CN107140029A - A kind of fire-fighting robot chassis based on Mecanum wheel - Google Patents
A kind of fire-fighting robot chassis based on Mecanum wheel Download PDFInfo
- Publication number
- CN107140029A CN107140029A CN201710434260.3A CN201710434260A CN107140029A CN 107140029 A CN107140029 A CN 107140029A CN 201710434260 A CN201710434260 A CN 201710434260A CN 107140029 A CN107140029 A CN 107140029A
- Authority
- CN
- China
- Prior art keywords
- chassis
- fire
- fixed
- shock
- wheel
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/11—Understructures, i.e. chassis frame on which a vehicle body may be mounted with resilient means for suspension, e.g. of wheels or engine; sub-frames for mounting engine or suspensions
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
Abstract
The invention discloses a kind of fire-fighting robot chassis based on Mecanum wheel, including chassis overhang mechanism；Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；Drive the chassis axle mechanism of chassis overhang mechanism kinematic；Installed in chassis overhang mechanism rear, i.e. the rear car body supporting mechanism for propping up rear car body；Chassis overhang mechanism includes bottom plate, shock-absorbing supporting plate, lip block, aluminium weldering truss, square steel reinforcement；The lip block is arranged between bottom plate and shock-absorbing supporting plate；The aluminium weldering truss is fixed on bottom plate；The square steel reinforcement is arranged on the side that aluminium welds truss；The lower section that truss is welded in aluminium is kept out in the middle part of the shock-absorbing supporting plate.This fire-fighting robot chassis structure is simple, small, mobility strong, and traveling is flexible, is quick on the draw, also carries shock-proof effect, manufacturing cost is relatively low, so being highly suitable for small business or the place such as small place that densely populated residential quarter or fire incident take place frequently.
Description
Technical field
The present invention relates to fire-fighting robot chassis, more particularly to a kind of fire-fighting robot chassis based on Mecanum wheel.
Background technology
With the fast development of social economy, the particularity that building and enterprise produce causes Hazardous Chemical Substances and radioactivity
Content leaks and burning, the accident potential exploded, caved in increase, or for the how intensive old town of small business or people,
Electrical wiring entanglement and electric wire aging, the probability that accident occurs also accordingly are improved.Once generation disaster accident, fireman faces
When high temperature, dark, poisonous and dense smoke etc. endanger environment, if rushing in scene rashly without corresponding equipment, it can not only complete to appoint
Business, can also increase casualties on foot, this respect public security fire-fighting army is after many lessons written in blood.Especially when new fire service law is put into effect
Afterwards, rescue turns into the legal task of public security fire-fighting army, the new situation new task faced in face of the new period, also for more
Foregoing problem is solved well, and the outfit of fire-fighting robot, which seems, to become more and more important.
Since robot comes out from the beginning of the sixties, the development in more than 40 years is undergone, oneself makes great progress, social all trades and professions
Its all visible figure.At present, fire-fighting robot also develops into the stage of comparative maturity, has formd various species,
As running on wheels fire-fighting robot, crawler-type traveling fire-fighting robot, Track-wheel type walking fire-fighting robot, sucked type walking disappear
Anti- robot etc., also, be also applied in actual life field.But, current fire-fighting robot is usually technical grade,
Build is very big, also heavier, take action it is dumb, for giant chemical blast, oil product combustion gas, toxic gas leakage blast, tunnel,
Subway such as caves at the occasion, and price is very expensive, is not suitable for being used in small business or densely populated residential quarter or fire
The small place of Frequent Accidents.
The content of the invention
It is bulky, expensive the invention aims to solve current fire-fighting robot, it is not suitable for small business
Or the place such as the small place that takes place frequently of densely populated residential quarter or fire incident is based on Mecanum the problem of use there is provided one kind
The fire-fighting robot chassis of wheel.Fire-fighting robot chassis structure scheme of the present invention, disclosure satisfy that small, mobility strong, traveling
Flexibly, be quick on the draw, the requirement that cost is relatively low.
The present invention is achieved through the following technical solutions：
A kind of fire-fighting robot chassis based on Mecanum wheel, including following mechanism：Chassis overhang mechanism；
Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；Drive chassis overhang mechanism kinematic
Chassis axle mechanism；Installed in chassis overhang mechanism rear, i.e. the rear car body supporting mechanism for propping up rear car body.
The chassis overhang mechanism includes：Bottom plate 17, shock-absorbing supporting plate 2, lip block 18, aluminium weldering truss 22, square steel add
Strengthening tendons 6；The lip block 18 is arranged between bottom plate 17 and shock-absorbing supporting plate 2；The aluminium weldering truss 22 is fixed on bottom plate 17
On；The square steel reinforcement 6 is arranged on the side that aluminium welds truss 22；The middle part of the shock-absorbing supporting plate 2 is kept out welds truss in aluminium
22 lower section.
The shockproof mechanism includes：Shock-proof spring 4, lower spring connector 8, upper spring fastenings 3, suspension plate 9；
The two ends of the shock-proof spring 4 couple lower spring connector 8 and upper spring fastenings 3 respectively；Described supporting pad
Bottom plate 17 and shock-absorbing supporting plate 2 are connected by block 18 by screw and nut, and lower spring connector 8 is fixed in suspension plate 9；The hinge
Chain 20 couples suspension plate 9 and the formation revolute pair of bottom plate 17, forms hitch, by the stretching and contraction of shock-proof spring 4, plays
The effect of buffering, and then constitute shockproof mechanism；In the front lower place of suspension plate 9, have one be fixed on by guide wheel fixture 15 it is outstanding
Guide wheel 14 on hanging plate 9.
The chassis axle mechanism includes Mecanum wheel 1, axletree 19, plum coupling 7, fixed motor cabinet 5, bearing
24th, wheel shaft jump ring 23, motor 16；
The other end of described one end of plum coupling 7 and axletree 19 is connected, and the other end of plum coupling 7 and motor 16
Motor shaft be connected；The motor 16 is connected by screw and the fixation motor cabinet 5 being fixed in suspension plate 9, forms wheel shaft；Electricity
Machine 16 is rotated after being powered, so as to drive Mecanum wheel 1 to rotate；Bearing 24 is enclosed in fixed motor cabinet 5 close to the one end of axletree 19
Circular groove in, interference fit, wheel shaft jump ring 23 is arranged in the groove of axletree 19, and the hole as dead axle 19 is to motion.
The rear car body supporting mechanism includes：Sucker 10, sucker fixture 11, linear electric motors 12, linear electric motors are fixed
Truss 13, linear electric motors fixed plate 21；
The linear electric motors 12 are fixed in linear electric motors fixed plate 21, and linear electric motors fixed plate 21 is with being fixed on bottom plate
17 linear electric motors are fixed truss 13 and are connected；The sucker 10 is fixed on the motor shaft of linear electric motors 12 by sucker fixture 11
On, linear electric motors 12 extend after being powered so that sucker 10 contacts ground, until trailing wheel is hanging, reach prop up rear car body
Purpose.
Diagonally distribute multiple cylindrical rollers on the wheel rim of Mecanum wheel 1, these cylinder rollings diagonally distributed
Son is transformed into the steering force of a part above one wheel normal force, by four directions of Mecanum wheel 1 and speed, these
Power finally synthesizes one resultant force vector of generation on desired direction, so as to ensure that fire fighting truck can be in final resultant force vector
Direction on can move freely through, without change wheel itself steering.
The motor 16 uses 3510 motors.
The present invention has the following advantages and effect relative to prior art：
Simple in construction, small, mobility strong of the invention, traveling is flexible, is quick on the draw, also carries shock-proof effect, manufactures
Advantage of lower cost, so being highly suitable for small business or small place that densely populated residential quarter or fire incident take place frequently etc.
Place.
Brief description of the drawings
Fig. 1 is the chassis axonometric schematic diagram of embodiments of the invention.
Fig. 2 is the chassis axle section schematic diagram of embodiments of the invention.
Fig. 3 is the chassis suspension shock-absorbing partial schematic diagram of embodiments of the invention.
Fig. 4 is the chassis front view of embodiments of the invention.
Fig. 5 is the chassis left view of embodiments of the invention.
Fig. 6 is the chassis top view of embodiments of the invention.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As described in Fig. 1 to 6.Mecanum wheel 1 is connected by screw-nut and the one end of axletree 19, the one end of plum coupling 7
It is connected with the other end of axletree 19, and the motor shaft of the other end and 3510 motors 16 is connected, in addition, 3510 motors 16 are also by spiral shell
Silk is connected with the fixation motor cabinet 5 being fixed in suspension plate 9, so as to form wheel shaft.Its middle (center) bearing 24 is enclosed in fixed motor cabinet 5
In the circular groove of the one end of axletree 19, interference fit, wheel shaft jump ring 23 is arranged in the groove of axletree 19, as dead axle 19
Hole is to motion.3510 motors 16 are rotated after being powered, by a series of connectors, so as to drive Mecanum wheel 1 to rotate.In addition,
Diagonally distribute many small rollers on the wheel rim of Mecanum wheel 1, and these angled periphery wheel shafts turn to the wheel of a part
Power is transformed into above a wheel normal force.By the direction of Mecanum wheel 1 described in 4 and speed, the final conjunction of these power
A resultant force vector is produced on into the direction in any requirement to ensure that fire fighting truck can be in the side of final resultant force vector
It can move freely through upwards, the steering without changing wheel itself.
The two ends of shock-proof spring 4 couple lower spring connector 8 and upper spring fastenings 3 respectively, and lip block 18 is by bottom plate
17 and shock-absorbing supporting plate 2 by screw and nut be connected, lower spring connector 8 is fixed in suspension plate 9, hinge 20 connection suspension plate
9 and bottom plate 17 formation revolute pair, so as to constitute hitch, by the stretching and contraction of shock-proof spring 4, play the work of buffering
With.In addition, in the front lower place of suspension plate 9, having a guide wheel 14 being fixed on by guide wheel fixture 15 in suspension plate, working as fire-fighting
Robot rise and fall walked on very big wasteland when, guide wheel 14 can first touch ground, now, guide wheel 14 can and ground produce cunning
It is dynamic, so that the ground fierceness for allowing fire-fighting robot chassis not risen and fallen is hit, and obstruction is reduced, make car body smooth
Ground is travelled.
Linear electric motors 12 are fixed in linear electric motors fixed plate 21, and linear electric motors fixed plate 21 is with being fixed on bottom plate 17
Linear electric motors are fixed truss 13 and are connected, and sucker 10 is fixed on by sucker fixture 11 on the motor shaft of linear electric motors 12, straight line
Motor 12 extends after being powered so that sucker 10 contacts ground, until trailing wheel is hanging, so as to complete a fire fighting truck rear car body support
Get up.After fire-fighting robot adjustment good position aims at good fire extinguishing point, linear electric motors 12 are just worked, and Rear wheel support is got up, and are inhaled
Disk 10 allows car body steadily to fix on the ground, so as to allow fire-fighting robot even if the back pressure produced when being put out a fire by some
A position can be maintained at constant.After fire extinguishing to be done, linear electric motors 12 shrink, and trailing wheel contacts to earth, at this moment, and fire-fighting robot is again
Can flexibly it travel on the ground.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With the change made under principle, modification, replacement, combine, simplify, should be equivalent substitute mode, be included in the present invention
Within protection domain.
Claims (6)
1. a kind of fire-fighting robot chassis based on Mecanum wheel, it is characterised in that including following mechanism：
Chassis overhang mechanism；
Shockproof mechanism between chassis axle mechanism and chassis overhang mechanism；
Drive the chassis axle mechanism of chassis overhang mechanism kinematic；
Installed in chassis overhang mechanism rear, i.e. the rear car body supporting mechanism for propping up rear car body；
The chassis overhang mechanism includes：Bottom plate (17), shock-absorbing supporting plate (2), lip block (18), aluminium weldering truss (22), side
Steel reinforcement (6)；The lip block (18) is arranged between bottom plate (17) and shock-absorbing supporting plate (2)；The aluminium welds truss
(22) it is fixed on bottom plate (17)；The square steel reinforcement (6) is arranged on the side of aluminium weldering truss (22)；The shock-absorbing supporting plate
(2) lower section that truss (22) is welded in aluminium is kept out in the middle part of.
2. the fire-fighting robot chassis based on Mecanum wheel according to claim 1, it is characterised in that：The shockproof mechanism
Including：Shock-proof spring (4), lower spring connector (8), upper spring fastenings (3), suspension plate (9)；
The two ends of the shock-proof spring (4) couple lower spring connector (8) and upper spring fastenings (3) respectively；Described support
Bottom plate (17) and shock-absorbing supporting plate (2) are connected by cushion block (18) by screw and nut, and lower spring connector (8) is fixed on suspension plate
(9) on；The connection suspension plate of hinge 20 (9) and bottom plate (17) formation revolute pair, form hitch, pass through shock-proof spring
(4) stretching and contraction, play a part of buffering, and then constitute shockproof mechanism；Front lower place in suspension plate (9), has one to lead to
Cross the guide wheel (14) that guide wheel fixture (15) is fixed in suspension plate (9).
3. the fire-fighting robot chassis based on Mecanum wheel according to claim 2, it is characterised in that：The chassis wheel shaft
Mechanism includes Mecanum wheel (1), axletree (19), plum coupling (7), fixed motor cabinet (5), bearing (24), wheel shaft jump ring
(23), motor (16)；
The other end of described plum coupling (7) one end and axletree (19) is connected, and the other end and motor of plum coupling (7)
(16) motor shaft is connected；The motor (16) is connected by screw and the fixation motor cabinet (5) being fixed in suspension plate (9),
Form wheel shaft；Motor (16) is rotated after being powered, so as to drive Mecanum wheel (1) to rotate；Bearing (24) is enclosed on fixed motor cabinet
(5) in the circular groove of axletree (19) one end, interference fit, wheel shaft jump ring (23) is arranged in the groove of axletree (19), is used as
The hole of dead axle (19) is to motion.
4. the fire-fighting robot chassis based on Mecanum wheel according to claim 2, it is characterised in that：The rear car body
Supporting mechanism includes：Sucker (10), sucker fixture (11), linear electric motors (12), linear electric motors fix truss (13), straight-line electric
Machine fixed plate (21)；
The linear electric motors (12) are fixed in linear electric motors fixed plate (21), and linear electric motors fixed plate (21) is with being fixed on bottom
The linear electric motors of plate (17) are fixed truss (13) and are connected；The sucker (10) is fixed on linear electric motors by sucker fixture (11)
(12) on motor shaft, linear electric motors (12) extend after being powered so that sucker (10) contacts ground, until trailing wheel is hanging, reach by
The purpose that rear car body is propped up.
5. the fire-fighting robot chassis based on Mecanum wheel according to claim 3, it is characterised in that：The Mecanum
Diagonally distribute multiple cylindrical rollers on wheel (1) wheel rim, steering force of these cylindrical rollers diagonally distributed a part
It is transformed into above a wheel normal force.
6. the fire-fighting robot chassis based on Mecanum wheel according to claim 3, it is characterised in that：The motor (16)
Using 3510 motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434260.3A CN107140029A (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434260.3A CN107140029A (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107140029A true CN107140029A (en) | 2017-09-08 |
Family
ID=59781210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710434260.3A Pending CN107140029A (en) | 2017-06-09 | 2017-06-09 | A kind of fire-fighting robot chassis based on Mecanum wheel |
Country Status (1)
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| CN (1) | CN107140029A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015748A (en) * | 2017-12-14 | 2018-05-11 | 华南理工大学 | A kind of omnidirectional moving chassis with buffer unit |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
| CN108995742A (en) * | 2018-08-31 | 2018-12-14 | 华南理工大学 | A kind of connecting rod dependent suspension chassis based on Mecanum wheel |
| CN109108934A (en) * | 2018-09-30 | 2019-01-01 | 华南理工大学 | A kind of tourist guide service robot and its guide service method based on Mecanum wheel |
| CN109177675A (en) * | 2018-10-26 | 2019-01-11 | 南京工程学院 | A kind of suspension of mobile robot |
| WO2019052012A1 (en) * | 2017-09-13 | 2019-03-21 | 深圳市大疆创新科技有限公司 | Suspension assembly of chassis vehicle and chassis vehicle |
| CN109720410A (en) * | 2019-02-27 | 2019-05-07 | 黄河交通学院 | A kind of lightweight chassis structure of electric car |
| CN109925638A (en) * | 2019-04-02 | 2019-06-25 | 陈关成 | A kind of fire-fighting fire extinguishing relief car |
| CN109939397A (en) * | 2019-04-02 | 2019-06-28 | 王德爱 | A kind of fire-fighting fire extinguishing relief car |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN112773641A (en) * | 2020-12-26 | 2021-05-11 | 河海大学 | Intelligent mobile trolley for drug delivery robot |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN112896350A (en) * | 2021-02-08 | 2021-06-04 | 华南理工大学 | Fire fighting robot with crawler-type Mecanum wheel omnidirectional moving platform |
| CN112977674A (en) * | 2021-04-28 | 2021-06-18 | 中国空气动力研究与发展中心低速空气动力研究所 | Combined traction system composed of multiple steering wheel drive vehicles and control method |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019052012A1 (en) * | 2017-09-13 | 2019-03-21 | 深圳市大疆创新科技有限公司 | Suspension assembly of chassis vehicle and chassis vehicle |
| CN108015748A (en) * | 2017-12-14 | 2018-05-11 | 华南理工大学 | A kind of omnidirectional moving chassis with buffer unit |
| CN108995742A (en) * | 2018-08-31 | 2018-12-14 | 华南理工大学 | A kind of connecting rod dependent suspension chassis based on Mecanum wheel |
| CN109108934A (en) * | 2018-09-30 | 2019-01-01 | 华南理工大学 | A kind of tourist guide service robot and its guide service method based on Mecanum wheel |
| CN108909864A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
| CN109177675A (en) * | 2018-10-26 | 2019-01-11 | 南京工程学院 | A kind of suspension of mobile robot |
| CN109177675B (en) * | 2018-10-26 | 2023-07-25 | 南京工程学院 | Suspension system of mobile robot |
| CN109720410B (en) * | 2019-02-27 | 2020-06-23 | 黄河交通学院 | Lightweight chassis structure of electric automobile |
| CN109720410A (en) * | 2019-02-27 | 2019-05-07 | 黄河交通学院 | A kind of lightweight chassis structure of electric car |
| CN109939397A (en) * | 2019-04-02 | 2019-06-28 | 王德爱 | A kind of fire-fighting fire extinguishing relief car |
| CN109925638A (en) * | 2019-04-02 | 2019-06-25 | 陈关成 | A kind of fire-fighting fire extinguishing relief car |
| CN110667732A (en) * | 2019-10-11 | 2020-01-10 | 湖北工业大学 | Terrain self-adaptive six-wheel moving device |
| CN110755786A (en) * | 2019-12-02 | 2020-02-07 | 华南理工大学广州学院 | Fire-fighting robot |
| CN110755786B (en) * | 2019-12-02 | 2024-03-01 | 华南理工大学广州学院 | Fire-fighting robot |
| CN112773641A (en) * | 2020-12-26 | 2021-05-11 | 河海大学 | Intelligent mobile trolley for drug delivery robot |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN112896350A (en) * | 2021-02-08 | 2021-06-04 | 华南理工大学 | Fire fighting robot with crawler-type Mecanum wheel omnidirectional moving platform |
| CN112977674A (en) * | 2021-04-28 | 2021-06-18 | 中国空气动力研究与发展中心低速空气动力研究所 | Combined traction system composed of multiple steering wheel drive vehicles and control method |
| CN112977674B (en) * | 2021-04-28 | 2021-07-27 | 中国空气动力研究与发展中心低速空气动力研究所 | Combined traction system composed of multiple steering wheel drive vehicles and control method |
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Application publication date: 20170908 |