A corner module apparatus for a vehicle may include a driver configured to provide a driving force to a wheel of a vehicle, a suspension connected to the driver, and being configured to absorb shock transferred from a road surface, and a steering unit connected to the suspension, the steering unit rotatably installed under a frame module coupled to a vehicle body, and being configured to adjust a steering angle of the wheel.

A drive (1) for a steering axle (26) of an industrial truck includes two steering arms (11, 12), an axle arch (8), a tie rod (13) configured as a spindle (13), a spindle nut (7) fixed axially on the tie rod (13), and a gear stage (21). Adjustment of the steering arms (11, 12) can be effected by axial displacement of the tie rod (13), and by the spindle nut (7) being able to be driven by a drive output element (7) of the gear stage (21). The drive (1) has two mutually coaxial electric motors (17, 18) disposed parallel to the tie rod (13). A drive element (14) of the gear stage (21) can be driven by the two electric motors (17, 18), which are disposed so as to be axially centric between the two electric motors (17, 18). Also disclosed is a steering axle and an industrial truck.

Disclosed is a corner module apparatus for a vehicle. The corner module apparatus includes processors configured to obtain a steering angle, obtain a lever ratio indicating whether a front wheel and a rear wheel of a bicycle model defined with respect to a vehicle are inphase or reverse-phased and indicating a steering angle ratio. The corner module apparatus also includes a controller configured to calculate a front wheel heading angle of the bicycle model from the steering angle, calculate a rear wheel heading angle of the bicycle model based on the calculated front wheel heading angle and the lever ratio, calculate first to fourth target angles of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel of the vehicle by expanding the bicycle model to a four-wheel vehicle model, and independently control steering of each of the four wheels.

Disclosed is a corner module apparatus for a vehicle. The corner module apparatus includes processors configured to receive a braking initiation manipulation input of a vehicle from a driver. The corner module apparatus also includes a controller configured to perform braking of the vehicle by independently controlling steering of four wheels of the vehicle based on a direction angle when the braking initiation manipulation input is received by the one or more processors in a state in which the vehicle is positioned on the slope. The direction angle is an angle between an inclined direction of a slope and a longitudinal direction of the vehicle.

An embodiment is a steering system including an in-wheel motor disposed on a wheel of a vehicle and configured to turn the wheel, a strut arm connecting the in-wheel motor and a vehicle body, a joint clutch on the vehicle body and configured to engage or disengage the strut arm to allow or disallow the strut arm to pivot about the vehicle body, and a controller configured to control the in-wheel motor and the joint clutch.

A method for operating an industrial truck having three wheels. During longitudinal travel, two steerable wheels run in succession in a first lane, and a third wheel runs in a second lane. The third wheel initially runs on an inside during a turning in while cornering until the industrial truck, during a further turning in, transitions into a revolving motion. The method includes reducing a drive power as of a specific steering angle during the turning in prior to the revolving motion, and disengaging or reversing a direction of a drive rotation of the third wheel after a delay time which begins with the reducing of the drive power, or, continuously reducing the drive power from the specific steering angle during the further turning in, and disengaging or reversing the direction of rotation of the third wheel when transitioning into the revolving motion.

A system for moving an object within an environment, wherein the system includes at least one modular wheel configured to move the object. The modular wheel includes a body configured to be attached to the object, a wheel, a drive configured to rotate the wheel and a controller configured to control the drive. One or more processing devices configured are provided to receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment, analyse the images to determine an object location within the environment, generate control instructions at least in part using the determined object location and provide the control instructions to the controller, the controller being responsive to the control instructions to control the drive and thereby move the object.

In one embodiment, a vehicle system includes a chassis and a vehicle bed coupled to the chassis. The vehicle bed includes an attachment system configured to fasten a detachable mission platform onto the vehicle bed. The vehicle system further includes a plurality of wheels coupled to the chassis and configured to carry the chassis over a ground. The vehicle system further includes a control system. The control system includes a processor configured to determine a mission type for the detachable mission platform. The processor is also configured to load a set of instructions specific to the mission type to a memory of the control system. The processor is also configured to instruct the detachable mission platform to actuate at least one actuator based on the set of instructions.

An independently driving wheel module includes: a base frame including an upper end fixed to a coupling surface of a vehicle body, and a rotation part coupled to the upper end of the base frame such that the rotation part is rotatable with respect to the upper end of the base frame; a connection link including a first end integrally coupled to the rotation part, and a second end having a shape extending downward from the first end of the connection link; a driving wheel disposed at a side of the second end of the connection link and coupled to the second end of the connection link; and a rotation plate including an upper and lower surfaces extending obliquely in misaligned directions, the rotation plate being interposed between the base frame and the vehicle body so as to be rotatable with respect to the base frame or the vehicle body.

A corresponding vehicle includes two steerable axles VA1 and HA1 each with an angle sensor, wherein a rear axle HA1 in an all-wheel mode is synchronously steered with the front axle VA1 in the opposite direction, this being designated as a 4×4 steering system. The vehicle further includes a control device for setting the steering angle of the axles based on the data provided by angle sensors.