KR20200075987A - Smart driving device that has excellent driving performance and ability to overcome difficult terrain through convergence of wheel and track - Google Patents

Abstract

The present invention relates to a smart traveling device excellent in traveling performance and rough terrain overcoming capability by wheel-track convergence. With the present invention, problems can be resolved such as traveling difficulties caused by halting or wheel spinning in a case where there is an irregular terrain or an obstacle such as a step in the traveling direction during wheel drive device driving on a rough terrain and spinning attributable to slip during high-speed traveling caused by left-right speed difference pertaining to steering based on the left-right speed difference of a track drive device. The present invention includes a drive vehicle main body and a wireless communication control module. As a result, high-speed traveling is possible along with traveling on a rough terrain with an uneven ground surface or an obstacle even when the lower end of the vehicle body touches the ground surface or an obstacle is ahead. Accordingly, the disadvantages of wheel and track methods are mutually complemented, quick movement and obstacle overcoming capability are satisfied at the same time, and continuous traveling is possible even in the event of a water surface during traveling. In addition, the present invention is resistant to heat, has a built-in camera, and thus is capable of carrying out reconnaissance through real-time video information in an inaccessible or dangerous area. The excellent rough terrain overcoming capability satisfies consumers′ purchase desires and the present invention can be used for kidult collection and control.

Description

SMART DRIVING DEVICE THAT HAS EXCELLENT DRIVING PERFORMANCE AND ABILITY TO OVERCOME DIFFICULT TERRAIN THROUGH CONVERGENCE OF WHEEL AND TRACK}

The present invention is a high-speed driving by fusion of wheels and tracks, and it is easy to drive even in rough terrain, complementing the disadvantages of wheels and tracks, heat-resistant, and water-carrying even on the water surface, making it difficult for people to access or dangerous areas The purpose of the present invention is to provide a smart driving device having excellent driving performance and rough terrain overcoming ability through fusion of wheels and tracks that can be quickly input and perform reconnaissance missions through real-time video information.

In the case of the existing wheel drive system, if the terrain and obstacles having an unevenness higher than the height difference between the wheel and the body are located in the front, the lower end of the vehicle body is an obstacle even if the wheel cannot overcome the obstacle or the front wheel is overturned by inertia. If the driving cannot be continued due to being placed on the ground, and the wheel does not overcome the obstacles and rotates in place in the sandy land such as sand or gravel, the ground is grounded by the rotational driving force of the wheel, so that the wheel further There was a problem that the driving force cannot be transmitted to the ground because the bottom of the vehicle body is in contact with the ground while being buried deeply.

In addition, the existing track driving device has a frequency capability to overcome the terrain and obstacles with high irregularities, but is not suitable for high-speed driving due to the driving method. Since slip occurs, frictional force is maximized, and there is a problem requiring high output.

In order to solve this problem, a form in which a wheel and a track wheel are combined with a wheel and a wheel are added to the outer direction of the track device, but the half track is not suitable for high-speed driving on a general road, and the friction of the track wheel There is a problem in that the steering performance is not constant according to the road surface state in which driving is caused by a large difference in friction between the wheel wheels and the steering wheel.

In addition, in the case where the wheels are added to the outer direction of the track device, the wheels are mounted on the starting wheel and the floating wheel, so that the suspension cannot be applied, and the steering cannot be steered. If there is a small area or power loss due to side slip, and there is no deceleration at the corner, a side slip phenomenon occurs in which wheel wheels slide to the side, which increases the risk of spin, and rotates when steering of the drive according to the side slip phenomenon The under-steer phenomenon that the vehicle body tends to deviate outward during cornering due to the larger turning radius compared to the desired rotational angle, or the over-steer phenomenon that the vehicle body attempts to deviate inward during cornering due to the smaller radius of rotation compared to the desired rotation angle. This occurs, and the suspension cannot be applied, and the shock absorbing function is significantly lowered when the vehicle is driven at high speed due to the shock absorbing effect only with the tire, so that the vehicle may jump even in small irregularities.

As described above, when driving in the rough terrain of the wheel driving device, if an obstacle such as an irregular terrain and a stepped position is located in the driving direction, the driving may not be smoothly carried out, such as being unable to pass or the wheel is idle, and the left side of the track driving device ·The steering method by the difference in the rotational speed of the right is used. Due to the speed difference in the left and right directions, side slip occurs during high-speed driving, thereby improving the problem that causes spin, and disaster sites such as fire sites that are difficult for humans to access. It can be used to quickly move with excellent maneuverability, to overcome the rough terrain and obstacles without difficulty, to reach the desired location, to grasp the location of human life, or to perform reconnaissance missions in hazardous areas during military operations. There is a need for a radio-controlled smart car that can be used for the collection and control of Kidult by satisfying consumers' purchase needs with the ability to quickly overcome the rough terrain.

In order to solve the above problems, in the present invention, high-speed driving is possible, and at the same time, even if the bottom of the vehicle body hits the ground or the front obstacle is formed in a rough or uneven terrain where the ground is uneven or obstructed, it is possible to overcome the obstacle and enable driving. Complementing the shortcomings of the wheel type and the track type, it satisfies the ability to quickly move and overcome obstacles at the same time, and you can drive without stopping even when the surface of the water appears while driving. It is possible to perform reconnaissance missions through real-time video information by inputting it, and it can meet the consumer's purchasing needs with the ability to quickly overcome the rough terrain, driving performance and the ability to overcome the rough terrain through the fusion of wheels and tracks that can be used for collecting and controlling children. The purpose is to provide an excellent smart driving device.

In order to achieve the above object, the track and wheel fusion driving device according to the present invention

A driving vehicle body that receives a control signal of a control radio communication control module through wireless communication and is driven according to the control signal,

This is achieved by configuring a radio communication control module that transmits and controls a signal at a frequency of 2.5 GHz with a radio frequency channel of RC radio.

As described above, in the present invention, the high-speed driving is possible, and at the same time, in the rough terrain where the ground is uneven and uneven terrain and obstacles are formed, the lower end of the vehicle body makes contact with the ground or overcomes obstacles without obstacles. By complementing the shortcomings of the wheel type and the track type, it simultaneously satisfies the ability to quickly move and overcome obstacles, maximizing the range of land activity, and floating on the surface through buoyancy even when water surface appears while driving, generating propulsion at the water surface. It is possible, heat-resistant, and has a built-in camera. It is put into disaster sites such as fire sites and water safety accident sites that are difficult for humans to access. There is a good effect that can be used for collecting and controlling Kidult by fulfilling the task or satisfying the consumer's purchasing needs with the ability to quickly overcome the rough terrain.

Figure 1 is a block diagram showing the components of a smart driving device with excellent driving performance and rough terrain overcoming ability through fusion of wheels and tracks according to the present invention,
Figure 2 is a perspective view showing the overall shape of the driving vehicle body according to the present invention,
3 is a block diagram showing the components of a driving vehicle body according to the present invention,
4 is a block diagram showing the components of a wireless transmission/reception module according to the present invention;
5 is a perspective view showing components in a state in which a track wheel portion of a vehicle driving unit according to the present invention is removed,
Figure 6 is a perspective view showing a subdivided component of a state in which the track wheel portion of the vehicle driving unit according to the present invention is removed,
7 is a perspective view showing the overall components of the vehicle driving unit according to the present invention,
Figure 8 is an exploded view showing the overall components of the track drive unit according to the present invention, and an enlarged perspective view showing the enlarged partial components,
Figure 9 is an embodiment showing the driving vehicle body according to the present invention is located on the ground, the lower end of the front wheel drive unit and the rear wheel drive unit form a driving force, and the direction in which the front wheel drive unit, the track wheel unit, and the rear wheel drive unit rotates,
10 is an embodiment diagram showing a direction in which the driving vehicle body according to the present invention is positioned on the water surface to form a driving force, and the direction in which the front wheel driving part, the track wheel part and the rear wheel driving part are rotated,
11A is an exemplary view showing a state in which the front and rear wheels of a driving vehicle body according to the present invention are made of sand by the rotational driving force, and the bottom of the front and rear wheels is buried;
Figure 11b is the front and rear wheels of the driving vehicle body according to the present invention, the track wheel portion is in contact with the ground in a situation where the ground clearance is lowered due to the depression of the ground made of sand, and the front and rear wheels are buried in a situation where the driving force is acquired and buried. An embodiment showing a state after being overcome from being separated from the ground,
12A is an exemplary view showing a state before a driving vehicle body according to the present invention overcomes a staircase;
12B is an exemplary view showing a state in which the front of the driving vehicle body according to the present invention overcomes the vertical surface of the staircase and spans the top;
Figure 12c is an embodiment showing a state in which the lower side of the vehicle body of the driving vehicle body according to the present invention across the vertical surface of the stairs,
12D is an exemplary view showing a state in which a vehicle body of a driving vehicle body according to the present invention passes through a vertical surface of a staircase.

Hereinafter, a preferred embodiment according to the present invention will be described with reference to the accompanying drawings.

Figure 1 relates to a block diagram showing the components of a smart driving device (1) excellent in driving performance and rough terrain overcoming ability through the fusion of the wheels and tracks according to the present invention, which is a driving vehicle body (10), wireless communication It consists of a control module 20.

First, the driving vehicle body 10 according to the present invention will be described.

The driving vehicle body 10 serves to receive a control signal of a control radio communication control module through wireless communication and to be driven according to the control signal.

The driving vehicle body 10 according to the present invention is located on the outer surface, and the carbon fiber felt and PEEK (Poly Ether Ether Ketone) material are sequentially joined along the inner circumference of the aluminum frame forming the exterior of the driving vehicle body, and are tripled. The body frame 11 made of a structure is formed.

Specifically, the body frame 11

High-strength, high-toughness and lightweight aluminum frame (11a),

Carbon fiber felt (11b),

PEEK (Poly Ether Ether Ketone) material (11c) consisting of a triple structure composed of bonded,

The aluminum frame (11a)) is aluminum (Al) 91.35 ~ 92.50 wt%, copper (Cu) 0.2 ~ 0.4 wt%, manganese (Mn) 0.2 ~ 0.4 wt%, magnesium (Mg) 1.8 ~ 2.2 wt% Wah, 0.02 to 0.04 wt% of chromium (Cr), 5.0 to 5.4 wt% of zinc (Zn), 0.02 to 0.04 wt% of titanium (Ti), 0.09 to 0.13 wt% of zirconium (Zr), and scandium (Sc) The aluminum billet consisting of 0.02 to 0.04 wt% of components was homogenized by maintaining for 18 to 22 hours at 445 to 455 degrees, and extruded from the homogenized aluminum billet,

The carbon fiber felt 11b is immersed in MEK (Methylethylketone) for 20 to 30 hours, washed and dried at 90 to 110°C to remove residual MEK, and the carbon fiber after drying is 1 mol to 4 After immersing in a potassium hydroxide aqueous solution having a mol concentration for 20 to 30 hours, drying at room temperature for 5 to 10 hours, and heating the dried carbon fibers at a heating rate of 10°C/min at 700 to 1,000°C to prepare surface-treated carbon fibers. and,

The surface-treated carbon fiber is impregnated into an epoxy resin containing a curing agent, and is produced by compression molding at 1 Mpa for 20 to 40 minutes at 80 to 85°C using a hot press.

The aluminum frame 11a is made of an aluminum alloy to which scandium (Sc) is added, and has an increase in recrystallization temperature due to strength, weldability, and high temperature stability, improvement in corrosion resistance, and high strength.

More specifically, Al-Sc Alloy has very high thermal stability during casting and welding, mechanical properties are improved by the Al-Sc precipitation phase, recrystallization temperature is very high at about 600°C, and it exhibits superplastic properties.

In general, aluminum having excellent strength has a disadvantage of poor weldability, poor moldability, and weak corrosion resistance and corrosion, but the aluminum frame according to the present invention has high mechanical properties by including scandium (Sc), but also has weldability and molding. The castle has excellent advantages.

The carbon fiber felt 11b serves as a physical shock-prevention cushion, and has thermal shock resistance and heat resistance.

The carbon fiber felt 11b is surface treated with carbon fiber, so that the carbon fiber has improved adhesion to a base material, and thus has excellent adhesion to a solid epoxy resin, thereby forming a firm bond between the carbon fiber and the epoxy resin.

The body frame 11 according to the present invention consists of a triple structure in which the aluminum frame 11a, carbon fiber felt 11b, and PEEK (Poly Ether Ether Ketone) (11c) material that have undergone the above manufacturing process are bonded to each other, and have surface strength. Is increased to minimize the damage to the frame due to external impact, and it has high temperature stability, so it is excellent in heat resistance of the surface when it is put into the fire site, thereby minimizing the damage caused by the heat inside the main body of the driving vehicle and exhibiting corrosion resistance to the water disaster site. Minimize corrosion of the driving vehicle body when input.

The driving vehicle body 10 according to the present invention includes a wireless transmission/reception module 100, a vehicle driving unit 200, a camera unit 300, a battery unit 400, a water-cooled cooling system 500, a control unit 600, and a buoyancy body 700 is included.

The wireless transmission/reception module 100 is located on one side of the battery unit, is connected to the wireless communication control module and a wireless network, and serves to receive a driving signal and a steering signal of the wireless communication control module and transmit them to the control unit.

As shown in FIG. 4, any one of the Bluetooth communication unit 110, the Zigbee communication unit 120, and the WiFi communication module 130 is selected and configured.

The Bluetooth communication unit 110 serves to exchange information by establishing a low-power wireless connection at an extremely short distance within 10 meters.

It uses the Industrial Scientific and Medical (ISM) frequency band of 2400 to 2483.5 MHz. Among them, a total of 79 channels are used in order to prevent interference from other systems using the upper and lower frequencies, except for the range from 2400MHz to 2MHz and 2483.5MHz to 3.5MHz.

And, in order to eliminate the interference between the systems, it is configured in a frequency hopping (Frequency Hopping) method.

Frequency hopping is a technique of rapidly moving a large number of channels according to a specific pattern and transmitting packets (data) little by little. In the present invention, 79 channels are configured to hop at 1600 times per second.

The Zigbee communication unit 120 serves to provide a data rate of 250kbps toward a gear lock module located at a short distance (10m to 75m) using a frequency band of 2.4GHz.

The WiFi communication module 130 is a combination of wireless technology, and is composed of a wireless LAN technology that enables high-performance wireless communication.

The wireless LAN is a method of constructing a network using radio waves or light without using a wired wire when constructing a network, and uses a frequency band of 2.4 GHz.

The vehicle driving unit 200 is connected to the wireless transmission/reception module and is driven according to the received driving signal by receiving the speed and direction of rotation by a driving signal, and is driven by moving, reversing, rotating, or moving in the left/right direction. Select one and transmit the driving power.

5, the main driving motor 210, the transmission 220, the propeller shaft 230, the front wheel driving unit 240, the track driving unit 250, and the rear wheel driving unit 260 are shown in the vehicle driving unit 200. It consists of.

First, the main drive motor 210 according to the present invention is located on one side inside the vehicle body center of the driving vehicle body, and is connected to the control unit to generate rotational power by an operation signal, and a gear is formed at the end of the front output shaft to form a transmission interior. It is formed in engagement with the gear, and serves to provide rotational force to the front driving unit 240, the track driving unit 250, and the rear wheel driving unit 260 through the transmission 220 and the propeller shaft 230.

Second, the transmission 220 according to the present invention is a gear box shape coupled by engagement of a gear on the side of the output shaft of the main drive motor, connected to the control unit to change the gear ratio according to the driving state to vary the rotational force supplied to the drive wheel It plays a role.

It consists of a first gear mode, a second gear mode, a third gear mode, and a reverse gear mode.

Here, instead of reducing the speed of the front driving unit 240 and the rear wheel driving unit 260 to 5 km/s per hour, the first gear mode increases the rotational force at a ratio of 4:1 compared to the third gear mode, and the unevenness and It is used in the terrain where obstacles and stairs 2c are formed.

At this time, the rotational speed of the track drive unit 250 is reduced to 2.5 km/s, but instead, the rotational force is increased at a ratio of 4: 1 compared to the third gear mode, thereby facilitating overcoming of obstacles in front.

Here, instead of reducing the speed of the front driving unit 240 and the rear wheel driving unit 260 to 15 km/s per hour, the second gear mode increases the rotational force in a ratio of 2:1 compared to the second gear mode, so that the ground is in front. Used on rugged and uneven terrain (2b).

At this time, the rotational speed of the track driving unit 250 is reduced to 7.5 km/s, but the rotational force is increased at a ratio of 2: 1 compared to the third gear mode, thereby facilitating overcoming uneven terrain.

Here, in the third gear mode, instead of raising the speed of the front drive unit 240 and the rear wheel drive unit 260 to 40-50 km/s per hour, the rotational force is reduced to make the ground even in the front, and the flat terrain with well paved roads Used in (2a).

At this time, the rotational speed of the track driving unit 250 is increased to 20 to 25 km/s, but the rotational force is reduced to facilitate the rapid movement of the driving vehicle body.

Here, the reverse gear mode is used in a situation in which the front is dead road or can no longer be driven by switching the rotation directions of the front driving unit 240, the rear wheel driving unit 260, and the track driving unit 250 in the reverse direction.

As described above, the transmission 200 is composed of a first gear mode, a second gear mode, a third gear mode, and a reverse gear mode, and the rotational force of the main driving motor driving the driving vehicle body is changed by changing the gear mode. By minimizing the load of the vehicle driving unit to ensure efficient driving.

Third, the propeller shaft 230 according to the present invention traverses the inner center based on the left and right directions of the main body of the driving vehicle and is formed in a straight line form from the front to the rear of the vehicle body, and is geared with one side of the transmission to receive rotational force. It serves to transmit the rotational driving force to the front wheel drive, the track drive, and the rear wheel drive.

Fourth, the front wheel driving unit 240 according to the present invention is connected to the front end of the propeller shaft through a differential gearbox to receive rotational driving force and transmit rotational driving force to the front wheel of the vehicle driving unit.

This includes a first differential gear portion 241, a front wheel drive shaft 242, and a front wheel 243.

The first differential gear part 241 is connected to the front end of the propeller shaft by engagement of the gear to convert the rotation direction to the vertical left and right directions, and serves to vary the rotational speed of the left front wheel and the right front wheel. .

Through this, a difference in rotational speed between the left front wheel and the right front wheel is generated, thereby enabling left and right turns of the driving vehicle body.

The front wheel drive shaft 242 is an inner direction symmetrically coupled to the left and right sides of the first differential gear part 241, and the outer direction is a rotating shaft of a circular rod shape coupled with the front wheel, rotating the first differential gear part It is rotated by receiving the driving force and serves to transmit the driving force to the front wheel.

The front wheel 243 rotates in contact with the ground in a wheel shape coupled to the outer direction of the front wheel drive shaft 242 and generates a front driving force of the driving vehicle body.

Fifth, the track drive unit 250 according to the present invention is connected to the rear side of the propeller shaft through a differential gear box to receive rotational driving force and transmits rotational driving force to the track wheels of the vehicle driving unit.

It comprises a second differential gear portion 251, a track drive shaft 252, a track rear wheel 253, a track wheel portion 254, a track front wheel 255, a track front shaft 256 is included.

The second differential gear part 251 is located on one side of the rear of the propeller shaft and is connected by gear engagement to convert the rotation direction to the vertical left and right directions, and to change the rotational speed of the left and right track wheels. Plays a role.

Through this, a difference in rotational speed between the left and right track wheels is generated to overcome the irregularly formed terrain and structures at an angle and overcome.

In addition, when the driving vehicle body is driving on the water surface, it is possible to change the direction on the water surface due to the difference in rotational speed of the left and right track wheels.

At this time, when the rotation of the left orbit wheel is relatively slow and the rotation of the right orbit wheel is relatively fast, a left turn is made at the water surface. On the contrary, when the rotation of the right orbit wheel is relatively slow and the rotation of the left orbit wheel is relatively fast, it is turned right at the water surface. This is done.

Here, according to the rotation ratio of the left track wheel and the right track wheel, a difference in rotation radius occurs, and it is possible to rotate in place, rapidly rotate, and slowly rotate to easily reach a desired destination in the water through a wireless communication control module.

The orbital drive shaft 252 is an inner direction symmetrically coupled to the left and right sides of the second differential gear part 251, and the outer direction is a circular rod-shaped rotating shaft coupled to the orbital rear wheel, the second differential gear part It is rotated by receiving the rotational driving force and serves to transmit the driving force to the track wheel.

The track rear wheel 253 is a cylindrical sprocket shape in which protrusion insertion grooves 253a at regular intervals are formed along the inner circumference, and the inside rear gear belt protrusion of the track wheel portion is coupled to the protrusion insertion groove and transmits the rotational force of the track drive shaft. Takes a role to rotate.

The track wheel portion 254 is a gear belt structure formed symmetrically along the front and rear left and right circumferences of the main body of the driving vehicle, and the gear belt protrusions 254b are formed at regular intervals in the longitudinal direction on the inner surface of the belt structure. It is wound by being inserted into the projection insertion groove formed in the front circumference of the track front wheel and the rear circumference of the track rear wheel, and the upper and lower surfaces are made to coincide with the axial distance of the track wheel horizontally. Is rotated.

The track wheel part 254 according to the present invention protrudes at regular intervals in the longitudinal direction along the outer circumference of the gear belt shape of left and right symmetry, and the lower side is formed lower than the lowest ground clearance of the driving vehicle body and spaced apart from the ground, A track propulsion protrusion 254a made to protrude one side from the front of the driving vehicle body is formed.

Here, the track propulsion protrusion 254a is formed so that the lower side is lower than the lowest ground clearance of the driving vehicle body, and the lower portion of the driving vehicle body contacts the ground by irregular terrain and obstacles, and the front wheel and rear wheel are spaced apart from the ground, When it falls on one side of the ground and loses propulsion, it comes into contact with the ground and generates a propulsion and serves to provide a driving force that can be overcome.

In addition, the track propulsion protrusions 254a are formed such that one side of the front protrudes from the main body of the driving vehicle, and when the terrain and obstacles that obstruct driving in the front of the main body of the driving vehicle are located, the track propulsion protrusions formed at regular intervals repeatedly rotate in the driving direction. And serves to provide a driving force that can be overcome by raising the front of the driving vehicle body.

In addition, the track propulsion protrusion 254a is rotated at the water surface while floating on the water surface by the buoyancy body 700 of the driving vehicle body and serves as a webbed and serves to provide propulsion power.

The track front wheel 255 is a cylindrical sprocket shape in which the protrusion insertion grooves 255a at regular intervals are formed along the inner circumference, and the inside rear gear belt protrusions of the track wheel portion are coupled to the protrusion insertion grooves, and the rotational force of the track wheel portion is received. It serves to rotate.

The orbital front shaft 256 is a rotating shaft of a circular rod shape in which the inner direction is symmetrically coupled with the rotating support frame, and the outer direction is combined with the orbital front wheel, rotated by receiving the rotational force of the orbital wheel portion, and the orbital wheel portion is stable Let this be done.

Sixth, the rear wheel drive unit 260 according to the present invention is connected to the rear end of the propeller shaft through a differential gearbox and receives rotational driving force to transmit rotational driving force to the rear wheel of the vehicle driving unit.

This includes a third differential gear portion 261, a rear wheel drive shaft 262, and a rear wheel 263.

The third differential gear part 261 is connected to the rear end of the propeller shaft by engagement of the gear to convert the rotation direction to the vertical left and right directions, and serves to vary the rotational speeds of the left rear wheel and the right rear wheel. .

Through this, a difference in rotational speed between the left rear wheel and the right rear wheel is generated, so that a reverse left turn and a reverse right turn of the driving vehicle body are possible.

The rear wheel drive shaft 262 is an inner direction symmetrically coupled to the left and right sides of the third differential gear part 261, and the outer direction is a rotating shaft of a circular rod shape coupled to the rear wheel, and the rotation of the third differential gear part It is rotated by receiving the driving force and serves to transmit the driving force to the rear wheel.

The rear wheel 263 is a wheel shape coupled to the outside direction of the rear wheel drive shaft 262 and rotates in contact with the ground to generate a rear driving force of the main body of the driving vehicle.

The camera unit 300 is coupled to the front center of the main body of the driving vehicle and is connected to the control unit to rotate in the up-down direction by the driving signal, and serves to transmit real-time image data around the front to the wireless receiver in real time.

The camera unit 300 according to the present invention provides real-time image information by transmitting image data to a wireless receiver connected to a network through a control unit.

Through this, it is possible to check the front situation of the main body of the driving vehicle in real time through the display section of the wireless receiver so that it can be put into a disaster site, such as a fire site that is difficult for humans to access, to determine the location of a person's life or to perform reconnaissance missions in dangerous areas of military operations. can do.

The battery unit 400 is located on one inner central side of the main body of the driving vehicle and serves to supply power to the wireless transmission/reception module, the front wheel driving unit, the camera unit, and the water cooling system.

It consists of a lithium ion polymer battery.

The water-cooled cooling system 500 is formed in a hose shape along the inner circumference of the main body of the driving vehicle, and is connected to the control unit to forcibly circulate cooling water injected therein through a water pump to cool internal and external heat of the main body of the driving vehicle. The Lord plays a role.

The water-cooled cooling system 500 according to the present invention is built in a temperature sensor and is automatically operated when the internal temperature of the driving vehicle body rises above a set temperature, and is automatically stopped when it is maintained below a set temperature.

In addition, it can be controlled so that it is always operated when it is put into a fire site or a place with a high external environment.

Through this, even if the driving vehicle body is exposed to high heat due to self-heating or external environment, the driving vehicle body can be minimized from being damaged by heat.

The control unit 600 is connected to a wireless transmission/reception module, a driving unit, a camera unit, a battery unit, and a water-cooled cooling system, and controls the overall operation of each device while connecting the shafts according to driving and steering signals of the wireless communication control module. It controls driving by selecting any one of driving, coaxial inversion driving, self-rotating driving, left (측) lateral movement, and right (右) lateral movement.

The buoyancy body 700 serves to form the same buoyancy in the left and right directions in a rectangular box shape symmetrically embedded in the inner center left and right sides of the driving vehicle body.

Here, when the main body of the driving vehicle floats on the water surface, the protruding jaws formed at regular intervals on the outside of the track wheel portion become chunky bodies and generate power by rotation.

Through this, even if the main body of the driving vehicle is driven from the ground and the water surface appears, it can be used for amphibious by allowing the vehicle to travel while floating on the surface without stopping, and can be used for life reconnaissance by being put into a water disaster site.

Next, the wireless communication control module 20 according to the present invention will be described.

The wireless communication control module 20 serves to transmit and control a signal at a frequency of 2.5 GHz in the RC radio pre-queue channel to the driving vehicle body.

The wireless communication control module 20 according to the present invention controls driving and braking powers in real time through a network to drive the driving direction and driving speed of the driving vehicle body, controls up and down rotation of the camera unit, and controls real-time image data. It can be displayed, the amount of remaining battery can be checked, and the operation and stop control of the water-cooled cooling system can be controlled.

Through this, it is possible to transmit and receive even if the control distance from the main body of the driving vehicle is farther away, so it can be moved to a disaster site such as a fire site or water safety accident site, which is difficult for humans to access, so that it can quickly move to locate the human life. You can perform reconnaissance missions in hazardous areas.

Hereinafter, a specific operation process of a smart driving device having excellent driving performance and roughness overcoming ability through fusion of wheels and tracks according to the present invention will be described.

First, the main drive motor charged in the main body of the driving vehicle is coupled.

Next, the driving of the driving vehicle body is controlled according to a control signal of a wireless communication control module network-connected with the driving vehicle body.

At this time, receiving the real-time image information through the camera unit located in front of the main body of the driving vehicle, the first gear mode is uneven and the ground is uneven and uneven in the terrain in which irregularities, obstacles, and stairs are formed in front of the driving vehicle. Driving and braking signals by using the second gear mode in poor terrain and the third gear mode in flat terrain with well paved roads, and optionally using the reverse gear mode in situations where it cannot move forward. To control the driving.

Through this, the efficiency of driving is increased and smooth driving is achieved.

Next, by controlling the water-cooled cooling system to be operated at all times when the driving vehicle body is put in a place where there is a fire or a high-temperature external environment, even if the driving vehicle body is exposed to heat even if it is exposed to self-heat inside the vehicle body or high heat due to the external environment. It can minimize the damage caused by.

Next, when the main body of the driving vehicle is put into a water disaster, the main body of the driving vehicle may float on the surface of the water through a buoyant body, and can be used for life reconnaissance by being controlled in the water by rotation of the track propulsion protrusion of the track wheel.

10: driving vehicle body 20: wireless communication control module
100: wireless transmitting and receiving module 200: vehicle driving unit
210: main drive motor 220: transmission
230: propeller shaft 240: front wheel drive
250: track drive unit 260: rear wheel drive unit
300: camera unit 400: battery unit
500: water cooling system 600: control unit
700: buoyancy body

Claims (7)

A driving vehicle body 10 that receives a control signal of a control radio communication control module by wireless communication and is driven according to the control signal,
It is composed of a wireless communication control module (20) that transmits and controls signals to a driving vehicle body with a frequency of 2.5 GHz on the radio frequency of RC radio. Smart driving with excellent driving performance and ability to overcome rough terrain through fusion of wheels and tracks Device.
The driving vehicle body 10 according to claim 1,
Located on one side of the battery unit, and connected to the wireless communication control module and a wireless network, the wireless transmission and reception module 100 for receiving the driving signal and steering signal of the wireless communication control module and transmits it to the control unit,
It is connected to the wireless transmission/reception module and receives the speed and direction of rotation by the driving signal, and is driven according to the received driving signal, and selects any one of the forward, reverse, rotation, and left/right movement of the driving vehicle body. Vehicle driving unit 200 to transmit,
A camera unit 300 coupled to the front center of the main body of the driving vehicle, connected to the control unit, rotated in the up and down direction by a driving signal, and transmitting real-time image data around the front to the wireless receiver in real time;
A battery unit 400 which is located on one side of the center of the inside of the driving vehicle body and supplies power to the wireless transmission/reception module, the front wheel driving unit, the camera unit, and the water cooling system.
It is formed in the shape of a hose along the inner circumference of the main body of the driving vehicle, and is connected to the control unit to forcibly circulate cooling water injected therein through a water pump to cool the internal and external heat of the main body of the driving vehicle. ,
It is connected to the wireless transmission/reception module, drive unit, camera unit, battery unit, and water-cooled cooling system, while controlling the overall operation of each device, depending on the driving and steering signals of the wireless communication control module, shaft connection driving, coaxial reversing driving, A control unit 600 for controlling driving by selecting any one of self-rotation driving, left-side movement, and right-side movement;
Driving performance through fusion of wheels and tracks, characterized in that a buoyant body 700 is formed to form the same buoyancy in the left and right directions in a rectangular box shape symmetrically embedded in the inner center left and right sides of the driving vehicle body. Smart driving device with excellent ability to overcome the rough terrain.
The driving vehicle body according to claim 2,
High-strength, high-toughness and light-weight aluminum frame,
Carbon fiber felt,
PEEK (Poly Ether Ether Ketone) material consisting of a triple structure composed of bonded,
The aluminum frame is aluminum (Al) 91.35 ~ 92.50 wt%, copper (Cu) 0.2 ~ 0.4 wt%, manganese (Mn) 0.2 ~ 0.4 wt%, magnesium (Mg) 1.8 ~ 2.2 wt%, chromium ( Cr) 0.02 to 0.04 wt%, zinc (Zn) 5.0 to 5.4 wt%, titanium (Ti) 0.02 to 0.04 wt%, zirconium (Zr) 0.09 to 0.13 wt%, scandium (Sc) 0.02 to 0.04 wt% The aluminum billet consisting of% component is maintained by homogenizing treatment at 445 to 455 degrees for 18 to 22 hours, and is formed by extruding the homogenized aluminum billet,
The carbon fiber felt is immersed in MEK (Methylethylketone) for 20 to 30 hours, washed, and then dried at 90 to 110°C to remove residual MEK, and the carbon fiber after the drying process has a concentration of 1 mol to 4 mol. After immersing in an aqueous potassium hydroxide solution for 20 to 30 hours, drying at room temperature for 5 to 10 hours, and heating the dried carbon fiber at a heating rate of 10°C/min at 700 to 1,000°C to prepare a surface-treated carbon fiber,
Fusion of wheels and tracks, characterized in that the surface-treated carbon fiber is manufactured by compression molding at 1 Mpa at 80 to 85° C. for 20 to 40 minutes using a hot press after impregnation with an epoxy resin containing a curing agent. Smart driving device with excellent driving performance and ability to overcome rough terrain.
The vehicle driving device 200 according to claim 2,
It is located on one side inside the center of the body of the driving vehicle body, is connected to the control unit to generate rotational power by an operation signal, and a gear is formed at the end of the front output shaft to be formed in engagement with the gear inside the transmission, through the transmission and propeller shaft A main drive motor 210 that provides rotational force to the front drive section, the track drive section, and the rear wheel drive section;
A gear box shape coupled to the side of the output shaft of the main drive motor by meshing, a transmission 220 that is connected to the control unit to change the gear ratio according to the driving state to vary the rotational force supplied to the drive wheels,
The vehicle crosses the inner center based on the left and right directions of the vehicle body, and is formed in a straight line form from the front to the rear of the vehicle body. It is geared with one side of the transmission to receive the rotational force and transmit the rotational driving force to the front wheel drive, track drive, and rear wheel drive. Propeller shaft 230 to transmit,
A front wheel driving unit 240 connected to the front end of the propeller shaft through a differential gearbox to receive rotational driving force and transmit rotational driving force to the front wheels of the vehicle driving unit;
A track drive unit 250 connected to a rear side of the propeller shaft through a differential gearbox to receive the rotation driving force and transmit the rotation driving force to the track wheels of the vehicle driving unit;
It is connected to the rear end of the propeller shaft through a differential gearbox and receives rotational driving force, and is composed of a rear wheel driving unit (260) that transmits rotational driving force to the rear wheel of the vehicle driving unit. Smart driving device with excellent ability to overcome the rough terrain.
According to claim 4, the transmission 220 is
Instead of reducing the speed of the front drive and rear wheel drives to 5 km/s per hour, the first step used in the terrain where unevenness, obstacles, and stairs are formed by increasing the torque at a ratio of 4:1 compared to the third gear mode. Gear mode,
Instead of reducing the speed of the front drive and rear wheel drive to 15 km/s per hour, the torque is increased by a ratio of 2:1 compared to the second gear mode, and the second gear mode is used in uneven terrain with uneven terrain. ,
Instead of raising the speed of the front drive and rear wheel drive to 40-50 km/s per hour, the third gear mode is used in flat terrain with even ground and well-paved roads by reducing the torque.
Wheels characterized by being selectively driven in one gear mode among reverse gear modes used in situations where the front is dead end road or no longer can be driven by switching the rotation directions of the front driving part, rear wheel driving part, and track driving part in the reverse direction. Smart driving device with excellent driving performance and rough terrain overcoming the track.
The track driving unit 250 according to claim 4,
A second differential gear part 251 which is located on one side of the rear of the propeller shaft and is connected by engagement of the gear to change the rotation direction to the vertical left and right directions, and to change the rotational speed of the left and right track wheels;
The inner direction is symmetrically coupled to the left and right sides of the second differential gear part, and the outer direction is a rotating shaft in the shape of a circular rod coupled to the rear wheel of the track, rotated by receiving the rotation driving force of the second differential gear part and rotating it. Orbital drive shaft 252 for transmitting the,
A cylindrical sprocket shape having a protrusion insertion groove 253a at regular intervals along the inner circumference, and the inner rear gear belt protrusion of the track wheel portion coupled to the protrusion insertion groove is rotated by receiving the rotational force of the track drive shaft (253) )and,
A gear belt structure formed symmetrically along the front and rear left and right circumferences of the main body of the driving vehicle, and the gear belt projections 254b are formed at regular intervals in the longitudinal direction on the inner surface of the belt structure to form the front circumference and track of the front wheel of the track. The track wheel part 254 which is inserted into the projection insertion groove formed around the rear circumference of the rear wheel and wound, the top surface and the bottom surface are made to coincide with the distance between the track wheels horizontally, and is rotated by receiving the driving force of the track rear wheel. Wow,
A cylindrical sprocket shape in which a protrusion insertion groove 255a at regular intervals is formed along the inner circumference, and the inside rear gear belt protrusion of the track wheel portion is coupled to the protrusion insertion groove, and the track front wheel 255 rotated by receiving the rotational force of the track wheel portion and,
The inner shaft is symmetrically coupled to the rotating support frame, and the outer shaft is a rotating shaft of a circular rod shape combined with the track front wheel. 256) is a smart driving device that is excellent in driving performance and roughness overcoming ability through the fusion of wheels and tracks, characterized in that it is included.
The track wheel portion 254 according to claim 6,
A track made of a left and right symmetrical gear belt shape protruding at regular intervals along the outer periphery, the lower side being formed lower than the lowest ground clearance of the driving vehicle body, spaced apart from the ground, and the front side protruding from the driving vehicle body Smart driving device with excellent driving performance and rough terrain overcoming ability through fusion of wheels and tracks, characterized in that the protruding projections 254a are formed.

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