WO2011037441A1 - Mechatronic acceleration and braking system for the disabled - Google Patents
Mechatronic acceleration and braking system for the disabled Download PDFInfo
- Publication number
- WO2011037441A1 WO2011037441A1 PCT/MX2009/000102 MX2009000102W WO2011037441A1 WO 2011037441 A1 WO2011037441 A1 WO 2011037441A1 MX 2009000102 W MX2009000102 W MX 2009000102W WO 2011037441 A1 WO2011037441 A1 WO 2011037441A1
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- WIPO (PCT)
- Prior art keywords
- steering wheel
- driver
- brake
- vehicle
- allows
- Prior art date
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 5
- 210000003813 thumb Anatomy 0.000 claims abstract description 4
- 210000004247 hand Anatomy 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims 1
- 230000003449 preventive effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- 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
- B60W30/18—Propelling the vehicle
- B60W30/18181—Propulsion control with common controlling member for different functions
-
- 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
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- 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
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/043—Hand wheels with a device allowing single-hand operation of the steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
Definitions
- Said driving system must allow the use of only one hand to drive the vehicle and leave the other hand free for common activities such as turning off: Steering lights, high beams, windshield wipers, without losing control of driving. no time
- the Mechatronic Acceleration and Brake System for the Disabled (SIMAFRED) satisfies the need for driving for drivers with lower limb disabilities, implementing a handlebar that adheres to the driver's left hand.
- This handlebar contains two potentiometers: The first, when advancing using the thumb, accelerates the vehicle. The second, when the fist is clenched, the vehicle brakes.
- the handlebar is embedded in a free-spin ring, this first ring transmits the desired signals to a second ring fixed to the steering wheel.
- this first ring transmits the desired signals to a second ring fixed to the steering wheel.
- the actions that should be done by the lower extremities of the driver are done by servo actuators on the brake and acceleration pedals manipulated by an electronic control system that receives the signals from the handlebar.
- SIMAFRED proposes is the braking of that muscular tension since the braking is sensitive to the closing of the fist of the left hand.
- SIMAFRED system is viable for any commercial automatic transmission vehicle without the need to make dramatic changes in its structure.
- the vehicle must be an automatic transmission b) A steering wheel of 300mm or less is required. If the original steering wheel exceeds 300mm in diameter, a new one of these measures must be adapted, this is because a larger diameter steering wheel, some standards mark 400mm, would hinder the complete rotation of the steering wheel with the driver's legs c) A brief training is required for the driver to use the system.
- Modifications to the car are minimal regardless of the model or brand, it only requires a cut of the original 165mm steering wheel and adapt the control device. Adapt the electronic control system either on the car's own computer or, failing that, at the bottom of the seat as an additional system to the car.
- SIMAFRED not only satisfies the need for driving for the disabled of the lower extremities but could also be used for drivers without this motor disadvantage. Although it is thought so, there is no reason to avoid its common use among the population. With appropriate training SIMAFRED can be used by anyone who wants to.
- (5) is named as a sliding ring since it slides freely and without any restrictions within the fixed ring, in addition, to prevent (5) from leaving the latter, there is a guide tab (9), which it is embedded in the slots (15) of (4 and 6).
- the sliding ring has two primary functions; the first is to contain the handlebar, which is fixed to the ring by two screws in (7 and 8); the second is to transmit the electrical signals of the sensors, contained in the handlebar, to the fixed ring, the cables of said sensors exit through (8) and are transformed to copper tracks (10).
- the lever (22) which is mounted on the upper axis of the handlebar, has the function of slowing the vehicle, when the driver presses the lever, the pulley (25) turns and through the band (27) the movement is transmitted to the pulley (26), and since the latter is attached to a rotational potentiometer it is how we translate a human movement into an electrical signal.
- the ratio of the pulleys is two to one to amplify the resolution of the electrical signal, that is, by a movement that is generated in the lever, we have two in the potentiometer, to obtain a larger range of electrical operation we benefit the system of control and improve the operational response mode.
- the spring (28) is responsible for bringing it to its original position, a situation analogous to what actually happens with the pedals.
- the handlebar acceleration and / or braking signal arrives at the electronic control system, it energizes the direct current motor (36) which moves the pinion (34) and therefore the rack (33) that its Once you pull the pedal.
- the feedback sensor (37) sends an error reference to the control circuit at all times creating a closed loop system.
- the motor is de-energized (36)
- the pedals will return to their initial position.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
Abstract
The present invention relates to a mechatronic acceleration and braking system for the disabled which enables persons with lower limb disabilities to drive a vehicle with automatic transmission. Said purpose is achieved by means of an electronic control device coupled with the steering wheel of the automobile via a system of mutually sliding rings. Users holding the control device can clench their hand to indicate the desire to brake and slide the button with their thumb to indicate the desire to accelerate; said actions generate analogue signals, which are transmitted by the sliding ring to the electronic closed-loop control system which, by being correctly tuned, proportionally moves the servo-actuated mechanism consisting of a rack, pinion and motors coupled with the two pedals of the automobile.
Description
SISTEMA MECATRÓNICO DE ACELERACIÓN Y FRENO PARA ACCELERATION AND BRAKE MECATRONIC SYSTEM FOR
DISCAPACITADOS DISABLED
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
En la actualidad muchas personas padecen de algún tipo de discapacidad motriz inferior. Se sabe que una función reducida de piernas implica una baja o nula facultad para recorrer largas distancias, obligándolos a la ayuda de otras personas para su transportación ó uso de medios de transporte públicos acondicionados para este fin. Algunos sistemas se han realizado para solucionar este problema; sin embargo, no todos ellos cubren por completo las necesidades básicas como: seguridad operativa, ergonomía, apegado a la realidad, garantía de implementación en vehículos comerciales. Enseguida se mencionan y analizan los más representativos en este campo de acción. Hay un sistema de mando de mano para discapacitados, puramente mecánico, el cual consiste en una palanca de metal, ubicada debajo del volante al nivel de la cintura, que el conductor va a empujar o jalar para acelerar o frenar su vehículo según lo desee. Las desventajas de éste es que sólo se tiene una mano al volante, ya que la otra se encuentra sobre la palanca; este ambiente resulta inseguro cuando: se tiene que dar vuelta al vehículo, realizar indicaciones tales como uso de las direccionales, claxon, luces, etc.; además la ergonomía de uso, en este diseño, se ve afectada ya que el alcanzar la palanca, subirla y bajarla repetidamente, el esfuerzo y la postura de la persona se ve afectada con el paso del tiempo. Hay aparatos que montados en el volante de un automóvil proveen un controlador que puede fijar la velocidad vehicular como constante. Por ejemplo la patente No US2003/0230161A1 utiliza una carcaza insertada en un volante vehicular sostenida por dos pivotes, que usando un controlador de
000102 Nowadays many people suffer from some type of lower motor disability. It is known that a reduced leg function implies a low or no power to travel long distances, forcing them to help other people for their transportation or use of public means of transportation conditioned for this purpose. Some systems have been made to solve this problem; However, not all of them completely cover basic needs such as: operational safety, ergonomics, reality, guarantee of implementation in commercial vehicles. Next, the most representative in this field of action are mentioned and analyzed. There is a hand-held, purely mechanical hand control system, which consists of a metal lever, located under the steering wheel at waist level, that the driver will push or pull to accelerate or brake his vehicle as desired. The disadvantages of this is that you only have one hand behind the wheel, since the other is on the lever; This environment is unsafe when: you have to turn the vehicle, make directions such as use of the directional, horn, lights, etc .; In addition, the ergonomics of use, in this design, is affected since reaching the lever, raising and lowering it repeatedly, the effort and posture of the person is affected with the passage of time. There are devices that mounted on the steering wheel of a car provide a controller that can set the vehicle speed as constant. For example, patent No. US2003 / 0230161A1 uses a housing inserted in a vehicle steering wheel supported by two pivots, which using a driver 000102
- 2 - disco giratorio fija la velocidad crucero. La desventaja de estos dispositivos es que no permiten el freno del vehículo o una aceleración paulatina, haciendo imposible su uso para un ambiente urbano. Otra solución es la patente No. US2003/0183438 Al, que usando una palanca con manillares a ambos lados puede hacer girar un vehículo frenarlo o acelerarlo dependiendo de la rotación de sus manillares. Pero no puede dar una vuelta en "U" y su implementación en un carro comercial es difícil. Si bien es sensible a cambios de velocidad paulatinos en su aceleración o frenado es inseguro al forzar al conductor en posturas extrañas al dar vueltas de más de 20 grados del volante del automóvil. Otros utilizan una palanca insertada en el volante vehicular que controlan funciones secundarias. La patente US 2006/0191733A1 Inserta una palanca en el volante sostenida por una abrazadera, que usando contactos eléctricos conectados a una microcomputadora esta determina que contacto se activo y por cuanto tiempo, para controlar funciones como encendido ó apagado de luces altas, luces de dirección, limpia parabrisas. Estos dispositivos aunque resuelven el uso de la mano para actividades usuales en el manejo sin corromper la seguridad carecen por completo el control de frenado o aceleración en un vehículo. - 2 - rotating disc sets the cruise speed. The disadvantage of these devices is that they do not allow the brake of the vehicle or a gradual acceleration, making its use impossible for an urban environment. Another solution is patent No. US2003 / 0183438 Al, which using a lever with handlebars on both sides can rotate a vehicle or slow it down depending on the rotation of its handlebars. But it cannot take a U-turn and its implementation in a commercial car is difficult. While it is sensitive to gradual speed changes in its acceleration or braking, it is unsafe to force the driver into strange positions when turning over 20 degrees of the car's steering wheel. Others use a lever inserted in the steering wheel that control secondary functions. US patent 2006 / 0191733A1 Inserts a lever in the steering wheel supported by a clamp, which using electrical contacts connected to a microcomputer determines which contact is activated and for how long, to control functions such as turning on or off high lights, direction lights , wiper washer. Although these devices resolve the use of the hand for usual activities in handling without corrupting safety, they completely lack braking or acceleration control in a vehicle.
DESCRIPCIÓN DE LA INVENCIÓN DESCRIPTION OF THE INVENTION
Campo de invención Field of invention
Automóviles servo asistidos para discapacitados Problema Técnico Servo cars assisted for the disabled Technical Problem
La conducción de un automóvil de transmisión automática para personas que carecen totalmente de sus extremidades motrices inferiores.
X2009/000102 Driving an automatic transmission car for people who totally lack their lower motor limbs. X2009 / 000102
- 3 - - 3 -
Para frenar y acelerar sin poner en riesgo la integridad de manejo. Dicho sistema de conducción debe permitir el uso de una sola mano para la conducción del vehículo y deje libre la otra mano para actividades comunes al manejo como prendido apagado de: Luces de dirección, luces altas, limpia parabrisa, sin perder el control de manejo en ningún momento. To brake and accelerate without compromising driving integrity. Said driving system must allow the use of only one hand to drive the vehicle and leave the other hand free for common activities such as turning off: Steering lights, high beams, windshield wipers, without losing control of driving. no time
Los sistemas actuales tienen el problema de forzar al conductor a posturas incomodas que provocan movimientos no naturales y ponen el conflicto la concentración del manejo. Estas posturas provocan contracturas musculares por no ser ergonómicos. Current systems have the problem of forcing the driver into uncomfortable postures that cause unnatural movements and put the conflict in driving concentration. These postures cause muscle contractures because they are not ergonomic.
Los sistemas actuales no son de fácil implementación en automóviles comerciales y son muy costosas. Current systems are not easily implemented in commercial cars and are very expensive.
Solución Técnica Technical Solution
El Sistema Mecatrónico de Aceleración y Freno para Discapacitados (SIMAFRED) satisface la necesidad de conducción para conductores con discapacidad de extremidades inferiores, implementando un manillar que se adhiere a la mano izquierda del conductor. The Mechatronic Acceleration and Brake System for the Disabled (SIMAFRED) satisfies the need for driving for drivers with lower limb disabilities, implementing a handlebar that adheres to the driver's left hand.
Este manillar contiene dos potenciómetros: El primero, cuando se avanza usando el dedo pulgar, acelera el vehículo. El segundo, cuando se aprieta el puño, el vehículo frena. This handlebar contains two potentiometers: The first, when advancing using the thumb, accelerates the vehicle. The second, when the fist is clenched, the vehicle brakes.
El manillar se encuentra embebido en un aro de giro libre, este primer aro transmite las señales deseadas a un segundo aro fijo al volante. De esta manera, la mano izquierda queda en control constante del frenado y aceleración, mientras la mano derecha queda libre para otras necesidades. Se mantiene una postura natural sin movimientos extraños, en ningún momento se exige un cambio de manos para el control de frenado o aceleración ya que el
aro libre de giro permite cuantas revoluciones sean necesarias sin despegarse del manillar. La mano derecha asiste cuando es necesario al giro del volante ó a sostenerlo firmemente en caso de frenado brusco. The handlebar is embedded in a free-spin ring, this first ring transmits the desired signals to a second ring fixed to the steering wheel. In this way, the left hand remains in constant control of braking and acceleration, while the right hand is free for other needs. A natural posture is maintained without strange movements, at no time a change of hands is required for the control of braking or acceleration since the Free rotation ring allows as many revolutions as necessary without detaching from the handlebars. The right hand assists when it is necessary to turn the steering wheel or to hold it firmly in case of sudden braking.
Las acciones que deberían ser hechas por las extremidades inferiores del conductor son hechas por servoactuadores en los pedales de frenado y aceleración manipulados por un sistema de control electrónico que recibe las señales desde el manillar. The actions that should be done by the lower extremities of the driver are done by servo actuators on the brake and acceleration pedals manipulated by an electronic control system that receives the signals from the handlebar.
Su implementación no depende de la marca o modelo del automóvil. Its implementation does not depend on the make or model of the car.
Ventajas Advantages
Seguridad operativa, siempre se tiene en la mano izquierda, el control de aceleración y frenado del automóvil, lo que permite tener un mejor control sobre el vehículo, incluso para dar vueltas que requieren más de un giro completo del volante sin perder en ningún momento el mando del vehículo, el rodamiento ayuda a mantener la posición de la muñeca para que se mantenga la mano en la misma posición. En cambio en los demás sistemas no existe la posibilidad de mantener las dos manos al contacto con el vehículo, por otro lado los sistemas de aceleración y freno electromecánicos existentes son inseguros, puesto que no se puede mantener el acelerador y freno al mismo tiempo que controlar el volante. Operational safety, you always have in your left hand, the acceleration and braking control of the car, which allows you to have better control over the vehicle, even to make turns that require more than a complete turn of the steering wheel without losing at any time the control of the vehicle, the bearing helps to maintain the wrist position so that the hand is kept in the same position. On the other hand, in the other systems there is no possibility of keeping both hands in contact with the vehicle, on the other hand the existing electromechanical acceleration and brake systems are unsafe, since the accelerator and brake cannot be maintained while controlling the steering wheel.
Provee de un control práctico, se aproxima más al manejo cotidiano de un vehículo ya que lo hace de manera natural al manejo diario en condiciones urbanas o de carretera. Su uso es sensible a la velocidad y reflejos comunes del conductor y cuenta con redundancia en sus sistemas de control electrónico y transmisión de señal.Sw ergonomía, evita el cruce de manos ó posturas no naturales, que provoquen movimientos que pongan el conflicto la concentración o por los mismos pongan en riesgo la integridad del manejo; manteniendo la
mano izquierda pegada al manillar y dando una libertad de giro del volante de mas de 720 grados. Este giro natural en el manejo se logra utilizando dos aros, uno de movimiento libre embebido a otro fijo al volante. It provides a practical control, it is closer to the daily handling of a vehicle since it does so naturally to daily driving in urban or road conditions. Its use is sensitive to the speed and common reflections of the driver and has redundancy in its electronic control and signal transmission systems. Ergonomics, prevents the crossing of hands or unnatural postures, which cause movements that put the conflict in concentration or for them they jeopardize the integrity of the management; keeping the Left hand glued to the handlebars and giving a steering wheel freedom of more than 720 degrees. This natural turn in handling is achieved using two hoops, one free movement embedded to another fixed behind the wheel.
Al presentarse una emoción a un evento espontáneo, los humanos tienden a cerrar la mano como reflejo al suceso, la solución que SIMAFRED propone es el frenado a esa tensión muscular ya que el frenado es sensible al cierre del puño de la mano izquierda. When an emotion occurs to a spontaneous event, humans tend to close their hands as a reflection of the event, the solution that SIMAFRED proposes is the braking of that muscular tension since the braking is sensitive to the closing of the fist of the left hand.
La mano derecha queda libre, para realizar las acciones comunes adicionales a la conducción de un vehículo como: prendido y apagado de luces direccionales, radio, luces altas, limpia parabrisas, o en su defecto mantener firme el volante cuando así se requiere y/o cuando es necesario dar vuelta completa al automóvil. The right hand is free, to carry out the common actions additional to the driving of a vehicle such as: turning on and off directional lights, radio, high beams, windshield wipers, or failing to keep the steering wheel firm when required and / or when it is necessary to turn the car completely.
De fácil implementación y económico. Ya que puede ser implementado en cualquier modelo y las modificaciones al mismo son mínimas. Easy implementation and economical. Since it can be implemented in any model and the modifications to it are minimal.
Implementación Implementation
La implementación del sistema SIMAFRED es viable para cualquier vehículo comercial de transmisión automática sin necesidad de hacer cambios dramáticos en su estructura. The implementation of the SIMAFRED system is viable for any commercial automatic transmission vehicle without the need to make dramatic changes in its structure.
Sólo hay tres requisitos indispensables: a) El vehículo debe ser de transmisión automática b) Se necesita un volante de 300mm o menos. Si el volante original excede a 300mm de diámetro se debe adaptar uno nuevo de estas medidas, esto se debe a que un volante de mayor diámetro, algunos estándares marcan 400mm, estorbaría la rotación completa del
volante con las piernas del conductor c) Se requiere de una breve capacitación para el conductor del uso del sistema. There are only three essential requirements: a) The vehicle must be an automatic transmission b) A steering wheel of 300mm or less is required. If the original steering wheel exceeds 300mm in diameter, a new one of these measures must be adapted, this is because a larger diameter steering wheel, some standards mark 400mm, would hinder the complete rotation of the steering wheel with the driver's legs c) A brief training is required for the driver to use the system.
Las modificaciones al carro son mínimas sin importar el modelo o marca, sólo se requiere de un corte del volante original de 165mm y adaptar el dispositivo de mando. Adaptar el sistema de control electrónico ya sea en la misma computadora del carro o en su defecto en la parte inferior del asiento como un sistema adicional al automóvil. Modifications to the car are minimal regardless of the model or brand, it only requires a cut of the original 165mm steering wheel and adapt the control device. Adapt the electronic control system either on the car's own computer or, failing that, at the bottom of the seat as an additional system to the car.
Por otra parte, se debe acondicionar un sistema servo actuado en los pedales del mismo, o añadir un mecanismo más sencillo que cubra con los señalamientos de SIMAFRED, esto dependerá del modelo del vehículo según sus prestaciones. On the other hand, a servo system operated on the pedals must be conditioned, or a simpler mechanism that covers the SIMAFRED signals must be added, this will depend on the vehicle model according to its performance.
Aplicabilidad en la industria Applicability in the industry
SIMAFRED no sólo satisface la necesidad de conducción para discapacitados de extremidades inferiores sino también pudiera ser usado para conductores sin esta desventaja motriz. Si bien esta pensado así, no hay motivo para evitar su uso común entre la población. Con una apropiada capacitación SIMAFRED puede ser usado por cualquier persona que así lo desee. SIMAFRED not only satisfies the need for driving for the disabled of the lower extremities but could also be used for drivers without this motor disadvantage. Although it is thought so, there is no reason to avoid its common use among the population. With appropriate training SIMAFRED can be used by anyone who wants to.
Descripción de Dibujos Description of Drawings
La figura 1 muestra los tres elementos principales que constituye el SIMAFRED: volante de un automóvil comercial (1), aro (2) y manillar (3). Figure 1 shows the three main elements that constitute the SIMAFRED: steering wheel of a commercial car (1), ring (2) and handlebar (3).
En la figura 2 se observa el detalle del aro (2) el cual está formado por tres dispositivos principales, la unión de (4 y 6) forman un elemento que llamaremos aro fijo ya que éste se ancla con dos tornillos en (12) al volante del automóvil y en (11) se observa el espacio
000102 Figure 2 shows the detail of the ring (2) which is formed by three main devices, the union of (4 and 6) form an element that we will call a fixed ring since it is anchored with two screws in (12) to the steering wheel of the car and in (11) the space is observed 000102
- 7 - confígurado para alojar al mismo; por otra parte se nombra a (5) como aro deslizante ya que éste desliza libremente y sin ninguna restricción dentro del aro fijo, además, para evitar que (5) se salga de este último se cuenta con una pestaña guía (9), que queda embebida en las ranuras (15) de (4 y 6). - 7 - configured to accommodate it; On the other hand, (5) is named as a sliding ring since it slides freely and without any restrictions within the fixed ring, in addition, to prevent (5) from leaving the latter, there is a guide tab (9), which it is embedded in the slots (15) of (4 and 6).
El aro deslizante tiene dos funciones primordiales; la primera es contener al manillar, el cual se fija al aro mediante dos tornillos en (7 y 8); la segunda es transmitir las señales eléctricas de los sensores, contenidos en el manillar, al aro fijo, los cables de dichos sensores salen por (8) y son transformados a pistas de cobre (10). The sliding ring has two primary functions; the first is to contain the handlebar, which is fixed to the ring by two screws in (7 and 8); the second is to transmit the electrical signals of the sensors, contained in the handlebar, to the fixed ring, the cables of said sensors exit through (8) and are transformed to copper tracks (10).
Los elementos (4 y 6), que forman al aro fijo, son ensamblados a través de cinco tornillos en (13); además, se aprecia en (16) que (4) conduce sólo una señal eléctrica de control mientras que (6) conduce dos, estas señales son tomadas a través de colectores mostrados en la figura (3) y son colocados en (14), cabe aclarar que hay tres dispositivos por señal, es decir, el sistema es redundante. En (16) se albergan los cables que salen de los colectores, se unen según la señal que les corresponda y son llevados al centro del volante donde se encontrarán con el sistema de control electrónico correspondiente. The elements (4 and 6), which form the fixed ring, are assembled through five screws in (13); furthermore, it can be seen in (16) that (4) conducts only one electrical control signal while (6) conducts two, these signals are taken through collectors shown in figure (3) and are placed in (14), It is clear that there are three devices per signal, that is, the system is redundant. In (16) the cables leaving the collectors are housed, joined according to the signal that corresponds to them and are taken to the center of the steering wheel where they will meet the corresponding electronic control system.
En la figura 3 se muestra el colector, su función principal es obtener las señales eléctricas de los sensores a través de las pistas de cobre, por lo que a todo momento (17) estará en contacto con (10) gracias a (18), y para evitar que el dispositivo se salga del aro fijo (19) es enroscado en (14). El cable (20) es adherido al colector con soldadura y pegados en (16). Figure 3 shows the collector, its main function is to obtain the electrical signals of the sensors through the copper tracks, so that at all times (17) it will be in contact with (10) thanks to (18), and to prevent the device from leaving the fixed ring (19) it is screwed into (14). The cable (20) is adhered to the collector with solder and glued on (16).
El manillar, de manera general, es mostrado en la figura 4 donde se observa el botón de aceleración (21), la palanca de frenado (22), la correa de ajuste a la mano (24) y los puntos donde se fija al anillo deslizante (23) con los puntos (7 y 8).
En la figura 5, a manera de detalle, vemos que el manillar cuenta básicamente con dos sensores, uno para acelerar (30) y otro para frenar (29), estos son los que transmiten la señal eléctrica al sistema de control, dichas señales varían de manera analógica dependiendo los movimientos el conductor realice. The handlebar, in general, is shown in Figure 4 where the acceleration button (21), the brake lever (22), the hand adjustment strap (24) and the points where it is fixed to the ring are observed Slider (23) with points (7 and 8). In figure 5, as a detail, we see that the handlebar basically has two sensors, one to accelerate (30) and another to brake (29), these are the ones that transmit the electrical signal to the control system, these signals vary analogically depending on the movements the driver performs.
La palanca (22), que se monta sobre el eje superior del manillar, tiene la función de hacer frenar el vehículo, cuando el conductor aprieta la palanca, la polea (25) gira y a través de la banda (27) se transmite el movimiento a la polea (26), y ya que esta última está pegada a un potenciómetro rotacional es como traducimos un movimiento humano en señal eléctrica. La relación de las poleas es dos a uno para amplificar la resolución de la señal eléctrica, es decir, por un movimiento que se genera en la palanca, tenemos dos en el potenciómetro, al obtener un rango más grande de operación eléctrica beneficiamos al sistema de control y mejoramos el modo de respuesta operativo. Una vez que el conductor termina de apretar la palanca el resorte (28) se encarga de llevarla a su posición de origen, situación análoga a lo que pasa en la realidad con los pedales. The lever (22), which is mounted on the upper axis of the handlebar, has the function of slowing the vehicle, when the driver presses the lever, the pulley (25) turns and through the band (27) the movement is transmitted to the pulley (26), and since the latter is attached to a rotational potentiometer it is how we translate a human movement into an electrical signal. The ratio of the pulleys is two to one to amplify the resolution of the electrical signal, that is, by a movement that is generated in the lever, we have two in the potentiometer, to obtain a larger range of electrical operation we benefit the system of control and improve the operational response mode. Once the driver finishes tightening the lever, the spring (28) is responsible for bringing it to its original position, a situation analogous to what actually happens with the pedals.
Para acelerar el vehículo el conductor debe presionar, con su dedo pulgar, la palanca (21), ésta se encuentra conectada a un potenciómetro lineal (30). Aunque en la imagen no se puede apreciar, existe un resorte embebido en (30) que regresa la palanca a su posición inicial una vez que el conductor la ha dejado de accionar. To accelerate the vehicle, the driver must press the lever (21) with his thumb, which is connected to a linear potentiometer (30). Although the image cannot be seen, there is a spring embedded in (30) that returns the lever to its initial position once the driver has stopped operating it.
De ambos potenciómetros se obtienen cuatro cables, dos de ellos se unen para hacer uno y es nombrado cable de referencia, con esta acción nos quedan 3 cables que se hacen llegar al volante y finalmente al sistema de control electrónico.
En la figura 6 se muestra el sistema servo actuado de los pedales, de aceleración (31) y frenado (32), de un vehículo convencional; cabe mencionar que ambos pedales cuentan con el mismo sistema de control. El pedal está anclado a una cremallera (33), ésta se coloca en un sistema guía (35), este último además contiene un eje donde se inserta un pifión (34), un motor (36) y un dispositivo de retroalimentación (37). Four wires are obtained from both potentiometers, two of them are joined to make one and it is named a reference wire, with this action we have 3 wires left that are made to reach the steering wheel and finally to the electronic control system. Figure 6 shows the servo system operated by the pedals, acceleration (31) and braking (32), of a conventional vehicle; It should be mentioned that both pedals have the same control system. The pedal is anchored to a rack (33), it is placed in a guide system (35), the latter also contains an axis where a pinion (34), a motor (36) and a feedback device (37) are inserted. .
Cuando al sistema de control electrónico le llega una señal de aceleración y/o frenado del manillar, éste energiza al motor de corriente directa (36) el cual mueve al piñón (34) y por lo tanto a la cremallera (33) que a su vez jala al pedal. El sensor de retroalimentación (37) envía a todo momento una referencia de error al circuito de control creando un sistema de lazo cerrado. Al des energizar el motor (36), los pedales regresarán a su posición inicial. When the handlebar acceleration and / or braking signal arrives at the electronic control system, it energizes the direct current motor (36) which moves the pinion (34) and therefore the rack (33) that its Once you pull the pedal. The feedback sensor (37) sends an error reference to the control circuit at all times creating a closed loop system. When the motor is de-energized (36), the pedals will return to their initial position.
Con la sintonización adecuada del sistema de control electrónico, cualquier movimiento del conductor en el manillar se verá reflejado de manera proporcional en los pedales de aceleración y frenado respectivamente.
With proper tuning of the electronic control system, any movement of the driver on the handlebars will be reflected proportionally on the acceleration and braking pedals respectively.
Claims
1. Un Sistema de conducción de un automóvil modificado, que permite al conductor frenar y acelerar, de manera proporcional, segura y al gusto, sin la necesidad de las extremidades inferiores. 1. A modified car driving system, which allows the driver to brake and accelerate, proportionally, safely and to taste, without the need for the lower extremities.
2. Un volante de dirección de automóvil del sistema de la reivindicación 1, que pueda ser usado por el conductor con una sola mano, que permita giros de más de 720 grados del volante sin perder en ningún momento el control del vehículo y los mandos de aceleración y freno. 2. An automobile steering wheel of the system of claim 1, which can be used by the driver with one hand, which allows turns of more than 720 degrees of the steering wheel without losing control of the vehicle and vehicle controls at any time. acceleration and brake.
3. Un sistema de aros empotrados al volante de la reivindicación 2, que permite al conductor tener las dos manos en el volante, y sin importar la orientación de ellas, puede acelerar y frenar de manera continua inclusive dando una vuelta sin importar lo cerrada o peligrosa de ésta. 3. A system of recessed hoops on the steering wheel of claim 2, which allows the driver to have both hands on the steering wheel, and regardless of their orientation, can accelerate and brake continuously even by taking a turn regardless of the closed or dangerous of this one.
4. Un manillar que empotrado al sistema de aros reivindicación 3, permita frenar, de manera proporcional y análoga, a la acción de cerrar la mano y permita acelerar, de manera proporcional y análoga, con la acción de deslizar el dedo pulgar. 4. A handlebar that recessed to the ring system claim 3, allows to brake, in a proportional and analogous way, to the action of closing the hand and allows to accelerate, proportionally and analogously, with the action of sliding the thumb.
5. Un sistema de control electrónico en lazo cerrado que, utilizando las señales del manillar de la reivindicación 4 y un dispositivo de retroalimentación de la servo actuación, realice un sistema análogo entre lo que desea el conductor y lo que realiza el automóvil. 5. A closed loop electronic control system that, using the handlebar signals of claim 4 and a servo actuation feedback device, performs an analogous system between what the driver wants and what the car performs.
6. Un sistema de redundandancia al sistema de control electrónico, de la reivindicación 5 y en la transmisión de señales eléctricas de los sensores del volante de la reivindicación 2. 6. A redundancy system to the electronic control system of claim 5 and in the transmission of electrical signals from the steering wheel sensors of claim 2.
7. Una base de datos, embebida en el sistema de control de la reivindicación 5, que almacene datos históricos y estudie los patrones de conducta de las personas, anticipe errores, indique sus mantenimientos preventivos. 7. A database, embedded in the control system of claim 5, which stores historical data and studies people's behavior patterns, anticipates errors, indicates their preventive maintenance.
8. Un sistema de servo actuación que usando señales del sistema de control electrónico de la reivindicación 5, acelere y frene un vehículo de transmisión automática, de manera proporcional y análoga, deacuerdo a señales del manillar de la reivindicación 4 8. A servo actuation system that, using signals from the electronic control system of claim 5, accelerates and brakes an automatic transmission vehicle, proportionally and analogously, according to handlebar signals of claim 4
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/MX2009/000102 WO2011037441A1 (en) | 2009-09-25 | 2009-09-25 | Mechatronic acceleration and braking system for the disabled |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/MX2009/000102 WO2011037441A1 (en) | 2009-09-25 | 2009-09-25 | Mechatronic acceleration and braking system for the disabled |
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WO2011037441A1 true WO2011037441A1 (en) | 2011-03-31 |
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PCT/MX2009/000102 WO2011037441A1 (en) | 2009-09-25 | 2009-09-25 | Mechatronic acceleration and braking system for the disabled |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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ITTO20120912A1 (en) * | 2012-10-16 | 2014-04-17 | Carrozzeria 71 S R L | MANUAL DEVICE OF THE ACCELERATOR OF A MOTOR VEHICLE " |
EP3194230A1 (en) * | 2014-09-18 | 2017-07-26 | Hitachi Construction Machinery Co., Ltd. | Hand operated auxiliary drive and retard torque control |
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EP1834859A1 (en) * | 2006-03-17 | 2007-09-19 | Berner Fachhochschule Hochschule für Technik und Architektur Biel | Input device for an electronic steering system of a virtual or real vehicle |
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US1677082A (en) * | 1927-06-24 | 1928-07-10 | Edward L Heckman | Steering wheel |
US2172121A (en) * | 1936-11-13 | 1939-09-05 | Frank D Myers | Steering wheel for automobiles |
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ITTO20120912A1 (en) * | 2012-10-16 | 2014-04-17 | Carrozzeria 71 S R L | MANUAL DEVICE OF THE ACCELERATOR OF A MOTOR VEHICLE " |
EP2722214A1 (en) * | 2012-10-16 | 2014-04-23 | Carrozzeria 71 S.r.L. | Manual control device for a motor-vehicle accelerator |
EP3194230A1 (en) * | 2014-09-18 | 2017-07-26 | Hitachi Construction Machinery Co., Ltd. | Hand operated auxiliary drive and retard torque control |
CN107074106A (en) * | 2014-09-18 | 2017-08-18 | 日立建机株式会社 | Hand operates process auxiliary drive and deceleration torque control |
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