Autonomous modular vehicle wheel assembly

• US 8,757,309 B2
• Filed: 06/25/2009
• Issued: 06/24/2014
• Est. Priority Date: 06/15/2004
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Schmitt, Peter Alfons, Mitchell, William J.
• Primary Examiner(s): WALTERS, JOHN DANIEL
• Application Number:
  US12/492,128
• Publication Number:
  US 20100116572A1
• Time in Patent Office: 1,825 Days
• Field of Search: 180/65.5, 180/411, 180/65.51, 280/93.512, 280/81.6, 280/86
• US Class Current: 180/65.51
• CPC Class Codes: B60G 2200/144 with two lateral arms forming a parallelogram
• CPC Class Codes: B60G 2200/422 Driving wheels or live axles
• CPC Class Codes: B60G 2200/44 steerable
• CPC Class Codes: B60G 2204/143 on the vehicle body or chassis
• CPC Class Codes: B60G 2204/148 on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
• CPC Class Codes: B60G 2204/182 Electric motor on wheel support
• CPC Class Codes: B60G 2204/30 In-wheel mountings
• CPC Class Codes: B60G 2206/15 the arm being resilient
• CPC Class Codes: B60G 2206/50 Constructional features of wheel supports or knuckles, e.g. steering knuckles, spindle attachments
• CPC Class Codes: B60G 2206/91 Assembly procedures
• CPC Class Codes: B60G 2300/50 Electric vehicles; Hybrid vehicles
• CPC Class Codes: B60G 3/28 at least one of the arms itself being resilient, e.g. leaf spring B60G7/003 takes precedence
• CPC Class Codes: B60G 7/001 Suspension arms, e.g. constructional features B60G7/006 takes precedence
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B62D 15/00 Steering not otherwise provided for
• CPC Class Codes: B62D 7/1509 with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
• CPC Class Codes: B62D 9/002 combined with means for differentially distributing power on the deflectable wheels during cornering

Abstract

An autonomous modular wheel assembly includes at least one connector for connecting the wheel control assembly to a vehicle axle, one or more suspension arms that support the assembly with respect to the axle, an electric drive motor connected to a the vehicle wheel, a steering bearing, and a steering actuator. The electric drive motor and steering bearing control the operation of the vehicle wheel in response to commands received via the actuator. The connector has one or more electrical connection points for providing power and information to the wheel assembly. The robot wheel increases the vehicle steering range to up to 150 degrees and enables new vehicle drive modes. The traditional +/−30 degrees of front wheel steering are enabled, as well as at least three new drive modes: four wheel parallel and converse steering, spin on spot steering, and 90 degree sideways motion.

Claims

1. An autonomous modular wheel control assembly, comprising:

at least one connector for connecting the wheel control assembly to a vehicle axle, the connector comprising one or more electrical connection points for providing power and information to the wheel control assembly;

one or more suspension arms for supporting the wheel control assembly with respect to the vehicle axle, the suspension arms being connectable to the axle by means of the connector;

an electric drive motor connected to a motor mount and connectable to a vehicle wheel, the electric drive motor adapted for controlling the operation of the vehicle wheel and for acting on commands received from a controller configured to control the electric drive motor;

a steering bearing connected to the electric drive motor mount; and

a steering actuator connected between the suspension arms and the steering bearing, the steering actuator being adapted to act on steering and drive commands received from a controller configured to control the steering actuator.

2. The wheel assembly of claim 1, further comprising at least one sensor for detecting vehicle motion data.

3. The wheel assembly of claim 2, wherein the at least one sensor includes at least one sensor selected from the group consisting of a wheel revolution sensor, a wheel steering sensor, and an acceleration sensor.

4. The wheel assembly of claim 2, further comprising an on-board controller for analyzing vehicle motion data obtained from the at least one sensor and directing the wheel assembly to respond.

5. The wheel assembly of claim 1, further comprising a wheel assembly power source.

6. The wheel assembly of claim 1, wherein the suspension arms are flexible.

7. The wheel assembly of claim 1, further comprising a vehicle wheel hub connected to the electric drive motor.

8. The wheel assembly of claim 1, further comprising a wheel assembly power source.

9. An autonomous modular wheel assembly, comprising:

a vehicle wheel, comprising a hub connectible to a tire; and

an autonomous modular wheel control assembly, wherein the vehicle wheel is adapted to receive the wheel control assembly, the wheel control assembly comprising;

an electric drive motor to the vehicle wheel, the electric drive motor adapted for controlling the operation of the vehicle wheel and for acting on commands received from a controller configured to control the electric drive motor;

a motor mount connected to the electric drive motor;

a steering bearing connected to the electric drive motor mount;

a steering actuator connected to the steering bearing, the steering actuator being adapted to act on steering commands received from a controller configured to control the steering actuator;

one or more suspension arms, connected to the steering actuator, for supporting the wheel with respect to a vehicle axle; and

at least one connector for connecting the wheel via the suspension arms to the vehicle axle, the connector comprising one or more electrical connection points for providing power and information to the wheel.

10. The wheel assembly of claim 9, further comprising at least one sensor for detecting vehicle motion data.

11. The wheel assembly of claim 10, wherein the at least one sensor includes at least one sensor selected from the group consisting of a wheel revolution sensor, a wheel steering sensor, and an acceleration sensor.

12. The wheel assembly of claim 10, further comprising an on-board controller for analyzing vehicle motion data obtained from the at least one sensor and directing the wheel to respond.

13. The wheel assembly of claim 9, further comprising a wheel power source.

14. The wheel assembly of claim 9, wherein the suspension arms are flexible.

15. An assembly for controlling an autonomous modular wheel and connecting the wheel to a vehicle chassis, comprising:

a vehicle axle connectible to the vehicle chassis;

at least one connector for connecting a wheel control assembly to the vehicle axle, the connector comprising one or more electrical connection points for providing power and information to the wheel control assembly;

one or more suspension arms for supporting the wheel control assembly with respect to the vehicle axle, the suspension arms being connectable to the axle by means of the connector;

an electric drive motor connected to a motor mount and connectable to the vehicle wheel, the electric drive motor adapted for controlling the operation of the vehicle wheel and for acting on commands received from a controller configured to control the electric drive motor;

a steering bearing connected to the electric drive motor mount; and

a steering actuator connected between the suspension arms and the steering bearing, the steering actuator being adapted to act in response to steering and drive commands received from a controller configured to control the steering actuator.

16. The wheel assembly of claim 15, further comprising at least one sensor for detecting vehicle motion data.

17. The wheel assembly of claim 16, further comprising an on-board controller for analyzing vehicle motion data obtained from the at least one sensor and directing the wheel assembly to respond.

18. The wheel assembly of claim 16, wherein the suspension arms are flexible.