WO2014035008A1 - Véhicule pliant et procédé de commande dudit véhicule - Google Patents

Véhicule pliant et procédé de commande dudit véhicule Download PDF

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Publication number
WO2014035008A1
WO2014035008A1 PCT/KR2012/010623 KR2012010623W WO2014035008A1 WO 2014035008 A1 WO2014035008 A1 WO 2014035008A1 KR 2012010623 W KR2012010623 W KR 2012010623W WO 2014035008 A1 WO2014035008 A1 WO 2014035008A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
folding
frames
state
command
Prior art date
Application number
PCT/KR2012/010623
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English (en)
Korean (ko)
Inventor
서인수
신인건
Original Assignee
한국과학기술원
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Filing date
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Publication of WO2014035008A1 publication Critical patent/WO2014035008A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D31/00—Superstructures for passenger vehicles
    • B62D31/003—Superstructures for passenger vehicles compact cars, e.g. city cars

Definitions

  • the present invention relates to a vehicle, and more particularly, to a folding vehicle that can reduce the space occupied by the vehicle by applying a folding structure and a control method thereof.
  • the problem to be solved by the present invention is to provide a way to more fundamentally solve the problem of insufficient parking space.
  • the present invention includes a first frame equipped with a front wheel;
  • a rear wheel is mounted, and includes a second frame coupled to the first frame and a hinge structure, and provides a folding vehicle for moving at least one of the first and second frames to a folded or expanded state.
  • the in-wheel motor may be mounted on at least one of the front wheel and the rear wheel to drive at least one of the front wheel and the rear wheel.
  • the first and second frames may be connected to each other, and may include an actuator having a piston rod configured to perform a contraction / expansion operation. It is configured on the top of one of the first and second frame, it may include a bump to prevent the first and second frame is folded downward.
  • a locking pin mounted to one of the first and second frames; It is configured in the other one of the first and second frame, it may include a locking hole in which the locking pin is inserted.
  • the controller may include a control unit configured to control movement of at least one of the first and second frames according to a folding command or an unfolding command transmitted from a remote controller. It may include a camera sensor for collecting the surrounding situation information of the foldable vehicle to transmit to the control unit.
  • the present invention in the control method of the folding vehicle, the front wheel and the rear wheel is mounted and the hinged structure coupled to the first and the second frame coupled to each other to move closer to each other so that the folding vehicle has a folded state and ;
  • the first and second frames are moved away from each other to provide a folding vehicle control method comprising the step of having the folding vehicle in an unfolded state.
  • the control unit of the folding vehicle may include controlling the folding vehicle to have a folded state or an unfolded state in response to a folding command or an unfolding command. And receiving, by the controller, surrounding situation information of the folding vehicle from a camera sensor, wherein the controller determines whether a space for performing the folding or unfolding command is secured based on the transmitted surrounding situation information. If it is determined that the space is secured, a control operation corresponding to the folding command or the unfolding command may be performed.
  • the fold command or the unfold command may be transmitted from a remote controller. And transmitting an error message to the remote controller when the state of the folding vehicle is in a folded state in the folding command and when the state of the folding vehicle is in an unfolding state in the unfolding command.
  • the folding vehicle By using an in-wheel motor mounted to at least one of the front wheel and the rear wheel, the folding vehicle can be in a folded state or an unfolded state.
  • an actuator having a piston rod that connects the first and second frames and performs a contraction / expansion operation the foldable vehicle may be folded or unfolded.
  • the vehicle according to the present invention has a folding structure using a hinge structure. As a result, the vehicle can be folded or unfolded in some cases, so that the area occupied by the vehicle can be adjusted. Therefore, as the area occupied by the vehicle during parking is reduced, the efficiency of the parking space can be maximized.
  • FIG. 1 is a view schematically showing the appearance of a folding vehicle according to an embodiment of the present invention.
  • FIG. 2 is a view schematically showing a folding structure according to an embodiment of the present invention.
  • FIG. 3 is an enlarged view of a portion 'A' of FIG. 2;
  • FIG. 4 to 6 schematically show how the wheel base is adjusted by driving the rear wheels, the front wheels, the rear wheels and the front wheels according to the embodiment of the present invention.
  • FIG. 7 is a view schematically showing a state in which the wheel base is adjusted by the driving of the actuator according to an embodiment of the present invention.
  • FIG. 8 is a schematic view of a folding vehicle and a remote controller according to an embodiment of the present invention.
  • FIG. 9 schematically illustrates a GUI of a remote controller according to an embodiment of the present invention.
  • FIG. 10 is a flow chart schematically illustrating a method for controlling a folding vehicle according to an embodiment of the present invention.
  • the present invention proposes a so-called foldable vehicle that can reduce the area occupied by the vehicle by applying a foldable structure as a solution to solve the insufficient parking space problem.
  • the folding vehicle according to the present invention has a normal wheelbase state when driving by applying a folding / unfolding operation, and reduces the wheelbase when parking. Through this operation, the area occupied by the vehicle can be adjusted according to the vehicle state. Therefore, since the required parking space is reduced, the efficiency of the parking space can be maximized.
  • FIG. 1 is a view schematically showing the appearance of a folding vehicle according to an embodiment of the present invention
  • Figure 2 is a view schematically showing a folding structure according to an embodiment of the present invention
  • Figure 3 is a 'A of FIG. 'Is an enlarged drawing.
  • a foldable vehicle 100 may include a vehicle body 110, a wheel 120, and first and second frames 130 and 140.
  • the vehicle body 110 is a main component that forms a skeleton of the vehicle, and an interior space is provided therein for the user to drive in and drive.
  • the wheel 120 corresponds to the configuration to move the vehicle by the rotational movement.
  • the wheel 120 includes a front wheel 120a positioned at the front of the vehicle and a rear wheel 120b positioned at the rear of the vehicle.
  • the first frame 130 is a configuration in which the front wheel (120a) is mounted.
  • the first frame 130 may be located below the vehicle body 110 and may be integrally formed with the vehicle body 110a. Meanwhile, the first frame 130 may be manufactured separately from the vehicle body 110 and coupled to the vehicle body 110 to be fixed.
  • the second frame 140 is a configuration in which the rear wheel 120b is mounted.
  • the second frame 140 may be combined with the first frame 130 in a foldable structure.
  • the vehicle body 110 may be configured to be coupled to the second frame 140.
  • the folding structure as described above it is possible to adjust the area occupied by the vehicle 100 by adjusting the wheel base. Therefore, since the area occupied by the vehicle 100 when parking is reduced, the parking space efficiency can be increased.
  • first and second frames 130 and 140 may be combined using, for example, a hinge structure.
  • first hinge holes 131 are formed at both ends of the first frame 130, and second hinge holes corresponding to the first hinge holes 131 are formed at both ends of the second frame 140. 141 may be configured.
  • the hinge 190 may extend through the first and second hinge holes 131 and 141 and extend along the width direction of the vehicle. Accordingly, the first and second frames 130 and 140 may be connected to each other through the hinge 190.
  • first and second frames 130 and 140 are coupled in a hinge structure, at least one of the first and second frames 120a and 120b may move based on the hinge axis.
  • the wheelbase is reduced and the area occupied by the vehicle 100 is relatively increased while the hinge axis is increased. Will be reduced.
  • the wheel base is increased and the area occupied by the vehicle 100 is relatively increased while the hinge axis is lowered.
  • the vehicle 100 when the vehicle 100 is parked, at least one of the first and second frames 130 and 140 is moved in a direction closer to each other to adjust the wheel base to have a minimum distance w2. Accordingly, the vehicle 100 has a folded state with a minimum area occupied, thereby maximizing the efficiency of the parking space.
  • the wheel base is adjusted to have a normal state.
  • the wheel base is adjusted to have a maximum distance w1 by moving at least one of the first and second frames 130 and 140 in a direction away from each other. Accordingly, the vehicle 100 has an expanded state in which the area occupied is maximized, that is, a normal state at the time of driving, and thus the vehicle 100 can be normally driven.
  • FIGS. 4 to 6 are views schematically showing how the wheel base is adjusted by driving the rear wheels, the front wheels, the rear wheels and the front wheels according to the exemplary embodiment of the present invention.
  • the rear wheel 120b mounted to the second frame 140 is driven.
  • the second frame 140 moves toward the first frame 130, and the wheel base is reduced.
  • the wheel base is increased by moving away from the frame 130.
  • the front wheels 120a are in a locked state, that is, in a rotation stop state.
  • the front wheel 120a mounted to the first frame 130 is driven.
  • the front wheel 120a is rotated in the clockwise direction
  • the first frame 130 moves toward the second frame 140
  • the wheelbase is reduced.
  • the wheel base is increased by moving away from the frame 140.
  • the rear wheel 120b is in a locked state, that is, in a rotation stop state.
  • the driving of the front wheel 120a and the driving of the rear wheel 120b may be referred to.
  • an in-wheel motor may be mounted to drive the front wheels and the rear wheels 120a and 120b.
  • the in-wheel motor is not mounted on the other one of the front wheels and the rear wheels 120a and 120b.
  • the in-wheel motor is mounted on both the front wheel and the rear wheel (120a, 120b).
  • the wheel with the in-wheel motor is driven to perform a folding / unfolding operation, and the wheel without the in-wheel motor is locked during the corresponding folding / unfolding operation.
  • wheel locking can be achieved, for example, using an electronic parking brake.
  • the in-wheel motor is mounted on both the front wheels and the rear wheels 120a and 120b, one of the front wheels and the rear wheels 120a and 120b may be driven for the folding / unfolding operation or the front wheel and the rear wheel ( Both 120a and 120b can be driven.
  • the wheel is locked by using an electronic parking brake for the other one without operating the in-wheel motor.
  • first and second frames 130 and 140 may be moved using an actuator, which will be described in detail with reference to FIG. 7.
  • the actuator 300 is connected to the first and second frames 130 and 140 and extends along the longitudinal direction of the vehicle 100.
  • the piston rod (310) that is expanded / contracted of the actuator 300 may be directly connected to one of the first and second frames (130, 140), in the embodiment of the present invention, for convenience of description
  • the case connected to the second frame 140 is described.
  • At least one such actuator 300 may be provided.
  • the case in which two actuators are symmetrically formed in the width direction of the vehicle is taken as an example.
  • the actuator 300 may be mounted on both left and right sides of the first frame 130, and may be connected to the second frame 140 with the hinge axis interposed therebetween as the left and right folding axes.
  • a tuning controller may be installed so that the actuators 300 mounted on both sides of the first frame 130 may be operated in the same manner, so that the operation may be synchronized.
  • the folding operation is performed by pulling the second frame 140 by a linear contraction motion of the piston rod 310 of the actuator 300 mounted on the first frame 130.
  • the actuators 300 on both sides mounted to the first frame 130 by the tuning controller operate in synchronization, so that the pulling force is uniformly transmitted to both sides of the second frame 140.
  • a limit switch for example, as a proximity sensor.
  • the limit switch detects the degree to which the rear wheel 120b mounted on the second frame 140 is close to the limit switch. As a result of the detection, when the rear wheel 120b is close to the limit switch to the extent that the folding operation is completed, that is, when the rear wheel 120b is folded, the limit switch generates a folding completion signal as a signal indicating that folding is completed.
  • the folding completion signal transmitted from the limit switch is received by the controller (see 160 of FIG. 8) of the vehicle 100. In response, the controller 160 transmits a stop command of the actuator operation.
  • the unfolding operation is performed by pushing the second frame 140 by a linear expansion movement of the piston rod 310 of the actuator 300 mounted on the first frame 130.
  • the actuators 300 on both sides mounted to the first frame 130 by the tuning controller are operated in synchronization, so that the pushing force is uniformly transmitted to both sides of the second frame 140.
  • the limit switch detects the degree to which the rear wheel 120b mounted on the second frame 140 is far from the limit switch. As a result of the detection, when the rear wheel 120b moves away from the limit switch to the extent that the unfolding operation is completed, that is, the unfolded state, the limit switch generates a unfolding completion signal as a signal indicating that unfolding is completed.
  • the unfolding completion signal transmitted from the limit switch is received by the control unit 160 of the vehicle 100. In response, the controller 160 transmits an actuator operation stop command.
  • a locking structure may be applied to maintain the state stably.
  • a description will be given with reference to FIG. 3.
  • a locking pin 133 and a locking hole 143 corresponding to each other may be used.
  • the case in which the locking pin 133 is mounted on the first frame 130 and the locking hole 143 is configured on the second frame 140 will be described as an example.
  • the locking pin 133 may be mounted on the second frame 140, and the locking hole 143 may be configured on the first frame 130.
  • the locking pin 133 may be inserted into or released from the locking hole 143 through a linear movement. Meanwhile, the driving of the locking pin 133 may be performed through a lock driving apparatus such as a driving motor or a linear actuator.
  • the locking pin 133 When the locking pin 133 is inserted into the locking hole 143, the first and second frames 130 and 140 are locked and their movement is stopped. Accordingly, when the folded state or the unfolded state is completed, by the combination of the locking pin 133 and the locking hole 143, the state can be stably maintained.
  • a plurality of locking holes 143 are formed, but is not limited thereto.
  • the case where two are formed is taken as an example.
  • the locking hole 143a located in the lower portion is coupled to the locking pin 133 in a state in which the vehicle 100 is opened, so that the expanded state can be maintained.
  • the locking hole 143b located at the upper portion is coupled to the locking pin 133 in the folded state of the vehicle 100 so that the folded state can be maintained.
  • the limit switch is used as a proximity sensor, for example, in relation to whether the corresponding operation is completed. May function to control the locking operation described above.
  • a limit switch may be mounted at various positions of the vehicle 100.
  • the limit switch may be configured as an example.
  • the folding completion signal is transmitted from the limit switch to the controller 160, and in response to the folding operation, the controller 160 controls to stop the operation of the actuator 300 or the wheel 120.
  • the controller 160 may control the locking pin 133 to be inserted into the locking hole 143.
  • a unfolding completion signal is transmitted from the limit switch to the controller 160, and in response thereto, the controller 160 controls to stop the operation of the actuator 300 or the wheel 120.
  • the controller 160 may control the locking pin 133 to be inserted into the locking hole 143.
  • the vehicle 100 may be provided with a jaw 135 to prevent the first and second frames 130, 140 are folded downward.
  • Such a bump 135 may be configured in one of the first and second frames 130 and 140.
  • the case where the bump 135 is configured in the first frame 130 will be described as an example.
  • the prevention jaw 135 may be configured to protrude toward the inside of the vehicle along the width direction of the vehicle 100 on the top of the first frame 130. Accordingly, even when the second frame 140 tries to move upwardly based on the hinge axis in the unfolded state, the upper end of the second frame 140 is caught by the bump 135, and thus the movement thereof is prevented. Accordingly, it is possible to prevent the situation in which the first and second frames 130 and 140 are unintentionally folded downward, thereby ensuring the stability of the vehicle 100.
  • the vehicle according to the embodiment of the present invention is configured of a folding structure using a hinge structure.
  • the vehicle can be folded or unfolded in some cases, so that the area occupied by the vehicle can be adjusted. Therefore, the area occupied by the vehicle during parking can be reduced, so that the efficiency of the parking space can be maximized.
  • control of the foldable vehicle in the above-described embodiment may be performed by the user operating a folding / unfolding button or the like provided in the vehicle in the vehicle riding state.
  • the user can control the vehicle by operating the remote controller in the disembarked state, which will be described in more detail below.
  • FIG. 8 is a view schematically showing a folding vehicle and a remote controller according to an embodiment of the present invention
  • FIG. 9 is a view schematically showing a GUI of a remote controller according to an embodiment of the present invention
  • a remote controller 200 corresponds to a configuration for wirelessly controlling the vehicle 100.
  • Such a remote controller 200 and the folding vehicle 100 may constitute a folding vehicle system.
  • a smart device such as a vehicle dedicated remote key or a smart phone may be used.
  • a smart device having a display screen is used as the remote controller 200 will be described as an example.
  • the remote controller 200 may be configured with a first communication unit 210 capable of performing wireless communication with the folding vehicle 100.
  • the communication unit 210 that is, the first communication unit 210 of the remote controller 200 may transmit, for example, a fold instruction signal or an unfold instruction signal to the foldable vehicle 100.
  • the first communication unit 210 may have a function of receiving a signal from the foldable vehicle 100.
  • the remote controller 200 configured as a smart device is stored an application (application) for folding / unfolding, it is possible to easily control the vehicle 100 through such an application.
  • an application application
  • GUI graphical user interface
  • FIG. 9 a graphical user interface as shown in FIG. 9 is displayed on the screen of the remote controller 200, so that the folding / unfolding of the vehicle 100 can be easily controlled. do.
  • the success of folding / unfolding can also be confirmed on the screen.
  • the folding vehicle 100 may include a second communication unit 150 for communicating with the remote controller 200 and a controller 160 for controlling a folding / unfolding operation of the vehicle 100.
  • the second communication unit 150 is configured to perform wireless communication with the first communication unit 210.
  • the second communication unit 150 receives a signal transmitted from the first communication unit 210, and optionally transmits a signal to the first communication unit 210.
  • the first and second communication units 210 and 150 may communicate with each other by various wireless communication methods such as WIFI, bluetooth, 3G, and LTE.
  • the controller 160 receives the signal received through the second communication unit 150 and controls the driving device 170 in response thereto.
  • the driving device 170 may include an in-wheel motor or an actuator (see 300 in FIG. 7) mounted to the wheel, and may further include a lock driving device for driving the locking pin (see 133 in FIG. 3).
  • the front wheel (see 120a in FIG. 1) and / or the rear wheel (see 120b in FIG. 1) may be rotated to reduce or expand the area by folding and unfolding the vehicle 100.
  • the area of the vehicle 100 can be reduced or expanded by folding and unfolding the vehicle 100.
  • the controller 160 may include a plurality of electronic components.
  • the controller 160 may include a microcontroller and a driving controller.
  • the microcontroller may communicate with the remote controller 200 through the second communication unit 150 to receive a command signal, process the same, and output a control signal.
  • the driving controller may output the driving control signal to the driving device 170 in response to the control signal output from the microcontroller.
  • the drive controller may receive the vehicle surrounding information, and determine whether to drive the driving device 170 based on the information.
  • the folding vehicle 100 may be attached to a camera sensor 180 for monitoring the surrounding situation, in this case, the vehicle surrounding information collected through the camera sensor 180 is transmitted to the drive controller. Can be.
  • the driving controller can determine whether a space for folding or unfolding the vehicle is secured. Therefore, it is determined whether the space corresponding to the folding or unfolding command is secured based on the vehicle surrounding information, and the driving device 170 is driven when the space is sufficient. If the space is not sufficient, the driving device 170 is operated. It will not run.
  • the above-described microcontroller and the drive controller can communicate with each other through a vehicle communication system consisting of a multiplexer (bus), bus (demux), such a vehicle communication system is an example It is not limited to this as.
  • a vehicle communication system consisting of a multiplexer (bus), bus (demux), such a vehicle communication system is an example It is not limited to this as.
  • a folding / unfolding command selected by the user is transmitted from the remote controller 200 to the controller 160 of the vehicle 100 (st1). This is performed through the first and second communication units 210 and 150.
  • the controller 160 collects information about the surrounding environment of the vehicle by using the camera sensor 180 and determines whether sufficient space for the folding / unfolding command is secured (st2).
  • the controller 160 transmits an error message to the remote controller 200. In this case, the controller 160 does not perform a control operation related to the folding / unfolding command.
  • a folding / unfolding command is performed.
  • whether to perform a folding / unfolding command is related to a current vehicle state, that is, a folded / unfolded state. That is, by checking the vehicle state, it may be determined whether the corresponding command is to be performed.
  • the controller 160 checks whether the vehicle state is in a folded state or an unfolded state (st3).
  • the folding operation is performed according to the folding command, and the vehicle 100 is converted to the folded state (st4).
  • the controller 160 can transmit a success message to the remote controller 200.
  • the controller 160 transmits an error message to the remote controller 200.
  • the controller 160 checks whether the vehicle is in an unfolded state or a folded state (st5).
  • the unfolding operation is performed according to the unfolding command so that the vehicle 100 is converted to the unfolded state (st6).
  • the controller 160 can transmit a success message to the remote controller 200.
  • the unfolding command cannot be performed, and thus the controller 160 transmits an error message to the remote controller 200.
  • an electric vehicle using electricity is preferable, but is not limited thereto.
  • all kinds of vehicles such as a vehicle using a fuel such as gasoline, a hybrid vehicle, can be used.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La présente invention concerne un véhicule pliant qui comprend : un premier cadre sur lequel sont installées les roues avant ; et un second cadre sur lequel sont installées les roues arrières et qui est accouplé au premier cadre au moyen d'une structure à charnière, l'un des cadres pouvant être déplacé de sorte à passer d'un état plié à un état déplié.
PCT/KR2012/010623 2012-08-30 2012-12-07 Véhicule pliant et procédé de commande dudit véhicule WO2014035008A1 (fr)

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KR1020120095660A KR101390399B1 (ko) 2012-08-30 2012-08-30 접이식 차량 및 그 제어 방법
KR10-2012-0095660 2012-08-30

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WO2014035008A1 true WO2014035008A1 (fr) 2014-03-06

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CN106697106A (zh) * 2016-12-13 2017-05-24 广东技术师范学院 可折叠汽车及折叠旋转装置
WO2020201970A1 (fr) 2019-03-29 2020-10-08 Bombardier Recreational Products Inc. Véhicule à longueur totale variable et procédé de modification sélective de la longueur
CN113165483A (zh) * 2018-10-12 2021-07-23 靛蓝技术股份有限公司 基于感觉输入调整反应式系统的方法和设备以及并有所述方法和设备的车辆

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KR101551103B1 (ko) 2014-07-09 2015-09-08 현대자동차주식회사 폴딩이 가능한 차량의 링크유닛
KR102191827B1 (ko) 2014-07-09 2020-12-17 현대자동차주식회사 폴딩이 가능한 차량의 폴딩 유닛
KR101592729B1 (ko) * 2014-07-09 2016-02-19 현대자동차주식회사 폴딩이 가능한 차량
GB2564064B (en) * 2016-03-22 2021-07-28 Ford Global Tech Llc Motorized transportation scooter
KR102336192B1 (ko) 2017-04-11 2021-12-08 울산과학기술원 전기 자동차
WO2019213015A1 (fr) * 2018-04-30 2019-11-07 Indigo Technologies, Inc. Véhicules articulés à systèmes de positionnement de charge utile

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CN106697106A (zh) * 2016-12-13 2017-05-24 广东技术师范学院 可折叠汽车及折叠旋转装置
CN113165483A (zh) * 2018-10-12 2021-07-23 靛蓝技术股份有限公司 基于感觉输入调整反应式系统的方法和设备以及并有所述方法和设备的车辆
WO2020201970A1 (fr) 2019-03-29 2020-10-08 Bombardier Recreational Products Inc. Véhicule à longueur totale variable et procédé de modification sélective de la longueur
CN113661115A (zh) * 2019-03-29 2021-11-16 庞巴迪动力产品公司 具有可变总长度的车辆和选择性改变长度的方法
EP3947115A4 (fr) * 2019-03-29 2022-04-20 Bombardier Recreational Products Inc. Véhicule à longueur totale variable et procédé de modification sélective de la longueur
US11352092B2 (en) 2019-03-29 2022-06-07 Bombardier Recreational Products Inc. Vehicle with variable overall length and method for selectively changing the length

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