KR100930934B1 - Stability control system for sliding ramp by kneeling system and method thereof - Google Patents

Stability control system for sliding ramp by kneeling system and method thereof Download PDF

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Publication number
KR100930934B1
KR100930934B1 KR1020080072561A KR20080072561A KR100930934B1 KR 100930934 B1 KR100930934 B1 KR 100930934B1 KR 1020080072561 A KR1020080072561 A KR 1020080072561A KR 20080072561 A KR20080072561 A KR 20080072561A KR 100930934 B1 KR100930934 B1 KR 100930934B1
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South Korea
Prior art keywords
lift
leveling
disabled
niling
road surface
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KR1020080072561A
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Korean (ko)
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윤태수
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0525—Height adjusting or levelling valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B60G2800/202—Stationary vehicle kneeling, e.g. for letting passengers on/off

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

PURPOSE: A posture control system of a lift for the disabled using a kneeling system is provided to prevent discharge inferiority or turnaround fault and not to cause an impossible situation of vehicle operation by preventing the deformation of a life for the disabled. CONSTITUTION: A posture control system of a lift for the disabled using a kneeling system contains a lift for the disabled(10) provided to be projected or retreated to or from the lower part of a vehicle body(80) by sliding, a leveling valve(20) installed to front and rear axles(78,79) respectively to control the supply/deflation of compressed air by an air spring, a leveling sensor(30) installed to the center of the front axle and two sides of the rear axis to detect the inclination of the car body, a kneeling ECU(40) controlling the operation of the leveling valve according to the actuating signal of a kneeling switch(72) or the inputted signal of the leveling sensor to control the height of the vehicle body or the posture of the vehicle body, an air spring(50) installed between a frame and an axle to support the vehicle body, and a leveling sensor(60) installed to the vehicle body on the lower part of the lift for the disabled to detect the inclination of a road surface which makes contact with the bottom of the end of the lift for the disabled.

Description

닐링 시스템을 이용한 장애인 리프트 자세제어 시스템 및 그 방법 {Stability Control System for Sliding Ramp by Kneeling System and Method thereof}Posture Control System for Disabled Persons Using Kneeling System and its Method {Stability Control System for Sliding Ramp by Kneeling System and Method}

본 발명은 닐링 시스템을 이용한 장애인 리프트 자세제어 시스템 및 그 방법에 관한 것으로서, 더욱 상세하게는 장애인 리프트를 도로나 인도 위로 배출시 장애인 리프트 끝단 바닥면이 접촉하는 노면의 전후 좌우 기울기 정보를 얻어 차량 자세도 노면 상태와 같게 제어하는 시스템 및 방법에 관한 것이다.The present invention relates to a system for controlling a disabled lift attitude using a niling system and a method thereof, and more particularly, to obtain front, rear, left and right tilt information of a road surface in contact with the bottom surface of a disabled lift when a disabled lift is discharged onto a road or sidewalk. The present invention relates to a system and a method for controlling the same as a road surface state.

일반적으로 버스의 현가장치에는 프레임과 차축 사이에 장착되어 차체를 지지하는 에어스프링이 사용되며, 이 에어스프링으로 에어탱크의 압축공기를 전달하는 관로상에는 레벨링밸브가 설치되어 하중의 증가 또는 감소에 따라서 압축공기를 공급하거나 또는 배출시킴으로써 에어스프링의 내부압력을 조절하고 있다.In general, the suspension of the bus is used between the frame and the axle is used to support the vehicle body, the leveling valve is installed on the pipeline for delivering the compressed air of the air tank to the air spring, so as to increase or decrease the load The internal pressure of the air spring is regulated by supplying or exhausting compressed air.

한편, 버스에는 승객의 승하차를 돕기 위해 차체의 앞쪽 부분을 낮추어 주는 닐링 시스템(kneeling system)이 적용되는데, 이 닐링 시스템은 초저상 시내버스인 경우에 승객의 승하차시에는 차고(車高)를 낮게 하여 승객이 편안하게 내릴 수 있도록 하고, 주행시에는 차고를 높게 하여 주행 안전성을 확보하며 정차시에는 차량 자세를 전자식으로 제어하는 장치이다.On the other hand, the bus is equipped with a kneeling system that lowers the front part of the body to help passengers get on and off. This is a very low-rise city bus that lowers the height of passengers when getting on and off. It is a device that allows passengers to get off comfortably, secures driving safety by raising the garage when driving, and electronically controls the vehicle posture when stopping.

상기한 닐링 시스템은 도 1에 도시된 바와 같이 레벨링밸브(3a,3b), 레벨링센서(4a,4b,4c), 닐링 ECU(5), 에어스프링, 닐링 스위치(6)로 이루어진다.The above-mentioned niling system is composed of leveling valves 3a and 3b, leveling sensors 4a, 4b and 4c, a niling ECU 5, an air spring and a niling switch 6 as shown in FIG.

상기 레벨링밸브(3a,3b)는 전후축(1,2)에 각각 1개씩 장착되고, 레벨링센서(4a,4b,4c)는 전축(1) 중앙과 후축(2) 좌우에 각각 1개씩 위치하며, 닐링 ECU(5)는 운전석 내부에 장착된다.One leveling valve 3a, 3b is mounted on the front and rear shafts 1, 2, and one leveling sensor 4a, 4b, 4c is positioned on the center of the front shaft 1 and the left and right sides of the rear shaft 2, respectively. The coiling ECU 5 is mounted inside the driver's seat.

미도시된 에어스프링은 프레임과 차축(1,2) 사이의 전후좌우에 각각 1개씩 4개 장착되어 차체를 지지한다.Unillustrated air springs are mounted on the front, rear, left, and right sides of the frame and the axles 1 and 2, respectively, to support the vehicle body.

닐링작용은 운전자가 닐링스위치(6)를 조작하여 최종적으로 에어스프링의 공기를 배출함으로써 이루어지도록 되어 있다.The niling operation is made by the driver operating the niling switch 6 to finally discharge the air of the air spring.

즉, 닐링시에는 레벨링밸브(3a,3b)를 통하여 배기가 이루어져 에어스프링의 공기를 배출하여 차고를 낮추게 되고, 반면 복원시에는 레벨링밸브(3a,3b)의 배기측 출구는 닫히고 에어스프링측 출구가 열려져서 공기가 에어스프링내로 공급됨으로써 차고가 다시 상승된다.That is, during the niling, the exhaust is exhausted through the leveling valves 3a and 3b to exhaust the air from the air springs, thereby lowering the garage. On the other hand, during the restoration, the exhaust side exits of the leveling valves 3a and 3b are closed and the air spring side outlets. Is opened and air is supplied into the air spring to raise the garage again.

이때 차고 높이는 3단계로 이루어져 하이(high) 및 노멀(normal)은 일반적 주행이나 정차시에 사용되고, 로(low)는 차량이 가장 낮은 위치로 내려간 상태로 장애인이나 승객의 승하차시에 사용된다.At this time, the height of the garage is composed of three stages, high and normal are used for general driving or stopping, and low is used for getting on and off of a disabled person or a passenger while the vehicle is lowered to the lowest position.

또한, 상기 닐링 시스템은 차량이 노면 상태에 따라 레벨링센서(4a,4b,4c)가 차량의 전후 좌우 기울어짐을 파악하여 차량의 주행 안전과 승객 보호를 위해 솔레노이드 밸브인 레벨링밸브(3a,3b)의 전자제어 방식에 의해 자세를 스스로 바로 잡 아주는 역할을 수행한다.In addition, the niling system detects that the leveling sensors 4a, 4b, and 4c are inclined to the front, rear, left, and right sides of the vehicle according to the road condition, so that the leveling valves 3a and 3b, which are solenoid valves, are used for driving safety and passenger protection. The electronic control method corrects the posture itself and plays a role.

한편, 상기한 닐링 시스템에는 장애인의 승하차를 돕기 위하여 도 2와 같은 장애인 리프트(sliding ramp)(7)가 도어 하부의 차체(8)에 슬라이딩에 의해 출몰 가능하게 구비된다.On the other hand, the kneeling system is provided with a disabled ramp (sliding ramp) 7 as shown in FIG. 2 to assist in getting on and off the disabled by sliding to the vehicle body 8 of the lower door.

닐링시에 리프트 스위치를 누르면 상기 장애인 리프트(7')가 하향 경사지게 슬라이딩 되어 배출되고, 승차나 하차 후에는 상기 장애인 리프트(7)가 상향 경사지게 슬라이딩 되어 차량 내부로 반환된다.When the lift switch is pressed at the time of niling, the disabled lift 7 'is slid downwardly and discharged, and after the riding or getting off, the disabled lift 7 is slid upwardly and returned to the inside of the vehicle.

도 2에서 도면부호 7'는 배출된 상태의 장애인 리프트를 7은 반환된 상태의 장애인 리프트를 나타낸다.In FIG. 2, reference numeral 7 ′ denotes a disabled lift in a discharged state, and 7 indicates a disabled lift in a returned state.

상기 닐링시에 차량은 노면 구배에 감응하여 평형을 유지하나 장애인 리프트(7')는 도로나 인도 위로 배출시 장애인 리프트(7') 끝단 바닥면이 노면(9) 구배에 맞지 않아 장애인 리프트의 전후 좌우 뒤틀림 작용으로 변형이 발생한다.The vehicle maintains the equilibrium in response to the road slope during the niling, but the handicapped lift (7 ') is discharged onto the road or sidewalk, so that the bottom surface of the end of the handicapped lift (7') does not match the road surface (9) gradient. Deformation occurs due to the right and left twisting action.

예를 들어 차량바퀴 4곳 중 오른쪽 앞바퀴가 도로 낮은 곳에 위치하고, 나머지 3바퀴는 평면상태일 때, 오른쪽 앞쪽이 노면에서 들뜬 상태가 되고 이 상태에서 승하차를 위해 장애인이나 승객이 장애인 리프트를 반복적으로 밟게 되면, 장애인 리프트의 오른쪽 앞쪽이 내려앉는 변형이 발생한다.For example, when the right front wheel of the four wheels is located at the low side of the road and the remaining three wheels are flat, the front right side is excited on the road, and the disabled or passenger repeatedly steps on the disabled lift to get on and off. If so, a deformation occurs in which the right front of the disabled lift falls.

이와 같은 장애인 리프트(7) 변형으로 차체(8)와의 간섭에 의해 배출시에 걸림 불량이 발생하거나 배출후 반환이 되지 않아 차량 운행이 불가능한 상황이 발생한다.Such a deformation of the disabled lift 7 causes interference with the vehicle body 8 so that jamming occurs at the time of discharge or a situation in which the vehicle is impossible to return after discharge.

이와 같은 장애인 리프트(7)의 변형에 의한 배출이나 반환 불량을 없애기 위 해 볼트를 재조임하고 장애인 리프트(7)의 변형을 교정하며 그리스를 도포해야하는 번거로움이 있었다.In order to eliminate the discharge or return failure caused by the deformation of the disabled lift (7), there was a need to retighten the bolts, correct the deformation of the disabled lift (7), and apply grease.

본 발명은 상술한 문제점을 해결하기 위하여 안출된 것으로서, 장애인 리프트를 도로나 인도 위로 배출시 장애인 리프트의 끝단 바닥면과 접촉하는 노면의 전후 좌우 기울기 정보를 얻어 차량 자세도 노면 상태와 같이 기울어지게 함으로써 장애인 리프트의 변형을 방지하여, 배출 불량이나 반환 불량을 없애고 그에 따른 차량 운행이 불가능한 상황이 발생하지 않도록 하는 닐링 시스템을 이용한 장애인 리프트 자세제어 시스템 및 그 방법을 제공하는데 그 목적이 있다.The present invention has been made to solve the above problems, by obtaining the front and rear left and right tilt information of the road surface in contact with the bottom surface of the distal lift when discharging the disabled lift over the road or sidewalk so that the vehicle attitude is also inclined like the road surface state It is an object of the present invention to provide a disabled lift attitude control system and a method using a niling system that prevents deformation of a disabled lift, thereby eliminating discharge failures or return failures, and thus preventing a vehicle from being operated.

상술한 목적을 달성하기 위한 본 발명에 따른 닐링 시스템을 이용한 장애인 리프트 자세제어 시스템은, 프레임과 차축 사이에 장착되어 차체를 지지하고 압축공기의 공급이나 배출에 따라 차량의 자세를 잡아주는 에어스프링과, 상기 전후 차축에 각각 설치되어 에어스프링으로 압축공기의 공급/배출을 조절하는 레벨링밸브와, 도어가 위치된 차체의 하부에 경사지게 슬라이딩되어 차량의 측면으로 출몰되는 장애인 리프트와, 상기 장애인 리프트 하부의 차체에 설치되어 장애인 리프트의 끝단 바닥면과 접촉하는 노면의 전후 좌우 기울기를 검출하는 레벨링센서와, 운전석 내부에 장착되어 상기 장애인 리프트가 배출된 상태에서 레벨링센서로부터 신호가 입력되면, 이 입력 신호에 따라 레벨링밸브의 작동을 제어하여 차량의 자세를 노면 기울기와 같게 제어하는 닐링 ECU를 포함하여 구성된다.Lifting posture control system using a niling system according to the present invention for achieving the above object, the air spring is mounted between the frame and the axle to support the vehicle body and to hold the vehicle posture according to the supply or discharge of compressed air; And a leveling valve installed at each of the front and rear axles to control supply / discharge of compressed air with an air spring, a disabled lift slid inclined to the lower part of the vehicle body in which the door is located, and floating on the side of the vehicle; A leveling sensor installed on the vehicle body to detect the front, rear, left and right tilts of the road surface contacting the bottom surface of the handicapped lift, and a signal is input from the leveling sensor mounted inside the driver's seat and the handicapped lift is discharged. Control the operation of the leveling valve according to the It is configured to include the ECU of annealing to control.

또한, 본 발명에 따른 닐링 시스템을 이용한 장애인 리프트 자세제어 방법은, 닐링 동작에 의해 차고가 낮게 된 상태에서 운전자가 리프트 스위치를 ON한 경우에 장애인 리프트가 하향 경사지게 밖으로 슬라이딩되어 장애인 리프트의 끝단 바닥면이 노면과 접촉되는 단계와, 레벨링센서에서 상기 장애인 리프트의 끝단 바닥면에 접촉하는 노면의 기울기를 검출하여 닐링 ECU에 전송하는 단계와, 상기 닐링 ECU에서 노면의 기울기에 따라 레벨링밸브의 작동을 제어하는 단계와, 상기 레벨링밸브의 작동 제어에 의해 에어스프링에 압축공기가 공급되거나 배출되어 차량의 자세가 노면 기울기와 동일하게 되고 이에 따라 장애인 리프트도 노면 기울기와 같게 되는 단계를 포함하여 구성된다.In addition, the disabled lift attitude control method using the niling system according to the present invention, when the driver turns on the lift switch in the state of the garage is low by the niling operation, the disabled lift is slid outwards inclined downward and the bottom surface of the end of the disabled lift The step of contacting the road surface, the leveling sensor detects the slope of the road surface in contact with the bottom surface of the disabled lift, and transmits to the niling ECU, and the operation of the leveling valve according to the slope of the road surface in the niling ECU And the compressed air is supplied to or discharged from the air spring by the operation control of the leveling valve so that the attitude of the vehicle is equal to the slope of the road and thus the disabled lift is also equal to the slope of the road.

상술한 과제 해결 수단에 의하면, 장애인 리프트의 변형을 방지하여 배출 불량이나 반환 불량을 없애고 그에 따른 차량 운행이 불가능한 상황이 발생하지 않도록 할 수 있다.According to the above-described problem solving means, it is possible to prevent the deformation of the disabled lift to eliminate the discharge failure or return failure and thereby prevent the situation in which the vehicle operation is impossible.

이하 본 발명의 실시예에 대하여 첨부된 도면을 참고로 그 구성 및 작용을 설명하기로 한다.Hereinafter, the configuration and operation of the present invention will be described with reference to the accompanying drawings.

도 3은 본 발명에 따른 장애인 리프트 자세제어 시스템의 구성도이고, 도 4는 도 3에 나타낸 레벨링센서 부위의 측면도로서, 도 3은 장애인 리프트가 배출된 상태에서의 평면 구성도이고, 도 4는 장애인 리프트가 반환된 상태에서의 측면도이 다.3 is a configuration diagram of the disabled lift attitude control system according to the present invention, Figure 4 is a side view of the leveling sensor portion shown in Figure 3, Figure 3 is a plan view in a state where the disabled lift is discharged, Figure 4 This is the side view with the disabled lift returned.

도시된 바와 같이, 장애인 리프트(10), 레벨링밸브(20), 레벨링센서(30), 닐링 ECU(40), 에어스프링(50) 그리고 또 다른 레벨링센서(60)를 포함하여 구성된다.As shown, it comprises a disabled lift 10, leveling valve 20, leveling sensor 30, the niling ECU 40, the air spring 50 and another leveling sensor 60.

레벨링센서(30)는 전축(78) 중앙과 후축(79) 양측에 3개 설치되어 차체의 전후 좌우 기울기를 검출한다.Three leveling sensors 30 are provided at both the center of the front shaft 78 and the rear shaft 79 to detect the front, rear, left and right tilts of the vehicle body.

에어스프링(50)은 프레임과 차륜을 장착하는 전후축(78,79) 사이의 좌우 양측에 4개 설치되어 차체를 지지한다.Four air springs 50 are installed on both left and right sides between the front and rear shafts 78 and 79 for mounting the frame and the wheels to support the vehicle body.

레벨링밸브(20)는 상기 전후축(78,79)에 각각 1개 설치되어 에어스프링(50)으로 압축공기의 공급/배출을 조절한다.One leveling valve 20 is installed at each of the front and rear shafts 78 and 79 to control supply / discharge of compressed air to the air spring 50.

장애인 리프트(10)는 도어가 위치된 차체(80)의 하부에 슬라이딩에 의해 출몰 가능하게 구비되어 닐링시에 리프트 스위치(74)를 누르면 상기 장애인 리프트(10)가 하향 경사지게 슬라이딩 되어 배출되고, 승차나 하차후에는 상기 장애인 리프트(10)가 상향 경사지게 슬라이딩 되어 차량 내부로 반환된다.The disabled lift 10 is provided on the lower portion of the vehicle body 80 in which the door is located so as to be sunk, and when the lift switch 74 is pressed at the time of annealing, the disabled lift 10 is slid downwardly and discharged, After getting off, the disabled lift 10 is slid upwardly and returned to the inside of the vehicle.

레벨링센서(60)는 장애인 리프트(10) 하부의 차체(80)의 중앙에 설치되어 장애인 리프트(10)의 끝단 바닥면과 접촉하는 노면의 전후 좌우 기울기를 검출한다.The leveling sensor 60 is installed at the center of the vehicle body 80 below the disabled lift 10 to detect the front, rear, left and right tilts of the road surface in contact with the bottom surface of the distal lift 10.

상기 레벨링센서(60)의 중앙에는 레벨링레버(62)가 전후 좌우로 관통되게 형성되고, 상기 장애인 리프트(10)의 하면 전후 좌우에는 가압바(12)가 하부로 돌출되게 형성되어 장애인 리프트(10)의 슬라이딩시 같이 이동한다.In the center of the leveling sensor 60, the leveling lever 62 is formed to penetrate back and forth left and right, and the pressing bar 12 is formed to protrude downward from the front and rear and left and right sides of the handicapped lift 10, the disabled lift 10 ) Sliding together.

상기 장애인 리프트(10)가 하향 경사지게 슬라이딩되면서 배출되는 경우에 상기 가압바(12)도 하향 경사지게 이동되고, 배출이 완료되어 장애인 리프트(10) 끝단 바닥면이 노면에 접촉하게 되면, 이에 의해 장애인 리프트(10)가 받는 압력도 접촉되는 노면의 상태에 따라 다르게 나타난다.When the handicapped lift 10 is discharged while being inclined downwardly, the pressure bar 12 is also inclined downwardly, and when the discharging is completed and the bottom surface of the end of the handicapped lift 10 comes into contact with the road surface, the handicapped lift is thereby lifted. The pressure applied by (10) also varies depending on the condition of the road surface being contacted.

예를 들어 노면이 좌측으로 하향되게 기울어져 있는 경우에 지면으로부터 장애인 리프트(10)의 끝단 바닥면이 받는 압력이 우측이 더 많아져 장애인 리프트(10)도 노면과 같이 좌측으로 약간 하향되게 기울어진다.For example, when the road surface is inclined downward to the left side, the pressure applied to the bottom surface of the distal lift 10 from the ground increases more on the right side, so that the disabled lift 10 also slopes downward to the left side like the road surface. .

이에 의해 좌측에 있는 가압바(12)가 평평한 상태를 유지하는 레벨링레버(62)의 좌측을 가압하여 레벨링레버(62)를 좌측 하부로 움직이도록 해서 이 움직인 양만큼 발생하는 저항값으로 레벨링센서(60)에서 노면의 기울기를 검출한다.As a result, the pressure bar 12 on the left side presses the left side of the leveling lever 62 which maintains a flat state to move the leveling lever 62 to the lower left side, thereby leveling the sensor to a resistance value generated by this moved amount. The slope of the road surface is detected at 60.

닐링 ECU(40)는 운전석 내부에 장착되어 닐링 스위치(72) 조작 신호나 레벨링센서(30)로부터 입력된 신호에 따라 레벨링밸브(20)의 작동을 제어하여 차체의 높낮이를 조절하거나 차체의 자세를 잡아준다.The niling ECU 40 is mounted inside the driver's seat and controls the operation of the leveling valve 20 according to the operating signal of the niling switch 72 or the signal input from the leveling sensor 30 to adjust the height of the vehicle body or adjust the attitude of the vehicle body. Hold it.

또한, 상기 닐링 ECU(40)는 장애인 리프트(10)가 배출되어 레벨링센서(60)로부터 노면의 기울기 정보를 갖는 신호가 입력되면, 이 입력 신호에 따라 레벨링밸브(20)의 작동을 제어하여 노면 상태에 따라 차체의 자세를 잡아준다.In addition, when the signal for having the slope information of the road surface is input from the leveling sensor 60 and the handicapped lift 10 is discharged, the niling ECU 40 controls the operation of the leveling valve 20 according to the input signal. According to the state of the body to hold the position.

이와 같이 차체가 노면과 같이 기울어지면 상기 차체에서 배출된 장애인 리프트(10)도 노면과 같이 기울어지게 된다.As such, when the vehicle body is inclined like the road surface, the disabled lift 10 discharged from the vehicle body is also inclined like the road surface.

도 5는 본 발명에 따른 장애인 리프트 자세제어 방법의 순서도이다.5 is a flow chart of the disabled lift attitude control method according to the present invention.

운전자가 닐링 스위치(72)를 조작하면, 닐링 ECU(40)가 레벨링밸브(20)의 작동을 제어하고 이에 의해 에어스프링(50)의 공기를 배출하여 차고를 낮추게 된다.When the driver operates the niling switch 72, the niling ECU 40 controls the operation of the leveling valve 20, thereby exhausting air from the air spring 50 to lower the garage.

이와 같은 상태에서 운전자가 리프트 스위치(74)를 ON하면(S502), 장애인 리 프트(10)가 하향 경사지게 슬라이딩되면서 차량의 측면으로 배출되어 장애인 리프트(10)의 끝단 바닥면이 노면과 접촉된다(S504).When the driver turns on the lift switch 74 in such a state (S502), the disabled lift 10 slides downward inclined downward and is discharged to the side of the vehicle so that the end bottom surface of the disabled lift 10 comes into contact with the road surface ( S504).

레벨링센서(60)는 접촉 노면의 기울기에 따른 가압바(12)의 가압에 의한 레벨링 레버(62)의 상하 움직임에 따라 움직인 양만큼 저항값을 발생하여 노면 기울기를 검출하고, 이 노면 기울기에 해당하는 저항값을 닐링 ECU(40)에 전송한다(S506).The leveling sensor 60 detects the road surface inclination by generating a resistance value by an amount moved in accordance with the vertical movement of the leveling lever 62 by the pressure of the pressure bar 12 according to the inclination of the contact road surface. The corresponding resistance value is transmitted to the niling ECU 40 (S506).

상기 닐링 ECU(40)는 이 저항값을 인식 전압으로 변환하고(S508) 그 차이만큼 레벨링밸브(20)의 작동을 제어하여(S510), 차축(78,79)에 설치된 각각의 에어스프링(50)에 압축공기를 공급하거나 배출하여 차량의 자세를 노면 상태와 같게 유지시켜 준다(S512).The niling ECU 40 converts the resistance value into a recognition voltage (S508) and controls the operation of the leveling valve 20 by the difference (S510), so that each air spring 50 installed in the axles 78,79 is provided. ) To supply or discharge compressed air to maintain the attitude of the vehicle as the road surface state (S512).

이에 따라 장애인 리프트(10)도 노면 상태와 같이 기울어져, 장애인 리프트 끝단 바닥면과 노면 간에 들뜸이 없이 모든 면이 닿게 된다.Accordingly, the disabled lift 10 is also inclined like the road surface state, so that all surfaces of the disabled lift end are not lifted between the bottom surface and the road surface.

이에 의해 장애인이 휠체어를 이용해 장애인 리프트(10)를 오르내릴 때 노면 구배에 의한 장애인 리프트(10)의 뒤틀림과 변형을 방지할 수 있는 것이고, 변형에 따른 배출 불량이나 반환 불량을 없앨 수 있는 것이다.As a result, when the person with a disability lifts or lowers the person with a disability lift 10 by using a wheelchair, the person can prevent distortion and deformation of the person with a disability lift 10 due to a road surface gradient, thereby eliminating a discharge failure or a return failure due to the deformation.

상기 장애인 리프트(10) 사용을 완료한 후 리프트 스위치(74)를 OFF하면(S514), 차량의 측면으로 배출되어 있던 장애인 리프트(10)가 상향 경사지게 슬라이딩되어 차량의 내부로 반환된다(S516).After the use of the disabled lift 10 is completed, when the lift switch 74 is turned off (S514), the disabled lift 10 discharged to the side of the vehicle is slid upwardly inclined and returned to the inside of the vehicle (S516).

이때 레벨링센서(60)는 작동하지 않고 레벨링센서(30)가 작동하여 차체의 기울기를 감지해서 닐링 ECU(40)에 전송한다(S518).At this time, the leveling sensor 60 does not operate, but the leveling sensor 30 operates to detect the inclination of the vehicle body and transmit it to the niling ECU 40 (S518).

닐링 ECU(40)는 레벨링센서(30)로부터 입력되는 신호에 의해 차체의 기울기를 인식하여 레벨링밸브(20)의 작동을 제어하고(S520), 이에 따라 에어스프링(50)에 압축공기가 배출되거나 공급되어 차량 자세가 다시 평형 상태로 돌아가 정상주행 모드가 된다(S522).The niling ECU 40 controls the operation of the leveling valve 20 by recognizing the inclination of the vehicle body by a signal input from the leveling sensor 30 (S520), and thus, compressed air is discharged to the air spring 50, or The vehicle posture is supplied to return to the equilibrium state again to the normal driving mode (S522).

도 1은 종래 닐링 시스템의 개략적인 구성도,1 is a schematic configuration diagram of a conventional niling system;

도 2는 닐링시스템에 적용되는 장애인 리프트의 개략적인 예시도,2 is a schematic illustration of the disabled lift applied to the niling system;

도 3은 본 발명에 따른 차량 자세제어 시스템의 구성도,3 is a configuration diagram of a vehicle attitude control system according to the present invention;

도 4는 도 3에 나타낸 레벨링센서 부위의 측면도,4 is a side view of the leveling sensor portion shown in FIG.

도 5는 본 발명에 따른 차량 자세제어 방법의 순서도.5 is a flowchart of a vehicle attitude control method according to the present invention.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

10: 장애인 리프트 12: 가압바10: disabled lift 12: pressure bar

20: 레벨링밸브 30: 레벨링센서20: leveling valve 30: leveling sensor

40: 닐링 ECU 50: 에어스프링40: niling ECU 50: air spring

60: 레벨링센서 62: 레벨링 레버60: leveling sensor 62: leveling lever

Claims (3)

프레임과 차축 사이에 장착되어 차체를 지지하고 압축공기의 공급이나 배출에 따라 차량의 자세를 잡아주는 에어스프링,An air spring mounted between the frame and the axle to support the body and to position the vehicle according to the supply or discharge of compressed air, 상기 전후 차축에 각각 설치되어 에어스프링으로 압축공기의 공급/배출을 조절하는 레벨링밸브,A leveling valve installed at each of the front and rear axles to control supply / discharge of compressed air with an air spring, 도어가 위치된 차체의 하부에 경사지게 슬라이딩되어 차량의 측면으로 출몰되는 장애인 리프트,Handicapped lift that slides inclined to the lower part of the vehicle body in which the door is located and floats to the side of the vehicle, 상기 장애인 리프트 하부의 차체에 설치되어 장애인 리프트의 끝단 바닥면과 접촉하는 노면의 전후 좌우 기울기를 검출하는 레벨링센서,A leveling sensor installed in the vehicle body below the disabled lift to detect the front, rear, left and right tilts of the road surface in contact with the bottom surface of the disabled lift; 운전석 내부에 장착되어 상기 장애인 리프트가 배출된 상태에서 레벨링센서로부터 신호가 입력되면, 이 입력 신호에 따라 레벨링밸브의 작동을 제어하여 차량의 자세를 노면 기울기와 같게 제어하는 닐링 ECU를 포함하는 닐링 시스템을 이용한 장애인 리프트 자세제어 시스템.When the signal is input from the leveling sensor when the disabled lift is discharged in the driver's seat, a niling system including a niling ECU for controlling the operation of the leveling valve according to the input signal to control the attitude of the vehicle to be equal to the road surface inclination. Lift posture control system using 제 1 항에 있어서,The method of claim 1, 상기 레벨링센서의 중앙에는 레벨링레버가 전후 좌우로 관통되게 형성되고, 상기 장애인 리프트의 하면 전후 좌우에는 가압바가 하부로 돌출되게 형성되어, 상기 레벨링센서가 노면 상태에 따라 가압바가 누르는 레벨링레버의 상하 움직임 양만큼 발생하는 저항값으로 기울기를 감지하는 것을 특징으로 하는 닐링 시스템을 이용한 장애인 리프트 자세제어 시스템.In the center of the leveling sensor is formed so that the leveling lever penetrates back and forth and left and right, and the pressing bar protrudes downward on the front, rear, left and right of the handicapped lift, the leveling lever is moved up and down by the leveling lever according to the road surface condition. A disabled lift attitude control system using a coiling system, characterized in that for detecting the slope by the amount of resistance generated by the amount. 닐링 동작에 의해 차고가 낮게 된 상태에서 운전자가 리프트 스위치를 ON한 경우에 장애인 리프트가 하향 경사지게 밖으로 슬라이딩되어 장애인 리프트의 끝단 바닥면이 노면과 접촉되는 단계,When the driver turns on the lift switch while the garage is low due to the niling operation, the handicapped lift slides out downward and inclined downward so that the bottom surface of the handicapped lift comes into contact with the road surface, 레벨링센서에서 상기 장애인 리프트의 끝단 바닥면에 접촉하는 노면의 기울기를 검출하여 닐링 ECU에 전송하는 단계,Detecting, by a leveling sensor, the inclination of the road surface in contact with the bottom surface of the disability lift and transmitting it to a niling ECU; 상기 닐링 ECU에서 노면의 기울기에 따라 레벨링밸브의 작동을 제어하는 단계,Controlling the operation of a leveling valve according to the inclination of the road surface in the niling ECU, 상기 레벨링밸브의 작동 제어에 의해 에어스프링에 압축공기가 공급되거나 배출되어 차량의 자세가 노면 기울기와 동일하게 되고, 이에 따라 장애인 리프트도 노면 기울기와 같게 되는 단계를 포함하는 닐링 시스템을 이용한 장애인 리프트 자세제어 방법.Compressed air is supplied to or discharged from the air spring by the operation control of the leveling valve so that the attitude of the vehicle becomes equal to the inclination of the road, and thus the disabled lift is also equal to the inclination of the road. Control method.
KR1020080072561A 2008-07-25 2008-07-25 Stability control system for sliding ramp by kneeling system and method thereof KR100930934B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980041660A (en) * 1996-11-23 1998-08-17 박병재 Balance Kneading Device for Bus
KR20040045064A (en) * 2002-11-22 2004-06-01 현대자동차주식회사 Apparatus for supporting riding in vehicle
JP2005280400A (en) 2004-03-29 2005-10-13 Sumitomo Rubber Ind Ltd Vehicle height adjustment device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980041660A (en) * 1996-11-23 1998-08-17 박병재 Balance Kneading Device for Bus
KR20040045064A (en) * 2002-11-22 2004-06-01 현대자동차주식회사 Apparatus for supporting riding in vehicle
JP2005280400A (en) 2004-03-29 2005-10-13 Sumitomo Rubber Ind Ltd Vehicle height adjustment device

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