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EP-4741183-A1 - A VEHICLE

EP4741183A1EP 4741183 A1EP4741183 A1EP 4741183A1EP-4741183-A1

Abstract

A vehicle (100) comprising a chassis (200), a chassis suspension system (400) configured to support the chassis (200) relative to a substrate (500) and a control system (600). The control system (600) is operable to: receive a command to achieve a first objective and determine a first chassis suspension system configuration required to achieve the first objective. The first chassis suspension system configuration is defined by a relative orientation of each of the wheel arms (402) relative to the chassis (200) and a relative orientation of each drive wheel mounting member (416) relative to its respective wheel arm (402). The control system (600) is operable to operate one or more of the wheel arm actuators (430) and drive wheel mounting member actuators (440) to achieve the first chassis suspension system configuration.

Inventors

  • The designation of the inventor has not yet been filed

Assignees

  • BAE SYSTEMS plc

Dates

Publication Date
20260513
Application Date
20241106

Claims (15)

  1. A vehicle comprising: a chassis; a chassis suspension system configured to support the chassis relative to a substrate, the chassis comprising a plurality of wheel arms, each wheel arm extending away from a different chassis mount on the chassis to a respective drive wheel, each drive wheel being pivotably mounted relative to its respective wheel arm, and each wheel arm has a chassis mount end and a drive wheel mount end; the chassis mount end of each wheel arm is provided with a chassis mounting member, each chassis mounting member is provided with a chassis mounting member actuator to control the orientation of each wheel arm relative to the chassis; each wheel arm is provided with a wheel arm actuator to control the orientation of each wheel arm relative to the chassis; and the drive wheel mount end of each wheel arm is provided with a drive wheel mounting member, each drive wheel mounting member is provided with a drive wheel mounting member actuator to control the orientation of each drive wheel relative to its respective wheel arm; the vehicle further comprising a control system operable to: receive a command to achieve a first objective; determine a first chassis suspension system configuration required to achieve the first objective, wherein the first chassis suspension system configuration is defined by a relative orientation of each of the wheel arms relative to the chassis and a relative orientation of each drive wheel mounting member relative to its respective wheel arm; and operate one or more of the chassis mounting member actuators, wheel arm actuators and drive wheel mounting member actuators to achieve the first chassis suspension system configuration.
  2. A vehicle as claimed in claim 1 wherein the control system is operable to: determine a first sequence of chassis suspension system configurations required to achieve the first objective, wherein each chassis suspension system configuration is defined by a relative orientation of each of the wheel arms relative to the chassis and a relative orientation of each drive wheel mounting member relative to its respective wheel arm; and operate one or more of the chassis mounting member actuators, wheel arm actuators and drive wheel mounting member actuators to perform the first sequence of chassis suspension system configurations.
  3. A vehicle as claimed in claim 2 wherein the control system is operable to control the path taken by the respective wheel arm relative to the chassis during a motion of the wheel arm between consecutive chassis suspension system configurations and/or operable to control the relative positioning of the drive wheel mounting member relative to its respective wheel arm during the motion of the respective wheel arm.
  4. A vehicle as claimed in claim 3 wherein the control system is operable to: determine a number n of chassis displacement motions required to achieve the first objective, where the number n has a value of at least one, and the or each chassis displacement motion is defined by a relative movement of the chassis relative to the substrate.
  5. A vehicle as claimed in claim 4 wherein each drive wheel is coupled to a drive wheel actuator configured to drive the drive wheel about a rotational axis; and the control system is operable to operate one or more of the chassis mounting member actuators, wheel arm actuators, drive wheel mounting member actuators and/or drive wheel actuator to perform a chassis displacement motion while the vehicle is in one or more of the chassis suspension system configurations.
  6. A vehicle as claimed in any one of claims 3 to 5 wherein the control system is operable to operate one or more of the chassis mounting member actuators, wheel arm actuators, drive wheel mounting member actuators and/or drive wheel actuator to achieve a chassis displacement motion during the motion of the respective wheel arm.
  7. A vehicle as claimed in any one of claims 1 to 6 wherein: the chassis extends along an x-axis, a first end of the chassis and a second end of the chassis spaced apart from one another along the x-axis; the chassis extending along a y-axis, a first side of the chassis and a second side of the chassis spaced apart from one another along the y-axis; the x-axis being at right angles to the y-axis; the x-axis defining a chassis roll axis, the y-axis defining a chassis pitch axis and a z-axis defining a chassis yaw axis; the z-axis being perpendicular to the x-axis and y-axis; wherein the control system is operable to control the transition between each consecutive chassis suspension system configuration to include rolling the chassis about the roll axis, pitching the chassis about the pitch axis and/or yawing the chassis about the yaw axis.
  8. A vehicle as claimed in any one of claims 1 to 7 wherein the control system is operable to: a. determine whether the first objective has been achieved; and b. record and/or transmit a signal indicating the result of the determination whether the first objective has been achieved.
  9. A vehicle as claimed in any one of claims 1 to 8 wherein the first objective is to position the vehicle at an orientation relative to a target object.
  10. A vehicle as claimed in claim 9 further comprising: a gun barrel having a barrel axis, the barrel being mounted to the chassis by a pivot mount, the barrel being pivotable relative to the x-axis about a pivot axis aligned with the y-axis and mounted such that it is constrained to move in a plane defined by the x-axis and z-axis; wherein the first objective is to position the barrel towards an orientation to target an object.
  11. A vehicle as claimed in any one of claims 1 to 8 wherein the first objective is to locate the vehicle inside a container or building, to climb a step or to cross a gap in the substrate.
  12. A vehicle as claimed in any one of claims 1 to 11 wherein the chassis mount end of each wheel arm and the chassis mounting member are pivotable relative to one another around a chassis mount pivoting axis; and the chassis mounting member is configured to support the chassis mount end of the wheel arm so that the wheel arm and chassis mounting member are operable to pivot relative to one another about the chassis mount pivoting axis.
  13. A vehicle as claimed in claim 12 wherein: the drive wheel mount end of each wheel arm and drive wheel mounting member are pivotable relative to one another around a drive wheel mount pivoting axis; and each drive wheel mounting member is configured to couple with the drive wheel mount end of the wheel arm so that each wheel arm and drive wheel mounting member are operable to pivot relative to one another about the drive wheel mount pivoting axis.
  14. A vehicle as claimed in claim 13 wherein: the chassis mount pivoting axis is parallel to the wheel mount pivoting axis, and the chassis mount pivoting axis is aligned and/or parallel to the z-axis.
  15. A vehicle as claimed in claim 13 when dependent on claim 5 wherein: the chassis mount end of the wheel arm is rotatably mounted relative to the chassis such that the wheel arm is rotatable about a chassis suspension axis which extends at right angles to the chassis mount pivoting axis; the wheel mount end of the wheel arm is rotatably mounted relative to the wheel such that the wheel arm may rotate about a wheel suspension axis which extends at right angles to the wheel mount pivoting axis; and wherein the drive wheel rotational axis, chassis suspension axis and/or wheel suspension axis are parallel to and/or aligned with an x-y plane defined by the x-axis and y-axis.

Description

FIELD The present disclosure relates to a vehicle. BACKGROUND There is an increasing need for vehicles which are able to travel across a wide variety of terrains to achieve a given objective. For example, wheeled vehicles with adjustable suspension systems are known which can travel across a wide variety of terrains. Even with suspension systems which are configured to achieve a desired performance, significant control input to control the suspension system and/or vehicle drive system may be required to actually achieve the given objective. This is especially problematic for a remotely operated and/or autonomous vehicle, where a remote user may not be able to provide accurate instructions, for example because it may be impossible for a user to appreciate all of the factors which are posing a challenge to the successful operation of the vehicle. Hence a remotely operated and/or autonomous vehicle which is operable to overcome the limitations of conventional vehicles when travelling across a wide range of terrains, is highly desirable. SUMMARY According to the present disclosure there is provided an apparatus and system as set forth in the appended claims. Other features of the invention will be apparent from the dependent claims, and the description which follows. Accordingly there may be provided a vehicle (100) comprising a chassis (200) and a chassis suspension system (400). The chassis suspension system (400) may be configured to support the chassis (200) relative to a substrate (500). The chassis (200) may comprise a plurality of wheel arms (402), each wheel arm (402) extending away from a different chassis mount (220) on the chassis (200) to a respective drive wheel (404). Each drive wheel (404) may be being pivotably mounted relative to its respective wheel arm (402). Each wheel arm (402) may have a chassis mount end (410) and a drive wheel mount end (412). The chassis mount end (410) of each wheel arm (402) may be provided with a chassis mounting member (414). Each chassis mounting member (414) may be provided with a chassis mounting member actuator (442) to control the orientation of each wheel arm (402) relative to the chassis (200). Each wheel arm (402) may be provided with a wheel arm actuator (430) to control the orientation of each wheel arm (402) relative to the chassis (200). The drive wheel mount end (412) of each wheel arm (402) may be provided with a drive wheel mounting member (416). Each drive wheel mounting member (416) may be provided with a drive wheel mounting member actuator (440) to control the orientation of each drive wheel (404) relative to its respective wheel arm (402). The vehicle may further comprise a control system (600). The control system (600) may be operable to receive a command to achieve a first objective. The control system (600) may be operable to determine a first chassis suspension system configuration required to achieve the first objective, wherein the first chassis suspension system configuration is defined by a relative orientation of each of the wheel arms (402) relative to the chassis (200) and a relative orientation of each drive wheel mounting member (416) relative to its respective wheel arm (402). The control system (600) may be operable to operate one or more of the chassis mounting member actuators (442), wheel arm actuators (430) and drive wheel mounting member actuators (440) to achieve the first chassis suspension system configuration. The control system (600) may be operable to determine a first sequence of chassis suspension system configurations required to achieve the first objective, wherein each chassis suspension system configuration is defined by a relative orientation of each of the wheel arms (402) relative to the chassis (200) and a relative orientation of each drive wheel mounting member (416) relative to its respective wheel arm (402). The control system (600) may be operable to operate one or more of the chassis mounting member actuators (442), wheel arm actuators (430) and drive wheel mounting member actuators (440) to perform the first sequence of chassis suspension system configurations. The control system (600) may be operable to control the path taken by the respective wheel arm (402) relative to the chassis (200) during a motion of the wheel arm (402) between consecutive chassis suspension system configurations and/or operable to control the relative positioning of the drive wheel mounting member (416) relative to its respective wheel arm (402) during the motion of the respective wheel arm (402). The control system (600) may be operable to determine a number n of chassis displacement motions required to achieve the first objective, where the number n has a value of at least one, and the or each chassis displacement motion is defined by a relative movement of the chassis (200) relative to the substrate (500). Each drive wheel (404) may be coupled to a drive wheel actuator (702) configured to drive the drive wheel (404) about a ro