KR102479769B1 - racing car performing non-powered driving using gravity - Google Patents

Abstract

The present invention is formed to be able to drive through a front wheel whose direction is adjusted by interlocking with a steering wheel mounted on a main body and a rear wheel disposed rearwardly spaced apart from the front wheel, and performs non-powered driving using gravity, and the occupant operates the brake pedal. It relates to a gravity racing vehicle capable of moving by power along a recovery path by a main braking unit and a recovery drive unit that generate a braking force corresponding to the front distance provided at the front of the main body to measure the separation distance from the front object. In the recovery driving mode in which the measurement sensor moves by power along the recovery route, it is determined whether the separation distance from the front vehicle detected by the front distance measurement sensor is the set stop reference distance or deceleration reference distance, and the main brake unit and the recovery driving mode are determined. A control unit for controlling the driving unit is provided. According to such a gravity racing vehicle, in a recovery section driven by power, it provides an advantage of improving stability by controlling deceleration or stop according to a distance from a vehicle in front.

Description

Gravity racing vehicle {racing car performing non-powered driving using gravity}

The present invention relates to a gravity racing vehicle, and more particularly, to a gravity racing vehicle capable of applying a braking force to maintain safety in an unpowered driving section using gravity and an unmanned recovery section where a user gets on board. .

In general, carts used for leisure are mostly driven by power, and recently, carts capable of driving on ramps without power are also being used.

These carts have been variously proposed, such as Korean Patent Registration No. 10-1458855.

In addition, various methods such as Korean Patent Publication No. 2003-0074046 have been disclosed for driving by power but detecting a magnetic field radiated from an induction wire installed on the road surface.

On the other hand, when the cart exceeds a safety-required risk standard speed while driving on a ramp without power, a structure for improving stability by automatically decelerating the speed is required.

In addition, when the cart drives down the ramp without power and the sensor senses the magnetic field emitted from the guide line after the occupant gets off the cart and automatically travels along the recovery path, collision between the carts that are retrieved can be prevented. structure is required.

The present invention was invented to solve the above requirements, and automatically decelerates the speed when the safety-required risk standard speed is exceeded in the process of driving down a ramp without power, and in the recovery section driven by power, An object thereof is to provide a gravity racing vehicle capable of preventing mutual collision.

In order to achieve the above object, the gravity racing vehicle according to the present invention is formed to be capable of driving through a front wheel whose direction is adjusted by interlocking with a steering wheel mounted on a main body and a rear wheel disposed rearwardly spaced apart from the front wheel. A gravity racing vehicle that performs non-powered driving using a vehicle with a passenger on board, has a main braking unit that generates braking force corresponding to the driver's brake pedal operation, and is capable of moving by power along a recovery path by a recovery drive unit. In the above, a front distance measurement sensor provided in front of the main body and measuring a separation distance from an object in front; a speed sensor for measuring a traveling speed of the main body; a steering angle detection sensor for detecting a steering angle of the main body; In the non-powered driving mode in which non-powered driving is performed using gravity, when the speed detected by the speed sensor exceeds the set critical reference speed and the angle of the steering angle detected by the steering angle detection sensor is determined to be within the set braking tolerance range, the main control In the recovery driving mode in which the speed is controlled to be reduced through the eastern part and the recovery driving unit moves by power along the recovery path, the separation distance from the front vehicle detected by the front distance measuring sensor exceeds the set deceleration reference distance. If it is determined that the driving is continued, the recovery driving unit is controlled so that the driving continues, and if the separation distance from the front vehicle detected by the front distance measuring sensor exceeds the stopping reference distance set shorter than the deceleration reference distance and falls within the deceleration reference distance Controls the main braking unit to decelerate, controls the recovery drive unit to be turned off, and controls the main braking unit to stop the main body when the separation distance from the front vehicle detected by the front distance measurement sensor is less than or equal to the stopping reference distance A controller for controlling the; is provided.

According to the gravity racing vehicle according to the present invention, braking can be performed stably and precisely automatically when the safety-required risk standard speed is exceeded in the process of driving on a ramp without power, and in the recovery section driven by power, It provides the advantage of improving stability by controlling deceleration or stop according to the distance from the vehicle in front.

1 is a schematic plan view of a gravity racing vehicle according to the present invention;
2 is a perspective view of the automatic braking device of FIG. 1 by extracting it;
3 is a plan view of the automatic braking device of FIG. 2;
4 is a perspective view shown in a state in which some elements including the brake pedal of FIG. 2 are removed;
5 is a plan view of the automatic braking device of FIG. 4;
6 is a block diagram showing a control system of the automatic braking device of FIG. 1;
7 is a graph showing the normal range for the relationship between the brake pedal operation angle and the brake oil pressure;
8 is a graph showing the normal range for the relationship between the current supplied to the main braking motor and the brake oil pressure;
9 is a graph showing the normal range for the relationship between the displacement of the push rod and the brake oil pressure;
10 is a cross-sectional view schematically showing a main braking unit according to another embodiment of the present invention;
11 is a flowchart showing a recovery driving mode execution process.

Hereinafter, a gravity racing vehicle according to a preferred embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a schematic plan view of a gravity racing vehicle according to the present invention.

Referring to FIG. 1, a gravity racing vehicle 10 according to the present invention includes a body 110, an automatic braking device 100, a front distance measuring sensor 103, a main braking unit 120, a speed sensor 150, A steering angle detection sensor 160 and a controller 190 are provided.

The gravity racing vehicle 10 has two front wheels 113 whose direction is adjusted in conjunction with the occupant's operation of a steering wheel 116 mounted on a body 110 and two rear wheels spaced apart from each other with respect to the front wheels 113. It is formed to be able to travel through the rear wheel 115, but has a structure with a main braking unit 120 that performs non-powered driving using gravity and generates braking force corresponding to the brake pedal 121 manipulation of the occupant.

The main braking unit 120 will be described with reference to FIGS. 2 to 5 together.

The main braking unit 120 includes a base plate 122, a hydraulic cylinder 130, an interference link 125, a first restoring spring 127, a main braking motor 135, a disc 137, and an eccentric cam 138 to provide

The base plate 122 supports coupling with the main body 110 and provides a mounting area in which an element related to automatic braking is mounted.

The lower end of the brake pedal 121 is coupled to the base plate 122 by a hinge 123 and extends upward.

The hydraulic cylinder 130 is supported in a penetrating state by the vertical support bracket 124 vertically extended to the base plate 121 and interlocked with the advance and retreat of the movably mounted push rod 132 to move the front wheel 113 Brake oil is supplied so that the hydraulic pressure can be adjusted through the main hydraulic line 133 connected to apply braking force.

In the illustrated example, the main hydraulic line 133 connected to the opposite side of the push rod 132 operating as a piston based on the hydraulic cylinder 130 is connected to the distribution chamber 134, and the brake oil in the distribution chamber 134 is supplied to a normal braking element that presses or separates brake pads by hydraulic pressure supplied to each of the two front wheels 113 through the first and second distribution hydraulic lines 134a and 134b. Here, a structure for generating a braking force by interfering with the front wheel 113 is known, and thus a detailed description thereof will be omitted.

The interference link 125 is an interference in which the push rod 132 is pressed when the brake pedal 121 rotates around the hinge 123 according to the pressing force applied to the brake pedal 121 in the direction toward the hydraulic cylinder 130 It is coupled between the brake pedal 121 and the restraining pin 132a formed on the side of the push rod 132 to apply force.

The first restoring spring 127 is mounted to restore the brake pedal 121 to its initial position when no external force is applied, and extends in parallel with the push rod 132 at the top of the push rod 132. It is supported on and elastically supports the brake pedal 121.

The main braking motor 135 is mounted on the base plate 122 so as to rotate the main rotating shaft 135a extending in a direction orthogonal to the extending direction of the push rod 132 .

The disc 137 is mounted to extend in a direction in which the outer diameter is expanded at the end of the main rotational shaft 135a.

The eccentric cam 138 protrudes from the front side 132b opposite to the brake pedal 121 of the push rod 132 at an eccentric position spaced apart from the rotation center of the disk 137 to rotate the main rotation shaft 135a. The push rod 132 is moved forward and backward by interference.

The eccentric cam 138 has a rotatable roller 138a concentrically mounted on the outer circumferential surface.

In this main braking unit 120, when the occupant presses the brake pedal 121, the push rod 132 moves in the direction of compressing the hydraulic cylinder 130, and the brake oil pressurized accordingly is transferred to the main hydraulic line 133. ), the distribution chamber 134, and the first and second distribution hydraulic lines 134a and 134b are supplied to the braking elements of the front wheels 113 to perform braking. Similarly, in a state where the brake pedal 121 is not pressed by the occupant, the main braking motor 135 is operated and interlocked with the rotation of the main rotation shaft 135a so that the eccentric cam 138 moves the front surface 132a of the push rod 132. When the hydraulic cylinder 130 is moved in the compression direction, the brake oil pressurized accordingly is passed through the main hydraulic line 133, the distribution chamber 134, and the first and second distribution hydraulic lines 134a and 134b to the front wheels. (113) Supplied to the braking element, braking is automatically performed.

Elements related to controlling the braking of the main braking unit 120 will be described with reference to FIG. 6 .

The front distance measuring sensor 103 is provided in front of the main body 110 to measure a distance from a front object, for example, a front vehicle, and provides the measured distance to the control unit 190. In the illustrated example, two forward distance measuring sensors 103 are provided to be spaced apart from each other, and one or more than three sensors may be applied differently from the illustrated example.

The speed sensor 150 measures the traveling speed of the body 110 and provides it to the control unit 190 .

The steering angle detection sensor 160 may be configured to detect the steering angle of the main body 110 and to detect rotation angle information of the steering wheel 116 .

The pedal position detection sensor 171 detects the rotation position based on the hinge 123 of the brake pedal 121 and provides it to the control unit 190 .

The motor current sensor 172 detects the current supplied to the main braking motor 172 and provides it to the control unit 190 .

The push rod displacement measuring sensor 173 is applied to detect the amount of movement of the push rod 132 along the pressing direction, and detects displacement information corresponding to the movement of the push rod 132 and provides it to the control unit 190.

Here, the pedal position detection sensor 171, the motor current sensor 172, and the push rod displacement measurement sensor 173 are applied as sensor units that function as sensors for determining an operation error, and only one or two of them may be applied. Of course there is.

The brake oil pressure detection sensor 175 detects the pressure of brake oil supplied from the hydraulic cylinder 130 through the main hydraulic line 133 and provides the detected pressure to the controller 190 .

The sub brake unit 180 is controlled by the control unit 190 to apply braking force to the rear wheel 115 of the main body 110.

Like the main braking unit 120, the sub brake unit 180 applies a providing force to the rear wheel 115 by the pressure of brake oil supplied through a hydraulic cylinder controlled by the control unit 190, or the control unit 190 Various methods may be applied, such as a method of applying force to the rear wheels by activating a sub-braking motor (not shown) controlled by .

The recovery driving unit 185 is controlled by the control unit 190 in the recovery section after completing the non-powered driving mode for performing the non-powered driving using gravity, and applies driving force to the front wheels 113 so that the vehicle can travel by power. Of course, various power driving structures such as a structure capable of rotating the front wheels 113 by operation of a driving motor (not shown) may be applied to the recovery driving unit 185 .

The communication unit 195 provides the signal received from the control server 200 to the control unit 190, and is controlled by the control unit 190 to send transmission target information to the control server 200.

In the non-powered driving mode in which non-powered driving is performed using gravity, the control unit 190 allows braking when the angle of the steering angle detected by the steering angle detection sensor 160 is set while the speed detected by the speed sensor 150 exceeds the set critical reference speed. When it is determined that the speed is within the range, the main braking motor 135 of the main braking unit 120 is operated to control the speed to be reduced. Here, the risk reference speed may be appropriately set according to the use environment, such as 50 km/h, and the braking range of the steering angle may be set within 20 degrees to prevent overturning by braking on a curved road.

In addition, when the control unit 190 determines that the pressure detected by the brake oil pressure detection sensor 175 is out of the range corresponding to the signal detected by the sensor unit, it determines that braking is abnormal and operates the sub brake unit 180. .

That is, the control unit 130 sets a range in which the pressure detected by the brake oil pressure detection sensor 175 corresponds to the pedal rotation position (pedal operation angle) detected by the pedal position detection sensor 171 as shown in FIG. 7 . If it is determined that it deviated, it is determined that the brake is abnormal and the sub brake unit 180 is operated.

Similarly, when the control unit 130 determines that the pressure detected by the brake oil pressure detection sensor 175 is out of the normal range corresponding to the current detected by the motor current sensor 172, as shown in FIG. It is judged as , and the sub braking unit 180 is operated.

In addition, when the control unit 130 determines that the pressure detected by the brake oil pressure detection sensor 175 is out of the normal range corresponding to the signal detected by the push rod displacement measuring sensor 173 as shown in FIG. 9, It is determined that the braking is abnormal and the sub brake unit 180 is operated.

Meanwhile, while applying the hydraulic cylinder 130 and the push rod 132, a main braking unit different from the illustrated example may be constructed, and an example thereof will be described with reference to FIG. 10 . Elements that perform the same functions as in the drawings shown above are denoted by the same reference numerals.

Referring to FIG. 10, the main braking unit 220 includes a fixing bracket 211, a pivoting bar 215, a second restoring spring 213, an interlocking wire 220, an interference piece 222, and an inclined bar 224. to provide

The brake pedal 121 has a through hole 121a formed thereon so that the interlocking wire can move in a penetrating state.

The main braking motor 135 is mounted on the base plate 121 so as to rotate the main rotational shaft 135a along a direction parallel to the push rod 132 unlike before.

The pivoting bar 215 has one end rotatably coupled to the 'L'-shaped fixing bracket 211 mounted on the main body 110 above the brake pedal 121 by a hinge and extending in parallel with the base plate 122 has been

The second restoring spring 213 has one end coupled to the rotation bar 215 and the other end coupled to the fixing bracket 211 so that the rotation bar 215 can be restored to a horizontal state, which is an initial position.

The interlocking wire 220 has one end connected to the bottom surface of the pivot bar 215, extends downward through a through hole 121a formed in the brake pedal 121, and has the other end coupled to an inclined bar 224 to be described later.

The interference piece 222 has an outer diameter larger than that of the through hole 121a formed in the brake pedal 121 and is coupled to the interlocking wire 220 at the top of the brake pedal 121 so that the interlocking wire 220 descends. It interferes with the brake pedal 121 to descend.

The inclined bar 224 is mounted obliquely to the main rotation shaft 135a of the main braking motor 135 and is coupled with the end of the interlocking wire 220 to pull the interlocking wire 220 downward by rotation. The inclination angle of the inclined bar 224 and the coupling position of the interlocking wire 220 are interlocked along the direction in which the brake pedal 121 is pressed when the main rotating shaft 135a is rotated in the direction of pulling the interlocking wire 220 downward. The wire 220 is also determined to be movable along the horizontal direction.

On the other hand, when instructed to perform the recovery driving mode in which the recovery section is driven by using power through the communication unit 195, the control unit 190 operates the recovery drive unit 185 to control the main body 110 to travel by power. .

A process of performing the recovery driving mode will be described with reference to FIG. 11 .

First, the control unit 190 determines whether an instruction to perform the recovery driving mode has been received through the communication unit 195 (step 310), and if it is determined that the instruction to perform the recovery driving mode has been received, the recovery driving unit 185 drives the main body 110. ) is turned on (step 320).

Thereafter, the control unit 190 determines whether the separation distance from the front vehicle detected by the front distance measuring sensor 103 in the recovery driving mode, that is, the distance to the front vehicle exceeds the set deceleration reference distance (step 330). In step 330, if it is determined that the distance to the vehicle in front exceeds the set deceleration reference distance, normal driving is determined and the recovery drive unit 185 is controlled to continue driving, and returns to step 320. In contrast, when it is determined that the separation distance from the front vehicle detected by the front distance measurement sensor 103 in step 330 is equal to or less than the deceleration reference distance, it is determined whether it is within the stopping reference distance set shorter than the deceleration reference distance (step 340). In step 340, if it is determined that the distance from the vehicle in front exceeds the stop reference distance, it is determined that the distance falls within the deceleration reference distance, and the recovery drive unit 185 continues to maintain the operating state of the main brake unit 120 so that only the speed is reduced. Deceleration braking for controlling the main braking motor 135 is performed (step 370). In contrast, when the distance to the preceding vehicle is determined to be within the stop reference distance in step 340, the control unit 190 controls the recovery driving unit 185 to be turned off, and the main body 110 is stopped so that the main braking unit 120 is stopped. The braking motor 135 is controlled (step 350).

After step 350 or step 370, it is determined whether the recovery driving mode end signal is received and corresponds to the end of the recovery driving mode (step 360).

If it is determined in step 360 that the recovery run has not ended, the process returns to step 330.

Through this control process, a safe distance is secured to prevent collisions and accidents with the vehicle in front.

According to the gravity racing vehicle described above, braking can be performed stably and precisely automatically when a safety-required risk standard speed is exceeded in the process of driving on a ramp without power, and in the recovery section driven by power, It provides the advantage of improving stability by controlling deceleration or stop according to the distance from the vehicle in front.

103: front distance measuring sensor 110: main body
120: main braking unit 121: brake pedal
150: speed sensor 160: steering angle detection sensor
190: control unit

Claims (5)

delete It is formed to be able to travel through the front wheels, the direction of which is adjusted by interlocking with the steering wheel mounted on the body, and the rear wheels arranged to be spaced apart from the front wheels, and the non-powered driving using gravity is performed while the occupant is on board, and the occupant's In a gravity racing vehicle having a main braking unit that generates a braking force corresponding to a brake pedal operation and being able to move by power along a recovery path by a recovery drive unit,
a front distance measuring sensor provided in front of the main body and measuring a separation distance from an object in front;
a speed sensor for measuring a traveling speed of the main body;
a steering angle detection sensor for detecting a steering angle of the main body;
In the non-powered driving mode in which non-powered driving is performed using gravity, when the speed detected by the speed sensor exceeds the set dangerous reference speed and the angle of the steering angle detected by the steering angle detection sensor is determined to be within the set braking tolerance range, the main control system In the recovery driving mode in which the speed is controlled to be reduced through the eastern part and the recovery driving unit moves by power along the recovery path, the separation distance from the front vehicle detected by the front distance measuring sensor exceeds the set deceleration reference distance. If it is determined that the driving is continued, the recovery driving unit is controlled so that the driving continues, and if the separation distance from the front vehicle detected by the front distance measurement sensor exceeds the stopping reference distance set shorter than the deceleration reference distance and falls within the deceleration reference distance Controls the main braking unit to decelerate, controls the recovery drive unit to turn off, and controls the main braking unit to stop the main body when the separation distance from the front vehicle detected by the front distance measuring sensor is less than or equal to the stopping reference distance A control unit for controlling;
The main braking unit
a base plate;
The hydraulic pressure can be adjusted through a main hydraulic line connected to apply braking force to the front wheel in conjunction with the advance and retreat of a push rod movably mounted and supported in a penetrating state by a vertical support bracket mounted vertically extending on the base plate. a hydraulic cylinder for supplying brake oil so as to;
Formed on the side surfaces of the brake pedal and the push rod to apply an interference force by which the push rod is pressed when it rotates around the hinge according to the pressing force applied to the brake pedal whose lower end is hinged to the base plate an interference link coupled between the restraining pins;
a first restoring spring mounted to restore the brake pedal to an initial position when no external force is applied;
a main braking motor mounted on the base plate to rotate a main rotating shaft extending in a direction orthogonal to the extending direction of the push rod;
a disc mounted to extend in a direction in which an outer diameter is expanded at an end of the main rotating shaft;
An eccentric cam protruding oppositely to the front surface of the push rod facing the brake pedal at an eccentric position spaced apart from the rotation center of the disk and advancing and retracting the push rod by interference according to the rotation of the main rotation shaft. A featured gravity racing vehicle. [Claim 3] The system of claim 2, further comprising: a sub-braking unit for applying a braking force to rear wheels of the main body;
a brake oil pressure detection sensor for detecting a pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line;
A sensor unit for detecting a rotational position of the brake pedal or a current supplied to the main braking motor;
The control unit determines that the brake is abnormal and operates the sub brake unit when it is determined that the pressure detected by the brake oil pressure detection sensor is out of a range corresponding to the signal detected by the sensor unit. . [Claim 3] The system of claim 2, further comprising: a sub-braking unit for applying a braking force to rear wheels of the main body;
a brake oil pressure detection sensor for detecting a pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line;
Further comprising a push rod displacement measuring sensor for detecting displacement information corresponding to the movement of the push rod;
When the control unit determines that the pressure detected by the brake oil pressure detection sensor is out of the range corresponding to the signal detected by the push rod displacement sensor, it is characterized in that it determines that the braking is abnormal and operates the sub brake unit. Gravity racing vehicle. It is formed to be able to travel through the front wheels, the direction of which is adjusted by interlocking with the steering wheel mounted on the body, and the rear wheels arranged to be spaced apart from the front wheels, and the non-powered driving using gravity is performed while the occupant is on board, and the occupant's In a gravity racing vehicle having a main braking unit that generates a braking force corresponding to a brake pedal operation and being able to move by power along a recovery path by a recovery drive unit,
a front distance measuring sensor provided in front of the main body and measuring a separation distance from an object in front;
a speed sensor for measuring a traveling speed of the main body;
a steering angle detection sensor for detecting a steering angle of the main body;
In the non-powered driving mode in which non-powered driving is performed using gravity, when the speed detected by the speed sensor exceeds the set dangerous reference speed and the angle of the steering angle detected by the steering angle detection sensor is determined to be within the set braking tolerance range, the main control system In the recovery driving mode in which the speed is controlled to be reduced through the eastern part and the recovery driving unit moves by power along the recovery path, the separation distance from the front vehicle detected by the front distance measuring sensor exceeds the set deceleration reference distance. If it is determined that the driving is continued, the recovery driving unit is controlled so that the driving continues, and if the separation distance from the front vehicle detected by the front distance measurement sensor exceeds the stopping reference distance set shorter than the deceleration reference distance and falls within the deceleration reference distance Controls the main braking unit to decelerate, controls the recovery drive unit to turn off, and controls the main braking unit to stop the main body when the separation distance from the front vehicle detected by the front distance measuring sensor is less than or equal to the stopping reference distance A control unit for controlling;
The main braking unit
a base plate;
The hydraulic pressure can be adjusted through a main hydraulic line connected to apply braking force to the front wheel in conjunction with the advance and retreat of a push rod movably mounted and supported in a penetrating state by a vertical support bracket mounted vertically extending on the base plate. a hydraulic cylinder for supplying brake oil so as to;
Formed on the side surfaces of the brake pedal and the push rod to apply an interference force by which the push rod is pressed when it rotates around the hinge according to the pressing force applied to the brake pedal whose lower end is hinged to the base plate an interference link coupled between the restraining pins;
a first restoring spring mounted to restore the brake pedal to an initial position when no external force is applied;
a main braking motor mounted on the base plate so as to rotate a main rotary shaft along a direction parallel to the push rod;
a pivoting bar having one end rotatably coupled to a fixing bracket mounted on the main body above the brake pedal and extending in a direction parallel to the base plate;
a second restoring spring having one end coupled to the pivot bar and the other end coupled to the fixing bracket so that the pivot bar can be restored to an initial position;
an interlocking wire having one end connected to the rotation bar and extending downward through a through hole formed in the brake pedal;
an interference piece having an outer diameter larger than that of the through hole formed in the brake pedal and coupled to the interlocking wire at the top of the brake pedal to interfere with the brake pedal to descend when the interlocking wire descends; and
Gravity racing vehicle characterized in that it is provided with; inclined bar mounted on the main rotation shaft of the main braking motor and coupled to the end of the interlocking wire to pull the interlocking wire downward by rotation.

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