A control system for unmanned transport vehicles

Abstract

The utility model proposes a control system for an unmanned guided vehicle, including: a vehicle body; a host computer, a central processing unit and several subsystems, wherein the central processing unit is connected to the host computer, and the central processing unit is connected to the subsystems through a communication interface, so that the central processing unit and the subsystems communicate with each other, the central processing unit controls each subsystem, and the central processing unit transmits the information it obtains to the host computer; wherein the subsystems include: a navigation system; a detection system; a drive system; an input system; and an output system. The host computer is wirelessly connected to the central processing unit of the unmanned guided vehicle, and the operating state of the unmanned guided vehicle can be remotely controlled, which is convenient and practical. The navigation system can realize real-time navigation of the vehicle, the detection system can realize real-time monitoring of road conditions to avoid collisions, the input system inputs instructions to the unmanned guided vehicle, and the output system can output corresponding actions according to the instructions of the central processing unit, which is highly practical.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic control, in particular to a control system for an unmanned transport vehicle. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guide path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be set up using an electromagnetic path-following system. The electromagnetic track is attached to the floor, and the AGV moves and moves according to the information brought by the electromagnetic track. In the manufacturing industry, AGV can be used for material handling on automated production lines to improve production efficiency and quality. In the logistics industry, AGV can be used for cargo distribution and loading and unloading in warehouses to improve logistics efficiency and reduce labor costs. In the healthcare industry, AGV can be used for the transportation of drugs, equipment, and patients to improve the level of medical services.

[0003] There are some fully automatic unmanned transport vehicles on the market, but they are usually large, costly and have few functions. Moreover, for applications such as residential areas, guesthouses, and hospitals, there are generally problems such as limited space for vehicle movement and dynamic changes in various scene conditions (light conditions, road conditions, environmental characteristics), which can easily trigger the process of waiting for manual intervention.

[0004] Therefore, there is an urgent need for a control system for an unmanned transport vehicle to solve the problem of low practicality of the unmanned transport vehicle in the prior art due to space limitations and environmental influences. Summary of the invention

[0005] In view of this, the utility model proposes a control system for an unmanned transport vehicle, aiming to solve the problem of low practicality of the unmanned transport vehicle in the prior art due to space limitation and environmental influence.

[0006] The utility model provides a control system for an unmanned transport vehicle, comprising:

[0007] Vehicle body;

[0008] A host computer, a central processor and several subsystems, wherein the central processor is connected to the host computer, and the central processor is connected to the subsystems through a communication interface so that the central processor and the subsystems communicate with each other, the central processor controls each subsystem, and the central processor transmits the information it obtains to the host computer; wherein the subsystems include:

[0009] A navigation system connected to the central processor, the navigation system is used to provide a driving route for the unmanned guided vehicle;

[0010] A detection system connected to the central processor, the detection system is used to detect the state of the surrounding environment of the vehicle body;

[0011] A driving system connected to the central processing unit, the driving system is used to drive the unmanned guided vehicle to move;

[0012] An input system connected to the central processor, the input system being used to input action instructions to the unmanned guided vehicle;

[0013] An output system is connected to the central processing unit, and the output system is used to output corresponding actions according to instructions from the central processing unit.

[0014] Furthermore, the detection system comprises:

[0015] A laser radar detection device, used to scan the surrounding environment and both sides of the vehicle body so that the unmanned guided vehicle can avoid obstacles while driving;

[0016] A collision sensor, arranged at the lower part of the vehicle body, for detecting and determining the impact induction when the unmanned guided vehicle collides;

[0017] The ultrasonic sensor is arranged at the lower part of the collision sensor and is used to sense the environment to prevent the unmanned guided vehicle from colliding with people or objects.

[0018] Furthermore, the laser radar detection device includes:

[0019] A first laser radar detector is arranged on a first side wall of the vehicle body, and the first laser radar detector is used to detect the surrounding environment of the unmanned guided vehicle;

[0020] The second laser radar detector is arranged on the side walls on both sides of the first side wall, and the second laser radar detector is used to scan the environment on both sides of the unmanned guided vehicle and avoid obstacles.

[0021] Furthermore, the driving system comprises:

[0022] A driving motor, disposed in the vehicle body, for driving the unmanned guided vehicle to move;

[0023] The differential drive chassis is arranged at the lower part of the vehicle body.

[0024] Furthermore, the input system comprises:

[0025] A voice module, disposed in the vehicle body, and configured to transmit voice commands to the central processor;

[0026] A touch control module is arranged on the top of the vehicle body, and is used to input instructions to the central processing unit.

[0027] Furthermore, the output system includes:

[0028] A light belt, which is arranged around the waist of the vehicle body, is connected to the central processor, and is used to output lights of different colors;

[0029] An LED screen, which is arranged on a side wall opposite to the first side wall, the LED screen is connected to the central processor, and the LED screen is used to output videos and pictures;

[0030] A storage bin is arranged at the upper part of the first side wall, and the storage bin is used to place items to be transported.

[0031] Furthermore, the central processing unit is connected to the host computer via a wireless communication module.

[0032] Furthermore, the navigation system is SLAM navigation.

[0033] Furthermore, the differential drive chassis comprises:

[0034] A bottom support and wheels, wherein the top of the bottom support is connected to the bottom of the vehicle body, and the wheels are arranged at the bottom of the bottom support.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] The host computer is wirelessly connected to the central processor of the unmanned guided vehicle, and can remotely control the operating status of the unmanned guided vehicle, which is convenient and practical. The navigation system of the unmanned guided vehicle control system can realize real-time navigation of the vehicle, and the detection system can realize real-time monitoring of road conditions to avoid collision between the unmanned guided vehicle and other objects. The input system can input instructions to the unmanned guided vehicle as needed, and the output system can output corresponding actions according to the instructions of the central processor, which is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limiting of the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0038] Figure 1 A schematic diagram of the structure of a control system for an unmanned guided vehicle provided by an embodiment of the utility model;

[0039] Figure 2 A front view of an unmanned guided vehicle provided by an embodiment of the utility model;

[0040] Figure 3 A rear view of the unmanned guided vehicle provided in an embodiment of the utility model.

[0041] In the figure: 10, vehicle body; 11, first side wall; 20, host computer; 30, central processing unit; 40, subsystem; 41, navigation system; 42, detection system; 43, drive system; 44, input system; 45, output system; 421, laser radar detection device; 422, collision sensor; 423, ultrasonic sensor; 4211, first laser radar detector; 4212, second laser radar detector; 431, drive motor; 432, differential drive chassis; 441, voice module; 442, touch module; 451, light strip; 452, LED screen; 453, storage compartment; 50, wireless communication module; 4321, bottom support; 4322, wheel. DETAILED DESCRIPTION

[0042] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "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.

[0044] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] See also Figure 1-3 As shown, this embodiment provides a control system for an unmanned guided vehicle, including a vehicle body 10; a host computer 20, a central processing unit 30 and a plurality of subsystems 40, wherein the central processing unit 30 is connected to the host computer 20, and the central processing unit 30 is connected to the subsystems 40 through a communication interface, so that the central processing unit 30 and the subsystems 40 communicate with each other, the central processing unit 30 controls each subsystem 40, and the central processing unit 30 transmits the information it obtains to the host computer 20;

[0047] It can be understood that the central processing unit 30 and each subsystem 40 are arranged in the vehicle, and the host computer 20 is arranged outside the vehicle. Each subsystem 40 is connected to the central processing unit 30 through a communication interface, and the central processing unit 30 is connected to the host computer 20. The central processing unit 30 is used to control the subsystems 40 in the vehicle and communicate with each other between the subsystems 40. The host computer 20 can remotely control the unmanned guided vehicle through the information transmitted by the central processing unit 30, and has strong practicality. Specifically, the host computer 20 is a computer or a small program that can directly issue control commands. An operator can bind the unmanned guided vehicle through a computer or a small program, check its operating status, realize remote summoning, check its attendance and task data, and can operate multiple unmanned guided vehicles in time-sharing, so as to efficiently and safely complete the transfer of materials.

[0048] Among them, the subsystem 40 includes: a navigation system 41, which is connected to the central processor 30, and the navigation system 41 is used to provide a driving route for the unmanned guided vehicle; a detection system 42, which is connected to the central processor 30, and the detection system 42 is used to detect the state of the surrounding environment of the vehicle body 10; a drive system 43, which is connected to the central processor 30, and the drive system 43 is used to drive the unmanned guided vehicle to move; an input system 44, which is connected to the central processor 30, and the input system 44 is used to input action instructions to the unmanned guided vehicle; an output system 45, which is connected to the central processor 30, and the output system 45 is used to output corresponding actions according to the instructions of the central processor 30.

[0049] It can be understood that the navigation system 41 of the unmanned guided vehicle control system can realize real-time navigation of the vehicle, the detection system 42 can realize real-time monitoring of road conditions to prevent the unmanned guided vehicle from colliding with other objects, the driving system 43 can drive the unmanned guided vehicle to operate, the input system 44 can input instructions to the unmanned guided vehicle as needed, and the output system 45 can output corresponding actions according to the instructions of the central processor 30, which is highly practical;

[0050] Specifically, the navigation system 41 provides guidance for the unmanned guided vehicle. The navigation system 41 is a collaborative technology of simultaneous positioning and map construction enabled by 5G. First, when the unmanned guided vehicle enters an unfamiliar environment, the road environment information detected by the detection system 42 is transmitted to the central processor 30, and the map is constructed incrementally in combination with its own position, so as to achieve the purpose of simultaneous positioning and map construction, and realize real-time navigation according to the constructed map; the detection system 42 is a road detection sensor and inductor, etc., which can detect the environment, obstacles and the distance between the unmanned guided vehicle and the obstacles, and then transmit this information to the central processor 30, and the central processor 30 makes corresponding responses to this information. The command is transmitted to the output system 45 or the drive system 43, so that the unmanned guided vehicle changes direction / speed or even stops driving; the drive system 43 provides power for the entire unmanned guided vehicle; the input system 44 can be voice input or touch screen input, and the user and the operator can directly issue commands to the unmanned guided vehicle by voice, or input commands by clicking the touch screen of the unmanned guided vehicle. After receiving the command information, the central processing unit 30 makes a corresponding reply command, and the unmanned guided vehicle takes corresponding actions; the central processing unit 30 is a chip. Here, this application does not limit the type and model of the chip, and those skilled in the art can select a suitable chip according to their needs.

[0051] In a specific embodiment of the present application, the detection system 42 includes a laser radar detection device 421, which is used to scan the surrounding environment and both sides of the vehicle body 10 so that the unmanned guided vehicle can avoid obstacles while driving; a collision sensor 422, which is arranged at the lower part of the vehicle body 10, is used to detect and determine the impact sensing when the unmanned guided vehicle collides; an ultrasonic sensor 423, which is arranged at the lower part of the collision sensor 422, is used to sense the environment to prevent the unmanned guided vehicle from colliding with people or objects.

[0052] It can be understood that the laser radar detection device 421, the collision sensor 422 and the ultrasonic sensor 423 are all connected to the central processor 30, and are used to detect and sense the surrounding environment of the unmanned guided vehicle so that the unmanned guided vehicle can avoid obstacles while driving, and transmit the detected and sensed image information to the central processor 30. The central processor 30 makes an accurate judgment on the obstacle information, thereby controlling the moving direction of the unmanned guided vehicle to keep the unmanned guided vehicle away from obstacles. Here, this application does not limit the models of the collision sensor 422 and the ultrasonic sensor 423, and those skilled in the art can select appropriate models of the collision sensor 422 and the ultrasonic sensor 423 as needed.

[0053] In a specific embodiment of the present application, the laser radar detection device 421 includes a first laser radar detector 4211, which is arranged on the first side wall 11 of the vehicle body 10, and the first laser radar detector 4211 is used to detect the surrounding environment of the unmanned guided vehicle; a second laser radar detector 4212, which is arranged on the side walls on both sides of the first side wall 11, and the second laser radar detector 4212 is used to scan and avoid obstacles on both sides of the unmanned guided vehicle.

[0054] It can be understood that the first laser radar detector 4211 is arranged on the first side wall 11 of the vehicle body 10, and is used to detect the surrounding environment of the unmanned guided vehicle; the second laser radar detector 4212 is arranged on the side walls on both sides of the first side wall 11, and is used to scan and avoid obstacles on both sides of the unmanned guided vehicle. The first laser radar detector 4211 is combined with the second laser radar detector 4212 to more comprehensively detect the environment around the unmanned guided vehicle and avoid collision with other objects.

[0055] In a specific embodiment of the present application, the driving system 43 includes a driving motor 431 disposed in the vehicle body 10 for driving the unmanned guided vehicle to move; and a differential drive chassis 432 disposed at the lower part of the vehicle body 10 .

[0056] It can be understood that the central processor 30 controls the driving motor 431 of the unmanned guided vehicle, thereby controlling the operating state and driving route of the unmanned guided vehicle. The differential drive chassis 432 is a common chassis design with two or more driving wheels that can independently adjust the speed. This chassis design can improve the movement stability, load capacity and obstacle crossing ability of the unmanned guided vehicle.

[0057] In a specific embodiment of the present application, the input system 44 includes a voice module 441, which is arranged in the vehicle body 10, and the voice module 441 is used to transmit voice commands to the central processor 30; a touch module 442, which is arranged on the top of the vehicle body 10, and the touch module 442 is used to input commands to the central processor 30.

[0058] It is understandable that the user can input instructions and key information through voice input or touch screen. After receiving the information, the input system 44 transmits the information to the central processor 30, and the central processor 30 judges and processes the information, and then the unmanned guided vehicle responds accordingly to the input information.

[0059] In a specific embodiment of the present application, the output system 45 includes a light strip 451, which is arranged around the waist of the vehicle body 10, the light strip 451 is connected to the central processing unit 30, and the light strip 451 is used to output lights of different colors; an LED screen 452, which is arranged on the side wall opposite to the first side wall 11, the LED screen 452 is connected to the central processing unit 30, and the LED screen 452 is used to output videos and pictures; a storage bin 453, which is arranged on the upper part of the first side wall 11, and the storage bin 453 is used to place items to be transported.

[0060] It can be understood that the central processing unit 30 can control the light strip 451 to change a variety of colors, the light strip 451 can provide guidance at night, and the LED screen 452 can play various promotional videos, pictures and texts to convey positive information to users; the storage bin 453 can store items that need to be transported, and the storage bin 453 opening / closing instructions can be input through voice input or touch screen. After receiving the information, the central processing unit 30 controls the central processing unit 30 to open or close the storage bin 453, which is practical and convenient, and the hidden storage bin 453 is convenient for transportation.

[0061] In a specific embodiment of the present application, the central processing unit 30 is connected to the host computer 20 via a wireless communication module 50 .

[0062] It is understandable that the central processing unit 30 is connected to the host computer 20 via the wireless communication module 50 to achieve two-way and long-distance communication between the central processing unit 30 and the host computer 20 .

[0063] In a specific embodiment of the present application, the navigation system 41 is slam navigation.

[0064] It can be understood that the simultaneous localization and mapping (SLAM) of unmanned guided vehicles is an applied technology. The unmanned guided vehicle starts from an unknown location in an unknown environment, and locates its own position and posture through repeatedly observed map features (such as corners, pillars, etc.) during the movement, and then incrementally constructs a map based on its own position, thereby achieving the purpose of simultaneous positioning and mapping.

[0065] In a specific embodiment of the present application, the differential drive chassis 432 includes a base 4321 and wheels 4322 . The top of the base 4321 is connected to the bottom of the vehicle body 10 , and the wheels 4322 are arranged at the bottom of the base 4321 .

[0066] It can be understood that the differential drive chassis 432 includes a base 4321 and wheels 4322 , and the wheels 4322 drive the unmanned guided vehicle to move in multiple directions.

[0067] The working principle of the utility model is as follows: the unmanned guided vehicle is started, and the detection system 42 makes a map according to the scanned obstacles and route information. The unmanned guided vehicle goes to the corresponding address according to the destination instruction and performs corresponding actions according to the action instruction. For example, the command to open the storage bin 453 is input according to the voice module 441 or the touch module 442. After receiving the command, the unmanned guided vehicle central processor 30 inputs the command to open the storage bin 453 to the output module to open the storage bin 453; the driving system 43 drives the unmanned guided vehicle to start and move.

[0068] Specifically, the central processor 30 and each subsystem 40 are arranged in the vehicle, and the host computer 20 is arranged outside the vehicle. Each subsystem 40 is connected to the central processor 30 through a communication interface, and the central processor 30 is connected to the host computer 20. The central processor 30 is used to control each subsystem 40 in the vehicle and communicate with each subsystem 40. The host computer 20 can remotely control the unmanned guided vehicle through the information transmitted by the central processor 30, which is highly practical. The navigation system 41 of the unmanned guided vehicle control system can realize real-time navigation of the vehicle, the detection system 42 can realize real-time monitoring of road conditions to avoid collision between the unmanned guided vehicle and other objects, the driving system 43 can drive the unmanned guided vehicle to operate, the input system 44 can input instructions to the unmanned guided vehicle as needed, and the output system 45 can output corresponding actions according to the instructions of the central processor 30, which is highly practical.

[0069] Furthermore, the laser radar detection device 421, the collision sensor 422 and the ultrasonic sensor 423 are all connected to the central processor 30, and are used to detect and sense the surrounding environment of the unmanned guided vehicle, so that the unmanned guided vehicle can avoid obstacles when driving, and transmit the detected and sensed image information to the central processor 30, and the central processor 30 makes an accurate judgment on the obstacle information, thereby controlling the moving direction of the unmanned guided vehicle and keeping the unmanned guided vehicle away from obstacles. The first laser radar detector 4211 is set on the first side wall 11 of the vehicle body 10, and is used to detect the surrounding environment of the unmanned guided vehicle; the second laser radar detector 4212 is set on the side walls on both sides of the first side wall 11, and is used to scan the environment on both sides of the unmanned guided vehicle and avoid obstacles. The first laser radar detector 4211 is combined with the second laser radar detector 4212 to more comprehensively detect the environment around the unmanned guided vehicle and avoid collisions with other objects.

[0070] It is understandable that the CPU 30 controls the driving motor 431 of the unmanned guided vehicle, thereby controlling the operating state and driving route of the unmanned guided vehicle. The user can input instructions and key information through voice input or touch screen. After receiving the information, the input system 44 transmits the information to the CPU 30. The CPU 30 judges and processes the information, and then the unmanned guided vehicle responds accordingly to the input information. The CPU 30 can control the light strip 451 to change a variety of colors. The light strip 451 can guide the way at night. The LED screen 452 can play various promotional videos, pictures and texts to convey positive information to the user; the storage bin 453 can store items that need to be transported. The storage bin 453 opening / closing instructions can be input through voice input or touch screen. After receiving the information, the CPU 30 controls the CPU 30 to open or close the storage bin 453. It is practical and convenient. The hidden storage bin 453 is convenient for transportation.

[0071] Furthermore, the central processor 30 is connected to the host computer 20 via the wireless communication module 50, so as to realize two-way and long-distance communication between the central processor 30 and the host computer 20. The unmanned guided vehicle starts from an unknown location in an unknown environment, locates its own position and posture by repeatedly observing map features (such as corners, pillars, etc.) during the movement, and then incrementally constructs a map according to its own position, thereby achieving the purpose of simultaneous positioning and map construction.

[0072] Those skilled in the art can understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control system for an unmanned guided vehicle, characterized in that: include: Vehicle body; A host computer, a central processor and several subsystems, wherein the central processor is connected to the host computer, and the central processor is connected to the subsystems through a communication interface so that the central processor and the subsystems communicate with each other, the central processor controls each subsystem, and the central processor transmits the information it obtains to the host computer; wherein the subsystems include: A navigation system connected to the central processor, the navigation system is used to provide a driving route for the unmanned guided vehicle; A detection system connected to the central processor, the detection system is used to detect the state of the surrounding environment of the vehicle body; A driving system connected to the central processing unit, the driving system is used to drive the unmanned guided vehicle to move; An input system connected to the central processor, the input system being used to input action instructions to the unmanned guided vehicle; The output system is connected to the central processing unit, and the output system is used to output corresponding actions according to the instructions of the central processing unit.

2. The control system for an unmanned guided vehicle according to claim 1, characterized in that: The detection system comprises: A laser radar detection device, used to scan the surrounding environment and both sides of the vehicle body so that the unmanned guided vehicle can avoid obstacles while driving; A collision sensor, arranged at the lower part of the vehicle body, for detecting and determining the impact induction when the unmanned guided vehicle collides; The ultrasonic sensor is arranged at the lower part of the collision sensor and is used to sense the environment to prevent the unmanned guided vehicle from colliding with people or objects.

3. The control system for an unmanned guided vehicle according to claim 2, characterized in that: The laser radar detection device comprises: A first laser radar detector is arranged on a first side wall of the vehicle body, and the first laser radar detector is used to detect the surrounding environment of the unmanned guided vehicle; The second laser radar detector is arranged on the side walls on both sides of the first side wall, and the second laser radar detector is used to scan the environment on both sides of the unmanned guided vehicle and avoid obstacles.

4. The control system for an unmanned guided vehicle according to claim 1, characterized in that: The drive system comprises: A driving motor, disposed in the vehicle body, for driving the unmanned guided vehicle to move; The differential drive chassis is arranged at the lower part of the vehicle body.

5. The control system for an unmanned guided vehicle according to claim 1, characterized in that: The input system comprises: A voice module, disposed in the vehicle body, and configured to transmit voice commands to the central processor; A touch control module is arranged on the top of the vehicle body, and is used to input instructions to the central processing unit.

6. The control system for an unmanned guided vehicle according to claim 3, characterized in that: The output system comprises: A light belt, which is arranged around the waist of the vehicle body, is connected to the central processor, and is used to output lights of different colors; An LED screen, which is arranged on the side wall opposite to the first side wall, the LED screen is connected to the central processor, and the LED screen is used to output videos and pictures; A storage bin is arranged at the upper part of the first side wall, and the storage bin is used to place items to be transported.

7. The control system for an unmanned guided vehicle according to claim 1, characterized in that: The central processing unit is connected to the host computer via a wireless communication module.

8. The control system for an unmanned guided vehicle according to claim 1, characterized in that: The navigation system is slam navigation.

9. The control system for an unmanned guided vehicle according to claim 4, characterized in that: The differential drive chassis comprises: A bottom support and wheels, wherein the top of the bottom support is connected to the bottom of the vehicle body, and the wheels are arranged at the bottom of the bottom support.

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