The Multiple Functions Vehicle Based On Shelf Adaptive Wheel Train Of Two Degrees Of Freedom (dof)

The multiple functions vehicle based on shelf adaptive wheel train of two degree of freedoms(DOF) is a small device integrated with intelligent climbing wheel train and intelligent control system, its executive body is shelf adaptive gear train with double freedoms, and it can resolve the problem of climbing step up and down of the vehicle, it also can be applied to walking parts for others (such as the chassis of all-round climbing the barriers, the reconnaissance robot, the robot military INAROE, the detective cars of the planet and so on), therefore it has great practical values. The main innovation of the vehicle is the step climbing wheel train, which is a system of DOF, that is a rotating input producing two outputs of overall rotation of the wheel holder and rotation of small wheel, and the combination of the two rotations makes the wheel train with multiple motion states, increasing the flexible adaptation of the wheel train. The combination is affecting by the small wheel, and the vehicle can walk on the ground and climb step up and down by strained condition of the wheel alone, and the small wheel is equal to a sensor with high mechanical intelligent. The wheel train can walk on the ground and climb steps up and down smoothly, and it has a larger adaptation to the size of steps.A set of center gravity adjusting device is design to avoid the vehicle tumbling when it climbing steps, and is applied to intelligent wheel chair. When the wheel chair is climbing to upstairs, it can widen the distance between front and rear support points and maintain the angle of chair, that is the vehicle can move up and down smoothly even if the stairs have large angles, and it resolves the problem of climbing upstairs backward which exits at the present wheel chairs, and the center gravity adjustment method is unique at home or abroad.Controlling part uses SCM as main control component, and it obtains basic functions of voice recognition, PID control steepness speed regulation, traffic judgment, the voice prompts, speed and status shows and so on. It can realize wireless transmission of voices by adding sending and receiving devices of wireless FM radio. It overcomes shortcomings of sound waves of near transmission distance, vulnerable to interference and can not work under the condition of vacuum, and it widens the voice control distance and its application. It also can realize movements recurrence by playing audio files, is similar with teaching-pl ayback. In addition, it adds visual and audio functions for the vehicle by wireless audio transmission device and the vehicle can feedback what it saw and heard to remote controllers. The design of the vehicle with those functions is finished, and achieves the effects as expected, and the functions as mentioned above are realized.