CN105923028A - Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device - Google Patents
Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device Download PDFInfo
- Publication number
- CN105923028A CN105923028A CN201610443936.0A CN201610443936A CN105923028A CN 105923028 A CN105923028 A CN 105923028A CN 201610443936 A CN201610443936 A CN 201610443936A CN 105923028 A CN105923028 A CN 105923028A
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- CN
- China
- Prior art keywords
- wheel
- turn
- front vehicle
- control
- radius
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0003—Adaptations for loading in or on a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
- B62B5/0076—Remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/04—Braking mechanisms; Locking devices against movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
Abstract
The invention discloses a carrying device which is applicable to complicated road surfaces and can have random turning radiuses and a method for controlling the carrying device. The carrying device comprises a carrying platform. A row of front wheels is mounted at the front end of the bottom of the carrying platform, at least one row of rear wheels is mounted at the rear end of the bottom of the carrying platform, the row of front wheels comprises at least two front wheels, the front wheels are coaxially arranged and are directional wheels which cannot rotate in the horizontal directions and only can advance and retreat, each front wheel which is controlled by the aid of speed and torque hybrid control algorithms is provided with a driving device, and all the driving devices are connected with a master controller; each row of rear wheels comprises at least one rear wheel, and the rear wheels are universal wheels which can rotate in the horizontal directions and can advance and retreat. The carrying device and the method have the advantages that the carrying device can advance and retreat, can run under the conditions of the random turning radiuses, can flexibly advance, is applicable to different narrow regions and the like and can run on the complicated, uneven and steep road surfaces.
Description
Technical field
The present invention relates to a kind of toter and control thereof being suitable to complex road surface and any radius of turn can being realized
Method processed, belongs to delivery and controls technical field.
Background technology
Along with the raising of scientific and technological level, universal wheel is applied on many articles for use more and more, such as chair,
Luggage case etc..These articles for use are plus after universal wheel, and its motion becomes more flexible, facilitates the use of people.
Such as, chair can arbitrarily turn to plus after universal wheel, and luggage case is plus after universal wheel, and it turns to cleverer
Living, user is more laborsaving.The most such as, go-carts of some transport article are plus after universal wheel, and go-cart can be
Flexibly turn in narrow space, thus reduce use and limit.Under normal circumstances, wheel is the most, load-bearing
The adaptation ability of ability and road pavement will be the strongest.Be frequently seen in life now has six to take turns, eight takes turns very
To more design, but weight capacity and road surface adaptation ability can't be because of increasing of wheel in ratios
Promote.From the point of view of actually used situation, the most existing go-cart being mounted with universal wheel has a disadvantage in that
First, a lot of go-carts can only towards unidirectional motion, or turn to dumb, it is impossible to uses in narrow region.
Second, travel and limited by pavement behavior, it is impossible to run on road surface complicated, great slope.3rd, mostly
Go-cart does not design control system, only relies on people and operates, and automaticity is low.
Summary of the invention
It is an object of the invention to provide a kind of be suitable to complex road surface, can realize any radius of turn delivery dress
Putting and control method, it can realize advancing, retreating and the traveling of any radius of turn, advances flexibly, suitable
In using in the different geographical such as narrow, may be implemented in complicated uneven, the road traveling of great slope.
To achieve these goals, present invention employs techniques below scheme:
A kind of be suitable to complex road surface, the toter of any radius of turn can be realized, it is characterised in that: its bag
Including carrying platform, carrying platform bottom front is provided with row's front vehicle wheel, and rear end is provided with at least one row's rear car
Wheel, wherein: row's front vehicle wheel includes at least two front vehicle wheel being coaxially disposed, front vehicle wheel be horizontal direction not
Can rotate, the directional wheel that can only move forward and backward, use that speed and torque hybrid algo-rithm control each before
Wheel is each provided with a driving means, and all driving means are connected with master controller；Each row's rear wheel bag
Including at least one rear wheel, rear wheel is the universal wheel that horizontal direction is rotatable and can move forward and backward.
When row's rear wheel includes rear wheel described in two or more, it is coaxially disposed between each described rear wheel.
Further, described driving means includes the driving motor being connected with described front vehicle wheel, drive motor with
The stepless motor drive controller controlling to drive motor speed and torque connects.Described driving motor is wheel hub electricity
Machine or wheel motor.
Further, described driving means also includes mechanical brake.
In actual design, described carrying platform top nose can be provided with stick, and stick is provided with
Manual operation panel, the signal port of manual operation panel connects with the corresponding signal port of described master controller
Connect.
It addition, each described rear wheel can be each provided with a steer-drive, unidirectional torque is used to control
The signal port of the steer-drive in the traveling orientation in the horizontal direction of rear wheel described in algorithm controls with
The corresponding signal port of master controller connects, wherein: steer-drive includes rotating peace with described rear wheel
Be contained in the connection of the swingle bottom described carrying platform turns to driving motor, turns to driving motor and control in real time
System turns to the motor drive controller driving Motor torque to connect.Described turn to driving motor be wheel hub motor,
The position that wheel hub motor is connected with described swingle is provided with conducting slip ring.
A kind of described be suitable to complex road surface, the control method of the toter of any radius of turn can be realized,
It is characterized in that, it includes:
When advancing, control all described front vehicle wheels and run with identical speed forward direction；
When retreating, control all described front vehicle wheels and run in the reverse direction with identical speed；
When cornering, according to turn direction and radius of turn, control with torque hybrid algo-rithm based on speed
Each described front vehicle wheel runs with friction speed, wherein, is in the described front vehicle wheel outside turning to being in turning
The speed of the described front vehicle wheel of inner side progressively reduces.
Being suitable to complex road surface, the controlling party of the toter of any radius of turn can be realized described in another kind
Method, it is characterised in that it includes:
When advancing, control all described front vehicle wheels and run with identical speed forward direction, and based on unidirectional
Moment of torsion control algolithm controls the traveling orientation of each described rear wheel and is in direction of advance；
When retreating, control all described front vehicle wheels and run in the reverse direction with identical speed, and based on unidirectional
Moment of torsion control algolithm controls the traveling orientation of each described rear wheel and is in direction of retreat；
When cornering, according to turn direction and radius of turn, control with torque hybrid algo-rithm based on speed
Each described front vehicle wheel runs with friction speed, wherein, is in the described front vehicle wheel outside turning to being in turning
The speed of described front vehicle wheel of inner side progressively reduces, and based on unidirectional torque control algolithm control each described after
The traveling orientation of wheel towards turn direction and during following turning changing in real time of angle of turn and real-time
Change.
The invention have the advantage that
1, toter of the present invention is by the particular design to forward and backward wheel, it is possible to achieve advances, retreat
And the traveling of any radius of turn, turn to flexibly, be suitable to use in narrow region.
2, the mode that toter of the present invention the most independently drives by wheel, it is achieved that uneven in complexity,
The road traveling of great slope, is not limited by pavement behavior.
3, toter of the present invention can realize manned, loading function, and bearing capacity is strong, heavy－duty,
Laying particular stress on also can even running under mood shape.
4, toter of the present invention is designed with the stick facilitating user, and controllability is good, the most also can be real
Existing unpiloted remote pilot, can select mode of operation flexibly according to different occasions and demand.
5, toter structure of the present invention is uncomplicated, simple operation, and operation stability is high, it is easy to maintenance,
Low cost.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of toter first embodiment of the present invention.
Fig. 2 is the arrangement bottom carrying platform of the forward and backward wheel in toter first embodiment of the present invention
Schematic diagram.
Fig. 3 is the schematic side view of toter first embodiment of the present invention.
Fig. 4 is the schematic perspective view of toter the second embodiment of the present invention.
Fig. 5 is the arrangement bottom carrying platform of the forward and backward wheel in toter the second embodiment of the present invention
Schematic diagram.
Fig. 6 is the schematic side view of toter the second embodiment of the present invention.
Detailed description of the invention
As shown in Figures 1 to 6, the present invention is suitable to complex road surface, can realize the delivery dress of any radius of turn
Putting and include carrying platform 10, carrying platform 10 bottom front is provided with row's front vehicle wheel, carrying platform 10
Rear end, bottom is provided with at least one row's rear wheel, wherein: row's front vehicle wheel includes at least two being coaxially disposed
Front vehicle wheel 20, all front vehicle wheels 20 in i.e. one row's front vehicle wheel are on same axis, are not to say that herein
Each front vehicle wheel 20 uses same axletree to connect, and front vehicle wheel 20 can not rotate for horizontal direction, can only advance
With the directional wheel (the most single front vehicle wheel 20 is in stays) retreated, use speed to mix control with torque and calculate
Each front vehicle wheel 20 (i.e. directional wheel) that method controls is each provided with a driving means 50, and all driving fills
Put 50 to be connected with master controller 60；Each row's rear wheel includes that at least one rear wheel 30, rear wheel 30 are
Horizontal direction is rotatable and the universal wheel that can move forward and backward.
In actual applications, it is preferred that when row's rear wheel includes two or more rear wheel 30, each after
Being coaxially disposed between wheel 30, the most each rear wheel 30 is on same axis, is not to say that each rear car herein
The wheel 30 same axletree of use connects.
When reality is applied, the respective quantity of forward and backward wheel 20,30, arrangement form, can be according to road surface
Situation, loading demands etc. determine because usually considering, and are not restricted by.Fig. 1 to Fig. 3 shows 1 row
4 front vehicle wheels 20 and two rows and each arrangement form arranging 2 rear wheels 30, Fig. 4 to Fig. 6 shows 1
Arrange the arrangement form of 2 front vehicle wheel 20 and 12 rear wheels 30 of row.
Specifically, in actual design, when row's rear wheel 30 is only designed with a universal wheel, this
Universal wheel (rear wheel 30) should be positioned on the axis of symmetry L of carrying platform 10.When row's rear wheel is designed with
During multiple universal wheel, all universal wheels should be spaced apart based on axis of symmetry L symmetry.In like manner, row's front vehicle wheel
All directional wheels to be also based on axis of symmetry L symmetrical spaced apart.In a word, forward and backward wheel 20,30
Arrangement answer TV structure stability, operation stability etc. because of usually comprehensive Design, this is skill known in the art
Art, is not limited to the above.
In actual design, driving means 50 can include the driving motor being connected with front vehicle wheel 20, drives electricity
It is corresponding to the stepless motor drive controller controlling to drive motor speed and torque that the signal of machine controls port
Signal port connects, and the corresponding signal port of motor drive controller passes with the corresponding signal of master controller 60
Sending end mouth connects.
It should be noted that in the present invention, each front vehicle wheel 20 is designed with a driving means 50, i.e.
Each front vehicle wheel 20 is designed with a driving motor and a motor drive controller.It is to say, this
The direct motor driven of each front vehicle wheel 20 in bright drives, and the respective operation of each front vehicle wheel 20 is
Independent control.
Driving motor can be wheel hub motor or wheel motor.
In actual design, driving means 50 may also include mechanical brake.In actual applications, when this
When invention toter is designed as low cruise, then front vehicle wheel 20 is only with electric braking.Work as the present invention
When toter is designed as high-speed cruising, then front vehicle wheel 20 uses electromechanical combination to brake, i.e. at electric braking base
On plinth, use mechanical brake that the stopping/operation of front vehicle wheel 20 is carried out mechanical type control.
Such as Fig. 1 to Fig. 6, the top nose of the carrying platform 10 of toter of the present invention can be provided with stick
40, stick 40 is provided with manual operation panel, the signal port of manual operation panel and master controller
The corresponding signal port of 60 connects.
In actual design, carrying platform 10 can be provided with can be with the remote signal of remote controller wireless telecommunications
R-T unit (not shown), the signal transmitting and receiving port of remote signal R-T unit and master controller 60
Corresponding signal port connect.In actual design, for setting of manual manipulation mode and remote pilot mode
Meter, toter of the present invention should be designed with manually/remote transfer switch (not shown).
In actual design, rear wheel 30 can not set motor and drive, or is designed with motor driving.
When being designed with motor and driving, specifically, each rear wheel 30 (i.e. universal wheel) is each provided with one
Individual steer-drive, uses unidirectional torque control algolithm to control rear wheel 30 traveling in the horizontal direction
The signal port of the steer-drive in orientation (in the present invention, traveling orientation is alternatively referred to as travel angle)
It is connected with the corresponding signal port of master controller 60, say, that steer-drive is for by rear wheel
30 at a time or control in the time period on some fixed angle so that it is keep this fixed angle to transport
OK.Further, steer-drive can include being rotatably mounted on bottom carrying platform 10 with rear wheel 30
Swingle (not marking in figure) connect turn to driving motor, turn to drive motor signal control port
Turning to the corresponding signal port of the motor drive controller driving Motor torque to be connected with control in real time, motor drives
The corresponding signal port of movement controller is connected with the corresponding signal delivery port of master controller 60.
Turning to driving motor to be necessary for wheel hub motor, it is sliding that the position that wheel hub motor is connected with swingle is provided with conduction
Ring.
In actual design, driving means, steer-drive, master controller etc. are powered by power supply 70,
Power supply 70 can use lithium-ions battery.
In the present invention, master controller 60 to each driving motor, turn to driving motor carry out distributed AC servo system.
In use, toter of the present invention is manually operable or remote pilot.When operated, use
Order and the angle of turn parameters such as person is advanced by stick 40 input, retreat, turned, stopping, from
And drive toter of the present invention and advance.When remote pilot, user controls the present invention by remote controller and transports
Carry and put and advance in unmanned state (relate to advancing, retreat, turn, order and the turning angle such as stopping
Degree parameter is arranged).
Based on the invention described above toter, the present invention proposes a kind of controlling party to toter of the present invention
Method, it includes:
When toter of the present invention advances, control all front vehicle wheels 20 and transport with identical speed forward direction
OK；
When toter of the present invention retreats, control all front vehicle wheels 20 and transport in the reverse direction with identical speed
OK；
When toter of the present invention is turned, according to turn direction and radius of turn, (radius of turn can be by defeated
The angle of turn entered calculates), control each based on speed and torque hybrid algo-rithm (well-known algorithms)
Front vehicle wheel 20 runs with friction speed, wherein, is in the front vehicle wheel 20 outside turning to being in turning medial
The speed of front vehicle wheel 20 progressively reduce.
Additionally when toter of the present invention needs to stop, electric braking or electromechanical combination mode of braking is used to control
All front vehicle wheels 20 are out of service.
Based on the invention described above toter, the invention allows for a kind of control to toter of the present invention
Method, it includes:
When toter of the present invention advances, control all front vehicle wheels 20 and transport with identical speed forward direction
OK, and control the traveling orientation of each rear wheel 30 based on unidirectional torque control algolithm (well-known algorithms) to be in
In direction of advance；
When toter of the present invention retreats, control all front vehicle wheels 20 and transport in the reverse direction with identical speed
OK, and control the traveling orientation of each rear wheel 30 based on unidirectional torque control algolithm (well-known algorithms) to be in
In direction of retreat；
When toter of the present invention is turned, according to turn direction and radius of turn, (radius of turn can be by defeated
The angle of turn entered calculates), control each based on speed and torque hybrid algo-rithm (well-known algorithms)
Front vehicle wheel 20 runs with friction speed, wherein, is in the front vehicle wheel 20 outside turning to being in turning medial
The speed of front vehicle wheel 20 progressively reduce, and control each rear wheel 30 based on unidirectional torque control algolithm
Traveling orientation is towards turn direction and the changing in real time of toter angle of turn of the present invention during following turning
Become and real-time change.
Additionally when toter of the present invention needs to stop, electric braking or electromechanical combination mode of braking is used to control
All front vehicle wheels 20 are out of service, and use electric braking mode to stop the operation control to all rear wheels 30
System.
The invention have the advantage that
1, toter of the present invention is by the particular design to forward and backward wheel, it is possible to achieve advances, retreat
And the traveling of any radius of turn, turn to flexibly, be suitable to use in narrow region.
2, the mode that toter of the present invention the most independently drives by wheel, it is achieved that uneven in complexity,
The road traveling of great slope, is not limited by pavement behavior.
3, toter of the present invention can realize manned, loading function, and bearing capacity is strong, heavy－duty,
Laying particular stress on also can even running under mood shape.
4, toter of the present invention is designed with the stick facilitating user, and controllability is good, the most also can be real
Existing unpiloted remote pilot, can select mode of operation flexibly according to different occasions and demand.
5, toter structure of the present invention is uncomplicated, simple operation, and operation stability is high, it is easy to maintenance,
Low cost.
The above is present pre-ferred embodiments and the know-why used thereof, for the technology of this area
For personnel, without departing from the spirit and scope of the present invention, any based on technical solution of the present invention
On the basis of equivalent transformation, simple replacement etc. is obvious changes, within belonging to scope.
Claims (10)
1. one kind is suitable to complex road surface, can realize the toter of any radius of turn, it is characterised in that:
It includes that carrying platform, carrying platform bottom front are provided with row's front vehicle wheel, and rear end is provided with at least one row
Rear wheel, wherein: row's front vehicle wheel includes at least two front vehicle wheel being coaxially disposed, front vehicle wheel is level side
To the directional wheel that can not rotate, can only move forward and backward, speed and torque hybrid algo-rithm is used to control
Each front vehicle wheel is each provided with a driving means, and all driving means are connected with master controller；Respectively arrange rear car
Wheel includes at least one rear wheel, rear wheel be horizontal direction rotatable and can move forward and backward universal
Wheel.
Be suitable to complex road surface the most as claimed in claim 1, the toter of any radius of turn can be realized,
It is characterized in that:
When row's rear wheel includes rear wheel described in two or more, it is coaxially disposed between each described rear wheel.
Be suitable to complex road surface the most as claimed in claim 1 or 2, the delivery of any radius of turn can be realized
Device, it is characterised in that:
Described driving means includes the driving motor being connected with described front vehicle wheel, drives motor to drive with stepless control
The motor drive controller of dynamic motor speed and torque connects.
Be suitable to complex road surface the most as claimed in claim 3, the toter of any radius of turn can be realized,
It is characterized in that:
Described driving motor is wheel hub motor or wheel motor.
Be suitable to complex road surface the most as claimed in claim 3, the toter of any radius of turn can be realized,
It is characterized in that:
Described driving means also includes mechanical brake.
Be suitable to complex road surface the most as claimed in claim 1 or 2, the delivery of any radius of turn can be realized
Device, it is characterised in that:
Described carrying platform top nose is provided with stick, and stick is provided with manual operation panel, hands
The signal port of dynamic guidance panel is connected with the corresponding signal port of described master controller.
Be suitable to complex road surface the most as claimed in claim 1 or 2, the delivery of any radius of turn can be realized
Device, it is characterised in that:
Each described rear wheel is each provided with a steer-drive, uses unidirectional torque control algolithm to control
The signal port of the steer-drive in described rear wheel traveling orientation in the horizontal direction and master controller
Corresponding signal port connect, wherein: steer-drive includes being rotatably mounted on described with described rear wheel
What the swingle bottom carrying platform connected turns to driving motor, turns to driving motor and controls to turn in real time to drive
The motor drive controller of dynamic Motor torque connects.
Be suitable to complex road surface the most as claimed in claim 7, the toter of any radius of turn can be realized,
It is characterized in that:
Described turn to driving motor be wheel hub motor, the position that wheel hub motor is connected with described swingle is provided with leads
Electric slip ring.
9. being suitable to complex road surface, can realize arbitrarily turning according to any one of a claim 1 to 8
The control method of the toter of radius, it is characterised in that it includes:
When advancing, control all described front vehicle wheels and run with identical speed forward direction；
When retreating, control all described front vehicle wheels and run in the reverse direction with identical speed；
When cornering, according to turn direction and radius of turn, control with torque hybrid algo-rithm based on speed
Each described front vehicle wheel runs with friction speed, wherein, is in the described front vehicle wheel outside turning to being in turning
The speed of the described front vehicle wheel of inner side progressively reduces.
10. being suitable to complex road surface, the fortune of any radius of turn can be realized described in a claim 7 or 8
Carry the control method put, it is characterised in that it includes:
When advancing, control all described front vehicle wheels and run with identical speed forward direction, and based on unidirectional
Moment of torsion control algolithm controls the traveling orientation of each described rear wheel and is in direction of advance；
When retreating, control all described front vehicle wheels and run in the reverse direction with identical speed, and based on unidirectional
Moment of torsion control algolithm controls the traveling orientation of each described rear wheel and is in direction of retreat；
When cornering, according to turn direction and radius of turn, control with torque hybrid algo-rithm based on speed
Each described front vehicle wheel runs with friction speed, wherein, is in the described front vehicle wheel outside turning to being in turning
The speed of described front vehicle wheel of inner side progressively reduces, and based on unidirectional torque control algolithm control each described after
The traveling orientation of wheel towards turn direction and during following turning changing in real time of angle of turn and real-time
Change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443936.0A CN105923028A (en) | 2016-06-20 | 2016-06-20 | Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443936.0A CN105923028A (en) | 2016-06-20 | 2016-06-20 | Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105923028A true CN105923028A (en) | 2016-09-07 |
Family
ID=56831314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610443936.0A Pending CN105923028A (en) | 2016-06-20 | 2016-06-20 | Carrying device which is applicable to complicated road surfaces and can have random turning radiuses and method for controlling carrying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105923028A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108357525A (en) * | 2018-03-28 | 2018-08-03 | 上海工程技术大学 | A kind of carrying flat-bed hand cart of automated steering |
| CN111801263A (en) * | 2018-03-08 | 2020-10-20 | 罗伯特·博世有限公司 | Transport device, in particular a baby carriage, having an electric drive unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111801263A (en) * | 2018-03-08 | 2020-10-20 | 罗伯特·博世有限公司 | Transport device, in particular a baby carriage, having an electric drive unit |
| CN108357525A (en) * | 2018-03-28 | 2018-08-03 | 上海工程技术大学 | A kind of carrying flat-bed hand cart of automated steering |
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Application publication date: 20160907 |