KR20170032822A - Apparatus and methods for control of a vehicle by gyroscope - Google Patents

Abstract

The present invention relates to a gyroscope, and more specifically, to an apparatus for controlling a position of a vehicle through a gyroscope and a method therefor. A vehicle control apparatus of the present invention comprises: a car body including at least one wheel; a gyro package fixed to be moved in at least one direction of the forward and backward directions or the left and right directions with respect to the car body; a transportation means for moving the gyro package; at least one gyroscope installed on the gyro package; at least one flywheel installed on the gyroscope; a power means for rotating the flywheel; a tilting means for tilting the flywheel; sensors for measuring a state of at least one among the car body, an environment around the car body, and the gyro package; and a control unit for controlling at least one among the transportation means, the power means, and the tilting means based on a signal measured from the sensors. Also, the present invention relates to a method for controlling the gyro package fixed to be moved to the car body including at least one wheel and having at least one gyroscope including at least one flywheel. According the present invention, it is possible to adjust at least one among the orientation of the flywheel provided on the gyro package, the rotation speed of the flywheel, and a location of the gyro package based on at least one among a state of the car body measured by the sensors, a state of the environment around the car body, and a state of the gyro package.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control apparatus using a gyroscope,

The present invention relates to a gyroscope, and more particularly, to an apparatus and method for controlling the attitude of a vehicle through a gyroscope.

Recently, technological development has been actively carried out on a 2-wheel drive vehicle which can not collapse. These two-wheel drive vehicles use two wheels, so they have a built-in device that measures the center of gravity and balances it. For example, a two-wheel drive vehicle developed by segway or lit motors has applied a gyroscope-balancing technique. Among them, Segway has been developed for a driving vehicle in which two wheels are arranged in parallel in a direction perpendicular to the traveling direction of the vehicle, and Lit Motor has two wheels arranged in series in the traveling direction of the vehicle Development of a driving vehicle has been progressing.

However, these techniques are concentrated on small-sized vehicles such as wheelchairs, scooters and motorcycles, so that they can not be applied to a heavy-weight vehicle. As the moment of inertia of the rotating flywheel increases and the force that corrects the balance becomes larger as the angular velocity of the rotating flywheel increases, the moment of inertia of the flywheel increases and it takes a considerable time to control the change of the angular velocity. do. In particular, if a motor having a large rated output is used to control the angular speed of the flywheel having a large moment of inertia, there is a problem that the load increases greatly. Since the motor having such a large motor must be installed together with the gimbals, The control means must have a considerable size and weight.

In addition, since the above-described two-wheel drive vehicle of Segway Narit Motors develops a product on the assumption that a small number of people are boarded, the center of gravity is located on the line connecting the two wheels, Control and design are performed on the assumption that the center of gravity does not move largely even when the robot moves.

Therefore, it is difficult to assume that the center of gravity is located on the line connecting the two wheels due to the large number of passengers, or the technology developed by Segway Narit Motors in a vehicle that needs to generate a considerable moment to center the center of gravity Can not be applied as it is.

US 8,490,723 B2 WO 2011/115699 WO 2013/130656 WO 2013/130659

SUMMARY OF THE INVENTION The present invention has been devised to solve the problems described above, and it is an object of the present invention to provide a vehicle which can not maintain its own balance because the number of wheels contacting the ground is two or less, And it is an object of the present invention to provide a vehicle control device which can be applied even when it is extremely difficult to maintain the balance of the vehicle body.

It is another object of the present invention to provide a vehicle control method that can maintain the balance of a vehicle even when various external factors that may affect the balance of the vehicle during the running of the vehicle act on the vehicle.

In order to solve the above-described problems, the present invention provides a vehicle comprising: a body including at least one wheel;

A gyro pack movably fixed to at least one of a front-rear direction and a left-right direction with respect to the vehicle body; Moving means for moving the gyro pack; At least one gyroscope installed in the gyro pack; One or more flywheels mounted on the gyroscope; Power means for rotating the flywheel; A tilting means for tilting the flywheel; A sensor for measuring a state of at least one of a vehicle body, an environment around the vehicle body, and a gyro pack; And a controller for controlling at least one of the moving means, the power means, and the tilting means based on the signals measured from the sensors.

The wheel may be provided in a pair of left and right wheels in a direction perpendicular to the traveling direction of the vehicle body. The positional movement of the gyro pack relative to the vehicle body may be performed along a rail provided on one of the gyro pack and the vehicle body and a rail guide provided on the other side.

Alternatively, the positional movement of the gyro pack relative to the vehicle body may be performed by at least one link arm connected to the gyro pack and the vehicle body, respectively. At least three of the link arms are provided, and one end of the link arms may be connected by a universal joint. And the link arms may be individually adjustable in length.

At least two gyroscopes may be installed in the gyro pack.

And the at least two gyroscopes may be arranged side by side in the vehicle body.

And the at least two gyroscopes can rotate in opposite directions.

The gyroscope may be installed in a gyro pack via a gimbal, and the gyro pack may be provided with tilting means for tilting the gimbal about an axis extending in the longitudinal direction of the vehicle.

One gyroscope is provided with at least two flywheels whose rotational axes coincide with each other, and the two flywheels may have mutually different moments of inertia (I) relative to the rotational axis of the flywheel. Wherein the at least two flywheels whose rotational axes coincide with each other can be driven by power means that provide rotational force independently of each other.

And a gyro pack pitching unit that tilts the gyro pack around an axis perpendicular to the rotation axis and the tilting axis of the flywheel. Wherein the gyro pack pitching means can independently pitch each gyroscope. The pitching of the gyro pack may be implemented by adjusting the lengths of the link arms.

And a gyro pack yaw means for rotating the gyro pack about an axis parallel to the rotation axis of the flywheel. Here, the yawing of the gyro pack may be realized by turning the link arm in different directions.

And a gyro pack lifting means for lifting and lowering the gyro pack. Here, the lifting and lowering of the gyro pack can be realized by adjusting the lengths of the link arms.

The pair of wheels may be driven by a driving device that is independently driven. Here, the driving device of the wheel may be installed in a space inside the wheel to rotate the wheel.

The at least one wheel may be provided with steering means for independently controlling the steering angle of the wheel.

The vehicle control apparatus may further include a support bar contacting the ground and supporting the vehicle body such that the vehicle body is not tilted in a non-running state of the vehicle.

The present invention also relates to a method of controlling a gyro pack comprising at least one gyroscope movably fixed to a vehicle body including at least one wheel and including at least one flywheel, , At least one of the orientation of the flywheel provided in the gyro pack, the rotational speed of the flywheel, and the position of the gyro pack, based on at least any one of the following conditions: .

Adjusting at least one of the orientation of the flywheel, the rotational speed of the flywheel, and the position of the gyro pack so that the vehicle is kept parallel to the ground when the passenger is in the on-board state when the vehicle is switched from the unmanned state to the running state; And after the horizontal state of the vehicle is confirmed by the sensor, the support bar supporting the vehicle body is brought into contact with the ground surface so that the vehicle body is not tilted, so that the vehicle body can be supported only on the ground by the wheels.

When the vehicle ascends on a ground surface having an inclination angle, the distance between the vehicle and the ground is sensed by the sensor, and at least the position of the gyro pack is moved backward, so that the vehicle body is horizontal with the inclined plane. When the vehicle comes down from the ground with a tilted angle, the distance between the vehicle and the ground is sensed by the sensor, and at least the position of the gyro pack is moved forward so that the vehicle body is horizontal with the tilted surface. And control to adjust at least one of the orientation of the flywheel and the rotational speed of the flywheel so that the vehicle remains parallel to the ground.

The vehicle is provided with a pair of left and right wheels in a direction perpendicular to the direction of travel. When it is determined by the sensor that rolling is expected to occur or the vehicle is in a rolling state, at least, It is possible to perform control to move the position of the gyro pack toward the wheel.

When at least one of the orientation of the flywheel and the rotation speed of the flywheel is adjusted so that a moment is generated in a direction opposite to the rolling direction of the vehicle when it is confirmed that the vehicle is expected to cause rolling by the sensor or the vehicle is in a rolling state Can be performed.

It is possible to perform control to move the position of the gyro pack at least in the direction opposite to the traveling direction of the vehicle when it is predicted that pitching will occur in the direction of travel path of the vehicle by the sensor or that the vehicle is in the pitching state forward . And control to adjust at least one of the orientation of the flywheel and the rotational speed of the flywheel so that a moment is generated in a direction opposite to the pitching direction of the vehicle.

Here, if it is determined by the sensor that there is an object near the front of the vehicle or that there is a protrusion on the front road surface of the vehicle, it can be predicted that pitching will occur in the direction of the traveling path of the vehicle.

When the vehicle rotates to the left or right, control can be performed to move the gyro pack toward the center of rotation radius. Also, the control for lowering the height of the gyro pack can be performed.

When at least one of the orientation of the flywheel and the rotation speed of the flywheel is adjusted so that a moment is generated in a direction opposite to the yaw direction, Can be performed.

And control to adjust at least one of the orientation of the flywheel and the rotational speed of the flywheel such that a moment is generated in a direction opposite to the rolling direction when it is confirmed that rolling is expected to occur in the centrifugal direction of the vehicle or rolling occurs You can do more.

A control for adjusting at least one of an orientation of the flywheel and a rotational speed of the flywheel such that a moment is generated in a direction of lowering the center of gravity so that the direction of the vehicle body on the side of the weight of the at least one wheel is closer to the ground . ≪ / RTI >

According to the present invention, not only the principle of the gyroscope but also the position of the gyro pack including the gyroscope can be changed in the vehicle body, so that even when the center of gravity is not on the axis of the wheel, Quick control is possible to balance.

Further, according to the present invention, even if a flywheel of high weight is used to utilize the principle of the gyroscope, control with quick response can be performed.

Further, according to the present invention, due to various external factors occurring during operation of the vehicle, which can not be assumed to have two wheels in parallel in left and right, heavy in weight and centered on the center axis of the two wheels, Even if you are affected by the balance, you can keep that balance constant.

The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart showing the control of a vehicle control apparatus according to the present invention;
2 is a simplified side view of a vehicle according to the present invention,
3 is a simplified plan view of a vehicle according to the present invention,
4 is a perspective view schematically showing a gyro pack according to the present invention,
Fig. 5 is a sectional view taken along the line AA of Fig. 4,
6 is a perspective view showing an example of a moving means of the gyro pack according to the present invention,
7 is a perspective view showing another example of the moving means of the gyro pack according to the present invention,
8 is a view showing a case where a moment is generated by the gyro pack,
9 is a view showing a control flow chart for starting and ending a vehicle in which a vehicle control apparatus of the present invention is installed,
FIG. 10 is a side view showing the posture of the vehicle and the posture of the running state of the vehicle according to the present invention,
11 is a view showing a vehicle body that goes up a slope;
12 is a view showing a vehicle body descending an inclined plane,
13 is a view showing a case in which a protruding jaw is provided in front of the vehicle body,
14 is a view showing a case in which an obstacle is present in front of the vehicle body to perform braking,
Fig. 15 is a view showing a state in which the car rolls to the left side with a jaw on the right side of the paper,
16 is a view showing a state in which the car rolls to the right due to a recessed portion on the right side of the paper, and
17 is a view showing a state in which the vehicle is rotating leftward.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

It is to be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to inform.

[Vehicle Control System]

1 is a flowchart showing a control procedure of a vehicle control apparatus according to the present invention.

The vehicle control device of the present invention will be described on the basis of a vehicle whose posture is unstable because the number of wheels is two or less. However, the present invention is not limited to a relatively stable vehicle because the number of wheels is three or more.

In order to stably control the attitude of the vehicle body in the vehicle, various data about the vehicle body are required. For this purpose, the vehicle is equipped with various sensors such as a GPS (Global Positioning System), a speed sensor, an acceleration sensor, a gyro sensor, and a distance sensor between the ground and the vehicle body. Information, a distance between a point at a plurality of positions of the vehicle body and the ground, and transmits the sensed and measured value to the control unit (ECU).

Also, the present invention aims at stably maintaining the posture of the vehicle using the gyroscope. In order to perform such control, the state of the gyroscope needs to be continuously updated. Therefore, in the present invention, information on the position of the gyro pack to be described later, the inclination angle of the gyro pack, the speed of the gyro pack, the acceleration of the gyro pack, the flywheel speed of the gyroscope, the flywheel acceleration, And updates it.

Further, the present invention grasps the map information of the driving environment around the vehicle in which the database is already equipped. That is, a satellite navigation device which is a part of a sensor for measuring the vehicle condition, extracts surrounding environment information corresponding to the current location of the vehicle from the database, and provides the extracted information to the control unit. For example, it is possible to calculate the inclination angle of the ground on which the vehicle is present by comparing the traveling direction of the vehicle and the topographic map of the database, and extracts information on the nature of the ground, such as whether the road is asphalt or not, It is possible to extract whether or not there is an obstacle and positional information on the obstacle. Such a database can be accessed in real time via a short distance wireless communication such as wifi or a long distance wireless communication such as 3G, LTE or the like, or continuously updated in the vehicle memory.

Further, the present invention utilizes a mono or stereo camera or a video device, an infrared ray or an ultrasonic sensor, a radar, a rider (LiDAR), or the like to determine the current ground state, the form of the surrounding feature, Senses and detects it, and provides it to the control unit.

At this time, the derived information extracted from the driving environment of the vehicle from the map is directly fused with the information detected and detected from the sensors installed in the vehicle. Also, the control unit determines how the current vehicle should be controlled based on the fused vehicle driving environment. For example, based on the currently measured information, an ideal posture for the vehicle to be stably operated can be derived.

Controlling the vehicle based on the current environment of the vehicle and the current posture or state of the vehicle can be used to control various functions such as vehicle suspension control, body posture active control, collision avoidance control, autocruise control, .

In order to maintain the steady state of the vehicle, which may become an unstable state at any time, in the present invention, the position of the gyro pack is shifted, the gyro pack is tilted, or the rotational speed of the flywheel of the gyroscope Or controls the direction of the rotation axis of the flywheel. This allows the center of gravity of the entire vehicle to move in a more stable direction by moving the center of gravity of the gyro pack, generating a moment for stably supporting the vehicle body in the gyroscope, thereby maintaining the vehicle body in a stable posture.

[Overall structure of vehicle according to the present invention]

FIG. 2 is a simplified side view of a vehicle according to the present invention, and FIG. 3 is a simplified plan view of a vehicle according to the present invention.

According to the embodiment of the present invention, the wheels 20 are provided on the front left and right sides of the vehicle body 10, and the wheels 20 are driven by an in-wheel motor, which is a separate driving means 25, respectively. The driving means of the wheel are independently driven and driven and controlled. The two wheels do not have to be steered in the left and right directions, but a configuration may be added so as to prevent tire wear or to provide steering when the turning radius is small or when it is necessary for parking. In addition, since the steering angles of the two wheels 20 need to be adjusted differently as needed, the steering means of the two wheels can be driven independently of each other to independently adjust the steering angles of the two wheels. It is preferable that the wheel 20 is connected to the vehicle body 10 by the suspension device so that the impact from the ground surface is not directly transmitted to the vehicle body 10. [

On the vehicle body, a flat plate-shaped battery 85 is provided so as to cross a central axis connecting the rotation centers of the two wheels. The battery 85 is a part having a considerable weight, and more parts are disposed in front of the vehicle with respect to the center axis connecting the rotation centers of the two wheels. That is, the center of gravity of the battery is located slightly forward of the center axis of the two wheels. This is to allow the center of gravity to be located as close as possible to the center axis of the two wheels when the person is aboard, taking into account the fact that the seat 90 on which the person is boarding is located behind the center axis of the two wheels. The battery is a secondary battery, and can be charged by wire or wireless.

The gyro pack 30 is installed above the battery and is installed on the center axis of the two wheels. Inside the gyro pack, two gyroscopes 33 are arranged side by side along the center axis of the two wheels. Each gyroscope has a flywheel 36, which is rotated by a power means 361, such as a rotary motor.

A control unit (80) is provided in front of the gyro pack (30). In addition, various vehicle accessories such as an inverter and a converter are provided in front of the central axis of the two wheels 20 in the vicinity of the control unit to convert the electric power of the battery to the type of electric power required by the power requiring means.

The steering wheel 95 is an electronic steering device, and a sensor for measuring the angular displacement of the steering wheel is built in. A difference in the driving speed of the two wheels 20 occurs due to the angular displacement of the steering wheel measured by the sensor Steering of the vehicle is performed.

At the rear of the steering wheel, there is provided a seat 90 on which an occupant can sit. The vehicle body of the present invention has a width similar to that of an ordinary passenger car, and accordingly, a pair of left and right seats are provided.

Various sensors 70 are installed in the vehicle to collect various vehicle environment information, vehicle state information, gyro state information, and the like described with reference to FIG. 1 and provide them to the control unit 80.

[ Gyro pack  Structure and Gyro pack  Moving structure]

FIG. 4 is a perspective view schematically showing the gyro pack according to the present invention, FIG. 5 is a sectional view taken along line AA in FIG. 4, FIG. 6 is a perspective view showing an example of a moving means of the gyro pack according to the present invention, Fig. 7 is a perspective view showing another example of the moving means of the gyro pack.

As shown in FIG. 4, the gyro pack 30 of the present invention, which is installed to the left and right of the vehicle body, has a structure in which two gyroscopes 33 are arranged side by side along the lateral direction of the vehicle body. Each gyroscope includes flywheels 36 having mutually different moments of inertia and rotation motors 361 for driving the flywheels, respectively.

The two flywheels shown in FIG. 5 coincide with the rotation axes of the two flywheels. The upper flywheel receives rotation force from the upper motor 361 and rotates. The lower flywheel receives rotation force from the lower motor to rotate. The rotational directions of the two upper and lower flywheels coincide with each other. The two flywheels are housed in the housing and gimbals 35 and rotate in the gimbals, and the gimbals are rotated about the tilt axis 372 by a necessary angle around the tilt motor 371 as the tilting means. That is, the tilting means can rotate the flywheel about the tilting shaft 372 to adjust the orientation of the rotation axis of the flywheel. If a single gyroscope is composed of two flywheels with different moments of inertia, the acceleration and deceleration of the flywheel with a relatively small moment of inertia can be accelerated so that the rotation speed of the flywheel can be raised or lowered quickly. It is possible to achieve faster response when the moment is controlled. The rotating motor that drives the flywheel also functions as a generator when reducing the speed of the flywheel so that the rotational kinetic energy of the flywheel can be recovered by electric energy again.

The flywheels respectively installed in the two gyroscopes 33 rotate in opposite directions as shown in Fig. This is because, among the moments generated by the two gyroscopes, the desired moments do not cancel each other and the undesired moments cancel each other out. Also, the tilting angle can be controlled by the tilting means so that the two gyroscopes 33 can be tilted by as much as necessary for control, about the tilt axis extending in the front-rear direction of the vehicle.

Referring to FIG. 4, the gyro pack 30 of the present invention can be configured to translate back and forth and / or right and left as well as pitch (P) and yaw (Y).

6, the rail guide 312-1 is installed on the rail 311-1 extending in the forward and backward directions to move the rail guide 312-1, To move back and forth. A rail 311-2 extending in the left and right direction is provided on the rail guide 312-1 moving in the front and rear direction and a rail guide 312-2 engaged with the rail 311-2 is provided, 2 can be moved laterally along the rail 311-2. The gyro pack 30 is installed on the rail 312-2. Therefore, by controlling the positions of the two rail guides relative to the two rails using a linear motor or the like, the movement of the gyro pack 30 in the forward, backward, and / or left and right directions can be controlled as a result. Here, the gyro pack 30 can be installed so as to be able to pitch (P) with respect to the rail guide 312-2. As the gyro pack pitching means, a motor can be used.

Fig. 7 shows a structure in which the gyro pack can be moved in a manner different from that of Fig. 6, the gyro pack can be rotated in the pitching direction or the yawing direction, and the gyro pack can be lifted and lowered. The gyro pack 30 is mounted on four link arms 313 with respect to the mounting surface of the vehicle body. A means for rotating the link arm about the vertical axis is formed at the lower end of the link arm 313, means for rotating the link arm about the horizontal axis is provided at the upper portion thereof, and the link arm is provided with a ram ) And the like, the length of which is expanded and contracted by hydraulic pressure. Of course, the length of the link arm is controlled to be independently adjusted for each link arm. The upper end of the link arm is connected to the gyro pack 30 by a universal joint method.

Therefore, when the four link arms are all pivoted forward in parallel, the gyro pack moves forward, and when the four link arms are all turned in parallel to the right side, the gyro pack also moves to the right. If the link arms are all moved in the same direction, the movement of the gyro pack is possible.

Next, the length of the two link arms behind the four link arms is increased, and when the length of the two link arms is reduced, the gyro pack is rotated in the pitching direction. The reverse is also true.

Next, the right two link arms of the four link arms are rotated forward, and when the left two link arms are rotated backward, the gyro pack is rotated in the yaw direction. The same is true for the other case. In addition, the rear two link arms of the four link arms rotate to the right, and even if the two link arms rotate to the left, the gyro pack is rotated in the yaw direction.

Also, if all four link arms are stretched or shrunk together, the gyro pack will ascend and descend.

As described above, if the four link arms are constructed as described above, movement, pitching and yawing of the gyro pack can be simultaneously realized. In addition, although not described above, the gyro pack may be rotated in the rolling direction. That is, the above-described four link arms serve as the moving means of the gyro pack, and simultaneously serve as the pitching means, the yaw means, the rolling means, and the elevating means.

It goes without saying that the number of link arms and the degree of freedom can be appropriately selected depending on the movement or rotation of the gyro pack to be implemented. It is obvious that there are various modifications such as the case where there are three link arms, and the case where only two of the three link arms have a telescopic structure. In addition, it is possible to implement both the position movement and the rotation of the gyro pack in all directions with one link arm, and also to support both the load and the moment applied to the link arm. to be.

While the present invention has been described with respect to a structure in which a gyro pack having two gyroscopes are entirely pitched, it is needless to say that a structure for pitching two gyroscopes provided in a gyro pack may be applied. Also, the number of gyroscopes is not limited to two, and the number of flywheels provided in one gyroscope is not limited to two.

Referring to Fig. 8 showing a case where a moment is generated by the gyro pack, the flywheels in the road gyroscope 33 rotate in opposite directions to each other. The moments generated when these gyroscopes are oriented as shown in (a) and those generated when orientated as shown in (b) are opposite to each other. In order to precisely control the direction and magnitude of the moment to be generated, both the rotational speed of the flywheel and the direction of the rotational axis of the two gyroscopes can be controlled individually. In other words, it is possible to control both the moment in the pitching direction, the moment in the rolling direction and the moment in the yawing direction applied to the vehicle body by the gyroscope by individually controlling the flywheel rotation speed and the rotation axis direction of the two gyroscopes. The direction of the moment acting on the vehicle body can be additionally controlled by the pitch (P) and yawing (Y) of the gyro pack itself.

[Orientation of gyroscope and Gyro pack  Control of the body posture by movement and rotation]

A vehicle body control method of a vehicle provided with a gyro pack and its moving means according to the present invention will be described in detail below.

The two-wheel drive vehicle of Segway has been developed on the assumption that there are two left and right wheels and the center of gravity is located on the line connecting these two wheels. The acceleration and the direction of the vehicle body are controlled such that the acceleration due to the sum of the acceleration of gravity and the acceleration of the vehicle body is directed toward the center of the wheel.

In the two-wheel drive vehicle of Lit Motors, the development of the technology has been advanced on the assumption that the center of gravity is located on the line connecting the front wheels and the rear wheels and the two wheels are connected to each other. When the vehicle body with the rear wheel is stopped or when the vehicle is running at a low speed and is in an unstable state and when a moment is applied in the direction of the vehicle body falling due to an external force generated when the vehicle is impacted by an external factor, And a moment is generated to control the posture.

On the other hand, the present invention is based on the premise that the center of gravity is not located on a line connecting two wheels, and as a result, the position and / or the position of the gyro pack, Or the movement of the load due to the rotational movement and the generation of moment of the gyroscope are continuously controlled to control the posture.

FIG. 9 is a view showing a control flow chart for starting and ending the operation of the vehicle in which the vehicle control device of the present invention is installed, and FIG. 10 is a side view showing the posture of the vehicle and the posture of the running state of the vehicle according to the present invention.

10 (a), in the parking state in which no person is riding, more load is distributed to the front portion of the vehicle body 10 about the wheel 20 as described above, so that the vehicle is tilted forward do. Since the gyroscope is also stopped when the vehicle is not in operation, a support (not shown) for supporting the vehicle protrudes downward from the front of the vehicle body to support the vehicle body against the ground.

When a person rides to start a vehicle and starts the operation, it is necessary to grasp what kind of support is less likely to be loaded by the sensor in front of and behind the vehicle, and then the support is pulled into the vehicle and the inclination angle and / Measure the distance between the bottom of the car and the ground measured from the front and rear of the car, respectively.

Then, the position of the gyro pack is moved forward or rearward in a necessary direction so that the car has a parallel posture with respect to the ground, and at the same time, the gyroscope is operated to control the vehicle body to be horizontal on the ground. For example, if the front of the car is heard and the rear is lowered, the gyro pack is moved forward and the gyroscope is controlled to cause a moment to lift the rear of the car. Thus, after the vehicle body is stably controlled so as to be parallel to the ground, all the support members enter the inside of the vehicle body. Then, the state as shown in FIG. 10 (b) is maintained.

According to the embodiment of the present invention, the seat 90 on which the person is boarding is positioned behind the center axis of the two wheels, and the weight of the boarding person, the number of persons on boarding, the boarding posture of the boarding person, The position of the center of gravity can be changed by various variables such as the seat position adjustment of the seat, so that the state in which the center of gravity is not located on the line connecting the two wheels is set as the default state, . Therefore, in order to maintain the default state as shown in FIG. 10 (b), a state in which the tilt angle and the rotational speed are controlled such that the gyro pack moves forward and the gyroscope raises the rear of the vehicle body causes a basic default control state do.

On the other hand, after the operation is completed, the sensor confirms whether there is a space for the support to come out on the ground, and the support is lowered. At this time, if there is no space for the support stand, the controller checks the position of the gyro pack and the gyroscope to ensure that the space for the support is secured by adjusting the balance of the vehicle body.

Fig. 11 is a view showing a vehicle body that ascends an inclined plane, and Fig. 12 is a view showing a vehicle body descending an inclined plane.

When the vehicle running on the flat ground is folded on the inclined surface, the vehicle body is raised on the inclined surface while being aligned vertically to the gravity direction due to the action of the gyroscope while climbing the inclined surface. In this posture, the front bottom surface of the vehicle body may touch the inclined surface . Therefore, in order for the ground and the vehicle body to become parallel to each other when the inclined plane is raised, the vehicle body must be controlled so as to have an attitude to further lower the rear portion of the vehicle body with respect to the gravity direction.

11 (a), when the gyro pack 30 is slightly moved backward and the speed of the flywheel is appropriately adjusted while orienting the gyroscope as shown in FIG. 11 (b), as shown in FIG. 11 the posture of the vehicle body can be controlled as shown in Fig. The movement of the gyro pack and the orientation and rotation speed of the gyroscope can be controlled simultaneously or selectively. Of course, the distance between the ground and the floor front and back of the car is constantly monitored by the sensor.

On the contrary, when the vehicle running on the flat ground descends along the inclined surface, the rear bottom of the vehicle body may touch the inclined surface. Therefore, in order for the ground and the vehicle body to be parallel to each other when the inclined surface is lowered, the vehicle body must be controlled so as to have an attitude to further raise the rear portion of the vehicle body with respect to the gravity direction.

12 (a), when the gyro pack 30 is slightly moved forward and the speed of the flywheel is appropriately adjusted while orienting the gyroscope as shown in FIG. 12 (b), as shown in FIG. 12 the posture of the vehicle body can be controlled as shown in Fig. The movement of the gyro pack and the orientation and rotation speed of the gyroscope can be controlled simultaneously or selectively. Of course, the distance between the ground and the floor front and back of the car is constantly monitored by the sensor.

Fig. 13 is a view showing a case where there is a protruding jaw in front of the vehicle body, and Fig. 14 is a view showing a case where there is an obstacle in front of the vehicle body and braking is required.

In the case of FIG. 13, the sensor located under the vehicle body senses the protruding jaw on the ground. Then, based on the position of the protruding jaw and the speed of the vehicle, the control unit can estimate when the vehicle will step on the protruding jaw to cause the impact, and prepare the posture control in preparation for this. For example, when the vehicle is stepped on the protruding jaw, the car can be pulled forward. Therefore, at this time, the gyro pack 30 can be moved backward to control the tilting angle of the gyroscope and the rotational speed of the flywheel. The movement of the gyro pack and the orientation and rotation speed of the gyroscope can be controlled simultaneously or selectively. This also applies to the case of FIG. That is, when an obstacle is detected in front of the vehicle, the controller can predict the braking strength and timing of the vehicle based on the position of the obstacle and the speed of the vehicle. The tilting angle of the gyroscope and the rotational speed of the flywheel can be controlled by moving the gyro pack 30 in the backward direction in the same manner as the car is to be moved forward. Of course, movement of the gyro pack and adjustment of the orientation and rotational speed of the gyroscope can be made simultaneously or selectively.

Fig. 15 is a view showing a state in which the car rolls to the left side with a tuck only on the right side of the paper, and Fig. 16 is a view showing a state in which the car rolls to the right side with a recessed portion only on the right side of the paper.

As shown in FIG. 15, when the car rolls to the left, the load of the car is shifted to the left, and slip may occur between the right wheel 20 and the ground at this time. Therefore, the gyro pack 30 is moved to the right to prevent overturning or slipping of the vehicle. According to the position control of the gyro pack, the center of gravity of the vehicle body moves to the right side and the load applied to the right wheel 20 is increased, thereby preventing overturning and further ensuring traction between the right wheel and the ground.

In addition, the gyro pack and the gyroscope can be controlled so that a moment is generated in the opposite direction, against rolling occurring to the left side of the vehicle body. For example, the two gyroscopes can pitch each other in opposite directions to generate a moment in a direction resistant to the rolling direction of the vehicle body. Of course, movement of the gyro pack and adjustment of the orientation and rotational speed of the gyroscope can be made simultaneously or selectively.

This can be similarly applied to FIG. 16, and thus a detailed description thereof will be omitted.

17 is a view showing a state in which the vehicle is rotating leftward.

When the vehicle is rotated as shown, the vehicle is also accelerated in a direction away from the center of the turning radius O, in addition to the acceleration received in the gravitational direction. However, as shown in FIG. 17, since the vehicle according to the present invention is provided with only two left and right wheels whose center axes coincide with each other, first, as shown in FIG. 17A, More centrifugal force is generated on the rear side of the vehicle that is located much and farther away, thereby causing yawing in the Y direction. Next, as shown in FIG. 17 (b), the center of gravity of the vehicle body is disposed above the central axis of the wheel, so that rolling occurs in the R direction due to the centrifugal force. In addition, as shown in Fig. 17C, centrifugal force acts on the center of gravity located slightly behind the vehicle body and located above the center axis of the wheel, so that pitching occurs in the P direction.

By moving the gyro pack toward the center of rotation (O) of the turning radius, the wheel near the center of the turning radius is pressed against the center of the turning radius by the rolling, Control to reinforce the relatively weak traction. In addition, the gyro pack is lowered as low as possible and the center of gravity of the vehicle body approaches the center axis of the wheel, thereby further reducing the rolling phenomenon.

The yawing of the gyro pack can be controlled (adjusted), and the orientation and the rotational speed of the rotary shaft of the flywheel of the two gyroscopes can be individually adjusted so that the direction opposite to the rolling (R), pitching (P) So that a moment is generated. Particularly on the side of the rolling (R), it is preferable to control the direction of lowering the center of gravity so that the rear side of the vehicle body, which is the weight side rather than the center axis of the wheel, is closer to the ground than the front side.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the invention is not limited to the disclosed exemplary embodiments. It is obvious that a transformation can be made. Although the embodiments of the present invention have been described in detail above, the effects of the present invention are not explicitly described and described, but it is needless to say that the effects that can be predicted by the configurations should also be recognized.

10: Body
20: Wheel
25: Driving means (in-wheel motor)
30: Gyro pack
31: Moving means
311: Rail
312: Rail guide
313: Link arm
P: Gyro pack pitch direction
Y: Gyro pack yoying direction
33: Gyroscope
35: The gimbal
36: Flywheel
361: Power means (rotary motor)
362:
371: tilting means (tilt motor)
372: Tilting axis
70: Sensor
80:
85: Battery
90: sheet
95: Steering wheel

Claims (30)

A body including at least one wheel;
A gyro pack movably fixed to at least one of a front-rear direction and a left-right direction with respect to the vehicle body;
Moving means for moving the gyro pack;
At least one gyroscope installed in the gyro pack;
One or more flywheels mounted on the gyroscope;
Power means for rotating the flywheel;
A tilting means for tilting the flywheel;
A sensor for measuring a state of at least one of a vehicle body, an environment around the vehicle body, and a gyro pack; And
And a control unit for controlling at least one of the moving unit, the power unit, and the tilting unit based on the measured signal from the sensors,
Wherein the movement of the gyro pack relative to the vehicle body is made by at least one link arm connected to the gyro pack and the vehicle body, respectively.
The method according to claim 1,
Wherein the wheels are provided on the left and right sides in a direction perpendicular to the traveling direction of the vehicle body.
The method according to claim 1,
And both ends of the link arm are connected to the gyro pack and the vehicle body, respectively.
The method according to claim 1,
At least three link arms are provided,
And one end of each of the link arms is connected by a universal joint.
The method according to claim 3 or 4,
Wherein the link arms are individually adjustable in length.
The method according to claim 1,
Characterized in that at least two gyroscopes are installed in the gyro pack.
The method of claim 2,
At least two gyroscopes are installed in the gyro pack,
Wherein the at least two gyroscopes are arranged side by side in the vehicle body.
The method according to claim 6 or 7,
Wherein the at least two gyroscopes rotate in opposite directions to each other and perform car wash motion.
The method according to any one of claims 1, 2, 6, and 7,
The gyroscope is installed in the gyro pack via the gimbal,
Wherein the gyro pack is provided with tilting means for tilting the gimbals about an axis extending in the longitudinal direction of the vehicle.
The method according to claim 1,
Wherein one gyroscope is provided with at least two flywheels whose rotational axes and rotational directions coincide with each other.
The method according to any one of claims 1, 2, 6, and 7,
The gyroscope is installed in the gyro pack via the gimbal,
Wherein the gyro pack is provided with tilting means for tilting the gimbals about an axis extending in the longitudinal direction of the vehicle.
The method according to claim 1,
Further comprising a gyro pack pitching means for tilting the gyro pack around an axis perpendicular to a rotation axis and a tilting axis of the flywheel.
The method of claim 1, 6, or 7,
Further comprising gyro pack yaw means for rotating the gyro pack about an axis parallel to the rotation axis of the flywheel.
The method according to claim 1,
Further comprising gyro pack raising means for raising and lowering the gyro pack.
The method of claim 12,
Wherein the gyro pack pitching means independently pitches each of the gyroscopes.
The method of claim 5,
Further comprising a gyro pack pitching means for tilting the gyro pack about an axis perpendicular to a rotation axis and a tilting axis of the flywheel,
Wherein pitching of the gyro pack is implemented by adjusting the length of the link arm.
The method of claim 4,
Further comprising gyro pack yawing means for rotating the gyro pack about an axis parallel to the rotation axis of the flywheel,
Wherein the yawing of the gyro pack is implemented by turning the link arm in different directions.
The method of claim 5,
Further comprising gyro pack lifting means for lifting and lowering the gyro pack,
Wherein the gyro pack is raised and lowered by adjusting the length of the link arm.
The method of claim 2,
Wherein the pair of wheels are driven by drive devices independently driven.
The method of claim 19,
Wherein the driving device of the wheel is installed in a space inside the wheel to rotate the wheel.
The method according to claim 1 or 2 or 19,
Wherein the at least one wheel is provided with steering means for independently controlling the steering angle of the wheel.
The method according to claim 1,
Wherein the vehicle control device further comprises a support bar for supporting the vehicle body so as to contact the ground so that the vehicle body is not tilted in a non-running state of the vehicle.
A gyroscope having at least two gyroscopes movably fixed to a vehicle body including at least one wheel and having at least two flywheels whose rotational axes and rotational directions coincide with each other and whose moment of inertia (I) A method of controlling a pack,
At least one of the orientation of the flywheel provided in the gyro pack, the rotational speed of the flywheel, and the position of the gyro pack, based on at least any one of the state of the vehicle body measured by the sensor, the environmental condition around the vehicle body, Regulating either one,
Wherein the position of the gyro pack is formed by at least one link arm connected to the gyro pack and the vehicle body, respectively.
24. The method of claim 23,
When the vehicle is switched from the non-running state to the running state,
Adjusting at least one of the orientation of the flywheel, the rotational speed of the flywheel, and the position of the gyro pack so that the vehicle remains parallel to the ground while the passenger is boarding; And
Wherein the control means controls the sensor to detect the horizontal state of the vehicle so that the support bar supporting the vehicle body is brought into contact with the ground so that the vehicle body is not tilted so that the vehicle body is supported only on the ground by the wheels.
24. The method of claim 23,
When the vehicle climbs the ground with an inclination angle,
Wherein the controller controls the sensor to detect the distance between the vehicle and the ground and to move the position of the gyro pack to the rear by at least the link arm so that the vehicle body is horizontal with the inclined plane.
24. The method of claim 23,
When the vehicle comes down on a ground with an inclination angle,
Wherein the controller controls the sensor to detect the distance between the vehicle and the ground and to move the position of the gyro pack forward by at least the link arm so that the vehicle body is horizontal with the inclined plane.
24. The method of claim 23,
Wherein the vehicle has a pair of left and right wheels in a direction perpendicular to the traveling direction,
Characterized in that, when it is confirmed that rolling is expected to occur in the vehicle by the sensor or that the vehicle is in the rolling state, at least the rolling is performed to move the position of the gyro pack to the raised wheel toward the link arm Vehicle control method.
24. The method of claim 23,
A control for moving the position of the gyro pack to the link arm at least in a direction opposite to the traveling direction of the vehicle when it is predicted that pitching will occur in the traveling path direction of the vehicle by the sensor or that the vehicle is in the pitching state To the vehicle.
24. The method of claim 23,
When the vehicle rotates to the left or right,
And controls the gyro pack to move toward the center of the turning radius with the link arm.
23. The method according to claim 23 or 29,
When the vehicle rotates to the left or right,
And controlling the height of the gyro pack to be lowered by the link arm.

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