KR20220103881A - a steering control system of electric scooter - Google Patents

a steering control system of electric scooter Download PDF

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Publication number
KR20220103881A
KR20220103881A KR1020220004773A KR20220004773A KR20220103881A KR 20220103881 A KR20220103881 A KR 20220103881A KR 1020220004773 A KR1020220004773 A KR 1020220004773A KR 20220004773 A KR20220004773 A KR 20220004773A KR 20220103881 A KR20220103881 A KR 20220103881A
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South Korea
Prior art keywords
front wheel
driver
steering
driving
control system
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KR1020220004773A
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Korean (ko)
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이정철
Original Assignee
주식회사 엠디로봇
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Publication of KR20220103881A publication Critical patent/KR20220103881A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/027—Motorcycles with three wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/04—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable
    • B60N2/06—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable slidable
    • B60N2/067—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable slidable by linear actuators, e.g. linear screw mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • B62J1/02—Saddles resiliently mounted on the frame; Equipment therefor, e.g. springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J43/00—Arrangements of batteries
    • B62J43/10—Arrangements of batteries for propulsion
    • B62J43/16—Arrangements of batteries for propulsion on motorcycles or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/26—Handlebar grips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • B60W2300/365—Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
    • B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
    • B60Y2200/126—Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00—Motorised scooters

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
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  • Acoustics & Sound (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

The present invention relates to a steering control system of an electric scooter having a front wheel to be steered, which can be used in daily life for various purposes to maximize a scooter function. According to one embodiment of the present invention, the steering control system of an electric scooter comprises: a main body equipped with a front wheel to be steered by driving of a first drive motor, and a left rear wheel and a right rear wheel separately driven by a second drive motor and a third drive motor having a driving speed difference in accordance with a rotating angle of the front wheel; a battery detachably mounted on one side of the main body; a seat mounted at an arbitrary position of the main body and allowing a driver to sit thereon, and a floor mounted at an arbitrary position of the main body and allowing the driver to stand to ride; a steering lever usable as a handle to steer the front wheel if rotated to the left or the right by the driver, wherein the lower end thereof is mounted on the main body to be rotated to the left or the right; and a forward/backward movement selection unit formed on the upper end of the steering lever usable as a handle for moving a scooter forward and backward by a driver operation, and a speed control unit formed on the upper end of the steering lever usable as a handle for controlling driving speed.

Description

전동 스쿠터의 조향 제어시스템{a steering control system of electric scooter}Steering control system of electric scooter {a steering control system of electric scooter}

본 명세서는 전동 스쿠터에 관한 것으로, 보다 구체적으로 설명하면, 조향 가능한 전륜을 구비하는 전동 스쿠터의 조향 제어시스템에 관한 것이다.The present specification relates to an electric scooter, and more particularly, to a steering control system for an electric scooter having a steerable front wheel.

본 명세서에서 달리 표시되지 않는 한, 이 섹션에 설명되는 내용들은 이 출원의 청구항들에 대한 종래 기술이 아니며, 이 섹션에 포함된다고 하여 종래 기술이라고 인정되는 것은 아니다.Unless otherwise indicated herein, the material described in this section is not prior art to the claims of this application, and inclusion in this section is not an admission that it is prior art.

기존에는 3륜 구조의 전동 스쿠터에서 주행 제어를 위해 전동에 의한 구동휠은 전륜 1개만을 구성하거나, 또는 후륜 2개중에서 1개만을 전동으로 구성하게 된다.Conventionally, for driving control in the three-wheeled electric scooter, only one front wheel is configured as an electric driving wheel, or only one of the two rear wheels is electrically configured.

이와 같이 전동휠을 전륜 또는 후륜중 어느 1개만을 사용할 경우 출력이 부족하여 일정이하의 속도로 구동하게 되거나, 경사 가능 각도를 제한시킨 태양으로 스쿠터를 출시하는 경우가 대부분이다.In this way, when only one of the front wheels or the rear wheels is used as the electric wheel, the output is insufficient, so that it is driven at a speed below a certain level, or in most cases, the scooter is released with a limited angle of inclination.

전술한 바와 같이 부족한 출력을 감안하여 전동 스쿠터의 전륜 및 후륜을 2개의 전동휠로 구성시킬 경우에, 전동 스쿠터가 회전되어 양쪽휠의 회전반경에 따르는 적절한 속도 차를 구현하지 못하게 될 경우에 구동모터 및 제어기에 큰 저항이 작용하여 구동이 매끄럽지 못하고, 제어기에 과부하가 발생되어 쉽게 파손될 수 있는 문제점을 갖는다.In consideration of the insufficient output as described above, when the front and rear wheels of the electric scooter are composed of two electric wheels, the electric scooter is rotated and an appropriate speed difference according to the turning radius of both wheels cannot be realized. and a large resistance acts on the controller, so that the driving is not smooth, and the controller is overloaded and can be easily damaged.

대한민국 공개특허공보 공개번호 제10-2014-0078386호에 후륜 조향유닛을 가진 전동 스쿠터가 게시되어 있다.An electric scooter having a rear wheel steering unit is disclosed in Korean Patent Laid-Open Publication No. 10-2014-0078386.

본 명세서의 실시예는, 안장 및 전장 조절을 통한 탑승구조를 변경하여 개인, 또는 동승자가 탑승하여 일상적인 생활에서 다양한 용도로 이용할 수 있도록 한, 전동 스쿠터의 조향 제어시스템과 관련된다.An embodiment of the present specification relates to a steering control system of an electric scooter that changes the riding structure through adjustment of the saddle and the overall length so that an individual or a passenger can ride it and use it for various purposes in daily life.

본 명세서의 실시예는, 주행중 장애물이 나타날 경우, 장애물 감지센서에 의해 장애물로부터 회피하여 안전운행할 수 있도록 한, 전동 스쿠터의 조향 제어시스템과 관련된다.An embodiment of the present specification relates to a steering control system of an electric scooter that enables safe driving by avoiding obstacles by an obstacle detection sensor when an obstacle appears while driving.

본 명세서의 실시예는, 핸들 겸용 조향레버를 전륜에 연결하여 수동으로 조작하여 저가의 수동형 스쿠터를 구현할 수 있도록 한, 전동 스쿠터의 조향 제어시스템과 관련된다.An embodiment of the present specification relates to a steering control system for an electric scooter, which enables a low-cost passive scooter to be implemented by manually operating a steering wheel combined with a steering wheel by connecting the steering lever to the front wheel.

본 명세서의 실시예는, 배터리가 방전되는 비상상황 발생시 기계식 클러치에 의해 수동으로 조작하여 주행할 수 있도록 한, 전동 스쿠터의 조향 제어시스템과 관련된다.An embodiment of the present specification relates to a steering control system of an electric scooter, which allows the vehicle to be driven by manually operating it by a mechanical clutch when an emergency situation in which the battery is discharged occurs.

상기 및 기타 본 명세서의 목적을 달성하기 위하여 본 명세서의 일 실시예에 따르면,According to an embodiment of the present specification to achieve the above and other purposes of the present specification,

제1구동모터 구동에 의해 조향 가능한 전륜과, 상기 전륜 회전각에 따라 구동속도 차이가 발생되는 제2구동모터 및 제3구동모터에 의해 구동되는 좌측 후륜 및 우측 후륜이 장착되는 본체;a main body on which a front wheel steerable by driving a first driving motor and a left rear wheel and a right rear wheel driven by a second driving motor and a third driving motor generating a difference in driving speed according to the rotation angle of the front wheel are mounted;

상기 본체 일측에 착탈가능하게 장착되는 배터리;a battery detachably mounted on one side of the body;

상기 본체 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트 및 운전자가 서서 탑승할 수 있는 플로어;a seat mounted at an arbitrary position on the body, a seat on which the driver sits, and a floor on which the driver can stand and board;

상기 본체에 하단이 좌측 또는 우측방향으로 회동가능하게 장착되고, 운전자에 의해 좌측 또는 우측 방향으로 회동될 경우 상기 전륜을 조향시키기 위한 핸들 겸용 조향레버;a steering lever combined with a handle for steering the front wheel when the lower end is rotatably mounted on the main body in a left or right direction and is rotated left or right by a driver;

상기 핸들 겸용 조향레버 상단에 형성되고, 운전자 조작으로 스쿠터를 전,후진시키기 위한 전,후진 선택부 및 주행 속도를 조절하기 위한 속도조절부;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템을 제공한다.A steering control system for an electric scooter characterized in that it is formed on the upper end of the steering lever combined with the handle, and includes a forward/backward selection unit for moving the scooter forward or backward by the driver's operation, and a speed adjusting unit for adjusting the running speed. to provide.

상기 및 기타 본 명세서의 목적을 달성하기 위하여 본 명세서의 다른 실시예에 따르면,According to another embodiment of the present specification to achieve the above and other purposes of the present specification,

조향 가능한 전륜과, 상기 전륜 회전각에 따라 구동속도 차이가 발생되는 제2구동모터 및 제3구동모터에 의해 별개로 구동되는 좌측 후륜 및 우측 후륜이 장착되는 본체;a main body on which a steerable front wheel and a left rear wheel and a right rear wheel which are separately driven by a second and third drive motors generating a difference in driving speed according to the rotation angle of the front wheel are mounted;

상기 본체 일측에 착탈가능하게 장착되는 배터리;a battery detachably mounted on one side of the body;

상기 본체 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트 및 운전자가 서서 탑승할 수 있는 플로어;a seat mounted at an arbitrary position on the body, a seat on which the driver sits, and a floor on which the driver can stand and board;

상기 전륜 회전축에 연결되고, 상기 시트에 탑승한 운전자 조작에 의해 상기 전륜을 조향시키기 위한 수동형 제1핸들 겸용 조향레버;a manual-type first steering wheel combined steering lever connected to the front wheel rotation shaft and configured to steer the front wheel by the operation of a driver riding on the seat;

상기 전륜 회전축에 연결되고, 상기 플로어에 탑승한 운전자 조작에 의해 상기 전륜을 조향시키기 위한 수동형 제2핸들 겸용 조향레버;a manual-type second steering wheel combined steering lever connected to the front wheel rotation shaft and configured to steer the front wheel by operation of a driver riding on the floor;

상기 수동형 제1핸들 겸용 조향레버, 또는 수동형 제2핸들 겸용 조향레버 일측에 형성되고, 운전자 조작으로 스쿠터를 전,후진시키기 위한 전,후진 선택부 및 주행 속도를 조절하기 위한 속도조절부;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템을 제공한다.It is formed on one side of the manual-type first-handle combined steering lever or the passive-type second-handle combined steering lever, and includes a forward and reverse selection unit for moving the scooter forward and backward by driver's operation, and a speed adjusting unit for adjusting the running speed. It provides a steering control system for an electric scooter, characterized in that.

전술한 구성을 갖는 본 명세서의 실시예에 따른 전동 스쿠터의 조향 제어시스템은 아래와 같은 이점을 갖는다.The steering control system of the electric scooter according to the embodiment of the present specification having the above-described configuration has the following advantages.

시트, 핸들 겸용 조향레버를 선택적으로 위치이동시켜 개인 모드, 산책 모드, 또는 동승자 탑승 모드를 선택하여 일상적인 생활에서 다양한 용도로 활용하여 스쿠터 기능을 극대화시킬 수 있다.By selectively moving the seat and steering lever combined with the steering wheel, you can select individual mode, walking mode, or passenger riding mode to maximize the scooter’s functions by using it for various purposes in everyday life.

또한, 주행중 전방 또는 후방에서 장애물이 나타날 경우, 장애물 감지센서(초음파 센서, 라이다 센서 등)에 의해 장애물로부터 회피하여 안전운행하여 신뢰성을 제공할 수 있다.In addition, when an obstacle appears from the front or rear while driving, it is possible to avoid the obstacle by an obstacle detection sensor (ultrasonic sensor, lidar sensor, etc.) and drive safely to provide reliability.

또한, 핸들 겸용 조향레버를 전륜에 연결하여 수동으로 조작함에 따라 저가의 수동형 스쿠터를 소비자에게 제공할 수 있다.In addition, a low-cost passive scooter can be provided to consumers by manually operating the steering lever combined with the handlebar to the front wheel.

또한, 배터리가 방전되는 비상상황 발생시 기계식 클러치 조작에 의해 스쿠터를 수동으로 조작하여 비상상황에서 안전하게 벗어날 수 있게 된다.In addition, when an emergency situation in which the battery is discharged occurs, the scooter is manually operated by the mechanical clutch operation to safely escape from the emergency situation.

도 1은 본 명세서의 바람직한 실시예에 따른 조향 제어시스템이 적용되는 전동 스쿠터의 사시도,
도 2(a,b)는 도 1에 도시된 조향 제어시스템에서, 후륜 구동부의 도면,
도 3은 도 1에 도시된 전동 스쿠터의 정면도,
도 4는 도 1에 도시된 조향 제어시스템에서, 전륜 구동부의 도면,
도 5는 도 1에 도시된 전동 스쿠터에서, 시트를 전후방향으로 이동시키는 액츄에이터의 도면,
도 6은 도 1에 도시된 전동 스쿠터에서, 핸들 겸용 조향레버를 후방으로 회동시킨 상태의 도면,
도 7(a,b,c)은 도 1에 도시된 전동 스쿠터의 사용상태도,
도 8 및 도 9는 도 1에 도시된 전동 스쿠터의 변형예시도이다.1 is a perspective view of an electric scooter to which a steering control system according to a preferred embodiment of the present specification is applied;
2 (a, b) is a view of a rear wheel drive unit in the steering control system shown in FIG. 1;
3 is a front view of the electric scooter shown in FIG. 1;
4 is a view of a front wheel drive unit in the steering control system shown in FIG. 1;
5 is a view of an actuator for moving the seat in the front-rear direction in the electric scooter shown in FIG. 1;
6 is a view of the electric scooter shown in FIG. 1, in a state in which the steering lever combined with the handle is rotated rearward;
Figure 7 (a, b, c) is a state diagram of the use of the electric scooter shown in Figure 1,
8 and 9 are views showing a modified example of the electric scooter shown in FIG.

이하, 첨부도면을 참조하여 본 명세서의 바람직한 실시예에 따른 전동 스쿠터의 조향 제어시스템을 상세히 설명하기로 한다.Hereinafter, a steering control system of an electric scooter according to a preferred embodiment of the present specification will be described in detail with reference to the accompanying drawings.

도 1 내지 도 7(a,b,c)를 참조하면, 본 명세서의 일 실시예에 따른 전동 스쿠터의 조향 제어시스템은1 to 7 (a, b, c), the steering control system of the electric scooter according to an embodiment of the present specification is

제1구동모터(10) 구동에 의해 조향 가능한 전륜(11)과, 전륜(11) 회전각에 따라 구동속도 차이가 발생되는 제2구동모터(12) 및 제3구동모터(13)에 의해 별개로 구동되는 좌측 후륜(14) 및 우측 후륜(15)이 장착되는 본체(16);Separated by the front wheel 11 steerable by driving the first driving motor 10, and the second driving motor 12 and the third driving motor 13 in which a driving speed difference is generated according to the rotation angle of the front wheel 11 a main body 16 on which the left rear wheel 14 and the right rear wheel 15 driven by

본체(16) 일측에 착탈가능하게 장착되는 배터리(17);a battery 17 detachably mounted on one side of the body 16;

본체(16) 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트(18) 및 운전자가 서서 탑승할 수 있는 플로어(floor)(19);The main body 16 is mounted at an arbitrary position, and the seat 18 on which the driver sits and boards, and the floor 19 on which the driver can stand and board;

본체(16)에 하단이 좌측 또는 우측 방향으로 회동가능하게 장착되고, 운전자에 의해 좌측 또는 우측방향으로 회동될 경우 전륜(11)을 조향시키기 위한 핸들 겸용 조향레버(20);The lower end of the main body 16 is rotatably mounted in the left or right direction, and the steering wheel combined steering lever 20 for steering the front wheel 11 when it is rotated in the left or right direction by the driver;

핸들 겸용 조향레버(20) 상단에 형성되고, 운전자 조작으로 스쿠터(A)를 전,후진시키기 위한 전,후진 선택부(21) 및 주행 속도를 조절하기 위한 속도조절부(22);를 구비하는 것을 특징으로 한다.It is formed on the upper end of the steering wheel combined steering lever 20, and includes a forward/reverse selector 21 for moving the scooter A forward or backward by the driver's operation, and a speed control unit 22 for adjusting the running speed. characterized in that

더욱 바람직한 실시예에 의하면, 전술한 본체(16)의 후방 일측에 장착되는 초음파 센서(23);를 구비하여, 주행중 장애물이 감지될 경우 제1구동모터(10)를 제어하여 전륜(11)을 조향시킴에 따라 장애물을 회피할 수 있도록 한 것을 특징으로 한다.According to a more preferred embodiment, the ultrasonic sensor 23 mounted on the rear side of the body 16 described above is provided, and when an obstacle is detected while driving, the first driving motor 10 is controlled to drive the front wheel 11 . It is characterized in that it is possible to avoid obstacles by steering.

전술한 전륜(11)이 회동가능하게 장착되는 브라킷(24)에 형성되고, 주행중 전방 장애물이 감지될 경우 제2,3구동모터(12,13)를 제어하여 주행 속도를 감속시키기 위한 라이다 센서(30)(ridar);를 구비하는 것을 특징으로 한다.The aforementioned front wheel 11 is formed on the rotatably mounted bracket 24, and when a front obstacle is detected while driving, a lidar sensor for controlling the second and third driving motors 12 and 13 to reduce the driving speed (30) (ridar);

전술한 전륜(11)이 장착되는 브라킷(24)에 장착되고, 핸들 겸용 조향레버(20)의 회동에 따른 전륜(11) 회전각을 감지하여 검출신호를 제1구동모터(10)에 전송하기 위한 전륜 회전각 검출센서(25)(일 예로서, 통상의 포텐시오미터 형태의 검출센서가 사용될 수 있다);를 구비하는 것을 특징으로 한다.It is mounted on the bracket 24 on which the aforementioned front wheel 11 is mounted, and detects the rotation angle of the front wheel 11 according to the rotation of the steering lever 20 for handle and transmits the detection signal to the first drive motor 10 For the front wheel rotation angle detection sensor 25 (as an example, a conventional potentiometer type detection sensor may be used); characterized in that it is provided.

전술한 플로어(19)에 운전자가 탑승(서서타기 자세를 말함)하여 주행하는 경우, 시트(18)를 전후 방향으로 이동시켜 시트(18) 위치를 조정하기 위한 액츄에이터(26)(일 예로서, LM가이드가 사용될 수 있고 이로 제한하는 것을 의미하지는 않는다);를 구비하는 것을 특징으로 한다.When the driver boards (referring to a standing riding posture) on the above-described floor 19 and travels, an actuator 26 (as an example, LM guides can be used and are not meant to be limited thereto);

이하에서, 본 명세서의 일 실시예에 따른 전동 스쿠터의 조향 제어시스템을 첨부도면에 따라 설명한다.Hereinafter, a steering control system of an electric scooter according to an embodiment of the present specification will be described with reference to the accompanying drawings.

도 1 내지 도 7(a,b,c)에서와 같이, 전술한 시트(18)에 탑승한 운전자가 시트(18) 좌우측에 회동가능하게 장착된 핸들 겸용 조향레버(20)의 상단에 형성된 전,후진 선택부(21)를 조작(일 예로서, 전후진 선택버튼이 토글 형태로 형성될 수 있고 이로 제한하는 것을 의미하지는 않는다)하여 스쿠터(A)를 전진, 또는 후진시킬 수 있다.1 to 7 (a, b, c), the driver riding on the above-described seat 18 is a front formed on the upper end of the steering wheel combined steering lever 20 mounted rotatably on the left and right sides of the seat 18 , It is possible to move the scooter A forward or backward by manipulating the reverse selection unit 21 (as an example, the forward and backward selection button may be formed in a toggle form and is not meant to be limited thereto).

또한, 시트(18)에 탑승한 운전자가 핸들 겸용 조향레버(20)의 상단에 형성된 속도조절부(22)를 조작(즉, 액셀 당김 조작을 말함)하여 본체(16) 후방에 장착된 제2,3구동모터(12,13)를 제어하여 스쿠터(A) 주행 속도를 조절할 수 있다.In addition, the driver riding on the seat 18 operates the speed control unit 22 formed at the upper end of the steering lever 20 (that is, referring to the accelerator pulling operation), and the second mounted on the rear of the body 16 is , The driving speed of the scooter (A) can be adjusted by controlling the three driving motors (12, 13).

전술한 시트(18)에 탑승한 운전자가 핸들 겸용 조향레버(20)를 좌측 또는 우측 방향으로 회동시킬 경우, 전륜(11)이 장착되는 브라킷(24)에 장착된 전륜 회전각 검출센서(25)(일 예로서, 포텐시오미터타입의 센서가 사용될 수 있다)에 의해 검출된 검출신호가 제어부(32)에 전송됨에 따라 제어부(32)로부터 전륜(11)을 조향시키기 위한 제어신호가 제1구동모터(10)에 인가된다.When the driver riding on the above-described seat 18 rotates the steering wheel combined steering lever 20 in the left or right direction, the front wheel rotation angle detection sensor 25 mounted on the bracket 24 on which the front wheel 11 is mounted. As a detection signal detected by (as an example, a potentiometer type sensor may be used) is transmitted to the control unit 32 , a control signal for steering the front wheel 11 from the control unit 32 is first driven applied to the motor 10 .

따라서, 핸들 겸용 조향레버(20)의 회동각도에 대응되는 제1구동모터(10)의 구동에 따라 전륜(11)을 임의각도로 조향시킬 수 있게 된다.Accordingly, it is possible to steer the front wheel 11 at an arbitrary angle according to the driving of the first driving motor 10 corresponding to the rotation angle of the steering lever combined with the handle 20 .

전술한 핸들 겸용 조향레버(20)의 회동에 대응되도록 전륜(11)을 제1구동모터(10) 구동에 의해 임의각도로 조향시킬 경우, 전륜(11)의 회전각에 따라 좌,우측 후륜(14,15)의 구동속도가 차이를 갖도록 제2,3구동모터(12,13)를 각각 제어하게 된다.When the front wheel 11 is steered at an arbitrary angle by driving the first drive motor 10 to correspond to the rotation of the steering lever combined with the handle 20 described above, the left and right rear wheels ( 14 and 15), the second and third drive motors 12 and 13 are respectively controlled to have a difference.

이때, 제2,3구동모터(12,13)의 구동속도는 본체(16)의 브라킷(24)에 장착된 제어부(32)로부터 인가되는 제어신호에 의해 최적의 구동속도로 제어될 수 있게 다. At this time, the driving speed of the second and third driving motors 12 and 13 can be controlled to the optimum driving speed by the control signal applied from the control unit 32 mounted on the bracket 24 of the main body 16 . .

한편, 본체(16) 후방에 착탈가능하게 장착된 배터리(17)가 방전되는 비상 상황이 발생될 경우 스쿠터(A)를 임시로 수동으로 조작할 수 있게 된다.On the other hand, when an emergency situation occurs in which the battery 17 detachably mounted on the rear of the main body 16 is discharged, the scooter A can be temporarily operated manually.

즉, 배터리(17)가 방전되는 비상 상황이 발생될 경우, 비상레버(33) 조작으로 인해 기계식 클러치(31)를 해제시킴에 따라 좌,우측 후륜(14,15)에 부하가 발생되지않은 상태에서 스쿠터(A)를 안전한 위치에 임시로 이동시킬 수 있다.That is, when an emergency situation in which the battery 17 is discharged occurs, the load is not generated on the left and right rear wheels 14 and 15 as the mechanical clutch 31 is released due to the operation of the emergency lever 33 . can temporarily move the scooter (A) to a safe location.

도 7(a,b,c)에서와 같이, 전술한 스쿠터(A)를 일상적인 생활에서 다용도로 활용할 수 있다. 즉 운전자가 시트(18)에 탑승하여 플로어(19)에 소형 생활용품을 적재시켜 주행할 수 있게 된다(개인 이동모드를 도시한 도 7(a) 참조).As shown in Figure 7 (a, b, c), the above-described scooter (A) can be used for many purposes in everyday life. That is, the driver can ride on the seat 18 and load small household items on the floor 19 (refer to FIG. 7(a) showing a personal movement mode).

운전자가 스쿠터(A)에 직접 탑승하지않은 상태에서 스쿠터(A)를 따라 도보로 이동하면서 쇼핑을 하거나(장보기), 산책할 수 있는 쇼핑 및 산책 모드로서, 등받이(29)를 틸팅시킨 시트(18)에 모듈형 바스켓 또는 유아용 시트를 착탈가능하게 적재할 수 있다(도 7(b) 참조). 이때 핸들 겸용 조향레버(20)는 스쿠터(A) 후방으로 회동시켜 전륜(11)을 조향시킬 수 있다. As a shopping and walking mode in which the driver can go shopping (shopping) or take a walk while walking along the scooter (A) without riding the scooter (A) directly, the seat 18 with the backrest 29 tilted ) can be removably loaded with a modular basket or baby seat (see Fig. 7(b)). At this time, the steering lever 20 combined with the handle may be rotated to the rear of the scooter A to steer the front wheel 11 .

유아 또는 어린이가 시트(18)에 탑승하고 동반자(보호자)가 플로어(19)에 스탠딩 형식으로 탑승한 상태에서, 핸들 겸용 조향레버(20)를 조작하여 전륜을 조향시킬 수 있다(도 7(c) 참조).In a state where an infant or child rides on the seat 18 and a companion (guardian) rides on the floor 19 in a standing state, the front wheel can be steered by manipulating the steering lever combined with the handle (Fig. 7(c)) ) Reference).

전술한 바와 같이 조향 가능한 전륜(11)과, 각각의 제2,3구동모터(12,13)에 의해 좌,우측 후륜(12,13)이 이동 가능한 스쿠터(A)를 정삼륜형 방식으로 구성함에 따라, 시트(18) 또는 플로어(19)에 선택적으로 탑승하여 안정적인 주행이 가능하고, 경사지를 주행하는 경우에도 전체 무게중심이 좌,우측 후륜(14,15)에 주로 적용되므로 충분한 주행력을 확보하며 미끌림없는 안정적인 주행이 가능하게 된다. As described above, the scooter (A) in which the steerable front wheels 11 and the left and right rear wheels 12 and 13 are movable by the respective second and third driving motors 12 and 13 are configured in a three-wheeled type. Accordingly, stable driving is possible by selectively riding on the seat 18 or the floor 19, and even when driving on a slope, the entire center of gravity is mainly applied to the left and right rear wheels 14 and 15, so sufficient driving force is secured. Stable, non-slip driving is possible.

도 8 및 도 9를 참조하면, 본 명세서의 다른 실시예에 따른 전동 스쿠터의 조향 제어시스템은8 and 9, the steering control system of the electric scooter according to another embodiment of the present specification is

조향 가능한 전륜(11)과, 전륜(11) 회전각에 따라 구동속도 차이가 발생되는 제2구동모터(12) 및 제3구동모터(13)에 의해 별개로 구동되는 좌측 후륜(14) 및 우측 후륜(15)이 장착되는 본체(16);The steerable front wheel 11 and the left rear wheel 14 and the right side driven separately by the second driving motor 12 and the third driving motor 13 in which a driving speed difference is generated according to the rotation angle of the front wheel 11 . a body 16 on which the rear wheel 15 is mounted;

본체(16) 일측에 착탈가능하게 장착되는 배터리(17);a battery 17 detachably mounted on one side of the body 16;

본체(16) 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트(18) 및 운전자가 서서 탑승할 수 있는 플로어(floor)(19);The main body 16 is mounted at an arbitrary position, and the seat 18 on which the driver sits and boards, and the floor 19 on which the driver can stand and board;

전륜(11) 회전축에 연결되고, 시트(18)에 탑승한 운전자 조작에 의해 전륜(11)을 조향시키기 위한 수동형 제1핸들 겸용 조향레버(27);a manual-type first steering wheel combined steering lever 27 connected to the front wheel 11 rotating shaft and configured to steer the front wheel 11 by the operation of a driver riding on the seat 18;

전륜(11) 회전축에 연결되고, 플로어(floor)(19)에 탑승한 운전자 조작에 의해 전륜(11)을 조향시키기 위한 수동형 제2핸들 겸용 조향레버(28);a manual-type second steering wheel combined steering lever 28 connected to the front wheel 11 rotating shaft and configured to steer the front wheel 11 by the operation of a driver riding on the floor 19;

수동형 제1핸들 겸용 조향레버(27), 또는 수동형 제2핸들 겸용 조향레버(28) 일측에 형성되고, 운전자 조작으로 스쿠터(A)를 전,후진시키기 위한 전,후진 선택부(미 도시) 및 주행 속도를 조절하기 위한 속도조절부(미 도시);를 구비하는 것을 특징으로 한다.A forward/backward selection unit (not shown) formed on one side of the manual-type first-handle combined steering lever 27 or the passive-type second-handle combined steering lever 28, for moving the scooter A forward and backward by the driver's operation, and and a speed control unit (not shown) for adjusting the traveling speed.

더욱 바람직한 실시예에 의하면, 전술한 수동형 제2핸들 겸용 조향레버(28)는 길이를 가변 조정할 수 있도록 축방향으로 신축가능하게 형성되는 것을 특징으로 한다.According to a more preferred embodiment, the above-described passive-type second handle combined steering lever 28 is characterized in that it is formed to be stretchable in the axial direction so that the length can be variably adjusted.

이때, 전술한 수동형 제2핸들 겸용 조향레버(28)를 테레스코프 형태로 축방향으로 신장시켜 길이를 가변 조정하는 기술내용은 본 명세서가 속하는 기술분야에서 통상적으로 사용되는 것이므로 이들의 구성에 대한 상세한 설명은 생략한다.At this time, since the description of variably adjusting the length by extending the above-described manual-type second handle combined steering lever 28 in the terescop form in the axial direction is commonly used in the technical field to which this specification belongs, detailed description of their configuration A description is omitted.

전술한 시트(18)에 탑승한 운전자가 전륜(11) 회전축에 직접 연결된 수동형 제1핸들 겸용 조향레버(27)를 조작(즉, 운전자가 자전거 핸들처럼 조작하여 전륜(11)을 조향시킬 수 있다)하여 전륜(11)을 수동으로 조향시킬 수 있게 된다.A driver riding on the aforementioned seat 18 operates the manual-type first steering wheel combined steering lever 27 directly connected to the front wheel 11 rotating shaft (that is, the driver can steer the front wheel 11 by operating it like a bicycle handlebar). ) to be able to manually steer the front wheel 11 .

한편, 전술한 본체(16) 후방에 형성된 플로어(19)에 탑승한 운전자가 일어난 상태에서 전륜(11)을 수동으로 조향시킬 경우 시트(18) 높이 보다 아래에 위치한 수동형 제2핸들 겸용 조향레버(28)를 신장시켜서 길이를 조절할 수 있게 된다.On the other hand, when the driver riding on the floor 19 formed at the rear of the main body 16 described above manually steers the front wheel 11 in a state where the driver gets up, the manual-type second handle combined steering lever located below the height of the seat 18 ( 28) can be stretched to adjust the length.

이때, 수동형 제2핸들 겸용 조향레버(28)를 신장시키기 위해서는 시트(18)를 전방으로 위치이동시키는 선행작업이 요구된다. 즉 시트(18) 밑에 형성된 액츄에이터(26)(일 예로서, LM가이드가 사용될 수 있다)를 조작함에 따라 시트(18)를 전방으로 위치이동시킬 수 있다.At this time, in order to extend the manual-type second handle combined steering lever 28, a prior operation of moving the seat 18 forward is required. That is, the seat 18 can be moved forward by manipulating the actuator 26 formed under the seat 18 (as an example, an LM guide may be used).

따라서, 플로어(19)에 일어난 상태로 탑승한 운전자에 의해 수동형 제2핸들 겸용 조향레버(28)를 조작하여 전륜(11)을 수동으로 조향시킬 수 있게 된다.Accordingly, the front wheel 11 can be manually steered by operating the manual-type second steering wheel combined steering lever 28 by the driver riding in the state of being raised on the floor 19 .

이때, 수동형 제2핸들 겸용 조향레버(28)의 회전력이 전륜(11) 회전축에 전달될 수 있도록 전륜(11)의 회전축과 수동형 제2핸들 겸용 조향레버(28)의 하단을 벨트 및 풀리로 연결할 경우, 수동형 제2핸들 겸용 조향레버(28)를 조작함에 따라 전륜(11)을 정방향(시계 방향) 또는 역방향(반시계 방향)으로의 조향이 가능하게 된다.At this time, the rotating shaft of the front wheel 11 and the lower end of the manual type second handle combined steering lever 28 are connected with a belt and a pulley so that the rotational force of the manual type second handle combined steering lever 28 can be transmitted to the front wheel 11 rotation axis. In this case, it is possible to steer the front wheel 11 in a forward (clockwise) or reverse (counterclockwise) direction by operating the manual-type second handle combined steering lever 28 .

본 명세서의 다른 실시예에 의한 전동 스쿠터의 조향 제어시스템은The steering control system of the electric scooter according to another embodiment of the present specification is

전륜(11) 회전축에 연결되고 시트(18)에 탑승한 운전자 조작에 의해 전륜(11)을 조향시키기 위한 수동형 제1핸들 겸용 조향레버(27);a manual-type first handle combined steering lever 27 connected to the front wheel 11 rotating shaft and steered by a driver riding on the seat 18 to steer the front wheel 11;

전륜(11) 회전축에 연결되고 플로어(19)에 탑승한 운전자 조작에 의해 전륜(11)을 조향시키기 위한 수동형 제2핸들 겸용 조향레버(28);를 제외한 구성은, 본 명세서의 일 실시예에 의한 전동 스쿠터의 조향 제어시스템과 실질적으로 동일하게 적용되므로 이들의 구성 및 동작에 대한 상세한 설명은 생략하고, 중복되는 도면부호는 동일한 기능을 갖는 구성을 의미한다.The configuration, except for; the manual-type second steering wheel combined steering lever 28 for steering the front wheel 11 by the driver's operation on the floor 19 and connected to the front wheel 11 rotating shaft; Since it is applied substantially the same as the steering control system of the electric scooter, detailed descriptions of their configurations and operations are omitted, and overlapping reference numerals mean configurations having the same functions.

여기에서, 전술한 본 명세서에서는 바람직한 실시예를 참조하여 설명하였지만, 해당 기술분야에서 숙련된 당업자는 하기의 청구범위에 기재된 본 명세서의 사상 및 영역으로부터 벗어나지 않는 범위 내에서 본 명세서를 다양하게 수정 및 변경할 수 있음을 이해할 수 있을 것이다.Here, although the foregoing specification has been described with reference to preferred embodiments, those skilled in the art can variously modify and modify the present specification without departing from the spirit and scope of the present specification as set forth in the following claims. You will understand that you can change it.

10; 제1구동모터
11; 전륜
12; 제2구동모터
13; 제3구동모터
14; 좌측 후륜
15; 우측 후륜
16; 본체
17; 배터리
18; 시트(seat)
19; 플로어(floor)
20; 핸들 겸용 조향레버
21; 전,후진 선택부
22; 속도조절부
23; 초음파센서
24; 브라킷
25; 전륜 회전각 검출센서
26; 액츄에이터
27; 수동형 제1핸들 겸용 조향레버
28; 수동형 제2핸들 겸용 조향레버
29; 등받이
30; 라이다센서
31; 기계식클러치
32; 제어부
33; 비상레버10; 1st drive motor
11; front wheel
12; 2nd drive motor
13; 3rd drive motor
14; left rear wheel
15; right rear wheel
16; main body
17; battery
18; seat
19; floor
20; Steering lever for handle
21; Forward/reverse selector
22; speed control unit
23; ultrasonic sensor
24; bracket
25; Front wheel rotation angle sensor
26; actuator
27; Manual type 1st handle combined steering lever
28; Manual type 2nd handle combined steering lever
29; back of a chair
30; lidar sensor
31; mechanical clutch
32; control
33; emergency lever

Claims (7)

제1구동모터 구동에 의해 조향 가능한 전륜과, 상기 전륜 회전각에 따라 구동속도 차이가 발생되는 제2구동모터 및 제3구동모터에 의해 별개로 구동되는 좌측 후륜 및 우측 후륜이 장착되는 본체;
상기 본체 일측에 착탈가능하게 장착되는 배터리;
상기 본체 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트 및 운전자가 서서 탑승할 수 있는 플로어;
상기 본체에 하단이 좌측 또는 우측방향으로 회동가능하게 장착되고, 운전자에 의해 좌측 또는 우측 방향으로 회동될 경우 상기 전륜을 조향시키기 위한 핸들 겸용 조향레버;
상기 핸들 겸용 조향레버 상단에 형성되고, 운전자 조작으로 스쿠터를 전,후진시키기 위한 전,후진 선택부 및 주행 속도를 조절하기 위한 속도조절부;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.a main body on which a front wheel steerable by driving a first driving motor and a left rear wheel and a right rear wheel respectively driven by a second driving motor and a third driving motor having a difference in driving speed according to the rotation angle of the front wheel are mounted;
a battery detachably mounted on one side of the body;
a seat mounted at an arbitrary position on the body, a seat on which the driver sits, and a floor on which the driver can stand and board;
a steering lever combined with a handle for steering the front wheel when the lower end is rotatably mounted on the main body in a left or right direction and is rotated left or right by a driver;
The steering control system for an electric scooter, characterized in that it is formed on the upper end of the steering lever combined with the handle, and a forward/backward selection unit for moving the scooter forward or backward by the driver's operation, and a speed adjusting unit for adjusting the running speed. 제1항에 있어서,
상기 전륜이 회동가능하게 장착되는 브라킷에 형성되고, 주행시 전방 장애물이 감지될 경우 상기 제2,3구동모터를 제어하여 주행 속도를 감속시키기 위한 라이다센서;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.According to claim 1,
The front wheel is formed on a rotatably mounted bracket, and when a front obstacle is detected while driving, a lidar sensor for controlling the second and third driving motors to reduce the driving speed; steering control system. 제1항에 있어서,
상기 본체의 후방 일측에 장착되는 초음파센서;를 구비하여, 주행중 장애물이 감지될 경우 상기 제1구동모터를 제어하여 상기 전륜을 조향시킴에 따라 장애물을 회피할 수 있도록 한 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.According to claim 1,
An ultrasonic sensor mounted on one rear side of the main body is provided, and when an obstacle is detected while driving, the first driving motor is controlled to steer the front wheel to avoid the obstacle. steering control system. 제1항에 있어서,
상기 전륜이 장착되는 브라킷에 장착되고, 상기 핸들 겸용 조향레버의 회동에 따른 상기 전륜 회전각을 감지하여 검출신호를 상기 제1구동모터에 전송하기 위한 전륜 회전각 검출센서;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.According to claim 1,
and a front wheel rotation angle detection sensor mounted on the bracket on which the front wheel is mounted, and configured to detect the front wheel rotation angle according to the rotation of the steering lever and handle and transmit a detection signal to the first drive motor; steering control system for electric scooters. 조향 가능한 전륜과, 상기 전륜 회전각에 따라 구동속도 차이가 발생되는 제2구동모터 및 제3구동모터에 의해 별개로 구동되는 좌측 후륜 및 우측 후륜이 장착되는 본체;
상기 본체 일측에 착탈가능하게 장착되는 배터리;
상기 본체 임의위치에 장착되고, 운전자가 착석하여 탑승하는 시트 및 운전자가 서서 탑승할 수 있는 플로어;
상기 전륜 회전축에 연결되고, 상기 시트에 탑승한 운전자 조작에 의해 상기 전륜을 조향시키기 위한 수동형 제1핸들 겸용 조향레버;
상기 전륜 회전축에 연결되고, 상기 플로어에 탑승한 운전자 조작에 의해 상기 전륜을 조향시키기 위한 수동형 제2핸들 겸용 조향레버;
상기 수동형 제1핸들 겸용 조향레버, 또는 수동형 제2핸들 겸용 조향레버 일측에 형성되고, 운전자 조작으로 스쿠터를 전,후진시키기 위한 전,후진 선택부 및 주행 속도를 조절하기 위한 속도조절부;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.a main body on which a steerable front wheel and a left rear wheel and a right rear wheel which are separately driven by a second and third driving motor generating a difference in driving speed according to the rotation angle of the front wheel are mounted;
a battery detachably mounted on one side of the body;
a seat mounted at an arbitrary position on the body, a seat on which the driver sits, and a floor on which the driver can stand and board;
a manual-type first steering wheel combined steering lever connected to the front wheel rotation shaft and configured to steer the front wheel by the operation of a driver riding on the seat;
a manual-type second steering wheel combined steering lever connected to the front wheel rotation shaft and configured to steer the front wheel by operation of a driver riding on the floor;
It is formed on one side of the manual-type first-handle combined steering lever or the passive-type second-handle combined steering lever, and includes a forward and reverse selection unit for moving the scooter forward and backward by driver's operation, and a speed adjusting unit for adjusting the running speed. A steering control system for an electric scooter, characterized in that it does. 제5항에 있어서,
상기 수동형 제2핸들 겸용 조향레버는 길이를 가변 조정할 수 있도록 축방향으로 신축가능하게 형성되는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.6. The method of claim 5,
The steering control system of the electric scooter, characterized in that the manual-type second handle combined steering lever is formed to be stretchable in the axial direction so that the length can be variably adjusted. 제1항 또는 제5항에 있어서,
상기 플로어에 운전자가 탑승하여 주행하는 경우, 상기 시트를 전후 방향으로 이동시켜 상기 시트 위치를 조정하기 위한 액츄에이터;를 구비하는 것을 특징으로 하는 전동 스쿠터의 조향 제어시스템.6. The method of claim 1 or 5,
and an actuator for adjusting the position of the seat by moving the seat in the front-rear direction when the driver rides on the floor.
KR1020220004773A 2021-01-15 2022-01-12 a steering control system of electric scooter KR20220103881A (en)

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