Method and control system for establishing a steering angle of a steerable caster
For a vehicle having left and right powered front wheels and a rear axle having left and right casters, with at least one of the casters being steerable, the steering angle of the steerable caster is controlled when the vehicle is stationary and executing a direction orientation maneuver prior to transitioning to a turn. The rotations of the steerable caster and at least one of the left and right wheels may be autonomously adjusted using a controller. The controller rotates the steerable caster about a caster axis in a direction consistent with the direction of the turn through a steering angle proportion to the magnitude of the turn, and rotates at least one of the left and right wheels to turn the vehicle in a direction consistent with the direction of the turn and in proportion to the magnitude of the turn.
1. For a vehicle capable of both dual path and rear axle steering, said vehicle having respective left and right powered front mounted wheels and a rear axle having respective left and right casters, at least one of said casters being a steerable caster, a method for establishing a steering angle of said steerable caster while said vehicle is stationary, said method comprising:
sensing a steering command;
determining a direction of a turn corresponding to said steering command;
determining a magnitude of said turn corresponding to said steering command;
rotating said steerable caster about a caster axis in a direction consistent with said direction of said turn through a steering angle proportional to said magnitude of said turn; and
rotating at least one of said left and right wheels so as to turn said vehicle in a direction consistent with said direction of said turn and in proportional to said magnitude of said turn.
2. The method according to claim 1 , wherein said direction of said turn is determined by a direction which a steering wheel is rotated.
3. The method according to claim 1 , wherein said magnitude of said turn is determined by the size of an angle through which a steering wheel is rotated.
4. The method according to claim 1 , wherein said at least one of said left and right wheels is rotated through an angle such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
5. The method according to claim 1 , further comprising rotating both said left and said right wheels in opposite directions from one another consistent with said direction of said turn and in proportion to said magnitude of said turn.
6. The method according to claim 5 , wherein said left and right wheels are rotated through respective angles such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
7. The method according to claim 5 , further comprising:
initially applying equal torque to said left and right wheels to move said vehicle into said turn; and
applying increased torque to said wheel on an outside of said turn.
8. For a vehicle capable of both dual path and rear axle steering, said vehicle having respective left and right powered front mounted wheels and a rear axle having respective left and right casters, at least one of said casters being a steerable caster, a method for establishing a steering angle of said steerable caster while said vehicle is stationary, said method comprising:
sensing a steering command;
determining a direction of a turn corresponding to said steering command;
determining a magnitude of said turn corresponding to said steering command; wherein
if said direction of said turn is left, then:
rotating said steerable caster about a caster axis in a direction consistent with said left turn through a left steering angle proportional to said magnitude of said turn; and
rotating said left wheel so as to propel said vehicle in reverse; and wherein
if said direction of said turn is right, then:
rotating said steerable caster about a caster axis in a direction consistent with said right turn through a right steering angle proportional to said magnitude of said turn; and
rotating said right wheel so as to propel said vehicle in reverse.
9. The method according to claim 8 , wherein:
said left wheel is rotated through an angle such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters; and
said right wheel is rotated through an angle such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
10. The method according to claim 8 , wherein if said direction of said turn is left, then also rotating said right wheel so as to propel said vehicle forward.
11. The method according to claim 10 , wherein said left and right wheels are rotated through respective angles such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
12. The method according to claim 8 , wherein if said direction of said turn is right, then also rotating said left wheel so as to propel said vehicle forward.
13. The method according to claim 12 , wherein said left and right wheels are rotated through respective angles such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
14. The method according to claim 12 , further comprising:
initially applying equal torque to said left and right wheels to move said vehicle into said turn; and
applying increased torque to said wheel on an outside of said turn.
15. For a vehicle capable of both dual path and rear axle steering, said vehicle having respective left and right powered front mounted wheels and a rear axle having respective left and right casters, at least one of said casters being a steerable caster, a method for establishing a steering angle of said steerable caster while said vehicle is stationary, said method comprising:
sensing a steering command;
determining a direction of a turn corresponding to said steering command;
determining a magnitude of said turn corresponding to said steering command; wherein
if said direction of said turn is left, then:
rotating said steerable caster about a caster axis in a direction consistent with said left turn through a left steering angle proportional to said magnitude of said turn; and
rotating said right wheel so as to propel said vehicle forward; and wherein
if said direction of said turn is right, then:
rotating said steerable caster about a caster axis in a direction consistent with said right turn through a right steering angle proportional to said magnitude of said turn; and
rotating said left wheel so as to propel said vehicle forward.
16. The method according to claim 15 , wherein:
said left wheel is rotated through an angle such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters; and
said right wheel is rotated through an angle such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
17. The method according to claim 15 , wherein if said direction of said turn is left, then also rotating said left wheel so as to propel said vehicle in reverse.
18. The method according to claim 17 , wherein said left and right wheels are rotated through respective angles such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
19. The method according to claim 15 , wherein if said direction of said turn is right, then also rotating said right wheel so as to propel said vehicle in reverse.
20. The method according to claim 19 , wherein said left and right wheels are rotated through respective angles such that the only motion of said left and right casters is rotation about respective left and right vertical axes passing through respective ground contact patches of said left and right casters.
21. The method according to claim 19 , further comprising:
initially applying equal torque to said left and right wheels to move said vehicle into said turn; and
applying increased torque to said wheel on an outside of said turn.
22. For a vehicle capable of both dual path and rear axle steering, said vehicle having respective left and right powered front mounted wheels and a rear axle having respective left and right casters, at least one of said casters being a steerable caster, a control system for establishing a steering angle of said steerable caster while said vehicle is stationary, said control system comprising:
a controller;
a steering wheel sensor in communication with said controller, said steering wheel sensor measuring a magnitude and direction of a turn of a steering wheel and sending signals indicative of said magnitude and direction of said turn to said controller;
a left wheel actuator in communication with said controller for adjusting said rotational angle of said left wheel;
a right wheel actuator in communication with said controller for adjusting said rotational angle of said right wheel;
a caster actuator in communication with said controller for adjusting the rotation of a steerable caster wherein
said controller is adapted to:
receive said signals indicative of said magnitude and direction of said turn;
rotate said steerable caster about a caster axis in a direction consistent with said direction of said turn through a steering angle proportional to said magnitude of said turn; and
rotate at least one of said left and right wheels so as to turn said vehicle in a direction consistent with said direction of said turn and in proportional to said magnitude of said turn pursuant to a control method executed by said controller.