WO2005101945B1 - Off road vehicle steering systems - Google Patents
Off road vehicle steering systemsInfo
- Publication number
- WO2005101945B1 WO2005101945B1 PCT/AU2005/000002 AU2005000002W WO2005101945B1 WO 2005101945 B1 WO2005101945 B1 WO 2005101945B1 AU 2005000002 W AU2005000002 W AU 2005000002W WO 2005101945 B1 WO2005101945 B1 WO 2005101945B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- wheels
- wheel
- driven
- vehicle
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/24—Endless track steering specially adapted for vehicles having both steerable wheels and endless track
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A six wheeled vehicle with two front steerable wheels and four rear coaxial non-steerable left and right wheels pair driven by separate longitudinal shafts fitted with bevel gears of unequal diameter driving each wheel via an integral speed reduction/correction gearbox further driven by speed correcting hydraulic motors. The rear wheels are driven a speed which produces the same centre of curvature for the path of the vehicle as the driver-selected angles of the front wheels. A vehicle with individually driven wheels at least one of which is steerable where the speed of driven wheels and wheels angles are integrally controlled to produce a single centre of curvature for the path of the vehicle and where steerable wheels are driven by a gear train including a substantially vertical shaft allowing the wheel to be turned at least 180°. A gantry tractor consisting of plurality of four wheeled modules hitched together where the hitch angle can be controlled by a pair of actuators linking together the corners of the modules.
Claims
1. A vehicle consisting of two or more wheels, at least two of which are driven wheels and at least one of which is steerable, where the axes of all wheels lie in a substantially in the same horizontal plane and where the steerable wheels turn about substantially vertical axes, where the driven wheels are positively and independently driven so that they tend to produce a single centre of curvature for the path of the vehicle, and where all the wheel angles are positively controlled so they tend to produce a single driver-selected centre of curvature for the path of the vehicle, and where the speeds of the driven wheels and the angles of all wheels are integrated so that the first said centre of curvature is identical to the second said centre of curvature, so that a state of cooperative redundancy exists between the wheel speed steering system and the wheel angle steering system.
2. A vehicle according to claim 1 , where each of the steerable driven wheels is driven by a gear train which includes a substantially vertical shaft which is coaxial to the turning axis of the wheel, which is in turn driven by a substantially horizontal drive shaft via a pair of meshing bevel gears, where the undesirable linkage between the turning of the driven wheel and their rotation is either accommodated or cancelled out without the use of an unrestrained (or open) differential.
3. A vehicle according to claim 2 where the undesirable linkage between the turning of each of the steerable driven wheels and their rotation is accommodated by displacing the centre of the contact patch outwards from the turning axis of each steerable driven wheel, so that, when the horizontal drive shaft is stationary, turning of each steerable driven wheel causes the wheel to be driven around a circular path without longitudinal skidding of the wheel on the ground.
4. A vehicle according to claim 3 where the displacement of the centre of the contact patch from the turning axis of the wheel ri, the effective radius of the wheel re, the number of teeth on the gear connected to the wheel N2 and the number of teeth on the meshing gear fixed to the vertical shaft N1 are related by the equation:
N1
5. A vehicle according to claim 2 where the undesirable linkage between the turning of a driven wheel and its rotation is cancelled out by counter rotation of the driven wheel by means of a
49 turn-correcting differential located above the turnable (that is steerable) driven wheel where the axis of the two sun gears is coincident with the turning axis of the wheel, where the cage of this differential is driven by a horizontal drive shaft via a pair of meshing bevel gears, where the first sun gear drives the turnable (that is steerable) wheel via a gear train which includes a vertical shaft, and the second sun gear is caused to turn by the turning of the wheel so that the first sun gear is rotated in the opposite direction so as to cancel out the undesirable rotation of the wheel which would otherwise result from its turning.
6. A vehicle according to claim 2 where a speed and turn-correcting differential is mounted above the wheel, where the axes of the sun gears coincides with the turning axis of the wheel, where the output of the differential drives the turnable (that is steerable) driven wheel via a gear train which includes a vertical shaft and where one input to the differential is provided by a horizontal drive shaft and the second input is provided by a speed and turn correcting hydraulic motor, the speed of which is controlled to produce both the desired speed of the wheel but also cancel out the undesirable linkage between the turning of the wheel and its rotation.
7. A vehicle according to claim 6 where the speed of the speed and turn correcting hydraulic motor ωc is given by the equation:
ωc = On /K0- Ksωs /K0 - K2Oa /K0
Where ωn, ω0, ωs and ωa are the angular speeds of the turnable (that is steerable) driven wheel about its horizontal axis, the turn correcting hydraulic motor, the drive shaft and the turnable (that is steerable) driven wheel about its (vertical) turn axis, and where K3 = ωn /ωs when ω0 and coa are zero K0 = COn /oo when ωs and ωa are zero, and K3 = (Qn /ωa when ωs and ωc are zero
8. A vehicle according to claim 2 where a steering differential is connected in parallel to a power differential that drives left and right steerable driven wheels via gear trains which include vertical left and right vertical shafts, where the cage of the steering differential is driven by a hydraulic steering motor, the speed of which is controlled to produce the desired speed for the left and right steerable wheels while cancelling out the undesirable linkage between the turning of the wheels and their rotation.
50
9. A vehicle according to claim 8 where the speed of the steering hydraulic motor ω0 is given by the equation: ωc = (Dn /K0- K8Os /K0 - Kg(Oa /K0
Where ωn, ωc, ωs and ωa are the angular speeds of the turnable (that is steerable) driven wheel about its horizontal axis, the steering hydraulic motor, the drive shaft to the power differential and the turnable (that is steerable) driven wheel about its (vertical) turn axis, and where K3 = ωn /ωs when ωc and ωa are zero K0 = COn /ω0 when ωs and ωa are zero, and K3 = COn /ωa when ωs and ωc are zero
10. A vehicle according to claim 2 where a combined speed-reducing gearbox/ speed correcting differential is mounted inside each steerabie driven wheel, the output of which drives the wheel, and where the primary input is provided by a gear train which includes a vertical shaft, and the secondary input is provided by a hydraulic motor mounted on the said gearbox, where the speed of the hydraulic motor is controlled to produce both the desired speed of the wheel but also cancel out the undesirable linkage between the turning of the wheel and its rotation.
11. A vehicle according to claim 10 where the speed of the hydraulic motor ωc is given by the equation: ωc = ωn /K0- Ksωs /K0 - Kaωa /K0
Where ωn, ω0, ωs and ωa are the angular speeds of the turnable (that is steerable) driven wheel about its horizontal axis, the speed-correcting hydraulic motor, the drive shaft to the combined speed-reduction gearbox/speed-correcting differential and the turnable (that is steerable) driven wheel about its (vertical) turn axis, and where Ks = ωn /ωs when ωc and ωa are zero K0 = ωn /ωc when ωs and ωa are zero, and K3 = ωn /ωa when ωs and ω0 are zero
12. A six wheeled vehicle according to claim 1 with two steerable wheels at the front and four coaxial non-steerable driven wheels at the rear, where the inner and outer left hand rear wheels are driven by a longitudinal shaft which runs between the left hand rear wheels, where the rear end of this longitudinal shaft is fitted with two bevel gears of unequal diameter, where one bevel gear meshes with a bevel gear which drives an outer integrated speed reduction/speed correction gearbox, the output shaft of which is fixed to the hub of the left
51 hand outer wheel. The other bevel gear meshes with a bevel gear which drives an inner integrated speed reduction/speed correction gearbox, the output shaft of which is fixed to the hub of the left hand inner wheel. The secondary input shafts of the inner and outer integrated speed reduction/speed correction gearboxes are driven by inner and outer speed correcting hydraulic motors respectively. A right hand longitudinal shaft drives the outer and inner right rear wheels in an identical fashion to that described for the left rear wheels. The left and right longitudinal shafts are driven by the engine via the gear box and a gear train consisting of the gearbox output gear, left and right hand idler gears and gears fixed to the front end of the left and right longitudinal shafts. Each of the rear wheels is positively driven at a speed which tends to produce the same centre of curvature for the path of the vehicle as the driver- selected angles of the front wheel. Interposition of the front and rear wheels is merely equivalent to driving the claimed vehicle backwards.
13. A vehicle according to claim 12 where the speed of the rear drive wheels and the angles of the steerable front wheels are given by the equations:
tanφi = b/(Rx - t/2)
tanφ2 = b/(Rx + 1/2)
And tanφ3 = tanφ4 = tanφ5 = tanφ6 = 0
Where fa , φ2, Φ3 ,φ4 ,φs andφ6 are the angles of the right front, left front, right rear outer, left rear outer, right rear inner and left rear inner wheels respectively (where angles are positive for clockwise turns).
Where t/R = t/(Rx + b2/4)1/2 = tan( 90° θ/θmax)
b and t and t; are the wheel base and track of the of the inner and outer wheels of the vehicle respectively
Rx is the distance of the centre of curvature to the right of the centre line of the vehicle θ is the angle of the driver's steering wheel θmax is the (hypothetical) angle of the steering wheel when Rx = 0
The driver selects the root mean square wheel speed (RMSWS) for all 6 wheels with a speed control pedal or lever.
52 The speed of the rear wheels are given by the equations:
ω3 = (RMSWSZEIMSR)(RX - t/2)
G)4 = (RMSWSZRMSR)(RX + t/2)
CD5 = (RMSWSZRMSR)(RX - t;Z2)
(O6 = (RMSWSZRMSR)(RX + V2)
Where Root mean square radius (RMSR) = (Rx 2 + fc>2/2 + 12/4)1/2 Where the speed ωn of wheel n is given by the equation: COn = K3 ωs + K0CDo where ωsand ωoare the speeds of the drive shaft and the speed correcting hydraulic motor respectively,
And where K8 is the ratio of wheel speed to shaft speed when ωc = 0 And K0 is the ratio of wheel speed to hydraulic motor speed when ωs = 0
14. A vehicle according to claim 13 where the speed of the longitudinal drive shafts are driven at the algebraic average of the desired speeds of the four rear wheels, so that the required speed of the left hand outer and inner speed correcting hydraulic motors will be equal but opposite that of the right hand outer and inner speed correcting hydraulic motors respectively, where the hydraulic motors can be connected in series with a single variable displacement pump which is driven at a speed proportional to the speed of the longitudinal drive shafts, where the angle of the squash plate is controlled to produce the desired rear wheel speeds, where the displacement of the inner and outer speed correcting hydraulic pumps is inversely .proportional to the distance of the centre of the inner and outer tyre contact patches from the centre line of the vehicle.
15. A vehicle according to claim 12 where the front wheels are also driven by means of a gear train consisting of the output shaft of the gearbox, a right angle bevel gear drive, left and right inner universal joints, left and right drive shafts, left and right outer universal joints, left and right integrated speed reduction/speed correcting gear boxes and left and right front wheels, where the secondary input to the integrated speed reduction/speed correcting gear boxes is provided by left and right speed correcting hydraulic motors which are driven by two separate variable displacement pumps which are driven at a speed proportional to the speed of the longitudinal drive shafts, where the squash plates of the variable displacement pumps is controlled to produce the desired speed of the front wheels, where the centre of curvature of the path of the vehicle produced by these speeds is identical is identical to that produced by the driver selected front wheel angles.
16. A vehicle according to claim 15 where the desired speeds of the steerable driven front wheels are given by the equations:
O1 = (RMSWSZRMSR)R1 = Kd(D2 + (Rx 2 - t/2)2)/(Rx 2 + b2/2 + t2/4)
(O2 = (RMSWS/RMSR)R2 = Kd(b2 + (Rx 2 + t/2)2)/(Rx 2 + b2/2 + t2/4)
CD1 = KsCOs + K0CO01 and 02 = Ksωs + K0O^
where ωs = (ω3 + ω4)/2 K3
And where ωs is the speed of the drive shaft and ωci and ωc2 are the speeds of the left hand and right hand speed-correcting hydraulic motors respectively and Ks and K0 are appropriate constants.
17. A wheeled vehicle according to claim 1 which is driven along a path as close as possible to a desired path by correcting errors in the path in such a way that the rotation error of the vehicle becomes zero at the same time as the translation error becomes zero.
18. A vehicle according to claim 17 where the heading of the vehicle will cross the desired path, where the steerable wheels are turned so that the path of the vehicle will be tangential to the desired path.
19. A vehicle according to claim 18 where the steerable wheels are turned such that the ideal radius of curvature of the path of the vehicle ROCo is given by the equation:
ROC0 = TE/(1 - cos RE)
Where TE is the translation error and RE is the rotation error.
20. A vehicle according to claim 1 whose heading is parallel to or diverging from the desired path where the steerable wheels are turned towards the desired path and held at this angle until the vehicle heading crosses the desired path at a distance ahead of the vehicle set by the
54 operator The steerable wheels are then reset to achieve the condition specified in claims 18 or 19.
21. A vehicle according to claims 17 or 18 where the ideal ROC0 is calculated according to the equation given in claim 19, but where the actual ROC set by the steerable wheels is greater than the ideal value by a factor selected by the operator. In this case the ROC will have to increase continuously until it becomes infinity when both TE and RE become zero.
22. A vehicle according to any one of claims 17 to 21 where the ROC is controlled by controlling the angle of one or more steerable wheels.
23. A vehicle according to any one of claims 17 to 21 where the ROC is controlled by positively and independently controlling the speeds of the left hand and right hand drive wheels instead of the angle of one or more steerable wheels.
24. A vehicle according to any one of claims 17 to 21 where the ROC is controlled by simultaneously controlling both the angle of one or more steerable wheels and positively and independently controlling the speeds of the left hand and right drive wheels.
25. A vehicle according to any one of claims 17 to 23 where the ROC and speed of the vehicle is controlled automatically.
26. A vehicle according to any one of claims 16 to 24 where the ROC and speed of the vehicle is controlled by the driver with the aid of an instrument display which indicates the deviation of the steering wheel or joystick from the position which produces the correct ROC.
27. A vehicle according to claim 26 where the primary display is supplemented by a secondary display or audible signal which indicates when the translation error TE is zero.
28. A vehicle according to claim 17 with four wheel steering where a translation error TE and a rotation error RE can be eliminated simultaneously regardless of the heading of the vehicle.
29. A vehicle according to claim 28 where the speed of each drive wheel is automatically controlled to achieve the same instantaneous radius of curvature as the wheel angles.
30. A vehicle according to claim 1 in the form of a gantry tractor consisting of two or more modules hitched together so that each module can rotate relative to its neighbour or
55 neighbours about a substantially vertical axis through the hitch points, where each module has four wheels all or some of which will be driven where all wheels can rotate about a substantially vertical axis plus or minus an angle greater than 90 degrees, where the modules can be latched together with struts which connect the front left corner of one module with the front right corner of the neighbouring module and the rear left corner of the first mentioned module with the rear right corner of the second mentioned module, so that when all the modules are latched together they form a rigid truss in the horizontal plane.
31. A gantry tractor according to claim 30 where the modules are latched together where all wheels are turned through 90 degrees to allow the gantry tractor to move in a direction parallel to a straight line through all the hitch points.
32. A gantry tractor according to claim 30 where the modules are latched together where all the wheels are oriented substantially at right angles to the long axis of the truss where the path of the tractor when its tools are engaged with the ground is controlled by continuously monitoring the location of two or more hitch points and correcting the translation error relative to the desired path by turning all the wheels through a small angle and driving the tractor forward until the translation error is eliminated.
33. A gantry tractor according to claim 30 where the modules are latched together where all the wheels are oriented substantially at right angles to the long axis of the truss where the path of the tractor when its tools are engaged with the ground is controlled by continuously monitoring the location of two or more hitch points and correcting the rotation error relative to the desired path by speeding up the lagging wheels where the amount of speed up is proportional to the lateral distance of each wheel from the leading pair of wheels.
34. A gantry tractor according to claim 30 which can be manoeuvred along a curved path by unlatching the modules so they can rotate relative to each other about their common hitch points and then controlling the angle of all wheels and the speed of all driven wheels so that all wheels follow the desired path.
35. A gantry tractor according to claim 34 where the desired trajectory of the leading and trailing hitch points of each module is converted to a desired centre of curvature and rate of rotation about this centre for each module. The instantaneous wheel speeds and wheel angles can then be calculated and implemented by an appropriate control system.
56
36. A vehicle according to claim 1 in the form of a gantry tractor consisting of a plurality of four wheeled modules that are hitched together where the hitch angle can be positively controlled by a pair of hydraulic rams or screw actuators which link the rear left corner of one module to the front left corner of the module that follows, and the rear right corner of one module to the front right corner of the module that follows when the gantry tractor is operating in transport mode, where the controlled hitch angle will produce the same path for each module as that which would be produced by both the controlled wheel angles and controlled wheel speeds of each module.
37. A gantry tractor according to claim 36 where the lengths of the left hand and right hand actuators are given by the equations:
bL = 2d0cos(δ0+ β) and bR = 2d0cos(δ - β)
where d0 = (t2 + b2)1/2/2 and δ0 = tan"1(t/b)
where bR and bL are the required lengths of the right and left hand actuators respectively, 2β is the hitch angle, δo is the angle subtended at the hitch point by the nearest wheel relative to the longitudinal axis of the module, d0 is the distance between the hitch point and the adjacent wheels and t and b are the track and wheel base of each module respectively.
38. A vehicle according to claim 1 where the driver determines the path of the vehicle with a single joystick and the speed of the vehicle with a speed control lever or pedal, where the forward displacement of the joystick y is proportional to the distance of the centre of curvature of the path of the vehicle forward of the transverse axis of the vehicle, Ry, and the sideways displacement of the joystick x determines the ratio of the track t to the displacement of the centre of curvature of the path of the vehicle to the right of the longitudinal axis of the vehicle Rx according to the equation :
t/Rx = tan(90° x/x max)
and the root mean square wheel speed RMSWS is proportional to the forward displacement of the speed lever or pedal, where backwards displacement reverses the rotation of the wheels.
39. A vehicle according to claim 1 where the driver determines the path and speed of the vehicle with a single joystick and a lever or switch, where the forward displacement of the joystick y
57 determines the root mean square wheel speed RMSWS, and the sideways displacement of the joystick x determines the ratio of the track t to the displacement of the centre of curvature of the path of the vehicle to the right of the longitudinal axis of the vehicle Rx according to the equation :
t/Rx = tan(90° x/x max)
and the position of the lever or switch forward of the null point is proportional to the distance of the centre of curvature of the path of the vehicle forward of the transverse axis of the vehicle, Ry
58
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2005235431A AU2005235431B2 (en) | 2004-04-21 | 2005-01-04 | Improved off road vehicle |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/405,072 US7191865B2 (en) | 2000-10-03 | 2003-04-02 | Off road vehicle |
| AU2004902095 | 2004-04-21 | ||
| AU2004902095A AU2004902095A0 (en) | 2004-04-21 | Improved off road vehicle | |
| US10/889,165 US7464785B2 (en) | 2002-01-15 | 2004-07-13 | Off road vehicle |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| WO2005101945A2 WO2005101945A2 (en) | 2005-11-03 |
| WO2005101945A3 WO2005101945A3 (en) | 2006-05-11 |
| WO2005101945B1 true WO2005101945B1 (en) | 2006-06-22 |
Family
ID=35197403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AU2005/000002 WO2005101945A2 (en) | 2003-04-02 | 2005-01-04 | Off road vehicle steering systems |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2005101945A2 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE530628C3 (en) * | 2006-12-12 | 2008-08-19 | Scania Cv Ab | articulation control |
| JP5919900B2 (en) * | 2012-03-08 | 2016-05-18 | 日産自動車株式会社 | Steering device |
| WO2014008370A1 (en) | 2012-07-06 | 2014-01-09 | Mtd Products Inc | Suspension and lock-out systems for a tracked vehicle |
| WO2015038913A1 (en) | 2013-09-13 | 2015-03-19 | Mtd Products Inc | Drive sprocket for a tracked vehicle |
| US9884662B2 (en) | 2013-09-13 | 2018-02-06 | Mtd Products Inc | Suspension and lock-out systems for a partially tracked vehicle |
| EP2974942B1 (en) | 2014-06-30 | 2017-07-12 | Danfoss Power Solutions Aps | A method for controlling steering of a vehicle |
| US9902441B2 (en) | 2014-08-21 | 2018-02-27 | Mtd Products Inc | Track drive |
| US10155537B2 (en) | 2015-05-29 | 2018-12-18 | Mtd Products Inc | Utility vehicle |
| CA3073820A1 (en) | 2017-10-06 | 2019-04-11 | Mtd Products Inc | High-efficiency lawn maintenance tool and high-efficiency cutting blade |
| CN108556624A (en) * | 2018-05-22 | 2018-09-21 | 郑宇虎 | The double transfer cases of the wheeled respective separate transmission of one kind, each axis separate transmission double driving and driven bevel gear, center glide steering chassis |
| CN111674463B (en) * | 2020-06-18 | 2021-10-12 | 阿博思汽车(杭州)有限公司 | Wheel steering hierarchical control method and wheel steering system |
| EP4211017A4 (en) * | 2020-09-03 | 2024-09-11 | Raven Ind Inc | Power platform with four wheel steering/rear wheel steering |
| CN114137971B (en) * | 2021-11-25 | 2023-06-09 | 北京轻舟智航科技有限公司 | Off-line identification method for steering system delay |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1009346A (en) * | 1971-08-02 | 1977-04-26 | Honeywell Inc. | Steering control for land vehicle |
| US4549610A (en) * | 1979-06-05 | 1985-10-29 | Lely Cornelis V D | Vehicle with front and rear steerable wheels individually driven by hydraulic motors |
| DE3305751A1 (en) * | 1983-02-19 | 1984-08-30 | Daimler-Benz Ag, 7000 Stuttgart | KIND PROTECTION CONTROL |
| DE3378411D1 (en) * | 1983-04-20 | 1988-12-15 | Rainer M Schultz | Stabilising device for road trains with fifth wheel traction couplings and for articulated vehicles |
| EP0221547B1 (en) * | 1985-11-08 | 1991-02-06 | Toyota Jidosha Kabushiki Kaisha | Steer angle adjusting apparatus for vehicle |
| JP2534730B2 (en) * | 1987-09-29 | 1996-09-18 | 日産自動車株式会社 | 4-wheel steering / Differential limiting force integrated control device |
| DE9107488U1 (en) * | 1991-06-18 | 1991-08-29 | Hartig, Jürgen, 3402 Niemetal | Wheeled vehicle, especially forestry machine |
| HU213562B (en) * | 1993-12-23 | 1997-08-28 | Autoipari Kutato Fejlesztoe | Device for influencing articulation angle of articulated vehicle, mainly bus |
| AUPR047300A0 (en) * | 2000-10-03 | 2000-10-26 | Spark, Ian James | Improved off road vehicle |
| RU2187437C1 (en) * | 2001-01-22 | 2002-08-20 | Воронежская государственная архитектурно-строительная академия | Vehicle steering device |
| WO2003059720A1 (en) * | 2002-01-15 | 2003-07-24 | Terratronics Pty Ltd | Vehicle with integrated control of steering and wheel speed |
-
2005
- 2005-01-04 WO PCT/AU2005/000002 patent/WO2005101945A2/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2005101945A3 (en) | 2006-05-11 |
| WO2005101945A2 (en) | 2005-11-03 |
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