KR20020040735A - An apparatus and control method of disk-shape electromotive riding system which is not the steering handle - Google Patents

Abstract

PURPOSE: A disk type electric riding appliance without a handle and a control method thereof are provided to allow a child to freely take the riding appliance from all directions, and to ensure various kinds of actions thereof. CONSTITUTION: The disk type electric riding appliance without a handle comprises a cylindrical driving part formed in a body(1), and two driving wheels(308,311) driven independently by two motors(306,309). The body is also provided with a cover for wrapping the driving part, a circular driving part position sensor, a control part(4), a speaker, a battery, and a charger(6) connected to the control part, a plug(91) and a plug case(9) connected to the charger, which are arranged in a circular form. Additionally, eight ball wheels capable of rolling into all directions are inserted into bottom surface of the body.

Description

An apparatus and control method of disk-shape electromotive riding system which is not the steering handle}

The present invention relates to an electric vehicle for children to enjoy riding. Most of the children's electric vehicles previously proposed were cars, motorcycles or the like. What's common, whether it's in the form of a car or a motorcycle, is that there is a distinction between the front and the back, and the steering wheel is used to control the direction of travel.

The reason why there is a distinction between the front and the rear is that the axial direction of the drive wheels driven by the electric motor in the passenger vehicle is fixed. Figure 1a shows a conventional vehicle-type electric ride mechanism, Figure 1b shows a conventional motorcycle-type electric ride mechanism. Taking the electric vehicle 41 as an example, the vehicle can move only in a direction perpendicular to the axial direction of the drive wheel 47. After setting one direction forward and the other direction backward, the chair on which the rider sits ( By installing 43 in the same direction as the front of the car, the occupants are naturally looking ahead. This drive wheel 47 mainly uses the rear wheel.

A method generally used to change the direction of movement while the electric vehicle is moving is to change the direction of the steering wheels 49 and 50, which are not driven, by using the steering knobs 42 and 45. By doing so, the occupant can adjust the direction in which the electric vehicle 41, 44 travels. When the electric ride mechanisms 41 and 44 are stopped without moving, even if the steering knobs 42 and 45 are turned, the direction does not change. That is, in order to change the direction in which the front of the electric vehicle 41, 44 is directed, the driving of the driving wheels 47, 48 and the steering handles 42, 45 must be simultaneously performed.

Such a conventional electric vehicle includes a single electric motor therein, the single electric motor can operate the rotation-stop-reverse rotation by the operation of the occupant. By means of the above operation, the riding mechanism makes the operation of forward-stop-reverse. In addition, since the direction in which the passenger vehicle proceeds while moving forward or backward can be changed by using the steering knobs 42 and 45, it is possible to perform operations such as left turn-forward-right turn.

As described above, the existing electric vehicle is distinguished from the front and the rear, and also because the chairs 43 and 46 are installed to the front, there is a limitation that the occupant must sit at the front at all times. In addition, when the front of the electric vehicle is placed differently from the intended direction, the vehicle is moved by starting the vehicle first and then turning the steering wheels 49 and 50 using the steering knobs 42 and 45. There was a limit that you could only change direction. In addition, the conventional electric vehicle has a disadvantage in that the movement is limited because the movement is limited by the operation of the driving wheels 47 and 48 and the steering handles 42 and 45.

Therefore, an object of the present invention for solving the limitations and disadvantages of the conventional electric vehicle as described above, so that the occupant can sit freely without any distinction between the front and rear, the passenger sitting sitting looking at whatever direction The front side, to adjust the direction of travel without using the steering knob, and can go straight to the direction to go even in the stationary state, to provide an electric vehicle device and a method with a great variety of movement.

1 is a conventional automobile electric vehicle, b is a conventional motorcycle electric vehicle.

2 is a top view, front view, right side view, and bottom view of the present invention.

3 is a perspective and bottom perspective view of the present invention.

4 is a top perspective view of the present invention.

5 is a perspective view of the present invention separated into a top plate and a body.

6 is a perspective view of the present invention separated into a top plate, a body cover, a body.

7 is a perspective view of the present invention separated into a top plate, a body cover, a drive cover, the body.

8 is a perspective view of the present invention separated into a top plate, a body cover, a driving unit cover, a driving unit upper plate, the body.

9 is a perspective view of the present invention separated into a top plate, a body cover, a driving unit cover, a driving unit upper plate, the body.

10 is a top view inside the body of the present invention.

11 is a perspective view separating the body and the drive of the present invention.

12 is a perspective view showing only the inside of the drive unit of the present invention.

13 is a top view showing only the body and the inside of the drive unit of the present invention.

14 is a view showing a translational motion of the movement characteristics of the present invention.

15 is a view showing a body rotational movement of the movement characteristics of the present invention.

16 is a view showing a drive unit rotational movement of the movement characteristics of the present invention.

17 is a diagram illustrating several ways in which the present invention may reach a destination.

18 is a block diagram of the present invention.

19 is a flowchart illustrating a method of controlling the present invention.

20 is a flowchart illustrating a method of controlling the translational motion of the present invention.

21 is a flow chart showing a method for controlling the body rotational motion of the present invention.

22 is a flowchart illustrating a method of controlling the driving unit rotational motion of the present invention.

Figure 23 shows several examples of the top plate of the present invention.

<Description of the symbols for the main parts of the drawings>

1 ... body 11 ... body cover

12.Top plate 13 ... Pressure plate a

14 ... Pressure plate b 15 ... Top support spring

16 ... ball wheel 17 ... ball wheel cover

18 ... ball wheel housing 19, 312, 316 ... wire connection

20 Press plate c 21 Pressure sensor

22 ... push position sensor a 23 ... push position sensor b

24 ... Drive position sensor 25 ... Push position sensor c

3.Driver 32.Body

301 Drive cover 302 Drive cover

303, 313 Connection point 304 Drive body

305 Drive coupler 306 Drive motor a

307 Transmission gear a 308 Drive wheel a

309 Drive motor b 310 Gearbox b

311.Drive wheels b 314, 315, 81 ...

317 ... axis 4 ... control part

41 ... electric cars 42, 45 ... steering wheel

43, 46 ... chair 44 ... electric motorcycle

47, 48 ... drive wheels 49, 50 ... steering wheels

5.Battery 51 ... Passenger front display

52 ... Drive Direction 53 ... Passenger

6.Charger ... 7 Speaker

8 ... motor c 82 ... shift gear c

9 ... Plug Storage 91 ... Plug

92 ... plug holder lid 93 ... plug holder lid

The configuration of the disc-shaped electric drive system without a steering handle of the present invention for achieving the above object includes two drive wheels exerting driving force independently by two motors and has a cylindrical drive part formed with a thread on the outside, The drive unit is mounted to a cylindrical body. The body is equipped with a motor for rotating the drive unit, a drive unit cover surrounding the rotating drive unit, a circular drive unit position sensor for detecting the relative position of the drive unit, a control unit for controlling three motors, a speaker connected to the control unit, the The battery and charger connected to the control unit, the plug and plug storage box connected to the charger are arranged and mounted in a circular shape, and eight ball wheels that can be rolled without direction are inserted into the lower surface. In addition, the disk-shaped body cover is fixed to the body screw is installed on the upper surface of the pressure sensor to determine that the user boarded, three push position sensors to grasp the direction and inclination of the occupant, the top plate spring is installed On the underside, wire connections are mounted. The upper portion of the body cover, characterized in that the disk-shaped upper plate is formed with three pressing plates on the lower surface.

In addition, in order to achieve the above object, the control method of the disc-shaped electric drive without a steering handle of the present invention, the step of measuring the pressure, confirming the front of the occupant, determining the driving direction of the drive unit, the front of the occupant Determining whether the driving direction coincides with the driving direction, rotating the driving unit with respect to the body, notifying that the front surface desired by the occupant is set, storing the front direction of the occupant in the controller, waiting in a stopped state, Determining whether a signal is input to the push position sensor a, determining whether a signal is input to the push position sensor b, executing a translational movement, determining whether a signal is input to the push position sensor c, or performing a body rotation movement. Executing step, executing driving part rotation movement, waiting for operation, press position sensor a signal If it is determined that the signal does not come to determine whether the value of the pressure sensor is characterized in that it comprises the step of determining.

Hereinafter, the configuration and operation of the present invention will be described in more detail with reference to the accompanying drawings.

2 is a view showing a top view, a front view, a right side view and a bottom view of the present invention. As shown, the entire contour viewed from the upper and lower surfaces has the shape of a circle, which corresponds to one embodiment, and may be an ellipse or a polygon, not a circle. In the top view, only the top plate 12 is visible, which corresponds to the chair and has no special orientation. That is, the user may sit on the top plate 12 in any direction when boarding.

Looking at the bottom view, eight ball wheels 16 that can be rolled in any direction are symmetrically inserted into the outer portion of the body 1 and fixed with a ball wheel cover 17, the number of which is eight It doesn't matter. The ball wheel 16 may be any shape as long as it can be rolled without orientation, such as a mouse ball of a computer mouse or a wheel installed at the end of a leg of a swivel chair. At the center of the body 1, a circular drive unit body 304 including two drive wheels 308 and 311 is attached to the drive unit coupling plate 305.

3 is a view showing a perspective view of the present invention and a perspective view from below. As shown, the top plate 12 is shaped like a plate with a recessed shape in the middle, which gives a sense of stability when the occupant 53 is seated, and the body of the occupant 53 is moved to either side during operation. To prevent some of the excessive bias. However, this form corresponds to an embodiment of the upper plate 12, and the upper portion of the upper plate 12 may be flat or convex protruding. The plug storage container lid 93 shown below the body 1 has a plug to be used for charging.

4 is a top perspective view of the present invention. FIG. 4 is a perspective view, and since the representation is complicated, it is difficult to distinguish and describe the components of the present invention, and only a schematic description will be given here. As shown in the figure, eight ball wheels 16 are symmetrically inserted into the body 1, and a circular drive part 3 including two drive wheels 308 and 311 in the center of the body 1. Is located. Next to the drive unit 3, the motor c 8 is fixed to the body 1 with a fastener 81. The motor c 8 transfers the entire drive unit 3 to the body 1 through the transmission gear c 82. Can be rotated about).

The motor c 8, which rotates the entire driving unit 3, and the two motors 308, 311 in the driving unit 3 are controlled by the control unit 4, which controls the two batteries 5. ), Speaker (7) and various sensors. The two batteries 5 are connected to a charger 6, which in turn is connected to a plug 91 in the plug holder 9. As shown, the control unit 4, the battery 5, the charger 6, and the like are arranged almost symmetrically to prevent the center of gravity from being disturbed when the disc-driven electric passenger vehicle without the steering handle of the present invention is operated. .

5 is a diagram showing the present invention divided into the upper plate 12 and the body portion (32). The present invention is largely divided into a top plate 12 and the body portion 32, the body portion 32 is composed of a body (1) and the body cover (11) again. As shown, when the body portion 32 and the upper plate 12 are separated, the body cover 11 covering the body 1 is shown, and the pressure sensor 21 is moved from the center to the outside on the upper surface of the body cover 11. , The push position sensor a (22), the push position sensor b (23), the push position sensor c (25) and the upper plate support spring (15) are installed.

The pressure sensor 21 serves to measure the pressure applied when the user boards, and when the pressure is applied to a specific value or more at the initial stage of the boarding, the present invention enters an operation standby state. That is, the pressure sensor 21 serves as a power switch of the present invention, which is only a preferred embodiment and may be provided separately from the power switch. In addition, for the sake of safety, it is also possible to set the pressure range in which the invention operates. This not only acts as a safety device that prevents the operation of too young infants, but also protects the device by preventing it from operating when a person who is overweight weighs too much.

The occupant 53 who climbed on the top plate 12 controls the movement of the present invention by tilting the top plate 12 by moving the weight, and the top plate support spring 15 moves the inclined top plate 12 back to its original position. It restores to.

The pressing position sensor a 22, the pressing position sensor b 23, and the pressing position sensor c 25 serve to inform the controller 4 of the direction in which the top plate 12 is inclined and the degree of inclination. In the figure, the degree of inclination is expressed as being able to be measured in only three steps. That is, when the top plate is slightly inclined, the signal enters only the push position sensor a 22, and when the top plate is tilted a little more, the signal enters the push position sensor a 22 and the push position sensor b 23 simultaneously. In addition, when the top plate is inclined a lot, the signal is input to the push position sensor c 25 so that the degree of inclination can be measured in three steps.

6 is a diagram illustrating the present invention divided into the upper plate 12, the body cover 11 and the body (1). As shown in the body 1, there is a drive part cover 301 which covers the drive part 3 in the center, and the motor c 8, the control part 4, and the battery 5 which rotate the drive part 3 in the periphery thereof. ), Charger (6), speaker (7) and plug holder (9) is mounted. In addition, eight ball wheel housings 18 are symmetrically formed outside the body.

7 is a diagram illustrating the present invention divided into the upper plate 12, the body cover 11, the driving unit cover 301 and the body (1). As shown, the drive part cover 301 is fixed to the body 1 using a screw and serves to protect the drive unit 3. In addition, two wire connecting portions 316 are provided on the side of the driving part cover 301 to supply power to the two motors 306 and 309 in the rotating driving part 3.

The driving unit 3 is composed of a driving unit body 304, the driving upper plate 302 and the driving unit coupling plate 305, the driving unit body 304 and the driving upper plate 302 is shown in FIG. Plate 305 is not shown. A thread is formed around the drive unit body 304, which is engaged with the transmission gear c 82, and the transmission gear c 82 receives power from the motor c 8. The motor c 8 is supplied with power from the control unit 4 and also receives a command from the control unit 4 to rotate the entire drive unit 3 relative to the body 1.

Since the driving unit 3 rotates, a special contact is required to supply power to the two motors 306 and 309 in the driving unit 3. The role of the driving unit 3 is formed at the center of the upper surface of the driving unit plate 302. It is a circular connection contact 303. Since four connection contacts 303 are formed in a circular shape, two contact points are provided to two motors 306 and 309, and the power is continuously supplied and controlled from the controller 4 even when the driving unit 3 rotates. To receive it.

8 is a diagram illustrating the present invention divided into the upper plate 12, the body cover 11, the drive cover 301, the drive upper plate 302 and the body (1). As shown in the drawing, two driving motors 306 and 309 and two driving wheels 308 and 311 connected to the respective motors through transmission gears 307 and 310 are symmetrically mounted in the driving unit body 304. . Among the two driving motors 306 and 309, the driving motor a 306 operates the driving wheel a 308 through the transmission gear a 307. In addition, the driving motor b 309 operates the driving wheel b 311 through the transmission gear b 310. Since the two driving motors 306 and 309 rotate by receiving signals from the controller 4 separately, the two driving wheels 308 and 311 operate independently of each other. The plug 91 connected to the charger 6 is used to charge the battery 5 and is usually stored as shown in the plug storage box 9.

9 is a bottom perspective view of the present invention separated into the upper plate 12, the body cover 11, the drive cover 301, the drive upper plate 302 and the body (1). As shown, the pressing plate a (13), the pressing plate b (14), and the pressing plate c (20) are formed at the lower surface of the upper plate (12) as circular irregularities. The pressing plate a (13) serves to apply a signal to the pressing position sensor a (22) installed on the upper surface of the body cover 11, the pressing plate b (14) is the pressing position sensor b (top of the body cover 11) 23) to give a signal. In addition, the pressing plate c (20) serves to apply a signal to the pressing position sensor c (25). That is, the number of pressing plates formed on the lower surface of the upper plate 12 is determined by the number of pressing position sensors installed on the upper surface of the body cover 11.

The lower surface of the body cover 11 is provided with a wire connecting portion 19, which is connected to the pressure sensor 21, the push position sensor a (22), the push position sensor on the top of the body cover 11 b (23) and push position sensor c (25). In addition, the wire connection unit 19 is connected to the control unit 4 via a wire serves to transmit the signals of the sensors 21, 22, 23, 25 on the upper surface of the body cover 11 to the control unit (4). .

Four circular connection contacts 313 are formed on the lower surface of the driving part cover 301. The connection contact point 313 is connected to the wire connection part 316 provided on the side surface of the driving part cover 301, and is in contact with four connection contact points 303 which are formed on the upper surface of the driving part upper plate 302. The lower surface of the drive upper plate 302 is provided with two wire connecting portion 312, which is connected to the connection contact 303 on the upper surface of the drive upper plate 302.

The process of supplying power from the control unit 4 to the two driving motors 306 and 309 in the driving unit 3 will be described with reference to FIGS. 6, 7, 8 and 9. same. First, the control unit 4 is supplied to the connection contact point 313 on the lower surface of the driving unit cover 301 through the wire connecting unit 316 on the side of the driving unit cover 301 through the electric wire, and the driving upper plate which is in contact with it again. 302 is supplied to the driving motors 306 and 309 through the electric wires through the electric wire connecting portion 312 in the lower surface of the driving upper plate 302 through the connection contact 303 on the upper surface. In this process, even if the entire driving unit 3 rotates, the two connection contacts 313 and 303 maintain contact with each other so that the power supply is not cut off.

On the lower surface of the body 1, eight ball-shaped ball wheels 16 are inserted into the ball wheel housings 18, respectively, and fixed by a ball wheel cover 17. The ball wheels can be rolled without direction. The invention is driven by a drive wheel so that it can go either way. The number and detailed shape of the ball wheels is only a preferred embodiment, and the number of the wheel wheels may be any number, or the number of detailed wheels may be rolled without directivity, such as wheels installed on the swivel chair legs.

10 is a top view showing the inside of the body 1 and the drive unit 3 of the present invention. As shown, the drive unit body 304 is circularly formed with a screw thread on the outside to receive rotational force by the motor c (8). The motor c (8) is fixed to the body (1) by a fastener (81), under the control of the control unit 4 to rotate the drive unit body 304 through the transmission gear (82). In the driving unit body 304, two driving wheels 308 and 311 exerting driving force independently are connected to two motors 306 and 309, and are controlled by the controller 4.

11 is a view showing the drive unit 3 separated from the body 1 of the present invention. As shown, the driving unit 3 has an outer shape with a driving upper plate 302, a driving unit body 304, and a driving unit coupling plate 305, and the driving unit coupling plate 305 forms the driving unit body 304 with the body 1. To bind to. The contacts arranged in a circular shape on the inner side of the body 1 serve to determine the position of the driving unit 3 by the driving unit position sensor 24. That is, the position relative to the body 1 of the driving unit 3 that rotates with respect to the body 1 serves to transfer to the control unit 4.

12 is a view showing the interior of the drive unit 3 of the present invention. As shown, the drive motor a 306 is fixed to the drive body 304 by the fixture 314 to operate the drive wheel a 308 through the transmission gear a 307. In addition, the driving motor b 309 is fixed to the driving unit body 304 to operate the driving wheel b 311 through the transmission gear b 310. The driving wheel a 308 and the driving wheel b 311 are fitted to the shaft 317 fixed to the driving unit body 304, but because they are not fixed to the shaft 317, their movements are independent of each other.

Hereinafter, the operation, the operation method and the characteristics of the movement of the steering wheelless disc drive device of the present invention will be described in more detail with reference to the accompanying drawings.

13 is a view showing only the inside of the body 1 and the drive unit 3 of the present invention. As shown, the present invention has three motors for generating power. Of these three motors 306, 309, 8, the drive motor a 306 operates only the drive wheel a 308, and the drive motor b 309 operates only the drive wheel b 311. In addition, the motor c (8) serves only to rotate the drive body 304 relative to the body (1). Each motor is controlled by the controller 4 in the direction of rotation and the rotational speed. The controller 4 controls the operation of each motor based on the signals of various sensors 21, 22, 23, 24, and 25. do.

The operating states of the motors 306, 309 and 8 controlled by the controller 4 are basically stopped and rotated. In this case, the rotation is called reverse rotation if one side is forward rotation according to the direction. can do. Therefore, the motors 306, 309 and 8 can maintain three basic states of forward rotation, stop and reverse rotation. In addition, if the speed of rotation is divided into high speed and low speed, the motors 306, 309, and 8 have five states of high speed forward rotation, low speed forward rotation, stop, low speed reverse rotation, and high speed reverse rotation. Continuously changing the speed of rotation will not be mentioned here because its number is infinite.

Even if the states of the motors 306, 309 and 8 are limited to the above five states, the number of combinations of the movement states of the three motors is 5 x 5 x 5, which is 125. That is, by combining three motor states, the present invention can exhibit a total of 125 motion characteristics. The 125 kinds of movement characteristics can be largely divided into two kinds of translational motion and rotational motion, among which the rotational motion of the body 1 rotates again and the body 1 remains intact and the driving part 3 remains intact. Only rotating the driving part is divided into rotational motion.

The translational motion, the body rotational motion and the drive part rotational motion of the present invention are executed under the control of the controller 4, which of the three is to be determined depending on the degree of tilting the top plate 12. Tilting the top plate 12 while the body 1 is stationary commands to move in an inclined direction, and tilting the top plate 12 while the body 1 is moving means to change direction toward the inclination. The controller 4 recognizes. At this time, depending on the degree of inclination of the top plate 12, the translational movement, the body rotational movement and the drive unit rotational movement is determined.

Since the rotation of each motor 306, 309, 8 is represented by the rotation of the drive wheels 308, 311 and the drive unit 3, the rotation direction of the motors 306, 309, 8 is driven as shown. It can be expressed by the driving direction of the 311 and the rotation direction of the drive unit (3). In addition, any front surface of the occupant 53 is represented by the front surface display 51 of the occupant, which is temporary and does not mean the front of the present invention. The driving direction of the driving unit 3 is a direction perpendicular to the axes 317 of the driving wheels 308 and 311, which is represented by the driving direction display 52.

14 is a view showing only the most basic translational motion of the characteristics of the present invention. The magnitudes of the rotation speeds of the drive wheels 308 and 311 and the drive unit 3 are indicated by the lengths of the arrows. The most basic translational movement is a general left turn and right turn movement that goes straight and changes direction. This translational motion is a movement characteristic of the conventional electric ride (41, 44) is visible. Conventional electric ride (41, 44) is possible to drive the drive wheels (47, 48) and to adjust the steering wheel (49, 50) as described above, but the present invention, the drive unit 3 relative to the body If it is fixed and the driving direction of the driving wheel a (308) and the driving wheel b (311) is the same. That is, in the state in which the driving unit 3 is fixed, if the rotational speeds of the driving wheel a 308 and the driving wheel b 311 are the same, they are straight ahead. If the speeds are different, the left or right rotational movement is performed while changing the direction.

This translational motion is executed when the position signal of the push position sensor a 22 only enters the controller 4. When the signal of the pressing position sensor a 22 is input to the control unit 4 in the front direction of the occupant 53 in the stopped state, the body 1 moves forward, and then the traveling direction of the body 1 is the pressing position sensor. Follow the signal direction of a (22). That is, when the signal direction of the push position sensor a (22) is the same as the travel direction of the body (1), the body (1) is a straight motion, the signal direction of the push position sensor a (22) is the travel direction of the body (1) If different, the body 1 changes the direction of travel.

If the body 1 does not receive a signal from the push position sensor a 22 during the translation, it is possible to select whether to maintain or stop the current translation state, which is based on the boarding intention of the occupant 53. It can be set differently according to, and determined according to the program of the controller 4.

When the signal of the push position sensor a 22 is inputted to the control part 4 to the rear of the direction in which the body 1 advances, the control part 4 determines whether to stop the body 1 or to change the direction. This depends on how much the position signal direction differs with respect to the traveling direction of the body 1 and depends on the program of the controller 4. As a preferred example, when the signal of the push position sensor a 22 comes in the -170 to -190 ° direction when the traveling direction of the body 1 is set to 0 °, the controller 4 stops the body 1, If it is a direction other than that, the advancing direction of the body 1 will be switched.

The command to perform the translational movement is based on the signal of the push position sensor a (22). The command of whether the body (1) will continue to move forward or change direction or stop the top plate (12) It is determined by which part of the pushing position sensor a 22 is pressed by tilting. At this time, the traveling direction of the body 1 is a reference, the traveling direction of the body 1 is a direction in which the driving direction display 52 is perpendicular to the direction of the axis 317 of the driving unit 3. The relative position of the driving direction display 52 with respect to the body 1 is input to the controller 4 through the driving unit position sensor 24.

As a preferable example, when the traveling direction of the body 1 is set to 0 °, when the signal input to the push position sensor a 22 is -10 to + 10 °, the motor continues to move forward, and if it is -10 to -90 °, the left direction is changed. -10 to + 90 ° to turn right, -90 to -170 ° to turn left, sharply to +90 to + 170 ° to right, and -170 to + 170 ° to stop. That is, the various commands as described above are distinguished according to the angle at which the signal of the push position sensor a 22 comes in with respect to the traveling direction of the body 1. In addition, the criterion of the angle division is determined by a program input to the controller 4, and various division criteria can be determined.

15 is a view showing the body rotational movement of the movement characteristics of the present invention. The body rotational movement is a concept different from the left rotation or the right rotation referred to in the translational movement, and refers to a motion in which only the body 1 rotates in place without moving. This body rotational movement is a motion that can not be done with the conventional electric ride mechanism (41, 44), in the present invention, the driving wheel a (308) and the driving wheel b (311) in the state in which the driving unit 3 is fixed to each other It is possible by driving in the direction.

Body rotational movement is performed by tilting the top plate 12 more than in the case of translational movement. When the top plate 12 is inclined much, the position signals are simultaneously input to the pressing position sensor a 22 and the pressing position sensor b 23. In this case, the body 1 commands a command from the control unit 4 to make the body rotate. Receive. Combination of the push position sensor for commanding the body rotational movement is just a preferred example, it is also possible to change to other combinations.

When the position signal is input from the push position sensor b 23 in the stop state, the body 1 is rotated so that the front direction of the body 1 with the occupant front display 51 is the direction in which the position signal is input. At this time, the direction of rotation is to select the less angle to rotate the body (1) from the initial position to the final position. That is, when the direction of the occupant front display 51 is referred to as the initial position and the reference signal is set to 0 °, when the position signal of the push position sensor b is input as -10 ° to -180 °, the motor rotates to the left and + 10 ° to +180. If it is entered in °, it turns right. The criterion of the angle division is only a preferred embodiment, and the angle range can be arbitrarily input to the controller 4.

16 is a view showing the driving unit rotational movement of the movement characteristics of the present invention. As shown, the driving unit rotational movement is a movement of changing only the axial direction of the driving wheels 308 and 311 while maintaining the direction of the body 1 as it is. That is, the direction of the occupant front display 51 remains the same, and only the driving direction display 52 is a movement for changing the direction. This movement is possible by driving the driving wheel a 308 and the driving wheel b 311 opposite each other and rotating the entire driving unit 3. That is, when the driving wheel a (308) and the driving wheel b (311) is driven opposite to each other at the same speed, the body (1) rotates in place, at this time, the drive unit (3) in the direction in which the body 1 to rotate Then, only the driving unit 3 rotates and the body 1 maintains a stationary state with respect to the ground.

This drive rotational motion is used in two cases. The first is a case in which the front direction of the occupant 53 is input and the front direction of the occupant 53 coincides with the driving direction of the driver. In the present invention, since there is no particular forward direction, the user initially sits or sits on board in any direction. At this time, if the top plate inclined to enter the front direction desired by the occupant 53, the control unit commands the drive unit rotation movement to drive the front direction of the occupant 53 that the normal direction of the driver 53 the driving direction of the drive unit with the drive direction indication 52 It coincides with the direction of the display 51. This process corresponds to the preparation process for the actual exercise of the present invention.

In the second case, when the present invention is in operation, it is used when the occupant 53 goes straight in the direction to go without stopping the body of the occupant 53 in a stationary state, in which case it is used in combination with the translational motion. That is, when the top plate 12 is tilted as much as possible in the stationary state, a signal is input to the push position sensor c 25. At this time, the driving direction of the drive unit 3 is pushed in the signal direction of the push position sensor c 25 by the driving unit rotational movement. If the straight movement of the translation motion after the straight turn, the occupant 53 can go straight without rotating the body in the direction to go.

The translational motion, body rotational motion and driving part rotational motion shown in FIGS. 14, 15, and 16 degrees are determined by the degree and direction in which the command tilts the top plate 12. When properly combined, various motions can be executed. . When the user boards, first, the operation of aligning the driving direction of the driving unit 3 of the present invention in the direction desired by the occupant 53 is performed. This work consists of the driving part rotational movement, and after this process, the movement waits. Afterwards, the occupant 53 may control various movements of the present invention by selectively executing three movements by adjusting the direction and degree of tilting the top plate 12.

As described above, in the present invention, since there is no particular forward direction, when the user boards, the first operation of aligning the driving direction of the driving unit 3 in the direction desired by the occupant 53 is performed. This process is explained based on the drawings introduced above.

Before the user boards the drive 3 is directed in any direction with respect to the body 1. When the user boards, this is determined by the pressure sensor 21 and the present invention enters the operating standby state based on the signal of the pressure sensor 21. At this time, the control unit 4 first determines which direction the driving direction display 52 of the driving unit 3 faces through the driving unit position sensor 24. Then, the control unit 4 instructs the occupant 53 to tilt the top plate 12 in the front direction through the speaker 7. The occupant 53 then tilts the top plate 12 in the front direction desired by the occupant, and grasps this signal by pressing the position sensors. Then, the driving unit 3 is rotated with respect to the body 1 using the driving unit rotational movement so that the driving direction of the driving unit 3 is the front direction desired by the occupant 53. After this process, the controller 4 instructs the occupant 53 to press the front direction once again through the speaker 7 to check whether the inclination direction of the occupant 53 is the same as the driving direction of the driver 3. If the front direction desired by the occupant 53 and the driving direction of the drive unit 3 are different, the above process is repeated.

The front display 51 of the occupant represented in the above-mentioned drawing represents the direction received from the occupant 53 through the above process. That is, the occupant front display 51 is only expressed temporarily, the direction is changed every time the user boards.

17 is a view illustrating some ways to reach the direction in which the occupant 53 wants to go. 17 degrees a is a case where only translational movement is directed toward the destination on the right side of the occupant 53. As shown, the occupant 53 can reach the destination by combining the straight forward movement and the right turn movement of the translational movement. 17 degrees b is a case where the body rotation and translational movement are combined to reach the destination. As shown, the occupant 53 may rotate toward the destination by the body rotation movement so that the front of the occupant 53 toward the destination, and reach the destination in a straight motion of the translation. 17 degrees c is a case in which the drive unit rotational motion and the translational motion are combined to reach the destination, in which case the front direction of the occupant 53 maintains its initial state. That is, the body of the occupant 53 does not rotate while going to the destination.

As described above, there are three ways to reach a specific destination. Each of these methods can be achieved by a combination of translation, body rotation and drive rotation. All commands are made by tilting and tilting the top plate. When a specific command is determined, the signal of the push position sensor on the top plate is blocked until the operation for the command is completed. This prevents confusion from being issued by other commands while the body is in operation. The operation by a specific command and the signal cutoff time of the push position sensor are appropriately adjusted according to the characteristics of the operation.

18 is a block diagram of the components constituting the present invention. As shown, all components are connected to the control unit 4 to send a signal to the control unit 4 and receive a command. The control unit 4 receives signals from the pressure sensor 21, the drive unit position sensor 24, and the three push position sensors 22, 23, and 25 to operate the three motors 306, 309, and 8. In addition, the speaker 7 emits a voice signal to the user or the occupant 53.

Hereinafter, a method for controlling the operation of the steering wheelless disc drive device of the present invention will be described in more detail with reference to the accompanying drawings.

19 is a flowchart illustrating a method of controlling the operation of the present invention.

First, when the user boards (701), the pressure sensor 21 detects this and the circuit of the controller 4 enters the operating state to determine whether the value of the pressure sensor 21 is within a specific range in which the present invention operates. (702)

If the pressure is outside the operating range, the pressure returns to the ready state before boarding, and if the value is within the operating range, the speaker 53 requests the passenger 53 to press the desired front surface by using the top plate 12, and the passenger ( Check the front of (53). (703)

Then, the driving direction of the driving unit 3 is determined to which direction the body 1 is directed (704), and the occupant 53 front direction and the driving direction of the driving unit 3 input by the occupant 53 are determined. It is determined whether this matches (705).

If the two directions do not coincide, the driving motor a 306, the driving motor b 309 and the motor c 8 are operated to rotate the driving unit 3 with respect to the body 1 (706), and the driving direction of the driving unit again. After checking (704), it is confirmed whether the two directions coincide. (705).

When the two directions coincide with each other, the passenger 53 is notified that the front surface desired by the occupant 53 is set by using the speaker 7 (707). Also, the controller 53 determines which direction the front direction of the occupant 53 is in the body. Temporarily stored in the storage medium of the (708), and waits in a stopped state and waits for a signal to be input to the push position sensor a (22).

Then, it is checked whether a signal is input to the push position sensor a (22).

If no signal is input to the push position sensor a (22), it continues waiting in a stop state (709), and if a signal is input, it is checked whether a signal is input to the push position sensor b (23).

If the signal does not come into the push position sensor b (23), the signal is coming only to the push position sensor a (22) to perform the translational movement (712), and if the signal to the push position sensor b (23) the push position sensor c ( 25, check whether a signal is input (713).

If no signal is input to the push position sensor c (25), only the signal is pushed to the push position sensor b (23). Therefore, the body rotates (714) and the push position sensor c (25) receives a signal. Execute (715)

After the translational movement step 712, the body rotational movement step 714, or the drive unit rotational movement step 715, it enters the operating standby state.

Then, it is determined whether a signal enters the push position sensor a 22 (717), and when the signal comes back to step 711 of determining whether a signal enters the push position sensor b 23, if no signal comes in, It is determined whether the value of the pressure sensor 21 is within a specific range (718).

When the value of the pressure sensor 21 is within a certain range, the process returns to the standby state 716, and when the pressure sensor 21 is outside the specific range, the occupant 53 ends in the present invention.

20 is a flowchart illustrating a method of controlling the translational motion of the present invention.

In the step 712, the translation of the present invention in operation, the translation is controlled as follows.

First, it is determined whether the difference between the signal position of the push position sensor a 22 and the front direction of the occupant 53 is less than 90 °.

If the difference is greater than or equal to 90 °, the body 1 is reversed (722), and then the operation of determining whether the difference between the signal position of the push position sensor a (22) and the driving direction is greater than 10 ° (724). If the difference is less than 90 °, the body 1 is once straightened.

After the body 1 is moved straight, it is determined whether the difference between the signal position of the push position sensor a 22 and the driving direction is smaller than 10 °.

If the difference is greater than or equal to 10 °, after performing the rotational movement toward the smaller difference, the step of determining whether the difference between the signal position of the push position sensor a 22 and the driving direction is smaller than 10 °. If the difference is less than 10 °, the body 1 continues straight.

Then, it is determined whether the signal continues to enter the push position sensor a (22).

If the signal does not come in, the translational motion is terminated. When the signal is input to the push position sensor a 22, it is determined whether the difference between the signal position of the push position sensor a 22 and the driving direction is greater than 10 °. )

If the difference is less than or equal to 10 °, the process returns to step 726 of straightening the body 1, and if the difference is greater than 10 °, the difference between the signal position of the push position sensor a 22 and the driving direction is 170 °. Determine if greater than (729)

If the difference is less than or equal to 170 °, the process returns to the rotation stage 725. If the difference is greater than 170 °, the body 1 is decelerated and stopped.

Then, the translational movement is terminated, and the state 716 of FIG. 19 is entered.

21 is a flowchart illustrating a method of controlling the body rotational motion of the present invention.

In the step 714 of the body rotational movement of the present invention in operation, the body rotational movement is controlled as follows.

First, it is determined whether the difference between the signal position of the push position sensor b 23 and the front direction of the occupant 53 is greater than 10 °.

If the difference is less than or equal to 10 °, the body rotation movement is terminated. If the difference is greater than 10 °, the body 1 is moved in place by operating the drive motor a 306 and the drive motor b 309. Rotate (742)

Then, it is determined whether the difference between the signal position of the push position sensor b 23 and the front direction of the occupant 53 is less than 10 °.

If the difference is greater than or equal to 10 °, the process returns to step 742 of rotating the body 1, and if the difference is less than 10 °, the body rotation is terminated.

22 is a flowchart illustrating a method of controlling the driving unit rotational motion of the present invention.

In operation 715 of the driving unit rotational movement during the operation of the present invention, the driving unit rotational movement is controlled as follows.

First, it is determined whether the difference between the signal position of the push position sensor c 25 and the driving direction of the drive unit 3 is greater than 10 °.

If the difference is less than or equal to 10 °, the drive part rotation movement is terminated. If the difference is greater than 10 °, the drive motor a 306, the drive motor b 309 and the motor c 8 are operated to operate the body. Leave (1) as it is and rotate only the drive unit 3 (752).

Then, it is determined whether the difference between the signal position of the push position sensor c 25 and the driving direction of the drive unit 3 is smaller than 10 °.

If the difference is greater than or equal to 10 °, the process returns to step 752 of rotating the drive unit 3, and if the difference is less than 10 °, the drive unit rotation motion is terminated.

23 is a view showing various examples of the top plate 12 of the present invention.

The present invention can be largely divided into the body portion 32 and the top plate 12, the top plate 12 is simple in structure and can be converted into various. This means that it can be used for several purposes with one body using several tops.

As shown, 23 degrees a shows a top plate with a shock-absorbing bumper on the side, and 23 degrees b shows a top plate with bumpers and various sensors on the side to produce various effects such as sound or lighting during a collision. It is shown. 23 degrees c is a convex rather than a concave dish shaped top plate shaped like a flying saucer. 23 degrees d is a top plate with railings installed, and 23 degrees e is a view showing the top plate with a height of the railings so that even young children can ride. In addition, 23 degrees f is a view showing the top plate flattened so that the user can ride even standing.

According to the present invention, since there is no distinction between the front and the rear in the electric vehicle, the user can freely ride in any direction and arbitrarily set the front direction, and since there is no steering knob, both hands of the occupant are free during operation. Has the advantage. In addition, by combining the rotation of the three motors can provide a variety of movements, such as translational movement, body rotational movement and drive unit rotational movement. In addition, there is an advantage that can be used for various purposes by only replacing the top plate.

Claims (7)

Two drive wheels 308 and 311 exerting a driving force independently by two motors 306 and 309, a cylindrical drive part 3 including the drive wheels and having a thread formed on the outside thereof; A motor 8, which rotates the drive unit 3 by meshing with a screw thread of the drive unit 3, and a circular connection contact 313 at a lower surface thereof so as to supply power to the rotating drive unit 3. It is formed and the driving unit cover 301 surrounding the driving unit 3, the circular driving unit position sensor 24 for detecting the relative position of the driving unit 3 is mounted, A control unit 4 which receives signals from various sensors and controls three motors 306, 309 and 8, a speaker 7 connected to the control unit 4 to provide information to a user, and a power supply to the control unit 4 A battery 5 for supplying a battery, a charger 6 connected to the battery 5, a plug 91 connected to the charger 6, and a plug holder 9 for storing the plug 91 are disposed in a circular shape. Mounted, A thin cylindrical body (1) mounted at the center of the drive unit (3), in which eight ball wheels (16) which can be rolled without direction are inserted into and fixed to the lower surface; And Pressure sensor 21 to check that the user boarded, three push position sensors (22, 23, 25) to grasp the direction and inclination of the passenger to go, the top plate for providing an elastic force to the top plate 12 where the occupant sits Support spring (15) is installed on the top, A lower body cover (11) having a wire connection portion (19) mounted on the lower surface and fixed to the body (1) with a screw; And A disc-shaped upper plate 12 mounted on an upper portion of the body cover 11 and having a three pressing plates 13, 14, and 20 formed on a lower surface thereof; Disc-shaped electric drive device without a steering wheel, characterized in that consisting of. The method of claim 1, wherein the drive unit 3 A disk-shaped drive part upper plate 302 including a connection contact 303 formed in a circular shape on an upper surface thereof, and a wire connection part 312 fixed to a lower surface connected to the connection contact 303; And Two driving wheels connected to the wire connection part 312 and connected to the two motors 306 and 309 fixed by the fastener 314 and the transmission motors 307 and 310 to the two motors 306 and 309. A cylindrical drive part body 304 having threads formed on the outside thereof, including 308 and 311; Disc drive electric drive device without a steering wheel, characterized in that consisting of a ring drive plate coupling plate 305 is coupled to the lower surface of the drive unit body (304). Determining whether the pressure of the upper plate 12 by the weight of the occupant is within the operating range (702), and checking the front surface desired by the occupant if the pressure is within the operating range (703); Determining the driving direction of the driving unit 3 relative to the body 1 (704); It is determined whether the driving direction of the occupant 3 and the driving direction of the driving unit 3 coincide with each other (705). If not, the three motors 306, 309 and 8 are operated to rotate the driving unit 3 with respect to the body 1, 706, notifying the occupant that the front face desired by the occupant has been set (707); Temporarily storing (708) the occupant front direction relative to the body (1) in the controller (4); Waiting 709 at a standstill; Determining whether a signal is input to the push position sensor a (710); Determining whether a signal is input to the push position sensor b23 when a signal is input to the push position sensor a22 (711); When no signal is input to the push position sensor b 23, a translational movement is performed (712), and when a signal is input to the push position sensor b 23, a determination is made whether a signal is input to the push position sensor c 25 (713). ); If the signal does not enter the push position sensor c (25) (714), if the signal is input to the push position sensor (25) (step 715) to execute the drive unit rotation movement; Wait for operation 716; Judging whether a signal enters the push position sensor a (22) (717); And And (718) determining whether the pressure sensor (21) value is within a specific range when no signal is input to the push position sensor (22). The method of claim 3, wherein the step of performing the translation (712), It is determined whether the difference between the signal position of the push position sensor a 22 and the front direction of the occupant is smaller than 90 ° (721), and if the difference is greater than or equal to 90 °, the body 1 is reversed (722), and the difference Is less than 90 °, straightening the body 1 (723); It is determined whether the difference between the signal position of the push position sensor a 22 and the driving direction of the driving unit 3 is smaller than 10 ° (724), and if the difference is greater than or equal to 10 °, the rotational motion is performed toward the smaller difference. 725, if the difference is less than 10 °, continuing to straighten the body 1 (726); Determining whether the signal continues to be input to the push position sensor (22) (727); Determining whether a difference between the signal position of the push position sensor a 22 and the driving direction is greater than 10 ° when a signal is input to the push position sensor a 22; Determining whether the difference between the signal position of the push position sensor a 22 and the driving direction of the drive unit 3 is greater than 170 °; And And a step (730) of stopping the body (1) after decelerating. The method of claim 3, wherein the step 714 of performing the body rotational movement, It is determined whether the difference between the signal position of the push position sensor b 23 and the front direction of the occupant is greater than 10 ° (741). If the difference is less than or equal to 10 °, the body rotation movement is terminated, and the difference is 10 °. If larger, operating the drive motor a 306 and the drive motor b 309 to rotate the body 1 in place 742; And It is determined whether the difference between the signal position of the push position sensor b 23 and the front direction of the occupant is less than 10 ° (743), and if the difference is greater than or equal to 10 °, rotating the body 1 to step 742. Returning, and if the difference is less than 10 °, the step of terminating the body rotational movement comprising the steering wheel control method of the disc-shaped electric motorized passenger device. The method of claim 3, wherein the step (715) of executing the drive unit rotational movement, It is determined whether the difference between the signal position of the push position sensor c 25 and the driving direction of the driving unit 3 is greater than 10 ° (751). If the difference is less than or equal to 10 °, the driving unit rotation movement is terminated, and the difference Is greater than 10 °, rotating the drive unit 3 by operating the drive motor a 306, the drive motor b 309 and the motor c 8 (752); And It is determined whether the difference between the signal position of the push position sensor c 25 and the driving direction of the driving unit 3 is smaller than 10 ° (753), and if the difference is greater than or equal to 10 °, rotating the driving unit 3 ( Returning to 752), and if the difference is less than 10 °, terminating the drive part rotational movement. The drive unit 3 according to any one of claims 3 to 4, wherein A disk-shaped drive part upper plate 302 including a connection contact 303 formed in a circular shape on an upper surface thereof, and a wire connection part 312 fixed to a lower surface connected to the connection contact 303; And Two driving wheels connected to the wire connection part 312 and connected to the two motors 306 and 309 fixed by the fastener 314 and the transmission motors 307 and 310 to the two motors 306 and 309. A cylindrical drive part body 304 having threads formed on the outside thereof, including 308 and 311; The control method of the disc-shaped electric drive device without a steering handle, characterized in that composed of a ring drive plate coupling plate 305 coupled to the lower surface of the drive unit body (304).