod chamber oil port, the first rodless chamber oil port and the second rodless chamber oil port are connected in parallel, and the first rod chamber oil port and the second rod chamber oil port are connected in parallel.

[0051] In some embodiments, the actuator also includes a lifting cylinder, a tilting cylinder and a side-shifting cylinder, and the multi-way valve is also used to selectively open or close the oil circuit between the oil pumping mechanism and at least one of the lifting cylinder, the tilting cylinder and the side-shifting cylinder.

[0052] In some embodiments, the tilt cylinder includes one, the multi-way valve includes a restriction member, and the restriction member is configured to restrict the movement of the tilt cylinder.

[0053] In some embodiments, the multi-way valve is a pressure-compensated load-sensitive electric proportional multi-way valve, an electromagnetic reversing multi-way valve, or a manual reversing multi-way valve.

[0054] In certain embodiments, the hydraulic system further includes a braking mechanism and a brake, wherein the braking mechanism is disposed between the oil pumping mechanism and the brake, and the braking mechanism is used to selectively open or close the oil circuit between the oil pumping mechanism and the brake.

[0055] In some embodiments, the braking mechanism includes a first brake valve and a second brake valve, the first brake valve is arranged between the oil pumping mechanism and the brake to close the oil circuit between the oil pumping mechanism and the brake when the first brake valve is started, and the second brake valve is arranged between the oil pumping mechanism and the brake to close the oil circuit between the oil pumping mechanism and the brake when the second brake valve is started.

[0056] In some embodiments, the first brake valve has a first position and a second position. When the first brake valve is activated, the first brake valve is in the first position, and when the first brake valve is not activated, the first brake valve is in the second position. The second brake valve has a first working position and a second working position. When the second brake valve is activated, the second brake valve is in the first working position, and when the second brake valve is not activated, the second brake valve is in the second working position.

[0057] In certain embodiments, the hydraulic system further includes an accumulator, which is disposed between the oil pumping mechanism and the brake mechanism, and is used to store the oil pumped by the oil pumping mechanism and deliver the oil to the brake mechanism.

[0058] In certain embodiments, the brake mechanism further comprises a manual pump connected between the brake and the oil tank, and the manual pump is used to pump the oil in the oil tank into the brake.

[0059] In some embodiments, the brake mechanism further includes a third brake valve, which is disposed between the first brake valve of the brake mechanism and the second brake valve of the brake mechanism, and is used to selectively open or close the oil circuit between the first brake valve and the second brake valve.

[0060] In some embodiments, the vehicle further comprises a cab and a rotating mechanism. The cab is arranged on the frame. The rotating mechanism is arranged on the frame and is used to drive the cab to rotate relative to the frame.

[0061] In certain embodiments, the vehicle further comprises a swivel joint, wherein the swivel joint is disposed between the cab and the frame, and the swivel joint is used to keep the brake pipeline and the circuit between the cab and the frame connected.

[0062] In certain embodiments, the swivel joint is used to connect the oil circuit between the oil pumping mechanism and the brake mechanism of the hydraulic system, the oil circuit between the brake mechanism and the brake of the hydraulic system, and the oil circuit between the brake mechanism and the oil tank.

[0063] In some embodiments, a shock absorber is provided between the cab and the frame, and the shock absorber is used to reduce vibration of the cab.

[0064] In the control method of a vehicle of an embodiment of the present application, the vehicle includes a frame and a left front wheel, a right front wheel, a left rear wheel and a right rear wheel connected to the frame; the control method includes: obtaining a driving mode of the vehicle, the vehicle having different driving postures under different driving modes; controlling the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode; and controlling the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel in response to a control instruction input by a user, so that the vehicle drives according to the driving posture under the driving mode.

[0065] In the control system of the vehicle in the embodiment of the present application, the vehicle includes a frame and a left front wheel, a right front wheel, a left rear wheel and a right rear wheel connected to the frame; the control system includes a vehicle controller, and the vehicle controller is used to: obtain a driving mode of the vehicle, the vehicle having different driving postures under different driving modes; control the directions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel relative to the frame according to the driving mode; and control the movement of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel in response to a control instruction input by a user, so that the vehicle travels according to the driving posture under the driving mode.

[0066] The vehicle controller of the embodiment of the present application includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle control method described in the above embodiment is implemented.

[0067] The control system of the vehicle according to the embodiment of the present application includes the vehicle controller described in the above embodiment.

[0068] The vehicle of the embodiment of the present application includes the control system of the vehicle described in the above embodiment; or, includes the whole vehicle controller described in the above embodiment.

[0069] The storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the vehicle control method described in the embodiment of the present application is implemented.

[0070] In the vehicle and its control method and control system, vehicle controller, and storage medium of the embodiment of the present application, the vehicle drives the left front wheel and the right front wheel to rotate through the drive axle assembly, drives the left rear wheel and the right rear wheel to steer through the steering axle, and drives the left front wheel and the right front wheel to steer through the steering execution unit, so that the vehicle can achieve omnidirectional movement, reduce the turning radius of the vehicle, so that the vehicle can still maintain normal operation in a smaller space, thereby improving the working efficiency of the vehicle. In addition, when the vehicle has four wheels, the vehicle's driving and steering are more stable.

[0071] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0073] Figure 1 is a schematic diagram of a three-dimensional structure of a vehicle according to certain embodiments of the present application;

[0074] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a partial structure in a vehicle shown;

[0075] Figure 3 yes Figure 1 A schematic structural diagram of another embodiment of a partial structure in a vehicle shown;

[0076] Figure 4 yes Figure 1 A three-dimensional structural diagram of a drive axle, a frame and a drive wheel in the vehicle shown;

[0077] Figure 5 yes Figure 4 A schematic cross-sectional view of the vehicle shown;

[0078] Figure 6 yes Figure 5 Enlarged schematic diagram of point VI in the middle.

[0079] Figure 7 yes Figure 1 A three-dimensional schematic diagram of a part of the structure of the vehicle shown;

[0080] Figure 8 yes Figure 7 A schematic diagram of a half-section structure of a steering axle in the vehicle shown;

[0081] Fig. 9 yes Figure 8 The enlarged schematic diagram of position IX in the middle;

[0082] Fig.10 yes Figure 8 The three-dimensional structural diagram of the bridge body in the steering bridge shown;

[0083] Fig.11 is a schematic diagram of a hydraulic system of certain embodiments of the present application;

[0084] Fig.12 yes Fig.11 A schematic diagram of a portion of the structure in the hydraulic system shown;

[0085] Fig.13 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0086] Fig.14 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0087] Fig.15 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0088] Fig.16 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0089] Fig.17 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0090] Fig.18 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0091] Fig.19 is a flow chart of a vehicle control method according to certain embodiments of the present application;

[0092] Fig. 20 It is a three-dimensional schematic diagram of a part of the structure of the vehicle;

[0093] Fig.21 It is a schematic diagram of a vehicle in a forward straight-ahead driving posture and a backward straight-ahead driving posture;

[0094] Fig. 22 It is a schematic diagram of a vehicle in a forward straight-ahead and left-turn driving posture, with the center of rotation being outside the projection range of the vehicle frame;

[0095] Fig.23 It is a schematic diagram of a vehicle in a forward straight-ahead and left-turn driving posture, with the rotation center located within the projection range of the vehicle frame;

[0096] Fig.24 It is a schematic diagram of a vehicle in a forward straight-ahead and right-turn driving posture, with the center of rotation being outside the projection range of the vehicle frame;

[0097] Fig.25 It is a schematic diagram of a vehicle in a forward straight-ahead and right-turn driving posture, with the center of rotation located within the projection range of the vehicle frame;

[0098] Fig.26 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0099] Fig. 27 is a top view schematic diagram of a vehicle in a lateral driving mode;

[0100] Fig.28 is a structural schematic diagram of a vehicle in a lateral driving mode;

[0101] Fig.29 is a structural schematic diagram of a vehicle in a swing driving mode;

[0102] Fig.30 is a structural schematic diagram of a vehicle in a swing driving mode;

[0103] Fig.31 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0104] Fig.32 is a three-dimensional schematic diagram of a vehicle in a straight-ahead driving mode;

[0105] Fig.33 is a three-dimensional schematic diagram of a vehicle in a lateral driving mode;

[0106] Fig.34 It is a schematic diagram of the structure of the computer storage medium of certain embodiments of the present application. DETAILED DESCRIPTION

[0107] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0108] In the description of the present application, it should be understood that the terms "center", "length", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0111] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0112] In the related art, a forklift is a vehicle that can load, unload, stack and transport goods. Existing forklifts are limited by their own conditions and have a large turning radius. When the forklift is loading, unloading, stacking and transporting goods in a small space, the forklift cannot achieve flexible steering, which will affect the normal operation of the forklift and is not conducive to improving the working efficiency of the forklift. In order to solve this problem, the embodiment of the present application provides a vehicle 5000 (such as Figure 1 As shown in FIG. 1 ), a vehicle control method, a vehicle control system 700 (as shown in FIG. 1 ), and a vehicle control method 700 (as shown in FIG. 1 ). Fig. 20 As shown), vehicle controller 701 (as shown Fig. 20 As shown) and storage medium 3000 (as shown Fig.34 as shown).

[0113] See also Figure 1 , Figure 2 and Figure 7 The vehicle 5000 of the embodiment of the present application includes a frame 2000, a drive axle assembly 1000, a steering axle 300 and a hydraulic system 500 ( Fig.11 ). The drive axle assembly 1000 is arranged on the vehicle frame 2000, and includes a first rotating member 1001 and a second rotating member 1003. The first rotating member 1001 is connected to the left front wheel 4100, and the second rotating member 1003 is connected to the right front wheel 4200. The drive axle assembly 1000 is used to drive the left front wheel 4100 and the right front wheel 4200 to rotate. The steering axle 300 is arranged on the vehicle frame 2000, and is connected to both the left rear wheel 5100 and the right rear wheel 5200. The steering axle 300 is used to drive the left rear wheel 5100 and the right rear wheel 5200 to turn relative to the vehicle frame 2000. The hydraulic system 500 is connected to the drive axle assembly 1000, and includes a steering execution unit 5041. The steering execution unit 5041 is used to provide power to the drive axle assembly 1000 to drive the left front wheel 4100 and the right front wheel 4200 to turn relative to the vehicle frame 2000.

[0114] Specifically, in some embodiments, the vehicle 5000 includes but is not limited to a forklift, a truck, a tractor-type semitrailer, a container transporter, and the like.

[0115] The driving wheels 4000 include a left front wheel 4100 and a right front wheel 4200, and the driving axle assembly 1000 can provide power to the driving wheels 4000 so that the driving wheels 4000 rotate relative to the vehicle frame 2000. Further, in some embodiments, the driving axle assembly 1000 is connected to both driving wheels 4000. It can be understood that when the driving axle assembly 1000 provides power to the driving wheels 4000 so that the driving wheels 4000 rotate relative to the vehicle frame 2000, the vehicle 5000 can move forward or backward.

[0116] Specifically, in some embodiments, the hydraulic system 500 may include a hydraulic cylinder, one end of which is disposed on the vehicle frame 2000, and the other end of which is disposed on the drive axle assembly 1000. When the hydraulic cylinder is in stable operation, the hydraulic cylinder can drive the drive axle assembly 1000 to turn relative to the vehicle frame 2000, and drive the drive wheel 4000 to turn relative to the vehicle frame 2000. In this case, the vehicle 5000 can achieve lateral movement or rotation. Figure 3, when the central axis of the driving wheel 4000 is perpendicular to the forward direction Z of the vehicle 5000, the hydraulic system 500 can drive the driving axle assembly 1000 to turn 90° relative to the frame 2000, and drive the driving wheel 4000 to turn 90° relative to the frame 2000. In this case, the central axis of the driving wheel 4000 is parallel to the forward direction Z of the vehicle 5000. When the driving axle assembly 1000 provides power to the driving wheel 4000 to rotate the driving wheel 4000 relative to the frame 2000, the vehicle 5000 can achieve lateral movement (including rightward and leftward movement). It can be understood that in other embodiments, the hydraulic system 500 can also be a driving motor, etc.

[0117] It should be noted that, in some embodiments, the hydraulic system 500 includes a first steering cylinder 50411 and a second steering cylinder 50413, one end of the first steering cylinder 50411 is disposed on the vehicle frame 2000, and the other end is disposed on the drive axle assembly 1000, and the first steering cylinder 50411 is used to drive the left front wheel 4100 to steer relative to the vehicle frame 2000. One end of the second steering cylinder 50413 is disposed on the vehicle frame 2000, and the other end is disposed on the drive axle assembly 1000, and the second steering cylinder 50413 is used to drive the right front wheel 4200 to steer relative to the vehicle frame 2000.

[0118] The rear wheels 5000 include a left rear wheel 5100 and a right rear wheel 5200. The steering axle 300 is connected to the rear wheels 5000 and can provide power to the rear wheels 5000 to turn the rear wheels 5000 relative to the frame 2000. When the steering axle 300 drives the rear wheels 5000 to turn relative to the frame 2000, the vehicle 5000 can achieve lateral movement (e.g., rightward movement and leftward movement) or rotation (e.g., rotation in place, etc.). Exemplarily, when the central axis of the rear wheels 5000 is perpendicular to the forward direction Z of the vehicle 5000, the steering axle 300 can drive the rear wheels 5000 to turn 90° relative to the frame 2000. In this case, the central axis of the rear wheels 5000 is parallel to the forward direction Z of the vehicle 5000, so that the vehicle 5000 can achieve lateral movement.

[0119] In the vehicle 5000 of the embodiment of the present application, the vehicle 5000 drives the left front wheel 4100 and the right front wheel 4200 to rotate through the drive axle assembly 1000, drives the left rear wheel 5100 and the right rear wheel 5200 to steer through the steering axle 300, and drives the left front wheel 4100 and the right front wheel 4200 to steer through the steering execution unit 5041, so that the omnidirectional movement of the vehicle 5000 can be achieved, and the turning radius of the vehicle 5000 can be reduced, so that the vehicle 5000 can still maintain normal operation in a smaller space, thereby improving the working efficiency of the vehicle 5000. In addition, when the vehicle 5000 has four wheels, the driving and steering of the vehicle 5000 are more stable.

[0120] The vehicle 5000 is further described below with reference to the accompanying drawings.

[0121] See also Figure 1 , Figure 2 and Figure 4 In some embodiments, the drive axle assembly 1000 includes a bogie 102 and a power member 103. The bogie 102 is rotatably connected to the vehicle frame 2000. The power member 103 is disposed on the bogie 102 and is used to drive the front wheels to rotate. The power member 103 is coaxially disposed with the front wheels. The bogie 102 is connected to the left front wheel 4100 and the right front wheel 4200. The power member 103 is used to drive the bogie 102 to rotate, so that the bogie 102 can drive the left front wheel 4100 and the right front wheel 4200 to rotate relative to the vehicle frame 2000.

[0122] Please combine Figure 5 In some embodiments, the drive axle assembly 1000 further includes a reduction gearbox 100, which is disposed on a side of the bogie 102 opposite to the power member 103, and the reduction gearbox 100 is used to transmit the driving force of the power member 103 to the front wheels.

[0123] See also Figure 5 and Figure 6 The reduction box 100 of the embodiment of the present application includes a mounting seat 10, a housing 20, a planetary reduction structure 30 and a connecting shaft 40. The housing 20 is arranged on the mounting seat 10 and is used to connect with the driving wheel 4000. The planetary reduction structure 30 includes a first planetary reduction mechanism 31 and a second planetary reduction mechanism 33, and the mounting seat 10 is configured as a planet carrier of the second planetary reduction mechanism 33. The connecting shaft 40 is rotatably arranged on the mounting seat 10, the first planetary reduction mechanism 31 is in transmission cooperation with the housing 20 and the connecting shaft 40, and the second planetary reduction mechanism 33 is in transmission cooperation with the housing 20 and the connecting shaft 40.

[0124] The material of the housing 20 may be a metal material or a non-metal material, wherein the metal material includes but is not limited to aluminum, iron, steel or aluminum alloy, and the non-metal material includes but is not limited to silicon carbide, etc. For example, the housing 20 may be made of a metal material, which can improve the structural strength of the housing 20, reduce the possibility of deformation and damage of the housing 20 during the operation of the reduction box 100, and improve the stability and reliability of the reduction box 100.

[0125] Further, in some embodiments, the housing 20 is provided with a connecting protrusion 17, which protrudes and extends from the outer wall of the housing 20 in a direction away from the center of the housing 20, and the connecting protrusion 17 can be connected to the driving wheel 4000, so that when the housing 20 rotates, the driving wheel 4000 can rotate synchronously with the housing 20. The connecting protrusion 17 and the driving wheel 4000 can be combined together in a detachable connection mode or a non-detachable connection mode. The detachable connection mode includes but is not limited to bolt connection or snap connection, and the non-detachable connection mode includes but is not limited to welding or bonding.

[0126] The first planetary reduction mechanism 31 is a structure for realizing power transmission and deceleration in the reduction box 100; correspondingly, the second planetary reduction mechanism 33 is a structure for realizing power transmission and deceleration in the reduction box 100. In some embodiments of the present application, the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33 are coaxially arranged, so that the stability of the operation of the planetary reduction structure 30 can be improved.

[0127] The connecting shaft 40 is a structure in the reduction box 100 for connecting with an external power device (such as the power member 103 hereinafter). In some embodiments of the present application, when the external power device drives the connecting shaft 40 to rotate, the connecting shaft 40 can drive the housing 20 to rotate relative to the mounting seat 10 through the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33. In this case, the housing 20 can drive the driving wheel 4000 to rotate.

[0128] In the reducer 100 of the embodiment of the present application, the first planetary reduction mechanism 31 is in transmission cooperation with the housing 20 and the connecting shaft 40, and the second planetary reduction mechanism 33 is in transmission cooperation with the housing 20 and the connecting shaft 40. In this way, the reducer 100 can obtain a larger reduction ratio through the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33. Compared with the reducer in the related art, the reducer 100 in the present embodiment can provide a reduction ratio that meets the working requirements of large-tonnage vehicles, improve the applicability of the reducer 100, and ensure that the vehicle 5000 can operate stably and reliably.

[0129] In addition, when the vehicle 5000 is a large-tonnage vehicle, the load-bearing requirements of the drive wheel 4000 are relatively high. At this time, the reduction box 100 will be subjected to relatively large pressure. If the mounting seat and the planetary frame of the second planetary reduction mechanism (hereinafter referred to as the second planetary frame) are two independent structures, the structural strength between the mounting seat and the second planetary frame is relatively low, and it is easy to cause problems such as breakage when subjected to relatively large pressure, which will affect the stability of the operation of the planetary reduction structure and is not conducive to the normal operation of the vehicle. In certain embodiments of the present application, the mounting seat 10 is constructed as a second planetary frame, that is, the mounting seat 10 can be used as a second planetary frame. In this way, compared with the mounting seat 10 and the second planetary frame being two independent structures, the mounting seat 10 has a higher structural strength and is not easy to cause problems such as breakage when subjected to relatively large pressure, thereby improving the stability of the operation of the planetary reduction structure 30 and ensuring the normal operation of the reduction box 100 and the vehicle 5000.

[0130] See also Figure 5 and Figure 6 In some embodiments, in the axial direction of the connecting shaft 40, the housing 20 includes a first sub-housing 21 and a second sub-housing 23. The first planetary reduction mechanism 31 includes a first gear ring 311, which is connected to the inner wall of the first sub-housing 21, and the second planetary reduction mechanism 33 includes a second gear ring 331, which is connected between the first sub-housing 21 and the second sub-housing 23. The first sub-housing 21 and the second sub-housing 23 can rotate synchronously relative to the mounting seat 10. The first sub-housing 21 and the second sub-housing 23 are split structures, which can facilitate the installation of the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33 in the housing 20, thereby improving the assembly efficiency of the reduction box 100.

[0131] Specifically, in some embodiments, the second gear ring 331 is connected between the first sub-shell 21 and the second sub-shell 23. Therefore, compared with the second gear ring 331 being arranged in the housing 20, on the one hand, the radial dimension of the housing 20 (the direction perpendicular to the axial direction of the connecting shaft 40) can be reduced to prevent the radial dimension of the housing 20 from being too large to cause the housing 20 to be unable to connect with the driving wheel 4000, thereby ensuring the normal assembly between the reduction gear box 100 and the driving wheel 4000; on the other hand, it can facilitate the coordinated installation of the second gear ring 331 and the second planetary gear 335 and other structures, and can also facilitate the installation and positioning of the second gear ring 331, thereby improving the assembly efficiency of the reduction gear box 100. It can be understood that the first gear ring 311 and the second gear ring 331 can rotate synchronously.

[0132] In some embodiments, the first gear ring 311 and the first sub-shell 21 are an integrally formed structure, that is, the first gear ring 311 and the first sub-shell 21 can be formed into a whole by an integrally formed manner, so that the stability of the connection between the first gear ring 311 and the first sub-shell 21 can be improved, and the first gear ring 311 can be prevented from falling off from the first sub-shell 21 during the operation of the reduction box 100, thereby ensuring the stability and reliability of the reduction box 100. In other embodiments, the first gear ring 311 and the first sub-shell 21 are split structures, that is, the first gear ring 311 and the first sub-shell 21 are two separate structures. The first gear ring 311 and the first sub-shell 21 can be combined together by a detachable connection method or a non-detachable connection method. Among them, the detachable connection method includes but is not limited to bolt connection, snap connection or bayonet connection, etc.; the non-detachable connection method includes but is not limited to bonding or welding, etc.

[0133] The second gear ring 331 and the first sub-shell 21 can be connected together in a detachable connection mode or a non-detachable connection mode. The detachable connection mode includes but is not limited to bolt connection, snap connection or bayonet connection, etc.; the non-detachable connection mode includes but is not limited to bonding or welding, etc.; accordingly, the second gear ring 331 and the second sub-shell 23 can be connected together in a detachable connection mode or a non-detachable connection mode. The detachable connection mode includes but is not limited to bolt connection, snap connection or bayonet connection, etc.; the non-detachable connection mode includes but is not limited to bonding or welding, etc.

[0134] Please continue reading Figure 5 and Figure 6 In some embodiments, the second sub-shell 23 is used to connect with the driving wheel 4000.

[0135] Specifically, in some embodiments, the connecting protrusion 17 is arranged on the outer wall of the second sub-shell 23, so that the force acting on the reduction box 100 will be more concentrated on the second sub-shell 23, and can be transmitted to the mounting seat 10 through the second ring gear 331, thereby preventing the first planetary reduction mechanism 31 from being damaged by a large force, thereby ensuring the normal operation of the planetary reduction structure 30.

[0136] Further, in some embodiments, the first planetary reduction mechanism 31 further includes a first rotating member 313, a first planetary gear 315 and a first planet carrier 317. The first rotating member 313 is connected to the connecting shaft 40 and can rotate synchronously with the connecting shaft 40. The first planetary gear 315 is rotatably disposed on the first planet carrier 317 and meshes with both the first ring gear 311 and the first rotating member 313. The first ring gear 311 is the output end of the first planetary reduction mechanism 31. The second planetary reduction mechanism 33 includes a second rotating member 333 and a second planetary gear 335. The second rotating member 333 is connected to the first planet carrier 317 and can rotate synchronously with the first planet carrier 317. The second planetary gear 335 is rotatably disposed on the mounting seat 10 and meshes with both the second ring gear 331 and the second rotating member 333. The second ring gear 331 is the output end of the second planetary reduction mechanism 33.

[0137] Specifically, in some embodiments, when the connecting shaft 40 rotates, the connecting shaft 40 can drive the first rotating member 313 to rotate synchronously. In this case, the first planetary gear 315 can rotate and revolve under the drive of the first rotating member 313 to drive the first ring gear 311 and the first planet carrier 317 to rotate; when the first planet carrier 317 rotates, the second rotating member 333 can rotate synchronously with the first planet carrier 317. In this case, the second planetary gear 335 can rotate under the drive of the second rotating member 333 to drive the second ring gear 331 to rotate. In this way, the first planetary reduction mechanism 31 can output torque to the housing 20 through the first ring gear 311, and the second planetary reduction mechanism 33 can output torque to the housing 20 through the second ring gear 331. It can be understood that the second rotating member 333 and the connecting shaft 40 rotate independently, that is, when the connecting shaft 40 rotates, the second rotating member 333 can rotate relative to the connecting shaft 40.

[0138] It can be understood that, from the above, when the first planetary carrier 317 rotates, the second rotating member 333 can rotate synchronously with the first planetary carrier 317, that is, the rotational output of the connecting shaft 40 is transmitted to the second planetary reduction mechanism 33 after being decelerated by the first planetary reduction mechanism 31, and after being decelerated by the second planetary reduction mechanism 33, it can output torque to the housing 20 through the second ring gear 331. Therefore, the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33 can jointly constitute a two-stage planetary reduction mechanism, so that a larger reduction ratio can be obtained, thereby improving the applicability of the reduction box 100.

[0139] It should be noted that, in some embodiments, the first rotating member 313 and the connecting shaft 40, as well as the second rotating member 333 and the first planetary carrier 317, can be connected together in a detachable manner, so that when a part of the structure is damaged, it is not necessary to replace the entire structure, thereby reducing the use cost of the reduction gearbox 100. The detachable connection method includes, but is not limited to, a key connection (including a spline connection or a flat key connection, etc.), a bolt connection, and a snap connection, etc.

[0140] In other embodiments, the first rotating member 313 and the connecting shaft 40, as well as the second rotating member 333 and the first planetary carrier 317, can be connected together in a non-detachable manner. This can improve the connection stability between the structures and prevent the separation of the structures during the operation of the reduction gearbox 100, thereby ensuring the stability and reliability of the reduction gearbox 100.

[0141] If the first rotating member 313 is a sun gear, and the first rotating member 313 is connected to the connecting shaft 40, then in order to ensure that the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33 have sufficient arrangement space, the connecting shaft 40 needs to be larger in the axial direction. However, the rigidity of the connecting shaft 40 with a larger size is lower, and it is easy to be damaged during the operation of the reduction box 100, affecting the normal operation of the reduction box 100. Figure 6 In certain embodiments of the present application, the first rotating member 313 is a sun gear shaft, the second rotating member 333 is a sun gear, the first rotating member 313 is sleeved on the sun gear and connected to the first planetary carrier 317, thereby ensuring that the first planetary reduction mechanism 31 and the second planetary reduction mechanism 33 have sufficient arrangement space while increasing the rigidity of the connecting shaft 40, preventing the connecting shaft 40 from being damaged during the operation of the reduction box 100, and ensuring the normal operation of the reduction box 100.

[0142] It should be noted that, in some embodiments, one end of the first rotating member 313 is connected to the connecting shaft 40, and the other end is rotatably connected to the housing 20. Specifically, in some embodiments, a bearing is provided on the housing 20, and the first rotating member 313 is rotatably connected to the housing 20 through the bearing, so that the stability of the rotation of the first rotating member 313 can be ensured, and the vibration of the first rotating member 313 during the rotation process can be avoided to cause noise and energy loss, thereby ensuring the stable operation of the reduction box 100.

[0143] See also Figure 1 , Figure 5 and Figure 6In some embodiments, the mounting seat 10 is provided with a mounting cavity 11. The reduction box 100 further includes a brake 50, and the brake 50 includes a friction plate assembly 51 and a moving assembly 53. The friction plate assembly 51 is disposed in the mounting cavity 11, and the friction plate assembly 51 cooperates with the connecting shaft 40. The moving assembly 53 is movably disposed in the mounting cavity 11, and can be switched between a first state and a second state. When the moving assembly 53 is in the first state, the moving assembly 53 presses the friction plate assembly 51, and the friction plate assembly 51 restricts the rotation of the connecting shaft 40; when the moving assembly 53 is in the second state, the moving assembly 53 releases the friction plate assembly 51, and the friction plate assembly 51 does not restrict the rotation of the connecting shaft 40.

[0144] Specifically, in some embodiments, the first state may be the state of the moving assembly 53 when the moving assembly 53 exerts pressure on the friction plate assembly 51. The second state may be the state of the moving assembly 53 when the moving assembly 53 does not exert pressure on the friction plate assembly 51. In the case where the moving assembly 53 is in the first state, the moving assembly 53 can press the friction plate assembly 51, so that the friction plate assembly 51 restricts the rotation of the connecting shaft 40, that is, the friction plate assembly 51 can hinder the rotation of the connecting shaft 40. In this case, the rotation speed of the driving wheel 4000 gradually decreases or the driving wheel 4000 stops rotating, and the vehicle 5000 is in a parking brake condition or a driving brake condition. In the case where the moving assembly 53 is in the second state, the moving assembly 53 can release the friction plate assembly 51, so that the friction plate assembly 51 does not restrict the rotation of the connecting shaft 40. In this case, the driving wheel 4000 can rotate normally, and the vehicle 5000 can be in a normal driving condition.

[0145] Furthermore, in some embodiments, the friction plate assembly 51 includes a first friction plate 511 and a second friction plate 513. In the axial direction of the connecting shaft 40, the second friction plate 513 is arranged between two adjacent first friction plates 511. The second friction plate 513 is connected to the connecting shaft 40 and can rotate synchronously with the connecting shaft 40.

[0146] It should be noted that, in some embodiments, the first friction plate 511 is spaced apart from the connecting shaft 40, and the first friction plate 511 is stationary relative to the mounting seat 10. The second friction plate 513 and the connecting shaft 40 can be connected together by key connection (including spline connection or flat key connection, etc.), bolt connection, snap connection, etc., so that the second friction plate 513 can rotate synchronously with the connecting shaft 40. In one example, the second friction plate 513 is provided with an internal spline, and the connecting shaft 40 is provided with an external spline, and the internal spline and the external spline cooperate, so that the second friction plate 513 can rotate synchronously with the connecting shaft 40.

[0147] Specifically, in some embodiments, the first friction plate 511 and the second friction plate 513 each include a plurality of first friction plates 511, the plurality of first friction plates 511 are arranged at intervals along the axial direction of the connecting shaft 40, and the plurality of second friction plates 513 are respectively arranged in the gap between two adjacent first friction plates 511. When the moving assembly 53 is in the first state, the gap between the two adjacent first friction plates 511 is reduced, so that the first friction plates 511 and the second friction plates 513 are in contact and generate friction, which can limit the rotation of the connecting shaft 40; when the moving assembly 53 is switched from the first state to the second state, the gap between the two adjacent first friction plates 511 is restored to the initial state, and at this time, no friction is generated between the first friction plates 511 and the second friction plates 513, so that the friction plate assembly 51 does not limit the rotation of the connecting shaft 40.

[0148] Furthermore, in some embodiments, the friction plate assembly 51 further includes a mounting rod 515, which is disposed in the mounting cavity 11 and connected to the first friction plate 511. The mounting rod 515 can realize the installation and positioning of the first friction plate 511 on the one hand; on the other hand, it can also limit the movement of the first friction plate 511 when the friction plate assembly 51 is compressed, that is, it ensures that the first friction plate 511 can only move along the moving direction of the moving assembly 53 to reduce the gap between the two adjacent first friction plates 511. In addition, the friction plate assembly 51 further includes an elastic element 517, which generates an elastic force when the moving assembly 53 is in the first state; when the moving assembly 53 is in the second state, the elastic force can drive the gap between the two adjacent first friction plates 511 to return to the initial state.

[0149] In some embodiments, the moving assembly 53 includes a moving member 531 and an elastic member 533, one end of the elastic member 533 is connected to the moving member 531, and the other end is connected to the mounting base 10. When the moving assembly 53 is in the second state, the elastic member 533 has an elastic force, and the elastic force is used to switch the moving assembly 53 from the second state to the first state. It should be noted that in some embodiments, the elastic member 533 may include but is not limited to a tension spring, a compression spring or a retaining spring.

[0150] Exemplarily, in the case where the elastic member 533 is a compression spring, when the moving component 53 is in the first state, the elastic member 533 may be in a natural state; when the moving component 53 is in the second state, the elastic member 533 is in a compressed state, and can generate an elastic force, which can allow the moving component 53 to switch from the second state to the first state; or, in the case where the elastic member 533 is a compression spring, when the moving component 53 is in the first state, the elastic member 533 may be in a first compressed state; when the moving component 53 is in the second state, the elastic member 533 is in a second compressed state, and can generate an elastic force, which can allow the moving component 53 to switch from the second state to the first state, wherein the amount of compression of the elastic member 533 when it is in the first compressed state is less than the amount of compression of the elastic member 533 when it is in the second compressed state.

[0151] In some embodiments, the mounting seat 10 is provided with a flow channel 13. A fixing member 15 is provided on the inner wall of the mounting cavity 11, and the fixing member 15 is located between the moving member 531 and the friction plate assembly 51, and together with the moving member 531, forms a receiving space 101, and the receiving space 101 is communicated with the flow channel 13, and the flow channel 13 is used for the medium to flow out of or into the receiving space 101, so that the moving assembly 53 switches between the first state and the second state.

[0152] Specifically, in some embodiments, the peripheral side wall of the moving member 531 is in conflict with the inner wall of the installation cavity 11, and the peripheral side wall of the moving member 531 is provided with a step surface 5313, and the step surface 5313 and the fixing member 15 together form the accommodating space 101, that is, the gap between the step surface 5313 and the fixing member 15 forms the accommodating space 101, and the fixing member 15 is in conflict with the peripheral side wall of the moving member 531. When the medium flows into the flow channel 13 and flows into the accommodating space 101 under the guidance of the flow channel 13, the medium can generate a force on the moving member 531, so that the moving assembly 53 is switched from the first state to the second state, in which case the vehicle 5000 can be in a normal driving condition; when the medium flows out of the accommodating space 101 through the flow channel 13, the force generated by the medium on the moving member 531 disappears, and the elastic force of the elastic member 533 can switch the moving assembly 53 from the second state to the first state, in which case the vehicle 5000 is in a driving brake condition or a parking brake condition. It should be noted that, in some embodiments, the medium may be hydraulic oil or the like.

[0153] More specifically, in some embodiments, a first seal is provided between the moving member 531 and the inner wall of the installation cavity 11, and the first seal is used to seal the gap between the peripheral side wall of the moving member 531 and the inner wall of the installation cavity 11, to prevent the medium in the accommodation space 101 from leaking out of the accommodation space 101 through the gap between the peripheral side wall of the moving member 531 and the inner wall of the installation cavity 11, thereby ensuring the working stability of the brake 50. The material of the first seal includes but is not limited to silicone, polyurethane, rubber or plastic.

[0154] A second seal is provided between the fixing member 15 and the inner wall of the installation cavity 11, and the second seal is used to seal the gap between the fixing member 15 and the inner wall of the installation cavity 11, to prevent the medium in the accommodation space 101 from leaking out of the accommodation space 101 through the gap between the fixing member 15 and the inner wall of the installation cavity 11, thereby ensuring the working stability of the brake 50. The material of the second seal includes but is not limited to silicone, polyurethane, rubber or plastic.

[0155] A third sealing member is provided between the fixed member 15 and the peripheral side wall of the movable member 531, and the third sealing member is used to seal the gap between the fixed member 15 and the peripheral side wall of the movable member 531, and prevent the medium in the accommodation space 101 from leaking out of the accommodation space 101 through the gap between the fixed member 15 and the peripheral side wall of the movable member 531, thereby ensuring the working stability of the brake 50. The material of the third sealing member includes but is not limited to silicone, polyurethane, rubber or plastic.

[0156] In some embodiments, the extension direction of the flow channel 13 intersects with the axial direction of the connecting shaft 40. In one example, the extension direction of the flow channel 13 is perpendicular to the axial direction of the connecting shaft 40. In another example, as long as the extension direction of the flow channel 13 intersects with the axial direction of the connecting shaft 40, the angle between the two can be any angle between (0°, 180°), for example, the angle between the two can be 15°, 30°, 45°, 60°, 75°, 100°, 115°, 120°, or 135°, etc. In this way, the flow channel 13 can enhance the flow guiding effect on the medium, facilitate the medium to flow into or out of the accommodation space 101, and ensure the normal operation of the brake 50.

[0157] It is understood that, in certain embodiments, when the vehicle 5000 is in a normal driving condition, the medium in the accommodating space 101 can maintain pressure on the mobile component 53, so that the mobile component 53 is always in the second state to achieve normal driving of the vehicle 5000. When the vehicle 5000 is in a parking brake condition, there is no medium in the accommodating space 101, or the force exerted by the medium in the accommodating space 101 on the mobile component 53 is less than the elastic force of the elastic member 533, so that the mobile component 53 can be in the first state to achieve parking brake. When the vehicle 5000 is in a service brake condition, the pressure of the medium in the accommodating space 101 on the mobile component 53 is reduced, so that the mobile component 53 is switched from the second state to the first state to achieve service brake.

[0158] See also Figure 2 , Figure 4 and Figure 6 In some embodiments, the drive axle assembly 1000 includes a bogie 102, the bogie 102 is rotatably connected to the frame 2000 of the vehicle 5000, and the mounting seat 10 is disposed on the bogie 102. Specifically, in some embodiments, the mounting seat 10 and the bogie 102 can be combined together in a detachable connection manner or a non-detachable connection manner. The detachable connection manner includes, but is not limited to, bolt connection or snap connection, and the non-detachable connection manner includes, but is not limited to, welding or bonding.

[0159] Furthermore, in some embodiments, a steering articulated seat 1021 is provided on the bogie 102, and the steering execution unit 5041 is connected to the steering articulated seat 1021. When the steering execution unit 5041 operates stably, the steering execution unit 5041 can apply a force to the drive axle assembly 1000 through the steering articulated seat 1021 to drive the drive axle assembly 1000 to turn relative to the frame 2000.

[0160] In some embodiments, the drive axle assembly 1000 further includes a power member 103, the power member 103 and the reduction box 100 are respectively arranged on opposite sides of the bogie 102, the output shaft of the power member 103 passes through the bogie 102 and is connected to the connecting shaft 40, and the power member 103, the reduction box 100 and the driving wheel 4000 are coaxially arranged. It should be noted that in some embodiments, the power member 103 can be a disc drive motor, so that the length of the power member 103 is small, thereby reducing the influence of the length of the power member 103 on the turning radius of the drive axle assembly 1000.

[0161] Specifically, in some embodiments, the power component 103 and the reduction gearbox 100 are respectively arranged on opposite sides of the bogie 102. In this way, compared with the power component 103 and the reduction gearbox 100 being arranged on the same side of the bogie 102, the center of gravity of the power component 103, the reduction gearbox 100 and the bogie 102 is more centered, that is, the center of gravity of the power component 103, the reduction gearbox 100 and the bogie 102 is closer to the bogie 102, thereby ensuring the stability of the power component 103 and the reduction gearbox 100 installed on the bogie 102 and ensuring the normal operation of the drive axle assembly 1000. In addition, the power member 103, the reduction gearbox 100 and the driving wheel 4000 are coaxially arranged, that is, the central axis of the power member 103, the central axis of the reduction gearbox 100 and the central axis of the driving wheel 4000 coincide with each other. Thus, compared with the case where the central axis direction of the power member 103 intersects with the central axial direction of the driving wheel 4000 (for example, the two are perpendicular), the drive axle assembly 1000 occupies a smaller space, thereby facilitating the arrangement of the drive axle assembly 1000 in the vehicle 5000 and reducing the difficulty of the overall vehicle arrangement.

[0162] In some embodiments, the power member 103 includes one. In other embodiments, the power member 103 includes at least two, and at least two power members 103 are coaxially arranged in series. In this way, the drive axle assembly 1000 can generate a greater driving force for the drive wheel 4000, thereby improving the applicability of the drive axle assembly 1000.

[0163] See also Figure 1 , Figure 4 and Figure 5 In some embodiments, the drive axle assembly 1000 further includes a first slewing bearing 106 , which includes a first sub-section 1061 and a second sub-section 1063 rotatably connected to each other, one of the first sub-section 1061 and the second sub-section 1063 being connected to the bogie 102 , and the other being connected to the vehicle frame 2000 .

[0164] The first slewing bearing 106 is a bearing that can simultaneously withstand large axial and radial loads and overturning moments. One of the first sub-section 1061 and the second sub-section 1063 is the outer ring of the bearing, and the other is the inner ring of the bearing. In the embodiment of the present application, only the first sub-section 1061 is the outer ring of the bearing, the second sub-section 1063 is the inner ring of the bearing, and the first sub-section 1061 is connected to the frame 2000, and the second sub-section 1063 is connected to the bogie 102.

[0165] Specifically, in some embodiments, the first sub-section 1061 is connected to the vehicle frame 2000, and the second sub-section 1063 is connected to the bogie 102. When the hydraulic system 500 applies force to the bogie 102, the second sub-section 1063 can rotate relative to the first sub-section 1061, so that the drive axle assembly 1000 turns relative to the vehicle frame 2000.

[0166] Please combine Figure 5 In some embodiments, the drive axle assembly 1000 further includes a steering detection structure 107 , and the steering detection structure 107 is used to detect the rotation angle of the bogie 102 .

[0167] Specifically, in some embodiments, the vehicle 5000 may further include a controller, which can control the operation of the hydraulic system 500 so that the bogie 102 rotates to a target rotation angle relative to the frame 2000. After the steering detection structure 107 detects the angle (actual rotation angle) of rotation of the bogie 102, the controller can obtain the actual rotation angle detected by the steering detection structure 107, and adjust the target rotation angle according to the actual rotation angle and the target rotation angle. Exemplarily, when the actual rotation angle and the target rotation angle are the same, the target rotation angle remains unchanged; when the actual rotation angle and the target rotation angle are different, the controller can adjust the target rotation angle according to the difference between the actual rotation angle and the target rotation angle, and control the operation of the hydraulic system 500 so that the bogie 102 rotates to the adjusted target rotation angle relative to the frame 2000.

[0168] In some embodiments, the steering detection structure 107 includes a first detection member 1071 and a second detection member 1073, one of which is disposed on the first sub-portion 1061, and the other is disposed on the second sub-portion 1063, and the first detection member 1071 and the second detection member 1073 cooperate to detect the rotation angle of the bogie 102. In the embodiment of the present application, only the first detection member 1071 is disposed on the first sub-portion 1061, and the second detection member 1073 is disposed on the second sub-portion 1063 as an example for description.

[0169] Specifically, in some embodiments, the first detection member 1071 may be an angle sensor, the second detection member 1073 may be a rotating cylinder, and the second detection member 1073 is disposed on the second sub-section 1063 and can rotate synchronously with the second sub-section 1063. In this way, the angle sensor can detect the rotation angle of the bogie 102 through the rotating cylinder.

[0170] More specifically, in some embodiments, the first detection member 1071 is disposed on the first sub-portion 1061 through a first mounting plate, and the second detection member 1073 is disposed on the second sub-portion 1063 through a second mounting plate, and the center of the first detection member 1071 and the center of the second detection member 1073 both coincide with the central axis of the first slewing bearing 106. In this way, compared with the case where the center of the steering detection structure 107 does not coincide with the center of the first slewing bearing 106, the steering detection structure 107 in this embodiment has less influence on the slewing radius of the drive axle assembly 1000, thereby improving the stability of the drive axle assembly 1000.

[0171] In some embodiments, the drive axle assembly 1000 further includes a circuit assembly 104 and a protective cover 105 . The circuit assembly 104 is connected to the power component 103 and / or the reduction gearbox 100 . The protective cover 105 is disposed on the bogie 102 and covers at least a portion of the circuit assembly 104 .

[0172] Specifically, in some embodiments, the circuit assembly 104 includes but is not limited to a power line, a first pipeline and a second pipeline. Among them, the power line is used to transmit electrical energy to the power component 103 for the operation of the power component 103; the first pipeline is used to transmit cooling medium to cool the power component 103; the second pipeline is used to transmit medium for the operation of the brake 50. The provision of the protective cover 105 can reduce the possibility of the circuit assembly 104 being damaged by collision or friction with the external structure, thereby extending the service life of the circuit assembly 104 and ensuring the stability and reliability of the operation of the drive axle assembly 1000. It should be noted that, in some embodiments, the cooling medium includes but is not limited to water, coolant or cooling gas. Coolant includes but is not limited to ethylene glycol, propylene glycol, fluorinated liquid or synthetic oil; cooling gas includes but is not limited to ammonia or hydrogen.

[0173] In some embodiments, the protective cover 105 and the bogie 102 may be connected together in a detachable or non-detachable manner. The detachable connection manner includes, but is not limited to, bolt connection or snap connection, and the non-detachable connection manner includes, but is not limited to, welding or bonding.

[0174] See also Figure 1 and Figure 7 The steering bridge 300 of the vehicle of the embodiment of the present application includes a bridge body 301, a wheel frame 302 and a driving assembly 303. The bridge body 301 is connected to the frame 2000 of the vehicle 5000, and the bridge body 301 includes a connecting member 3011 and bearing members 3013 respectively arranged at opposite ends of the connecting member 3011, and the structural strength of the connecting member 3011 is greater than the structural strength of the bearing member 3013.

[0175] The bridge body 301 is a structure in the steering bridge 300 for connecting with the vehicle frame 2000. The bridge body 301 may be made of metal materials and non-metal materials, wherein the metal materials include but are not limited to aluminum, iron, steel or aluminum alloy, and the non-metal materials include but are not limited to silicon carbide. For example, the bridge body 301 may be made of metal materials, which can improve the structural strength of the bridge body 301, reduce the possibility of deformation and damage of the bridge body 301, and ensure the stability and reliability of the operation of the vehicle 5000.

[0176] Structural strength refers to the ability of a structure to resist damage by external forces. Among them, since the bearing member 3013 is arranged at opposite ends of the connecting member 3011, and the bearing member 3013 is provided with a wheel frame 302 connected to the rear wheel 5000 of the vehicle, when the bridge body 301 is subjected to external forces, the stress in the middle of the bridge body 301 is most concentrated. In certain embodiments of the present application, the structural strength of the connecting member 3011 is greater than the structural strength of the bearing member 3013, that is, the connecting member 3011 can withstand greater external forces than the bearing member 3013 without deformation or damage, which can reduce the possibility of deformation or damage of the bridge body 301 when subjected to force, and improve the applicability of the steering bridge 300.

[0177] In the steering axle 300 of the embodiment of the present application, the bridge body 301 includes a connecting member 3011 and supporting members 3013 respectively arranged at opposite ends of the connecting member 3011. The structural strength of the connecting member 3011 is greater than the structural strength of the supporting member 3013. In this way, the load-bearing capacity of the middle area of ​​the bridge body 301 is relatively strong, thereby reducing the possibility of deformation and damage of the bridge body 301 when the vehicle 5000 is a large-tonnage vehicle, thereby improving the applicability of the steering axle 300 and ensuring the stability and reliability of the operation of the vehicle 5000.

[0178] See also Figure 7 In some embodiments, the cross section of the connecting member 3011 cut by the first plane (hereinafter referred to as the first cross section) is larger than the cross section of the bearing member 3013 cut by the second plane (hereinafter referred to as the second cross section). The first plane and the second plane are parallel, and both the first plane and the second plane are perpendicular to the direction from the bearing member 3013 to the connecting member 3011.

[0179] Specifically, in some embodiments, the connecting member 3011 includes a first end and a second end opposite to each other, and two bearing members 3013 are respectively disposed at the first end of the connecting member 3011 and the second end of the connecting member 3011. The direction from the bearing member 3013 to the connecting member 3011 is: the direction from the first end of the connecting member 3011 to the second end of the connecting member 3011; or, the direction from the second end of the connecting member 3011 to the first end of the connecting member 3011.

[0180] Among them, the first cross-section is larger than the second cross-section. Therefore, when the bridge body 301 is subjected to force, the connecting member 3011 can disperse the stress to a wider area, thereby preventing stress concentration from causing deformation and damage to the connecting member 3011, and further making the structural strength of the connecting member 3011 greater than the structural strength of the supporting member 3013.

[0181] In some embodiments, in the Z direction of the vehicle 5000, the bridge body 301 includes a first side 3015 and a second side 3017 that are opposite to each other. Specifically, in one example, the first side 3015 of the bridge body 301 and the second side 3017 of the bridge body 301 are both planes, and the first side 3015 of the bridge body 301 and the second side 3017 of the bridge body 301 are parallel. In the height direction of the vehicle 5000, the size of the connecting member 3011 is larger than the size of the bearing member 3013, so that the first cross section can be larger than the second cross section. In another example, the bridge body 301 is roughly in the shape of a rectangular parallelepiped, and a first protrusion is provided on the first side 3015 of the bridge body 301, and the first protrusion protrudes and extends from the first side 3015 of the bridge body 301 in a direction away from the second side 3017 of the bridge body 301; a second protrusion is provided on the second side 3017 of the bridge body 301, and the second protrusion protrudes and extends from the second side 3017 of the bridge body 301 in a direction away from the first side 3015 of the bridge body 301, so that the first cross-section can also be larger than the second cross-section.

[0182] See also Figure 7 and Figure 8 In some embodiments, the cross-section of the connecting member 3011 cut by a plane perpendicular to the forward direction Z of the vehicle 5000 is a trapezoid. At this time, the cross-section of the supporting member 3013 cut by a plane perpendicular to the forward direction Z of the vehicle 5000 can be a square, and the size (area) of the square is smaller than the size (area) of the trapezoid. In this way, the bridge body 301 can form a trapezoidal wingspan structure, so that the structural strength of the connecting member 3011 is greater than the structural strength of the supporting member 3013.

[0183] It is understood that, in some embodiments, the material of the connecting member 3011 is the same as the material of the bearing member 3013. In other embodiments, the material of the connecting member 3011 is different from the material of the bearing member 3013. For example, the material strength of the connecting member 3011 is greater than the material strength of the bearing member 3013, so that the structural strength of the connecting member 3011 can also be greater than the structural strength of the bearing member 3013.

[0184] In some embodiments, the connecting member 3011 and the bearing member 3013 are an integral structure. Specifically, in some embodiments, the connecting member 3011 and the bearing member 3013 are integrally formed to form an integral structure (i.e., the bridge body 301), which can improve the overall structural strength of the bridge body 301, and is not prone to deformation and damage when subjected to force, thereby extending the service life of the steering axle 300 and ensuring the normal operation of the steering axle 300 and the vehicle 5000.

[0185] See also Figure 1 and Figure 7 In some embodiments, the wheel frame 302 is rotatably disposed on the bearing member 3013. The driving assembly 303 is disposed on the bridge body 301, and the driving assembly 303 is used to drive the wheel frame 302 to rotate relative to the bridge body 301.

[0186] The wheel carrier 302 is a structure in the steering axle 300 for connecting the bridge body 301 and the wheels. The wheel carrier 302 can rotate relative to the bridge body 301 when subjected to a force, and drive the wheels to rotate relative to the bridge body 301 to achieve wheel steering. In certain embodiments of the present application, the wheels may be the left rear wheel 5100 and the right rear wheel 5200 in the vehicle 5000. The quantity relationship between the wheel carrier 302 and the wheels is one-to-one, that is, one wheel carrier 302 corresponds to one wheel. For example, one wheel carrier 302 corresponds to one left rear wheel 5100; or, one wheel carrier 302 corresponds to one right rear wheel 5200.

[0187] The driving assembly 303 is a structure in the steering bridge 300 for providing power to the wheel frame 302 to drive the wheel frame 302 to rotate relative to the bridge body 301. In some embodiments of the present application, the driving assembly 303 includes two driving assemblies 303, both of which are arranged on the bridge body 301, and the two driving assemblies 303 correspond to two wheels respectively, that is, one driving assembly 303 corresponds to the left rear wheel 5100, and the other driving assembly 303 corresponds to the right rear wheel 5200.

[0188] Please continue reading Figure 7 and Figure 8 In some embodiments, the wheel frame 302 includes a first sub-component 3021 and a second sub-component 3023 connected to each other, the first sub-component 3021 is rotatably connected to the bridge body 301, and the second sub-component 3023 is provided with a hub assembly 304. The hub assembly 304 includes a wheel axle 3041 and a connecting member 3043, and the wheel axle 3041 is provided on the second sub-component 3023. The connecting member 3043 is rotatably connected to the wheel axle 3041.

[0189] Specifically, in some embodiments, the connecting member 3043 can be rotatably mounted on the wheel shaft 3041 through a bearing, and the connecting member 3043 can be connected to the rear wheel 5000. When the wheel frame 302 turns relative to the frame 2000, the hub assembly 304 can turn relative to the frame 2000 together with the wheel frame 302, so as to drive the rear wheel 5000 to turn relative to the frame 2000. It should be noted that, in some embodiments, the angle between the first sub-component 3021 and the second sub-component 3023 is a right angle. Therefore, when the wheel frame 302 is subjected to force, the force applied to the wheel frame 302 can be better dispersed, thereby preventing the stress from being too concentrated, improving the stability and load-bearing capacity of the wheel frame 302 structure, and further enabling the wheel frame 302 to carry a heavier rear wheel 5000 (such as a rim-type large-size load-bearing tire, etc.), thereby improving the applicability of the steering axle 300.

[0190] In some embodiments, the first sub-component 3021 and the second sub-component 3023 are an integral structure, that is, the first sub-component 3021 and the second sub-component 3023 can be combined together in an integral molding manner, thereby improving the structural strength of the wheel frame 302 and preventing the first sub-component 3021 and the second sub-component 3023 from separating during the rotation of the wheel frame 302, thereby ensuring the stability and reliability of the operation of the vehicle 5000. In other embodiments, the first sub-component 3021 and the second sub-component 3023 are separately arranged, that is, the first sub-component 3021 and the second sub-component 3023 are two different structures. The first sub-component 3021 and the second sub-component 3023 can be combined together in a detachable connection method or a non-detachable connection method. The detachable connection method includes, but is not limited to, bolt connection or snap connection, and the non-detachable connection method includes, but is not limited to, welding or bonding.

[0191] See also Figure 8 and Fig. 9 In some embodiments, the steering bridge 300 further includes a second slewing bearing 305 , which includes a first sub-section 3051 and a second sub-section 3053 rotatably connected to each other, wherein the first sub-section 3051 is connected to the bridge body 301 , and the second sub-section 3053 is connected to the wheel frame 302 .

[0192] The second slewing bearing 305 is a bearing that can simultaneously withstand large axial and radial loads and overturning moments. One of the first sub-section 3051 and the second sub-section 3053 is the outer ring of the bearing, and the other is the inner ring of the bearing. In the embodiment of the present application, only the first sub-section 3051 is the inner ring of the bearing, and the second sub-section 3053 is the outer ring of the bearing as an example for description.

[0193] In some embodiments, the steering bridge 300 further includes an oil supply member 309, which is disposed on the second slewing bearing 305 and is used to lubricate the second slewing bearing 305 to ensure the relative rotation of the first sub-section 3051 and the second sub-section 3053. It should be noted that in some embodiments, the oil supply member 309 can be a grease nozzle or the like.

[0194] Further, in some embodiments, the driving assembly 303 includes a driving component 3031 and a transmission component 3033, and the driving component 3031 is disposed on the bridge body 301. The transmission component 3033 is connected to the output end of the driving component 3031 and is in transmission cooperation with the second sub-part 3053, and the transmission component 3033 is used to transmit the driving force of the driving component 3031 to the second sub-part 3053. It should be noted that, in some embodiments, the transmission component 3033 may include but is not limited to a gear transmission component, a gear rack transmission component, and a chain transmission component.

[0195] Specifically, in some embodiments, when the driving component 3031 is operating stably, the driving force of the driving component 3031 can be transmitted to the second sub-component 3053 through the transmission component 3033 to drive the second sub-component 3053 to rotate relative to the first sub-component 3051. In this case, the wheel frame 302 can rotate with the second sub-component 3053 and drive the rear wheel 5000 to turn relative to the frame 2000.

[0196] More specifically, in some embodiments, the driving component 3031 includes a driving motor 30311 and a reducer 30313, the reducer 30313 is connected to the output end of the driving motor 30311 and the transmission component 3033, and the reducer 30313 can transmit the driving force output by the driving motor 30311 to the transmission component 3033. The transmission component 3033 includes a transmission member, which is connected to the output end of the reducer 30313 and cooperates with the second sub-section 3053, so that the transmission component 3033 can transmit the driving force of the driving component 3031 to the second sub-section 3053 to drive the second sub-section 3053 to rotate relative to the first sub-section 3051. It should be noted that, in one example, the transmission member can be a gear, and a gear ring or a sprocket is provided on the outer peripheral wall of the second sub-section 3053, so that the transmission member can mesh with the second sub-section 3053.

[0197] Please continue reading Figure 8 and Fig. 9 In some embodiments, the steering bridge 300 further includes a detection component 306, which is used to detect the rotation angle or amplitude of the wheel frame 302 relative to the bridge body 301. It should be noted that in some embodiments, the detection component 306 may include but is not limited to an electromagnetic detection component, a photoelectric detection component, and an ultrasonic detection component.

[0198] Specifically, in some embodiments, the vehicle 5000 may further include a controller, which can control the operation of the drive assembly 303 so that the wheel carrier 302 rotates to a target rotation angle relative to the frame 2000. After the detection assembly 306 detects the angle (actual rotation angle) of rotation of the wheel carrier 302, the controller can obtain the actual rotation angle detected by the detection assembly 306, and adjust the target rotation angle according to the actual rotation angle and the target rotation angle. Exemplarily, when the actual rotation angle and the target rotation angle are the same, the target rotation angle remains unchanged; when the actual rotation angle and the target rotation angle are different, the controller can adjust the target rotation angle according to the difference between the actual rotation angle and the target rotation angle, and control the operation of the drive assembly 303 so that the wheel carrier 302 rotates to the adjusted target rotation angle relative to the frame 2000.

[0199] In some embodiments, the detection component 306 includes a first detection member 3061 and a second detection member 3063. The first detection member 3061 is disposed on the first sub-portion 3051 or the bridge body 301, and the second detection member 3063 is disposed on the second sub-portion 3053 or the wheel frame 302. The first detection member 3061 and the second detection member 3063 cooperate to detect the rotation angle or amplitude of the wheel frame 302 relative to the bridge body 301.

[0200] Specifically, in one example, the first detection member 3061 is disposed on the first sub-portion 3051, and the second detection member 3063 is disposed on the second sub-portion 3053. In another example, the first detection member 3061 is disposed on the first sub-portion 3051, and the second detection member 3063 is disposed on the wheel frame 302. In yet another example, the first detection member 3061 is disposed on the bridge body 301, and the second detection member 3063 is disposed on the second sub-portion 3053. In one example, the first detection member 3061 is disposed on the bridge body 301, and the second detection member 3063 is disposed on the wheel frame 302. It can be understood that in the above examples, both the first detection member 3061 and the second detection member 3063 can cooperate to detect the rotation angle or amplitude of the wheel frame 302 relative to the bridge body 301. Among them, in the embodiments of the present application, only the first detection member 3061 is disposed on the bridge body 301, and the second detection member 3063 is disposed on the second sub-portion 3053 as an example for description.

[0201] In certain embodiments, when the detection component 306 is an electromagnetic detection component, one of the first detection component 3061 and the second detection component 3063 may be an electromagnetic sensor (such as a Hall sensor, etc.), and the other may be a component that can cooperate with the electromagnetic sensor (such as a Hall sensor, etc.); when the detection component 306 is a photoelectric detection component, one of the first detection component 3061 and the second detection component 3063 may be a photoelectric sensor (such as a laser sensor, etc.), and the other may be a component that can cooperate with the photoelectric sensor (such as a laser sensor, etc.); when the detection component 306 is an ultrasonic detection component, one of the first detection component 3061 and the second detection component 3063 may be an ultrasonic sensor, and the other may be a component that can cooperate with the ultrasonic sensor, thereby, the first detection component 3061 and the second detection component 3063 can cooperate to jointly detect the rotation of the wheel frame 302 relative to the bridge body 301.

[0202] Specifically, in some embodiments, the first detection member 3061 is an encoder, the second detection member 3063 is an encoder gear, the encoder is disposed on the bridge body 301, and the encoder gear is connected to the encoder and is in transmission cooperation with the second sub-part 3053. In this way, the encoder can detect the rotation of the wheel frame 302 relative to the bridge body 301 through the encoder gear. It is understandable that the encoder can detect the actual rotation angle of the wheel frame 302 relative to the bridge body 301 through the encoder gear.

[0203] See also Figure 7 and Figure 8 In some embodiments, the steering axle 300 further includes a protective member 307, which is disposed on the bridge body 301 or the wheel frame 302 and covers at least part of the second slewing bearing 305. The provision of the protective member 307 can, on the one hand, prevent the second slewing bearing 305 from causing damage to the operator when the operator is performing operations such as debugging or maintenance on the vehicle 5000, thereby improving the safety of operation; on the other hand, it can reduce the possibility of the second slewing bearing 305 being damaged by collision with the external structure, thereby extending the service life of the second slewing bearing 305 and ensuring the stability and reliability of the steering axle 300. In addition, the provision of the protective member 307 can also prevent the external impurities such as water or dust from affecting the second slewing bearing 305, thereby also extending the service life of the second slewing bearing 305 and ensuring the stability and reliability of the steering axle 300.

[0204] In some embodiments, the protective member 307 and the bridge body 301 or the wheel frame 302 may be connected together in a detachable or non-detachable manner. The detachable connection manner includes, but is not limited to, bolt connection or snap connection, and the non-detachable connection manner includes, but is not limited to, welding or bonding.

[0205] If the wheel carrier 302 is not restricted from rotating relative to the bridge body 301, then in the event of a failure in the drive assembly 303 or other structures of the vehicle 5000, the wheel carrier 302 may rotate arbitrarily relative to the bridge body 301, and drive the rear wheel 5000 to rotate arbitrarily relative to the frame 2000, which will cause the direction of the vehicle 5000 to be uncontrollable, posing a greater safety risk. Figure 8 In some embodiments of the present application, the steering bridge 300 further includes a limit assembly 308, which is disposed on the bridge body 301 and / or the wheel frame 302, and is used to limit the rotation of the wheel frame 302 relative to the bridge body 301. This can prevent the rear wheel 5000 from rotating arbitrarily relative to the frame 2000 when the driving assembly 303 or other structures of the vehicle 5000 fail, thereby improving the safety performance of the vehicle 5000.

[0206] Further, in some embodiments, the limiting assembly 308 includes a first limiting member 3081 and a second limiting member 3083, the first limiting member 3081 is arranged on the first sub-portion 3051 of the second slewing bearing 305 of the bridge body 301 or the steering bridge 300, and the second limiting member 3083 is arranged on the wheel frame 302 or the second sub-portion 3053 of the second slewing bearing 305, and the first limiting member 3081 and the second limiting member 3083 cooperate to limit the rotation of the wheel frame 302 relative to the bridge body 301.

[0207] It can be understood that, in one example, the first limiter 3081 is provided on the bridge body 301, and the second limiter 3083 is provided on the wheel frame 302. In another example, the first limiter 3081 is provided on the bridge body 301, and the second limiter 3083 is provided on the second sub-portion 3053. In yet another example, the first limiter 3081 is provided on the first sub-portion 3051, and the second limiter 3083 is provided on the wheel frame 302. In one example, the first limiter 3081 is provided on the first sub-portion 3051, and the second limiter 3083 is provided on the second sub-portion 3053. It should be noted that, in the above examples, the first limiter 3081 and the second limiter 3083 can cooperate to limit the rotation of the wheel frame 302 relative to the bridge body 301.

[0208] Specifically, in some embodiments, the second limit member 3083 has a limit space, and when the wheel frame 302 rotates relative to the bridge body 301 within a preset range, the first limit member 3081 moves in the limit space; when the wheel frame 302 rotates relative to the bridge body 301 outside the preset range, the first limit member 3081 interferes with the side wall of the limit space in the rotation direction of the wheel frame 302, so that the first limit member 3081 and the second limit member 3083 can cooperate to limit the rotation of the wheel frame 302 relative to the bridge body 301.

[0209] More specifically, in some embodiments, when the steering bridge 300 is assembled, the first stopper 3081 can extend into the stopper space to achieve the cooperation between the first stopper 3081 and the second stopper 3083. In the rotation direction of the wheel frame 302, the stopper space has two side walls (including the first side wall and the second side wall) spaced apart from each other. When the wheel frame 302 rotates relative to the bridge body 301 within a preset range, the first stopper 3081 can move between the first side wall and the second side wall; when the wheel frame 302 rotates relative to the bridge body 301 outside the preset range, the first stopper 3081 can contact the first side wall or the second side wall, thereby limiting the rotation of the wheel frame 302 relative to the bridge body 301.

[0210] It is understandable that in other embodiments, the first limiting member 3081 may have a limiting space, and when the wheel frame 302 rotates relative to the bridge body 301 within a preset range, the second limiting member 3083 moves in the limiting space; when the wheel frame 302 rotates relative to the bridge body 301 outside the preset range, the second limiting member 3083 abuts against the side wall of the limiting space in the rotation direction of the wheel frame 302. The embodiments described below are described by taking the second limiting member 3083 having the limiting space as an example.

[0211] In some embodiments, the second limiting member 3083 is provided with a groove, and the groove is a limiting space. The groove is recessed from the side of the second limiting member 3083 facing the first limiting member 3081 in the direction away from the first limiting member 3081, and the first limiting member 3081 can move in the groove, and the first side wall and the second side wall are two side walls of the groove in the rotation direction of the wheel frame 302. Specifically, in one example, the first limiting member 3081 can be a bolt, and the second limiting member 3083 can be a protrusion, and the protrusion is provided with a groove, and the groove forms a limiting space. In another example, the first limiting member 3081 can be a bolt, and the second limiting member 3083 can be a partial structure of the wheel frame 302 or the second sub-section 3053. In this case, the wheel frame 302 or the second sub-section 3053 is provided with a groove, and the groove is a limiting space.

[0212] In other embodiments, the second limiting member 3083 includes two limiting protrusions, the two limiting protrusions are arranged at intervals along the rotation direction of the wheel frame 302, and the gap between the two limiting protrusions is the limiting space. Specifically, in one example, the first limiting member 3081 and the limiting protrusion are both bolts, and in this case, the limiting space is the gap between the two bolts.

[0213] In some embodiments, the rotation range of the first limiting member 3081 in the limiting space is greater than a preset range.

[0214] When the vehicle 5000 is running in a relatively narrow space, the steering angle of the wheel carrier 302 relative to the bridge body 301 may always be the limit value of the preset range. At this time, the first limiter 3081 and the second limiter 3083 may collide frequently, which may easily cause the first limiter 3081 and the second limiter 3083 to be damaged, affecting the limiting effect of the limiting assembly 308 on the rotation of the wheel carrier 302 relative to the bridge body 301. Therefore, in some embodiments of the present application, the rotation range of the first limiter 3081 in the limiting space is greater than the preset range. In this way, when the steering angle of the wheel carrier 302 relative to the bridge body 301 is always the limit value of the preset range, the first limiter 3081 and the second limiter 3083 will not collide frequently, thereby reducing the possibility of damage to the first limiter 3081 and the second limiter 3083, and ensuring the limiting effect of the limiting assembly 308 on the rotation of the wheel carrier 302 relative to the bridge body 301.

[0215] Further, in some embodiments, the difference between the preset range and the rotation range is [1°, 5°]. Specifically, in some embodiments, the difference between the preset range and the rotation range is any one of 1°, 2°, 3°, 4° and 5° or any value between any two values.

[0216] If the difference between the preset range and the rotation range is less than 1°, then when the steering angle of the wheel carrier 302 relative to the bridge body 301 is always at the limit value of the preset range, the first limit member 3081 and the second limit member 3083 may collide frequently, which may easily cause damage to the first limit member 3081 and the second limit member 3083, affecting the limiting effect of the limit assembly 308 on the rotation of the wheel carrier 302 relative to the bridge body 301; if the difference between the preset range and the rotation range is greater than 5°, then when the drive assembly 303 or other structures of the vehicle 5000 fail, the rotation range of the wheel carrier 302 relative to the bridge body 301 is too large, thereby causing the rotation range of the rear wheel 5000 relative to the frame 2000 to be too large, which will cause the direction of the vehicle 5000 to be uncontrollable, posing a greater safety risk. In certain embodiments of the present application, the difference between the preset range and the rotation range is [1°, 5°]. Therefore, on the one hand, when the steering angle of the wheel carrier 302 relative to the bridge body 301 is always at the limit value of the preset range, the first limit member 3081 and the second limit member 3083 will not collide frequently, thereby reducing the possibility of damage to the first limit member 3081 and the second limit member 3083, thereby ensuring the limiting effect of the limit assembly 308 on the rotation of the wheel carrier 302 relative to the bridge body 301; on the other hand, it can prevent the rotation range of the rear wheel 5000 relative to the frame 2000 from being too large when the drive assembly 303 or other structures of the vehicle 5000 fail, thereby improving the safety performance of the vehicle 5000.

[0217] See also Figure 1 , Figure 7 and Figure 8 In some embodiments, in the forward direction Z of the vehicle 5000, the bridge body 301 includes a first side 3015 and a second side 3017 that are opposite to each other. The steering bridge 300 also includes a support shaft 3018 and a shock absorber. The support shaft 3018 is connected to the first side 3015 of the bridge body 301 and / or the second side 3017 of the bridge body 301. The shock absorber is disposed on the support shaft 3018 and can be connected to the vehicle frame 2000.

[0218] Specifically, in some embodiments, the support shaft 3018 is disposed at the middle position of the bridge body 301, so that when the vehicle 5000 is traveling on a rough road, the bridge body 301 can swing up and down with the support shaft 3018 as the center, thereby ensuring that the wheels (including the left rear wheel 5100 and the right rear wheel 5200) can effectively contact the ground, thereby improving the driving stability of the vehicle 5000. The support shaft 3018 is connected to the first side 3015 of the bridge body 301 and the second side 3017 of the bridge body 301, so that the stability of the connection between the bridge body 301 and the frame 2000 can be improved, and the normal operation of the vehicle 5000 can be ensured. In addition, the support shaft 3018 is connected to the frame 2000 through a shock absorber, so that when the vehicle 5000 is traveling on a rough road, the vibration transmitted from the steering bridge 300 to the frame 2000 is smaller, thereby improving the comfort of the operator in operating the vehicle 5000. It should be noted that, in some embodiments, the cross-section of the support shaft 3018 may be elliptical or circular.

[0219] Furthermore, in certain embodiments, the cross-section of the support shaft 3018 is elliptical. Thus, when the bridge body 301 swings up and down with the support shaft 3018 as the center, the support shaft 3018 with an elliptical cross-section can exert a certain damping effect on the bridge body 301, thereby further reducing the vibration transmitted from the steering axle 300 to the frame 2000 and improving the comfort of the operator in driving the vehicle 5000.

[0220] See also Figure 1 and Fig.11 The hydraulic system 500 of the embodiment of the present application includes an oil tank 501, an oil pumping mechanism 502, a multi-way valve 503 and an actuator 504. The oil pumping mechanism 502 is connected to the oil tank 501. The multi-way valve 503 is arranged between the oil pumping mechanism 502 and the actuator 504. The actuator 504 includes a steering actuator unit 5041. The steering actuator unit 5041 is used to provide power for steering the wheel (driving wheel 4000). The multi-way valve 503 is used to selectively open or close the oil circuit between the oil pumping mechanism 502 and the steering actuator unit 5041.

[0221] The oil tank 501 is a device for storing oil in the hydraulic system 500. The oil pumping mechanism 502 is a structure in the hydraulic system 500 for pumping the oil in the oil tank 501 to the device in the hydraulic system 500 that needs to use the oil to operate. In certain embodiments of the present application, the oil pumping mechanism 502 includes an oil pump 5021, an oil pump motor 5023 and a first oil filter 5025. The oil pump motor 5023 can drive the oil pump 5021 to absorb oil from the oil tank 501 and pump the absorbed oil to other devices through the first oil filter 5025. The first oil filter 5025 can filter impurities in the oil to prevent the impurities in the oil from causing damage to the devices in the hydraulic system 500, thereby ensuring the normal operation of the hydraulic system 500. The first oil filter 5025 can be a pressure oil filter, etc.

[0222] The multi-way valve 503 is a device in the hydraulic system 500 for changing the flow direction, pressure and flow rate of the oil to control the operation of the actuator 504. The multi-way valve 503 can combine multiple valves (such as safety valves, diverter valves and one-way valves, etc.) together, thereby reducing the number of pipelines and components, improving the integration of the hydraulic system 500, and improving the stability and reliability of the operation of the hydraulic system 500. It should be noted that in some embodiments, the multi-way valve 503 is a pressure-compensated load-sensitive electric proportional multi-way valve, an electromagnetic reversing multi-way valve or a manual reversing multi-way valve.

[0223] In certain embodiments of the present application, the multi-way valve 503 is provided with a plurality of oil ports, all of which are connected to the actuator 504, and the plurality of valve bodies in the multi-way valve 503 can respectively control the opening or closing of the plurality of oil ports to control the operation of the actuator 504. Specifically, the multi-way valve 503 is also provided with an oil inlet P and an oil return port T, the oil inlet P is connected to the oil pumping mechanism 502, and the oil pumping mechanism 502 can pump oil into the multi-way valve 503 through the oil inlet P. The oil return port T is connected to the oil tank 501, and the oil in the multi-way valve 503 can flow back to the oil tank 501 through the oil return port T. It can be understood that a second oil filter 5026 is provided on the oil line between the oil return port T and the oil tank 501, and the second oil filter 5026 can filter impurities in the oil to prevent the oil in the oil tank 501 from being contaminated by impurities in the oil.

[0224] See also Fig.11 and Fig.12In some embodiments, the multi-way valve 503 is provided with a first oil port A1 and a second oil port A2, both of which are connected to the steering execution unit 5041, and the multi-way valve 503 includes a first solenoid valve 5033, which can control the opening or closing of the first oil port A1 and the second oil port A2 to control the operation of the steering execution unit 5041. Exemplarily, one of the first oil port A1 and the second oil port A2 is used to supply oil to the steering execution unit 5041, and the other of the first oil port A1 and the second oil port A2 is used to receive the return oil of the steering execution unit 5041. It should be noted that, in some embodiments, the first solenoid valve 5033 can be a three-position solenoid valve.

[0225] In the hydraulic system 500 of the embodiment of the present application, the actuator 504 includes a steering actuator unit 5041, which can provide power for wheel steering. The multi-way valve 503 is used to selectively open or close the oil circuit between the oil pumping mechanism 502 and the steering actuator unit 5041. In this way, the hydraulic system 500 can control the wheel steering through hydraulic transmission. Compared with the chain transmission method used in the related technology to achieve wheel steering, the push-pull force is greater, which is suitable for the steering requirements of large-tonnage vehicles, thereby improving the stability and reliability of the operation of the vehicle 5000.

[0226] In addition, when the vehicle 5000 is a large-tonnage vehicle, if the length of the chain changes, the wheels will shake, which will easily cause wheel wear and poor running stability of the vehicle 5000. Therefore, in the embodiment of the present application, the hydraulic system 500 controls the wheel steering by hydraulic transmission, which can also reduce the possibility of wheel shaking, thereby reducing wheel wear, extending the service life of the wheels, and improving the running stability of the vehicle 5000.

[0227] See also Fig.11 In some embodiments, the hydraulic system 500 may further include a locking member 505 , which is disposed between the multi-way valve 503 and the steering actuator unit 5041 , and is used to limit the movement of the steering actuator unit 5041 .

[0228] Specifically, in some embodiments, the locking member 505 can be arranged between the oil port (including the first oil port A1 and the second oil port A2) and the steering actuator 5041. The arrangement of the locking member 505 can close the oil circuit when the hydraulic system 500 does not supply oil to the steering actuator 5041, thereby limiting the steering actuator 5041 and preventing the steering actuator 5041 from moving and causing the wheel to turn when the oil leaks, thereby ensuring that the wheel can be reliably positioned at any position without deflection, reducing wheel wear and extending the service life of the wheel. It should be noted that in some embodiments, the locking member 505 includes but is not limited to a hydraulic lock and a two-way interlocking balance valve.

[0229] See also Figure 2 and Fig.11 In some embodiments, the steering execution unit 5041 includes a first steering cylinder 50411 and a second steering cylinder 50413, and the first steering cylinder 50411 and the second steering cylinder 50413 are arranged in parallel. It should be noted that, in some embodiments, the first steering cylinder 50411 and the second steering cylinder 50413 correspond to the left front wheel 4100 and the right front wheel 4200, respectively. In the embodiment of the present application, only the first steering cylinder 50411 corresponds to the left front wheel 4100, and the second steering cylinder 50413 corresponds to the right front wheel 4200 as an example for description.

[0230] Specifically, in some embodiments, the first steering cylinder 50411 and the second steering cylinder 50413 are arranged in parallel, so that when one of the first oil port A1 and the second oil port A2 supplies oil to the steering execution unit 5041, the first steering cylinder 50411 and the second steering cylinder 50413 can both move to provide power to the wheels to drive the wheels to turn. Exemplarily, when the first oil port A1 supplies oil to the steering execution unit 5041, the first steering cylinder 50411 and the second steering cylinder 50413 can provide power to the left front wheel 4100 and the right front wheel 4200 respectively to drive the left front wheel 4100 and the right front wheel 4200 to turn. Among them, the left front wheel 4100 can rotate in a clockwise direction, and the right front wheel 4200 can rotate in a counterclockwise direction. When the first steering cylinder 50411 and the second steering cylinder 50413 move synchronously, the left front wheel 4100 and the right front wheel 4200 rotate in opposite directions and have the same rotation angle.

[0231] Furthermore, please combine Fig.12In some embodiments, the first steering cylinder 50411 includes a first rodless chamber oil port 504111 and a first rod chamber oil port 504113, the second steering cylinder 50413 includes a second rodless chamber oil port 504131 and a second rod chamber oil port 504133, the first rodless chamber oil port 504111 and the second rodless chamber oil port 504131 are connected in parallel, and the first rod chamber oil port 504113 and the second rod chamber oil port 504133 are connected in parallel.

[0232] Specifically, in some embodiments, the first rodless chamber oil port 504111 and the second rodless chamber oil port 504131 are connected in parallel and are both connected to the first oil port A1; the first rod chamber oil port 504113 and the second rod chamber oil port 504133 are connected in parallel and are both connected to the second oil port A2. Exemplarily, when the first oil port A1 supplies oil to the steering actuator 5041, the oil can enter the rodless chamber of the first steering cylinder 50411 and the rodless chamber of the second steering cylinder 50413 respectively. In this case, the oil in the rod chamber of the first steering cylinder 50411 and the rod chamber of the second steering cylinder 50413 can return oil (return to the oil tank 501) through the second oil port A2, and the first steering cylinder 50411 and the second steering cylinder 50413 can provide power to the wheels to steer the wheels.

[0233] In other embodiments, the first rodless chamber oil port 504111 and the second rodless chamber oil port 504131 are connected in parallel and are both connected to the second oil port A2; the first rod chamber oil port 504113 and the second rod chamber oil port 504133 are connected in parallel and are both connected to the first oil port A1. For example, when the second oil port A2 supplies oil to the steering actuator 5041, the oil can enter the rodless chamber of the first steering cylinder 50411 and the rodless chamber of the second steering cylinder 50413 respectively. In this case, the oil in the rod chamber of the first steering cylinder 50411 and the rod chamber of the second steering cylinder 50413 can return oil through the first oil port A1, and the first steering cylinder 50411 and the second steering cylinder 50413 can provide power to the wheels to steer the wheels.

[0234] See also Fig.11 In some embodiments, the actuator 504 also includes a lifting cylinder 5043, a tilting cylinder 5045 and a side-shifting cylinder 5047, and the multi-way valve 503 is also used to selectively open or close the oil circuit between the oil pumping mechanism 502 and at least one of the lifting cylinder 5043, the tilting cylinder 5045 and the side-shifting cylinder 5047.

[0235] Specifically, please combine Figure 1In some embodiments, when the vehicle 5000 is a forklift, the vehicle 5000 further includes a fork 600, and the vehicle 5000 can load, unload, stack and transport goods through the fork 600. Among them, the lifting cylinder 5043 is used to control the up and down movement of the fork 600. The tilting cylinder 5045 is used to control the forward and backward tilting of the fork 600. The side shift cylinder 5047 is used to control the left and right side shifting of the fork.

[0236] More specifically, please combine Fig.12 In some embodiments, the multi-way valve 503 is provided with a third oil port A3, which is connected to the lifting cylinder 5043, and the third oil port A3 is used to supply oil to and return oil from the lifting cylinder 5043. The multi-way valve 503 includes a second solenoid valve 5035 and a third solenoid valve 5037, one of which can supply oil to the lifting cylinder 5043 through the third oil port A3, and the other of which can receive the return oil from the lifting cylinder 5043 through the third oil port A3. In one example, a speed limiting valve 5027 is provided on the oil path between the lifting cylinder 5043 and the third oil port A3, and the speed limiting valve 5027 can control the flow rate of the oil, thereby realizing the control of the speed of the lifting cylinder 5043, and preventing the fork 600 from moving up and down too fast to generate a greater safety risk. It should be noted that, in some embodiments, both the second solenoid valve 5035 and the third solenoid valve 5037 can be two-position two-way valves.

[0237] The multi-way valve 503 is provided with a fourth oil port A4 and a fifth oil port A5, both of which are connected to the tilt cylinder 5045. The multi-way valve 503 includes a fourth solenoid valve 5038, which can control the opening or closing of the fourth oil port A4 and the fifth oil port A5 to control the operation of the tilt cylinder 5045. Exemplarily, one of the fourth oil port A4 and the fifth oil port A5 is used to supply oil to the tilt cylinder 5045, and the other of the fourth oil port A4 and the fifth oil port A5 is used to receive the return oil of the tilt cylinder 5045. It should be noted that, in some embodiments, the fourth solenoid valve 5038 can be a three-position solenoid valve.

[0238] The multi-way valve 503 is provided with a sixth oil port A6 and a seventh oil port A7, both of which are connected to the side shift oil cylinder 5047. The multi-way valve 503 includes a fifth solenoid valve 5039, which can control the opening or closing of the sixth oil port A6 and the seventh oil port A7 to control the operation of the side shift oil cylinder 5047. Exemplarily, one of the sixth oil port A6 and the seventh oil port A7 is used to supply oil to the side shift oil cylinder 5047, and the other of the sixth oil port A6 and the seventh oil port A7 is used to receive the return oil of the side shift oil cylinder 5047. It should be noted that, in some embodiments, the fifth solenoid valve 5039 can be a three-position solenoid valve.

[0239] In some embodiments, the tilt cylinder 5045 includes one, and the multi-way valve 503 includes a limiting member 5031, which is used to limit the movement of the tilt cylinder 5045. The setting of the limiting member 5031 can close the oil circuit when the hydraulic system 500 does not supply oil to the tilt cylinder 5045, thereby limiting the tilt cylinder 5045 and preventing the tilt cylinder 5045 from moving and causing the fork 600 to tilt when the cargo is too heavy or the oil leaks. It should be noted that in some embodiments, the limiting member 5031 may include but is not limited to a two-way interlocking balance valve and a double hydraulically controlled one-way valve.

[0240] In other embodiments, a two-way interlocking balance valve or a two-way hydraulic lock may be provided between the multi-way valve 503 and the tilt cylinder 5045, so as to limit the tilt cylinder 5045 and prevent the tilt cylinder 5045 from moving and causing the fork 600 to tilt when the cargo is too heavy or the oil leaks.

[0241] See also Fig.11 In some embodiments, the hydraulic system 500 also includes a braking mechanism 506 and a brake 507 . The braking mechanism 506 is disposed between the oil pumping mechanism 502 and the brake 507 . The braking mechanism 506 is used to selectively open or close the oil circuit between the oil pumping mechanism 502 and the brake 507 .

[0242] Specifically, please combine Figure 1In some embodiments, when the brake mechanism 506 opens the oil circuit between the oil pumping mechanism 502 and the brake 507, the oil circuit between the brake 507 and the oil tank 501 is closed, and the oil pumping mechanism 502 can pump the oil in the oil tank 501 into the brake 507. In this case, the brake 507 can release the brake on the wheel, and the vehicle 5000 is in a normal driving condition, that is, the vehicle 5000 can drive normally; when the brake mechanism 506 closes the oil circuit between the oil pumping mechanism 502 and the brake 507, the oil circuit between the brake 507 and the oil tank 501 is opened, and the oil in the brake 507 can flow back to the oil tank 501. In this case, the brake 507 can brake the wheel, and the vehicle 5000 is in a parking brake condition or a driving brake condition, that is, the vehicle 5000 stops or the driving speed of the vehicle 5000 decreases.

[0243] See also Figure 1 and Fig.11 In some embodiments, the brake mechanism 506 includes a first brake valve 5061 and a second brake valve 5063. The first brake valve 5061 is disposed between the oil pumping mechanism 502 and the brake 507 to close the oil path between the oil pumping mechanism 502 and the brake 507 when the first brake valve 5061 is activated. The second brake valve 5063 is disposed between the oil pumping mechanism 502 and the brake 507 to close the oil path between the oil pumping mechanism 502 and the brake 507 when the second brake valve 5063 is activated. It should be noted that, in some embodiments, the first brake valve 5061 and the second brake valve 5063 may both be three-position valves. The first brake valve 61 may be a service brake, and the second brake valve 63 may be a parking brake.

[0244] Specifically, in certain embodiments, when the first brake valve 5061 is activated, the oil circuit between the brake 507 and the oil tank 501 is connected, and the oil in the brake 507 can flow back into the oil tank 501. In this case, the brake 507 can brake the wheel; when the first brake valve 5061 is released (i.e., not activated), the oil circuit between the brake 507 and the oil pumping mechanism 502 is connected, and the oil pumping mechanism 502 can pump the oil in the oil tank 501 into the brake 507. In this case, the brake 507 can release the braking of the wheel. When the second brake valve 5063 is activated, the oil circuit between the brake 507 and the oil tank 501 is connected, and the oil in the brake 507 can flow back into the oil tank 501. In this case, the brake 507 can brake the wheel; when the second brake valve 5063 is released (i.e. not activated), the oil circuit between the oil pumping mechanism 502 and the brake 507 is connected, and the oil pumping mechanism 502 can pump the oil in the oil tank 501 into the brake 507. In this case, the brake 507 can release the braking of the wheel.

[0245] It can be understood that, in certain embodiments, when the first brake valve 5061 is activated, the oil in the brake 507 can flow back to the oil tank 501 through the second brake valve 5063 and the first brake valve 5061 in sequence; when the second brake valve 5063 is activated, the oil in the brake 507 can flow back to the oil tank 501 through the second brake valve 5063; when the first brake valve 5061 is not activated and the second brake valve 5063 is not activated, the oil can flow into the brake 507 through the first brake valve 5061 and the second brake valve 5063 in sequence; when the first brake valve 5061 is not activated and the second brake valve 5063 is activated, the brake 507 can brake the wheel; when the second brake valve 5063 is not activated and the first brake valve 5061 is activated, the brake 507 can brake the wheel.

[0246] More specifically, in certain embodiments, during normal driving of the vehicle 5000, the operator can activate the first brake valve 5061 to brake the wheels. At this time, the vehicle 5000 stops or the driving speed of the vehicle 5000 gradually decreases; when the vehicle 5000 is in a parked state, the operator can activate the second brake valve 5063 to brake the wheels, thereby preventing the vehicle 5000 from sliding in the parked state and improving the safety of the vehicle 5000.

[0247] Further, in some embodiments, the first brake valve 5061 has a first position and a second position. When the first brake valve 5061 is activated, the first brake valve 5061 is in the first position, and when the first brake valve 5061 is not activated, the first brake valve 5061 is in the second position. The second brake valve 5063 has a first working position and a second working position. When the second brake valve 5063 is activated, the second brake valve 5063 is in the first working position, and when the second brake valve 5063 is not activated, the second brake valve 5063 is in the second working position.

[0248] Specifically, in some embodiments, the first driving member 5065 can drive the first brake valve 5061 to move upward, that is, Fig.11 As shown, the first driving member 5065 can drive the first brake valve 5061 to move upward. In this case, the first brake valve 5061 is in the first position, the oil circuit between the oil pump mechanism 502 and the brake 507 is closed, and the oil circuit between the oil tank 501 and the brake 507 is connected; the first driving member 5065 can drive the first brake valve 5061 to move downward, that is, Fig.11As shown, the first driving member 5065 can drive the first brake valve 5061 to move downward, in which case the first brake valve 5061 can be in the second position, the oil circuit between the oil pump mechanism 502 and the brake 507 is connected, and the oil circuit between the oil tank 501 and the brake 507 is closed. In one example, when the first driving member 5065 is driven (i.e., subjected to external force), the first brake valve 5061 moves upward, and when the first driving member 5065 is not driven (i.e., not subjected to external force), the first brake valve 5061 moves downward.

[0249] The second driving member 5067 can drive the second brake valve 5063 to move leftward, that is, Fig.11 As shown, the second driving member 5067 can drive the second brake valve 5063 to move leftward. In this case, the second brake valve 5063 is in the first working position, the oil circuit between the oil pump mechanism 502 and the brake 507 is closed, and the oil circuit between the oil tank 501 and the brake 507 is connected; the second driving member 5067 can drive the second brake valve 5063 to move rightward, that is, Fig.11 As shown, the second driving member 5067 can drive the second brake valve 5063 to move rightward. In this case, the second brake valve 5063 is in the second working position, the oil circuit between the oil pump mechanism 502 and the brake 507 is connected, and the oil circuit between the oil tank 501 and the brake 507 is closed. In one example, when the second driving member 5067 is driven, the second brake member moves leftward, and when the first driving member 5065 is driven again, the first brake member moves rightward.

[0250] See also Fig.11 In some embodiments, the brake mechanism 506 further includes a first driving member 5065 and a second driving member 5067, wherein the first driving member 5065 is connected to the first brake valve 5061, and the second driving member 5067 is connected to the second brake valve 5063. When the first driving member 5065 is driven, the first brake valve 5061 is activated; when the second driving member 5067 is driven, the second brake valve 5063 is activated. It can be understood that in some embodiments, the driving of the first driving member 5065 requires manual intervention, that is, the first driving member 5065 is driven manually to activate the first brake valve 5061; or, the first driving member 5065 is driven manually with the aid of a tool to activate the first brake valve 5061. Accordingly, the driving of the second driving member 5067 requires manual intervention, that is, the second driving member 5067 is driven manually to activate the second brake valve 5063; or, the second driving member 5067 is driven manually with the aid of a tool to activate the second brake valve 5063.

[0251] See also Fig.11In some embodiments, the hydraulic system 500 further includes an accumulator 508 , which is disposed between the oil pumping mechanism 502 and the brake mechanism 506 , and is used to contain the oil pumped by the oil pumping mechanism 502 .

[0252] Specifically, in some embodiments, the hydraulic system 500 may further include a filling valve 5091, which is used to fill the accumulator 508 with liquid when the pumping mechanism 502 is running, so that the pressure in the accumulator 508 is always maintained at a set value. The accumulator 508 can keep the pressure of the hydraulic system 500 constant on the one hand, prevent the pumping mechanism 502 from supplying insufficient pressure to the brake mechanism 506 during the driving of the vehicle 5000, resulting in the brake 507 braking the wheels, thereby ensuring the stability of the operation of the vehicle 5000; on the other hand, it can prevent the pumping mechanism 502 from generating a large hydraulic shock on the brake mechanism 506, thereby damaging the brake mechanism 506, thereby extending the service life of the brake mechanism 506 and ensuring the stability and reliability of the operation of the hydraulic system 500.

[0253] More specifically, in some embodiments, the hydraulic system 500 may also include a pressure reducing valve block 5093, which is disposed between the accumulator 508 and the brake mechanism 506. The pressure reducing valve block 5093 is used to reduce the pressure of the oil output by the accumulator 508 so that the pressure of the oil matches the brake mechanism 506, thereby ensuring the normal operation of the hydraulic system 500.

[0254] If the power supply or oil circuit of the vehicle 5000 fails and the oil cannot be supplied normally, the brake 507 will continue to brake the wheels, which will make it impossible for the operator to tow the faulty vehicle 5000. Figure 1 and Fig.11 In some embodiments of the present application, the brake mechanism 506 further includes a manual pump 5068, which is connected between the brake 507 and the oil tank 501, and is used to pump the oil in the oil tank 501 into the brake 507. Thus, the setting of the manual pump 5068 enables the brake 507 to be supplied with oil when the vehicle 5000 fails, so that the brake 507 releases the brake on the wheel, so that the operator can tow the vehicle 5000 for maintenance.

[0255] Furthermore, in some embodiments, the braking mechanism 506 also includes a third brake valve 5069, which is arranged between the first brake valve 5061 of the braking mechanism 506 and the second brake valve 5063 of the braking mechanism 506, and the third brake valve 5069 is used to selectively open or close the oil circuit between the first brake valve 5061 and the second brake valve 5063.

[0256] If the manual pump 5068 pumps the oil in the oil tank 501 into the brake 507, and the oil circuit between the first brake valve 5061 and the second brake valve 5063 is in a conducting state, the oil in the brake 507 will flow back to the oil tank 501 through the oil circuit between the first brake valve 5061 and the second brake valve 5063. At this time, the braking state of the wheel cannot be released, which will affect the operator's towing of the vehicle 5000. Therefore, the third brake valve 5069 is configured to selectively open or close the oil circuit between the first brake valve 5061 and the second brake valve 5063, thereby preventing the oil in the brake 507 from flowing back to the oil tank 501 through the oil circuit between the first brake valve 5061 and the second brake valve 5063, and ensuring that the manual pump 5068 can release the braking state of the wheel. It can be understood that, in certain embodiments, when the hydraulic system 500 operates stably, the third brake valve 5069 can keep the oil circuit between the first brake valve 5061 and the second brake valve 5063 open.

[0257] Furthermore, in certain embodiments, when the manual pump 5068 pumps the oil in the oil tank 501 into the brake 507, the second brake valve 5063 is in the second working position, that is, the oil circuit between the oil pumping mechanism 502 and the brake 507 is connected, and the oil circuit between the oil tank 501 and the brake 507 is closed, thereby preventing the oil in the brake 507 from directly flowing back to the oil tank 501 through the first brake valve 5061, thereby ensuring that the manual pump 5068 can release the wheel braking state.

[0258] See also Figure 1 In some embodiments, the vehicle 5000 further includes a cab 700, which is rotatably disposed on the drive wheel 4000. As can be seen from the above, the vehicle 5000 can realize operations such as moving forward, moving backward, moving sideways, or turning. If the cab 700 cannot rotate relative to the drive wheel 4000, when the vehicle 5000 moves backward, moves sideways, or turns, the operator may have a blind spot in the field of vision, which will affect driving safety. Therefore, the cab 700 is rotatably disposed on the drive wheel 4000, which can reduce the possibility of the operator having a blind spot in the field of vision during the operation of the vehicle 5000, thereby improving driving safety.

[0259] Specifically, in some embodiments, the cab 700 can be disposed on the driving wheel 4000 via a slewing bearing. The slewing bearing is a bearing that can simultaneously withstand large axial and radial loads and overturning moments. The slewing bearing includes a first sub-section (the outer ring of the bearing or the inner ring of the bearing) and a second sub-section (the inner ring of the bearing or the outer ring of the bearing) that are rotatably connected. One of the first sub-section and the second sub-section is connected to the cab 700, and the other is connected to the driving wheel 4000. When the first sub-section and the second sub-section rotate relative to each other, the cab 700 can rotate relative to the driving wheel 4000.

[0260] See also Figure 1 , Fig.31 , Fig.32 and Fig.33 In some embodiments, the vehicle 5000 further includes a cab 700 and a rotating mechanism. The cab 700 is disposed on the vehicle frame 2000. The rotating mechanism is disposed on the vehicle frame 2000 and is used to drive the cab 700 to rotate relative to the vehicle frame 2000. The rotating mechanism is disposed at the bottom of the cab 700 and is used to drive the cab 700 to rotate relative to the vehicle frame 2000, so that when the vehicle 5000 turns or rotates, the front portion 711 of the cab 700 can face the driving direction, which is convenient for the driver to view the road conditions and is conducive to improving the driver's work efficiency.

[0261] See also Figure 1 and Fig.11 In some embodiments, the vehicle 5000 further includes a swivel joint 5095, which is disposed between the cab 700 and the frame 2000, and is used to keep the brake lines and circuits between the cab 700 and the frame 2000 connected.

[0262] The setting of the swivel joint 5095 can prevent the hydraulic and electrical pipelines between the cab 700 and the driving wheel 4000 from being disconnected when the cab 700 rotates relative to the driving wheel 4000, thereby ensuring the stability of the operation of the hydraulic system 500. For example, in some embodiments, the first brake valve 5061 can be provided in the cab 700, and the brake 507 can be provided on the wheel. The setting of the swivel joint 5095 can prevent the oil circuit between the first brake valve 5061 and the brake 507 from being entangled and blocked when the cab 700 rotates relative to the driving wheel 4000, thereby improving the stability and reliability of the operation of the hydraulic system 500.

[0263] It should be noted that, in some embodiments, the swivel joint 5095 is at least used to connect the oil circuit between the oil pumping mechanism 502 and the brake mechanism 506 of the hydraulic system 500, the oil circuit between the brake mechanism 506 and the brake 507 of the hydraulic system 500, and the oil circuit between the brake mechanism 506 and the oil tank 501.

[0264] In some embodiments, a shock absorber is provided between the cab 700 and the frame 2000, and the shock absorber is used to reduce the vibration of the cab 700, so that the driver's operation is more comfortable during the driving of the vehicle 5000, which is conducive to improving work efficiency.

[0265] See also Figure 1 , Fig.13 and Fig.14 In the vehicle control method of the embodiment of the present application, the vehicle 5000 includes a frame 2000 and a left front wheel 4100, a right front wheel 4200, a left rear wheel 5100 and a right rear wheel 5200 connected to the frame 2000; the control method includes:

[0266] 02: Obtain the driving mode of the vehicle 5000. The vehicle 5000 has different driving postures in different driving modes;

[0267] 04: Control the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the vehicle frame 2000 according to the driving mode; and

[0268] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode.

[0269] Please combine Fig. 20 , the control system 700 of the vehicle 5000 of the embodiment of the present application, the vehicle 5000 includes a frame 2000 and a left front wheel 4100, a right front wheel 4200, a left rear wheel 5100 and a right rear wheel 5200 connected to the frame 2000; the control system 700 includes a vehicle controller 701, and the vehicle controller 701 is used to: obtain the driving mode of the vehicle 5000, the vehicle 5000 has different driving postures under different driving modes; control the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the frame 2000 according to the driving mode; and respond to the control command input by the user to control the movement of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200, so that the vehicle 5000 drives according to the driving posture under the driving mode.

[0270] Specifically, the driving modes of the vehicle 5000 of the present application may include a straight driving mode, a turning driving mode, a lateral driving mode, and a turning driving mode. When the vehicle 5000 is in a straight driving mode, the driving posture of the vehicle 5000 may include a forward straight driving posture and a backward straight driving posture. When the vehicle 5000 is in a lateral driving mode, the driving posture of the vehicle 5000 may include a right driving posture and a left driving posture. When the vehicle 5000 is in a turning driving mode, the driving posture of the vehicle 5000 may include a left turning driving posture and a right turning driving posture.

[0271] The driving mode of the vehicle 5000 can be rotated manually by the driver, who can input control instructions through the integrated handle in the cockpit or the center console. When the vehicle control unit 701 (VCU) obtains the control instruction, the vehicle control unit 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 to rotate relative to the frame 2000, so that the vehicle 5000 can be in a driving posture corresponding to the driving mode corresponding to the control instruction. The vehicle controller 701 can control the left front wheel 4100 and the right front wheel 4200 to rotate around the front axle of the vehicle 5000, so that the left front wheel 4100 and the right front wheel 4200 can drive the left rear wheel 5100 and the right rear wheel 5200 to rotate, so that the vehicle 5000 can travel in the corresponding driving mode.

[0272] In the vehicle control method and control system 700 of the implementation mode of the present application, after obtaining the driving mode of the vehicle 5000, the vehicle controller 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 of the vehicle 5000 to rotate relative to the frame 2000, so that the vehicle 5000 has a variety of driving modes. The vehicle 5000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 5000 has many application scenarios.

[0273] See also Fig. 20 and Fig.21In some embodiments, the control system 700 further includes a drive axle assembly 1000, a steering axle 300, and a hydraulic system 500. The drive axle assembly 1000 is disposed on the vehicle frame 2000, and includes a first rotating member 1001 and a second rotating member 1003. The first rotating member 1001 is connected to the left front wheel 4100 and is used to drive the left front wheel 4100 to rotate around the first axis a of the left front wheel 4100 in the first direction X or the second direction Y to move forward or backward. The second rotating member 1003 is connected to the right front wheel 4200 and is used to drive the right front wheel 4200 to rotate around the second axis b of the right front wheel 4200 in the first direction X or the second direction Y to move forward or backward. The second direction Y is opposite to the first direction X. The steering axle 300 is arranged on the frame 2000 and includes a first drive component 3035 and a second drive component 3036. The first drive component 3035 is connected to the left rear wheel 5100 and is used to drive the left rear wheel 5100 to turn left or right around the fifth axis e in the height direction of the frame 2000. The second drive component 3036 is connected to the right rear wheel 5200 and is used to drive the right rear wheel 5200 to turn left or right around the sixth axis f in the height direction of the frame 2000. The hydraulic system 500 is connected to the drive axle assembly 1000 and includes a first steering cylinder 50411 and a second steering cylinder 50413. The first steering cylinder 50411 is connected to the left front wheel 4100 and is used to drive the left front wheel 4100 to turn left or right around the seventh axis g in the height direction of the frame 2000. The second steering cylinder 50413 is connected to the right front wheel 4200 and is used to drive the right front wheel 4200 to turn left or right around the eighth axis h in the height direction of the frame 2000.

[0274] The first axis a of the left front wheel 4100 is the central axis passing through the center of the circle of the left front wheel 4100, and the second axis b of the right front wheel 4200 is the central axis passing through the center of the circle of the right front wheel 4200. When the left front wheel 4100 rotates along the first direction X around the first axis a, the left front wheel 4100 can drive the frame 2000 to move forward, and when the left front wheel 4100 rotates along the second direction Y, the left front wheel 4100 can drive the frame 2000 to move backward. When the right front wheel 4200 rotates along the first direction X around the second axis b, the right front wheel 4200 can drive the frame 2000 to move forward, and when the right front wheel 4200 rotates along the second direction Y, the right front wheel 4200 can drive the frame 2000 to move backward. When the vehicle 5000 is traveling straight, from the direction of the left front wheel 4100 to the right front wheel 4200, when the left front wheel 4100 rotates in the first direction X, the left front wheel 4100 rotates counterclockwise, and when the right front wheel 4200 rotates in the first direction X, the right front wheel 4200 rotates counterclockwise. From the direction of the left front wheel 4100 to the right front wheel 4200, when the left front wheel 4100 rotates in the second direction Y, the left front wheel 4100 rotates clockwise. When the right front wheel 4200 rotates in the second direction Y, the right front wheel 4200 rotates clockwise.

[0275] The seventh axis g of the left front wheel 4100 is the central axis of the left front wheel 4100 in the height direction, and the seventh axis g is consistent with the height direction of the frame 2000. The eighth axis h of the right front wheel 4200 is the central axis of the right front wheel 4200 in the height direction, and the eighth axis h is consistent with the height direction of the frame 2000. The fifth axis e of the left rear wheel 5100 is the central axis of the left rear wheel 5100 in the height direction, and the fifth axis e is consistent with the height direction of the frame 2000. The sixth axis f of the right rear wheel 5200 is the central axis of the left rear wheel 5100 in the height direction, and the sixth axis f is consistent with the height direction of the frame 2000.

[0276] See also Fig. 20, the steering axle 300 can provide power to the left rear wheel 5100 and the right rear wheel 5200 so that the left rear wheel 5100 and the right rear wheel 5200 can be turned relative to the vehicle frame 2000. The steering axle 300 also includes a detection component 306, and the detection component 306 can detect the rotation angle of the left rear wheel 5100 and the right rear wheel 5200. Preferably, the detection component 306 includes a first detection component 3065 and a second detection component 3067, the first detection component 3065 is used to detect the rotation angle of the left rear wheel 5100, and the second detection component 3067 is used to detect the rotation angle of the right rear wheel 5200. When the vehicle controller 701 controls the steering axle 300 to drive the left rear wheel 5100 to rotate around the fifth axis e and the right rear wheel 5200 to rotate around the sixth axis f, the detection component 306 can feed back the rotation angle signal to the vehicle controller 701, so that the vehicle controller 701 can accurately control the rotation angles of the left rear wheel 5100 and the right rear wheel 5200 in the corresponding driving mode of the vehicle 5000, and avoid the problem of the rotation angles of the left rear wheel 5100 and the right rear wheel 5200 being offset. When the first drive component 3035 drives the left rear wheel 5100 to turn, and the second drive component 3036 drives the right rear wheel 5200 to turn, the vehicle 5000 can achieve lateral movement (such as right and left movement), steering (such as left turn and right turn) or rotation (such as rotation in place, etc.).

[0277] In some embodiments, the hydraulic system 500 may be a hydraulic cylinder, one end of which is disposed on the vehicle frame 2000, and the other end of which is disposed on the drive axle assembly 1000. When the hydraulic cylinder is in stable operation, the telescopic rod of the hydraulic cylinder can be telescoped to drive the drive axle assembly 1000 to turn relative to the vehicle frame 2000, so that the drive axle assembly 1000 can drive the left front wheel 4100 to turn around the seventh axis g, and drive the right front wheel 4200 to turn around the eighth axis h. In this case, the vehicle 5000 can achieve side shifting, turning or rotation. Specifically, one end of the first steering oil cylinder 50411 is disposed on the vehicle frame 2000, and the other end is disposed on the first rotating member 1001. The first steering oil cylinder 50411 can drive the first rotating member 1001 to rotate, so that the first rotating member 1001 can drive the left front wheel 4100 to turn relative to the vehicle frame 2000 around the seventh axis g. One end of the second steering cylinder 50413 is disposed on the vehicle frame 2000, and the other end is disposed on the second rotating member 1003. The second steering cylinder 50413 can drive the second rotating member 1003 to rotate, so that the second rotating member 1003 can drive the right front wheel 4200 to turn around the eighth axis h relative to the vehicle frame 2000. The hydraulic system 500 may also include an angle sensor, which is used to detect the rotation angles of the left front wheel 4100 and the right front wheel 4200. When the vehicle controller 701 controls the first steering cylinder 50411 to drive the left front wheel 4100 to rotate around the seventh axis g, and controls the second steering cylinder 50413 to drive the right front wheel 4200 to rotate around the eighth axis h, the angle sensor can feed back the steering angle signal of the left front wheel 4100 and the steering angle signal of the right front wheel 4200 to the vehicle controller 701, so that the vehicle controller 701 can accurately control the steering angle of the left front wheel 4100 and the front and rear wheels in the corresponding driving mode of the vehicle 5000, avoiding the problem of steering angle offset of the left rear wheel 5100 and the right rear wheel 5200.

[0278] See also Fig. 20 After obtaining the driving mode of the vehicle 5000, the steering axle 300 drives the left rear wheel 5100 to rotate relative to the frame 2000 around the fifth axis e, and drives the right rear wheel 5200 to rotate relative to the frame 2000 around the sixth axis f, and the hydraulic system 500 drives the left front wheel 4100 to rotate relative to the frame 2000 around the seventh axis g, and drives the right front wheel 4200 to rotate relative to the frame 2000 around the eighth axis h, so that the vehicle 5000 is in a driving posture corresponding to the driving mode. After the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 turn relative to the frame 2000, the driving axle assembly 1000 drives the left front wheel 4100 and the right front wheel 4200 to travel in the first direction X or the second direction Y, so that the vehicle 5000 can travel in the form posture corresponding to the driving mode.

[0279] See also Fig.13 , Fig.14, Fig. 20 and Fig.21 In some embodiments, the driving mode includes a straight driving mode. 04: Controlling the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the vehicle frame 2000 according to the driving mode includes:

[0280] 041: According to the straight driving mode, the first axis a of the left front wheel 4100 and the second axis b of the right front wheel 4200 are controlled to be consistent with the front axle of the vehicle 5000, and the third axis c of the left rear wheel 5100 and the fourth axis d of the right rear wheel 5200 are controlled to be consistent with the rear axle of the vehicle 5000.

[0281] Please combine Fig. 20 and Fig.21 In some embodiments, the driving mode includes a straight driving mode, and the vehicle controller 701 is also used to: control the first steering cylinder 50411 according to the straight driving mode to make the first axis a of the left front wheel 4100 consistent with the front axle of the vehicle 5000; control the second steering cylinder 50413 to make the second axis b of the right front wheel 4200 consistent with the front axle of the vehicle 5000; control the first drive component 3035 to make the third axis c of the left rear wheel 5100 consistent with the rear axle of the vehicle 5000; and control the second drive component 3036 to make the fourth axis d of the right rear wheel 5200 consistent with the rear axle of the vehicle 5000.

[0282] Among them, when the vehicle 5000 is in the straight driving mode, the vehicle 5000 can go straight forward or straight backward. At this time, the vehicle 5000 can have a forward straight driving posture, a forward straight driving and turning driving posture, a backward straight driving posture, and a backward straight driving and turning driving posture. The third axis c of the left rear wheel 5100 is the central axis passing through the center of the circle of the left rear wheel 5100, and the fourth axis d of the right rear wheel 5200 is the central axis passing through the center of the circle of the right rear wheel 5200. When the vehicle controller 701 controls the first axis a of the left front wheel 4100 and the second axis b of the right front wheel 4200 to be consistent with the front axle of the vehicle 5000, and controls the third axis c of the left rear wheel 5100 and the fourth axis d of the right rear wheel 5200 to be consistent with the rear axle of the vehicle 5000, the vehicle 5000 can go straight forward and straight backward. The front axle of vehicle 5000 is a line connecting the center of left front wheel 4100 and the center of right front wheel 4200, and the rear axle of vehicle 5000 is a line connecting the center of left rear wheel 5100 and the center of right rear wheel 5200.

[0283] See also Fig. 20 and Fig.21, when the vehicle controller 701 obtains that the driving mode of the vehicle 5000 is the straight driving mode, if the angle sensor on the hydraulic system 500 detects that the first axis a of the left front wheel 4100 is consistent with the front axle of the vehicle 5000, the vehicle controller 701 controls the first steering cylinder 50411 to be stationary (not moving) so that the left front wheel 4100 remains in the current position. If the angle sensor detects that the first axis a of the left front wheel 4100 intersects with the front axle of the vehicle 5000, the vehicle controller 701 controls the solenoid valve of the hydraulic system 500 to open to drive the first steering cylinder 50411 to drive the left front wheel 4100 to rotate. When the angle sensor detects that the first axis a of the left front wheel 4100 is consistent with the front axle of the vehicle 5000, the vehicle controller 701 controls the solenoid valve of the hydraulic system 500 to close so that the left front wheel 4100 remains in the current position.

[0284] If the angle sensor detects that the second axis b of the right front wheel 4200 is consistent with the front axle of the vehicle 5000, the vehicle controller 701 controls the second steering cylinder 50413 to be stationary so that the right front wheel 4200 remains in the current position. If the angle sensor detects that the second axis b of the right front wheel 4200 intersects with the front axle of the vehicle 5000, the vehicle controller 701 controls the solenoid valve of the hydraulic system 500 to open to drive the second steering cylinder 50413 to drive the right front wheel 4200 to rotate. When the angle sensor detects that the second axis b of the right front wheel 4200 is consistent with the front axle of the vehicle 5000, the vehicle controller 701 controls the solenoid valve of the hydraulic system 500 to close so that the left front wheel 4100 remains in the current position.

[0285] See also Fig. 20 and Fig.21 If the detection component 306 of the steering axle 300 detects that the third axis c of the left rear wheel 5100 is consistent with the rear axle of the vehicle 5000, the vehicle controller 701 controls the first drive component 3035 to be stationary so that the left rear wheel 5100 remains at the current position. If the detection component 306 detects that the third axis c of the left rear wheel 5100 intersects with the rear axle of the vehicle 5000, the vehicle controller 701 controls the first drive component 3035 to drive the left rear wheel 5100 to rotate. When the detection component 306 detects that the third axis c of the left rear wheel 5100 is consistent with the rear axle of the vehicle 5000, the vehicle controller 701 controls the first drive component 3035 to stop driving the left rear wheel 5100.

[0286] If the detection component 306 detects that the fourth axis d of the right rear wheel 5200 is consistent with the rear axle of the vehicle 5000, the vehicle controller 701 controls the second drive component 3036 to stop so that the right rear wheel 5200 remains in the current position. If the detection component 306 detects that the fourth axis d of the right rear wheel 5200 intersects with the rear axle of the vehicle 5000, the vehicle controller 701 controls the second drive component 3036 to drive the right rear wheel 5200 to rotate. When the detection component 306 detects that the fourth axis d of the right rear wheel 5200 is consistent with the rear axle of the vehicle 5000, the vehicle controller 701 controls the second drive component 3036 to stop driving the right rear wheel 5200.

[0287] See also Fig.13 and Fig.14 In some embodiments, the control instruction includes a forward straight driving instruction, and the vehicle 5000 has a forward straight driving posture in the straight driving mode; the control method includes:

[0288] 031: Control the cab 700 to face the head of the frame 2000;

[0289] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0290] 061: In response to the forward straight driving instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in a forward straight driving posture.

[0291] See also Fig. 20 and Fig.21 In some embodiments, the control command includes a forward straight-ahead command, and the vehicle 5000 has a forward straight-ahead driving posture in the straight-ahead driving mode; the control system also includes a cab 700, a steering wheel 703, a wire-controlled steering encoder 705, and a rotating mechanism. The steering wheel 703 is disposed in the cab 700 and is used for the user to input a forward straight-ahead command. The wire-controlled steering encoder 705 is used to output a forward straight-ahead control signal in response to the forward straight-ahead command. The rotating mechanism is disposed on the frame 2000 and is used to drive the cab 700 to rotate relative to the frame 2000; the vehicle controller 701 is also used to: control the cab 700 to face the head of the frame 2000; in response to the forward straight-ahead control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate along the first direction X around the first axis a, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate along the first direction X around the second axis b, so that the vehicle 5000 drives in a forward straight-ahead driving posture.

[0292] The front side of the vehicle 5000 is the side where the line connecting the left front wheel 4100 and the right front wheel 4200 is located, the rear side of the vehicle 5000 is the side where the line connecting the left rear wheel 5100 and the right rear wheel 5200 is located, the left side of the vehicle 5000 is the side where the line connecting the left front wheel 4100 and the left rear wheel 5100 is located, and the right side of the vehicle 5000 is the side where the line connecting the right front wheel 4200 and the right rear wheel 5200 is located. The forward straight driving posture of the vehicle 5000 is that the vehicle 5000 is driving in a straight line, and the driving direction of the vehicle 5000 is the direction in which the rear side of the vehicle 5000 points to the front side of the vehicle 5000, that is, in the driving direction of the vehicle 5000, the left front wheel 4100 and the right front wheel 4200 are located in front of the left rear wheel 5100 and the right rear wheel 5200.

[0293] After the wire-controlled steering encoder 705 obtains the forward straight-line instruction and processes the instruction, the wire-controlled steering encoder 705 outputs a forward straight-line control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 and the right front wheel 4200 to rotate along the first direction X. At this time, the hydraulic system 500 does not need to control the rotation of the left front wheel 4100 and the right front wheel 4200, and the steering axle 300 does not need to control the rotation of the left rear wheel 5100 and the right rear wheel 5200. When the left front wheel 4100 and the right front wheel 4200 both rotate along the first direction X, the left front wheel 4100 and the right front wheel 4200 can drive the left rear wheel 5100 and the right rear wheel 5200 to rotate along the first direction X, so that the vehicle 5000 can move forward straight. After the user inputs a forward straight driving instruction, the vehicle controller 701 can control the left front wheel 4100 and the right front wheel 4200 to rotate along the first direction X, and the user's control method of the vehicle 5000 is relatively simple.

[0294] Please combine Fig.31, the cab 700 of the present application can rotate 360° relative to the frame 2000. In different driving modes of the vehicle 5000, the rotating structure can drive the cab 700 to rotate at different angles, so that the driver in the cab 700 can better observe the road conditions, and the operation efficiency of the vehicle 5000 is higher. In one embodiment, the vehicle controller 701 can be used to control the rotation of the rotating mechanism so that the rotating mechanism can drive the cab 700 to rotate. At this time, after the vehicle controller 701 obtains the driving mode of the vehicle 5000, the vehicle controller 701 can control the rotating mechanism to drive the cab 700 to rotate to the corresponding position. In another embodiment, an integrated handle can be provided in the cab 700, and the driver can control the rotation of the rotating mechanism by operating the integrated handle so that the rotating mechanism can drive the cab 700 to rotate. At this time, the rotation of the cab 700 is relatively free, and the driver can control the steering or non-steering of the cab 700 according to actual needs. When the vehicle 5000 is moving forward straight, the front portion 711 of the cab 700 can be controlled to face the head of the frame 2000 (the front side of the vehicle 5000), that is, the front portion 711 of the cab 700 faces the left front wheel 4100 and the right front wheel 4200. At this time, the driver can better observe the road conditions through the front portion 711 of the cab 700, so as to facilitate the driver's work.

[0295] See also Fig.13 , Fig.14 , Fig. 20 , Fig.24 and Fig.25 In some embodiments, the control command further includes a right turn command, and the vehicle 5000 has a first forward straight-forward and right-turn driving posture and a second forward straight-forward and right-turn driving posture in the straight-forward driving mode; 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, and further includes:

[0296] 0621: In response to the right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center;

[0297] 0631: When the rotation center is outside the projection range of the vehicle frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the first forward straight driving and right turn driving posture;

[0298] 0641: When the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b in the second direction Y, so that the vehicle 5000 drives in the second forward straight and right turn driving posture, and the second direction Y is opposite to the first direction X.

[0299] Please combine Fig. 20 , Fig.24 and Fig.25 In some embodiments, the control instruction also includes a right turn instruction, and the vehicle 5000 has a first forward straight-forward and right turn driving posture and a second forward straight-forward and right turn driving posture in the straight-ahead driving mode; the steering wheel 703 is also used for the user to input a right turn instruction; the wire-controlled steering encoder 705 is also used to respond to the right turn instruction and output a right turn control signal; the vehicle controller 701 is also used to: respond to the right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e, and control the second drive component 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center; Fig.24 As shown, when the rotation center is outside the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the first forward straight and right turn driving posture; Fig.25 As shown, when the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b in the second direction Y, so that the vehicle 5000 drives in the second forward straight and right turn driving posture.

[0300] The first driving posture of the vehicle 5000 that goes straight forward and turns right and the second driving posture of the vehicle 5000 that goes straight forward and turns right are states in which the vehicle 5000 turns right while going straight forward.

[0301] See also Fig. 20 , Fig.24 and Fig.25, the wire steering encoder 705 is connected to the steering wheel 703 and the vehicle controller 701. Exemplarily, when the driver turns the steering wheel 703 to the right, the wire steering encoder 705 can obtain a right turn instruction by detecting the rotation angle of the steering wheel 703 and output a right turn control signal to the vehicle controller 701. The control system 700 may also include a driver 707, and the driver 707 is connected to the vehicle controller 701 and the steering axle 300. After the vehicle controller 701 obtains the right turn control signal, the vehicle controller 701 sends a drive signal to the driver 707, so that the driver 707 can control the first drive component 3035 to drive the right rear wheel 5200 to turn left, and the driver 707 can also control the second drive component 3036 to drive the right rear wheel 5200 to turn left.

[0302] like Fig.24 As shown, after the left rear wheel 5100 and the right rear wheel 5200 rotate, the extension line of the third axis c of the left rear wheel 5100 and the extension line of the fourth axis d of the right rear wheel 5200 intersect at point O, which is the rotation center of the left rear wheel 5100 and the right rear wheel 5200. When the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center, when the vehicle 5000 drives in the second forward straight driving posture and turns right, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, the sliding friction between the left rear wheel 5100 and the right rear wheel 5200 and the ground is small, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is long.

[0303] Specifically, in some embodiments, the right turn instruction includes a first right turn instruction and a second right turn instruction, and the turning radius of the vehicle 5000 under the first right turn instruction is greater than the turning radius under the second right turn instruction; 0621: in response to the right turn instruction, control the first drive assembly 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and control the second drive assembly 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center; including:

[0304] 06211: In response to the first right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn left around the sixth axis f in the height direction of the frame 2000; and

[0305] 06213: In response to the second right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0306] In some embodiments, the steering wheel 703 is also used for the user to input a first right turn instruction and a second right turn instruction; the wire-controlled steering encoder 705 is also used to output a first right turn control signal and a second right turn control signal in response to the first right turn instruction and the second right turn instruction; the vehicle controller 701 is also used to: in response to the first right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn left around the sixth axis f in the height direction of the frame 2000; and in response to the second right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0307] Among them, when the angle A at which the driver turns the steering wheel 703 to the right is less than the first preset threshold, the wire-controlled steering encoder 705 can obtain a first right turn instruction. When the angle B at which the driver turns the steering wheel 703 to the right is greater than the first preset threshold, the wire-controlled steering encoder 705 can obtain a second right turn instruction. The relationship between the turning angles A and B of the steering wheel 703 can be: A>B. After the wire-controlled steering encoder 705 obtains the first right turn instruction, the wire-controlled steering encoder 705 outputs a first right turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left, and the second drive component 3036 drives the right rear wheel 5200 to turn left. At this time, the center of rotation point O is located on the extension line of the front axle of the vehicle 5000, and is outside the projection range of the frame 2000, such as Fig.24 As shown. The vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b in the first direction X. After the wire-controlled steering encoder 705 obtains the second right-turn instruction, the wire-controlled steering encoder 705 outputs a second right-turn control signal to the vehicle controller 701. The vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left, and the second drive component 3036 drives the right rear wheel 5200 to turn right, as shown. Fig.25 When the line-controlled steering encoder 705 obtains the first right-turn instruction, when the vehicle 5000 drives in the first forward straight-ahead and right-turn driving posture, the turning radius of the vehicle 5000 turning right is larger, as shown in FIG. Fig.24 When the line-controlled steering encoder 705 obtains the second right-turn instruction, when the vehicle 5000 drives in the second forward straight-ahead and right-turn driving posture, the turning radius of the vehicle 5000 turning right is small, such as Fig.25Thus, in the case of different road conditions, the driver can input a corresponding right turn command through the steering wheel 703 so that the vehicle 5000 can adjust the turning radius when turning.

[0308] See also Fig.13 , Fig. 20 and Fig.24 , after the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center O, the first angle β between the first line between the left rear wheel 5100 and the rotation center O and the rear axle of the frame 2000, and the second angle γ between the second line between the left rear wheel 5100 and the right front wheel 4200 and the rear axle of the frame 2000. The detection component 306 outputs the values ​​of β and γ to the vehicle controller 701 in real time. When the vehicle controller 701 obtains β<γ, it can be determined that the rotation center O is outside the projection range of the frame 2000 in the height direction, that is, the rotation center O is outside the line connecting the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b in the first direction X, so that the vehicle 5000 can travel in the first forward straight and right turn driving posture. In addition, the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio of the distance between the left front wheel 4100 and the rotation center O and the distance between the right front wheel 4200 and the rotation center O, that is, = , wherein N1 is the speed of the left front wheel 4100, N2 is the speed of the right front wheel 4200, α is the third angle between the third line between the right rear wheel 5200 and the rotation center O and the rear axle of the frame 2000, L is the distance between the left front wheel 4100 and the left rear wheel 5100, M is the distance between the left rear wheel 5100 and the right rear wheel 5200, and K is the distance between the left front wheel 4100 and the right front wheel 4200. When the ratio of the speeds of the left front wheel 4100 and the right front wheel 4200 satisfies the above equation, the rotation center O between the left rear wheel 5100 and the right rear wheel 5200 is a fixed position. When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center O, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, which can avoid slipping friction between the left rear wheel 5100 and the right rear wheel 5200 and the ground, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is longer.

[0309] See also Fig.13 , Fig. 20 and Fig.25When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center O, when the vehicle controller 701 obtains β>γ, it can be determined that the rotation center O is located within the projection range of the frame 2000 in the height direction, that is, the rotation center O is located between the connecting line of the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in the second forward straight and right turn driving posture, and the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio of the distance between the left front wheel 4100 and the rotation center to the distance between the right front wheel 4200 and the rotation center. Thus, the left rear wheel 5100 and the right rear wheel 5200 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 4100 and the right front wheel 4200, the speeds of the left front wheel 4100 and the right front wheel 4200 are opposite in direction and equal in value.

[0310] See also Fig.13 , Fig.15 , Fig. 20 , Fig. 22 and Fig.23 In some embodiments, the control command further includes a left turn command, and the vehicle 5000 has a first forward straight-forward and left-turn driving posture and a second forward straight-forward and left-turn driving posture in the straight-forward driving mode; 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, and further includes:

[0311] 0623: In response to the left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center O;

[0312] 0633: When the rotation center O is outside the projection range of the vehicle frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the first forward straight driving and left turn driving posture; and

[0313] 0643: When the rotation center O is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the second forward straight and left turn driving posture, and the second direction Y is opposite to the first direction X.

[0314] Please combine Fig. 20 , Fig. 22 and Fig.23 In some embodiments, the control command also includes a left turn command, and the vehicle 5000 has a first forward straight driving and left turn driving posture and a second forward straight driving and left turn driving posture in the straight driving mode; the steering wheel 703 is also used for the user to input a left turn command; the wire control steering encoder 705 is also used to respond to the left turn command and output a left turn control signal; the vehicle controller 701 is also used to: respond to the left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e, and control the second drive component 30 36 drives the right rear wheel 5200 to rotate around the sixth axis f, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center O; when the rotation center O is outside the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the first forward straight driving and left turn driving posture, as shown in FIG. Fig. 22 As shown; and when the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the second forward straight and left turn driving posture, as shown Fig.23 As shown, the second direction Y is opposite to the first direction X.

[0315] The first driving posture of the vehicle 5000 that goes straight forward and turns left and the second driving posture that goes straight forward and turns left are states in which the vehicle 5000 turns left while going straight forward.

[0316] For example, when the driver turns the steering wheel 703 to the left, the wire-controlled steering encoder 705 can obtain a left-turn instruction by detecting the rotation angle of the steering wheel 703 and output a left-turn control signal to the vehicle controller 701. After the vehicle controller 701 obtains the left-turn control signal, the vehicle controller 701 sends a drive signal to the driver 707, so that the driver 707 can control the first drive component 3035 to drive the left rear wheel 5100 to turn right, and the driver 707 can also control the second drive component 3036 to drive the right rear wheel 5200 to turn right.

[0317] like Fig. 22 As shown, after the left rear wheel 5100 and the right rear wheel 5200 rotate, the extension line of the third axis c of the left rear wheel 5100 and the extension line of the fourth axis d of the right rear wheel 5200 intersect at point O, which is the rotation center of the left rear wheel 5100 and the right rear wheel 5200. When the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center O, when the vehicle 5000 drives in the second forward straight driving posture and turns left, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, the sliding friction between the left rear wheel 5100 and the right rear wheel 5200 and the ground is small, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is long.

[0318] Specifically, in some embodiments, the left turn instruction includes a first left turn instruction and a second left turn instruction, and the turning radius of the vehicle 5000 under the first left turn instruction is greater than the turning radius under the second left turn instruction; 0623: in response to the left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn right around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center; including:

[0319] 06231: In response to the first left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn right around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000; and

[0320] 06233: In response to the second left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0321] In some embodiments, the steering wheel 703 is also used for the user to input a first left turn instruction and a second left turn instruction; the wire-controlled steering encoder 705 is also used to output a first left turn control signal and a second left turn control signal in response to the first left turn instruction and the second left turn instruction; the vehicle controller 701 is also used to: in response to the first left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn right around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 20000; and in response to the second left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 200, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0322] Among them, when the angle C at which the driver turns the steering wheel 703 to the left is less than the second preset threshold, the wire-controlled steering encoder 705 can obtain a first left turn instruction. When the angle D at which the driver turns the steering wheel 703 to the left is greater than the second preset threshold, the wire-controlled steering encoder 705 can obtain a second left turn instruction. The relationship between the turning angles C and D of the steering wheel 703 can be: C>D. After the wire-controlled steering encoder 705 obtains the first left turn instruction, the wire-controlled steering encoder 705 outputs a first left turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn right, and the second drive component 3036 drives the right rear wheel 5200 to turn right. At this time, the rotation center point O is located on the extension line of the front axle of the vehicle 5000, and is outside the projection range of the frame 2000, such as Fig. 22 As shown. The vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b in the first direction X. After the wire-controlled steering encoder 705 obtains the second left-turn instruction, the wire-controlled steering encoder 705 outputs a second left-turn control signal to the vehicle controller 701. The vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left, and the second drive component 3036 drives the right rear wheel 5200 to turn right, as shown. Fig.23As shown. In the case where the wire-controlled steering encoder 705 obtains the first left-turn instruction, when the vehicle 5000 drives according to the first forward straight-forward and left-turn driving posture, the turning radius of the vehicle 5000 to turn left is relatively large. At this time, the rotation center O is located on the front axle of the vehicle 5000, and is located between the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the first direction X. In the case where the wire-controlled steering encoder 705 obtains the second left-turn instruction, when the vehicle 5000 drives according to the second forward straight-forward and left-turn driving posture, the turning radius of the vehicle 5000 to turn left is relatively small, Fig.23 Thus, in the case of different road conditions, the driver can input a corresponding right turn command through the steering wheel 703 so that the vehicle 5000 can adjust the turning radius when turning.

[0323] See also Fig.13 , Fig. 20 and Fig.23 , when the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, when the vehicle controller 701 obtains α<γ, it can be determined that the rotation center O is outside the projection range of the frame 2000 in the height direction, that is, the rotation center O is outside the line connecting the left front wheel 4100 and the right front wheel 4200, as shown in FIG. Fig. 22 As shown. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b in the first direction X, so that the vehicle 5000 can travel in the first forward straight and left turn driving posture. In addition, the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio of the distance from the left front wheel 4100 to the center of rotation to the distance from the right front wheel 4200 to the center of rotation, that is, = When the ratio of the speeds of the left front wheel 4100 and the right front wheel 4200 satisfies the above equation, the rotation center between the left rear wheel 5100 and the right rear wheel 5200 is a fixed position. When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, which can avoid slip friction between the left rear wheel 5100 and the right rear wheel 5200 and the ground, thereby extending the service life of the left rear wheel 5100 and the right rear wheel 5200.

[0324] See also Fig.13 , Fig. 20 and Fig.23, when the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center O, when the vehicle controller 701 obtains α>γ, it can be determined that the rotation center is located within the projection range of the frame 2000 in the height direction, that is, the rotation center O is located between the line connecting the left front wheel 4100 and the right front wheel 4200, as shown in FIG. Fig.23 As shown. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the second forward straight and left turn driving posture, and the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio between the distance from the left front wheel 4100 to the rotation center and the distance from the right front wheel 4200 to the rotation center O. In this way, the left rear wheel 5100 and the right rear wheel 5200 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is longer. When the steering center is located at the midpoint of the line connecting the left front wheel 4100 and the right front wheel 4200, the speeds of the left front wheel 4100 and the right front wheel 4200 are in opposite directions and equal in value.

[0325] See also Fig.13 and Fig.16 In some embodiments, the control instruction includes a backward straight driving instruction, and the vehicle 5000 has a backward straight driving posture in the straight driving mode; the control method also includes:

[0326] 033: Control the cab 700 to move toward the rear of the frame 2000;

[0327] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0328] 065: In response to the backward straight driving instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in a backward straight driving posture.

[0329] See also Fig. 20 and Fig.21In some embodiments, the control instruction includes a backward straight-ahead instruction, and the vehicle 5000 has a backward straight-ahead driving posture in the straight-ahead driving mode; the steering wheel 703 is also used for the user to input a backward straight-ahead instruction; the wire-controlled steering encoder 705 is also used to output a backward straight-ahead control signal in response to the backward straight-ahead instruction; the vehicle controller 701 is also used to: control the rotating mechanism to drive the cab 700 toward the rear of the frame 2000; in response to the backward straight-ahead control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in the backward straight-ahead driving posture.

[0330] Among them, the backward straight driving posture of the vehicle 5000 is that the vehicle 5000 is driving in a straight line, and the driving direction of the vehicle 5000 is the direction from the front side of the vehicle 5000 to the rear side of the vehicle 5000, that is, in the driving direction of the vehicle 5000, the left front wheel 4100 and the right front wheel 4200 are located behind the left rear wheel 5100 and the right rear wheel 5200.

[0331] After the wire-controlled steering encoder 705 obtains the backward straight line instruction and processes the instruction, the wire-controlled steering encoder 705 outputs a backward straight control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 and the right front wheel 4200 to rotate along the second direction Y. At this time, the hydraulic system 500 does not need to control the rotation of the left front wheel 4100 and the right front wheel 4200, and the steering axle 300 does not need to control the rotation of the left rear wheel 5100 and the right rear wheel 5200. When the left front wheel 4100 and the right front wheel 4200 rotate along the second direction Y, the left front wheel 4100 and the right front wheel 4200 can drive the left rear wheel 5100 and the right rear wheel 5200 to rotate along the second direction Y, so that the vehicle 5000 can go straight backward. After the user inputs a command to go straight backward, the vehicle controller 701 can control the left front wheel 4100 and the right front wheel 4200 to rotate along the second direction Y, and the user's control method of the vehicle 5000 is relatively simple.

[0332] Please combine Fig.32 When the vehicle 5000 is moving straight backward, the rotating mechanism can be controlled to drive the cab 700 to rotate so that the front portion 711 of the cab 700 faces the rear portion of the frame 2000, that is, the front portion 711 of the cab 700 faces the left rear wheel 5100 and the right rear wheel 5200. Compared with the position of the cab 700 when the vehicle 5000 is moving straight forward, the rotating mechanism can drive the cab 700 to rotate 180 degrees. As a result, the driver can better observe the road conditions through the front portion 711 of the cab 700, which is convenient for the driver's work.

[0333] See also Fig.13 and Fig.15 In some embodiments, the control command further includes a right turn command, and the vehicle 5000 has a first driving posture of driving straight backward and turning right and a second driving posture of driving straight backward and turning right in the straight driving mode; 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, and further includes:

[0334] 0661: In response to the right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center;

[0335] 0671: When the rotation center is outside the projection range of the vehicle frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in the first backward straight driving posture and right turn; and

[0336] 0681: When the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b in the second direction Y, so that the vehicle 5000 drives in the second backward straight and right turn driving posture, and the second direction Y is opposite to the first direction X.

[0337] See also Fig.13 , Fig. 20 , Fig.24 and Fig.25In some embodiments, the control instruction also includes a right turn instruction, and the vehicle 5000 has a first backward straight driving and right turn driving posture and a second backward straight driving and right turn driving posture in the straight driving mode; the steering wheel 703 is also used for the user to input a right turn instruction; the wire-controlled steering encoder 705 is also used to respond to the right turn instruction and output a right turn control signal; the vehicle controller 701 is also used to: respond to the right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e, and control the second drive component 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center; the rotation center is located within the projection range of the frame 2000 in the height direction In the case where the center of rotation is within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 travels in the first straight backward and right turn driving posture, and the second direction Y is opposite to the first direction X.

[0338] The first driving posture of the vehicle 5000 going straight backward and turning right and the second driving posture of the vehicle 5000 going straight backward and turning right are states in which the vehicle 5000 turns right while going straight backward.

[0339] Exemplarily, when the driver turns the steering wheel 703 to the right, the wire-controlled steering encoder 705 can obtain a right-turn instruction by detecting the rotation angle of the steering wheel 703 and output a right-turn control signal to the vehicle controller 701. After the vehicle controller 701 obtains the right-turn control signal, the vehicle controller 701 sends a drive signal to the driver 707, so that the driver 707 can control the first drive assembly 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e, and the driver 707 can also control the second drive assembly 3036 to drive the right rear wheel 5200 to turn left around the sixth axis f.

[0340] Specifically, in some embodiments, the right turn instruction includes a third right turn instruction and a fourth right turn instruction, and the turning radius of the vehicle 5000 under the third right turn instruction is greater than the turning radius under the fourth right turn instruction; 0661: in response to the right turn instruction, control the first drive assembly 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and control the second drive assembly 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000; including:

[0341] 06611: In response to the third right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn left around the sixth axis f in the height direction of the frame 2000; and

[0342] 06613: In response to the fourth right turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0343] In some embodiments, the steering wheel 703 is also used for the user to input a third right turn instruction and a fourth right turn instruction; the wire-controlled steering encoder 703 is also used to output a third right turn control signal and a fourth right turn control signal in response to the third right turn instruction and the fourth right turn instruction; the vehicle controller 701 is also used to: in response to the third right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn left around the sixth axis f in the height direction of the frame 2000; and in response to the fourth right turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0344] Among them, when the angle E at which the driver turns the steering wheel 703 to the right is less than the third preset threshold, the wire steering encoder 705 can obtain the third right turn instruction. When the angle F at which the driver turns the steering wheel 703 to the right is greater than the third preset threshold, the wire steering encoder 705 can obtain the fourth right turn instruction. The relationship between the rotation angles E and F of the steering wheel 703 can be: E>F. After the wire steering encoder 705 obtains the third right turn instruction, the wire steering encoder 705 outputs the third right turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left around the fifth axis e, and the second drive component 3036 drives the right rear wheel 5200 to turn left around the sixth axis f. At this time, the vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate along the second direction Y around the first axis a, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate along the second direction Y around the second axis b. After the wire-controlled steering encoder 705 obtains the fourth right-turn instruction, the wire-controlled steering encoder 705 outputs the fourth right-turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering bridge 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left around the fifth axis e, and the second drive component 3036 drives the right rear wheel 5200 to turn right around the sixth axis f. At this time, the vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y. In the case where the wire-controlled steering encoder 705 obtains the third right-turn instruction, when the vehicle 5000 drives according to the first backward straight and right-turn driving posture, the turning radius of the vehicle 5000 to turn right is larger. When the wire-controlled steering encoder 705 obtains the fourth right-turn instruction, when the vehicle 5000 drives in the second backward straight-ahead and right-turn driving posture, the turning radius of the vehicle 5000 turning right is smaller. Therefore, in the case of different road conditions, the driver can input the corresponding right-turn instruction through the steering wheel 703, so that the vehicle 5000 can adjust the turning radius when turning.

[0345] See also Fig.13 , Fig. 20 ,and Fig.24, when the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, when the vehicle controller 701 obtains α<γ, it can be determined that the rotation center is located outside the projection range of the frame 2000 in the height direction, that is, the rotation center is located outside the line connecting the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 can travel in the first backward straight and right turn driving posture. In addition, the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio between the distance from the left front wheel 4100 to the rotation center and the distance from the right front wheel 4200 to the rotation center. Thus, the rotation center between the left rear wheel 5100 and the right rear wheel 5200 is a fixed position. When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, which can avoid the left rear wheel 5100 and the right rear wheel 5200 from sliding friction with the ground, so that the left rear wheel 5100 and the right rear wheel 5200 have a longer service life.

[0346] See also Fig.13 , Fig. 20 ,and Fig.25 , when the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, when the vehicle controller 701 obtains α>γ, it can be determined that the rotation center is located within the projection range of the frame 2000 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in the second backward straight and right turn driving posture, and the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio of the distance between the left front wheel 4100 and the rotation center to the distance between the right front wheel 4200 and the rotation center. Thus, the left rear wheel 5100 and the right rear wheel 5200 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 4100 and the right front wheel 4200, the speeds of the left front wheel 4100 and the right front wheel 4200 are opposite in direction and equal in value.

[0347] See also Fig.13 and Fig.16In some embodiments, the control command further includes a left turn command, and the vehicle 5000 has a first driving posture of driving straight backward and turning left and a second driving posture of driving straight backward and turning left in the straight driving mode; 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, and further includes:

[0348] 0663: In response to the left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center;

[0349] 0673: When the rotation center is outside the projection range of the vehicle frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in the first backward straight driving and left turn driving posture; and

[0350] 0683: When the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the second backward straight and left turn driving posture, and the second direction Y is opposite to the first direction X.

[0351] See also Fig.13 , Fig. 20 , Fig. 22 and Fig.23In some embodiments, the control instruction also includes a left turn instruction, and the vehicle 5000 has a first backward straight driving and left turn driving posture and a second backward straight driving and left turn driving posture in the straight driving mode; the steering wheel 703 is also used for the user to input a left turn instruction; the wire control steering encoder 705 is also used to respond to the left turn instruction and output a left turn control signal; the vehicle controller 701 is also used to: respond to the left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, control the second drive component 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000, and the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center; when the rotation center is located on the frame 2000 When the projection range in the height direction is outside the projection range, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 travels in the first straight backward and left turn driving posture; and when the rotation center is located within the projection range of the frame 2000 in the height direction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 travels in the second straight backward and left turn driving posture, and the second direction Y is opposite to the first direction X.

[0352] The first driving posture of the vehicle 5000 going straight backward and turning left and the second driving posture of the vehicle 5000 going straight backward and turning left are states in which the vehicle 5000 turns left while going straight backward.

[0353] For example, when the driver turns the steering wheel 703 to the left, the steer-by-wire encoder 705 can obtain a left turn instruction by detecting the rotation angle of the steering wheel 703 and output a left turn control signal to the vehicle controller 701. The vehicle controller 701 sends a drive signal to the driver 707, so that the driver 707 can control the first drive assembly 3035 to drive the left rear wheel 5100 to turn right, and the driver 707 can also control the second drive assembly 3036 to drive the right rear wheel 5200 to turn right.

[0354] Specifically, in some embodiments, the left turn instruction includes a third left turn instruction and a fourth left turn instruction, and the turning radius of the vehicle 5000 under the third left turn instruction is greater than the turning radius under the fourth left turn instruction; 0663: in response to the left turn instruction, control the first drive assembly 3035 to drive the left rear wheel 5100 to rotate around the fifth axis e in the height direction of the frame 2000, and control the second drive assembly 3036 to drive the right rear wheel 5200 to rotate around the sixth axis f in the height direction of the frame 2000; including:

[0355] 06631: In response to the third left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn right around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000; and

[0356] 06633: In response to the fourth left turn instruction, the first drive assembly 3035 is controlled to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and the second drive assembly 3036 is controlled to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0357] In some embodiments, the steering wheel 703 is also used for the user to input a third left turn instruction and a fourth left turn instruction; the wire-controlled steering encoder 703 is also used to output a third left turn control signal and a fourth left turn control signal in response to the third left turn instruction and the fourth left turn instruction; the vehicle controller 701 is also used to: in response to the third left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn right around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000; and in response to the fourth left turn control signal, control the first drive component 3035 to drive the left rear wheel 5100 to turn left around the fifth axis e in the height direction of the frame 2000, and control the second drive component 3036 to drive the right rear wheel 5200 to turn right around the sixth axis f in the height direction of the frame 2000.

[0358] Wherein, when the angle G at which the driver turns the steering wheel 703 to the left is less than the fourth preset threshold, the wire-controlled steering encoder 705 can obtain the third left-turn instruction. When the angle H at which the driver turns the steering wheel 703 to the right is greater than the fourth preset threshold, the wire-controlled steering encoder 705 can obtain the fourth left-turn instruction. The relationship between the rotation angles G and H of the steering wheel 703 can be: G>H. After the wire-controlled steering encoder 705 obtains the third left-turn instruction, the wire-controlled steering encoder 705 outputs the third left-turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering axle 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn right around the fifth axis e, and the second drive component 3036 drives the right rear wheel 5200 to turn right around the sixth axis f. At this time, the vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate along the second direction Y around the first axis a, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate along the second direction Y around the second axis b. After the wire-controlled steering encoder 705 obtains the fourth left-turn instruction, the wire-controlled steering encoder 705 outputs the fourth left-turn control signal to the vehicle controller 701, and the vehicle controller 701 drives the steering bridge 300 to start through the driver 707, so that the first drive component 3035 drives the left rear wheel 5100 to turn left around the fifth axis e, and the second drive component 3036 drives the right rear wheel 5200 to turn right around the sixth axis f. At this time, the vehicle controller 701 controls the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and controls the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the first direction X. In the case where the wire-controlled steering encoder 705 obtains the third left-turn instruction, when the vehicle 5000 drives according to the first backward straight-ahead and left-turn driving posture, the turning radius of the vehicle 5000 turning left is large. When the steering-by-wire encoder 705 obtains the fourth left-turn instruction, the turning radius of the vehicle 5000 when the vehicle 5000 drives in the second driving posture of driving straight backward and turning left is smaller. Therefore, in the case of different road conditions, the driver can input the corresponding right-turn instruction through the steering wheel 703, so that the vehicle 5000 can adjust the turning radius when turning.

[0359] See also Fig.13 , Fig. 20 ,and Fig. 22, when the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, when the vehicle controller 701 obtains β<γ, it can be determined that the rotation center is located outside the projection range of the frame 2000 in the height direction, that is, the rotation center is located outside the line connecting the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 can travel in the first backward straight and left turn driving posture. In addition, the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio between the distance from the left front wheel 4100 to the rotation center and the distance from the right front wheel 4200 to the rotation center. Thus, the rotation center between the left rear wheel 5100 and the right rear wheel 5200 is a fixed position. When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, the left rear wheel 5100 and the right rear wheel 5200 are in pure rolling motion, which can avoid the left rear wheel 5100 and the right rear wheel 5200 from sliding friction with the ground, so that the left rear wheel 5100 and the right rear wheel 5200 have a longer service life.

[0360] See also Fig.13 , Fig. 20 ,and Fig.23 When the left rear wheel 5100 and the right rear wheel 5200 rotate around the rotation center, when the vehicle controller 701 obtains β>γ, it can be determined that the rotation center is located within the projection range of the frame 2000 in the height direction, that is, the rotation center is located between the connecting line of the left front wheel 4100 and the right front wheel 4200. The vehicle controller 701 can control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in the second backward straight driving posture and turns left, and the vehicle controller 701 can control the drive axle assembly 1000 to make the ratio of the speed between the left front wheel 4100 and the right front wheel 4200 the same as the ratio of the distance between the left front wheel 4100 and the rotation center to the distance between the right front wheel 4200 and the rotation center. Thus, the left rear wheel 5100 and the right rear wheel 5200 can be prevented from slipping and rubbing against the ground, and the service life of the left rear wheel 5100 and the right rear wheel 5200 is prolonged. When the steering center is located at the midpoint of the line connecting the left front wheel 4100 and the right front wheel 4200, the speeds of the left front wheel 4100 and the right front wheel 4200 are opposite in direction and equal in value.

[0361] See also Fig.13 ,and Fig.17In some embodiments, the driving mode includes a lateral driving mode. 04: Controlling the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the frame 2000 according to the driving mode includes:

[0362] 043: According to the lateral driving mode, the first axis a of the left front wheel 4100 and the second axis b of the right front wheel 4200 are controlled to be perpendicular to the front axle of the vehicle 5000, and the third axis c of the left rear wheel 5100 and the fourth axis d of the right rear wheel 5200 are controlled to be perpendicular to the rear axle of the vehicle 5000, and the two opposite surfaces of the left front wheel 4100 and the right front wheel 4200 before turning are located on the same side of the front axle of the vehicle 5000 after turning, and the two opposite surfaces of the left rear wheel 5100 and the right rear wheel 5200 before turning are located on the same side of the rear axle of the vehicle 5000 after turning.

[0363] See also Fig. 20 , Fig.26 , Fig. 27 ,and Fig.28 In some embodiments, the driving mode includes a lateral driving mode, and the vehicle controller 701 is also used to: control the first steering cylinder 50411 according to the lateral driving mode to make the first axis a of the left front wheel 4100 perpendicular to the front axle of the vehicle 5000; control the second steering cylinder 50413 to make the second axis b of the right front wheel 4200 perpendicular to the front axle of the vehicle 5000; control the first drive component 3035 to make the third axis c of the left rear wheel 5100 perpendicular to the rear axle of the vehicle 5000, and control the second drive component 3036 to make the fourth axis d of the right rear wheel 5200 perpendicular to the rear axle of the vehicle 5000, and the two opposite surfaces of the left front wheel 4100 and the right front wheel 4200 before turning are located on the same side of the front axle of the vehicle 5000 after turning, and the two opposite surfaces of the left rear wheel 5100 and the right rear wheel 5200 before turning are located on the same side of the rear axle of the vehicle 5000 after turning.

[0364] When the driving mode of the vehicle 5000 is the lateral driving mode, the lateral driving mode of the vehicle 5000 is left driving or right driving in the driving direction when the vehicle 5000 is moving straight forward. When the vehicle 5000 is in the lateral driving mode, the vehicle 5000 can have a right driving posture and a left driving posture.

[0365] See also Figure 26 to Figure 28, when the first axis a of the left front wheel 4100 is perpendicular to the front axle of the vehicle 5000, the left front wheel 4100 can rotate 90° relative to the frame 2000 compared to the position of the left front wheel 4100 in the straight-ahead driving mode of the vehicle 5000. When the second axis b of the right front wheel 4200 is perpendicular to the front axle of the vehicle 5000, the right front wheel 4200 can rotate 90° relative to the frame 2000 compared to the position of the left front wheel 4100 in the straight-ahead driving mode of the vehicle 5000. When the third axis c of the left rear wheel 5100 is perpendicular to the rear axle of the vehicle 5000, the left rear wheel 5100 can rotate 90° relative to the frame 2000 compared to the position of the left rear wheel 5100 in the straight-ahead driving mode of the vehicle 5000. When the fourth axis d of the right rear wheel 5200 is perpendicular to the rear axle of the vehicle 5000 , the right rear wheel 5200 can rotate 90° relative to the frame 2000 compared to the position of the right rear wheel 5200 of the vehicle 5000 in the straight driving mode.

[0366] See also Fig. 20 , Fig.26 , Fig. 27 ,and Fig.28 , when the vehicle controller 701 obtains that the driving mode of the vehicle 5000 is the lateral driving mode, if the angle sensor on the hydraulic system 500 detects that the angle between the first axis a of the left front wheel 4100 and the front axle of the vehicle 5000 is 90° (vertical), the vehicle controller 701 controls the first steering cylinder 50411 to keep the left front wheel 4100 at the current position. If the angle sensor detects that the angle between the first axis a of the left front wheel 4100 and the front axle of the vehicle 5000 is not 90° (not vertical), the vehicle controller 701 controls the first steering cylinder 50411 to drive the left front wheel 4100 to rotate so that the first axis a of the left front wheel 4100 is vertical to the front axle of the vehicle 5000. If the angle sensor detects that the angle between the second axis b of the right front wheel 4200 and the front axle of the vehicle 5000 is 90° (vertical), the vehicle controller 701 controls the second steering cylinder 50413 to keep the right front wheel 4200 at the current position. If the angle sensor detects that the angle between the second axis b of the right front wheel 4200 and the front axle of the vehicle 5000 is not 90° (not perpendicular), the vehicle controller 701 controls the second steering cylinder 50413 to drive the right front wheel 4200 to rotate so that the second axis b of the right front wheel 4200 is perpendicular to the front axle of the vehicle 5000.

[0367] If the detection component 306 of the steering axle 300 detects that the angle between the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 is 90° (vertical), the vehicle controller 701 controls the first drive component 3035 to keep the left rear wheel 5100 at the current position. If the detection component 306 detects that the angle between the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 is not 90° (not vertical), the vehicle controller 701 controls the first drive component 3035 to drive the left rear wheel 5100 to rotate so that the third axis c of the left rear wheel 5100 is perpendicular to the rear axle of the vehicle 5000. If the detection component 306 detects that the fourth axis d of the right rear wheel 5200 is perpendicular to the rear axle of the vehicle 5000, the vehicle controller 701 controls the second drive component 3036 to keep the right rear wheel 5200 at the current position. If the detection component 306 detects that the angle between the fourth axis d of the right rear wheel 5200 and the rear axle of the vehicle 5000 is not 90° (not perpendicular), the vehicle controller 701 controls the second drive component 3036 to drive the right rear wheel 5200 to rotate so that the fourth axis d of the right rear wheel 5200 is perpendicular to the rear axle of the vehicle 5000.

[0368] See also Fig.13 and Fig.18 In some embodiments, the control instruction includes a rightward driving instruction, and the vehicle 5000 has a rightward driving posture in the lateral driving mode; the control method further includes:

[0369] 051: Control the cab 700 to face the right side of the frame 2000;

[0370] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0371] 0681: In response to the right travel instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 travels in a right travel posture.

[0372] See also Fig. 20 , Fig.26 , Fig. 27 ,and Fig.28In some embodiments, the control command includes a rightward travel command, and the vehicle 5000 has a rightward travel attitude in the lateral travel mode; the control system also includes a cab 700, a steering wheel 703, a wire-controlled steering encoder 705, and a rotating mechanism. The steering wheel 703 is arranged in the cab 700 and is used for the user to input a rightward travel command; the wire-controlled steering encoder 705 is used to output a rightward travel control signal in response to the rightward travel command; the rotating mechanism is arranged on the frame 2000 and is used to drive the cab 700 to rotate relative to the frame 2000; the vehicle controller 701 is also used to: control the rotating mechanism to drive the cab 700 toward the right side of the frame 2000; in response to the rightward travel control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate along the first direction X around the first axis a, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate along the first direction X around the second axis b, so that the vehicle 5000 drives in a rightward travel attitude.

[0373] The rightward driving posture of the vehicle 5000 is straight driving with the right side of the vehicle 5000 as the front, that is, the driving direction of the vehicle 5000 is the direction from the left side of the vehicle 5000 to the right side of the vehicle 5000. In the driving direction of the vehicle 5000, the right front wheel 4200 and the right rear wheel 5200 are located in front of the left front wheel 4100 and the left rear wheel 5100.

[0374] When the vehicle 5000 is in a rightward driving posture, when the left front wheel 4100 rotates along the first direction X, the left front wheel 4100 rotates counterclockwise from the direction from the left front wheel 4100 to the left rear wheel 5100. When the right front wheel 4200 rotates along the first direction X, the right front wheel 4200 rotates counterclockwise from the direction from the right front wheel 4200 to the right rear wheel 5200.

[0375] After the wire-controlled steering encoder 705 obtains the rightward movement instruction and processes the instruction, the wire-controlled steering encoder 705 outputs a rightward movement control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 and the right front wheel 4200 to rotate along the first direction X. At this time, the hydraulic system 500 does not need to control the rotation of the left front wheel 4100 and the right front wheel 4200, and the steering axle 300 does not need to control the rotation of the left rear wheel 5100 and the right rear wheel 5200. When the left front wheel 4100 and the right front wheel 4200 both rotate along the first direction X, the left front wheel 4100 and the right front wheel 4200 drive the left rear wheel 5100 and the right rear wheel 5200 to rotate along the first direction X, so that the vehicle 5000 can move to the right. After the user inputs a rightward movement instruction, the vehicle controller 701 can control the left front wheel 4100 and the right front wheel 4200 to rotate along the first direction X, and the user's control method of the vehicle 5000 is relatively simple.

[0376] Please combine Fig.32 When the vehicle 5000 moves to the right, the rotating mechanism can be controlled to drive the cab 700 to rotate so that the front portion 711 of the cab 700 faces the right side of the frame 2000, that is, the front portion 711 of the cab 700 faces the right front wheel 4200 and the right rear wheel 5200. Compared with the position of the cab 700 when the vehicle 5000 moves straight forward, the rotating mechanism can drive the cab 700 to rotate 90 degrees. At this time, the driver can better observe the road conditions through the front portion 711 of the cab 700, which is convenient for the driver's work.

[0377] See also Fig.13 and Fig.18 In some embodiments, the control command includes a left travel command, and the vehicle 5000 has a left travel posture in the lateral travel mode;

[0378] 053: Control the cab 700 to face the left side of the frame 2000;

[0379] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0380] 0683: In response to the left travel instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 travels in a left driving posture.

[0381] See also Fig. 20 , Fig.26 , Fig. 27 ,and Fig.28 In some embodiments, the control instruction includes a left travel instruction, and the vehicle 5000 has a left travel posture in the lateral driving mode; the steering wheel 703 is also used for the user to input a left travel instruction; the wire-controlled steering encoder 705 is also used to output a left travel control signal in response to the left travel instruction; the vehicle controller 701 is also used to: control the cab 700 to face the left side of the frame 2000; in response to the left travel control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in a left travel posture.

[0382] The leftward driving posture of the vehicle 5000 is straight driving with the left side of the vehicle 5000 as the front, that is, the driving direction of the vehicle 5000 is the direction from the right side of the vehicle 5000 to the left side of the vehicle 5000. In the driving direction of the vehicle 5000, the right front wheel 4200 and the right rear wheel 5200 are located behind the left front wheel 4100 and the left rear wheel 5100.

[0383] When the left front wheel 4100 rotates along the second direction Y, the left front wheel 4100 rotates clockwise from the direction from the left front wheel 4100 to the left rear wheel 5100. When the right front wheel 4200 rotates along the second direction Y, the right front wheel 4200 rotates clockwise from the direction from the right front wheel 4200 to the right rear wheel 5200.

[0384] After the wire-controlled steering encoder 705 obtains the left-moving instruction and processes the instruction, the wire-controlled steering encoder 705 outputs a left-moving control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 and the right front wheel 4200 to rotate along the second direction Y. At this time, the hydraulic system 500 does not need to control the rotation of the left front wheel 4100 and the right front wheel 4200, and the steering axle 300 does not need to control the rotation of the left rear wheel 5100 and the right rear wheel 5200. When the left front wheel 4100 and the right front wheel 4200 rotate along the second direction Y, the left front wheel 4100 and the right front wheel 4200 drive the left rear wheel 5100 and the right rear wheel 5200 to rotate along the second direction Y, so that the vehicle 5000 can move to the left. After the user inputs a left movement instruction, the vehicle controller 701 can control the left front wheel 4100 and the right front wheel 4200 to rotate along the second direction Y, and the user's control method of the vehicle 5000 is relatively simple.

[0385] Please combine Fig.33 When the vehicle 5000 moves to the left, the cab 700 can be controlled to rotate so that the front portion 711 of the cab 700 faces the left side of the frame 2000, that is, the front portion 711 of the cab 700 faces the left front wheel 4100 and the left rear wheel 5100. Compared with the position of the cab 700 when the vehicle 5000 moves forward, the rotating mechanism can drive the cab 700 to rotate 270 degrees. At this time, the driver can better observe the road conditions through the front portion 711 of the cab 700, which is convenient for the driver's work.

[0386] See also Fig.13 and Fig.19 In some embodiments, the driving mode includes a turning driving mode. 04: Controlling the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the vehicle frame 2000 according to the driving mode includes:

[0387] 045: According to the turning driving mode, the first axis a of the left front wheel 4100 and the second axis b of the right front wheel 4200 are controlled to form a first angle with the front axle of the vehicle 5000, and the third axis c of the left rear wheel 5100 and the fourth axis d of the right rear wheel 5200 are controlled to form a second angle with the rear axle of the vehicle 5000, and the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 have a common center of rotation, which is located within the projection range of the frame 2000 in the height direction, and the second angle is greater than the first angle.

[0388] See also Fig. 20 , Fig.29 ,and Fig.30 In some embodiments, the driving mode includes a swing driving mode, and the vehicle controller 701 is also used to: control the first steering cylinder 50411 according to the swing driving mode so that the first axis a of the left front wheel 4100 and the front axle of the vehicle 5000 form a first angle, control the second steering cylinder 50413 so that the second axis b of the right front wheel 4200 and the front axle of the vehicle 5000 form a first angle, control the first drive component 3035 so that the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 form a second angle, control the second drive component 3036 so that the fourth axis d of the right rear wheel 5200 and the rear axle of the vehicle 5000 form a second angle, and the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 have a common rotation center, the rotation center is located within the projection range of the frame 2000 in the height direction, and the second angle is greater than the first angle.

[0389] When the driving mode of the vehicle 5000 is the swing driving mode, the vehicle 5000 can achieve a 360° rotation in situ, that is, the directions of the front side of the vehicle 5000 and the rear side of the vehicle 5000 can be reversed. When the vehicle 5000 is in the swing driving mode, the vehicle 5000 can have a right swing driving posture and a left swing driving posture.

[0390] When the vehicle controller 701 obtains that the driving mode of the vehicle 5000 is the turning driving mode, the hydraulic system 500 can control the first axis a of the left front wheel 4100 to intersect with the front axle of the vehicle 5000, and control the second axis b of the right front wheel 4200 to intersect with the front axle of the vehicle 5000. The steering axle 300 can control the third axis c of the left rear wheel 5100 to intersect with the rear axle of the vehicle 5000, and control the fourth axis d of the right rear wheel 5200 to intersect with the rear axle of the vehicle 5000. For example, the first angle between the first axis a of the left front wheel 4100 and the front axle of the vehicle 5000 can be 45°, the first angle between the second axis b of the right front wheel 4200 and the front axle of the vehicle 5000 can be 45°, the third angle between the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 can be 60°, and the first angle between the fourth axis d of the right rear wheel 5200 and the rear axle of the vehicle 5000 can be 60°.

[0391] See also Fig. 20 , Fig.29 ,and Fig.30 , when the vehicle controller 701 obtains that the driving mode of the vehicle 5000 is the turning driving mode, if the angle sensor on the hydraulic system 500 detects that the angle between the first axis a of the left front wheel 4100 and the front axle of the vehicle 5000 is the first angle, the vehicle controller 701 controls the first steering cylinder 50411 to keep the left front wheel 4100 at the current position. If the angle sensor detects that the first axis a of the left front wheel 4100 is consistent with or intersects with the front axle of the vehicle 5000 (but not the first angle), the vehicle controller 701 controls the first steering cylinder 50411 to drive the left front wheel 4100 to rotate so that the angle between the first axis a of the left front wheel 4100 and the frame 2000 is the first angle. If the angle sensor detects that the angle between the second axis b of the right front wheel 4200 and the frame 2000 is the first angle, the vehicle controller 701 controls the second steering cylinder 50413 to keep the right front wheel 4200 at the current position. If the angle sensor detects that the second axis b of the right front wheel 4200 is consistent with or intersects the front axle of the vehicle 5000 (but is not the first angle), the vehicle controller 701 controls the second steering cylinder 50413 to drive the right front wheel 4200 to rotate so that the angle between the second axis b of the right front wheel 4200 and the frame 2000 is the first angle.

[0392] See also Fig. 20 , Fig.29 ,and Fig.30If the detection component 306 of the steering bridge 300 detects that the angle between the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 is the second angle, the vehicle controller 701 controls the first drive component 3035 to keep the left rear wheel 5100 at the current position. If the detection component 306 detects that the third axis c of the left rear wheel 5100 is consistent with or intersects with the rear axle of the vehicle 5000 (but not the second angle), the vehicle controller 701 controls the first drive component 3035 to drive the left rear wheel 5100 to rotate so that the angle between the third axis c of the left rear wheel 5100 and the rear axle of the vehicle 5000 is the second angle. If the detection component 306 detects that the angle between the fourth axis d of the right rear wheel 5200 and the rear axle of the vehicle 5000 is the second angle, the vehicle controller 701 controls the second drive component 3036 to keep the right rear wheel 5200 at the current position. If the detection component 306 detects that the fourth axis d of the right rear wheel 5200 is consistent with or intersects with the rear axle of the vehicle 5000 (but is not the second angle), the vehicle controller 701 controls the second drive component 3036 to drive the right rear wheel 5200 to rotate so that the angle between the fourth axis d of the right rear wheel 5200 and the rear axle of the vehicle 5000 is the first angle.

[0393] When the centers of rotation of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are within the projection range of the frame 2000 in the height direction, the turning radius of the vehicle 5000 is smaller, and the space occupied by the vehicle 5000 during the turning process is smaller, which makes it easier for the vehicle 5000 to turn in a smaller space.

[0394] See also Fig.13 and Fig.19 In some embodiments, the control command includes a right turn command, and the vehicle 5000 has a right turn driving posture in the turning driving mode; 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0395] 0691: In response to the right turn instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a in the first direction X, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b in the second direction Y, so that the vehicle 5000 travels in a right turning driving posture, and the first direction X is opposite to the second direction Y.

[0396] See also Fig. 20 , Fig.29 ,and Fig.30In some embodiments, the control instruction includes a right turn instruction, and the vehicle 5000 has a right turn driving posture in the turn driving mode; the control system also includes a cab 700, a steering wheel 703 and a wire-controlled steering encoder 705, the steering wheel 703 is arranged in the cab 700, and is used for the user to input a right turn instruction; the wire-controlled steering encoder 705 is used to output a right turn control signal in response to the right turn instruction; the vehicle controller 701 is also used to: in response to the right turn control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the first direction X, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the second direction Y, so that the vehicle 5000 drives in a right turn driving posture, and the first direction X is opposite to the second direction Y.

[0397] Among them, the right turning driving posture of the vehicle 5000 is the state in which the vehicle 5000 turns toward the right side. After the wire control steering encoder 705 obtains the right turning instruction and processes the instruction, the wire control steering encoder 705 outputs a right turn control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 to rotate along the first direction X and the right front wheel 4200 to rotate along the second direction Y. When the left front wheel 4100 rotates along the first direction X and the right front wheel 4200 rotates along the second direction Y, the left front wheel 4100 and the right front wheel 4200 can drive the frame 2000 to rotate. After the user inputs the right turn instruction, the vehicle controller 701 can control the left front wheel 4100 to rotate along the first direction X and the right front wheel 4200 to rotate along the second direction Y, and the user's control method of the vehicle 5000 is relatively simple.

[0398] When the vehicle 5000 turns right, the cab 700 can be controlled to rotate so that the front portion 711 of the cab 700 faces the rear side of the frame 2000, that is, the front portion 711 of the cab 700 faces the left rear wheel 5100 and the right rear wheel 5200. Compared with the position of the cab 700 when the vehicle 5000 is moving straight forward, the rotating mechanism can drive the cab 700 to rotate 180 degrees. At this time, the driver can better observe the road conditions through the front portion 711 of the cab 700, which is convenient for the driver's work.

[0399] See also Fig.13 and Fig.19 In some embodiments, the control command includes a left turn command, and the vehicle 5000 has a left turn driving posture in the turning driving mode; 06: responding to the control command input by the user, controlling the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 to move, so that the vehicle 5000 drives according to the driving posture in the driving mode, including:

[0400] 0693: In response to the left turn instruction, the first rotating member 1001 is controlled to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and the second rotating member 1003 is controlled to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 travels in a left turning driving posture, and the first direction X is opposite to the second direction Y.

[0401] See also Fig. 20 , Fig.29 ,and Fig.30 In some embodiments, the control instruction includes a left turn instruction, and the vehicle 5000 has a left turn driving posture in the turn driving mode; the steering wheel 703 is also used for the user to input a left turn instruction; the wire-controlled steering encoder 705 is also used to output a left turn control signal in response to the left turn instruction; the vehicle controller 701 is also used to: in response to the left turn control signal, control the first rotating member 1001 to drive the left front wheel 4100 to rotate around the first axis a along the second direction Y, and control the second rotating member 1003 to drive the right front wheel 4200 to rotate around the second axis b along the first direction X, so that the vehicle 5000 drives in a left turn driving posture, and the first direction X is opposite to the second direction Y.

[0402] Among them, the left turning driving posture of the vehicle 5000 is the state in which the vehicle 5000 turns toward the left side. After the wire control steering encoder 705 obtains the left turning instruction and processes the instruction, the wire control steering encoder 705 outputs a left turn control signal to the vehicle controller 701. The vehicle controller 701 controls the drive axle assembly 1000 to drive the left front wheel 4100 to rotate along the second direction Y and the right front wheel 4200 to rotate along the first direction X. When the left front wheel 4100 rotates along the second direction Y and the right front wheel 4200 rotates along the first direction X, the left front wheel 4100 and the right front wheel 4200 can drive the frame 2000 to rotate. After the user inputs the right turn instruction, the vehicle controller 701 can control the left front wheel 4100 to rotate along the second direction Y and control the right front wheel 4200 to rotate along the first direction X, and the user's control method of the vehicle 5000 is relatively simple.

[0403] When the vehicle 5000 turns left, the cab 700 can be controlled to rotate so that the front portion 711 of the cab 700 faces the rear side of the frame 2000, that is, the front portion 711 of the cab 700 faces the left rear wheel 5100 and the right rear wheel 5200. Compared with the position of the cab 700 when the vehicle 5000 is moving straight forward, the rotating mechanism can drive the cab 700 to rotate 180 degrees. At this time, the driver can better observe the road conditions through the front portion 711 of the cab 700, which is convenient for the driver's work.

[0404] See also Fig.13 , Fig.28 ,and Fig.29In some embodiments, the control method further includes: 08: controlling the output torque of the first rotating member 1001 and the second rotating member 1003 to reduce the traveling speed of the vehicle 5000 .

[0405] Please combine Fig. 20 In some embodiments, the vehicle controller 701 is also used to: control the output torque of the first rotating member 1001 and the second rotating member 1003 to reduce the traveling speed of the vehicle 5000.

[0406] The vehicle 5000 of the present application is a forklift, and the front side of the forklift is loaded with goods, that is, the center of gravity of the forklift is at the front side. When the driving mode of the forklift is a side-by-side driving mode or a rotation driving mode, if the forklift travels too fast, a safety accident may occur. When the vehicle controller 701 obtains that the driving mode of the vehicle 5000 is a side-by-side driving mode or a rotation driving mode, the vehicle controller 701 controls the output torque of the first rotating member 1001 and the second rotating member 1003, thereby reducing the travel speed of the forklift, so that the forklift can travel safely, and the safety performance of the forklift is relatively high.

[0407] See also Fig. 20 The vehicle controller 701 of the embodiment of the present application includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle control method of the above embodiment is implemented.

[0408] In the vehicle controller 701 of the implementation mode of the present application, after obtaining the driving mode of the vehicle 5000, the vehicle controller 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 of the vehicle 5000 to rotate relative to the frame 2000, so that the vehicle 5000 has a variety of driving modes. The vehicle 5000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 5000 has many application scenarios.

[0409] See also Fig.13 The control system 700 of the vehicle 5000 of the embodiment of the present application includes the vehicle controller 701 of the above embodiment.

[0410] In the control system 700 of the vehicle 5000 of the embodiment of the present application, after acquiring the driving mode of the vehicle 5000, the vehicle controller 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 of the vehicle 5000 to rotate relative to the frame 2000, so that the vehicle 5000 has a variety of driving modes. The vehicle 5000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 5000 has many application scenarios.

[0411] See also Fig.13The vehicle 5000 of the embodiment of the present application includes the control system 700 of the vehicle 5000 of the above embodiment; or, includes the whole vehicle controller 701 of the above embodiment.

[0412] In the vehicle 5000 of the embodiment of the present application, after obtaining the driving mode of the vehicle 5000, the vehicle controller 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 of the vehicle 5000 to rotate relative to the frame 2000, so that the vehicle 5000 has a variety of driving modes. The vehicle 5000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 5000 has many application scenarios.

[0413] See also Fig.34 The storage medium 6000 of the embodiment of the present application stores a computer program 6001 thereon, which, when executed by the processor 6003, implements the vehicle control method of the embodiment of the present application.

[0414] For example, when the computer program 6001 is executed by the processor 6003, the following control method is implemented:

[0415] 02: Obtain the driving mode of the vehicle 5000. The vehicle 5000 has different driving postures in different driving modes;

[0416] 04: Control the directions of the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 relative to the vehicle frame 2000 according to the driving mode; and

[0417] 06: In response to the control command input by the user, the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 are controlled to move so that the vehicle 5000 drives according to the driving posture in the driving mode.

[0418] For another example, when the computer program 6001 is executed by the processor 6003, it can also implement the control methods in 041, 031, 061, 0621, 0631, 0641, 0623, 0633, 0643, 033, 065, 0661, 0671, 0681, 0663, 0673, 0683, 043, 051, 0681, 053, 0683, 045, 0691, 0693, and 08.

[0419] In the vehicle 5000 of the embodiment of the present application, after obtaining the driving mode of the vehicle 5000, the vehicle controller 701 can control the left front wheel 4100, the right front wheel 4200, the left rear wheel 5100 and the right rear wheel 5200 of the vehicle 5000 to rotate relative to the frame 2000, so that the vehicle 5000 has a variety of driving modes. The vehicle 5000 can have multiple driving modes such as straight driving, turning and rotating, and the vehicle 5000 has many application scenarios.

[0420] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. At the same time, other implementation methods can be derived from the above-mentioned embodiments, so that structural and logical replacements and changes can be made without departing from the scope of this disclosure.

[0421] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle (5000), characterized in that: include: Frame (2000); A drive axle assembly (1000) is arranged on the vehicle frame (2000), the drive axle assembly (1000) comprising a first rotating member (1001) and a second rotating member (1003), the first rotating member (1001) being connected to the left front wheel (4100), the second rotating member (1003) being connected to the right front wheel (4200), and the drive axle assembly (1000) being used to drive the left front wheel (4100) and the right front wheel (4200) to rotate; a steering axle (300), the steering axle (300) being arranged on the vehicle frame (2000) and connected to both the left rear wheel (5100) and the right rear wheel (5200), the steering axle (300) being used to drive the left rear wheel (5100) and the right rear wheel (5200) to steer relative to the vehicle frame (2000); and A hydraulic system (500), the hydraulic system (500) being connected to the drive axle assembly (1000) and comprising a steering execution unit (5041), the steering execution unit (5041) being used to provide power to the drive axle assembly (1000) so as to drive the left front wheel (4100) and the right front wheel (4200) to steer relative to the vehicle frame (2000), the hydraulic system (500) further comprising an oil tank (501), an oil pumping mechanism (502), a multi-way valve (503), an execution mechanism (504), a braking mechanism (506) and a brake (507), the oil pumping mechanism (502) being connected to the oil tank (501), the multi-way valve (503) is arranged between the oil pumping mechanism (502) and the actuator (504), the actuator (504) comprises a steering actuator unit (5041), the steering actuator unit (5041) is used to provide power for wheel steering, the multi-way valve (503) is used to selectively open or close the oil path between the oil pumping mechanism (502) and the steering actuator unit (5041), the brake mechanism (506) is arranged between the oil pumping mechanism (502) and the brake (507), the brake mechanism (506) is used to selectively open or close the oil path between the oil pumping mechanism (502) and the brake (507); The brake mechanism (506) comprises a first brake valve (5061) and a second brake valve (5063). The first brake valve (5061) is arranged between the oil pump mechanism (502) and the brake (507) so as to close the oil path between the oil pump mechanism (502) and the brake (507) and to open the oil path between the brake (507) and the oil tank (501) when the first brake valve (5061) is activated. The second brake valve (5063) is arranged between the oil pump mechanism (502) and the brake (507) so as to open the oil path between the brake (507) and the oil tank (501). When the second brake valve (5063) is activated, the oil circuit between the oil pump mechanism (502) and the brake (507) is closed, and the oil circuit between the brake (507) and the oil tank (501) is opened; when the first brake valve (5061) is activated, the oil in the brake (507) can flow back to the oil tank (501) through the second brake valve (5063) and the first brake valve (5061) in sequence; when the second brake valve (5063) is activated, the oil in the brake (507) can flow back to the oil tank (501) through the second brake valve (5063).

2. The vehicle (5000) according to claim 1, characterized in that The drive axle assembly (1000) comprises: a bogie (102), the bogie (102) being rotatably connected to the vehicle frame (2000); and A power piece (103), the power piece (103) being arranged on the bogie (102) and used for driving the front wheel to rotate, the power piece (103) being arranged coaxially with the front wheel.

3. The vehicle (5000) according to claim 2, characterized in that The drive axle assembly (1000) further includes: A reduction box (100), the reduction box (100) being arranged on a side of the bogie (102) opposite to the power member (103), the reduction box (100) being used to transmit the driving force of the power member (103) to the front wheels.

4. The vehicle (5000) according to claim 3, characterized in that The reduction gearbox (100) comprises: Mounting seat (10); a housing (20), the housing (20) being arranged on the mounting seat (10) and connected to the driving wheel (4000); A planetary reduction structure (30), the planetary reduction structure (30) comprising a first planetary reduction mechanism (31); and A connecting shaft (40) is rotatably disposed on the mounting seat (10), and the first planetary reduction mechanism (31) is in transmission cooperation with the housing (20) and the connecting shaft (40).

5. The vehicle (5000) according to claim 4, characterized in that The planetary reduction structure (30) further comprises a second planetary reduction mechanism (33), the mounting seat (10) being configured as a planet carrier of the second planetary reduction mechanism (33), and the second planetary reduction mechanism (33) being in transmission cooperation with the housing (20) and the connecting shaft (40).

6. The vehicle (5000) according to claim 5, characterized in that In the axial direction of the connecting shaft (40), the housing (20) comprises a first sub-housing (21) and a second sub-housing (23); the first planetary reduction mechanism (31) comprises a first ring gear (311), the first ring gear (311) is connected to the inner wall of the first sub-housing (21); the second planetary reduction mechanism (33) comprises a second ring gear (331), the second ring gear (331) is connected between the first sub-housing (21) and the second sub-housing (23); the first sub-housing (21) and the second sub-housing (23) are capable of rotating synchronously relative to the mounting seat (10).

7. The vehicle (5000) according to claim 6, characterized in that The first planetary reduction mechanism (31) further comprises a first rotating member (313), a first planetary gear (315) and a first planet carrier (317); the first rotating member (313) is connected to the connecting shaft (40) and is capable of rotating synchronously with the connecting shaft (40); the first planetary gear (315) is rotatably arranged on the first planet carrier (317) and meshes with both the first ring gear (311) and the first rotating member (313); the first ring gear (311) is an output end of the first planetary reduction mechanism (31); The second planetary reduction mechanism (33) comprises a second rotating member (333) and a second planetary gear (335); the second rotating member (333) is connected to the first planetary carrier (317) and is capable of rotating synchronously with the first planetary carrier (317); the second planetary gear (335) is rotatably arranged on the mounting seat (10) and meshes with both the second ring gear (331) and the second rotating member (333); the second ring gear (331) is the output end of the second planetary reduction mechanism (33).

8. The vehicle (5000) according to claim 7, characterized in that The first rotating member (313) is a sun gear shaft, the second rotating member (333) is a sun gear, and the first rotating member (313) is sleeved on the sun gear and connected to the first planet carrier (317).

9. The vehicle (5000) according to claim 6, characterized in that The second sub-housing (23) is connected to the driving wheel (4000).

10. The vehicle (5000) according to claim 4, characterized in that The mounting seat (10) is provided with a mounting cavity (11); the reduction box (100) further comprises a brake (50), and the brake (50) comprises: a friction plate assembly (51), the friction plate assembly (51) being arranged in the mounting cavity (11), the friction plate assembly (51) being matched with the connecting shaft (40); and A moving component (53), wherein the moving component (53) is movably disposed in the mounting cavity (11) and is capable of switching between a first state and a second state. When the moving component (53) is in the first state, the moving component (53) presses the friction plate component (51), and the friction plate component (51) limits the rotation of the connecting shaft (40); when the moving component (53) is in the second state, the moving component (53) releases the friction plate component (51), and the friction plate component (51) does not limit the rotation of the connecting shaft (40).

11. The vehicle (5000) according to claim 10, characterized in that The moving component (53) comprises: Moving member (531); and An elastic member (533), one end of the elastic member (533) being connected to the moving member (531), and the other end of the elastic member (533) being connected to the mounting seat (10), and when the moving component (53) is in the second state, the elastic member (533) has an elastic force, and the elastic force is used to switch the moving component (53) from the second state to the first state.

12. The vehicle (5000) according to claim 11, characterized in that The mounting seat (10) is provided with a flow channel (13); a fixing member (15) is provided on the inner wall of the mounting cavity; the fixing member (15) is located between the moving member (531) and the friction plate assembly (51), and together with the moving member (531) forms a receiving space (101); the receiving space (101) is communicated with the flow channel (13); the flow channel (13) is used for allowing a medium to flow out of or into the receiving space (101), so that the moving assembly (53) switches between the first state and the second state.

13. The vehicle (5000) according to claim 12, characterized in that The peripheral side wall of the movable member (531) contacts the inner wall of the installation cavity (11); the peripheral side wall of the movable member (531) is provided with a step surface (5313); and the step surface (5313) and the fixing member (15) together form the accommodating space (101).

14. The vehicle (5000) according to claim 2, characterized in that The drive axle assembly (1000) further includes: A first slewing bearing (106), wherein the first slewing bearing (106) comprises a first sub-section (1061) and a second sub-section (1063) which are rotatably connected to each other, wherein one of the first sub-section (1061) and the second sub-section (1063) is connected to the bogie (102), and the other is connected to the vehicle frame (2000).

15. The vehicle (5000) according to claim 14, characterized in that The drive axle assembly (1000) further includes: A steering detection structure (107), wherein the steering detection structure (107) is used to detect the rotation angle of the bogie (102).

16. The vehicle (5000) according to claim 15, characterized in that The steering detection structure (107) comprises a first detection member (1071) and a second detection member (1073); one of the first detection member (1071) and the second detection member (1073) is arranged on the first sub-portion (1061), and the other is arranged on the second sub-portion (1063); the first detection member (1071) and the second detection member (1073) cooperate to detect the rotation angle of the bogie (102).

17. The vehicle (5000) according to claim 1, characterized in that The steering axle (300) comprises: A bridge body (301), the bridge body (301) being connected to a frame (2000) of the vehicle (5000), the bridge body (301) comprising a connecting member (3011) and bearing members (3013) respectively arranged at opposite ends of the connecting member (3011), the structural strength of the connecting member (3011) being greater than the structural strength of the bearing member (3013).

18. The vehicle (5000) according to claim 17, characterized in that A cross section of the connecting member (3011) cut by a first plane is larger than a cross section of the supporting member (3013) cut by a second plane, wherein the first plane and the second plane are parallel, and both the first plane and the second plane are perpendicular to a direction from the supporting member (3013) to the connecting member (3011).

19. The vehicle (5000) according to claim 18, characterized in that The cross section of the connecting member (3011) cut by a plane perpendicular to the forward direction of the vehicle (5000) is trapezoidal.

20. The vehicle (5000) according to claim 17, characterized in that The connecting member (3011) and the supporting member (3013) are an integral structure.

21. The vehicle (5000) according to claim 17, characterized in that The steering axle (300) further includes: a wheel frame (302), the wheel frame (302) being rotatably disposed on the bearing member (3013); and A driving assembly (303), wherein the driving assembly (303) is arranged on the bridge body (301), and the driving assembly (303) is used to drive the wheel frame (302) to rotate relative to the bridge body (301).

22. The vehicle (5000) according to claim 21, characterized in that The wheel frame (302) comprises a first sub-component (3021) and a second sub-component (3023) connected to each other; the first sub-component (3021) is rotatably connected to the bridge body (301); the second sub-component (3023) is provided with a wheel hub assembly (304); the wheel hub assembly (304) comprises: a wheel axle (3041), the wheel axle (3041) being arranged on the second sub-component (3023); and A connecting piece (3043), wherein the connecting piece (3043) is rotationally connected to the wheel shaft (3041).

23. The vehicle (5000) according to claim 22, characterized in that The angle between the first sub-component (3021) and the second sub-component (3023) is a right angle.

24. The vehicle (5000) according to claim 21, characterized in that The steering axle (300) further comprises a second slewing bearing (305), wherein the second slewing bearing (305) comprises a first sub-section (3051) and a second sub-section (3053) which are rotatably connected to each other, wherein the first sub-section (3051) is connected to the axle body (301), and the second sub-section (3053) is connected to the wheel frame (302); the steering axle (300) further comprises: A detection component (306), wherein the detection component (306) is used to detect the rotation of the wheel frame (302) relative to the bridge body (301).

25. The vehicle (5000) according to claim 24, characterized in that The detection component (306) comprises a first detection member (3061) and a second detection member (3063); the first detection member (3061) is arranged on the first sub-portion (3051) or the bridge body (301); the second detection member (3063) is arranged on the second sub-portion (3053) or the wheel frame (302); the first detection member (3061) and the second detection member (3063) cooperate to detect the rotation of the wheel frame (302) relative to the bridge body (301).

26. The vehicle (5000) according to claim 25, characterized in that The first detection member (3061) is an encoder, the second detection member (3063) is an encoder gear, the encoder is arranged on the bridge body (301), and the encoder gear is connected to the encoder and is in transmission cooperation with the second sub-part (3053).

27. The vehicle (5000) according to claim 22, characterized in that The driving component (303) comprises: A driving component (3031), wherein the driving component (3031) is arranged on the bridge body (301); and A transmission component (3033), the transmission component (3033) is connected to the output end of the driving component (3031) and is in transmission cooperation with the second sub-component (3023), and the transmission component (3033) is used to transmit the driving force of the driving component (3031) to the second sub-component (3023).

28. The vehicle (5000) according to claim 22, characterized in that The steering axle (300) further includes: A protective member (307) is provided on the bridge body (301) or the wheel frame (302) and covers at least a portion of the second slewing bearing (305).

29. The vehicle (5000) according to claim 21, characterized in that The steering axle (300) further includes: A position limiting component (308), the position limiting component (308) being arranged on the bridge body (301) and / or the wheel frame (302), the position limiting component (308) being used to limit the rotation angle or amplitude of the wheel frame (302) relative to the bridge body (301).

30. The vehicle (5000) according to claim 29, characterized in that The limiting component (308) comprises a first limiting member (3081) and a second limiting member (3083); the first limiting member (3081) is arranged on a first sub-portion (3051) of a second slewing bearing (305) of the bridge body (301) or the steering bridge (300); the second limiting member (3083) is arranged on a second sub-portion (3053) of the wheel frame (302) or the second slewing bearing (305); the first limiting member (3081) and the second limiting member (3083) cooperate to limit a rotation angle or amplitude of the wheel frame (302) relative to the bridge body (301).

31. The vehicle (5000) according to claim 30, characterized in that The second limiting member (3083) has a limiting space, and when the wheel frame (302) rotates relative to the bridge body (301) within a preset range, the first limiting member (3081) moves in the limiting space; when the wheel frame (302) rotates relative to the bridge body (301) outside the preset range, the first limiting member (3081) abuts against a side wall of the limiting space in the rotation direction of the wheel frame (302).

32. The vehicle (5000) according to claim 31, characterized in that The second limiting member (3083) is provided with a groove, and the groove is the limiting space; or The second limiting member (3083) comprises two limiting protrusions, the two limiting protrusions are arranged at intervals along the rotation direction of the wheel frame (302), and the gap between the two limiting protrusions is the limiting space.

33. The vehicle (5000) according to claim 31, characterized in that The rotation range of the first limiting member (3081) in the limiting space is greater than the preset range.

34. The vehicle (5000) according to claim 17, characterized in that In the forward direction of the vehicle (5000), the bridge body (301) includes a first side (3015) and a second side (3017) that are opposite to each other; the steering bridge (300) further includes a supporting shaft (3018) and a shock absorbing component, wherein the supporting shaft (3018) is connected to the first side (3015) of the bridge body (301) and / or the second side (3017) of the bridge body (301), and the shock absorbing component is arranged on the supporting shaft (3018) and can be connected to the vehicle frame.

35. The vehicle (5000) according to claim 34, characterized in that The cross section of the support shaft (3018) is elliptical.

36. The vehicle (5000) according to claim 1, characterized in that The hydraulic system (500) further comprises a locking member (505), wherein the locking member (505) is arranged between the multi-way valve (503) and the steering execution unit (5041), and the locking member (505) is used to limit the movement of the steering execution unit (5041).

37. The vehicle (5000) according to claim 1, characterized in that The steering execution unit (5041) comprises a first steering cylinder (50411) and a second steering cylinder (50413), wherein the first steering cylinder (50411) and the second steering cylinder (50413) are arranged in parallel.

38. The vehicle (5000) according to claim 37, characterized in that The first steering cylinder (50411) includes a first rodless chamber oil port (504111) and a first rod chamber oil port (504113), and the second steering cylinder (50413) includes a second rodless chamber oil port (504131) and a second rod chamber oil port (504133). The first rodless chamber oil port (504111) and the second rodless chamber oil port (504131) are connected in parallel, and the first rod chamber oil port (504113) and the second rod chamber oil port (504133) are connected in parallel.

39. The vehicle (5000) according to claim 1, characterized in that The actuator (504) further comprises a lifting cylinder (5043), a tilting cylinder (5045) and a side-shifting cylinder (5047), and the multi-way valve (503) is further used to selectively open or close the oil circuit between the oil pump mechanism (502) and at least one of the lifting cylinder (5043), the tilting cylinder (5045) and the side-shifting cylinder (5047).

40. The vehicle (5000) according to claim 39, characterized in that The tilt oil cylinder (5045) comprises one, and the multi-way valve (503) comprises a limiting member (5031), wherein the limiting member (5031) is used to limit the movement of the tilt oil cylinder (5045).

41. The vehicle (5000) according to claim 1, characterized in that The multi-way valve (503) is a pressure-compensated load-sensitive electric proportional multi-way valve, an electromagnetic reversing multi-way valve or a manual reversing multi-way valve.

42. The vehicle (5000) according to claim 1, characterized in that The first brake valve (5061) has a first position and a second position. When the first brake valve (5061) is activated, the first brake valve (5061) is in the first position. When the first brake valve (5061) is not activated, the first brake valve (5061) is in the second position. The second brake valve (5063) has a first working position and a second working position. When the second brake valve (5063) is activated, the second brake valve (5063) is in the first working position. When the second brake valve (5063) is not activated, the second brake valve (5063) is in the second working position.

43. The vehicle (5000) according to claim 1, characterized in that The hydraulic system (500) further comprises an accumulator (508), wherein the accumulator (508) is arranged between the oil pumping mechanism (502) and the brake mechanism (506), and the accumulator (508) is used to store the oil pumped by the oil pumping mechanism (502) and to deliver the oil to the brake mechanism (506).

44. The vehicle (5000) according to claim 1, characterized in that The braking mechanism (506) further comprises: A manual pump (5068), the manual pump (5068) is connected between the brake (507) and the oil tank (501), and the manual pump (5068) is used to pump oil in the oil tank (501) into the brake (507).

45. The vehicle (5000) according to claim 44, characterized in that The braking mechanism (506) further comprises a third braking valve (5069), wherein the third braking valve (5069) is arranged between the first braking valve (5061) of the braking mechanism (506) and the second braking valve (5063) of the braking mechanism (506), and the third braking valve (5069) is used for selectively opening or closing the oil circuit between the first braking valve (5061) and the second braking valve (5063).

46. ​​The vehicle (5000) according to claim 1, characterized in that The vehicle (5000) further comprises: A cab (700), the cab (700) being arranged on the vehicle frame (2000); and A rotating mechanism, the rotating mechanism is arranged on the vehicle frame (2000) and is used to drive the driving cab (700) to rotate relative to the vehicle frame (2000).

47. The vehicle (5000) according to claim 46, characterized in that The vehicle (5000) further comprises: A swivel joint (5095), the swivel joint (5095) being arranged between the cab (700) and the vehicle frame (2000), the swivel joint (5095) being used to keep the brake pipeline and the circuit between the cab (700) and the vehicle frame (2000) connected.

48. The vehicle (5000) according to claim 47, characterized in that The swivel joint (5095) is used to connect the oil circuit between the oil pump mechanism (502) and the brake mechanism (506) of the hydraulic system (500), the oil circuit between the brake mechanism (506) and the brake (507) of the hydraulic system (500), and the oil circuit between the brake mechanism (506) and the oil tank (501).

49. The vehicle (5000) according to claim 46, characterized in that A shock absorber is provided between the cab (700) and the vehicle frame (2000), and the shock absorber is used to reduce vibration of the cab (700).

50. A vehicle control method, applicable to the vehicle (5000) according to any one of claims 1 to 49, characterized in that: The vehicle (5000) further comprises a left front wheel (4100), a right front wheel (4200), a left rear wheel (5100) and a right rear wheel (5200) all connected to the vehicle frame (2000); the control method comprises: Acquiring a driving mode of the vehicle (5000), the vehicle (5000) having different driving postures in different driving modes; Controlling the directions of the left front wheel (4100), the right front wheel (4200), the left rear wheel (5100) and the right rear wheel (5200) relative to the vehicle frame (2000) according to the driving mode; and In response to a control instruction input by a user, the left front wheel (4100), the right front wheel (4200), the left rear wheel (5100) and the right rear wheel (5200) are controlled to move so that the vehicle (5000) travels in accordance with the driving posture in the driving mode.

51. A vehicle control system (700), applicable to the vehicle (5000) according to any one of claims 1 to 49, characterized in that: The vehicle (5000) further comprises a left front wheel (4100), a right front wheel (4200), a left rear wheel (5100) and a right rear wheel (5200) all connected to the vehicle frame (2000); the control system (700) comprises a vehicle controller (701), and the vehicle controller (701) is used to: Acquiring a driving mode of the vehicle (5000), the vehicle (5000) having different driving postures in different driving modes; Controlling the directions of the left front wheel (4100), the right front wheel (4200), the left rear wheel (5100) and the right rear wheel (5200) relative to the vehicle frame (2000) according to the driving mode; and In response to a control instruction input by a user, the left front wheel (4100), the right front wheel (4200), the left rear wheel (5100) and the right rear wheel (5200) are controlled to move so that the vehicle (5000) travels in accordance with the driving posture in the driving mode.

52. A vehicle controller (701), characterized in that: The vehicle controller (701) comprises a memory, a processor and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle control method of claim 50 is implemented.

53. A control system for a vehicle (5000), characterized in that: Including the vehicle controller (701) as described in claim 52.

54. A vehicle (5000), characterized in that: A control system (700) comprising the vehicle (5000) as claimed in claim 51 or 53; or, a vehicle controller (701) as claimed in claim 52.

55. A storage medium (6000) having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle control method described in claim 50 is implemented.

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