GB2626963A

GB2626963A - Vehicle

Info

Publication number: GB2626963A
Application number: GB2301828.6A
Authority: GB
Inventors: Peter Lewin Richard; Peter Andrew Griffith
Original assignee: BAE Systems PLC
Current assignee: BAE Systems PLC
Priority date: 2023-02-09
Filing date: 2023-02-09
Publication date: 2024-08-14
Also published as: GB202301828D0

Abstract

A vehicle has first and second drive track support wheels 300, 302 and a plurality of drive wheels 600. Each wheel 300, 600, 302 is mounted to and moveable relative to a vehicle body 200. A continuous drive track 400 is also carried by drive track support wheels 300, 302. A control system 900 is operable to control the position of wheels 300, 302, 600 relative to vehicle body 200, in particular to move between a first configuration, in which drive wheels 600 are in direct contact with a support surface and drive track support wheels 300, 302 support the drive track 400 in a stowed position spaced from support surface 500, and a second configuration, in which drive track support wheels 300, 302 support drive track 400 in a deployed position in direct contact with support surface 500 and drive wheels 600 are in direct contact with drive track 400. Control methods are also provided.

Description

VEHICLE

FIELD

The present disclosure relates to a vehicle

In particular the disclosure is concerned with a vehicle having different drive configurations.

BACKGROUND

All-Terrain vehicles may run on wheels or tracks. Some have drive wheels and tracks. The tracks may be permanent drive features (i.e. constantly in touch with the ground) or deployable in addition to drive wheels, where the drive wheels remain in contact with the ground. Other examples include configurations with tracks which can be manually fitted around some of the drive wheels when required. Each provide a solution appropriate to a particular ground application.

However none provide a solution for how to switch between a wheel driven configuration and a track driven configuration without either manual intervention of a user (for example by looping a track around the wheels) or without swapping a driven track system for a driven wheel system (for example by deploying a driven track system and then stowing the wheels that were in contact with the ground).

Manual intervention is clearly undesirable as it can be time consuming and/or rely on the presence of a skilled individual. A vehicle which has both a driven wheel system and a driven track will have an inherently more complicated drive train and at any one time be carrying an inactive drive system.

Hence a vehicle which can provide both a driven wheel solution and a driven track solution which is of simpler design and lower weight than examples of the related art, and avoids manual intervention of a user to add and remove the track, is highly desirable.

SUMMARY

According to the present disclosure there is provided an apparatus, method and system as set forth in the appended claims. Other features of the -2 -invention will be apparent from the dependent claims, and the description which follows.

Accordingly there may be provided a vehicle (100). The vehicle may comprise a vehicle body (200). Along a first side (206) and a second side (208) of the vehicle body (200) there may be provided, in series, a first drive track support wheel (300), a plurality of drive wheels (600), and a second drive track support wheel (302). Each wheel (300, 600, 302) may be mounted to the vehicle body (200) such that they are moveable relative to the vehicle body (200).

The vehicle may comprise a continuous drive track (400) carried by the drive track support wheels (300, 302).

The vehicle may comprise a control system (900) operable to control the position of the drive track support wheels (300, 302) and the plurality of drive wheels (600) relative to the vehicle body (200).

The drive track support wheels (300, 302) and the plurality of drive wheels (600) may be operable, and controllable by the control system (900), to move between: a first configuration in which each drive wheel (600) is positioned so as to be operable to be in direct contact with the support surface (500), and the drive track support wheels (300, 302) are positioned to support the drive track (400) in a stowed position so as to be spaced apart from the support surface (500) and drive wheels (600); and a second configuration in which the drive track support wheels (300, 302) are positioned to support the drive track (400) in a deployed position so as to be in direct contact with the support surface (500), and each drive wheel (600) is positioned so as to be operable to be in direct contact with the drive track (400).

The drive track (400) may have an inner surface (402) configured for engagement with the plurality of drive wheels (600), and an outer surface (404) of the drive track (400) is configured for driving engagement with a support surface (500). In the second configuration in which at least some of the drive wheels (600) are in driving engagement with the drive track inner surface (402).

The plurality of drive wheels (600) may comprise, in series: a first drive wheel (602), a second drive wheel (604), and a third drive wheel (606), each -3 -configured for driving engagement with the support surface (500) and for driving engagement with the inner surface (402) of the drive track (400).

A fourth drive wheel (608) may be provided between the second drive wheel (604) and third drive wheel (606), configured for driving engagement with 5 the support surface (500) and for driving engagement with the inner surface (402) of the drive track (400).

The vehicle body (200) may extend along an x-axis, a first end (202) of the vehicle body (200) and a second end (204) of the vehicle body (200) spaced apart from one another along the x-axis. The vehicle body (200) may extend along a y-axis, the first side (206) of the vehicle body (200) and the second side (208) of the vehicle body (200) spaced apart from one another along the y-axis. The x-axis is at right angles to the y-axis. The vehicle body (200) may extend along a z-axis, an underside (210) of the vehicle body (200) and a topside (212) of the vehicle body (200) spaced apart from one another along the z-axis. The z-axis may be perpendicular to the x-axis and y-axis.

The first drive track support wheel (300) may be provided towards the first end (202) of the vehicle body (200). The second drive track support wheel (302) may be provided towards the second end (204) of the vehicle body (200).

Each of the first drive track support wheels (300), the plurality of drive wheels (600), and second drive track support wheels (302) may be mounted to the vehicle body (200) by a respective wheel support assembly (700). Each wheel support assembly (700) may comprise a wheel support arm (702) and an actuator (704). Each wheel support assembly (700) may extend away from a different mount position (220) on the body (200) to its respective wheel (300, 600, 302), each wheel (300, 600, 302) being rotatably mounted on its respective wheel support arm (402). Each wheel support assembly (700) may be operable to move its respective wheel (300, 600, 302) in the y-axis and the z-axis. The control system (900) may be operable to control each actuator (704) to control the position of the drive track support wheels (300, 302) and the plurality of drive wheels (600) in the y-axis and the z-axis between the first configuration and the second configuration. Each of the wheel support assembly actuators (704) may be operable independently of each other. -4 -

The first drive track support wheel (300) and second drive track support wheel (302) may be operable, and controllable by the control system (900), to move along the x-axis relative to the vehicle body (200) to increase and decrease the distance between the first drive track support wheel (300) and second drive track support wheel (302) to thereby vary tension in the drive track (400).

The plurality of drive wheels (600) may further comprise a supporttensioner wheel array (800) which comprises at least one support-tensioner wheel (802, 804).

In the first configuration the or each support-tensioner wheel (802, 804) may be configured for rolling contact with the support surface (500) and to support the vehicle body (200) apart from the support surface (500). The or each supporttensioner wheel (802, 804) may be configured for rolling contact with the inner surface (402) of the drive track (400).

In the second configuration the or each support-tensioner wheel (802, 804) may be controlled by the control system (900) to move along the x-axis relative to the vehicle body (200) to thereby vary tension in the drive track (400).

In the second configuration the drive track support wheels (300, 302) may be controlled by the control system (900) to move along the x-axis and/or z-axis relative to the vehicle body (200) to thereby vary tension in the drive track (400).

In the second configuration the plurality of drive wheels (600) may be controlled by the control system (900) to move along the z-axis relative to the vehicle body (200) to thereby vary tension in the drive track (400).

In the stowed position of the first drive track support wheel (300) and 25 second drive track support wheel (302) may support the whole drive track (400) spaced apart from, and above, the plurality of drive wheels (600) in the z-axis.

There may be provided a method of control of a vehicle (100). The vehicle (100) may comprise a vehicle body (200). The vehicle body (200) may extend along an x-axis, a first end (202) of the vehicle body (200) and a second end (204) of the vehicle body (200) spaced apart from one another along the x-axis. The vehicle body (200) may extend along a y-axis, the first side (206) of the vehicle body (200) and the second side (208) of the vehicle body (200) spaced -5 -apart from one another along the y-axis. The x-axis may be at right angles to the y-axis. The vehicle body (200) may extend along a z-axis, an underside (210) of the vehicle body (200) and a topside (212) of the vehicle body (200) spaced apart from one another along the z-axis. The z-axis may be perpendicular to the x-axis and y-axis.

Along the first side (206) and the second side (208) of the vehicle body (200) there may be provided, in series, a first drive track support wheel (300), a plurality of drive wheels (600); and a second drive track support wheel (302), each wheel (300, 600, 302) mounted to the vehicle body (200) such that they are moveable relative to the vehicle body (200). There may be provided a continuous drive track (400) carried by the drive track support wheels (300, 302). There may be provided a control system (900) operable to control the position of the drive track support wheels (300, 302) and the plurality of drive wheels (600) relative to the vehicle body (200).

The steps of the method executed by the control system (900) may comprise moving the drive track support wheels (300, 302) from a stowed position above the drive wheels (600) in the z-axis to a position spaced apart in the y-axis, and hence outward of, the drive wheels (600).

The plurality of drive wheels (600) may comprise, in series in the x-axis: a first drive wheel (602), a second drive wheel (604), a third drive wheel (606); each configured for driving engagement with the support surface (500) and for driving engagement with the inner surface (402) of the drive track (400). The method may comprise the steps of: * raising the first drive wheel (602) in the z-axis; * moving the first drive wheel (602) in the y-axis to be located within the drive track (400); and * lowering the first drive wheel (602) in the z-axis to be in contact with the inner surface (402) of the drive track (400); * raising the second drive wheel (604) in the z-axis; * moving the second drive wheel (604) in the y-axis to be located in the drive track (400); and -6 - * lowering the second drive wheel (604) in the z-axis to be in contact with the inner surface (402) of the drive track (400); * raising the third drive wheel (606) in the z-axis; * moving the third drive wheel (606) in the y-axis to be located within the drive track (400); and * lowering the third drive wheel (606) in the z-axis to be in contact with the inner surface (402) of the drive track (400); * moving the first drive wheel (602), second drive wheel (604) and third drive wheel (606) at the same time and at the same speed in the y-axis to draw the drive track (400) towards the vehicle body (200); and * raising the vehicle body (200) relative to the support surface (500).

The plurality of drive wheels (600) may comprise, in series in the x-axis: a first drive wheel (602); a second drive wheel (604); a third drive wheel (606); a fourth drive wheel (608), each configured for driving engagement with the support surface (500) and for driving engagement with the inner surface (402) of the drive track (400), the method comprising the steps of: * raising the first drive wheel (602) and third drive wheel (606) in the z-axis; * moving the first drive wheel (602) and third drive wheel (606) in the y-axis to be located within the drive track (400); and * lowering the first drive wheel (602) and third drive wheel (606) in the z-axis to be in contact with the inner surface (402) of the drive track (400); * raising the second drive wheel (604) and fourth drive wheel (608) in the z-axis; * moving the second drive wheel (604) and fourth drive wheel (608) in the y-axis to be located within the drive track (400); and * lowering the second drive wheel (604) and fourth drive wheel (608) in the z-axis to be in contact with the inner surface (402) of the drive track (400); * moving the first drive wheel (602), second drive wheel (604), third drive wheel (606) and fourth drive wheel (608) at the same time and at the same -7 -speed in the y-axis to draw the drive track (400) towards the vehicle body (200); and raising the vehicle body (200) relative to the support surface (500).

The method of control of vehicle (100) may further comprise the step of moving the first drive track support wheel (300) and second drive track support wheel (302) along the x-axis to increase and decrease the distance between them to thereby vary tension in the drive track (400).

Hence there is provided a vehicle which can provide both a driven wheel solution and a driven track solution which is of simpler design and lower weight than examples of the related art, and avoids manual intervention of a user to add and remove the track.

BRIEF DESCRIPTION OF THE FIGURES

Embodiments of the invention will now be described by way of example only with reference to the figures, in which: Figures 1A, 2A, 3A, 4A, 5A, 6A, 7A, 8A show side views of a first example of a vehicle according to the present disclosure transitioning from a first configuration to a second configuration; Figures 1B, 2B, 3B, 4B, 5B, 6B, 7B, 8B show plan views of the first example of the vehicle according to the present disclosure transitioning from the first configuration to the second configuration; Figures 9A and 9B show a side view of a second example of a vehicle according to the present disclosure in a track tensioning operation; and Figure 10 shows a side view of a third example of a vehicle according to the present disclosure, having fewer drive wheels than the first or second example.

DETAILED DESCRIPTION

The present disclosure relates to a vehicle 100 having a drive system comprising drive wheels 600 and a continuous drive track 400. The vehicle 100 comprises a track mounting system (or track deployment system) for supporting -8 -the drive track 400 apart from the drive wheels 600 and for locating the drive track 400 around the drive wheels 600. There may be provided an automated track mounting system for supporting the drive track 400 apart from the drive wheels 600 and for locating the drive track 400 around the drive wheels 600. The present disclosure also relates to a method of control of the vehicle 100. That is to say, the present disclosure relates to a method of control of the track mounting system defined by (i.e. provided as pad of) the vehicle 100.

The arrangement of the present disclosure makes use of modern independent suspension systems in combination with the track deployment system to allow the track 400 to be lowered and supported next to the vehicle's wheels 600. The independent suspension system is then used to lift up sets of wheels 600 and move them out into the supported track 400 before lowering them into place. This is done with the track 400 un-tensioned so as to give space to put wheels 600 between any guides used to keep the track 400 on the tyres.

Once all tyres are within the track 400 the independent suspension is used to tension the track 400 and provide suspension for the vehicle 100 in motion.

Hence there may be provided a vehicle 100 comprising a vehicle body 200. As shown in figure 1B the vehicle body 200 extends along an x-axis, a first end 202 of the vehicle body 200 and a second end 204 of the vehicle body 200 spaced apart from one another along the x-axis. The vehicle body 200 extends along a y-axis, the first side 206 of the vehicle body 200 and the second side 208 of the vehicle body 200 spaced apart from one another along the y-axis. The x-axis is at right angles to the y-axis. As shown in figure lA the vehicle body 200 extends along a z-axis. An underside 210 of the vehicle body 200 and a topside 212 of the vehicle body 200 are spaced apart from one another along the z-axis, the z-axis being perpendicular to the x-axis and y-axis.

Along a first side 206 and a second side 208 of the vehicle body 200 there is provided, in series, a first drive track support wheel 300, a plurality of drive wheels 600 and a second drive track support wheel 302. Each wheel 300, 600, 302 is mounted to the vehicle body 200 such that they are moveable relative to the vehicle body 200. Each wheel 300, 600, 302 is mounted to the vehicle body 200 such that they are positionable relative to the vehicle body 200. -9 -

That is to say, and as shown in figures 1 to 10, there is provided, in series, a first drive track support wheel 300, a plurality of drive wheels 600 and a second drive track support wheel 302 along the first side 206 and along the second side 208.

As shown in figures 1B, 2B, 3B, 4B, 5B, 6B, 7B, 8B, the first drive track support wheel 300 on the first side 206 is spaced apart from the first drive support wheel 300 on the second side 208 in a direction aligned with the y-axis. The first drive track support wheel 300 on the first side 206 and the first drive support wheel 300 on the second side 208 are mounted such that they are moveable independently of one another.

Each of the plurality of drive wheels 600 on the first side 206 are spaced apart from a respective one of the plurality of drive wheels 600 on the second side 208 in a direction aligned with the y-axis. Each of the plurality of drive wheels 600 on the first side 206 and each of the plurality of drive wheels 600 on the second side 208 are mounted such that they are moveable independently of one another.

The second drive track support wheel 302 on the first side 206 is spaced apart from the second drive track support wheel 302 on the second side 208 in a direction aligned with the y-axis. The second drive track support wheel 302 on the first side 206 and the second drive track support wheel 302 on the second side 208 are mounted such that they are moveable independently of one another.

As shown in figure 10, the plurality of drive wheels 600 may comprise, in series, a first drive wheel 602, a second drive wheel 604 and a third drive wheel 606. Each of the plurality of drive wheels 600 are configured for driving engagement with the support surface 500 and for driving engagement with the inner surface 402 of the drive track 400.

As shown in the example of figures 1 to 8, a fourth drive wheel 608 may be provided between the second drive wheel 604 and third drive wheel 606, configured for driving engagement with the support surface 500 and for driving 30 engagement with the inner surface 402 of the drive track 400.

In the examples of figures 1 to 8 there are provided four drive wheels 600 along the first side 206 and four drive wheels 600 along the second side 208.

In the example of figure 10 there is provided three drive wheels 600 along the first side 206 and three drive wheels 600 along the second side 208.

The vehicle 100 further comprises a continuous drive track 400 carried by the drive track support wheels 300, 302. The drive track 400 has an inner surface 402 configured for engagement with the plurality of drive wheels 600. The drive track 400 has an outer surface 404 configured for driving engagement with a support surface 500.

The vehicle 100 further comprises a control system 900 operable to control the position of the drive track support wheels 300, 302 and the plurality of drive 10 wheels 600 relative to the vehicle body 200.

The drive track support wheels 300, 302 and the plurality of drive wheels 600 are operable, and controlled by the control system 900, to move between a first configuration and a second configuration. The drive track support wheels 300, 302 and the plurality of drive wheels 600 are operable, and controlled by the control system 900, to move between the second configuration and the first configuration.

In the first configuration each drive wheel 600 is positioned so as to be operable to be in direct contact with the support surface 500, and the drive track support wheels 300, 302 are positioned to support the drive track 400 in a stowed position so as to be spaced apart from the support surface 500 and drive wheels 600.

In the stowed position the first drive track support wheel 300 and second drive track support wheel 302 support the whole drive track 400 spaced apart from, and above, the plurality of drive wheels 600 in the z-axis.

In the second configuration the drive track support wheels 300, 302 are positioned to support the drive track 400 in a deployed position so that the drive track 400 is in direct contact with the support surface 500 (i.e. the ground, a road or other substrate), and each drive wheel 600 is positioned so as to be operable to be in direct contact with the drive track 400. In the second configuration the drive track 400 bounds (i.e. surrounds) the drive wheels 600. That is to say, in the second configuration, each drive wheel 600 is spaced apart from the support surface 500 by the drive track 400.

In the second configuration at least some of the drive wheels 600 may be in driving engagement with the drive track inner surface 402.

Each drive wheel 600 may comprise an assembly of a rigid/stiff wheel frame/hub which supports a flexible tyre member. In an alternative example a 5 drive wheel 600 may comprise a rigid/stiff wheel member only.

Each drive wheel 600 is configured for direct contact with the support surface 500, and for driving the vehicle along the ground 500. Each drive wheel 600 is also configured for driving engagement with the track 400. That is to say, each drive wheel 600 is configured to engage with the track 400 so that rotation of the drive wheel 600 results in the track 400 being driven along the drive wheel 600 to result in movement of the vehicle 100 along the support surface 500.

Each of the drive wheels 600 are coupled to a drive system 910. The drive system 910 is operable to rotate the or each drive wheel 600 relative to its 15 respective wheel support arm 702 to thereby move the vehicle 100 from one location to another along the support surface 500.

The drive system 910 is operable to rotate the or each drive wheel 600 relative to its respective wheel support arm 702 in the first configuration and the second configuration to thereby move the vehicle 100 from one location to 20 another along the support surface 500.

The first drive track support wheel 300 is provided towards the first end 202 of the vehicle body 200. The second drive track support wheel 302 is provided towards the second end 204 of the vehicle body 200.

That is to say the first drive track support wheel 300 on each side 206, 208 25 of the vehicle 100 is provided towards the first end 202 of the vehicle body 200 and the second drive track support wheel 302, 300 on each side 206, 208 of the vehicle 100 is provided towards the second end 204 of the vehicle body 200.

Each of the first drive track support wheels 300, the plurality of drive wheels 600 and second drive track support wheels 302 are mounted to the vehicle body 200 by a respective wheel support assembly 700. Each wheel support assembly 700 comprises a wheel support arm 702 and an actuator 704. Each wheel support assembly 700 extends away from a different mount position 220 on the body 200 to its respective wheel 300, 600, 302. Each wheel 300, 600, 302 is rotatably mounted on its respective wheel support arm 702.

Each wheel support assembly 700 is operable to move its respective wheel 300, 600, 302 in the y-axis and the z-axis.

The control system 900 is operable to control each actuator 704 to control the position of the drive track support wheels 300, 302 and the plurality of drive wheels 600 in the y-axis and the z-axis between the first configuration and the second configuration. Each of the wheel support assembly actuators 704, may be operable independently of each other.

Each wheel support arm 702 and wheel 300, 600, 302 are configured to support the vehicle body 200 apart from the support surface 500.

The first drive track support wheel 300 and second drive track support wheel 302 are operable, and controlled by the control system 900, to move along the x-axis relative to the vehicle body 200 to increase and decrease the distance between the first drive track support wheel 300 and second drive track support wheel 302 to thereby vary tension in the drive track 400.

The wheel support assembly 700 of each of the drive track support wheels 300, 302 may be operable to move its respective drive track support wheel 300, 302 in the x-axis. Hence the wheel support assembly 700 of each of the drive track support wheels 300, 302 may be operable to move its respective drive track support wheel 300, 302 in the x-axis, y-axis and z-axis.

In the example of figures 9A, 9B there are provided four drive wheels 600 along the first side 206 and four drive wheels 600 along the second side 208. The plurality of drive wheels 600 further comprises a support-tensioner wheel array 800 which comprises at least one support-tensioner wheel 802, 804. In the example of figure 9A, 9B the support-tensioner wheel array 800 comprises a first support-tensioner wheel 802 at the first end 202 of the vehicle 200 and a second support-tensioner wheel 804 at the second end 204 of the vehicle.

Each of the support-tensioner wheels 802, 804 may be mounted to the 30 vehicle body 200 by a respective wheel support assembly 700.

The wheel support assembly 700 of each of the support-tensioner wheel 802, 804 may be operable to move its respective support-tensioner wheel 802, 804 in the x-axis.

In the first configuration the or each support-tensioner wheel 802, 804 is configured for rolling contact with the support surface 500 and to support the vehicle body 200 apart from the support surface 500. The or each supporttensioner wheel 802, 804 is configured for rolling contact with the inner surface 402 of the drive track 400.

For example, in the first configuration as shown in figure 9A, the first support-tensioner wheel 802 and second support-tensioner wheel 804 are configured for rolling contact with the support surface 500 and to support the vehicle body 200 apart from the support surface 500. The first support-tensioner wheel 802 and second support-tensioner wheel 804 are configured for rolling contact with the inner surface 402 of the drive track 400.

In the second configuration the position or each support-tensioner wheel 802, 804, the drive track support wheels 300, 302 and/or the plurality of drive wheels 600 are controllable (e.g. operable to be adjusted, changed, varied) to vary tension in the drive track 400. That is to say, the position of one or more of the support-tensioner wheels 802, 804, the drive track support wheels 300, 302 and/or the plurality of drive wheels 600 may be controlled (e.g. adjusted, changed, varied) relative to the vehicle body 200 to vary tension in the drive track 400.

The or each support-tensioner wheel 802, 804 may be controlled by the control system 900 to move along the x-axis relative to the vehicle body 200. That is to say, in the second configuration the first support-tensioner wheel 802 and second support-tensioner wheel 804 may be controlled by the control system 900 to move along the x-axis relative to the vehicle body 200 to increase and decrease the distance between the first support-tensioner wheel 802 and second support-tensioner wheel 804 and remaining drive wheels 600 to thereby vary tension in the drive track 400. Put another way, the first support-tensioner wheel 802 and second support-tensioner wheel 804 are operable to be moved along the x-axis towards the vehicle body 200 to decrease tension in the drive track 400. Also, as indicated in figure 9B, the first support-tensioner wheel 802 and second the second support-tensioner wheel 804 are operable to be moved along the x-axis away from the vehicle body 200 to increase tension in the drive track 400.

Additionally or alternatively the drive track support wheels 300, 302 may be controlled by the control system 900 to move along the x-axis and/or z-axis relative to the vehicle body 200. That is to say, in the second configuration the drive track support wheels 300, 302 may be controlled by the control system 900 to move along the x-axis relative to the vehicle body 200 to increase and/or decrease the distance between the drive track support wheels 300, 302 thereby vary tension in the drive track 400, and/or the drive track support wheels 300, 302 may be controlled by the control system 900 to move along the z-axis relative to the vehicle body 200 to increase and/or decrease the distance between the drive track support wheels 300, 302 and the drive wheels 600 and/or the supporttensioner wheels 802, 804 thereby vary tension in the drive track 400.

Alternatively or additionally, the plurality of drive wheels 600 may be controlled by the control system 900 to move along the z-axis relative to the vehicle body 200. That is to say, the plurality of drive wheels 600 may be controlled by the control system 900 to move along the z-axis relative to the vehicle body 200 to increase and/or decrease the distance between the drive wheels 600 and the drive track support wheels 300, 302 and/or support-tensioner wheels 802, 804 to thereby vary tension in the drive track 400.

In examples in which there is provided a first drive wheel 602, a second drive wheel 604 and a third drive wheel 606 down either side of the vehicle 100 (as shown in figure 10), the method of operation comprises many steps in common with examples in which four or more drive wheels are provided down each side 206, 208 of the vehicle 100. Hence in the following, figures showing the four drive wheel 600 variant are referred to when describing the operation of examples with a different number of drive wheels 600.

Movement of the drive wheels 600, as set out below (and as shown in the figures), may happen at the same time on both sides 206, 208 of the vehicle 100. In other examples, movement of the drive wheels 600, as set out below (and as shown in the figures), may happen first on one side and then on the other side of the vehicle 100.

The method of operation of the apparatus of the present disclosure (e.g. the method executed by the control system 900) may comprise the steps of moving the drive track support wheels 300, 302 from a stowed position above the drive wheels 600 in the z-axis (as shown in figures 1A, 1B) to a position spaced apart in the y-axis, and hence outward of, the drive wheels 600 (as shown in figures 2A, 2B).

The method of operation may further comprise the steps of raising the first drive wheel 602 in the z-axis (as shown in figure 3A) and moving the first drive wheel 602 in the y-axis to be located within the region defined by the drive track 400 (as shown in figures 4A, 4B), and then lowering the first drive wheel 602 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 4A).

The method of operation may further comprise the steps of raising the second drive wheel 604 in the z-axis (as shown in figure 5A), moving the second drive wheel 604 in the y-axis to be located within the region defined by the drive track 400 (as shown in figures 6A, 6B), and then lowering the second drive wheel 604 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 6A).

The method of operation may further comprise the steps of raising the third drive wheel 606 in the z-axis (as shown in figure 3A), moving the third drive wheel 606 in the y-axis to be located within the region defined by the drive track 400 (as shown in figures 4A, 4B), and lowering the third drive wheel 606 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 4A).

In examples in which a fourth drive wheel 608 is provided on each side 206, 208 of the vehicle 100, the method of operation may further comprise the steps of raising the fourth drive wheel 608 in the z-axis (as shown in figure 5A), moving the fourth drive wheel 608 in the y-axis to be located within the region defined by the drive track 400 (as shown in figures 6A, 6B) and lowering the fourth drive wheel 608 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 6A).

Movement of the first drive wheel 602, second drive wheel 604, third drive wheel 606 and (where present) fourth drive wheel 608 as described in the preceding four paragraphs may be done in any order. Pairs of drive wheels 602, 604, 606, 608 may be moved at the same time.

For example, in the example of figures 1 to 8, in which there are four drive wheels 600 provided on either side 206, 208 of the vehicle 100, the method of operation of the apparatus of the present disclosure (e.g. the method executed by the control system 900) may comprise the steps of raising the first drive wheel 602 and third drive wheel 606 in the z-axis (as shown in figure 3A), moving the first drive wheel 602 and third drive wheel 606 in the y-axis to belocated within the region defined by the drive track 400 (as shown in figures 4A, 4B), and then lowering the first drive wheel 602 and third drive wheel 606 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 4B).

In the same example, the method may further comprise the step of raising the second drive wheel 604 and fourth drive wheel 608 in the z-axis (as shown in figure 5A), moving the second drive wheel 604 and fourth drive wheel 608 in the y-axis to be located within the region defined by the drive track 400 (as shown in figures 5A, 5B), and then lowering the second drive wheel 604 and fourth drive wheel 608 in the z-axis to be in contact with the inner surface 402 of the drive track 400 (as shown in figure 6A).

The first drive wheel 602 and third drive wheel 606 may be moved first (i.e. before the second drive wheel 604 and fourth drive wheel 608, as set out above). In an alternative example, the second drive wheel 604 and fourth drive wheel 608 may be moved first (i.e. before the first drive wheel 602 and third drive wheel 606).

After lowering the drive wheels in the z-axis to be in contact with the inner surface 402 of the drive track 400, the first drive wheel 602, second drive wheel 604 and third drive wheel 606 may then be moved, at the same time and at the same speed, in the y-axis to draw the drive track 400 towards the vehicle body 200.

Hence in an example in which a fourth drive wheel 608 is present, after lowering the drive wheels in the z-axis to be in contact with the inner surface 402 of the drive track 400, the first drive wheel 602, second drive wheel 604, third drive wheel 606 and fourth drive wheel 608 may then be moved, at the same time and at the same speed, in the y-axis to draw the drive track 400 towards the vehicle body 200 (as shown in figure 6B).

The method of control of vehicle 100 may further comprise the step, after drawing the drive track 400 towards the vehicle body 200, of moving the first drive track support wheel 300 and second drive track support wheel 302 along the x-axis to increase and decrease the distance between them to thereby vary tension in the drive track 400, as shown in figure 7B. In the example shown the first drive track support wheel 300 and second drive track support wheel 302 are moved along the x-axis away from the vehicle body 200 to increase tension in the drive track 400. When required, first drive track support wheel 300 and second drive track support wheel 302 may be moved along the x-axis towards the vehicle body 200 to decrease tension in the drive track 400.

The method of operation may further comprise raising the vehicle body 200 relative to the support surface 500, as shown in figure 8A.

In the present disclosure there are shown examples with three, four and six drive wheels down either side 206, 208 of the vehicle 100 (hence six, eight and twelve drive wheels in total). There may be provided a vehicle with a different 20 number of drive wheels.

The above steps describe a procedure that may be executed to move between the first configuration and the second configuration.

The process of moving between the second configuration and the first configuration may be executed by conducting the steps of the procedure in reverse. For example, tension in the drive track 400 may be reduced by moving the first drive track support wheel 300 and second drive track support wheel 302 along the x-axis towards the vehicle body 200.The drive wheels may then be moved, at the same time and at the same speed, in the y-axis to move the drive track 400 away from the vehicle body 200. The drive wheels are then removed from the region defined by the drive track 400. The drive track support wheels 300, 302 may then be moved from their position spaced apart in the y-axis, and hence outward of, the drive wheels 600 to the stowed position above the drive wheels 600 in the z-axis.

The vehicle 100 of the present disclosure comprises a track mounting system which enables a vehicle 100 to switch from wheeled operation (i.e. the first configuration) to tracked operation (i.e. the second configuration) on demand.

This gives a wider ability to traverse difficult terrain for a vehicle 100 expanding the areas of operation in which it can be employed.

Since a vehicle 100 of the present disclosure uses the same wheels 600 to drive the vehicle 100 whether in the first configuration in which each drive wheel 600 is in direct contact with the support surface 500 or in the second configuration in which each drive wheel 600 is in direct contact with the drive track 400, then only one set of drive wheels 600 is needed, thereby avoiding the need for two drive systems which means the drive track 400 of the vehicle 100 can be of simpler design and lower weight than examples of the related art.

Since the track mounting system is automated, it avoids the need for human intervention in switching from a wheel driven vehicle 100 (i.e. in the first configuration) to a track driven vehicle 100 (i.e. in the second configuration).

Attention is directed to all papers and documents which are filed concurrently with or previous to this specification in connection with this application and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Claims

-20 -CLAIMS1. A vehicle comprising a vehicle body, wherein along a first side and a second side of the vehicle body there is provided, in series, a first drive track support wheel, a plurality of drive wheels; and a second drive track support wheel, each wheel mounted to the vehicle body such that they are moveable relative to the vehicle body; a continuous drive track carried by the drive track support wheels; a control system operable to control the position of the drive track support wheels and the plurality of drive wheels relative to the vehicle body; the drive track support wheels and the plurality of drive wheels are operable, and controlled by the control system, to move between: a first configuration in which each drive wheel is positioned so as to be operable to be in direct contact with the support surface, and the drive track support wheels are positioned to support the drive track in a stowed position so as to be spaced apart from the support surface and drive wheels; and a second configuration in which the drive track support wheels are positioned to support the drive track in a deployed position so as to be in direct contact with the support surface, and each drive wheel is positioned so as to be operable to be in direct contact with the drive track.
2. A vehicle as claimed in claim 1 wherein: the drive track has an inner surface configured for engagement with the plurality of drive wheels; and an outer surface of the drive track is configured for driving engagement with a support surface; wherein in the second configuration at least some of the drive wheels are in driving engagement with the drive track inner surface.
3. A vehicle as claimed in claim 1 or claim 2 wherein: the plurality of drive wheels comprises, in series: a first drive wheel, -21 -a second drive wheel, and a third drive wheel, each configured for driving engagement with the support surface and for driving engagement with the inner surface of the drive track.
4. A vehicle as claimed in claim 3 wherein: a fourth drive wheel is provided between the second drive wheel and third drive wheel, configured for driving engagement with the support surface and for driving engagement with the inner surface of the drive track.
5. A vehicle as claimed in any one of the preceding claims wherein the vehicle body extends along an x-axis, a first end of the vehicle body and a second end of the vehicle body spaced apart from one another along the x-axis; the vehicle body extends along a y-axis, the first side of the vehicle body and the second side of the vehicle body spaced apart from one another along the y-axis, the x-axis being at right angles to the y-axis; and the vehicle body extending along a z-axis, an underside of the vehicle body and a topside of the vehicle body spaced apart from one another along the z-axis, the z-axis being perpendicular to the x-axis and y-axis.
6. A vehicle as claimed in claim 5 wherein the first drive track support wheel is provided towards the first end of the vehicle body and the second drive track support wheel is provided towards the second end of the vehicle body.
7. A vehicle as claimed in claim 5 or claim 6 wherein each of the first drive track support wheels, the plurality of drive wheels; and second drive track support wheels are mounted to the vehicle body by a respective wheel support assembly, each wheel support assembly comprising a wheel support arm and an actuator; -22 -each wheel support assembly extending away from a different mount position on the body to its respective wheel, each wheel being rotatably mounted on its respective wheel support arm; each wheel support assembly operable to move its respective wheel in the y-axis and the z-axis; wherein the control system is operable to control each actuator to control the position of the drive track support wheels and the plurality of drive wheels in the y-axis and the z-axis between the first configuration and the second configuration, wherein each of the wheel support assembly actuators, are operable independently of each other.
8. A vehicle as claimed in any one of claims 5 to 7 wherein the first drive track support wheel and second drive track support wheel are operable, and controlled by the control system, to move along the x-axis relative to the vehicle body to increase and decrease the distance between the first drive track support wheel and second drive track support wheel to thereby vary tension in the drive track.
9. A vehicle as claimed in any one of claim 5 to 8 wherein the plurality of drive wheels further comprises a support-tensioner wheel array which comprises at least one support-tensioner wheel wherein: in the first configuration the or each support-tensioner wheel is configured for rolling contact with the support surface and to support the vehicle body apart from the support surface; the or each support-tensioner wheel is configured for rolling contact with the inner surface of the drive track, and in the second configuration: a. the or each support-tensioner wheel is controlled by the control system to move along the x-axis relative to the vehicle body; -23 -b. the drive track support wheels are controlled by the control system to move along the x-axis and/or z-axis relative to the vehicle body; and/or c. the plurality of drive wheels are controlled by the control system to move along the z-axis relative to the vehicle body; to thereby vary tension in the drive track.
10. A vehicle as claimed in any one of claims 5 to 9 wherein in the stowed position of the first drive track support wheel and second drive track support wheel support the whole drive track spaced apart from, and above, the plurality of drive wheels in the z-axis.
11.A method of control of a vehicle, the vehicle comprising a vehicle body, wherein the vehicle body extends along an x-axis, a first end of the vehicle body and a second end of the vehicle body spaced apart from one another along the x-axis; the vehicle body extends along a y-axis, the first side of the vehicle body and the second side of the vehicle body spaced apart from one another along the y-axis, the x-axis being at right angles to the y-axis; and the vehicle body extending along a z-axis, an underside of the vehicle body and a topside of the vehicle body spaced apart from one another along the z-axis, the z-axis being perpendicular to the x-axis and y-axis; wherein along the first side and the second side of the vehicle body there is provided, in series, a first drive track support wheel, a plurality of drive wheels; and a second drive track support wheel, each wheel mounted to the vehicle body such that they are moveable relative to the vehicle body; a continuous drive track carried by the drive track support wheels; a control system operable to control the position of the drive track support wheels and the plurality of drive wheels relative to the vehicle body; the steps of the method executed by the control system comprising: moving the drive track support wheels from a stowed position above the drive wheels in the z-axis to a position spaced apart in the y-axis, and hence outward of, the drive wheels.
-24 - 12.A method of control of vehicle as claimed in claim 11, wherein: the plurality of drive wheels comprises, in series in the x-axis: a first drive wheel; a second drive wheel; a third drive wheel; each configured for driving engagement with the support surface and for driving engagement with the inner surface of the drive track; the method comprising the steps of: * raising the first drive wheel in the z-axis; * moving the first drive wheel in the y-axis to be located within the drive track; and * lowering the first drive wheel in the z-axis to be in contact with the inner surface of the drive track; * raising the second drive wheel in the z-axis; * moving the second drive wheel in the y-axis to be located in the drive track; and * lowering the second drive wheel in the z-axis to be in contact with the inner surface of the drive track; * raising the third drive wheel in the z-axis; * moving the third drive wheel in the y-axis to be located within the drive track; and * lowering the third drive wheel in the z-axis to be in contact with the inner surface of the drive track; * moving the first drive wheel, second drive wheel and third drive wheel at the same time and at the same speed in the y-axis to draw the drive track towards the vehicle body; and * raising the vehicle body relative to the support surface.
-25 - 13.A method of control of vehicle as claimed in claim 11, wherein the plurality of drive wheels comprises, in series in the x-axis: a first drive wheel; a second drive wheel; a third drive wheel; a fourth drive wheel each configured for driving engagement with the support surface and for driving engagement with the inner surface of the drive track; the method comprising the steps of: * raising the first drive wheel and third drive wheel in the z-axis; * moving the first drive wheel and third drive wheel in the y-axis to be located within the drive track; and * lowering the first drive wheel and third drive wheel in the z-axis to be in contact with the inner surface of the drive track; * raising the second drive wheel and fourth drive wheel in the z-axis; * moving the second drive wheel and fourth drive wheel in the y-axis to be located within the drive track; and * lowering the second drive wheel and fourth drive wheel in the z-axis to be in contact with the inner surface of the drive track; * moving the first drive wheel, second drive wheel, third drive wheel and fourth drive wheel at the same time and at the same speed in the y-axis to draw the drive track towards the vehicle body; and * raising the vehicle body relative to the support surface.
14.A method of control of vehicle as claimed in any one of claims 11 to 13, further comprising the step of moving the first drive track support wheel and second drive track support wheel along the x-axis to increase and decrease the distance between them to thereby vary tension in the drive track.