MODULAR ROBOTIC VEHICLE

• Main Authors: AMBROSE ROBERT O, GUO RAYMOND, LUTZ JONATHAN J, BORRONI-BIRD CHRISTOPHER E, RIDLEY JUSTIN S, LEE CHUNHAO J, VITALE ROBERT L, BLUETHMANN WILLIAM J, JUNKIN LUCIEN Q, LAPP ANTHONY JOSEPH
• Format: Patent
• Language: English
• Published: 26.03.2015
• Subjects: ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES; ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OFVEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRAILERS; TRANSPORTING; VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES; VEHICLES IN GENERAL

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.