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US 12,539,727 B2Granted
Bogie systems for autonomous and remote-piloted vehicles
AssigneeServe Operating Co.
InventorsChace Francis Medeiros, Colin Paul Janssen, Matthew Ryan Medlock, David Eugene Gillespie, Graeme Tyler Smith, Ali Haghighat Kashani
Life of this patent
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Abstract
Various systems and techniques for providing enhancements to bogie-equipped vehicles are described and discussed. Such systems and techniques include, for example, actively driven bogie differentials, elevated obstacle mounting techniques, worm-drive steering, parking modes using toe-in or toe-out wheel steering, speed-sensitive steering mode selection, and various other enhancements and techniques.
Claims22
An apparatus comprising:
- a first bogie that includes a corresponding bogie structure, a corresponding first axle, and a corresponding second axle;
- a second bogie that includes a corresponding bogie structure, a corresponding first axle, and a corresponding second axle;
- a chassis;
- a first pair of wheels associated with the corresponding bogie structure of the first bogie;
- a second pair of wheels associated with the corresponding bogie structure of the second bogie;
- a first set of one or more drive motors;
- a second set of one or more drive motors;
- and
- a controller that includes one or more processors and one or more memory devices, wherein:
- the first bogie and the second bogie are both connected with the chassis and are located on opposite sides of the chassis with the first axles of each positioned at the same end,
- the first bogie includes a corresponding first steering actuator that is configured to cause the corresponding first axle of the first bogie to change its steering angle relative to the corresponding bogie structure of the first bogie responsive to one or more control signals received from the controller,
- the second bogie includes a corresponding first steering actuator configured to cause the corresponding first axle of the second bogie to change its steering angle relative to the corresponding bogie structure of the second bogie responsive to one or more control signals received from the controller,
- each wheel in the first pair of wheels is connected with a different one of the first axle and the second axle of the first bogie,
- each wheel in the second pair of wheels is connected with a different one of the first axle and the second axle of the second bogie,
- at least one drive motor of the first set of one or more drive motors is configured to drive one of the wheels in the first pair of wheels responsive to control signals received from the controller, and
- at least one drive motor of the second set of one or more drive motors is configured to drive one of the wheels in the second pair of wheels responsive to control signals received from the controller.
13 more elements
An apparatus comprising:
- a first bogie that includes a corresponding bogie structure, a corresponding first axle, and a corresponding second axle;
- a second bogie that includes a corresponding bogie structure, a corresponding first axle, and a corresponding second axle;
- a chassis;
- a first pair of wheels associated with the corresponding bogie structure of the first bogie;
- a second pair of wheels associated with the corresponding bogie structure of the second bogie;
- a first set of one or more drive motors;
- a second set of one or more drive motors;
- a differential mechanism that has a first rotatable part and a second rotatable part;
- and
- a controller that includes one or more processors and one or more memory devices, wherein:
- the first bogie and the second bogie are both connected with the chassis and are located on opposite sides of the chassis with the first axles of each positioned at the same end,
- the first bogie is fixedly mounted with respect to the first rotatable part,
- the second bogie is fixedly mounted with respect to the second rotatable part,
- the differential mechanism is configured to cause the first rotatable part and the second rotatable part to rotate in opposite directions, and by equal amounts, about a common axis relative to the chassis when either the first rotatable part or the second rotatable part is caused to rotate relative to the chassis,
- each wheel in the first pair of wheels is connected with a different one of the first axle and the second axle of the first bogie,
- each wheel in the second pair of wheels is connected with a different one of the first axle and the second axle of the second bogie,
- at least one drive motor of the first set of one or more drive motors is configured to drive one of the wheels in the first pair of wheels responsive to control signals received from the controller, and
- at least one drive motor of the second set of one or more drive motors is configured to drive one of the wheels in the second pair of wheels responsive to control signals received from the controller.
15 more elements
Dependencies are inferred from the claim text.