US 2015/0083509 A1Published application

Modular robotic vehicle

AssigneesU.S.A. as represented by the Administrator of the National Aeronautics and Space Administration, GM Global Technology Operations LLC

InventorsChristopher E. Borroni-Bird, Robert L. Vitale, Chunhao J. Lee, Robert O. Ambrose, William J. Bluethmann, Lucien Q. Junkin, Jonathan J. Lutz, Raymond Guo, Anthony Joseph Lapp, Justin S. Ridley

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Abstract

A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

Claims18

Dependent claims

A vehicle comprising:

a chassis;
a plurality of driver input devices;
an energy storage system (ESS);
at least one electronic modular assembly (eModule) that is electrically connected to the ESS, and that includes:
a drive wheel containing a by-wire propulsion-braking module configured to selectively propel and brake the drive wheel;
a mounting bracket covering a steering control assembly having at least one steering controller which controls a by-wire steering function of the vehicle;
and
a housing positioned adjacent to the mounting bracket, and containing a propulsion control assembly, a braking control assembly, and a spring-damper assembly, wherein the propulsion control assembly and the braking control assembly include a propulsion controller and a brake controller, respectively, which together control the by-wire propulsion-braking module;
and
a master controller in communication with the at least one steering controller, the propulsion controller, and the brake controller, and with the plurality of driver input devices, wherein the master controller is programmed to communicate with and independently control the at least one eModule to selectively establish one of a plurality of different operating modes in response to driver input commands from the plurality of driver input devices.

7 more elements

A vehicle comprising:

a chassis having interconnected tubular frame pieces;
a plurality of driver input devices, including each of a steering wheel, a brake pedal, an accelerator pedal, and a human-machine interface screen;
a solid-cell DC energy storage system (ESS) having a voltage rating of at least 300 VDC;
an electrical charging port that is connectable to an offboard power supply for recharging the ESS;
a power electronics module (PEM) that is electrically connected to the ESS and operable to distribute power from the ESS;
a plurality of modular electronic assemblies (eModules), each of which is electrically connected to the ESS via the PEM, and each of which includes:
a drive wheel containing a by-wire propulsion-braking module configured to selectively propel and brake the drive wheel;
a housing containing a propulsion control assembly and a braking control assembly, wherein the propulsion control assembly and the braking control assembly include a propulsion controller and a brake controller, respectively, which together control the by-wire propulsion-braking module;
and
a mounting bracket covering a steering control assembly having a pair of steering controllers which control a by-wire steering function of the vehicle;
and
at least one master controller in communication with the pair of steering controllers, the propulsion controller, and the brake controller, and with each of the plurality of driver input devices, wherein the at least one master controller is programmed to communicate with and independently control each eModule via commands transmitted to the pair of steering controllers, the propulsion controller, and the brake controller, and to selectively establish one of a plurality of different operating modes selected from the group consisting essentially of a two-wheel steering mode, a four-wheel steering mode, a diamond steering mode, an omni-directional steering mode, and a park mode.

9 more elements

Dependencies are inferred from the claim text.