Low gravity all-surface vehicle

Abstract

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

What is claimed is: 
     
         1 . A vehicle comprising:
 a frame; and   a plurality of self-contained motorized wheels, each wheel defining an inner volume and comprising:
 an axle extending through the inner volume and having one end positioned outside of the inner volume, the one end attached to the frame; 
 a propulsion unit supported within the inner volume by the axle and drivingly coupled to the wheel; and 
 a frame mount positioned within the inner volume and connected to the axle, the frame mount having a portion extending below an axis of the axle, which portion supports a control unit and an energy source for powering the propulsion unit and the control unit; 
   wherein the center of gravity of each self-contained motorized wheel is below the axis of the axle thereof.   
     
     
         2 . The vehicle of  claim 1 , further comprising a mounting bar attached to the frame. 
     
     
         3 . The vehicle of  claim 2 , further comprising at least one suspension element attached to the frame. 
     
     
         4 . The vehicle of  claim 3 , wherein the at least one suspension element is operable to raise and lower the mounting bar. 
     
     
         5 . The vehicle of  claim 2 , further comprising a stretcher attached to the mounting bar. 
     
     
         6 . The vehicle of  claim 5 , further comprising a first camera mounted to a forward portion of the vehicle and positioned to capture imagery of an area in front of the vehicle and a second camera mounted above the stretcher and positioned to capture imagery of the stretcher. 
     
     
         7 . The vehicle of  claim 2 , further comprising a cargo rack attached to the mounting bar. 
     
     
         8 . The vehicle of  claim 7 , further comprising a first camera mounted to a forward portion of the vehicle and positioned to capture imagery of an area in front of the vehicle and a second camera mounted above the cargo rack and positioned to capture imagery of the cargo rack. 
     
     
         9 . The vehicle of  claim 1 , further comprising a sensor mounted on the frame. 
     
     
         10 . A vehicle comprising:
 a frame having a fore end and an aft end and defining an axis;   a first cylindrical housing attached in a center portion thereof to the fore end of the frame and a second cylindrical housing attached in a center portion thereof to the aft end of the frame, the first and second cylindrical housings each defining an internal volume and having parallel axes that are perpendicular to the axis of the frame, the internal volume of the first cylindrical housing comprising:
 an energy source; 
 a propulsion unit drivingly couple to a drive socket extending through at least one end of the first cylindrical housing; and 
 a control unit; 
   a bearing mounted around a circumference of each cylindrical housing on each side of the frame;   a wheel mounted on each bearing; and   a drive plate connected to the drive socket and at least one wheel and configured to transmit rotational force from the drive socket to the wheel.   
     
     
         11 . The vehicle of  claim 10 , wherein each cylindrical housing comprises an access panel. 
     
     
         12 . The vehicle of  claim 10 , wherein the internal volume of the second cylindrical housing comprises:
 a second energy source;   a second propulsion unit drivingly coupled to a second drive socket extending through at least one end of the second cylindrical housing; and   a second control unit.   
     
     
         13 . The vehicle of  claim 11 , wherein a drive socket extends through each end of each cylindrical housing. 
     
     
         14 . The vehicle of  9 , wherein each of the first and second cylindrical housings is pivotably attached to the frame. 
     
     
         15 . A self-contained motorized wheel comprising:
 an axle extending through an inner volume of the self-contained wheel and having one end positioned outside of the inner volume;   a propulsion unit drivingly coupled to the wheel; and   a frame mount positioned within the inner volume and connected to the axle, the frame mount having a portion extending below an axis of the axle, which portion supports a control unit, a receiver, and a plurality of energy sources for powering the propulsion unit, control unit, and the receiver;   wherein the receiver receives wireless signals for controlling propulsion unit via the control unit, and further wherein the center of gravity of the wheel is below an axis of rotation of the wheel.   
     
     
         16 . The self-contained motorized wheel of  claim 15 , wherein the propulsion unit is a hub motor mounted around the axle. 
     
     
         17 . The self-contained motorized wheel of  claim 15 , wherein the propulsion unit is a motor mounted above the axle. 
     
     
         18 . The self-contained motorized wheel of  claim 15 , wherein the plurality of energy sources are a plurality of batteries. 
     
     
         19 . The self-contained motorized wheel of  claim 18 , wherein the plurality of batteries has more mass than the propulsion unit. 
     
     
         20 . The self-contained motorized wheel of  claim 15 , wherein the one end of the axle is attached to a frame.